EP2574718B1 - Safety system for safeguarding a moving, guided motion element against unwanted collisions - Google Patents
Safety system for safeguarding a moving, guided motion element against unwanted collisions Download PDFInfo
- Publication number
- EP2574718B1 EP2574718B1 EP12008641.8A EP12008641A EP2574718B1 EP 2574718 B1 EP2574718 B1 EP 2574718B1 EP 12008641 A EP12008641 A EP 12008641A EP 2574718 B1 EP2574718 B1 EP 2574718B1
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- European Patent Office
- Prior art keywords
- motion element
- switching
- object detection
- movement
- detection device
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- 238000012544 monitoring process Methods 0.000 description 20
- 230000000903 blocking effect Effects 0.000 description 7
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Images
Classifications
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- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
- E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
- E06B9/56—Operating, guiding or securing devices or arrangements for roll-type closures; Spring drums; Tape drums; Counterweighting arrangements therefor
- E06B9/80—Safety measures against dropping or unauthorised opening; Braking or immobilising devices; Devices for limiting unrolling
- E06B9/82—Safety measures against dropping or unauthorised opening; Braking or immobilising devices; Devices for limiting unrolling automatic
- E06B9/88—Safety measures against dropping or unauthorised opening; Braking or immobilising devices; Devices for limiting unrolling automatic for limiting unrolling
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- 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
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
- E05F15/42—Detection using safety edges
- E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
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- 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
- E05F15/74—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using photoelectric cells
-
- 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
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
- E05F15/42—Detection using safety edges
- E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
- E05F2015/434—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound with cameras or optical sensors
- E05F2015/435—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound with cameras or optical sensors by interruption of the beam
- E05F2015/436—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound with cameras or optical sensors by interruption of the beam the beam being parallel to the wing edge
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- 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
- E05Y2800/00—Details, accessories and auxiliary operations not otherwise provided for
- E05Y2800/20—Combinations of elements
- E05Y2800/21—Combinations of elements of identical elements, e.g. of identical compression springs
-
- 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
- E05Y2800/00—Details, accessories and auxiliary operations not otherwise provided for
- E05Y2800/20—Combinations of elements
- E05Y2800/242—Combinations of elements arranged in parallel relationship
-
- 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
-
- 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
- E05Y2900/106—Application of doors, windows, wings or fittings thereof for buildings or parts thereof for garages
-
- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
- E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
- E06B9/56—Operating, guiding or securing devices or arrangements for roll-type closures; Spring drums; Tape drums; Counterweighting arrangements therefor
- E06B9/68—Operating devices or mechanisms, e.g. with electric drive
- E06B2009/6809—Control
- E06B2009/6818—Control using sensors
- E06B2009/6836—Control using sensors sensing obstacle
Definitions
- the invention relates to a security system for securing a particular vertically moving, guided movement element against unwanted collisions according to the preamble of claim 1.
- the invention is based on the object to provide a safety system of the type described in the introduction, which can be locked depending on a movement of a moving member comparatively reliable for object detection.
- the invention is based on a security system for securing a moving, guided movement element, for. As a door or gate element, against unwanted collisions with a lying on a path of movement in the direction of movement of the moving object.
- the security system comprises an object detection device for detecting an object in a region of the movement element, which can be blocked by a movement of the movement element for object recognition, and an electronic unit, with which the movement of the movement element is controllable and which is adapted to the object detection device as the movement element approaches Assign lock state in which an object or motion element does not trigger a security mode.
- switch-off means are provided which, upon detection of a switch-off signal coming from the moving element, convert at least a part of the object detection device into the blocking state.
- the shut-off means comprise a transmitting device for a switch-off signal, which is tuned to a reflector for electromagnetic radiation, in particular optical reflector on the moving element, in such a way that of a receiver of the shutdown means only in a predefined range of motion of the reflector on the moving element, a signal of the transmitting member can be received.
- the object detection device and / or the shutdown means are / is distance sensors, in particular as time-of-flight sensors educated. By means of this procedure it can be avoided that a reflection of an object is interpreted as a switch-off signal and thus a shutdown of the object detection device or at least a part thereof takes place erroneously.
- the security system according to the invention can in particular at gates, z. B. Rolltoren or doors, z. B are used in sliding doors as in pull-outs. Other applications can be in the field of machines, z. B. presses are.
- the object detection device is completely switched off by the disconnection means.
- the object detection device comprises a curtain of a plurality of object detection means arranged one after the other in the direction of movement of the movement element.
- the object detection means closest to a front edge of the movement element is preferably blocked for object recognition.
- the Shutdown means are designed to evaluate a shutdown signal as such only if it comes in a predetermined period of time during the movement of the moving element.
- the shutdown safety is further increased.
- the predicted time star can be z. B. determine that can be predicted due to a known speed of the moving element and a known geometric arrangement of the shutdown, at which time the moving element must appear at a predetermined location of the shutdown.
- the object detection device in approaching motion element eg. B. gate element
- properly assign a blocking state in which an object or the moving element in the object detection device does not trigger a security mode the z. B. stops the movement element and / or reversed.
- a reflector in the signal path of the cut-off means is advantageous because a reflector reflects light much better than a conventional object to be detected, so that it is possible to work with comparatively low light output at the cut-off means.
- a misinterpretation of a reflection from a detecting object can thereby be precluded if only defined directed and / or acquired light is used for the evaluation.
- a gate or other moving guided component coming shutdown signal may be a sound and / or light signal and / or electromagnetic or magnetic nature. It can also be used polarized light, which further increases the noise immunity.
- emitted electromagnetic radiation e.g. Light
- a modulator with a predetermined property
- the modulated light is tuned to an analyzer, which sits in front of the receiver, in such a way that only the modified, modulated light can be received.
- the security in signal detection increases significantly.
- light is changed via a polarizing filter or retarder plate in a predefined manner.
- the receiver is designed so that it can only receive the changed light.
- the emitted light is linearly polarized, with a reflector changing the polarization characteristics in a manner to strike the receiver with circularly polarized light.
