DE102018208440A1 - DEVICE FOR SENSORALLY PROTECTING THE WING MOTIONS OF AN AUTOMATIC TURNING DOOR - Google Patents

Abstract

A device for sensory protection of the wing movements of an automatic revolving door comprises a sensor system with a sensor unit arranged on the hinge side on the belt side and / or a sensor unit arranged on the door leaf opposite the belt side and a door controller communicating with the sensor system. A respective sensor unit comprises an at least substantially planar distance scanner. In this case, the sensor system and / or the door control are designed such that in a respective automatically executed learning cycle during an opening and / or closing cycle of the door leaf, a respective sensor unit measures the distances to the surroundings of the door leaf at successive door opening angles in each case in a band-side or band-side plane , determines from the measured values obtained in the various planes as a function of the door opening angle as a function of the distances to the environment measured in the various planes and as a function of the door opening angle, a three-dimensional image of the environment and stores the thus-determined three-dimensional image of the environment.

Description

The invention relates to a device for sensory protection of the wing movements of an automatic revolving door with a sensor unit arranged on the hinge side on the door leaf and / or a sensor unit comprising a counter-band side sensor unit and a door control communicating with the sensor system.

Automatic revolving doors with a motor drive such as in particular an electric drive are well known. They facilitate the inspection of a door whenever the manual operation is too cumbersome or tedious.

So that the automated door does not injure anyone when opening and closing, it is already known to protect the wing movements sensory. For this purpose, presence sensors are mounted on the hinge side and on the opposite side of the hinge on the door leaf, which move with the door leaf. If a person enters the detection field on the hinge side when opening the door leaf ( BS ) provided sensor, the door control stops the door leaf. If a person enters the detection field of the other side of the belt when closing the door leaf ( BGS ) provided sensor, the door control reverses the door leaf in the open position.

So far, the sensors in question must be parameterized so that a respective sensor knows whether it is mounted on the hinge side or on the hinge opposite side and whether the main closing edge ( HSK ) of the door leaf is located on the right or left side of the sensor.

Often open swing doors 12 against a wall 10 (see the 1 to 3 ). In this case, the wall dips 10 into the detection field 14 of the provided on the band side sensor 16 if the door is open 18 opens. So far, it is necessary that the band side sensor 16 and / or the door control the wall 10 "Learns" or the wall is parameterized in particular with the inclusion of the belt opening angle, so that the door leaf 18 can fully open without the tape side sensor 16 the wall 10 detected as a person or obstacle.

The wall 10 itself may be inhomogeneous, that is, on the page in question, for example, a table on which sometimes something stands, or a curtain that can sometimes be open and sometimes closed, a bookshelf with books, a set wall 10 (see. 2 ) or an incomplete wall 10 (see. 3 ), a radiator and / or the like may be provided.

The door control requires knowledge of the width for various tasks b of the door leaf 18 (see. 5 ), for example to limit the wing speed at the main closing edge, to calculate the mass moment of inertia of the door leaf 18 for the design of the scheme, and / or the like.

So far, the width must be b of the door leaf can be set as a parameter on the door control during commissioning.

As sensors currently active infrared (AIR) sensors with triangulation or laser scanner, so sensors are used, which allow a more or less good resolution of the distance to the sensor.

An example of such a conventional embodiment with AIR light sensors is in 6 played. It sends a transmitter 28 Light spots. A receiver 30 calculated with knowledge of the optical basis 32 of the AIR light switch the distance a every reflected light spot. A disadvantage of such a conventional design is the low resolution.

The hitherto conventional devices for sensory protection of the wing movements of an automatic revolving door or the hitherto customary sensor-secured automatic revolving doors have, among other disadvantages, that the detection fields of the sensors are fixed and the sensors must be parameterized.

The invention has for its object to provide a device for sensory protection of the wing movements of an automatic revolving door of the type mentioned, in which the aforementioned disadvantages are eliminated. In particular, it should be possible that the mounting parameters of the sensors are set automatically, the size of the detection fields of the sensors are automatically optimally adapted to the environment, the testing of the sensors is simplified, possibly provided handlebars are automatically detected and the wing width is automatically determined.

