EP2853677B1 - Method and apparatus for securing gates - Google Patents

Method and apparatus for securing gates Download PDF

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Publication number
EP2853677B1
EP2853677B1 EP13186611.3A EP13186611A EP2853677B1 EP 2853677 B1 EP2853677 B1 EP 2853677B1 EP 13186611 A EP13186611 A EP 13186611A EP 2853677 B1 EP2853677 B1 EP 2853677B1
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EP
European Patent Office
Prior art keywords
protective
protective beam
beams
gate
running
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
EP13186611.3A
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German (de)
French (fr)
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EP2853677A1 (en
Inventor
Oliver Schrank
Ralph-Rainer Jurgeit
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Pepperl and Fuchs SE
Original Assignee
Pepperl and Fuchs SE
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Publication date
Application filed by Pepperl and Fuchs SE filed Critical Pepperl and Fuchs SE
Priority to EP13186611.3A priority Critical patent/EP2853677B1/en
Publication of EP2853677A1 publication Critical patent/EP2853677A1/en
Application granted granted Critical
Publication of EP2853677B1 publication Critical patent/EP2853677B1/en
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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
    • 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
    • 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
    • E06B2009/6845—Control using sensors sensing position

Definitions

  • the invention relates to a method and a device for securing gates with a light grid, which has a plurality of protective beams in protective beam positions.
  • the light grid is arranged so that its monitoring surface at least partially coincides with a plane of movement of the gate to be protected.
  • the protective beams of the light grid are arranged transversely to a closing movement direction of the gate to be protected.
  • Each of the protective beams forms an active state in which the switching state of this protective beam is evaluated for object detection.
  • each of the protective beams forms a passive state, in which the switching state of this protective beam is determined, but is not evaluated for object detection.
  • the safety device off EP 2 374 985 A2 has a light curtain with a number of light emitters, light receivers will only capture foreign objects.
  • a security system for securing a moving, guided movement element against unwanted collision is known.
  • the movement element has shutdown means which, upon detection of a shutdown signal coming from the movement element, convert at least a part of the object detection device into the starting state.
  • These shut-off means comprise a transmitting device for a shutdown signal, which either sits directly on the moving element or which is tuned to a separate optical reflector on the moving element in such a way that by a receiver switching off only in a predefined range of movement of the reflector on the moving element a signal of the transmitting organ can be received.
  • an object detection device is assigned a starting state in the case of an approaching movement element, in which an object or movement element does not trigger a safety mode. A security mode is only triggered if an object not belonging to the movement element is recognized by the object detection device.
  • This securing system of a moving, guided movement element has the disadvantage that optical devices, be it a reflector for electromagnetic radiation or a transmitting element for a switch-off signal, are to be arranged on the moving element and thus at gates on the gate. At least for a shut-off in the form of a transmitting organ on or on the gate should be provided according to entrained connecting lines, which brings a considerable technical effort and an additional risk of wear, for example, for the co-moving connecting lines with it.
  • the receivers of the associated, a shutdown signal generating sensors are arranged along the frame of the moving element, so that the arranged on the moving element transmitting organ receives the transversely to the direction of movement of the door lying optical sensors, so the technical effort is still high.
  • the optical receiving grid spanned by the sensors and its security function depends on the components arranged on the moving element or the gate. Although no electric supply is required for a separate optical reflector, the technical and financial outlay for an optical beam following the moving element with the reflector and the orientation towards the optical reflector moving with the gate are nevertheless considerable.
  • EP 1 841 942 B1 a device for securing a driven movement element against unwanted collision with a lying on a predetermined path of movement in the direction of movement of the moving element object is known.
  • a light grid of light barriers which are arranged transversely to the direction of movement of the moving element, fixedly arranged on the sides of the door, so that can be dispensed with active and passive components on the door itself.
  • the same disadvantages also have the safety device for motorized doors according to EP 0 902 157 A2 in which a safety circuit is provided, with which the closing movement of the gate is stopped when an obstacle in the trajectory of the gate is detected.
  • the radiation protection is arranged such that the beam surface defined by the beams has at least one line in common with the movement surface swept by the leading edge and that the self-sufficient safety device has a beam condition control device which controls the beams as a function of the position and movement of the beam Assigns different activation states to gates.
  • an object of the invention can be considered to overcome the disadvantages of the prior art and to provide a method and apparatus for securing gates by means of a light grid, which allows increased distances between the protective beam positions and thus a coarser grid of the protective beams while undiminished security against faulty circuits.
  • each protective beam position emits in addition to the protective beam a leading secondary protection beam and a trailing secondary protection beam and that the protective beam position is made passive in the following plausibility condition, namely, if a preceding protective beam position is passive, and the protective beam position for the first time is switched with its protective beam and switch at least the trailing protective beam of the protective beam position and immediately following in closing closing leading secondary protection beam of the subsequent protective beam position in a subsequent, adapted to the closing movement of the gate time interval, and that the closing movement of the door stops when an object by at least an actively placed protective beam and / or at least one active auxiliary protection beam is detected.
  • each protective beam position has a leading secondary protection beam and a trailing secondary protection beam in addition to the protective beam and that the control and evaluation device is set up to passivate a protective beam position in the following plausibility condition if a preceding protective beam position is made passive and the protective beam of the protective beam position is switched for the first time and at least the trailing protective beam of the protective steel position and immediately following in closing movement leading secondary protection beam of the subsequent protective beam position in a subsequent, adapted to the closing movement of the gate time interval, and that the closing movement of the gate stops when a Object is detected by at least one active protection beam and / or at least one actively set secondary protection beam.
  • this may mean that at least one of the active protective beams and / or secondary protection beams switches.
  • These may be all protective beams and / or secondary protection beams whose switching state is not in the plausibility condition as well as the latter protective beams and / or secondary protective beams, as far as their switching takes place outside of the time intervals relevant for the plausibility condition.
  • the door to be monitored can be wholly or partially opened when an object is detected by at least one actively placed protective beam and / or at least one actively set secondary protection beam.
