DE102021206740A1 - DOOR SENSING DEVICE AND PIVOT DOOR WITH DOOR SENSING DEVICE - Google Patents

Abstract

The invention relates, inter alia, to a door sensor device (41, 42). According to the invention, the door sensor device (41, 42) is suitable for mounting on a door leaf side (10a, 10b) of a pivoting door (10), in the middle area of which a pivot axis (S) pivots the pivoting door (10) in a first door leaf section (11). and an adjacent second door leaf section (12), and the door sensor device (41, 42) is designed to detect an object (O1, O2) located in front of the door leaf side (10a, 10b) and, upon object detection, to send an object detection signal (OS1, OS2) to generate which indicates whether the detected object (O1, O2) is in the first or second door panel section (11, 12).

Description

The invention relates to door sensor devices and more particularly to those suitable for mounting on a pivoting door.

Pivot doors are characterized by the fact that there is a pivot axis in their central area, which divides the pivot door into two door leaf sections of the same size or of different sizes. Although the two door leaf sections each move in the same clockwise direction when the pivot door is pivoted, they move inversely—relative to objects located in front of the two door leaf sections.

The invention is based on the object of specifying a door sensor device which is particularly suitable for use in pivot doors.

According to the invention, this object is achieved by a door sensor device having the features according to patent claim 1 . Advantageous refinements of the door sensor device according to the invention are specified in the dependent claims.

According to the invention, it is provided that the door sensor device is suitable for mounting on a door leaf side of a pivot door, in the central region of which a pivot axis divides the pivot door into a first door leaf section and an adjacent second door leaf section, and the door sensor device is designed to detect an object located in front of the door leaf side detect and to generate an object detection signal upon object detection, which indicates whether the detected object is in the first or second door leaf section.

A major advantage of the door sensor device according to the invention can be seen in the fact that it enables object detection for each of the two door leaf sections formed by the pivot axis and can generate an object detection signal that indicates whether an object is in the first or second door leaf section. By assigning the object detection to door leaf sections, it can be determined in an advantageous manner whether or not the pivoting door has to be stopped when an object is detected.

Another significant advantage of the door sensor device according to the invention is that safe operation is possible with only a single door sensor device per door leaf side, even though the door leaf sections—relative to objects in front of them—move inversely. A pivot door can thus be reliably monitored with just two door sensor devices.

In a preferred embodiment, it is provided that the door sensor device is designed for mounting in the area of the pivot axis and provides a first scanning area for monitoring the first door leaf section and a second scanning area for monitoring the second door leaf section.

In another preferred embodiment, it is provided that the door sensor device is suitable for mounting in the area of the main closing edge of the first door leaf section of the pivot door, a first scanning area of the door sensor device is used exclusively for monitoring a first partial area of the first door leaf section and a second scanning area of the door sensor device is used for monitoring both the second door leaf section and a second partial area of the first door leaf section is used. The scanning areas are preferably determined via the respective position of the light axis and by means of distance-selective light axis evaluation.

In the last-mentioned configuration, it is advantageous if the door sensor device checks whether, in the case of an object detected in the second partial area of the first door leaf section, a second object that has or exceeds a predetermined minimum size could be present in the second door leaf section and could be shadowed by the detected object and in the In the event of possible shadowing, a shadowing warning signal is generated in addition to the object detection signal which indicates the object detected in the first door leaf section.

It is particularly advantageous if the door sensor device has a direction of rotation detection device that detects the direction of rotation of the door and/or can process an external indication of the direction of rotation that indicates the direction of rotation of the door.

When the object detection signal is present, the door sensor device preferably forms a stop signal for a higher-level door control device when the pivot door moves towards the detected object.

It is also advantageous if the door sensor device does not form a stop signal for a higher-level door control device when the object detection signal is present if the pivot door moves away from the detected object and there is no shadowing warning signal.

In addition, it is advantageous if the door sensor device forms a stop signal for a higher-level door control device when the object detection signal is present, if both in the first and also in the second door leaf section an object is detected or if an object is detected in the first door leaf section and a second object, which has or exceeds a predetermined minimum size, is present in the second door leaf section and could be shadowed by the detected object.

With a view to minimizing costs, it is considered advantageous if the door sensor device forms both scanning areas with one and the same emitter control device and/or one and the same signal processing device.