- the circularly polarized light can be evaluated at the receiver.
- the shut-off means in the region of a guide rail of the movement element comprise a transmitter or receiver which form the shut-off means together with a receiver or transmitter of the object detection device.
- the backup system can be designed inexpensively, since existing elements of the object detection device for the shutdown means are used. For example, receivers and their evaluation are comparatively expensive.
- the disconnection means use the existing receivers of the object detection device, but optionally have additional transmitters, so that with the help of the transmitter, a signal on the moving element, thus coming from the moving element, directed to the existing receiver and evaluated there, to a lock at least a part of the object detection device to effect.
- not every object detection means of the object detection device has to be assigned a transmitter. It is conceivable that a transmitter cooperates with a plurality of receivers of the object detection means, for example, object detection means are passively switched in blocks or disabled or completely switched off. It is also conceivable that a transmitter of the shutdown means is assigned only to individual receivers of the object detection means, wherein a shutdown of further, in particular in the closing direction of the moving element subsequent object detection means without an associated transmitter is carried out via an algorithm, e.g. by means of a speed calculation.
- the shut-off means are adapted to a completely closed state of the moving element, for. B. determine a gate element. It can e.g. be evaluated in the closed position of the gate element, a signal from the gate element, which must be received permanently in this position. A gate control, the detected closed position can be provided.
- an interface is provided to output or read in the current position of the movement element. If the possibility arises of transmitting the end position of the movement element to the control, then e.g. To check if the movement element behaves properly. If z. B. a door pressed by wind power from the intended path, which is not excluded in flexible rolling doors, the controller can be transmitted a corresponding signal, for example, a stop signal.
- the object detection means need not be arranged equidistantly along the movement path of the movement element.
- the end area eg floor area
- a distance of 5 cm and realized in the remaining area of 20 cm e.g., a distance of 5 cm and realized in the remaining area of 20 cm.
- smaller objects can still be reliably detected, in particular in the bottom area of a door.
- elements of the cut-off means which are fastened to the movement element, have a predetermined distance to the front edge. Because the leading edge of moving elements, e.g. Gate elements, is usually not suitable for attachment of objects. It is usually soft, on the one hand sufficient to close a gap between the door element and a ground level, on the other hand, the risk of injury in unwanted collisions is reduced.
- receivers of the disconnection means are arranged offset relative to receivers of the object detection device.
- the individual components of the security system on one side of a movement element need not necessarily be accommodated in a structural unit. It is conceivable that e.g. Individual sensor pairs or groups of sensors are communicated via a bus communicating. This makes it possible to achieve greater flexibility if the object detection device and / or switch-off means of the security system are to be adapted to different structural conditions, in particular smaller or larger surveillance areas.
- the sensors can then be selected depending on the power profile required at the respective door element.
- Figures 1 - 3 show general Torommessysteme, but no embodiments of the invention. They show a detail of a gate element and a Torommessystems on one side of the gate element in a schematic representation of different embodiments of shutdown, which cause a blocking of monitoring light beams of a light barrier arrangement for the object detection.
- FIG. 1 - 3 in each case the left side of different Torommessystemen 1, 2, 3 shown. From a gate element 4, the lower left corner is shown schematically in each case.
- the Torommessysteme 1, 2, 3 comprise on the left side in each case a receiver strip 5, 6, 7.
- the associated transmitter send out the monitoring light beams 8 to a respective receiver 9, are in the Figures 1 - 3 not to be seen.
- the monitoring light beams 8 ensure that when an object enters an area 10 below a front edge 4a of the door element 4 due to an interruption of the monitoring light beams 8, the gate element 4 stops, g reverses to prevent collisions with the object.
- a transmitter 12 is positioned in the left front area of the gate element 4, a transmitter 12 is positioned.
- the transmitter 12 cooperates with receivers (not shown) which, in principle, could also be the receivers 9, whereby the monitoring light beams 8 for the object recognition are successively blocked when the door element 4 is shut down.
- the locked monitoring light beams are in the Figures 1 - 3 shown in dashed lines.
- the transmitter 12 preferably cooperates with the receivers such that, before reaching a monitoring light beam 8 through the leading edge 4a of the Torelement a respective receiver recognizes that the gate element is in this position by a signal emitted by the transmitter 12, whereby the respective receiver transmitter pairing for the monitoring light beam is set in a passive state.
- the receivers of the turn-off means are arranged offset to the receivers for the respective monitoring light beams 8.
- FIG. 2 The same receivers of the detection means are also used for the shutdown.
- an additional receiver 9a is provided which evaluates light from an additional transmitter 13 in order to block the monitoring light beam 8a following in the direction of movement 11 or to bring the associated receiver transmitter pair into a passive state with respect to the object evaluation.
- the signal of the additional transmitter 13 is directed via a reflector 15 to the receiver 9a.
- the reflector 15 is seated on the gate element 4, so that in this way the presence of the gate element can be reliably detected.
- further additional transmitters 14 then cooperate with staggered receivers 9 in order in each case to obtain the blocking of the monitoring light beams.
- the turn-off means comprise a single transmitter 16, which reflects light to already existing receivers 9 via the reflector 15 mounted on the gate element 4.
- a receiver 9 detects a signal coming from the transmitter 16, this receiver 9 and a corresponding transmitter on the other side of the door is locked in the event of object recognition, so that the safety mode is not triggered when the front edge 4 a Signal path between this sensor pairing interrupts.
- the gate recognition and a Transponder system is used, with a transponder is mounted on the door element.
- an RFID system can be used with a transponder on the gate element.
- the transponder can be passive, ie it does not have its own power supply.
- the position of the gate can be determined by triangulation.
- an RFID receiver is provided at the upper end and at the lower end on the path of the gate.
- the signal path with shutdown means 12, 13, 14, 15, 16 is subjected to as few disturbances as possible.