  • An advantage of the method according to the invention is that, by the formation and provision of a leading secondary protection beam and a trailing auxiliary protection beam with respect to a parallel to the closing edge of the goal-oriented protective beam in each protective beam position, the monitoring of the closing edge from beginning to end despite increased distances between the parallel Protective beam positions can be improved.
  • the protective beams and secondary protection beams are successively displaced from an active switching state into a passive switching state during the closing process of the gate.
  • a faulty object in the monitoring area of the light grid which is not yet closed by the gate can trigger a rapid stop of the closing operation, while the protective beams and secondary protection beams which are already covered by the side edge of the closing gate have entered a passive state in which the switching state is both of the parallel protective beam as well as the leading secondary protection beam and the trailing secondary protection beam is determined, but is not evaluated for object detection.
  • a particular advantage of the method according to the invention is that the light grid can be arranged in the door frame itself and accordingly is very space-saving.
  • the inventive method can also be carried out with existing light grids and it can then, even at high closing speeds of the door to 4 m / s, for example, the monitoring protection to be maintained until shortly before the ground. For example, this is possible up to a distance of 50 mm above the ground.
  • the monitoring phase of the door can also begin in an intermediate position, for example in a half-open position of the gate.
  • leading or trailing auxiliary protection beams take over the monitoring of the closing movement of the door in an advantageous manner and, in cooperation with the plausibility condition, release the respective switching from the active state to the passive state in the individual protective beam positions.
  • parallel protective beams are emitted in the individual protective beam positions, but additionally generated with respect to the parallel protection beam tilted secondary protection beams, the leading secondary protection beam from its protective beam position with a previous receiving sensor or previous optical reflector cooperates and the trailing Crowschutzstrahl starting from its protective beam position with a subsequent optical sensor or reflector cooperates.
  • the corresponding protective beam position is made passive, namely when a preceding protective beam position is detected and passive and the corresponding protective beam position is switched with its protective beam for the first time and at least in the closing movement immediately following leading protection beam of the following protective beam position in a following, adjusted to the closing movement of the gate time interval switches.
  • the time interval adapted to the closing movement of the gate can be an extremely short time window since this is merely a question of Compensate for unevenness in the closing edge of the door; because the leading secondary protection beam of the following protective beam position is available immediately when passing the previous sensor or reflector position.
  • the short time window for the time interval during the changeover of a protective beam position from an active state to a passive state can be determined by a simple on-site learning journey for the respective port.
  • the parallel protective beams of the light grid are arranged equidistantly, while in the parallel aligned protective beams of the document EP 0 902 157 A2 known safety device for motor-driven doors, the distance between the parallel protective beams in the end of the closing process must be significantly reduced to ensure adequate safety.
  • the protective beams may also be advantageous not to equidistant the protective beams, but rather to arrange them somewhat closer in the vicinity of the floor area, for example.
  • the spatial resolution can be increased thereby. This is particularly important in the ground-near area, where typically can be disturbing objects, of importance.
  • the reliability of the hedge can also be increased if in addition to the considered trailing.
  • Supplementary protection beam of the protective beam position and the leading secondary protection beam of the subsequent protective beam positions, the switching within fixed time intervals of further, especially crossed, protective beams and / or secondary protection beams in the evaluation and the plausibility condition is taken into account.
  • the method according to the invention requires that at least one protective beam position is active. Different conditions may apply for the very first and last position.
  • leading secondary protective beams are tilted with respect to the parallel protective beams against the direction of the closing movement of the gate to be protected, while the trailing secondary protective beams are tilted in the direction of the closing movement of the gate to be protected with respect to the parallel protective beams run.
  • both the parallel protective beam and the associated leading and trailing secondary protection beams can be made passive.
  • the trailing secondary protection beam is of little importance, because in the case of the plausibility condition, the temporal behavior of a protective beam position and of an immediately following leading secondary protection beam of a subsequent protective beam position is important. Nevertheless, the trailing secondary protection beam of the passively placed protective beam position can increase the reliability of the inventive securing of the closing movement of a door.
  • a second aspect of the invention relates to a device for securing gates, in particular gates, with a light grid for monitoring the gate to be protected.
  • the light grid has a plurality of protective beams in protective beam positions and is arranged as follows.
  • the light grid coincides at least partially with a monitoring surface of a plane of movement of the gate to be protected.
  • the protective beams are transverse to a closing movement direction of the gate to be protected.
  • Each of the protective beams has an active state in which the switching state of this protective beam is evaluated for object detection.
  • Each of the protective beams also has a passive state in which the switching state of this protective beam is determined, but is not evaluated for object detection.
  • Each protective beam position has, in addition to the protective beam, a leading secondary protection beam and a trailing secondary protection beam.
  • the device has a control and evaluation device for controlling the light grid and for evaluating the measurement data supplied by the light grid.
  • the control and evaluation device is adapted to carry out a Passivstellen a protective beam position in the following plausibility condition when a preceding protective beam position is detected and passively set and the protective beam position is switched first and at least the immediately following in closing movement leading secondary protection beam of the following protective beam position in a subsequent the closing movement of the gate adjusted time interval switches.
  • a preferred embodiment is directed to the light grid which, for one embodiment of the apparatus, includes a plurality of infrared semiconductor lasers as light sources in the protective beam positions. Moreover, it is also possible to arrange an infrared semiconductor laser only in each protective beam position and to generate by prismatic beam splitting or fiber optic beam splitting the two secondary protection beams and the parallel protective beam by means of a single infrared semiconductor laser diode.
  • the invention over the known solutions has the advantage that the unprotected under the closing edge area is smaller and that the optical resolution is fundamentally improved by the leading and trailing secondary protection beams.
  • the present invention provides an improvement in reliability.
  • the solution known in the prior art which arranges optical elements on the moving gate, resulting in the present solution, both a lesser effort in terms of the assembly of additional parts to the closing edge of the moving door and a higher reliability, since the gate no supply lines or other electrical supply connections must be provided.