This object is achieved by a device having the features of claim 1. Preferred embodiments of the device according to the invention will become apparent from the dependent claims, the present description and the drawings.

The inventive device for sensory protection of the wing movements of an automatic revolving door comprises a sensor with a band side on the door leaf arranged sensor unit and / or a counterband side arranged on the door sensor unit and a communicating with the sensor door control. In this case, a respective sensor unit comprises an at least substantially planar distance scanner, wherein the sensor and / or the door control are designed so that in a respective automatically executed learning cycle during an opening and / or closing cycle of the door leaf, a respective sensor unit at successive door opening angles in each case From the measured values obtained in the various planes as a function of the door opening angle as a function of the distances to the surroundings and the door opening angle measured in the various planes, a three-dimensional image of the surroundings is determined and the three-dimensional space determined in this way Image of the environment stores.

By comparison with the stored three-dimensional image, the sensor and / or the door control in operation can reliably protect persons or obstacles that would hinder the movement of the door leaf from the environment of the door leaf, e.g. Wall, frame, another door, curtain behind the door and / or the like, and thereby differentiate its active detection range to extend into the minor closing edge and on the main closing edge out, so that the level of protection at the door is significantly increased. The sensors and / or the door control thus automatically adapt the detection field to the respective environment. The sensors no longer need to be parameterized. In addition, the testing of the sensors with the automatically detected environment is simplified. If necessary, existing handlebars are automatically detected, and the wing width can be determined automatically.

Preferably, the sensors and / or the door control are designed so that the detection field of a respective sensor unit is automatically adapted to the respectively determined three-dimensional image of the environment. In addition, the sensors and / or the door control are preferably also designed such that persons or obstacles located in the region of the door leaf are distinguished from the environment represented by the three-dimensional image.

Advantageously, a respective sensor unit of the sensor system comprises a two-dimensional distance scanner, a planar light scanner, wherein a flat space scanner is preferably each provided with an AIR light sensor and / or a laser scanner.

According to a preferred practical embodiment of the device according to the invention, the planar distance scanner of a respective sensor unit comprises a transmitter, a rotating mirror and a receiver. In this case, the sensors and / or the door control are designed so that for measuring the distances to the environment in a respective band side or Gegenbandseitigen level a Abttaststrahl a respective sensor unit in the respective level directed to the environment of the door and the distances to the environment respectively from the Light transit time between transmitter and receiver of a respective sensor unit can be determined.

Advantageously, a respective sensor unit, in particular comprising an AIR light sensor, can be designed such that during a respective opening or closing cycle of the door leaf at a respective current door opening angle in the respective plane, the distances to the surroundings along a line as a function of the respective current door opening angle measures. The environment is thus scanned by a respective sensor unit.

Preferably, the detection field of the band-side sensor unit and / or the detection field of the band-opposed sensor unit each project beyond the door leaf at least on one side, preferably on both sides.

In this case, it is particularly advantageous if the detection field of the belt-side sensor unit and / or the detection field of the band-opposed sensor unit are extended beyond the door leaf as far as into the secondary closing edge and / or beyond the main closing edge. This increases the level of protection at the door accordingly.

A respective sensor unit can be arranged in particular in an upper region of the door leaf.

Advantageously, the sensors and / or the door control are also designed to automatically determine the width and / or the height of the door leaf.

In this case, the sensors and / or the door control are preferably designed for automatically determining the distance between the minor closing edge and the main closing edge of the door leaf and / or the distance between the sides provided on the two sides of the door frame and for automatically determining the width of the door leaf over this distance ,

Of particular advantage is also when the sensor and / or the door control are designed to automatically detect a respective handle bar of the wing.

Handle bars on the door can be easily detected by a respective sensor unit, since the position of such a handle bar relative to the respective moving with the door sensor unit remains unchanged and the handle bar also moves with the door.

Advantageously, the presence of a respective handle bar can be signaled by the sensor. By the sensor system provides appropriate information and thus knows the door control that the door is not fully secured, additional measures may be taken if necessary.

It is also particularly advantageous if the function of the sensor system can be monitored regularly, in particular automatically via the door control.

The function of the sensor system can advantageously be monitored using at least one region of the determined environment as the test object.

