EP1470314B1 - Automatically actuating door, in particular a vertical door, and methode for its actuating - Google Patents

Abstract

The invention relates to a device for automatically actuating a door, in particular a vertical door, which aims to replace to a great extent known signal generation devices or control signal sensors for opening the door or for the security monitoring of the closing motion of the door. This is achieved by a detector of a security system, which is configured as a scanner detector and operates according to reflective principles, for monitoring an area by allocation to one of the ground level aprons of the door, said detector being mounted in the vicinity of a lateral border of the door opening, at a height, which is adjusted to the maximum height of objects supported on the relevant apron that are not to be registered as obstacles. The scanning beam of said detector scans a horizontal fan-shaped area, which covers the relevant apron and has a low vertical depth, determined by the depth of the scanning beam, as the monitoring area. The radial dimension of said fan-shaped area, which is determined by the maximum measuring range of the scanning detector, is selected according to the size of the relevant apron.

Description

The invention relates to an automatically operable gate and a method for automatic operation of a gate, in particular a lifting gate, which has a substantially vertical opening plane, an inner side and an outer side and respectively located on the inside and the outside, floor-level aprons.

It is well known that in automatically operated gates or doors safety precautions must be taken so that not in the door opening obstacle objects or people when the door or the door is automatically closed, damaged or injured.

For this purpose, it has been known to contact the closing edges or closing edges of automatically operated gates or doors contact contact strips arranged which shut down the door drive or door drive or reversed in the opening direction as soon as the relevant touch contact strip against a Hindemisobjekt or person abutting the door opened.

Another known solution for protecting obstacles or persons from hitting a closing automatically operated door or a closing automatically operated door was to span the opening plane of the door or the door by a plurality of light barriers or by a scanning light beam with To provide a so-called light curtain, at the injury thereof at any point of the not yet occupied by the closing gate or the shooting door part the opening level, a signal for stopping or reversing the drive for the automatically operated door or the automatically operated door was generated. A very advantageous system of this kind is described, for example, in US Pat. No. 6,218,940.

Automatically operated gates for very large door openings, such as aircraft hangars, fire equipment halls, assembly halls and the like, move both in the opening direction and in the closing direction with a comparatively high speed, which is why it may happen that of a to be moved to the door opening Hindemisobjekt with a ground level, extending to the opening plane part, such as the tips of forklift tines, made a violation of the light curtain and a detector signal is triggered, which triggers the shutdown or reversal of the door drive, but that the shutdown and reversal of the door movement is not so timely takes place that subsequent, towering parts of the object to be moved to the opening level Hindemisobjektes capture the gate closing and are damaged, but in particular also severely damage the gate.

Attempts have been made to counteract these problems by installing a further safety system in addition to a safety system which, for example, provides a light curtain spanning the opening plane of the door opening by means of a detector beam or several detector beams, which has a motion detector installed approximately in the center above the door opening contained, which directed to an apron in front of the opening plane detector radiation fields, when injured by a moving on the opening plane of the gate in question obstacle object or by a person moving accordingly the automatic door drive or door drive in the door opening direction or gate opening direction was controlled. The radiation fields of such motion detectors are stationary.

In these known systems, in addition to the gate opening plane monitoring light curtain to be provided proximity detector, which monitors aprons on the inside or Toraußenseite, an additional apperativen effort. It has also been found that the detector radiation fields known proximity detector monitor the relevant apron only incomplete, in such a way that, for example, a child can meander between the surveillance beams and thus reach the opening plane of the closing gate or the closing door without "advance notification". Finally, above the opening of the door or the door mounted motion detector have the disadvantage that at a small distance in front of the opening plane detector beams of the proximity sensor are directed very steeply downwards to be monitored monitoring apron and therefore a horizontal speed of a Hindemisobjektes to be detected or to be detected Person has only a very small speed component in the detector beam direction, such that operating on the Doppler principle motion detectors for the near the opening plane located apron area often have insufficient sensitivity.

It should be noted that it is well known to scan vertical surveillance areas, such as housing facades, or horizontal surveillance areas, such as land, with scanning beams of a laser radar scanning detector and thus generate a guard signal when breaching the respective surveillance area, the corresponding evaluation is supplied. It is also known to use a laser radar scanning detector within a door opening located in a vertical plane To produce a light curtain, in the injury of which is triggered by an obstacle by means of the detector a gatekeeper signal used for gate control.

