EP1875030B2 - 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

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Publication number
EP1875030B2
EP1875030B2 EP06742608.0A EP06742608A EP1875030B2 EP 1875030 B2 EP1875030 B2 EP 1875030B2 EP 06742608 A EP06742608 A EP 06742608A EP 1875030 B2 EP1875030 B2 EP 1875030B2
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EP
European Patent Office
Prior art keywords
moving element
distance
door
driven
electronic unit
Prior art date
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Active
Application number
EP06742608.0A
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German (de)
English (en)
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EP1875030B1 (fr
EP1875030A1 (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
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Cedes AG
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Publication date
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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 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 may e.g. an optical sensor, a sensor for other electromagnetic waves, e.g. Radar waves and / or a sensor for sound waves, e.g. Be 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 assumed that the leading edge with an object, for Example of an approaching person first collided and therefore the object distance with respect to this leading edge should be detected.
  • the object sensor comprises a transmitter and receiver for a signal, e.g. for sound or electromagnetic waves, in particular light
  • the electronic unit is adapted to measure a distance covering a signal emitted by the transmitter via a reflection surface to the receiver by an evaluation of a signal curve, e.g. to determine light in a phase of an oscillation modulated onto the light and to determine the object distance with this type of distance measurement.
  • the signal may also be a pulsed signal, in which e.g. a 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. However, it is also possible for the predefinable value to follow a function.
  • 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, e.g. 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 of 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 adjustment can be done, for example step by step.
  • the electronic unit carries out the control such that when the moving element is blocked for longer than a predetermined time, it ends the closing operation with gentle pressure.
  • 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, moves towards the sliding door 2 at a speed V 0 .
  • 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, 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.
  • the door sensor assembly 1 monitors areas 14, 15, 16, 17. If someone is within the range, the gullwing door 3 is stopped. If an object is within the range 15, the process continues in a slower manner. 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 entraîné (3, 4) sous la forme d'une porte ou d'une fenêtre comprenant une unité électronique avec un capteur d'objet (1a), au moyen du capteur d'objet (1a), l'unité électronique étant conçue pour déterminer une distance d'objet (11) entre l'élément mobile entraîné (3, 4) et un objet (5) dans la zone de l'élément mobile (3, 4) et, en conséquence, commander le mouvement de l'élément mobile (3, 4), l'élément mobile fermant et ouvrant une ouverture,
    caractérisé en ce que
    l'unité électronique est en outre configurée pour utiliser un bord d'attaque (8, 9) de l'élément mobile (3, 4) pour déterminer la distance de l'objet (11) en référence à l'élément mobile, le bord d'attaque étant le bord sur lequel une collision se produira entre l'objet et l'élément mobile et qui est situé au niveau de l'ouverture et des moyens sont prévus pour déterminer la distance de l'objet (11) à partir d'une distance (10a) du capteur d'objet (1a) à l'objet (5), d'une distance (6a, 7a) du capteur d'objet (1a) au bord d'attaque de l'élément mobile (3, 4) et de l'angle α entre les vecteurs (6, 7 et 10) des directions de distance.
  2. Dispositif selon la revendication 1, caractérisé en ce que le capteur d'objet (1a) comprend un émetteur et un récepteur pour un signal, par exemple pour des ondes sonores ou électromagnétiques, en particulier la lumière, dans lequel l'unité électronique est conçue pour déterminer une distance que parcourt un signal émis par l'émetteur via une surface de réflexion jusqu'au récepteur, par une évaluation d'une forme d'onde, par exemple pour la lumière, une phase d'une oscillation modulée de la lumière et pour déterminer la distance de l'objet (11) avec ce type de mesure de distance.
  3. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que l'unité électronique produit un signal de commande pour commander l'élément mobile entraîné (3, 4) en fonction de la vitesse (V0) de l'objet (5) et/ou de la vitesse (V1, Vr) de l'élément mobile entraîné (3, 4).
  4. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que l'unité électronique commande l'élément mobile entraîné (3, 4) de sorte que la distance de l'objet (11) entre une position de l'élément mobile entraîné, de préférence du bord d'attaque (8, 9) de l'élément mobile entraîné (3, 4) et de l'objet (5), est maintenue à une valeur prédéterminée.
  5. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que plusieurs éléments mobiles entraînés (3, 4) peuvent être commandés indépendamment.
  6. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que la distance minimale déterminée pour la commande des éléments mobiles (3, 4) est déterminante pour plusieurs éléments mobiles entraînés (3, 4) ne pouvant pas être déplacés de manière indépendante.
  7. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que l'unité électronique génère un signal de commande pour commander l'élément mobile entraîné (3, 4), dans lequel une distance de freinage de l'élément mobile entraîné (3, 4) est prise en compte.
  8. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que l'unité électronique commande l'élément mobile entraîné (3, 4) de sorte que l'élément mobile (3, 4) se ferme aussi rapidement que possible après qu'un objet (5) est passé devant l'élément mobile (3, 4) et/ou que l'élément mobile (3, 4) s'ouvre le plus tard possible, lorsqu'un objet (5) se déplace vers l'élément mobile (3, 4).
  9. Dispositif selon l'une quelconque des revendications précédentes, caractérisé en ce que l'unité électronique commande la vitesse de l'élément mobile sur un trajet de mouvement non perturbé en soi en fonction de la distance de l'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 EP1875030B1 (fr) 2016-07-13
EP1875030B2 true 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)

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Also Published As

Publication number Publication date
EP1875030B1 (fr) 2016-07-13
JP2008537040A (ja) 2008-09-11
WO2006111365A1 (fr) 2006-10-26
CN101180444A (zh) 2008-05-14
US20080084300A1 (en) 2008-04-10
US9145727B2 (en) 2015-09-29
EP1875030A1 (fr) 2008-01-09
CN101180444B (zh) 2013-01-16

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