According to an expedient practical embodiment of the device according to the invention, it is possible to check during a respective monitoring cycle for monitoring the function of the sensor system by means of a respective sensor unit as to whether the determined environment has remained unchanged. If this is the case, the respective sensor unit knows that its function is given.

According to a further expedient practical embodiment of the device according to the invention, the function of the sensor system can be monitored via the door control using redundancy, which results from the two three-dimensional images of the surroundings generated via a respective opening or closing cycle of the door leaf.

If two sensor units are mounted on the door leaf, then the sensor unit provided on the hinge side sees the same image when opened as the sensor unit provided on the hinge opposite side when closing. If the door controller knows both three-dimensional images, it can use the relevant redundancy, for example, to monitor the function of both sensor units during commissioning, ie the first time the environment is scanned.

It is also particularly advantageous if the sensor system for determining the respective current door opening angle is provided with a position measuring system such as in particular a gyroscope or the like. Alternatively or additionally, however, the respective current door opening angle can also be provided via the door control.

The sensors preferably communicate via a sensor bus with the door control. Such a sensor bus represents a simple, inexpensive solution for a corresponding communication connection between the door control and the sensor unit or the sensor units provided on the belt side and the belt opposite side. The sensor units can then, for example, not only the blade width, but also the complete three-dimensional image of the environment transmitted to the door control.

• 1 eine schematische Darstellung einer durch eine erfindungsgemäße Vorrichtung sensorisch absicherbaren Drehflügeltür, die gegen eine vollständige Wand öffnet,
• 2 eine schematische Darstellung einer gegen eine abgesetzte Wand öffnenden Drehflügeltür, die durch eine beispielhafte Ausführungsform einer erfindungsgemäßen Vorrichtung sensorisch abgesichert ist, bei der die Erfassungsfelder der Sensoreinheiten jeweils beidseitig über den Türflügel hinausragen,
• 3 eine weitere schematische Darstellung einer Drehflügeltür, die durch eine beispielhafte Ausführungsform einer erfindungsgemäßen Vorrichtung sensorisch abgesichert ist, bei der die Erfassungsfelder der Sensoreinheiten jeweils beidseitig über den Türflügel hinausragen, wobei die Drehflügeltür jedoch gegen eine unvollständige Wand öffnet,
• 4 eine weitere schematische Darstellung einer Drehflügeltür, die durch eine beispielhafte Ausführungsform einer erfindungsgemäßen Vorrichtung sensorisch abgesichert ist, bei der das Erfassungsfeld der Sensoreinheiten jeweils über den Türflügel hinausragt,
• 4a eine schematische Darstellung einer erfindungsgemäß sensorisch abgesicherten Drehflügeltür gemäß 4, wobei die Erfassungsfelder der beiden Sensoreinheiten jedoch automatisch durch Griffstangen eingeschränkt sind,
• 5 eine schematische Darstellung der Breite und des Öffnungswinkels eines Drehtürflügels,
• 6 eine schematische Darstellung einer herkömmlichen, durch AIR-Lichttaster abgesicherten zweiflügeligen Tür,
• 7 eine schematische Darstellung einer beispielhaften Ausführungsform einer erfindungsgemäßen Vorrichtung zur sensorischen Absicherung der Flügelbewegungen einer automatischen Drehtür, wobei im vorliegenden Fall beispielsweise eine zweiflügelige Tür mit zwei Drehflügeln dargestellt ist, deren Flügelbewegungen jeweils durch eine entsprechende erfindungsgemäße Vorrichtung sensorisch abgesichert sind, und
• 8 eine schematische Darstellung einer beispielhaften Ausführungsform einer insbesondere einen AIR-Lichttaster umfassenden Sensoreinheit, die während eines jeweiligen Öffnungs- bzw. Schließzyklus des Türflügels bei einem jeweiligen Türöffnungswinkel in der jeweiligen Ebene die Abstände zur Umgebung entlang einer Linie als Funktion des jeweiligen aktuellen Türöffnungswinkels misst.