For object recognition, the door sensor device preferably comprises a scanner that measures the transit time of light and/or a plurality of emitters (transmitters) and receivers (receivers), which together form a static light fan. In the latter variant, the door sensor device can have, for example, multiple transmitters and multiple receivers, just a single transmitter and multiple receivers, or just a single receiver and multiple transmitters.

The door sensor device is preferably suitable for working as a primary door sensor device and for processing object detection signals, stop signals and/or shadowing warning signals of a secondary door sensor device and, with these and its own object detection signals, own stop signals and/or own shadowing warning signals, final object detection signals, final stop signals and/or final shadowing warning signals for a to form downstream door control device.

The invention also relates to an arrangement with a pivot door, in the central area of which a pivot axis divides the pivot door into a first door leaf section and an adjacent second door leaf section. According to the invention, a first door sensor device, which is preferably a door sensor device as described above, is arranged on one door leaf side of the pivot door and a second door sensor device, which is preferably a door sensor device as described above, is arranged on the other door leaf side of the pivot door and the two door sensor devices with a door control device suitable for controlling a door drive that can rotate the pivot door.

With regard to the advantages of the arrangement according to the invention and advantageous configurations of the arrangement according to the invention, reference is made to the above statements in connection with the door sensor device according to the invention and its advantageous configuration.

It is advantageous if the first and second door sensor device are each individually connected to the door control device and transmit object detection signals, stop signals and/or shadowing warning signals individually to the door control device.

Alternatively, the first door sensor device can be connected to the door control device as a secondary device via the second door sensor device operating as the primary device.

In the latter variant, the door sensor device operating as the second or primary door sensor device can advantageously process object detection signals, stop signals and/or shadowing warning signals of the secondary door sensor device and use these and its own object detection signals, own stop signals and/or own shadowing warning signals to produce final object detection signals, final stop signals and/or shadowing warning signals form final shadowing warning signals for a downstream door control device. For example, the primary door sensor device will generate final stop signals if its own stop signal or an external stop signal or a stop signal from the secondary door sensor device is present.

• 1 ein Ausführungsbeispiel für eine Pivottür, die mit zwei Türsensoreinrichtungen ausgestattet ist, wobei die Türsensoreinrichtungen im Bereich einer der Hauptschließkanten angeordnet sind,
• 2 die Pivottür gemäß 1 im geöffneten Zustand,
• 3-4 Abtastbereiche der Türsensoreinrichtungen bei der Pivottür gemäß 1,
• 5-10 die Arbeitsweise der Türsensoreinrichtungen bei der Pivottür gemäß 1 anhand verschiedener Szenarien, und
• 11-12 ein Ausführungsbeispiel für eine Pivottür, die mit zwei Türsensoreinrichtungen ausgestattet ist, wobei die Türsensoreinrichtungen im Bereich der Schwenkachse der Pivottür angeordnet sind.

The invention is explained in more detail below using exemplary embodiments; show examples

• 1 an embodiment of a pivot door that is equipped with two door sensor devices, the door sensor devices being arranged in the area of one of the main closing edges,
• 2 the pivot door according to 1 in the open state,
• 3-4 Scanning ranges of the door sensor devices according to the pivot door 1 ,
• 5-10 the operation of the door sensor devices in the pivot door according to 1 using different scenarios, and
• 11-12 an embodiment of a pivot door, which is equipped with two door sensor devices, wherein the door sensor devices are arranged in the pivot axis of the pivot door.

For the sake of clarity, the figures always use the same reference symbols for identical or comparable components.

the 1 shows in a schematic plan view from above an embodiment of a pivot door 10, in the central area of a pivot axis S, the pivot door 10 in a first Door leaf section 11 and an adjacent second door leaf section 12 divided. the 1 shows the pivot door 10 in the closed state, in which it closes a door opening of a wall 15. The pivot axis S can be arranged centrally, so that the door leaf sections 11 and 12 are of the same size, or offset from the center, so that the door leaf sections 11 and 12 are unequal in size.

A door drive 20 , which is controlled by a door control device 30 , is provided for pivoting the pivot door 10 . The door control device 30 can be integrated in the pivot door 10 or can be an external device.