- a type of light guide 18 can be used, which has a defined receiving lobe 19 and a defined transmitting lobe 20 on a transmitter 21 and with respect to a receiver 22, so that also a misinterpretation of signals can practically no longer take place (see FIG. 5 ).
- a collimation device are used, for.
- a lens 22 a which makes it even more difficult that a reflection of light from the transmitter 21 takes place to the receiver 22, which is interpreted as a shutdown signal.
- a diaphragm 22 b may be provided.
- a modulator after transmission 21 and an analyzer in front of the receiver 22 can be arranged in the light path, which further increases security.
- FIG. 6 a reflector 27 is shown.
- the reflector 27 is z. B. a massive polyhedron of a translucent, especially crystal clear material. According to FIG. 6 occurs z. B. on a surface 28, a light beam 29 in the reflector 27 and is then mirrored by total reflection at the surface 30, further to the surfaces 31 and 32, where also total reflection takes place, so that the light beam 29, the reflector 27 over the surface 28th leaves again.
- This reflector The specialty of this reflector is that an incident light beam 29a is offset only by a certain distance compared to the outgoing light beam 29b. The direction of the incident light beam 29a to the emergent light beam 29b remains unchanged. If several such reflectors arranged side by side, light z. B. emitted from a point source, reflected to an offset point. By this reflector can thus light, z. B. are reflected to a receiver, which additionally has a predetermined direction with the desired light intensity.
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Geophysics And Detection Of Objects (AREA)
- Power-Operated Mechanisms For Wings (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Burglar Alarm Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
Die Erfindung betrifft ein Sicherungssystem zur Absicherung eines sich insbesondere vertikal bewegenden, geführten Bewegungselements gegen ungewollte Kollisionen nach dem Oberbegriff des Anspruchs 1.The invention relates to a security system for securing a particular vertically moving, guided movement element against unwanted collisions according to the preamble of
Aus dem europäischen Patent
Bei einer solchen Ausgestaltung ist es allerdings denkbar, dass ein zu detektierendes Objekt fälschlicherweise als herannahendes Tor interpretiert wird und somit ein unerwünschtes Sperren von Überwachungsstrahlen bewirken könnte.In such an embodiment, however, it is conceivable that an object to be detected is mistakenly interpreted as an approaching gate and thus could cause an unwanted blocking of monitoring beams.
Der Erfindung liegt die Aufgabe zu Grunde, ein Sicherungssystem der einleitend bezeichneten Art bereitzustellen, das sich abhängig von einer Bewegung eines Bewegungselements vergleichsweise zuverlässiger für eine Objekterkennung sperren lässt.The invention is based on the object to provide a safety system of the type described in the introduction, which can be locked depending on a movement of a moving member comparatively reliable for object detection.
Diese Aufgabe wird durch die Merkmale des Anspruchs 1 gelöst. In den abhängigen Ansprüchen sind vorteilhafte und zweckmäßige Weiterbildungen der Erfindung angegeben.This object is solved by the features of
Die Erfindung geht von einem Sicherungssystem zur Absicherung eines sich bewegenden, geführten Bewegungselements, z. B. einer Tür oder eines Torelements, gegen ungewollte Kollisionen mit einem auf einem Bewegungsweg in Bewegungsrichtung des Bewegungselement liegenden Objekts aus. Das Sicherungssystem umfasst eine Objektdetektionseinrichtung zur Feststellung eines Objekt in einem Bereich des Bewegungselements, die durch eine Bewegung des Bewegungselements für eine Objekterkennung sperrbar ist sowie eine Elektronikeinheit, mit welcher die Bewegung des Bewegungselements steuerbar ist und die dazu ausgelegt ist, der Objektdetektionseinrichtung bei herannahendem Bewegungselement einen Sperrzustand zuzuordnen, in welchem ein Objekt oder Bewegungselement keinen Sicherheitsmodus auslöst. Dazu sind Abschaltmittel vorgesehen, die bei Detektion eines vom Bewegungselement kommenden Abschaltsignals wenigstens einen Teil der Objektdetektionseinrichtung in den Sperrzustand überführen. Der Kern der Erfindung liegt nun darin, dass die Abschaltmittel ein Sendeorgan für ein Abschaltsignal umfassen, das auf einen Reflektor für elektromagnetische Strahlung, insbesondere optischen Reflektor am Bewegungselement in einer Weise abgestimmt ist, dass von einem Empfänger der Abschaltmittel nur in einem vordefiniertem Bewegungsbereich des Reflektors am Bewegungselement ein Signal des Sendeorgans empfangen werden kann. Erfindungsgemäß sind/ist die Objektdetektionseinrichtung und/oder die Abschaltmittel als Distanzsensoren, insbesondere als Time-of-flight-Sensoren ausgebildet. Durch diese Vorgehensweise kann vermieden werden, dass eine Reflexion eines Objekts als Abschaltsignal interpretiert wird und damit fälschlicherweise eine Abschaltung der Objektdetektionseinrichtung oder zumindest eines Teils davon stattfindet.The invention is based on a security system for securing a moving, guided movement element, for. As a door or gate element, against unwanted collisions with a lying on a path of movement in the direction of movement of the moving object. The security system comprises an object detection device for detecting an object in a region of the movement element, which can be blocked by a movement of the movement element for object recognition, and an electronic unit, with which the movement of the movement element is controllable and which is adapted to the object detection device as the movement element approaches Assign lock state in which an object or motion element does not trigger a security mode. For this purpose, switch-off means are provided which, upon detection of a switch-off signal coming from the moving element, convert at least a part of the object detection device into the blocking state. The essence of the invention resides in the fact that the shut-off means comprise a transmitting device for a switch-off signal, which is tuned to a reflector for electromagnetic radiation, in particular optical reflector on the moving element, in such a way that of a receiver of the shutdown means only in a predefined range of motion of the reflector on the moving element, a signal of the transmitting member can be received. According to the invention, the object detection device and / or the shutdown means are / is distance sensors, in particular as time-of-flight sensors educated. By means of this procedure it can be avoided that a reflection of an object is interpreted as a switch-off signal and thus a shutdown of the object detection device or at least a part thereof takes place erroneously.