The invention will be explained in more detail below with reference to an embodiment with reference to the drawing; in this show:

• 1 1 is a schematic representation of a swing door which can be secured sensibly by a device according to the invention and opens against a complete wall;
• 2 3 is a schematic representation of a swing door which opens against a stepped wall and is sensor-secured by an exemplary embodiment of a device according to the invention, in which the detection fields of the sensor units each protrude beyond the door leaf on both sides;
• 3 2 is a further schematic representation of a swing door which is sensor-secured by an exemplary embodiment of a device according to the invention, in which the detection fields of the sensor units each protrude beyond the door on both sides, but the swing door opens against an incomplete wall.
• 4 2 is a further schematic representation of a swing door which is sensor-secured by an exemplary embodiment of a device according to the invention, in which the detection field of the sensor units protrudes beyond the door leaf,
• 4a a schematic representation of a sensor according to the invention secure swing door according to 4 However, the detection fields of the two sensor units are automatically limited by handle bars,
• 5 a schematic representation of the width and the opening angle of a revolving door wing,
• 6 a schematic representation of a conventional, secured by AIR light sensor double-leaf door,
• 7 a schematic representation of an exemplary embodiment of an inventive device for sensory protection of the wing movements of an automatic revolving door, in the present case, for example, a two-leaf door with two Turning wings is shown, the wing movements are each sensed by a corresponding device according to the invention, and
• 8th a schematic representation of an exemplary embodiment of a particular comprising an AIR light sensor sensor unit which measures the distances to the environment along a line as a function of the respective current door opening angle during a respective opening or closing cycle of the door leaf at a respective door opening angle in the respective plane.

As in particular from the 7 and 8th can be seen, comprises a respective device according to the invention 34 for sensory protection of the wing movements of an automatic revolving door 36 a sensor 40 with a hinge side on the door leaf 38 arranged sensor unit 42 and / or a gegenbandseitig on the door 38 arranged sensor unit 44 and one with the sensors 40 communicating door control 46 ,

A respective sensor unit 42 . 44 comprises an at least substantially planar distance scanner, wherein the sensor 40 and / or the door control 46 are designed so that in a respective automatically executed learning cycle during an opening and / or closing cycle of the door leaf 38 a respective sensor unit 42 . 44 at successive door opening angles in each case in a band-side or band-mutual plane 48 . 48 ' the distances to the surroundings of the door leaf 38 measures, from the measured values obtained in the various planes as a function of the door opening angle, as a function of the distances to the environment measured in the various planes and as a function of the door opening angle, a three-dimensional image of the environment and stores the three-dimensional image of the environment thus determined.

The sensors 40 and / or the door control 46 Accordingly, each are designed so that the detection field of a respective sensor unit 42 . 44 automatically adapted to the environment and in the area of the door leaf 38 People or obstacles can be distinguished from the environment represented by the determined three-dimensional image.

A respective sensor unit 42 . 44 the sensor 40 As a planar distance scanner, in particular, it can comprise a planar light scanner, wherein the planar distance scanner can in particular comprise a laser scanner and / or an AIR light scanner. In a learning process, the detection field can be limited to the width and height of the door leaf.

The planar distance scanner of a respective sensor unit 42 . 44 For example, it may include a transmitter, a rotating mirror, and a receiver. Here are the sensors 40 and / or the door control 46 in particular designed so that for measuring the distances to the environment in a respective band-side or gegenbandseitigen level a Abttaststrahl a respective sensor unit 42 . 43 in the respective level 48 . 48 ' on the environment of the door leaf 38 steered and the distances to the environment are determined in each case from the light transit time between transmitter and receiver of a respective sensor unit.

As in particular from the 8th can be seen, a respective, in particular an AIR light sensor sensor unit comprehensive 42 . 44 For example, be designed so that during a respective opening or closing cycle of the door leaf 38 at a respective current door opening angle α (t) in the respective plane the distances x _n (t) to the environment along a line 50 as a function of the current door opening angle α (t) measures.

The detection field of the band-side sensor unit 42 and / or the detection field of the band-opposed sensor unit 44 can each at least one side, preferably on both sides, over the door 38 (see, in particular, the 2 to 4a) , In this case, the detection field of the belt-side sensor unit 42 and / or the detection field of the band-opposed sensor unit 44 each over the door 38 also into the secondary closing edge NSK and / or over the main closing edge ( HSK ) Be extended.

