EP1875030B1 - Dispositif pour réguler un élement de déplacement entraîne, par exemple une porte - Google Patents

Dispositif pour réguler un élement de déplacement entraîne, par exemple une porte Download PDF

Info

Publication number
EP1875030B1
EP1875030B1 EP06742608.0A EP06742608A EP1875030B1 EP 1875030 B1 EP1875030 B1 EP 1875030B1 EP 06742608 A EP06742608 A EP 06742608A EP 1875030 B1 EP1875030 B1 EP 1875030B1
Authority
EP
European Patent Office
Prior art keywords
moving element
distance
door
electronic unit
driven
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP06742608.0A
Other languages
German (de)
English (en)
Other versions
EP1875030A1 (fr
EP1875030B2 (fr
Inventor
Bas Albers
Beat De Coi
Peter Nebiker
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cedes AG
Original Assignee
Cedes AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=36694312&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP1875030(B1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Cedes AG filed Critical Cedes AG
Publication of EP1875030A1 publication Critical patent/EP1875030A1/fr
Publication of EP1875030B1 publication Critical patent/EP1875030B1/fr
Application granted granted Critical
Publication of EP1875030B2 publication Critical patent/EP1875030B2/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/32—Position control, detection or monitoring
    • E05Y2400/322—Position control, detection or monitoring by using absolute position sensors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/32—Position control, detection or monitoring
    • E05Y2400/35—Position control, detection or monitoring related to specific positions
    • E05Y2400/356—Intermediate positions
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/40—Control units therefor
    • E05Y2400/41—Control units therefor for multiple motors
    • E05Y2400/415—Control units therefor for multiple motors for multiple wings
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/45—Control modes
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
    • E05Y2900/13—Type of wing
    • E05Y2900/132—Doors