Das erfindungsgemäße Sicherungssystem kann insbesondere bei Toren, z. B. Rolltoren oder Türen, z. B in Verschiebetüren wie bei Auszügen zum Einsatz kommen. Weitere Anwendungsgebiete können im Bereich Maschinen, z. B. Pressen liegen.The security system according to the invention can in particular at gates, z. B. Rolltoren or doors, z. B are used in sliding doors as in pull-outs. Other applications can be in the field of machines, z. B. presses are.
Dadurch dass es erforderlich ist, dass zum Sperren zumindest eines Teils der Objektdetektionseinrichtung ein Signal vom Bewegungselement, abgestimmt auf den Reflektor am Bewegungselement, empfangen werden muss, kann erreicht werden, dass Objekte im Torbereich eine derartige Sperrung nicht auslösen können, da derartige Objekte entsprechende Signale normalerweise nicht aussenden.The fact that it is necessary that for blocking at least a part of the object detection device, a signal from the moving element, tuned to the reflector on the moving element, must be received, it can be achieved that objects in the gate area can not trigger such blocking, since such objects corresponding signals do not send out normally.
Im Gegensatz zur Ausgestaltung nach der
Gegebenenfalls wird die Objektdetektionseinrichtung durch die Abschaltmittel ganz abgeschaltet.Optionally, the object detection device is completely switched off by the disconnection means.
In einer besonders bevorzugten Ausgestaltung der Erfindung umfasst die Objektdetektionseinrichtung einen Vorhang aus einer Mehrzahl von in der Bewegungsrichtung des Bewegungselements nacheinander angeordneten Objektdetektionsmitteln. Bei einer Abschaltung durch das herannahende Bewegungselement wird vorzugsweise das vor einer Vorderkante des Bewegungselements nächstkommende Objektdetektionsmittel für eine Objekterkennung gesperrt.In a particularly preferred embodiment of the invention, the object detection device comprises a curtain of a plurality of object detection means arranged one after the other in the direction of movement of the movement element. When switched off by the approaching movement element, the object detection means closest to a front edge of the movement element is preferably blocked for object recognition.
Im Weiteren ist es besonders bevorzugt, wenn die Abschaltmittel dazu ausgelegt sind, ein Abschaltsignal als solches nur dann zu werten, wenn es in einem vorgegebenen Zeitabschnitt während der Bewegung vom Bewegungselement kommt. Dadurch wird die Abschaltsicherheit noch weiter erhöht. Denn die Wahrscheinlichkeit, dass erstens ein Signal die Bedingungen erfüllt, um als Abschaltsignal grundsätzlich gewertet zu werden und zweitens noch in einem vorprognostizierten Zeitfenster auftritt, ist höchst unwahrscheinlich. Das vorprognostizierte Zeitfester lässt sich z. B. dadurch bestimmen, dass aufgrund einer bekannten Geschwindigkeit des Bewegungselements und einer bekannten geometrischen Anordnung der Abschaltmittel vorhergesagt werden kann, zu welchem Zeitpunkt das Bewegungselement an einem vorgegebenen Ort der Abschaltmittel auftauchen muss.Furthermore, it is particularly preferred if the Shutdown means are designed to evaluate a shutdown signal as such only if it comes in a predetermined period of time during the movement of the moving element. As a result, the shutdown safety is further increased. For the probability that, firstly, a signal fulfills the conditions to be scored in principle as a shutdown signal and secondly still occurs in a predicted time window, is highly unlikely. The predicted time star can be z. B. determine that can be predicted due to a known speed of the moving element and a known geometric arrangement of the shutdown, at which time the moving element must appear at a predetermined location of the shutdown.
Damit steigt die Wahrscheinlichkeit erheblich, der Objektdetektionseinrichtung bei herannahendem Bewegungselement, z. B. Torelement, richtigerweise einen Sperrzustand zuzuordnen, in welchem ein Objekt oder das Bewegungselement bei der Objektdetektionseinrichtung keinen Sicherheitsmodus auslöst, der z. B. das Bewegungselement stoppt und/oder reversiert.Thus, the probability increases significantly, the object detection device in approaching motion element, eg. B. gate element, properly assign a blocking state in which an object or the moving element in the object detection device does not trigger a security mode, the z. B. stops the movement element and / or reversed.
Ein Reflektor im Signalweg der Abschaltmittel ist vorteilhaft, weil ein Reflektor Licht viel besser reflektiert als ein üblich zu detektierendes Objekt, so dass bei den Abschaltmitteln mit vergleichsweise geringer Lichtleistung gearbeitet werden kann. Außerdem lässt sich dadurch eine Fehlinterpretation einer Reflexion von einem detektierenden Objekt ausschließen, wenn nur definiert gerichtetes und/oder beschaffenes Licht zur Auswertung herangezogen wird.A reflector in the signal path of the cut-off means is advantageous because a reflector reflects light much better than a conventional object to be detected, so that it is possible to work with comparatively low light output at the cut-off means. In addition, a misinterpretation of a reflection from a detecting object can thereby be precluded if only defined directed and / or acquired light is used for the evaluation.
Das vom Bewegungselement, z. B. einer Tür, einem Tor oder einem anderen sich bewegt geführten Bauteil kommende Abschaltsignal kann ein Schall- und/oder Lichtsignal und/oder elektromagnetischer bzw. magnetischer Natur sein. Es kann auch polarisiertes Licht zur Anwendung kommen, was die Störsicherheit weiter erhöht.The movement of the element, for. As a door, a gate or other moving guided component coming shutdown signal may be a sound and / or light signal and / or electromagnetic or magnetic nature. It can also be used polarized light, which further increases the noise immunity.