As in particular from 7 can be seen, the sensors 40 or a respective sensor unit 42 . 44 especially in an upper area of the door leaf 38 be arranged.

In addition, the sensors 40 and / or the door control 46 in particular also for the automatic determination of the width b (see in particular 5 ) and the height of the door leaf 38 be executed.

In this case, a respective sensor unit 42 . 44 the width of the door leaf 38 for example, determine by the door leaf 38 when opening and / or closing looks after the sensor unit 42 . 44 yes with the door 38 moves, and / or by a respective sensor unit 42 . 44 the distance between the minor closing edge NSK and the main closing edge HSK or the distance between the frame 24 determined left and right. In the latter case, the sensors 40 and / or the door control 46 in particular for the automatic determination of the distance between the minor closing edge NSK and the main closing edge HSK of door leaf 38 and / or the distance between the on both sides of the door leaf 38 provided frames 24 and for automatically determining the width of the door leaf 38 executed over this distance.

As in particular from the 4a can be seen, the sensors 40 and / or the door control 46 each also for automatic detection of a respective handlebar 26 of the door leaf 38 be executed. In addition, the presence of a respective handle bar 26 through the sensors 40 be signaled. By a respective sensor unit 42 . 44 provides information that the door leaf 38 due to a respective handle bar 26 is not fully secured, additional measures may be taken if necessary.

The detection of a respective handlebar 26 on the door 38 through the sensors 40 is relatively simple, since the position of such a handlebar 26 relative to a respective one with the door leaf 38 moving sensor unit 42 . 44 remains unchanged, as the handlebar 26 yes with the door 38 moved.

Moreover, the function of the sensors 40 in particular via the door control 46 also be monitored regularly. In this case, the function of the sensor 40 In particular, be monitored using at least a portion of the determined environment as a test object.

During a respective monitoring cycle to monitor the function of the sensor 40 can by means of a respective sensor unit 42 . 44 also be verifiable whether the determined environment has remained unchanged.

So can to monitor the function of the sensor 40 a respective sensor unit 42 . 44 at each cycle, check if she sees her surroundings unchanged. If this is the case, knows the respective sensor unit 42 . 44 that their function is given.

The function of the sensors 40 can over the door control 46 also be monitored using the redundancy, resulting from the two over a respective opening or closing cycle of the door leaf 38 produces three-dimensional images of the environment.

Is both on the hinge side and on the hinge opposite side of the door leaf 38 one sensor unit each 42 respectively. 44 mounted, the sensor unit sees 42 on the hinge side when opening the same picture as the sensor unit 44 on the hinge opposite side when closing. Knows the door control 46 Both images, they can use the resulting redundancy, for example, during commissioning, ie the first scan of the environment, the function of the two sensor units 42 . 44 to monitor.

To determine the current door opening angle α (t) can the sensors 40 For example, be provided with a position measuring system such as in particular a gyroscope or the like. Alternatively or additionally, the respective current door opening angle α (t) also via the door control 46 to be provided. The sensors 40 or a respective sensor unit 42 . 44 So know the current door opening angle α (t) , where, as mentioned, for example, a respective sensor unit 42 . 44 a position measuring system, in particular a gyroscope or the like, and / or a respective sensor unit 42 . 44 with the door control 46 communicates the current door opening angle α (t) knows and this to a respective sensor unit 42 . 44 transmitted.

The sensors 40 For example, via a sensor bus with the door control 46 communicate. Such a sensor bus provides a simple, inexpensive solution for a communication link between the door controller 46 and the two sensor units 42 . 44 on the hinge side and the hinge opposite side. The sensor units 42 . 44 Then, for example, not only the wing width, but in particular the complete three-dimensional image of the environment via the sensor bus to the door control 46 transfer.

One particular use of a device according to the invention with sensor units forming planar distance sensors entails the advantages that the mounting parameters of the sensor units are automatically adjusted, the size of the detection field of a respective sensor unit is automatically optimally adapted to the environment, the testing of a respective sensor unit is simplified , any existing handlebars are automatically detected and the wing width is determined automatically.