A first door sensor device 41, which is arranged on one of the door leaf sides, for example the first door leaf side 10a, and a second door sensor device 42, which is arranged on the other, for example the second, door leaf side 10b, serve to monitor the operation of the door drive 20. The two door sensor devices 41 and 42 are each arranged in the area of the main closing edge of the first door leaf section 11 . Alternatively, they could also be arranged on the other main closing edge, ie the main closing edge of the second door leaf section 12 . The two door sensor devices 41 and 42 can also be arranged on different main closing edges of the pivot door 10, of course on different door leaf sides, in order to detect both door sides by measurement.

the 2 shows the pivot door 10 according to FIG 1 in the fully open state.

the 3 and 4 show the pivot door 10 again in the closed state, namely in a plan view (see 3 ) and a side view (see 4 ), during operation. It can be seen that the two door sensor devices 41 and 42 each generate or form a first scanning area AB1 which is used to monitor exclusively a first partial area TB1 of the first door leaf section 11 . A second scanning area AB2 of the door sensor devices 41 and 42 is used both to monitor the second door leaf section 12 and a second partial area TB2 of the first door leaf section 11. In the second scanning area AB2, a determination is made as to whether a detected object is in the first partial area TB1 or in the second partial area TB2 located, for example, determined by a transit time measurement of pulses or a distance measurement by triangulation or the like.

The mode of operation of the two door sensor devices 41 and 42 will be explained in more detail below using the first door sensor device 41 as an example.

the 5 shows a middle position of the pivot door 10 during an opening movement. An object O2 located in the second door leaf section 12 is detected by the first door sensor device 41 so that it forms an object detection signal OS2 which indicates that an object has been detected in the second door leaf section 12 .

If the first door sensor device 41 has its own direction of rotation detection device that indicates the direction of rotation of the pivot door 10, or if it receives an external indication of the direction of rotation of the pivot door 10, it can also check whether the second door leaf section 12 is on the detected object O2 closed or not. In the embodiment according to 5 the pivot door 10 rotates counterclockwise, so there is no fear that the second door panel section 12 might endanger the detected object O2. There is thus no reason for the first door sensor device 41 to generate a stop signal for the door device 30 to stop the door drive 20 .

the 6 shows the situation according to for comparison 5 for the case of a closing movement of the pivot door 10, in which the door drive 20 pivots the pivot door 10 clockwise. In this case, the second door panel section 12 will move towards the detected object O2, so that there is a risk of a collision. In this case, the first door sensor device 41 will preferably generate a stop signal ST as an alternative or in addition to the object detection signal OS2 and transmit it to the door control device 30 so that the latter can stop the door drive 20 .

the 7 and 8th show the pivot door 10 when closing, which - in contrast to the representation according to 6 - A first object O1 in the first door leaf section 11 is detected. Correspondingly, the first door sensor device 41 generates an object detection signal OS1 which indicates the detection of the first object O1 in the first door leaf section 11 .

If the first door sensor device 41 has information about the direction of rotation, it will recognize that the first door leaf section 11 is moving away from the recognized first object O1, so that there is no risk of a collision. There is therefore no reason to generate a stop signal ST for the door control device 30 . The problem here, however, is that a first object O1 located in the first door leaf section 11 could shadow or cover a second object O2 possibly located in the second door leaf section 12 due to its size, which is determined, for example, on the basis of the interrupted measuring beams, so that the latter could because of the pivot door 10 could collide with the second door panel section 12. Accordingly, the first door sensor device 41 will preferably generate a shadowing warning signal AWS, which indicates that possible shadowing could have occurred in the second door leaf section 12 due to the size and/or position of the detected first object O1. In the circumstances described, the first door sensor device 41 will preferably generate at least the shadowing warning signal AWS or alternatively or additionally a stop signal ST and transmit at least one of the two latter signals to the door control device 30 .

the 9 and 10 show a different state for comparison, in which a first object O1 has been detected in the first door leaf section 11, which is either very small or does not cover the second scanning area AB2, or at least not significantly, so that a second object may be located in the second door leaf section 12 O2 would be reliably detected and there are no shadowing problems. In the condition according to 8th the first door sensor device 41 will therefore not generate a shadowing warning signal AWS and accordingly also no stop signal ST.

The first door sensor device 41 and the second door sensor device 42 can each be individually connected to the door control device 30 and transmit their object detection signals OS1 or OS2, their stop signals ST and/or shutdown warning signals AWS individually to the door control device 30, so that the latter can make the decision about further operation of the door drive 20 can meet.