The object of the invention is to achieve the object, a device and a method for automatically actuating a door, in particular a lifting gate, which has a substantially vertical opening plane, an inside and an outside, and floor-level aprons located respectively on the inside and the outside, be designed so that a high level of security against both damage or injury of Hindemisobjekte or persons by starting the closing gate as well as against damage to the closing gate is achieved by obstacle objects without several different security systems must be provided.

The invention also provides a device for automatic operation of a gate is to be created, which is largely the known signal generating devices or control signal generator to open the gate or to monitor the safety of the closing movement of the gate is capable, for example, in the aprons embedded induction loops, motion detectors of all kinds Pressure-responsive mats, photoelectric barriers, scanning bars, pull switches and the like.

This object is achieved by the features specified in the appended claims 1 and 11 features.

Advantageous embodiments and further developments are the subject of claims subordinate to claim 1, the content of which is hereby expressly made part of the present description, without repeating the wording at this point.

The invention is based on the idea that obstacle objects or people who are about to penetrate the not yet covered by a closing gate part of the opening plane and thus run the risk of being hit by the closing edge or the closing edge of the gate, clamped in any case, in one of the aprons are supported against the ground and therefore, before they penetrate the said part of the opening plane of the closing gate, in any case, the horizontal surveillance area overlapping the relevant apron at a small vertical distance in the form of the Abtastdetektor violate outgoing horizontal fan, such that with appropriate design of this horizontal fan it no longer needs a curtain-like, the door opening spanning monitoring area in a device according to the invention. It is therefore considered with increased security against injury or damage to persons or objects or to the shooting goal a much simplified structure of the entire device.

Significantly, a laser radar scan detector used in a preferred embodiment, often referred to as a laser scanner and well known in the art, produces a sharply-focused detector scan beam such that from the scan detector a well-defined scan horizontal fan can be generated within which by means of the scanning beam in each case the distances to obstacle objects or obstacle object parts are measured so that with respect to individual points on obstacle objects with respect to the transmitter location as a zero polar coordinates, ie beam angle and radial obstacle removal, can be collected. The data thus collected can be processed in a variety of ways by comparing corresponding coordinate values from successive sampling cycles. Different evaluations and correspondingly different processing programs can be made Without this, a substantial apperative transformation of the proposed device is required.

Examples of a particular evaluation of the polar coordinate values of hindlem object points obtained in successive sampling cycles are cross-traffic suppression, i. the exclusion of such detector output signals from a door operation in the sense of stopping the closing movement or a stop and reversing in opening movement, which indicate a movement of an object detected by the detector parallel to the Torschließebene; further exclusion of detector output signals from a gating controller when such detector output signals are indicative of static obstacles that are always in advance or objects that have been shut down in advance and that remain stationary for a certain time.

Fig. 1

eine schematische perspektivische Ansicht eines Gebäudeteils mit einer durch ein automatisch betätigtes Rolltor verschließbaren Toröffnung und einem Wächtersystem in einer Einrichtung der hier angegebenen Art gemäß einer ersten Ausführungsform;

Fig. 2

eine teilweise im Horizontalschnitt gezeigte Aufsicht auf einen Gebäudeteil mit einer Toröffnung und einer Einrichtung der hier angegebenen Art gemäß einer zweiten Ausführungsform;

Fig. 3

eine ähnliche Darstellung wie Fig. 2 in Aufsicht mit einer Einrichtung der hier angegebenen Art gemäß einer dritten Ausführungsform;

Fig. 4

eine schräg von oben gesehene perspektivische Darstellung eines Gebäudeteils mit Toröffnung und einer Einrichtung der hier angegebenen Art gemäß einer vierten Ausführungsform;

Fig. 5

eine ähnliche Darstellung wie Fig. 4 zur Erläuterung einer fünften Ausführungsform;

Fig. 6

eine Aufsicht auf einem Gebäudeteil mit Toröffnung und einer Einrichtung gemäß einer sechsten Ausführungsform; und

Fig. 7

eine ähnliche Darstellung wir Fig. 6 zur Erläuterung einiger geometrischer Überlegungen zur Verdeutlichung besonderer Vorteile des hier angegebenen Systems.

Hereinafter, some embodiments will be described with reference to the drawings. They show:

Fig. 1

a schematic perspective view of a building part with a closable by an automatically operated roller shutter gate opening and a security system in a device of the type specified here according to a first embodiment;

Fig. 2

a partially shown in horizontal section plan view of a building part with a door opening and a device of the type specified here according to a second embodiment;

Fig. 3

a view similar to Figure 2 in plan view with a device of the type specified here according to a third embodiment.

Fig. 4

an obliquely viewed from above perspective view of a building part with door opening and a device of the type specified here according to a fourth embodiment;

Fig. 5

a representation similar to Figure 4 for explaining a fifth embodiment.