1 shows a through a device according to the invention 34 sensory secure swing door 12 in which for generating a band-side detection field 14 and a band-opposed detection field 20 on the door 18 both a tape-side sensor unit 16 as well as a band-mutual sensor unit 22 are arranged. In this case, the swing door opens 12 against a complete wall 10 , By the use of a device according to the invention 34 This is in particular prevents that in a further opening the swing door gullet 12 the wall 10 is detected as a person or obstacle.

2 shows a further schematic representation of a swing door 12 by an exemplary embodiment of a device according to the invention 34 sensory is hedged, at which the detection fields 14 . 20 the sensor units 16 . 22 each over the door 18 protrude. In the present case, the swing door opens 12 against a detached wall 10 , By the use of a device according to the invention 34 This is in particular prevents that in a further opening the swing door gullet 12 the remote wall 10 is detected as a person or obstacle.

3 shows a further schematic representation of a swing door 12 , which is sensorially protected by an exemplary embodiment of a device according to the invention, in which the detection fields 14 . 20 the sensor units 16 . 22 each on both sides over the door 18 protrude, with the swing door 12 but against an incomplete wall 10 opens. By the use of a device according to the invention 34 This is in particular prevents that in a further opening the swing door gullet 12 the incomplete wall 10 is detected as a person or obstacle.

At the in 4 represented further by a device according to the invention 34 sensory secured swing door 12 protrude the detection fields 14 . 20 the sensor units each over the door leaf 18 In addition, whereby an optimal protection of the wing movement is achieved. In this case, in particular of the sensor unit 20 on the hinge opposite side the minor closing edge NSK additionally monitored. Also at the main closing edge HSK the level of protection is higher. Opens the door 18 , is achieved by the inventive automatic adjustment of the band-side detection field 14 prevents the adjacent wall from being detected as a person or obstacle. Closes the door 18 , is determined by the inventive automatic adjustment of the band-opposed detection field 20 prevents the relevant frame 24 or in the case of double-leaf doors, the other wing as a person or obstacle.

When in the 4a shown another swing door 12 are the entry fields 14 . 22 the two sensor units 16 . 22 with the use of a device according to the invention 34 automatically by handlebars 26 limited.

5 shows a schematic representation of the width b and the opening angle of a revolving door leaf.

LIST OF REFERENCE NUMBERS

10

wall

12

Swing Door

14

Detection field on the hinge side

16

Sensor on the hinge side

18

door

20

Detection field on the tape opposite side

22

Sensor on the hinge opposite side

24

frame

26

Grab bars

28

transmitter

30

receiver

32

optical base

34

device

36

automatic revolving door

38

Door leaf, rotary wing

40

sensors

42

Sensor unit on the hinge side

44

Sensor unit on the hinge opposite side

46

door control

48

level

50

line

52

AIR-spot

a

distance

b

Width of the door leaf

α

Door opening angle

α (t)

current door opening angle

BGS

Push side

BS

hinge side

HSK

Main closing edge

NSK

Secondary closing edge

Claims (20)