  • FIG. 1 shows a schematic diagram of a roll or folding door 50, which includes a device for securing a door leaf 20 with a closing edge 26 against a collision with an object while ensuring a high-speed movement of the door leaf 20 in the direction of arrow 24 a closing movement.
  • the door leaf 20 is thereby guided laterally in two guide profiles 42 and 44, which are held by an upper cross bar 46 at a distance, so that there is a clear width b and a clear height h a gate passage.
  • Door leaf segments of the door leaf 20 can be folded behind the transom 46, rolled up or stowed in bent horizontally oriented guide profiles when opening the gate.
  • a motor 14 is arranged, which has a switching relay 48 which is connected via a control line 18 with a control and evaluation device 40 in operative connection.
  • the motor 14 may be connected to a braking device 16, which in turn is connected via a mechanical connection 38 to the door leaf 20, so that in addition to a shutdown of the engine 14, an emergency braking operation for the door leaf 20 can be triggered.
  • the braking device 16 is connected via a further control line 18 'to the control and evaluation device 40.
  • a movement plane 22 of the door leaf 20 is monitored by a light grid 10 which has protective beam positions P3 to Pn in a monitoring area 12 which are in an active state in which the switching state of protective beams for an object detection is evaluated by the control and evaluation device 40.
  • protective beam positions P1 and P2 whose protective beams are placed in a passive state in which the switching state of the protective beams of the control and evaluation device 40 is indeed detected, but not evaluated for object detection, since in this monitoring range of the protective beam positions P1 and P2, the in the closing direction 24 moving door leaf 20 is located.
  • the control and evaluation device 40 is therefore connected via signal lines 34 with a plurality of protective beam positions P1 to Pn, which are arranged on or in the left guide profile 42 of the gate.
  • a signal line 34 operated in a multiplex method can also be used.
  • Each protective beam position P has three protective beams, namely a leading secondary protection beam V, a protective beam S aligned parallel to the closing edge 26 and a trailing secondary protection beam N.
  • receiving positions E1 to En can, for example, photodiodes or photoresistors whose measured values or switching states are supplied via further signal lines 36 of the control and evaluation device 40.
  • a signal line operated in a multiplex method can also be used.
  • FIG. 1 shows that the receiving stations E1 and E2 receive neither the parallel protection beams S1 and S2, nor the preceding subsidiary protection beams V1 and V2 or the trailing auxiliary protection beams N1 and N2, since a side edge of the door panel 20 covers the emitted protective beams of the protective beam positions P1 and P2.
  • the receiving stations E3 to En receive signals and pass measuring signals via the signal line 36 to the control and evaluation unit, as long as no object appears in the monitoring area 12 and the door leaf, which moves at high speed in the closing direction 24, the other protective beam positions P3 to Pn has not happened yet.
  • An object located within an active light beam grid 10 can be readily detected.
  • a plausibility condition must be met before another Protective beam position is placed in the passive state. This plausibility condition was discussed above, so that a repetition at this point is unnecessary.
  • FIG. 1 are the leading secondary protection beam V1, the parallel protective beam S1 and the trailing Mauschutzstrahl N1 already in the passive switching state, as the leading Mauschutzstrahl V2, the parallel protective beam S2 and the trailing Mauschutzstrahl N2.
  • the plausibility condition is now applied to the protective beams of the protective beam position P3, taking into account the trailing secondary protection beam N3 and the leading auxiliary protection beam V4 of the next protective beam position P4. If the plausibility condition is satisfied, the protective beams of the protective beam position P3 can pass into the passive state and the closing process can be continued without disturbance as the next one FIG. 2 shows.
  • FIG. 2 shows a schematic diagram of the secure door 50 according to FIG. 1 after passing another protective beam position P3.
  • the progressive closing of the door leaf 20 in the closing direction 24 was possible because the protective beam position P3 is switched for the first time with its parallel protective beam S and at least the immediately following in closing movement, leading secondary protection beam V4 of the subsequent protective beam position P4 in a subsequent adapted to the closing movement of the door time interval on.
  • This time interval can be extremely short, since it is not necessary to wait until the closing edge 26 has to reach the subsequent parallel protective beam, as required in the prior art, but when the closing edge 26 already reaches the leading secondary protection beam V4 after a short time interval.
  • this relatively short time interval can be determined by a one-time learning run of the door 50 and stored in the control and evaluation unit 40.
  • FIG. 3 shows a schematic diagram of the secure door 50 when detecting a small object 30 in the region of an active light grid 10 between the protective beam positions P3 to Pn. Like FIG. 3 shows, are interrupted by the small object 30 of the parallel protection beam S3 and the trailing Crowschutzstrahl N3, so that the in FIG. 1 shown control and evaluation unit 40 can cause opening of the door 50 against the closing movement direction 24 now in the direction of arrow 24 '.
  • the in FIG. 3 protective radiation positions of the protective beam positions P1 and P2 which are still in the passive state, are set back into the active state, because then there is again an optical connection to the receiving positions E1 and E2.
  • FIG. 4 shows a schematic diagram of the safe gate 50 when detecting a small-volume object 30 in different positions 30, 30 ', 30 "and 30'” in the region of the active light grid with the protective beam positions P3 to Pn. While, as in FIG. 3 3, the small object 30 interrupts the parallel protective beam S3 and the trailing protective beam N3 of the protective beam position P3, a small object 30 'would interrupt the trailing secondary protective beam N3 and the leading secondary protective beam V4 of the subsequent protective beam position P4.
  • FIG. 5 shows a schematic diagram of the secure door 50 when detecting a large object 32 within the active light grid 10 with the protective beam positions P3 to Pn. Since this object 32 is so large that it covers both the next parallel protective beam S3 for the first time and to the trailing Crowschutzstrahl N3 and the leading secondary protection beam V4 of the subsequent protective beam position P4 interrupts and thus the short time interval has also met, an object 32 of this size would meet the plausibility requirement and the door leaf 20 in closing movement direction 24 push the object. Only when the object 32 reaches a position violating the plausibility condition, the closing movement in the direction of arrow 24 is terminated and the object can be removed from the active light grid area of the monitoring area 22 of the protective beam positions P3 to Pn.
  • FIG. 6 5 shows a schematic diagram of the protected gate 50 when detecting a large object 32 in different positions 32, 32 'and 32 "within the active light grid 10 with the protective beam positions P3 to Pn. It is shown that in each of the positions of the objects 32, 32 shown 'and 32 "the plausibility condition is met, since the respective parallel protection beam S3 is switched or interrupted for the first time and both the trailing auxiliary protection beam N3 and the leading secondary beam V4 of the subsequent switching beam position P4 of the object 32 in the positions 32, 32' and 32" Thus, when moving further in the closing movement direction 24 of the door leaf 20, the bulky objects 32, 32 'and 32 "are urged into a position in which the plausibility condition is no longer met, since already the next protection beam S4 without interruption of at least one trailing or leading Mauschutzstrahls additionally switched bz w is interrupted.