Alternatively, it is possible to connect one of the two door sensor devices, for example the first door sensor device 41, as a secondary device to the door control device 30 via the other door sensor device operating as the primary device, for example the second door sensor device 42. In such a configuration, the second door sensor device 42 generates stop signals ST for the door control device 30, using both its own object detection signals and object detection signals from the first door sensor device, both its own stop signals and stop signals from the first door sensor device, and both its own shadowing warning signals and shadowing warning signals from the form the first door sensor device and only transmit any resulting stop signals to the door control device 30 .

the 11 and 12 show another embodiment of an arrangement with a pivot door 10, which is equipped with two door sensor devices 41 and 42. In contrast to those associated with the 1 until 10 In the exemplary embodiments explained, the arrangement of the door sensor devices 41 and 42 is selected differently, namely they are arranged in the area of the pivot axis S of the pivot door 10 .

It can be seen that the arrangement of the two door sensor devices 41 and 42 in the area of the pivot axis S means that the two scanning areas AB1 and AB2 are each assigned individually to the first door leaf section 11 and the second door leaf section 12 . A shadowing problem, as has been described above in connection with installation in the area of the main closing edges of the first door leaf section 11, is thus eliminated in the arrangement in the area of the pivot axis. There is also no differentiation as to whether an object detected in the second scanning area AB2 is in the area of the first or second door leaf section 12 because the second scanning area AB2 is assigned exclusively to the second door leaf section 12 .

Otherwise, the above explanations apply in connection with the 1 until 10 for the embodiment according to 11 and 12 corresponding.

If the door sensor devices 41 and 42 each have information about the direction of rotation because it was determined themselves or was received externally, they preferably only transmit stop signals ST to the door control device 30.

If the door sensor devices 41 and 42 have no information about the direction of rotation, they preferably transmit their object detection signals and, if applicable, their shadowing warning signals AWS to the door control device 30.

• - Die Türsensoreinrichtungen können einen optischen Vorhang auf Basis eines lichtlaufzeitmessenden Scanners erzeugen.
• - Die Türsensoreinrichtungen können einen optischen Vorhang auf Basis eines statisch aufgebauten Lichtfächers erzeugen.
• - Die Anbringung der Türsensoreinrichtungen kann relativ über der Drehachse erfolgen, wobei vorzugsweise jeweils ein optisches Schutzfeld links und ein Schutzfeld rechts von der Drehachse mittels Lichtachsen unterschiedlichen Winkels aufgespannt wird. Die Erfassung der zur optischen Schutzfeldfestlegung benötigten linken sowie rechten Türblattbreite erfolgt vorzugsweise durch eine Gestik-Erfassung des Monteurs/Inbetriebnehmers bei der Montage bzw. Geräteinbetriebnahme.
• - Die Anbringung der optischen Türsensoreinrichtungen kann beidseitig auf einer der oberen Türblattecken erfolgen. Die Unterscheidung des optischen Schutzfelds links und Schutzfeld rechts von der Türdrehachse kann mittels entfernungsselektiver Lichtachsenauswertung erfolgen.
• - Die Erfassung des zur optischen Schutzfeldfestlegung benötigten Sensor-Drehachsabstands und der Gesamttürblattbreite erfolgt vorzugsweise durch eine Gestik-Erfassung des Monteurs/Inbetriebnehmers bei der Montage bzw. Geräteinbetriebnahme oder durch manuelle Eingabe (beispielsweise mittels Fernbedienung) oder mittels intelligentem Sensor-Interface (beispielsweise über einen CAN-Bus).
• - Die Signalisierungszustände der Türsensoreinrichtungen werden vorzugsweise in Abhängigkeit von der jeweiligen Schutzfeldverletzung sowie der Türbewegungsrichtung festgelegt. Die Bewegungsrichtung der Tür kann mittels sicherem Interface von der Türsteuerung übermittelt bzw. mittels sensorinterner Türwinkelermittlung bestimmt werden.
• - Bei der Festlegung der Signalisierungszustände des Sensors werden vorzugsweise gleichzeitige Objektdetektionen (von mehreren Personen) beider Schutzfelder berücksichtigt, die immer zum sicheren Tür-Stopp führen.
• - Eine Ausgabe der unterschiedlichen Sensorsignalisierungszustände (Sensorausgabesignale) kann über mehrere durch die Türsteuerung gesicherte, kabelgebunde Ausgänge oder über ein sicheres Interface, beispielsweise CAN-Bus, erfolgen.
• - Die Türsensoreinrichtungen können eine oder mehrere voneinander beabstandete optische Ebenen ausbilden (z. B. in Form eines 3D-Sensors).
• - Die Türsensoreinrichtungen können mit integrierter Neigungsverstellung des optischen Vorhangs oder ohne Neigungsverstellung ausgeführt sein.
• - Die Türsensoreinrichtungen, inklusive Neigungsvorgabe des optischen Vorhangs, können gehäuselos im Türrahmen der Pivot-Tür integriert sein.
• - Die Funktion der Türsensoreinrichtungen kann in die Funktionalität einer sogenannten „virtuellen Wand“ integriert sein.