Definitions

  • the invention relates to a device for controlling a driven movement element, for example a door, a gate or a window according to the preamble of claim 1.
  • the closing of sliding doors is monitored with sensors with which an object in the trajectory of a door leaf is detectable, that is, the sensor provides, determines whether an object is present or not. There is no further differentiation.
  • the EP 0 696 670 A1 an arrangement for automatic opening and closing of doors, in which outside a door activation zone a surveillance zone is defined, in which objects can approach the door. The door is operated so that it is fully open at the predicted arrival time of the object.
  • the JP 08285184 A describes a monitoring of the opening area of a swing gate, then whether there is an obstacle in it. If such is detected, the door control is prevented from fully opening the relevant door to avoid a collision.
  • the US 2002 / 118,114 A1 describes a sensor for automatic doors, in which cameras are used to create images of the two areas surrounding the door inside and outside. Distances of objects detected on the images in each individual image are determined by means of a distance measuring unit.
  • the US 2004 / 200,149 A1 describes a door-space monitoring device for monitoring a door cabinet area of a motor vehicle door. This is provided with the door cabinet area detecting sensor means, evaluating with a sensor data evaluation and a control unit for controlling sensor means or evaluation, wherein by means of a light source, a micro-mirror unit and a photoreceiver, a planar monitoring area is monitored.
  • the object of the invention is to improve the control of a driven movement element via an object sensor with regard to the opening and / or closing behavior.
  • the invention is based on a device for controlling a driven moving element, for example a door, which comprises an electronic unit with an object sensor.
  • the electronic unit is designed by means of the object sensor to determine an object distance between the driven moving element and an object in the region of the moving element and to control the movement of the moving element depending thereon.
  • a sliding door can always be opened only exactly so that an approaching and the door passing object, for example, a person can pass through the sliding door collision-free.
  • the opening conditions and the degree of opening of the sliding door can be reduced to a minimum, whereby unnecessary heat loss from rooms that are entered through the sliding door, can largely avoid.
  • the object sensor can eg be an optical sensor, a sensor for other electromagnetic waves, eg radar waves and / or be a sensor for sound waves, eg ultrasonic waves.
  • means are provided which determine the object distance from a distance of the object sensor to the object, a distance from the object sensor to the movement element and the angle between the distance directions.
  • the object distance is determined in this way indirectly on the basis of two distances including the angle between the distances.
  • each distance between the moving element and the object can be determined, as long as the central object sensor can supply information about the distance to the moving element and to the object including the angle between these distances.
  • the electronic unit is designed to use a front edge of the movement element as a reference to the movement element for determining the object distance.
  • the distance to the leading edge is preferably determined. In this approach, it is believed that the leading edge should first collide with an object, such as an approaching person, and therefore the object distance with respect to that leading edge should be detected.
  • the object sensor comprises a transmitter and receiver for a signal, for example for sound or electromagnetic waves, in particular light
  • the electronic unit is adapted to a distance which travels a signal emitted by the transmitter via a reflection surface to the receiver to determine by an evaluation of a waveform, for example in light of a phase of a modulated on the light oscillation and with this type of distance measurement to determine the object distance.
  • a pulsed signal can also be considered as a signal in which, for example, phase information is evaluated.
  • an object distance can be detected with comparatively high accuracy.
  • the object distance to several objects can also be determined.
  • the speed of the driven movement element can also be determined in this way, which is important in the same way for optimum control of the driven movement element.
  • the electronic unit performs the control of the driven moving member such that the distance between a position of the driven moving member, preferably the leading edge of the driven moving member and the object is at least approximately maintained at a predetermined value.
  • the object distance is at least partially maintained at a predetermined value.
  • the object distance is kept at a predefinable constant value. Keeping constant avoids a collision between the object and the movement element.
  • the predefinable value of a Function follows.
  • the predetermined distance can be changed as a function of the distance of the object from the driven element or a door plane.
  • the predetermined distance can also be made dependent on whether the person is still in front of the door, in the doorway or after the door.