Fig. 6

a plan view of a building part with gate opening and a device according to a sixth embodiment; and

Fig. 7

FIG. 6 shows a similar illustration for explaining some geometric considerations to clarify particular advantages of the system specified here.

As far as in the following explanations of a scanning detector is mentioned, it is preferably a laser radar scanning detector. The direction of the finely focused scanning beam of the scanning detector can be determined by the directional beam of the transmitting and receiving device.

In Fig. 1, a part 1 of a building is indicated, which rises from the ground level 2 and is broken by a gate opening 3. At the side boundaries 4 and 5 of the door opening 3 are Torführungs- and support structures, such as guide rails in which a laminated roller door 6 is guided, wound to open the door on a roller 7 or to close the Tores can be unwound from the roller 7, so that the closing edge or the closing edge 8 of the roller shutter 6 is finally lowered down to the ground level 2. The movement of the roller shutter 6 is carried out automatically by means of a door drive 9, which is coupled to a control device 10 which control signals are supplied from a hand switch in a manner not shown, such that an operator can cause the opening or closing of the roller shutter 6.

In addition, the control device 10 is connected to a security system 11, which contains a working according to the Rückstrahlprinzip detector 12. In the present embodiment, it is a laser radar scanning detector, which is mounted near the side boundary 4 of the door opening 3 on the viewer facing side of the door. The laser radar scanning detector 12 generates a horizontal fan 13 in the form of an example 90 ° sweeping circular disk sector as a monitoring area. The laser radar scanning detector 12 is mounted at such height above the ground plane 2 laterally adjacent to the door opening 3 on the building part 1, that the horizontal fan 13 is slightly higher than the maximum height of living beings or objects is, which should not be detected as obstacle objects. Examples of such objects are lugs from the twin tires of trucks, lost packaging material on a smaller scale, birds that have settled on the ground and the like. The height above ground level 2 may be, for example, 5 cm to 50 cm, with lower values preferably to be provided over the inner apron and higher values above the outer apron.

On the outside, facing the observer, for example, and the inside of the gate monitored by the observer, there are the aprons 14 or 15 identified by hatching which, in the example chosen, each cover a semicircular area in front of or behind the door opening on the floor level 2, where the circle diameter is greater than the width of the Gate opening is. The radius of the circular sector-shaped horizontal fan 13, that is the monitoring range of the laser radar scanning detector 12, is selected so that the horizontal fan 13 covers the apron 14 in any case.

The radius of the horizontal fan 13, so the maximum measuring range of the Abtastdetektors 12, for example, be determined by the fact that after transmission of a radar pulse of the receiving channel only during a limited, by the double transit time of a radar pulse across the fan radius time period for the reception of any echo signals kept open.

In the embodiment of FIG. 1, a constant over the pivoting range of the scanning range or a constant maximum measuring range is provided, such that the radius of the horizontal fan 13 about the width of the door opening 3 plus twice the lateral offset of the laser radar scanning detector 12th relative to the lateral door boundary 4, as can be seen essentially from FIG.

Since the laser radar scanning detector 12 is mounted laterally to the building part 1, the horizontal fan 13 is shaded by the scanning of the detector 12 adjacent wall of the building part 1 to the door opening 3, such that the scanning detector only one located above the outer apron 14 horizontal fan 13 to can produce.

But if, as shown in FIG. 2, the scanning detector 12 mounted directly on an edge of the reveal of the door opening 3 or an inwardly facing edge of Torführungs- and Abstützkonstruktionen 16, the shading of the horizontal fan 13 by the Abtastdetektor 12 adjacent building parts or Torführungs- and Abstützkonstruktionsteile significantly lower, so that the horizontal fan 13 then, for example, have an angular extent of 220 ° can and not only the outside apron 14, but also the inside apron 15 of the gate and the bottom area directly superimposed in the door opening 3, such that one receives a continuous surveillance area on both aprons, at least during the period in which the roller shutter. 6 with its lower edge or with its locking edge 8 above the level at which the scanning detector 12 is mounted.