Es ist beispielsweise denkbar, dass ausgesandte elektromagnetische Strahlung, z.B. Licht, über einen Modulator mit einer vorgegebenen Eigenschaft versehen wird, wobei das modulierte Licht auf einen Analysator abgestimmt ist, der vor dem Empfänger sitzt, in einer Weise, dass nur das veränderte, modulierte Licht empfangen werden kann. Durch diese vorgehensweise steigt die Sicherheit bei der Signalerkennung erheblich. Beispielsweise wird Licht über einen Polfilter oder eine Verzögerungsplatte in einer vordefinierten Weise verändert. Der Empfänger ist so ausgestaltet, dass dieser nur das veränderte Licht empfangen kann. Zum Beispiel wird das ausgesandte Licht linear polarisiert, wobei ein Reflektor die Polarisationseigenschaften in einer Weise ändert, dass auf den Empfänger zirkular polarisiertes Licht trifft. Das zirkular polarisierte Licht lässt sich am Empfänger auswerten.For example, it is conceivable that emitted electromagnetic radiation, e.g. Light is provided by a modulator with a predetermined property, wherein the modulated light is tuned to an analyzer, which sits in front of the receiver, in such a way that only the modified, modulated light can be received. By doing so, the security in signal detection increases significantly. For example, light is changed via a polarizing filter or retarder plate in a predefined manner. The receiver is designed so that it can only receive the changed light. For example, the emitted light is linearly polarized, with a reflector changing the polarization characteristics in a manner to strike the receiver with circularly polarized light. The circularly polarized light can be evaluated at the receiver.
Auch durch entsprechende Auswahl der Art des Signals in Abhängigkeit vom Standort des Tores kann ausgeschlossen werden, dass es zu Fehlinterpretationen beim Sperren von Objektdetektionsmittel der Objektdetektionseinrichtung kommt, weil z.B. eine Reflexion von einem Objekt durch einen Sensor der Objektdetektionsmittel falsch interpretiert wird.Also by appropriate selection of the type of signal depending on the location of the gate can be excluded that there is misinterpretation when locking object detection means of the object detection device, because e.g. a reflection from an object is misinterpreted by a sensor of the object detection means.
In einer besonders bevorzugten Ausgestaltung der Erfindung umfassen die Abschaltmittel im Bereich einer Führungsleiste des Bewegungselements einen Sender oder Empfänger, der zusammen mit einem Empfänger oder Sender der Objektdetektionseinrichtung die Abschaltmittel ausbilden. Durch diese Maßnahme kann das Sicherungssystem kostengünstig ausgestaltet werden, da vorhandene Elemente der Objektdetektionseinrichtung für die Abschaltmittel mit verwendet werden. Beispielsweise sind Empfänger und deren Auswerteelektronik vergleichsweise teuer. Dementsprechend ist es von Vorteil, dass die Abschaltmittel die bestehenden Empfänger der Objektdetektionseinrichtung nutzen, aber gegebenenfalls zusätzliche Sender besitzen, so dass mit Hilfe der Sender ein Signal über das Bewegungselement, also vom Bewegungselement kommend, an den bestehenden Empfänger gerichtet und dort ausgewertet werden kann, um ein Sperren zumindest eines Teils der Objektdetektionseinrichtung zu bewirken.In a particularly preferred embodiment of the invention, the shut-off means in the region of a guide rail of the movement element comprise a transmitter or receiver which form the shut-off means together with a receiver or transmitter of the object detection device. By this measure, the backup system can be designed inexpensively, since existing elements of the object detection device for the shutdown means are used. For example, receivers and their evaluation are comparatively expensive. Accordingly, it is advantageous that the disconnection means use the existing receivers of the object detection device, but optionally have additional transmitters, so that with the help of the transmitter, a signal on the moving element, thus coming from the moving element, directed to the existing receiver and evaluated there, to a lock at least a part of the object detection device to effect.
Dabei muss nicht jedem Objektdetektionsmittel der Objektdetektionseinrichtung ein Sender zugeordnet sein. Es ist denkbar, dass ein Sender mit mehreren Empfängern der Objektdetektionsmittel zusammenarbeitet, beispielsweise werden Objektdetektionsmittel blockweise passiv geschaltet bzw. gesperrt oder ganz abgeschaltet. Denkbar ist auch, dass ein Sender der Abschaltmittel nur einzelnen Empfängern der Objektdetektionsmittel zugeordnet ist, wobei eine Abschaltung von weiteren, insbesondere in Schließrichtung des Bewegungselements nachfolgenden Objektdetektionsmitteln ohne einen zugeordneten Sender über einen Algorithmus erfolgt, z.B. mittels einer Geschwindigkeitsberechnung.In this case, not every object detection means of the object detection device has to be assigned a transmitter. It is conceivable that a transmitter cooperates with a plurality of receivers of the object detection means, for example, object detection means are passively switched in blocks or disabled or completely switched off. It is also conceivable that a transmitter of the shutdown means is assigned only to individual receivers of the object detection means, wherein a shutdown of further, in particular in the closing direction of the moving element subsequent object detection means without an associated transmitter is carried out via an algorithm, e.g. by means of a speed calculation.
In einer außerdem bevorzugten Ausgestaltung der Erfindung sind die Abschaltmittel dazu ausgelegt, einen komplett geschlossenen Zustand des Bewegungselements, z. B. eines Torelements festzustellen. Es kann z.B. in der geschlossenen Position des Torelements ein Signal vom Torelement ausgewertet werden, das in dieser Position dauerhaft empfangen werden muss. Einer Torsteuerung kann die detektierte Geschlossenposition zur Verfügung gestellt werden.In a further preferred embodiment of the invention, the shut-off means are adapted to a completely closed state of the moving element, for. B. determine a gate element. It can e.g. be evaluated in the closed position of the gate element, a signal from the gate element, which must be received permanently in this position. A gate control, the detected closed position can be provided.