  • the function can also be a discrete function.
  • parameter fields are specified, eg a look-up table.
  • the predeterminable value represents a minimum value, this is preferably dependent on the braking distance of the driven movement element and / or on empirically determined "well-being parameters", ie values at which a person with a pleasant feeling passes the driven movement element.
  • the minimum value will be greater than 10 cm.
  • the invention is particularly applicable to sliding doors, hinged doors, vertical doors, folding doors and windows.
  • a further improvement in the control of the movement of the driven movement element can be achieved in that in an advantageous embodiment of the invention, the electronic unit generates a control signal for the control of the driven movement element, in which a braking distance of the driven movement element is taken into account.
  • the object distance can be further optimized with regard to its minimum, which can be used positively in the reduction of opening states, for example a sliding door.
  • the electronic unit controls the driven moving element so that the moving element, for example a door is closed as quickly as possible after a Object, for example a person has passed the movement element and / or that the movement element, for example a door, is opened as late as possible when an object, for example a person, is moving towards the movement element.
  • the moving element for example a door is closed as quickly as possible after a Object, for example a person has passed the movement element and / or that the movement element, for example a door, is opened as late as possible when an object, for example a person, is moving towards the movement element.
  • the electronic unit controls the speed of the moving element to a per se undisturbed movement path depending on the object distance.
  • the speed is successively reduced at a corresponding approach to the object.
  • the speed adaptation may e.g. gradually.
  • the electronic unit performs the control such that when the moving element is blocked for more than a predetermined time, this ends with gentle pressure closing.
  • FIG. 1 an optical door sensor arrangement 1 is shown on a sliding door 2 with an optical sensor 1a above the sliding door 2. Wings 3, 4 of the sliding door 2 are partially open and are closing at speeds V 1 and V r . An object 5, for example a Human being moving at a speed V 0 to the sliding door 2 to.
  • the door sensor assembly 1 captures 3D images of your surroundings.
  • a built-in computer (not shown) analyzes the images and determines therefrom the position and speed of the sliding door leaves 3, 4 and the object 5.
  • FIG. 1 are shown for three pixels from a thus determined image vectors 6, 7 and 10.
  • the vectors 6 and 7 are directed to pixels of edges 8, 9 of the respective wings 3, 4 and the vector 10 to a pixel of the object 5.
  • the edges 8, 9 of the wings 3, 4 and also the object 5 are detected simultaneously over several pixels.
  • the inventive approach is explained by the three selected vectors to the corresponding pixel.
  • the positions of the pixels can be determined via the vectors 6, 7 and 10.
  • an object distance 11, 12 that is in the present case a distance between each of the front edge 8, 9 of the sliding door leaves 4, 5 and the object 5, the angle between the vectors 6 and 10 can be determined. With the amounts of the vectors 6 and 10 then the distance 11, 12 between the object 5 and the respective wing edge 8, 9 can be calculated.
  • the relative speed of the object 5 to the two door leaf edges 8, 9 can be determined from a plurality of such measurements. This makes it possible to foresee if the object would collide with one of the two door leaf edges 8, 9. Thus, the door leaves 3, 4, possibly separately, be stopped to avoid a collision. In this process can also be considered the braking distance of the door 3, 4. In conventional door controls with a light curtain or light curtain can however, only the presence of an object can be detected.
  • FIG. 2a the object 5 moving in the direction of the sliding door 2 is shown.
  • the door sensor arrangement 1 detects the distance 10a to the object 5 and the distances 6a, 7a to the door leaf edges 8, 9. From these distances 6a, 7a, the distances 11, 12 from the object 5 to the door edges can be considered taking into account the angle between the distances 6a and calculate 10a, 7a and 10a, respectively.
  • the distances 11, 12 are transmitted to a door control, whereby the movement and position of the door leaves 3, 4 can be controlled as a function of the distances 11, 12.
  • FIG. 2b the situation is shown in which the door leaf 3 is partially closed, for example so that less warm air (symbolized by the arrows W) can escape from a room which is entered through the door 2. Not only the current position of the object 5 is considered, but also its speed and the speed of the door wings 3, 4.
  • the controller can be adjusted so that the door is decisive, which would cause the fastest collision with the object 5.
  • FIG. 4 is a wing door 3 with symbolized speed ranges 14, 15, 16, 17 shown.
  • V b the door sensor system monitors 1 regions 14, 15, 16, 17. Located at someone within the range, the hinged door 3 is stopped. If an object is inside of the area 15, it will continue to slow down. If an object is within the area 16, the process continues comparatively faster and within the area 17 the door is moved at normal speed.