If you want to cover by scanning trays a Abtastdetektoranordnung both on the inside and on the outside of the gate aprons by horizontally fan-shaped monitoring areas, which also extend laterally from the door opening 3 to the building wall 1 back, as for the aprons 14 and 15 in FIG. 1, two scanning detectors 12 and 12 'may be provided according to the embodiment of FIG. 3, one of which is mounted, for example, near the right side boundary 5 of the door opening 3 facing the outside of the door, scanning the horizontal fan 13 as a monitoring area, while the other other scanning detector 12 'is mounted near the side boundary 4 of the door opening 3 on the inside and generates the horizontal fan 13'. Both horizontal compartments 13 and 13 'remain even when the roller door is completely closed, while in the embodiment of FIG. 2 with the roller shutter closed, the shadowed part of the horizontal fan 3 which overlays one of the aprons is shaded. The outputs of the scan detectors 12 and 12 'may be connected by an OR operation and supplied to the controller 10 (see FIG. 1).

FIGS. 2 and 3 show situations in which the outside apron 14 and the inside apron 15 run the risk of being entered or driven by hindemis objects which move towards the door opening 3. An obstacle object 18 located on the outside near the apron 14 has, for example, the shape of a truck with a low-lying driver's cab For example, the obstacle object approaching from the inside of the door opening 3 has the shape of a forklift 21 with low-level lifting tines 22, a loaded pallet 23 supported thereon, and the landing gear 24 with the cab 24 disposed thereon. It can be seen that regardless of the height profile of the gate opening 3 approaching Hindemisobjektes this case on the way to the door opening 3 towards the ground in the apron 14 and 15 must be supported and therefore in any case the support means, such as wheels, tires and the like be timely detected by the monitoring area in the form of the horizontal fan 13 or the horizontal fan 13 and 13 'and a shutdown or reversal of the door drive 9, such that it did not bedar a reaching to a certain height monitoring light curtain in the opening plane of the door opening 3 f.

Fig. 4 shows the possibility of using a single scanning detector 12, which is arranged near a side boundary, for example near the side boundary 4, the door opening 3, to produce a horizontal fan 13 as a monitoring area, both an apron on the outside and an apron superimposed on the inside of the door opening. For this purpose, in the door opening 3 containing building part 1 near the side boundary 4 of the door opening a chamber is installed, in which the Abtastdetektor 12 is installed. From the chamber extends from a breakthrough to the side boundary 4 of the door opening 3, said breakthrough also passes through Torführungs- and Abstützkonstruktionen on the relevant side boundary of the door opening 3, such that these Torführungs- and Abstützkonstruktionen at the height of the exit of the scanning beam on a small vertical distance are interrupted, so that the scanning beam can pass freely and can sweep over, for example, over 150 ° extending horizontal fan.

Another possibility for generating monitoring areas superimposed on the inner and outer apron by means of a single scanning detector 12 is shown in FIG. Again, in which the door opening 3 contained building part 1 near the side boundary 4 of the door opening 3, a chamber for receiving the Abtastdetektors 12 is provided. However, this sends his scanning beam not directly toward the door opening 3, but on a likewise located within a chamber of the building part 1 distribution mirror 25, which sends the scanning beam to mounted on the outside and the inside of the building part deflecting mirrors 26 and 27 respectively. From the distribution mirror 25 thus provided for the steel passage horizontal channels pass through the wall thickness of the housing part 1 through to the deflecting mirrors 26 and 27, of which then the monitoring areas in the form of horizontal fans 13 and 13 'go out.

Embodiments according to FIGS. 4 and 5 have the advantage that the outer-side apron and the horizontal apron overlapping horizontal compartments of the scanning beams of the scanning detector 12 are also retained when the roller shutter 6 has been lowered below the level of the scanning detector 12. For the evaluation of the output signals of the sampling detector 12 in a signal processing device belonging to the monitoring system 11, the following can be said:

According to the preferred embodiment in which the scanning detector 12 is a laser radar scanning detector, if a transmission pulse is emitted at a certain time, the time during which the receiving channel is kept open for receiving echo signals after transmission determines the radial dimension of the echo signal from the scan detector 12 outgoing horizontal fan 13 and 13 '. For example, in the embodiments according to FIGS. 1 to 5, the receiving channel is kept for a constant time after the transmission of the Transmit pulse kept open, which is why the horizontal fan 13 and 13 'each has a substantially Kreisscheibensektorförmige shape.

According to Fig. 6, however, it is also possible to select the duration of the open attitude of the receiving channel after transmission of the transmission pulse depending on the tilt angle of the scanning beam in the horizontal plane, so that one obtains a horizontal fan 13, despite the laterally offset arrangement of the scanning detector 12 a approximately semicircular apron 14 superimposed on the outside of the door opening 3.