In diesem Zusammenhang ist es auch bevorzugt, wenn eine Schnittstelle vorgesehen ist, um die aktuelle Position des Bewegungselements auszugeben oder einzulesen. Entsteht die Möglichkeit, die Endposition des Bewegungselements an die Steuerung zu übermitteln, kann z.B. überprüft werden, ob sich das Bewegungselement ordnungsgemäß verhält. Wird z. B. ein Tor durch Windkraft aus der vorgesehenen Bahn gedrückt, was bei flexiblen Rolltoren nicht ausgeschlossen ist, kann der Steuerung ein entsprechendes Signal, z.B, ein Stoppsignal übermittelt werden.In this context, it is also preferable if an interface is provided to output or read in the current position of the movement element. If the possibility arises of transmitting the end position of the movement element to the control, then e.g. To check if the movement element behaves properly. If z. B. a door pressed by wind power from the intended path, which is not excluded in flexible rolling doors, the controller can be transmitted a corresponding signal, for example, a stop signal.
Grundsätzlich müssen die Objektdetektionsmittel entlang der Bewegungsbahn des Bewegungselements nicht äquidistant angeordnet sein. Z.B. ist im Endbereich, z.B. Bodenbereich, ein Abstand von 5 cm und im übrigen Bereich von 20 cm realisiert. Damit können insbesondere im Bodenbereich eines Tores kleinere Objekte noch sicher erfasst werden. Insgesamt ist es aber dadurch nicht erforderlich, dass über die gesamte Bewegungshöhe des Bewegungselements eine große Sensordichte realisiert ist.In principle, the object detection means need not be arranged equidistantly along the movement path of the movement element. For example, in the end area, eg floor area, a distance of 5 cm and realized in the remaining area of 20 cm. Thus, smaller objects can still be reliably detected, in particular in the bottom area of a door. Overall, however, it is not necessary for a large sensor density to be realized over the entire height of movement of the movement element.
Im Weiteren ist es von Vorteil, wenn Elemente der Abschaltmittel, die am Bewegungselement befestigt werden, eine vorgegebene Distanz zur Vorderkante aufweisen. Denn die Vorderkante von Bewegungselementen, z.B. Torelementen, ist in der Regel zur Befestigung von Gegenständen nicht geeignet. Sie ist meist weich, um einerseits einen Spalt zwischen dem Torelement und einer Bodenebene ausreichend verschließen zu können, andererseits wird so die Gefahr von Verletzungen bei ungewollten Kollisionen herabgesetzt.Furthermore, it is advantageous if elements of the cut-off means, which are fastened to the movement element, have a predetermined distance to the front edge. Because the leading edge of moving elements, e.g. Gate elements, is usually not suitable for attachment of objects. It is usually soft, on the one hand sufficient to close a gap between the door element and a ground level, on the other hand, the risk of injury in unwanted collisions is reduced.
Damit die Signale der Objektdetektionseinrichtung rechtzeitig gesperrt werden können, wird vorgeschlagen, dass Empfänger der Abschaltmittel gegenüber Empfängern der Objektdetektionseinrichtung versetzt angeordnet sind.So that the signals of the object detection device can be blocked in time, it is proposed that receivers of the disconnection means are arranged offset relative to receivers of the object detection device.
Um eine weitere Verbesserung der Funktionssicherheit des Sicherungssystems zu erhalten, sind folgende Maßnahmen denkbar:
- a) Der Öffnungswinkel von eingesetzten Optiken wird insbesondere gemäß einschlägiger Norm gewählt.
- b) Die Signalkette wird überwacht, z.B. indem die Anzahl von für die Objekterkennung aktiven Objektdetektionsmitteln überwacht wird.
- c) Schaltausgänge der Objektdetektionsmittel werden beispielsweise mit einem Testeingang zur Ausführung von Testprozeduren versehen.
- d) Außerdem können "Online-Tests" implementiert sein, in der Art eines ROM-Checks, der während eines Betriebs kontinuierlich ausgeführt wird.
- a) The opening angle of inserted optics is chosen in particular according to the relevant standard.
- b) The signal chain is monitored, for example by monitoring the number of object detection means active for the object recognition.
- c) switching outputs of the object detection means are provided for example with a test input for carrying out test procedures.
- d) In addition, "online tests" can be implemented, in the manner of a ROM check, during an operation is carried out continuously.
Die einzelnen Bestandteile des Sicherungssystems auf einer Seite eines Bewegungselements müssen nicht zwangsläufig in einer Baueinheit untergebracht werden. Es ist denkbar, dass z.B. über einen Bus kommunizierend Einzelsensorpaare oder Gruppen von Sensoren montiert werden. Damit lässt sich eine höhere Flexibilität erreichen, wenn die Objektdetektionseinrichtung und/oder Abschaltmittel des Sicherungssystems auf unterschiedliche bauliche Gegebenheiten, insbesondere kleinere oder größere Überwachungsbereiche anzupassen sind.The individual components of the security system on one side of a movement element need not necessarily be accommodated in a structural unit. It is conceivable that e.g. Individual sensor pairs or groups of sensors are communicated via a bus communicating. This makes it possible to achieve greater flexibility if the object detection device and / or switch-off means of the security system are to be adapted to different structural conditions, in particular smaller or larger surveillance areas.
Die Sensoren lassen sich dann abhängig vom Leistungsprofil auswählen, das an dem jeweiligen Torelement gefordert ist.The sensors can then be selected depending on the power profile required at the respective door element.
Mehrere Ausführungsbeispiele der Erfindung sind in den folgenden Zeichnungen dargestellt und werden unter Angabe weiterer Vorteile und Einzelheiten nachstehend näher erläutert. Es zeigen
Figur 4 und 5- Möglichkeiten von Reflexionsmitteln, die Teil eines Signalwegs von Abschaltmitteln sind, in jeweils schematischen Ansichten und
Figur 6- einer perspektivischen Ansicht ein Reflektor für Abschaltmittel.
- FIGS. 4 and 5
- Possibilities of reflection means, which are part of a signal path of cut-off means, respectively in schematic views and
- FIG. 6
- a perspective view of a reflector for shutdown.