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Description

Die Erfindung betrifft ein Verfahren und eine Vorrichtung zum Absichern von Toren mit einem Lichtgitter, welches eine Mehrzahl von Schutzstrahlen in Schutzstrahlpositionen aufweist. Das Lichtgitter wird so angeordnet, dass seine Überwachungsfläche wenigstens teilweise mit einer Bewegungsebene des abzusichernden Tores zusammenfällt. Die Schutzstrahlen des Lichtgitters werden quer zu einer Schließbewegungsrichtung des abzusichernden Tores angeordnet. Jeder der Schutzstrahlen bildet einen Aktivzustand aus, in dem der Schaltzustand dieses Schutzstrahls für einen Objektnachweis ausgewertet wird. Ferner bildet jeder der Schutzstrahlen einen Passivzustand aus, in dem der Schaltzustand dieses Schutzstrahls ermittelt wird, aber nicht zum Objektnachweis ausgewertet wird.The invention relates to a method and a device for securing gates with a light grid, which has a plurality of protective beams in protective beam positions. The light grid is arranged so that its monitoring surface at least partially coincides with a plane of movement of the gate to be protected. The protective beams of the light grid are arranged transversely to a closing movement direction of the gate to be protected. Each of the protective beams forms an active state in which the switching state of this protective beam is evaluated for object detection. Furthermore, each of the protective beams forms a passive state, in which the switching state of this protective beam is determined, but is not evaluated for object detection.

Derartige Verfahren und Vorrichtungen zum Absichern von Toren sind aus den Druckschriften EP 2 374 985 A2 , EP 0 902 157 A2 , EP 1 841 942 B1 und DE 10 2008 023 294 A1 bekannt.Such methods and devices for securing gates are from the documents EP 2 374 985 A2 . EP 0 902 157 A2 . EP 1 841 942 B1 and DE 10 2008 023 294 A1 known.

Die Sicherheitseinrichtung aus EP 2 374 985 A2 hat ein Lichtgitter mit einer Anzahl von Lichtsendern wird Lichtempfängern nur Erfassung von fremden Objekten.The safety device off EP 2 374 985 A2 has a light curtain with a number of light emitters, light receivers will only capture foreign objects.

Aus DE 10 2008 023 294 A1 ist beispielsweise ein Sicherungssystem zur Absicherung eines sich bewegenden, geführten Bewegungselements gegen ungewollte Kollision bekannt. Dazu weist das Bewegungselement Abschaltmittel auf, die bei Detektion eines vom Bewegungselement kommenden Abschaltsignals wenigstens einen Teil der Objektdetektionseinrichtung in den Startzustand überführen. Diese Abschaltmittel umfassen ein Sendeorgan für ein Abschaltsignal, das entweder unmittelbar am Bewegungselement sitzt oder das auf einen gesonderten optischen Reflektor am Bewegungselement in einer Weise abgestimmt ist, dass von einem Empfänger Abschaltmittel nur in einem vordefinierten Bewegungsbereich des Reflektors am Bewegungselement ein Signal des Sendeorgans empfangen werden kann. Dazu wird einer Objektdetektionseinrichtung bei herannahendem Bewegungselement ein Startzustand zugeordnet, in welchem ein Objekt oder Bewegungselement keinen Sicherheitsmodus auslöst. Ein Sicherheitsmodus wird nur dann ausgelöst, wenn ein nicht zum Bewegungselement gehörendes Objekt von der Objektdetektionseinrichtung erkannt wird.Out DE 10 2008 023 294 A1 For example, a security system for securing a moving, guided movement element against unwanted collision is known. For this purpose, the movement element has shutdown means which, upon detection of a shutdown signal coming from the movement element, convert at least a part of the object detection device into the starting state. These shut-off means comprise a transmitting device for a shutdown signal, which either sits directly on the moving element or which is tuned to a separate optical reflector on the moving element in such a way that by a receiver switching off only in a predefined range of movement of the reflector on the moving element a signal of the transmitting organ can be received. For this purpose, an object detection device is assigned a starting state in the case of an approaching movement element, in which an object or movement element does not trigger a safety mode. A security mode is only triggered if an object not belonging to the movement element is recognized by the object detection device.