It is understood that where the scanning beam of the scanning detector 12 which pivots within the horizontal fan 13 or 13 'impinges on the building part 1, for example on the side boundary 5 of the door opening 3 opposite the mounting location of the scanning detector 12 (for example embodiments according to FIGS , 4 and 6), the scanning detector 12 would report an obstacle object violating its monitoring area in the form of the horizontal fan, in such a way that the security system generates a guard signal and triggers the stopping or reversing of the door drive 9. In order to prevent this, signal processing of the output signals of the scanning detector is provided, which provides a fixed target suppression, as is known from radar technology. Accordingly, monitor system outputs are only generated when a comparison between a current detector output and a stored detector output from phase-analog samples of previous sample cycles shows that the sample beam has been reflected from an object that at a previous sample cycle has a different radial removal from the sample detector, particularly a greater radial distance from the scan detector, as was the case with the current scan. The signal processing device of the guard system thus includes an erase stage with memory means for storing echo signals according to their origin at a predetermined Position of the scanning beam, as well as comparison means for the pointwise comparison of received from respective directions current scanning signals for the purpose of mark suppression. In this way it is possible, even in the aprons 14 and 15 constantly existing objects, such as trees, boundary posts or the like, to arrange or set up without this disturbs the function of the device of the type specified here.

In a signal processing device which is acted upon by the distance detector 12, a comparison of detector output signals from angularly adjacent scanning directions of the scanning beam can also be carried out during the same scanning cycle or also from successive scanning cycles, so that signals corresponding to information about the direction of movement of an obstacle object are obtained. This comparison results containing motion information and information about the direction of movement can be linked to the guard signals, such that switching off or reversing the door drive 9 always takes place when obstacle objects moving on the aprons 14 and 15 have a stronger component of movement in the direction of the door opening 3 point out. Thus, the signal processing means may implement certain signal processing programs enabling tracking object tracking such that, when obstacle objects move horizontally parallel to the opening plane of the door opening 3, no guard signals are generated while, when a motion component is detected on the door opening 3 Guard signals are derived from the detector signals.

While the scan detector, in particular, the laser radar scan detector from scan cycle to scan cycle each provides sets of obstacle point coordinates in the surveillance area, the processing of the coordinate information or the coordinate data in the Siganlverarbeitungseinrichtung takes place preferably based on certain defined security zones in the surveillance area which can be divided into two zones, for example an absolute security zone extending horizontally over the entire door width and horizontally over a certain distance from the door closing plane, and a relative security zone extending in a larger area Distance from the absolute safety zone and greater distance from the door closing level finds. In the absolute security zone no objects are tolerated. Changes lead to the opening of the gate. The gate closes only when the original condition is restored. In the relative safety zone, criteria such as the approach speed and the size of the movement component in the direction of the door opening are taken into account and different control decisions are made in each case.

• Eintrittspunkt des Hindemisobjektes in den Überwachungsbereich
• Eintrittsrichtung horizontal relativ zu der Torschließebene;
• Eintrittsgeschwindigkeit und Geschwindigkeitskomponente in Richtung normal zur Torschließebene.

The signal processing device also makes it possible to calculate the following information about the movement of a hindrance object on the basis of the obstacle object coordinate information collected by the scanning detector in successive scanning cycles:

• Entry point of hindemis object into the surveillance area
• Direction of entry horizontal relative to the door closing plane;
• Entry velocity and velocity component in the direction normal to the door closing plane.

This information can be taken into account when obtaining the guard signal or to form a specific control signal or to set a specific reaction rate of the control device.

If the operated gate is a sliding roller shutter with vertical gate closing edge, which moves parallel to itself horizontally in the opening direction, so the same construction and the same design of the Abtastdetektors the aforementioned calculation of the entry point of Hindemisobjektes in the monitoring area for Forming the control signals are used, which cause a different rapid opening of the gate, depending on whether an object approaches the door opening near the closing gate located in the closing direction or near the opening direction located gate boundary.

Finally, with reference to Figure 7, some geometrical considerations are made to illustrate particular advantages of the system set forth herein, but the invention, as readily understood by one skilled in the art, is not limited to the particular mathematical treatment of the information collected by the laser scan detector, but rather Other processing possibilities of the polar coordinate information of the output of the scanning detector are also possible.

In Fig. 7, in turn, a building part is denoted by 1, wherein in the building part a door opening 3 is located, which has a width w. A Torinnenseitiges or Toraußenseitiges apron is indicated by a dash-dot line and designated 14 and 15 respectively. The laser radar scan detector 12 is mounted on one side at a gate opening boundary at the aforementioned predetermined height above the ground level apron and transmits horizontal scanning beams in the horizontal direction with time-dependent scanning angle α ₁ , α ₂ ..., β ₁ , β _2, respectively. . out.