Landscapes

  • Power-Operated Mechanisms For Wings (AREA)

Claims (9)

  1. Dispositif de commande d'un élément mobile par entraînement (3, 4) sous la forme d'une porte, d'un portail ou d'une fenêtre, lequel dispositif comprend une unité électronique munie d'un capteur d'objets (1a), l'unité électronique étant conçue pour déterminer au moyen du capteur d'objets (1a) une distance (11) d'un objet entre l'élément mobile par entraînement (3, 4) et un objet (5) dans la zone de l'élément mobile (3, 4), et pour commander sur cette base le déplacement de l'élément mobile (3, 4), l'élément mobile ouvrant ou fermant une ouverture, caractérisé en ce que l'unité électronique est par ailleurs configurée pour utiliser un bord avant (8, 9) de l'élément mobile (3, 4) comme référence au niveau de l'élément mobile pour déterminer la distance (11) d'un objet, le bord avant étant le bord au niveau duquel une collision entre l'objet et l'élément mobile se produit en premier et qui se trouve au niveau de l'ouverture, et en ce que des moyens sont prévus pour déterminer la distance (11) d'un objet à partir d'une distance (10a) du capteur d'objets (1a) par rapport à l'objet (5), d'une distance (6a, 7a) du capteur d'objet (1a) par rapport au bord avant de l'élément mobile (3, 4) et de l'angle α entre les vecteurs (6, 7 et 10) des directions des distances.
  2. Dispositif selon la revendication 1, caractérisé en ce que le capteur d'objets (1a) comprend un émetteur et un récepteur pour un signal, par exemple pour des ondes sonores ou électromagnétiques, en particulier lumineuses, l'unité électronique étant configurée pour déterminer une distance que parcourt un signal envoyé par l'émetteur jusqu'au récepteur en passant par une surface réfléchissante, en évaluant une variation du signal, par exemple, dans le cas de la lumière, une phase d'une oscillation modulée sur la lumière, et pour déterminer la distance (11) d'un objet avec cette façon de mesurer la distance.
  3. Dispositif selon l'une des revendications précédentes, caractérisé en ce que l'unité électronique génère un signal de commande pour la commande de l'objet mobile par entraînement (3, 4) en fonction de la vitesse (V0) de l'objet (5) et/ou de la vitesse (V1, Vr) de l'élément mobile par entraînement (3, 4).
  4. Dispositif selon l'une des revendications précédentes, caractérisé en ce que l'unité électronique exécute la commande de l'élément mobile par entraînement (3, 4) de telle manière que la distance (11) d'un objet entre une zone de l'élément mobile motorisé, de préférence le bord avant (8, 9) de l'élément mobile par entraînement (3, 4), et l'objet (5) est maintenue à une valeur prédéfinie.
  5. Dispositif selon l'une des revendications précédentes, caractérisé en ce que plusieurs éléments mobiles par entraînement (3, 4) peuvent être commandés indépendamment les uns des autres.
  6. Dispositif selon l'une des revendications précédentes, caractérisé en ce que dans le cas de plusieurs éléments mobiles (3, 4) n'étant pas déplaçables indépendamment les uns des autres, la distance la plus petite déterminée est déterminante pour la commande des éléments mobiles (3, 4).
  7. Dispositif selon l'une des revendications précédentes, caractérisé en ce que l'unité électronique génère un signal de commande pour la commande de l'élément mobile motorisé (3, 4), dans lequel est prise en compte une course de freinage de l'élément mobile par entraînement (3, 4).
  8. Dispositif selon l'une des revendications précédentes, caractérisé en ce que l'unité électronique commande l'élément mobile par entraînement (3, 4) de telle manière que l'élément mobile (3, 4) est fermé le plus rapidement possible après qu'un objet (5) a franchi l'élément mobile (3, 4) et/ou que l'élément mobile (3, 4) est ouvert le plus tard possible lorsqu'un objet (5) se déplace en direction de l'élément mobile (3, 4).
  9. Dispositif selon l'une des revendications précédentes, caractérisé en ce que l'unité électronique commande la vitesse de l'élément mobile sur une course de déplacement sans obstacle en fonction de la distance d'un objet.
EP06742608.0A 2005-04-19 2006-04-19 Dispositif pour réguler un élement de déplacement entraîne, par exemple une porte Active EP1875030B2 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102005018231 2005-04-19
DE102005023774 2005-05-19
PCT/EP2006/003577 WO2006111365A1 (fr) 2005-04-19 2006-04-19 Dispositif pour reguler un element de deplacement entraine, par exemple une porte

Publications (3)

Publication Number Publication Date
EP1875030A1 EP1875030A1 (fr) 2008-01-09
EP1875030B1 true EP1875030B1 (fr) 2016-07-13
EP1875030B2 EP1875030B2 (fr) 2019-09-04

Family

ID=36694312

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06742608.0A Active EP1875030B2 (fr) 2005-04-19 2006-04-19 Dispositif pour réguler un élement de déplacement entraîne, par exemple une porte

Country Status (5)