Dieses Sicherungssystem eines sich bewegenden, geführten Bewegungselements hat den Nachteil, dass optische Einrichtungen, sei es ein Reflektor für elektromagnetische Strahlung oder ein Sendeorgan für ein Abschaltsignal, auf dem Bewegungselement und damit bei Toren auf dem Tor anzuordnen sind. Zumindest für ein Abschaltmittel in Form eines Sendeorgans an oder auf dem Tor sind entsprechend mitzuführende Verbindungsleitungen vorzusehen, was einen erheblichen technischen Aufwand und eine zusätzliche Verschleißgefahr beispielsweise für die mitbewegten Verbindungsleitungen mit sich bringt. Wenn auch die Empfänger der zugehörigen, ein Abschaltsignal erzeugenden Sensoren entlang dem Rahmen des Bewegungselements angeordnet sind, so dass das auf dem Bewegungselement angeordnete Sendeorgan die quer zur Bewegungsrichtung des Tores liegenden optischen Sensoren aufnimmt, so ist dennoch der technische Aufwand hoch. Außerdem ist das durch die Sensoren aufgespannte optische Empfangsgitter und seine Sicherungsfunktion ist von den Bauteilen abhängig, die auf dem Bewegungselement bzw. dem Tor angeordnet sind. Wenn auch bei einem gesonderten optischen Reflektor eine elektrische Versorgung entfällt, so ist dennoch der technische und finanzielle Aufwand für einen dem Bewegungselement mit dem Reflektor folgenden optischen Strahl und die Ausrichtung auf den sich mit dem Tor bewegenden optischen Reflektor beträchtlich.This securing system of a moving, guided movement element has the disadvantage that optical devices, be it a reflector for electromagnetic radiation or a transmitting element for a switch-off signal, are to be arranged on the moving element and thus at gates on the gate. At least for a shut-off in the form of a transmitting organ on or on the gate should be provided according to entrained connecting lines, which brings a considerable technical effort and an additional risk of wear, for example, for the co-moving connecting lines with it. Although the receivers of the associated, a shutdown signal generating sensors are arranged along the frame of the moving element, so that the arranged on the moving element transmitting organ receives the transversely to the direction of movement of the door lying optical sensors, so the technical effort is still high. In addition, the optical receiving grid spanned by the sensors and its security function depends on the components arranged on the moving element or the gate. Although no electric supply is required for a separate optical reflector, the technical and financial outlay for an optical beam following the moving element with the reflector and the orientation towards the optical reflector moving with the gate are nevertheless considerable.

Aus EP 1 841 942 B1 ist eine Vorrichtung zur Absicherung eines angetriebenen Bewegungselements gegen ungewollte Kollision mit einem auf einem vorbestimmten Bewegungsweg in Bewegungsrichtung des Bewegungselements liegenden Objekts bekannt. Dazu wird ein Lichtgitter aus Lichtschranken, die quer zur Bewegungsrichtung des Bewegungselements angeordnet sind, ortsfest an den Seiten des Tores angeordnet, so dass auf aktive und passive Bauelemente auf dem Tor selbst verzichtet werden kann.Out EP 1 841 942 B1 a device for securing a driven movement element against unwanted collision with a lying on a predetermined path of movement in the direction of movement of the moving element object is known. For this purpose, a light grid of light barriers, which are arranged transversely to the direction of movement of the moving element, fixedly arranged on the sides of the door, so that can be dispensed with active and passive components on the door itself.

Der Nachteil eines solchen Lichtschrankensicherungssystems, bei dem für die Lichtschranken ein Lichtgitter im Bewegungsbereich des Tores zur Verfügung steht, besteht darin, dass die Schließgeschwindigkeit oder die Schließbeschleunigung fortlaufend mit Hilfe durchfahrener Lichtschranken ermittelt werden muss, um sicherzugehen, dass sich einzig und allein das Tor selbst mit seiner Schließkante zwischen den Torseiten bewegt. Entsprechend ist der Rechenaufwand in einer Auswerteeinheit erheblich, wobei eine Überwachung der Bewegung des Tores lediglich beim Passieren der jeweiligen Lichtschranke gesichert ist und in den Zwischenräumen die Überwachung der Bewegung der Schließkante unkontrolliert abläuft.The disadvantage of such a light barrier fuse system, in which a light grid in the range of movement of the gate is available to the photocells, is that the closing speed or the closing acceleration must be determined continuously with the help of passed through photocells, to ensure that only the gate itself moved with its closing edge between the door sides. Accordingly, the computational effort in an evaluation unit is considerable, wherein monitoring of the movement of the door is only ensured when passing through the respective light barrier and in the intermediate spaces the monitoring of the movement of the closing edge takes place in an uncontrolled manner.

Die gleichen Nachteile hat auch die Sicherheitseinrichtung für motorisch angetriebene Tore gemäß EP 0 902 157 A2 , bei der eine Sicherheitsschaltung vorgesehen ist, mit der die Schließbewegung des Tores gestoppt wird, wenn ein Hindernis in der Bewegungsbahn des Tores erfasst wird. Der Strahlenschutz ist derart angeordnet, dass die von den Strahlen definierte Strahlenfläche mit der von der vorlaufenden Torkante überstrichenen Bewegungsfläche zumindest eine Linie gemeinsam hat und dass die autark arbeitende Sicherheitseinrichtung eine Strahlenzustands-Steuereinrichtung aufweist, die den Strahlen in Abhängigkeit von der Position und der Bewegung des Tores verschiedene Aktivierungszustände zuordnet.The same disadvantages also have the safety device for motorized doors according to EP 0 902 157 A2 in which a safety circuit is provided, with which the closing movement of the gate is stopped when an obstacle in the trajectory of the gate is detected. The radiation protection is arranged such that the beam surface defined by the beams has at least one line in common with the movement surface swept by the leading edge and that the self-sufficient safety device has a beam condition control device which controls the beams as a function of the position and movement of the beam Assigns different activation states to gates.