In Fig. 7, the case is assumed that the laser radar scan detector 12 in a first cycle, a time-dependent clockwise scan (orientation angle of the scanning beam α ₀ , α ₁ , α ₂ ...) and in an immediately following Working cycle a time-dependent sampling in the counterclockwise direction (scanning angle β ₀ , β ₁ , β ₂ ...) makes. Such a scan can be generated by means of a provided in the beam path of the scanning beam oscillating mirror.

If an obstacle object 18 moves in a direction parallel to the vertical plane of the door opening 3 into the apron 14, 15, as indicated by the arrow 30 indicated by a broken line, the first scanning beam of the laser radar scanning detector 12 first strikes the obstacle object 18 at the scanning angle α ₀ , so that the laser radar scanning detector 12 a distance a of Hindemisobjektes from the vertical plane of the door opening 3 reports.

All subsequent distance measurement values, when the scanning angle corresponding to the angular velocity of the scan assumes the values α ₁ , α ₂ ..., Are inversely proportional to the cosine of the scanning angle α.

Occurs on the other hand, a Hindemisobjekt 21 from the opposite side along a direction indicated by the broken arrow line 31 parallel to the vertical plane of the door opening 3 in the apron 14, 15, it being assumed that the Hindemisobjekt 21 only then detected by the laser radar scanning detector 12 If, when it passes over a horizontal direction perpendicular to the vertical plane of the door opening 3 over the apron 14, 15 away alignment line with respect to the position on the position of Fig. 7 right lateral gate boundary, so the laser radar scan detector 12 at Exceeding this alignment line, a radial distance of Hindemisobjektes 21 from the laser radar distance detector 12 of r = w / cos β.

$r_1=\frac{w}{\mathrm{cos\hspace{1em}}{\beta }_1}$

$r_2=\frac{a}{\mathrm{cos\hspace{1em}}{\alpha }_2}$

$r_2=\frac{w}{\mathrm{cos\hspace{1em}}{\beta }_2}$

$\frac{r_1}{r_2}=\frac{a/\mathrm{cos\hspace{1em}}{\alpha }_1}{a/\mathrm{cos\hspace{1em}}{\alpha }_2}$

$\frac{r_1}{r_2}=\frac{w/\mathrm{cos\hspace{1em}}{\beta }_1}{w/\mathrm{cos\hspace{1em}}{\beta }_2}$

$\frac{r_1}{r_2}=\frac{\mathrm{cos\hspace{1em}}{\alpha }_2}{\mathrm{cos\hspace{1em}}{\alpha }_1}$

$\frac{r_1}{r_2}=\frac{\mathrm{cos\hspace{1em}}{\beta }_2}{\mathrm{cos\hspace{1em}}{\beta }_1}$

$\frac{r_1}{r_2}>\frac{\mathrm{cos\hspace{1em}}{\alpha }_2}{\mathrm{cos\hspace{1em}}{\alpha }_1}$

$\frac{r_1}{r_2}>\frac{\mathrm{cos\hspace{1em}}{\beta }_2}{\mathrm{cos\hspace{1em}}{\beta }_1}$

Auslösung ! Auslösung! If now the arrangement is made so that with reference to the representation of Fig. 7 from the left approaching obstacle objects 18 are to be detected in the scan in the clockwise direction, and with reference to the illustration of FIG From the right approaching obstacle objects 21 are to be detected in the scan counterclockwise, then there are the recorded in the following table geometric relationships. Scanning clockwise Scanning counterclockwise r cos α = a r cos β = w $r_{}$${}_1=\frac{a}{\cos {\alpha }_1}$

${\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="imgf0007.png"\; state="\{\{state\}\}">r</figure-callout>}}_1=\frac{w}{\cos {\beta }_1}$

${\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="imgf0004.png,imgf0005.png"\; state="\{\{state\}\}">r</figure-callout>}}_2=\frac{a}{\cos {\alpha }_2}$

${\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="imgf0004.png,imgf0005.png"\; state="\{\{state\}\}">r</figure-callout>}}_2=\frac{w}{\cos {\beta }_2}$

$\frac{r_1}{{\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="imgf0004.png,imgf0005.png"\; state="\{\{state\}\}">r</figure-callout>}}_2}=\frac{a/\cos {\alpha }_1}{a/\cos {\alpha }_2}$

$\frac{r_1}{{\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="imgf0004.png,imgf0005.png"\; state="\{\{state\}\}">r</figure-callout>}}_2}=\frac{w/\cos {\beta }_1}{w/\cos {\beta }_2}$