Country Link
US (1) US9145727B2 (fr)
EP (1) EP1875030B2 (fr)
JP (1) JP2008537040A (fr)
CN (1) CN101180444B (fr)
WO (1) WO2006111365A1 (fr)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007050334A1 (de) * 2007-10-18 2009-04-23 Efaflex Tor- Und Sicherheitssysteme Gmbh & Co. Kg Verfahren und Einrichtung zur Steuerung eines vertikal oder horizontal bewegten Tores unter Absicherung der Torschließebene gegenüber Hindernissen
DE102007060343A1 (de) * 2007-12-14 2009-06-18 Hörmann Kg Dissen Überwachungsvorrichtung für ein angetriebenes Tor und damit ausgestattetes Tor
EP2506034B1 (fr) 2011-04-01 2013-05-29 Cedes AG Dispositif de capteur, dispositif de sécurité, porte et procédé de contrôle du mouvement
DE102012106889A1 (de) 2012-07-30 2014-01-30 Fraba N.V. Überwachungs- und Ansteuervorrichtung für eine Toreinheit
WO2014068397A1 (fr) 2012-11-05 2014-05-08 Commissariat A L'energie Atomique Et Aux Energies Atlternatives (Cea) Association d'un agent anticancéreux tel qu'un inhibiteur de la tyrosine kinase et un antagoniste de stat5, de préférence un thiazolidinedione, pour éliminer les cellules souches des cancers hématologiques in vivo et pour prévenir des rechutes des cancers hématologiques
US9798302B2 (en) 2013-02-27 2017-10-24 Rockwell Automation Technologies, Inc. Recognition-based industrial automation control with redundant system input support
US9393695B2 (en) 2013-02-27 2016-07-19 Rockwell Automation Technologies, Inc. Recognition-based industrial automation control with person and object discrimination
US9498885B2 (en) 2013-02-27 2016-11-22 Rockwell Automation Technologies, Inc. Recognition-based industrial automation control with confidence-based decision support
US9804576B2 (en) 2013-02-27 2017-10-31 Rockwell Automation Technologies, Inc. Recognition-based industrial automation control with position and derivative decision reference
JP6316644B2 (ja) * 2014-04-23 2018-04-25 ファナック株式会社 扉の速度を制御可能なシステム
JP2014238005A (ja) * 2014-08-21 2014-12-18 寺岡ファシリティーズ株式会社 自動ドアシステム
DE102015101017B4 (de) * 2015-01-23 2018-02-22 Efaflex Tor- Und Sicherheitssysteme Gmbh & Co. Kg Verfahren zur Steuerung einer Toranordnung sowie derartige Toranordnung und eine Sicherheitseinrichtung hierfür
DE102015103756A1 (de) 2015-03-13 2016-09-15 Gu Automatic Gmbh Automatiktür, wie beispielsweise eine Schiebetür, eine Drehtür oder dergleichen
JP6321708B2 (ja) * 2016-03-17 2018-05-09 ファナック株式会社 工作機械システムおよび開停止位置算出装置
GB2549760B (en) * 2016-04-28 2018-04-25 Ensota Guangzhou Tech Ltd An automatic door installation
JP7012488B2 (ja) * 2017-09-11 2022-01-28 株式会社日立製作所 エレベーターのドア制御装置ならびにエレベーターのドア駆動システム
US11066276B2 (en) * 2018-04-30 2021-07-20 Otis Elevator Company Enhanced door detection
JP7248216B2 (ja) * 2019-07-03 2023-03-29 三井金属アクト株式会社 ドア開閉制御システム
CN110863733A (zh) * 2019-12-09 2020-03-06 长沙莫之比智能科技有限公司 一种轨迹触发的毫米波雷达自动门控制策略及系统
JP7393995B2 (ja) * 2020-03-30 2023-12-07 文化シヤッター株式会社 開閉装置、制御プログラム、及び開閉部材の制御方法
CN112360285B (zh) * 2020-10-27 2023-07-11 浙江清华长三角研究院 自动门立体机器视觉传感器及其传感方法
SE2350130A1 (en) * 2023-02-13 2024-08-14 Assa Abloy Ab Controlling a sliding door comprising a first door leaf and a second door leaf