Zur Erhöhung der Sicherheit bleibt in diesem Fall nur die Möglichkeit, die Anzahl der für den Strahlenschutz vorgesehenen Schutzstrahlpositionen entlang der Seitenteile des bewegten Tores zu verdichten, um die nicht überwachten Bereiche beim Herunterfahren der Schließkante des Tores zu verkleinern. Damit steigt der technische Aufwand für die parallel und quer zur Bewegungsrichtung des Tores verlaufenden Schutzstrahlen in Form von Lichtschranken beträchtlich.To increase safety in this case, only the possibility remains of compacting the number of protective beam positions provided for radiation protection along the side parts of the moving gate in order to reduce the unmonitored areas when the closing edge of the door is shut down. Thus, the technical complexity of the parallel and transverse to the direction of movement of the gate protective beams in the form of light barriers increases considerably.

Als eine Aufgabe der Erfindung kann angesehen werden, die Nachteile im Stand der Technik zu überwinden und ein Verfahren und eine Vorrichtung zum Absichern von Toren mittels einem Lichtgitter anzugeben, das vergrößerte Abstände zwischen den Schutzstrahlpositionen und somit ein gröberes Gitterraster der Schutzstrahlen ermöglicht bei gleichzeitiger unverminderter Sicherheit gegen Fehlschaltungen.As an object of the invention can be considered to overcome the disadvantages of the prior art and to provide a method and apparatus for securing gates by means of a light grid, which allows increased distances between the protective beam positions and thus a coarser grid of the protective beams while undiminished security against faulty circuits.

Diese Aufgabe wird mit dem Gegenstand der unabhängigen Ansprüche gelöst. Vorteilhafte Weiterbildungen ergeben sich mit den abhängigen Ansprüchen.This object is achieved with the subject matter of the independent claims. Advantageous developments emerge with the dependent claims.

Diese Aufgabe wird in verfahrensmäßiger Hinsicht durch das Verfahren mit den Merkmalen des Anspruchs 1 gelöst. In vorrichtungsmäßiger Hinsicht wird die Aufgabe durch die Vorrichtung mit den Merkmalen des Anspruchs 11 gelöst.This object is achieved in procedural terms by the method having the features of claim 1. In terms of the device, the object is achieved by the device having the features of claim 11.

Das Verfahren der oben angegebenen Art ist erfindungsgemäß dadurch weitergebildet, dass jede Schutzstrahlposition zusätzlich zu dem Schutzstrahl einen vorlaufenden Nebenschutzstrahl und einen nachlaufenden Nebenschutzstrahl emittiert und dass die Schutzstrahlposition bei folgender Plausibilitätsbedingung passiv gestellt wird, wenn nämlich eine vorausgehende Schutzstrahlposition passiv gestellt ist, und die Schutzstrahlposition erstmalig mit ihrem Schutzstrahl geschaltet wird und mindestens der nachlaufende Schutzstrahl der Schutzstrahlposition und der in Schließbewegung unmittelbar folgende vorlaufende Nebenschutzstrahl der nachfolgenden Schutzstrahlposition in einem darauf folgenden, an die Schließbewegung des Tors angepassten Zeitintervall schalten, und dass die Schließbewegung des Tors stoppt, wenn ein Objekt durch mindestens einen aktiv gestellten Schutzstrahl und/oder mindestens einen aktiv gestellten Nebenschutzstrahl festgestellt wird.The method of the type specified above is further developed according to the invention in that each protective beam position emits in addition to the protective beam a leading secondary protection beam and a trailing secondary protection beam and that the protective beam position is made passive in the following plausibility condition, namely, if a preceding protective beam position is passive, and the protective beam position for the first time is switched with its protective beam and switch at least the trailing protective beam of the protective beam position and immediately following in closing closing leading secondary protection beam of the subsequent protective beam position in a subsequent, adapted to the closing movement of the gate time interval, and that the closing movement of the door stops when an object by at least an actively placed protective beam and / or at least one active auxiliary protection beam is detected.

Die Vorrichtung der oben genannten Art ist dadurch weitergebildet, dass jede Schutzstrahlposition zusätzlich zu dem Schutzstrahl einen vorlaufenden Nebenschutzstrahl und einen nachlaufenden Nebenschutzstrahl aufweist und dass die Steuer- und Auswerteeinrichtung eingerichtet ist zum Passivstellen einer Schutzstrahlposition bei folgender Plausibilitätsbedingung, wenn eine vorausgehende Schutzstrahlposition passiv gestellt ist, und der Schutzstrahl der Schutzstrahlposition erstmalig geschaltet ist und mindestens der nachlaufende Schutzstrahl der Schutzstahlposition und der in Schließbewegung unmittelbar folgende vorlaufende Nebenschutzstrahl der nachfolgenden Schutzstrahlposition in einem darauf folgenden, an die Schließbewegung des Tors angepassten Zeitintervall schalten, und dass die Schließbewegung des Tors stoppt, wenn ein Objekt durch mindestens einen aktiv gestellten Schutzstrahl und/oder mindestens einen aktiv gestellten Nebenschutzstrahl festgestellt wird.The device of the abovementioned type is further developed in that each protective beam position has a leading secondary protection beam and a trailing secondary protection beam in addition to the protective beam and that the control and evaluation device is set up to passivate a protective beam position in the following plausibility condition if a preceding protective beam position is made passive and the protective beam of the protective beam position is switched for the first time and at least the trailing protective beam of the protective steel position and immediately following in closing movement leading secondary protection beam of the subsequent protective beam position in a subsequent, adapted to the closing movement of the gate time interval, and that the closing movement of the gate stops when a Object is detected by at least one active protection beam and / or at least one actively set secondary protection beam.