$\frac{r_1}{{\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="imgf0004.png,imgf0005.png"\; state="\{\{state\}\}">r</figure-callout>}}_2}=\frac{\cos {\alpha }_2}{\cos {\alpha }_1}$

$\frac{r_1}{{\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="imgf0004.png,imgf0005.png"\; state="\{\{state\}\}">r</figure-callout>}}_2}=\frac{\cos {\beta }_2}{\cos {\beta }_1}$

$\frac{r_1}{{\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="imgf0004.png,imgf0005.png"\; state="\{\{state\}\}">r</figure-callout>}}_2}>\frac{\cos {\alpha }_2}{\cos {\alpha }_1}$

$\frac{r_1}{{\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="imgf0004.png,imgf0005.png"\; state="\{\{state\}\}">r</figure-callout>}}_2}>\frac{\cos {\beta }_2}{\cos {\beta }_1}$

Triggering! Tripping!

Thus, in the clockwise scan, if the ratio of successive distance measurements of the laser radar distance detector 12 is greater than the reciprocal of the corresponding cosine values of the scan angles, this means that the distance measurement of a scan orientation following in the scan direction becomes smaller and the obstacle object 18 deviates from the path corresponding to that in FIG Arrow 30 a path component in the direction of the door opening takes. In this case, the triggering of a guard signal is required, which closes a closing gate or reverses in the opening direction or possibly causes a closed gate to the opening.

Corresponding considerations apply to the scanning direction counterclockwise with increasing in time sequence scan angles β.

It can be seen that the speed of the sweep of the apron 14, 15 is selected by the scanning beam expedient order of magnitude higher than an assumed maximum travel speed of the obstacle objects 18 and 21, for example, qualitatively over ten times greater. Since there is no difficulty in performing the above-outlined simple trigonometric calculations in the time interval of advancing the scanning beam between two measuring positions, real-time processing for deriving guard signals can be performed. In a modification thereof, however, it may be expedient in certain cases, the collected by the laser radar scanning detector 12 Distance data r _1, r ₂ ... in association with the orientation of the scanning beam in accordance with scan angle α _1, α ₂ ..., and β ₁ , β ₂ ... are buffered over one or more sampling periods to gain time for evaluation of the coordinate data.

With respect to the case of the counterclockwise scan of FIG. 7 for detecting the obstacle object 21 moving from the right into the apron 14, 15 with reference to the illustration of FIG. 7, it should be noted that this obstacle object shortly after entering the detection area of the respective scanning beam can also swing in a radial direction with respect to the laser radar scanning detector 12, and therefore it is expedient, in addition to the comparison of the measured values corresponding to adjacent scanning beams, to compare the distance measurements of scanning beams of the same orientation from successive ones Make scanning cycles, such that at less from scanning cycle to scan cycle Radialentfemung to the laser radar scanning detector 12 immediately a guard signal is triggered.

From the above considerations, it is shown that even if in one embodiment it has a laser radar distance detector only at a lateral gate opening boundary, the device alone performs distance measurements while omitting proximity detector systems between parallel movements relative to the door opening plane and movements in the direction the gate opening to discriminated, the signal evaluation algorithms are extremely simple and require only a minimum amount of computation.

There are Torsteuerungslichtschranken, hand-operated door control switch, used for gate control, to be introduced in the bottom of the aprons with great economic and technical effort induction loops with the problem of coupling to any obstacle objects, and light curtains replaced by a simple, relatively inexpensive and easy to install device.

Claims (11)

1. Automatically activatable door (6), in particular lifting door, which has an essentially vertical opening plane, lateral delimitations (4, 5), an inner side and an outer side and approach areas (14, 15) which are level with the floor and are respectively located on the inner side and on the outer side, and an activating device, which comprises the following:

   a door drive (9) which is coupled to the door (6);

   a monitor system (11), containing a detector (12) which operates according to the reflection principle and has the purpose of monitoring a region assigned to one of the approach areas, by means of a detector beam for obstructing objects (18, 21) which possibly block a closing movement, the monitor system (11) generating a monitor signal when an obstructing object which is located in the respective approach area (14, 15) is sensed; and

   a control device (10) which is connected to the door drive (9), has a monitoring signal applied to it and has the purpose of deactivating and/or changing the direction of the door drive (9) which is in the door closing mode, when the monitoring signal occurs;