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0696670A1 (fr) 1994-08-11 1996-02-14 Nabco Limited Système pour ouverture et fermeture automatique des portes
JPH08285184A (ja) 1995-04-19 1996-11-01 Toshiba Corp 扉開度制限装置
EP0799962A1 (fr) 1996-04-02 1997-10-08 Heinrich Landert Méthode d'opération d'un dispositif de porte et dispositif de porte fonctionnant selon ce procédé
EP0935044A2 (fr) 1998-02-05 1999-08-11 agta record ag Procédé et dispositif de commande et/ou de surveillance d'une porte motorisée
WO2001042606A2 (fr) 1999-12-10 2001-06-14 The Stanley Works Ensemble porte automatique equipe d'un dispositif d'imagerie video
US6304178B1 (en) 1997-01-20 2001-10-16 Kabushiki Kaisha Tsuden Door safety system
US20020036476A1 (en) 2000-09-28 2002-03-28 Ye Zengguang Object sensing system for use with automatic swing door
US20020118114A1 (en) 2001-02-27 2002-08-29 Hiroyuki Ohba Sensor for automatic doors
EP1345444A1 (fr) 2002-03-11 2003-09-17 Inventio Ag Systeme de sureillance video en trois dimensions avec une source de rayonnements infrarouges
WO2004023782A2 (fr) 2002-09-05 2004-03-18 Cognex Corporation Detecteur de porte stereo
US20040200149A1 (en) 2003-04-11 2004-10-14 Juergen Dickmann Door area monitoring device for monitoring the swing area of an automobile vehicle door
EP1484467A2 (fr) 2003-06-04 2004-12-08 DORMA GmbH + Co. KG Commande de porte avec un capteur de présence
EP1681424A1 (fr) 2003-09-17 2006-07-19 THK Co., Ltd. Dispositif de porte automatique

Family Cites Families (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4029176A (en) * 1975-10-06 1977-06-14 Mills Gerald W Doorway safety device
USRE30719E (en) * 1978-08-02 1981-08-25 Doorway safety device
SE459997B (sv) * 1984-09-26 1989-08-28 Besam Ab Anordning foer styrning av oeppning och staengning av doerrar, luckor och dylikt
US4815046A (en) * 1985-04-29 1989-03-21 Xecutek Corporation Ultrasonic sensor system
ATE89362T1 (de) * 1988-06-03 1993-05-15 Inventio Ag Verfahren und vorrichtung zur steuerung der tuerstellung einer automatischen tuer.
US4967083A (en) * 1989-04-14 1990-10-30 The Stanley Works Door sensor system
JPH07119543B2 (ja) * 1990-03-22 1995-12-20 株式会社ナブコ 扉開閉制御装置
GB2254916B (en) * 1991-04-15 1993-12-22 John Trett Detection systems
JP2919284B2 (ja) * 1994-02-23 1999-07-12 松下電工株式会社 物体認識方法
US5541585A (en) * 1994-10-11 1996-07-30 Stanley Home Automation Security system for controlling building access
JPH09209652A (ja) * 1996-01-31 1997-08-12 Nabco Ltd スイングドア用センサ
JP3352911B2 (ja) * 1996-05-17 2002-12-03 株式会社ナブコ 自動ドア装置の自己診断装置
US5627439A (en) * 1996-07-08 1997-05-06 Inventio Ag Light barrier for reopening elevator doors
US6329774B1 (en) * 1998-02-08 2001-12-11 Janus Development Ltd. Ultrasonic method and apparatus for automatically controlling moving doors
JP2000073657A (ja) * 1998-09-01 2000-03-07 Mitsubishi Electric Corp 自動ドアシステム
US20020178321A1 (en) * 1998-11-25 2002-11-28 Philip J. Calamatas Programmable system including self locking memory circuit for a tristate data bus
JP4771245B2 (ja) * 2001-04-27 2011-09-14 オプテックス株式会社 自動ドアセンサ
JP3855234B2 (ja) * 2002-07-09 2006-12-06 オプテックス株式会社 ドアセンサ及びそのドアセンサを備えたドア
US7045764B2 (en) * 2002-10-17 2006-05-16 Rite-Hite Holding Corporation Passive detection system for detecting a body near a door
US7623674B2 (en) * 2003-11-05 2009-11-24 Cognex Technology And Investment Corporation Method and system for enhanced portal security through stereoscopy
US7332999B2 (en) * 2004-04-19 2008-02-19 The Chamberlain Group, Inc. System and method for operating multiple moveable barrier operators
JP4736017B2 (ja) * 2004-10-22 2011-07-27 オプテックス株式会社 スイングドア開閉検知システム
US7762022B2 (en) * 2005-07-08 2010-07-27 Bea, Inc. Automatic door opening and closing system and method of control thereof
US7719213B2 (en) * 2006-10-19 2010-05-18 Herman Stephen A Door actuator and opener