Konkret kann das bedeuten, dass mindestens einer der aktiv gestellten Schutzstrahlen und/oder Nebenschutzstrahlen schaltet. Dabei kann es sich um alle Schutzstrahlen und/oder Nebenschutzstrahlen handeln, deren Schaltzustand nicht in die Plausibilitätsbedindung eingeht, sowie auch um letztere Schutzstrahlen und/oder Nebenschutzstrahlen handeln, soweit deren Schalten außerhalb der für die Plausibilitätsbedindung relevanten Zeitintervalle erfolgt.Specifically, this may mean that at least one of the active protective beams and / or secondary protection beams switches. These may be all protective beams and / or secondary protection beams whose switching state is not in the plausibility condition as well as the latter protective beams and / or secondary protective beams, as far as their switching takes place outside of the time intervals relevant for the plausibility condition.

Insbesondere kann nach dem Stoppen der Schließbewegung das zu überwachende Tor ganz oder teilweise öffnen, wenn ein Objekt durch mindestens einen aktiv gestellten Schutzstrahl und/oder mindestens einen aktiv gestellten Nebenschutzstrahl, festgestellt wird.In particular, after stopping the closing movement, the door to be monitored can be wholly or partially opened when an object is detected by at least one actively placed protective beam and / or at least one actively set secondary protection beam.

Vorteilhafte Varianten des erfindungsgemäßen Verfahrens und bevorzugte Ausführungsbeispiele der erfindungsgemäßen Vorrichtung werden im Folgenden, insbesondere im Zusammenhang mit den abhängigen Ansprüchen und den Figuren, beschrieben.Advantageous variants of the method according to the invention and preferred embodiments of the device according to the invention are described below, in particular in connection with the dependent claims and the figures.

Mit dem erfindungsgemäßen Verfahren und der erfindungsgemäßen Vorrichtung wird bei Hochgeschwindigkeitsschließvorgängen neuartiger Tore ein gesicherter und ungestörter Schließvorgang gewährleistet.With the method according to the invention and the device according to the invention, a secure and undisturbed closing operation is ensured in the case of high-speed closing operations of novel goals.

Ein Vorteil des erfindungsgemäßen Verfahrens ist, dass durch die Ausbildung und Bereitstellung eines vorlaufenden Nebenschutzstrahls und eines nachlaufenden Nebenschutzstrahls in Bezug auf einen parallel zu der Schließkante des Tores ausgerichteten Schutzstrahl in jeder Schutzstrahlposition die Überwachung der Schließkante vom Beginn bis zum Ende trotz erhöhter Abstände zwischen den parallelen Schutzstrahl-positionen verbessert werden kann. Dazu werden die Schutzstrahlen und Nebenschutzstrahlen nacheinander beim Schließvorgang des Tores von einem aktiven Schaltzustand in einen passiven Schaltzustand versetzt. Dabei kann im aktiven Schaltzustand ein Störobjekt in dem noch nicht vom Tor geschlossenen Überwachungsbereich des Lichtgitters einen Schnellstopp des Schließvorgangs auslösen, während die Schutzstrahlen und Nebenschutzstrahlen, die bereits von der Seitenkante des Schließtores abgedeckt sind, in einen Passivzustand übergegangen sind, in dem der Schaltzustand sowohl des parallelen Schutzstrahls als auch des vorlaufenden Nebenschutzstrahls und des nachlaufenden Nebenschutzstrahls ermittelt wird, aber nicht zum Objektnachweis ausgewertet wird.An advantage of the method according to the invention is that, by the formation and provision of a leading secondary protection beam and a trailing auxiliary protection beam with respect to a parallel to the closing edge of the goal-oriented protective beam in each protective beam position, the monitoring of the closing edge from beginning to end despite increased distances between the parallel Protective beam positions can be improved. For this purpose, the protective beams and secondary protection beams are successively displaced from an active switching state into a passive switching state during the closing process of the gate. In this case, in the active switching state, a faulty object in the monitoring area of the light grid which is not yet closed by the gate can trigger a rapid stop of the closing operation, while the protective beams and secondary protection beams which are already covered by the side edge of the closing gate have entered a passive state in which the switching state is both of the parallel protective beam as well as the leading secondary protection beam and the trailing secondary protection beam is determined, but is not evaluated for object detection.

Ein besonderer Vorteil des erfindungsgemäßen Verfahrens ist, dass das Lichtgitter in der Türzarge selbst angeordnet werden kann und demgemäß sehr raumsparend ist. Prinzipiell kann das erfindungsgemäße Verfahren auch mit bereits vorhandenen Lichtgittern durchgeführt werden und es kann dann, selbst bei hohen Schließgeschwindigkeiten der Tür bis beispielsweise 4 m/s der Überwachungsschutz bis kurz vor dem Boden aufrecht erhalten werden. Beispielsweise ist das bis zu einem Abstand von 50 mm über dem Boden möglich.A particular advantage of the method according to the invention is that the light grid can be arranged in the door frame itself and accordingly is very space-saving. In principle, the inventive method can also be carried out with existing light grids and it can then, even at high closing speeds of the door to 4 m / s, for example, the monitoring protection to be maintained until shortly before the ground. For example, this is possible up to a distance of 50 mm above the ground.