The related to the 1 until 12 The exemplary embodiments described above for door sensor devices and arrangements with a pivot door and door sensor devices can have one or more of the following properties or features:

• - The door sensor devices can generate an optical curtain based on a scanner that measures the time of flight of light.
• - The door sensor devices can create an optical curtain based on a static light fan.
• The door sensor devices can be mounted relatively above the axis of rotation, with an optical protective field to the left and a protective field to the right of the axis of rotation preferably being spanned by means of light axes of different angles. The capture of the left and right door leaf width required for optically defining the protective field is preferably carried out by registering gestures by the fitter/commissioning engineer during assembly or commissioning of the device.
• - The optical door sensor devices can be attached on both sides on one of the upper corners of the door leaf. The optical protective field on the left and the protective field on the right of the door rotation axis can be distinguished by means of distance-selective light axis evaluation.
• - The detection of the sensor rotation axis distance required for optically defining the protective field and the total door leaf width is preferably carried out by detecting gestures by the fitter/commissioning engineer during installation or device commissioning or by manual input (e.g. using a remote control) or using an intelligent sensor interface (e.g. using a CAN bus).
• - The signaling states of the door sensor devices are preferably defined as a function of the respective protective field violation and the direction of door movement. The direction of movement of the door can be transmitted from the door control via a secure interface or determined by means of a sensor-internal door angle determination.
• - When determining the signaling states of the sensor, simultaneous object detections (by several people) of both protective fields are preferably taken into account, which always lead to a safe door stop.
• - An output of the different sensor signaling states (sensor output signals) can take place via several wired outputs secured by the door control or via a secure interface, for example CAN bus.
• - The door sensor devices can form one or more spaced-apart optical planes (z. B. in the form of a 3D sensor).
• - The door sensor devices can be designed with integrated tilt adjustment of the optical curtain or without tilt adjustment.
• - The door sensor devices, including the inclination specification of the optical curtain, can be integrated without a housing in the door frame of the pivot door.
• - The function of the door sensor devices can be integrated into the functionality of a so-called "virtual wall".

Although the invention has been illustrated and described in more detail by means of preferred exemplary embodiments, the invention is not restricted by the disclosed examples and other variations can be derived therefrom by a person skilled in the art without departing from the protective scope of the invention.

Reference List

10

pivot door

10a

first door leaf side

10b

second door leaf side

11

first door leaf section

12

second door leaf section

15

Wall

20

door drive

30

door control device

41

first door sensor device

42

second door sensor device

AB1

first scan area

STARTING AT 2

second scanning area

AWS

shadowing warning signal

O1

object

O2

object

OS1

object detection signal

OS2

object detection signal

S

pivot axis

ST

stop signal

TB1

first section

TB2

second section

Claims (14)