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0696670A1 (fr) 1994-08-11 1996-02-14 Nabco Limited Système pour ouverture et fermeture automatique des portes
JPH08285184A (ja) 1995-04-19 1996-11-01 Toshiba Corp 扉開度制限装置
EP0799962A1 (fr) 1996-04-02 1997-10-08 Heinrich Landert Méthode d'opération d'un dispositif de porte et dispositif de porte fonctionnant selon ce procédé
US6304178B1 (en) 1997-01-20 2001-10-16 Kabushiki Kaisha Tsuden Door safety system
EP0935044A2 (fr) 1998-02-05 1999-08-11 agta record ag Procédé et dispositif de commande et/ou de surveillance d'une porte motorisée
WO2001042606A2 (fr) 1999-12-10 2001-06-14 The Stanley Works Ensemble porte automatique equipe d'un dispositif d'imagerie video
US20020036476A1 (en) 2000-09-28 2002-03-28 Ye Zengguang Object sensing system for use with automatic swing door
US20020118114A1 (en) 2001-02-27 2002-08-29 Hiroyuki Ohba Sensor for automatic doors
EP1345444A1 (fr) 2002-03-11 2003-09-17 Inventio Ag Systeme de sureillance video en trois dimensions avec une source de rayonnements infrarouges
WO2004023782A2 (fr) 2002-09-05 2004-03-18 Cognex Corporation Detecteur de porte stereo
US20040200149A1 (en) 2003-04-11 2004-10-14 Juergen Dickmann Door area monitoring device for monitoring the swing area of an automobile vehicle door
EP1484467A2 (fr) 2003-06-04 2004-12-08 DORMA GmbH + Co. KG Commande de porte avec un capteur de présence
EP1681424A1 (fr) 2003-09-17 2006-07-19 THK Co., Ltd. Dispositif de porte automatique

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
"Kosinussatz", WIKIPEDIA, 2014, pages 1 - 6, XP055372902

Also Published As

Publication number Publication date
JP2008537040A (ja) 2008-09-11
US9145727B2 (en) 2015-09-29
WO2006111365A1 (fr) 2006-10-26
EP1875030A1 (fr) 2008-01-09
CN101180444A (zh) 2008-05-14
EP1875030B2 (fr) 2019-09-04
US20080084300A1 (en) 2008-04-10
CN101180444B (zh) 2013-01-16

Similar Documents

Publication Publication Date Title
EP1875030B1 (fr) Dispositif pour réguler un élement de déplacement entraîne, par exemple une porte
DE602005004571T2 (de) Objektdetektionssystem für eine motorisch angetriebene Tür und Verfahren
EP2506034B1 (fr) Dispositif de capteur, dispositif de sécurité, porte et procédé de contrôle du mouvement
DE102014113569B4 (de) Türsystem mit Sensoreinheit und Kommunikationselement
DE102007038421B3 (de) Sicherheitsvorrichtung und Verfahren zum Überwachen einer automatischen Tür
DE102008044990B4 (de) Verfahren und Vorrichtung zur Ansteuerung und/oder Überwachung eines motorisch angetriebenen Flügels während der Öffnungsphase
WO2017013234A1 (fr) Élément de porte muni d'un dispositif amortisseur pilotable
EP1407106B1 (fr) Procede destine a l'ouverture et a la fermeture d'une piece pouvant pivoter ou se rabattre contre le vehicule
EP1841942B1 (fr) Dispositif pour sécuriser un élément mobile entraîné
DE102013010993A1 (de) Objekterfassungsvorrichtung für ein Fahrzeug
DE112007001481T5 (de) System und Verfahren zum Steuern der Geschwindigkeit eines Schließelements
DE102020113501A1 (de) Verfahren und Vorrichtung zum Betrieb einer automatischen Türanlage
DE19959990A1 (de) Betätigungsvorrichtung für vertikal verschwenkbare Klappen oder Türen von Kraftfahrzeugen
DE19653026B4 (de) Vorrichtung zur Ansteuerung und/oder Absicherung eines motorisch angetriebenen Flügels einer Tür, eines Fensters oder dergleichen
EP3581747A1 (fr) Dispositif de surveillance
EP1375808A2 (fr) Dispositif de détection pour construction de porte pivotante
DE102010014806B4 (de) Torantriebsvorrichtung, damit versehener Gebäudeabschluss, Torsystem und Herstell- und Antriebsverfahren
DE10348917B4 (de) Türstoppsystem mit Hinderniserkennung
DE102004005688A1 (de) Einklemmschutzsystem für ein Fensterhebersystem in einem Kraftfahrzeug sowie Verfahren zur Steuerung eines Fensterhebersystems
EP2818620B1 (fr) Installation de fenêtre ou de porte automatique
EP0935044A2 (fr) Procédé et dispositif de commande et/ou de surveillance d'une porte motorisée
DE19804631C2 (de) Verfahren und Vorrichtung zur Ansteuerung und/oder Überwachung eines motorisch angetriebenen Flügels
DE102006018326A1 (de) Vorrichtung zur Steuerung eines angetriebenen Bewegungselements, zum Beispiel einer Tür
EP3135846B1 (fr) Groupe propulseur avec unité de capteur pour la régulation d'entraînement
DE29701462U1 (de) Vorrichtung zur automatischen Steuerung von Toren oder Türen