Device (34) for sensory protection of the wing movements of an automatic revolving door (36; 12), with a sensor unit (42; 16) arranged on the hinge side (38; 18) and / or on the door leaf (38; arranged sensor unit (40) and a sensor (40) communicating door control (46), wherein a respective sensor unit (42, 44, 16, 22) comprises an at least substantially flat distance scanner and the sensor system ( 40) and / or the door control (46) are designed so that in a respective automatically executed learning cycle during an opening and / or closing cycle of the door leaf (38, 18) a respective sensor unit (42, 44, 16, 22) at successive Door opening angles (α) respectively in a band-side or band-mutual plane (48, 48 ') measures the distances to the surroundings of the door leaf (38, 18), from the measured values obtained in the various planes as a function of the door opening angle (α) as a function of the distances measured in the various planes to the environment and as a function of the door opening angle (α) determines a three-dimensional image of the environment and stores the thus determined three-dimensional image of the environment. Device after Claim 1 , characterized in that the sensor (40) and / or the door control (46) are designed so that the detection field of a respective sensor unit (42, 44; 16, 22) is automatically adapted to the respectively determined three-dimensional image of the environment. Device after Claim 1 or 2 , characterized in that the sensors (40) and / or the door control (46) are designed so that in the region of the door leaf (38; 18) located persons or obstacles are distinguished from the environment represented by the determined three-dimensional image. Device according to at least one of the preceding claims, characterized in that a respective sensor unit (42, 44; 14, 20) of the sensor system (40) comprises a planar scanner of light as a flat scanning scanner. Device after Claim 4 , characterized in that a respective sensor unit (42, 44, 14, 20) of the sensor system (40) comprises a surface-mounted distance scanner, an AIR light sensor and / or a laser scanner. Device according to at least one of the preceding claims, characterized in that the planar distance scanner of a respective sensor unit (42, 44, 14, 20) comprises a transmitter, a rotating mirror and a receiver and the sensor system (40) and / or the door controller (46 ) are designed so that, for measuring the distances to the surroundings in a respective belt-side or counter-belt-side plane, a scanning beam of a respective sensor unit (42, 44, 14, 20) in the respective plane (48, 48 ') to the surroundings of the door leaf ( 38: 18) and the distances to the surroundings are determined in each case from the light transit time between transmitter and receiver of a respective sensor unit (42, 44C). Device according to at least one of the preceding claims, characterized in that a respective sensor unit (42, 44, 14, 20) comprising, in particular, an AIR light sensor is designed such that during a respective opening or closing cycle of the door leaf (38, 18) at a respective current door opening angle (α (t)) in the respective plane measures the distances (x _n (t)) to the environment along a line (50) as a function of the current door opening angle (α (t)). Device according to at least one of the preceding claims, characterized in that the detection field (14) of the belt-side sensor unit (16) and / or the detection field (20) of the band-opposed sensor unit (22) each at least on one side, preferably on both sides, via the door (16) protrude. Device after Claim 8 , characterized in that the detection field (14) of the belt-side sensor unit (16) and / or the detection field (20) of the band-opposed sensor unit (22) in each case beyond the door leaf (18) to the minor closing edge (NSK) and / or on the Hauptschließkante (HSK) are extended. Device according to at least one of the preceding claims, characterized in that a respective sensor unit (42, 44; 14, 20) in an upper region of the door leaf (38, 18) is arranged. Device according to at least one of the preceding claims, characterized in that the sensor system (40) and / or the door control (46) are designed to automatically determine the width and / or the height of the door leaf (38; Device after Claim 11 , characterized in that the sensor (40) and / or the door control (46) for automatically determining the distance between the minor closing edge (NSK) and the main closing edge (HSK) of the door leaf (38; 18) and / or the distance between the on the frames (24) provided on the two sides of the door leaf (38; 18) and for the automatic determination of the width of the door leaf (38; 18) over this distance. Device according to at least one of the preceding claims, characterized in that the sensor (40) and / or the door control (46) for automatic detection of a respective handle bar (26) of the door leaf (18) are executed. Device after Claim 13 , characterized in that the presence of a respective handle bar (26) by the sensor (40) can be signaled. Device according to at least one of the preceding claims, characterized in that the function of the sensor (40) in particular via the door control (46) is automatically monitored regularly. Device after Claim 15 , characterized in that the function of the sensor system (40) can be monitored using at least one region of the determined environment as a test object. Device according to at least one of the preceding claims, characterized in that during a respective monitoring cycle for monitoring the function of the sensor (40) by means of a respective sensor unit (42, 44; 14,20) can be checked whether the determined environment has remained unchanged. Device according to at least one of the preceding claims, characterized in that the function of the sensor system (40) can be monitored via the door control (46) by taking advantage of the redundancy resulting from the two over a respective opening or closing cycle of the door leaf (38; 18) produces three-dimensional images of the environment. Device according to at least one of the preceding claims, characterized in that the sensor system (40) for determining the respective current door opening angle (α (t)) with a position measuring system such as a gyroscope or the like provided and / or the respective current door opening angle (α (t )) can be provided via the door control (46). Device according to at least one of the preceding claims, characterized in that the sensor system (40) communicates with the door control (46) via a sensor bus.

Images