   
   characterized in that the detector is embodied as a scanning detector (12) which is mounted next to the lateral delimitations (4, 5) of the door opening (3) at a height which is matched to the maximum height of objects which are supported on the respective approach area (14, 15) and are not to be sensed as obstructing objects, and which scans, with its scanning beam, a horizontal fan (13; 13') located above the respective approach area (14, 15) as a monitored region and which is shallow in the vertical direction, determined by the thickness of the scanning beam, and whose radial dimension, which is determined by the maximum measuring range of the scanning detector (12), is selected in accordance with the magnitude of the respecitve approach area (14, 15).
2. The door as claimed in claim 1, characterized in that the monitor system (11) contains a further scanning detector (12') which is mounted near to the respective other lateral de-limitation of the door opening (3) and corresponds in its height and in the formation of the horizontal fan (13') which is scanned by its scanning beam, to the first scanning detector (12), the first scanning detector being positioned in such a way that its scanning region lies essentially over the outside approach area (14), while the second scanning detector (12') is positioned in such a way that its scanning region lies essentially over the inside approach area (15).
3. The door as claimed in claim 1, characterized in that the door guiding and supporting structures and/or adjacent parts (1) of a building are formed at the location where the scanning detector (12) is mounted, near to the respective lateral delimitation of the door opening (3), so as to be in such way transparent and free of obstacles for the scanning beam that the monitored region of the monitoring detector is in the form of at least one horizontal fan (13) which is located both over the inside and over the outside approach areas, in such a way that the scanning beam of the scanning detector is capable of sensing obstructing objects both on the inside approach area and on the outside approach area.
4. The door as claimed in claim 3, characterized in that door guiding and supporting structures at the location where the scanning detector (12) is mounted are interrupted over a short vertical distance in such a way that they permit free passage of the scanning beam in such a way that the horizontal fan (13) extends uninterruptedly from the outside to the inside over the respective approach areas (14, 15).
5. The door as claimed in one of claims 1 to 4, characterized in that the maximum measuring range of the scanning detector, or of each scanning detector, can be controlled as a function of its pivoting angle in the horizontal plane of the horizontal fan.
6. The door as claimed in one of claims 1 to 5, characterized in that the scanning detector, or each scanning detector, is an active radar scanning detector.
7. The door as claimed in claim 6, characterized in that the scanning detector (12, 12'), or each scanning detector (12, 12'), is a laser radar scanning detector.
8. The door as claimed in claim 6 or 7, characterized in that the scanning detector (12), or each scanning detector (12), is coupled to a signal processing device in which a monitoring signal is formed from a composite signal - which exceeds a threshold value - of detector output signals corresponding to identically oriented scanning beams from a plurality of scanning cycles.
9. The door as claimed in one of claims 6 to 8, characterized in that the scanning detector (12), or each scanning detector (12), is coupled to a signal processing device in which a monitoring signal is formed by forming differences or forming relationships between current detector output signals and stored detector output signals from scanning processes with analogous phases from previous scanning cycles.
10. The door as claimed in one of claims 6 to 9, characterized in that the scanning detector, or each scanning detector, is coupled to a signal processing device in which detector output signals from scanning directions of the scanning beam which are adjacent in terms of angle from successive scanning cycles are compared in such a way that signals corresponding to information about the direction of movement of the obstructing object, in particular relating to components which are transverse with respect to the radial direction of the horizontal fan are acquired and are linked to the monitoring signals in order to be applied to the control device.
11. A method for automatically activating a door (6), in particular a lifting door, which has an essentially vertical opening plane, lateral delimitations (4, 5), an inner side and an outer side and approach areas (14, 15) which are level with the floor and are respectively located on the inner side and on the outer side; furthermore

    a door drive (9) which is coupled to the door (6);

    a monitor system (11), containing a detector (12) which operates according to the reflection principle and has the purpose of monitoring a region assigned to one of the approach areas, by means of a detector beam for obstructing objects (18, 21) which possibly block a closing movement, the monitor system (11) generating a monitor signal when an obstructing object which is located in the respective approach area (14, 15) is sensed; and

    a control device (10) which is connected to the door drive (9), has a monitoring signal applied to it and has the purpose of deactivating and/or changing the direction of the door drive (9) which is in the door closing mode, when the monitoring signal occurs;
    characterized in that the detector, which is embodied as a scanning detector (12) mounted next to a lateral limitation (4, 5) of the door opening (3) at a height which is matched to the maximum height of objects which are supported on the respective approach area (14, 15) and are not to be sensed as obstructing objects, scans, with its scanning beam, a horizontal fan (13; 13') located above the respective approach area (14, 15) as a monitored region, said horizontal fan being shallow in the vertical direction, determined by the thickness of the scanning beam, and whose radial dimension, which is determined by the maximum measuring range of the scanning detector (12), being selected in accordance with the magnitude of the respective approach area (14, 15).

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