In den
Beim Herunterfahren des Torelements 4 ist allerdings sicherzustellen, dass das Torelement 4 nicht selbst einen Sicherheitsmodus auslöst, weil das Tor einen Überwachungslichtstrahl 8 unterbrochen hat. Dies lässt sich dadurch erreichen, dass vor Erreichen des jeweiligen Überwachungslichtstrahls 8 durch die Vorderkante 4a des Torelements 4 bei einer Bewegung des Torelements 4 in eine Bewegungsrichtung 11 ein jeweiliges Sendeempfängerpaar zur Erzeugung des Überwachungslichtstrahls in einen passiven, den Sicherheitsmodus nicht mehr auslösenden Zustand gebracht wird.When shutting down the
In den
In
Vorzugsweise sind die Empfänger der Abschaltmittel versetzt zu den Empfängern für die jeweiligen Überwachungslichtstrahlen 8 angeordnet.Preferably, the receivers of the turn-off means are arranged offset to the receivers for the respective monitoring light beams 8.
In
In
Grundsätzlich ist es denkbar, dass zur Torerkennung auch ein Transpondersystem zum Einsatz kommt, wobei ein Transponder am Torelement montiert ist. Zum Beispiel kann ein RFID-System verwendet werden mit einem Transponder am Torelement. Der Transponder kann passiv sein, d.h. er besitzt dann keine eigene Energieversorgung. Bei Verwendung eines RFID am Bewegungselement, z.B. einem Tor, kann über Triangulation die Position des Tores bestimmt werden. Z.B. wird am oberen Ende und am unteren Ende am Laufweg des Tores je ein RFID Empfänger vorgesehen.Basically, it is conceivable that the gate recognition and a Transponder system is used, with a transponder is mounted on the door element. For example, an RFID system can be used with a transponder on the gate element. The transponder can be passive, ie it does not have its own power supply. When using an RFID on the moving element, eg a gate, the position of the gate can be determined by triangulation. For example, an RFID receiver is provided at the upper end and at the lower end on the path of the gate.
Wichtig ist, dass der Signalweg mit Abschaltmitteln 12, 13, 14, 15, 16 möglichst wenig Störungen unterworfen ist. Dies kann z.B. dadurch erreicht werden, dass ein Reflektor 15 an einem Torelement, so wie in
Anstatt eines Reflektors 15, der mehr oder weniger offen montiert ist, kann eine Art Lichtleiter 18 zum Einsatz kommen, der eine definierte Empfangskeule 19 und eine definierte Sendekeule 20 auf einen Sender 21 bzw. in Bezug auf einen Empfänger 22 aufweist, so dass auch hierdurch eine Falschinterpretation von Signalen praktisch nicht mehr stattfinden kann (siehe
In den Lichtweg kann zusätzlich ein Modulator nach dem Senden 21 und ein Analysator vor dem Empfänger 22 angeordnet werden, was die Sicherheit noch weiter steigert.In addition, a modulator after
In
Der Reflektor 27 ist z. B. ein massiver Vielflächer aus einem lichtdurchlässigen, insbesondere glasklaren Material. Gemäß
Die Spezialität dieses Reflektors besteht darin, dass ein einfallender Lichtstrahl 29a im Vergleich zum ausfallenden Lichtstrahl 29b lediglich um eine gewisse Distanz versetzt wird. Die Richtung des einfallenden Lichtstrahls 29a zum ausfallenden Lichtstrahl 29b bleibt unverändert. Werden mehrere solche Reflektoren nebeneinander angeordnet, wird Licht, das z. B. von einer Punktquelle ausgestrahlt wird, zu einem versetzten Punkt reflektiert. Durch diesen Reflektor kann somit gezielt Licht, z. B. zu einem Empfänger reflektiert werden, das zusätzlich noch eine vorgegebene Richtung mit der gewünschten Lichtintensität aufweist.The specialty of this reflector is that an incident light beam 29a is offset only by a certain distance compared to the outgoing light beam 29b. The direction of the incident light beam 29a to the emergent light beam 29b remains unchanged. If several such reflectors arranged side by side, light z. B. emitted from a point source, reflected to an offset point. By this reflector can thus light, z. B. are reflected to a receiver, which additionally has a predetermined direction with the desired light intensity.
Damit lässt sich die Sicherheit des Systems weiter erhöhen, da es unwahrscheinlich ist, dass falsche Reflexionen als tatsächlich reflektiertes Abschaltsignal interpretiert werden.This further enhances the security of the system, as it is unlikely that false reflections will be interpreted as actually reflected shutdown signals.
- 11
- TorsicherungssystemTorsicherungssystem
- 22
- TorsicherungssystemTorsicherungssystem
- 33
- TorsicherungssystemTorsicherungssystem
- 44
- Torelementgate element
- 4a4a
- Vorderkanteleading edge
- 4b4b
- Stirnseitefront
- 55
- Empfängerseitereceiving end
- 66
- Empfängerseitereceiving end
- 77
- Empfängerseitereceiving end
- 88th
- ÜberwachungslichtstrahlMonitor light beam
- 8a8a
- ÜberwachungslichtstrahlMonitor light beam
- 99
- Empfängerreceiver
- 9a9a
- Empfängerreceiver
- 1010
- BereichArea
- 1111
- Bewegungsrichtungmovement direction
- 1212
- Sendertransmitter
- 1313
- Sendertransmitter
- 1414
- Sendertransmitter
- 1515
- Reflektorreflector
- 1616
- Sendertransmitter
- 17a17a
- Lichtstrahlenlight rays
- 17b17b
- Lichtstrahlenlight rays
- 17c17c
- Lichtstrahlenlight rays
- 17d17d
- Lichtstrahlenlight rays
- 17e17e
- Lichtstrahlenlight rays
- 1818
- Lichtleiteroptical fiber
- 1919
- Sendekeuletransmission lobe
- 2020
- Empfangskeulereception lobe
- 2121
- Sendertransmitter
- 2222
- Empfängerreceiver
- 22a22a
- Linselens
- 22b22b
- Blendecover
- 2727
- Reflektorreflector
- 2828
- Flächearea
- 2929
- Lichtstrahlbeam of light
- 29a29a
- einfallender Lichtstrahlincident light beam
- 29b29b
- ausfallender Lichtstrahlfailing light beam
- 3030
- Flächearea
- 3131
- Flächearea
- 3232
- Flächearea
Claims (8)
- Safety system (1, 2, 3) for safeguarding a moving, guided motion element (4) against unwanted collisions with an object lying on a movement path in the movement direction (11) of the motion element (4), which system comprises an object detection device for finding an object within a range of the motion element (4), which object detection device can be locked by a movement of the motion element (4) for object recognition, and an electronic unit by means of which the movement of the motion element (4) can be controlled and which is configured to assign a locked state to the object detection device with an approaching motion element (4), in which state an object or motion element does not trigger a safety mode, wherein switching off means (12, 13, 14, 15, 16, 18) are provided which on the detection of a switching off signal coming from the motion element (4) transfer at least a portion of the object detection device into the locked state, characterised in that the switching off means comprise a transmission element for a switching off signal which is directed to a reflector for electromagnetic radiation, in particular an optical reflector (15, 27) on the motion element (4), such that a receiver of the switching off means can only receive a signal of the transmission element in a predefined movement range of the reflector (15, 27) on the motion element (4) and wherein the object detection device and/or the switching off means is/are configured as a distance sensor, in particular as a time-of-flight sensor.