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20071119

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC NL PL PT RO SE SI SK TR

DAX Request for extension of the european patent (deleted)
17Q First examination report despatched

Effective date: 20090223

REG Reference to a national code

Ref country code: DE

Ref legal event code: R079

Ref document number: 502006015036

Country of ref document: DE

Free format text: PREVIOUS MAIN CLASS: E05F0015200000

Ipc: E05F0015730000

RIC1 Information provided on ipc code assigned before grant

Ipc: E05F 15/73 20150101AFI20151001BHEP

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20151112

INTG Intention to grant announced

Effective date: 20160212

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC NL PL PT RO SE SI SK TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 812490

Country of ref document: AT

Kind code of ref document: T

Effective date: 20160715

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502006015036

Country of ref document: DE

REG Reference to a national code

Ref country code: NL

Ref legal event code: FP

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161113

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160713

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160713

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160713

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160713

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161014

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160713

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160713

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161114

REG Reference to a national code

Ref country code: DE

Ref legal event code: R026

Ref document number: 502006015036

Country of ref document: DE

PLBI Opposition filed

Free format text: ORIGINAL CODE: 0009260

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160713

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160713

PLAX Notice of opposition and request to file observation + time limit sent

Free format text: ORIGINAL CODE: EPIDOSNOBS2

26 Opposition filed

Opponent name: GEZE GMBH

Effective date: 20170413

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160713

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160713

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160713

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161013

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160713

PLBB Reply of patent proprietor to notice(s) of opposition received

Free format text: ORIGINAL CODE: EPIDOSNOBS3

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20170419

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20171229

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170502

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160713

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170419

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170419

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170430

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170430

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170419

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 812490

Country of ref document: AT

Kind code of ref document: T

Effective date: 20170419

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170419

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20060419

PUAH Patent maintained in amended form

Free format text: ORIGINAL CODE: 0009272

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: PATENT MAINTAINED AS AMENDED

27A Patent maintained in amended form

Effective date: 20190904

AK Designated contracting states

Kind code of ref document: B2

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC NL PL PT RO SE SI SK TR

REG Reference to a national code

Ref country code: DE

Ref legal event code: R102

Ref document number: 502006015036

Country of ref document: DE

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 502006015036

Country of ref document: DE

Representative=s name: OTTEN, ROTH, DOBLER & PARTNER MBB PATENTANWAEL, DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160713

REG Reference to a national code

Ref country code: NL

Ref legal event code: FP

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160713

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 20220419

Year of fee payment: 17

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FI

Payment date: 20220414

Year of fee payment: 17

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230519

REG Reference to a national code

Ref country code: NL

Ref legal event code: MM

Effective date: 20230501

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230501

Ref country code: FI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230419

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240418

Year of fee payment: 19

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: BE

Payment date: 20240419

Year of fee payment: 19