Door sensor device (41, 42) , characterized in that - the door sensor device (41, 42) is suitable for mounting on a door leaf side (10a, 10b) of a pivoting door (10), in the central area of which a pivoting axis (S) the pivoting door (10) in a first door leaf section (11) and an adjacent second door leaf section (12), and - the door sensor device (41, 42) is designed to detect an object (O1, O2) located in front of the door leaf side (10a, 10b) and upon object detection to generate an object detection signal (OS1, OS2) which indicates whether the detected object (O1, O2) is in the first or second door leaf section (11, 12). Door sensor device (41, 42) after claim 1 , characterized in that the door sensor device (41, 42) is designed for installation in the area of the pivot axis (S) and a first scanning area (AB1) for monitoring the first door leaf section (11) and a second scanning area (AB2) for monitoring the second door leaf section (12) provides. Door sensor device (41, 42) after claim 1 , characterized in that - the door sensor device (41, 42) is suitable for installation in the area of the main closing edge of the first door leaf section (11) of the pivot door (10), - a first scanning area (AB1) of the door sensor device (41, 42) exclusively for monitoring a first partial area (TB1) of the first door leaf section (11) and - a second scanning area (AB2) of the door sensor device (41, 42) for monitoring both the second door leaf section (12) and a second partial area (TB2) of the first door leaf section (11 ) serves. Door sensor device (41, 42) after claim 3 , characterized in that - the door sensor device (41, 42) checks whether, in the case of an object (O1) detected in the second partial area (TB2) of the first door leaf section (11), a second object (02) which has or exceeds a predetermined minimum size , could be present in the second door leaf section (12) and shadowed by the detected object (O1) and - in the event of possible shadowing, a shadowing warning signal in addition to the object detection signal (OS1), which indicates the object (O1) detected in the first door leaf section (11). (AWS) generated. Door sensor device (41, 42) according to one of the preceding claims, characterized in that the door sensor device (41, 42) has a direction of rotation detection device that detects the direction of rotation of the door and/or can process an external indication of the direction of rotation indicating the direction of rotation of the pivot door (10). Door sensor device (41, 42) after claim 5 , characterized in that the door sensor device (41, 42), when the object detection signal (OS1, OS2) is present, forms a stop signal (ST) for a higher-level door control device (30) when the pivot door (10) moves towards the detected object (O1, O2 ) moved towards. Door sensor device (41, 42) according to one of the preceding ones Claims 5 until 6 , characterized in that the door sensor device (41, 42) does not form a stop signal (ST) for a higher-level door control device (30) when the object detection signal (OS1, OS2) is present if the pivot door (10) moves away from the detected object (O1, O2 ) moved away and no shadowing warning signal (AWS) is present. Door sensor device (41, 42) according to one of the preceding ones Claims 5 until 7 , characterized in that the door sensor device (41, 42), when the object detection signal (OS1, OS2) is present, forms a stop signal (ST) for a higher-level door control device (30) if a Object (O1, O2) is detected or if an object (O1) is detected in the first door leaf section (11) and a second object (02) is present in the second door leaf section (12) and could be shadowed by the detected object (O1). Door sensor device (41, 42) according to one of the preceding claims, characterized in that the door sensor device (41, 42) forms both scanning areas (AB1, AB2) with one and the same emitter control device and one and the same signal processing device. Door sensor device (41, 42) according to one of the preceding claims, characterized in that the door sensor device (41, 42) for object recognition comprises a scanner measuring the time of flight of light. Door sensor device (41, 42) according to one of the preceding claims, characterized in that the door sensor device (41, 42) for object recognition comprises a plurality of emitters and/or receivers which form a static light fan. Arrangement with a pivoting door (10), in the central area of which a pivoting axis (S) divides the pivoting door (10) into a first door leaf section (11) and an adjacent second door leaf section (12), characterized in that - a first door sensor device (41), which is preferably a door sensor device according to one of the preceding claims, on one door leaf side (10a, 10b) of the pivot door (10) and a second door sensor device (42), which is preferably also a door sensor device according to one of the preceding claims, on the other door leaf side (10a , 10b) of the pivot door (10) and - the two door sensor devices (41, 42) are connected to a door control device (30) suitable for actuating a door drive (20) which can rotate the pivot door (10). arrangement according to claim 12 , characterized in that - the first and second door sensor devices (41, 42) are each individually connected to the door control device (30) and send object detection signals (OS1, OS2), stop signals (ST) and/or shading warning signals (AWS) individually to the door control device (30). arrangement according to claim 12 , characterized in that one of the door sensor devices (41) as a secondary device is connected to the door control device (30) via the other door sensor device (42) working as a primary device, and the door sensor device (42) working as a primary device transmits stop signals (ST) for the door control device (30) using object detection signals (OS1, OS2), stop signals (ST) and/or shading warning signals (AWS) from the door sensor device (41) working as a secondary device.

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