- System according to claim 1, characterised in that the safety system is a door/gate safety system.
- System according to claim 1, characterised in that the object detection device comprises a curtain consisting of a plurality of object detection means arranged in series in the movement direction of the motion element.
- System according to one of the preceding claims, characterised in that the switching off means are configured to evaluate a switching off signal as such only if it comes from the motion element in a predefined time segment during the movement of the motion element.
- System according to one of the preceding claims, characterised in that the switching off signal is a signal operating on the basis of light, sound, electromagnetic radiation and/or a magnetic field.
- System according to one of the preceding claims, characterised in that in the region of a guiding strip (23) of a motion element (4) the switching off means comprise a transmitter (13, 14) or receiver which together with a receiver (9) or transmitter of the object detection device form the switching off means.
- System according to one of the preceding claims, characterised in that the switching off means are configured to determine an end position, in particular a completely closed state of a motion element (4).
- System according to one of the preceding claims, characterised in that object detection means are not arranged equidistantly in the movement direction of the motion element.
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DE102008004760 | 2008-01-16 | ||
DE102008013844 | 2008-03-12 | ||
DE102008023294A DE102008023294B4 (en) | 2008-01-16 | 2008-05-13 | Securing system for securing a moving, guided movement element against unwanted collisions |
EP09702219A EP2229496B1 (en) | 2008-01-16 | 2009-01-16 | Safety system for safeguarding a moving, guided motion element against unwanted collisions |
Related Parent Applications (1)
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EP09702219.8 Division | 2009-01-16 |
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EP09702219A Active EP2229496B1 (en) | 2008-01-16 | 2009-01-16 | Safety system for safeguarding a moving, guided motion element against unwanted collisions |
EP12008641.8A Active EP2574718B1 (en) | 2008-01-16 | 2009-01-16 | Safety system for safeguarding a moving, guided motion element against unwanted collisions |
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EP09702219A Active EP2229496B1 (en) | 2008-01-16 | 2009-01-16 | Safety system for safeguarding a moving, guided motion element against unwanted collisions |
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DK (1) | DK2574718T3 (en) |
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EP3530869A1 (en) | 2018-02-27 | 2019-08-28 | Cedes AG | Light grid with distance information and use thereof |
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AUPQ022199A0 (en) * | 1999-05-05 | 1999-06-03 | Lazer Safe Pty Ltd | Industrial press safety system |
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WO2003104711A1 (en) * | 2002-06-11 | 2003-12-18 | Kevin Stephen Davies | A safety system |
-
2008
- 2008-05-13 DE DE102008023294A patent/DE102008023294B4/en not_active Expired - Fee Related
-
2009
- 2009-01-16 DK DK12008641.8T patent/DK2574718T3/en active
- 2009-01-16 WO PCT/EP2009/000276 patent/WO2009090097A2/en active Application Filing
- 2009-01-16 EP EP09702219A patent/EP2229496B1/en active Active
- 2009-01-16 EP EP12008641.8A patent/EP2574718B1/en active Active
- 2009-01-16 CN CN2009801023347A patent/CN101918670B/en active Active
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2010
- 2010-07-15 US US12/836,838 patent/US8309904B2/en not_active Expired - Fee Related
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2012
- 2012-11-09 US US13/673,265 patent/US8575538B2/en active Active
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2013
- 2013-07-15 HK HK13108300.3A patent/HK1181096A1/en unknown
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3530869A1 (en) | 2018-02-27 | 2019-08-28 | Cedes AG | Light grid with distance information and use thereof |
US10844646B2 (en) | 2018-02-27 | 2020-11-24 | Cedes Ag | Light grid with distance information to distinguish between a normal case and a safety case between a door edge and an object |
Also Published As
Publication number | Publication date |
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DE102008023294A1 (en) | 2009-07-30 |
EP2574718A3 (en) | 2013-04-24 |
WO2009090097A3 (en) | 2009-12-17 |
US8575538B2 (en) | 2013-11-05 |
CN101918670B (en) | 2012-07-04 |
DE102008023294B4 (en) | 2010-02-04 |
CN101918670A (en) | 2010-12-15 |
US20130062511A1 (en) | 2013-03-14 |
EP2229496A2 (en) | 2010-09-22 |
US8309904B2 (en) | 2012-11-13 |
HK1181096A1 (en) | 2013-11-01 |
US20100325959A1 (en) | 2010-12-30 |
EP2574718A2 (en) | 2013-04-03 |
DK2574718T3 (en) | 2014-01-20 |
EP2229496B1 (en) | 2013-02-27 |
WO2009090097A2 (en) | 2009-07-23 |
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