Grundsätzlich kann die Überwachungsphase des Tors auch in einer Zwischenstellung, beispielsweise in einer halboffenen Stellung des Tors beginnen.In principle, the monitoring phase of the door can also begin in an intermediate position, for example in a half-open position of the gate.

Durch die Absicherung in engeren Abständen oberhalb des Bodenbereichs können auch strengere Normen eingehalten werden.Hedging at closer distances above ground level also allows stricter standards to be met.

Die vorlaufenden bzw. nachlaufenden Nebenschutzstrahlen übernehmen dabei in vorteilhafter Weise die Überwachung der Schließbewegung des Tores und geben im Zusammenwirken mit der Plausibilitätsbedingung das jeweilige Umschalten von Aktivzustand zum Passivzustand in den einzelnen Schutzstrahlpositionen frei. Somit werden in den einzelnen Schutzstrahlpositionen nicht nur parallele Schutzstrahlen emittiert, sondern zusätzlich gegenüber dem parallelen Schutzstrahl verkippte Nebenschutzstrahlen generiert, wobei der vorlaufende Nebenschutzstrahl ausgehend von seiner Schutzstrahlposition mit einem vorhergehenden Empfangssensor oder vorhergehenden optischen Reflektor zusammenwirkt und der nachlaufende Nebenschutzstrahl ausgehend von seiner Schutzstrahlposition mit einem nachfolgenden optischen Sensor oder Reflektor zusammenwirkt.The leading or trailing auxiliary protection beams take over the monitoring of the closing movement of the door in an advantageous manner and, in cooperation with the plausibility condition, release the respective switching from the active state to the passive state in the individual protective beam positions. Thus, not only parallel protective beams are emitted in the individual protective beam positions, but additionally generated with respect to the parallel protection beam tilted secondary protection beams, the leading secondary protection beam from its protective beam position with a previous receiving sensor or previous optical reflector cooperates and the trailing Nebenschutzstrahl starting from its protective beam position with a subsequent optical sensor or reflector cooperates.

Nur wenn die oben erläuterte Plausibilitätsbedingung erfüllt ist, wird die entsprechende Schutzstrahlposition passiv gestellt, nämlich wenn eine vorausgehende Schutzstrahlposition detektiert und passiv gestellt ist und die entsprechende Schutzstrahlposition mit ihrem Schutzstrahl erstmalig geschaltet wird und mindestens der in Schließbewegung unmittelbar folgende vorlaufende Nebenschutzstrahl der folgenden Schutzstrahlposition in einem darauf folgenden, an die Schließbewegung des Tores angepassten Zeitintervall schaltet.Only when the above-explained plausibility condition is met, the corresponding protective beam position is made passive, namely when a preceding protective beam position is detected and passive and the corresponding protective beam position is switched with its protective beam for the first time and at least in the closing movement immediately following leading protection beam of the following protective beam position in a following, adjusted to the closing movement of the gate time interval switches.

Dabei muss jedoch kein Zeitintervall abgewartet werden, bis der nächste parallele Schutzstrahl passiert ist, wie es bei den Lichtgittern aus Lichtschranken der Fall ist, sondern das an die Schließbewegung des Tores angepasste Zeitintervall kann ein äußerst kurzes Zeitfenster sein, da es hierbei lediglich darum geht, Unebenheiten der Schließkante des Tores auszugleichen; denn der vorlaufende Nebenschutzstrahl der folgenden Schutzstrahlposition steht unmittelbar bei Passieren der vorhergehenden Sensor- bzw. Reflektorposition zur Verfügung. Das kurze Zeitfenster für das Zeitintervall bei der Umstellung einer Schutzstrahlposition von einem Aktivzustand zu einem Passivzustand kann durch eine einfache Lernfahrt vor Ort für das jeweilige Tor ermittelt werden. Durch die zur Verfügung stehenden Nebenschutzstrahlen in jeder Schutzstrahlposition kann somit der Abstand zwischen den Schutzstrahlpositionen gegenüber dem Stand der Technik deutlich vergrößert werden und dennoch die gleiche Sicherheit und Zuverlässigkeit gewährleistet werden.However, no time interval has to be waited until the next parallel protective beam has passed, as is the case with the light barriers of light barriers, but the time interval adapted to the closing movement of the gate can be an extremely short time window since this is merely a question of Compensate for unevenness in the closing edge of the door; because the leading secondary protection beam of the following protective beam position is available immediately when passing the previous sensor or reflector position. The short time window for the time interval during the changeover of a protective beam position from an active state to a passive state can be determined by a simple on-site learning journey for the respective port. As a result of the available secondary protection beams in each protective beam position, the distance between the protective beam positions can thus be markedly increased compared with the prior art and yet the same safety and reliability can be ensured.

In einer bevorzugten Ausführungsform der Erfindung sind deshalb die parallelen Schutzstrahlen des Lichtgitters äquidistant angeordnet, während bei den parallel ausgerichteten Schutzstrahlen der aus der Druckschrift EP 0 902 157 A2 bekannten Sicherheitseinrichtung für motorisch angetriebene Tore der Abstand zwischen den parallelen Schutzstrahlen im Endbereich des Schließvorgangs deutlich vermindert werden muss, um eine ausreichende Sicherheit zu gewährleisten.In a preferred embodiment of the invention, therefore, the parallel protective beams of the light grid are arranged equidistantly, while in the parallel aligned protective beams of the document EP 0 902 157 A2 known safety device for motor-driven doors, the distance between the parallel protective beams in the end of the closing process must be significantly reduced to ensure adequate safety.

Grundsätzlich kann es auch von Vorteil sein, die Schutzstrahlen nicht äquidistant, sondern beispielsweise in der Nähe des Bodenbereichs etwas dichter anzuordnen. Die Ortsauflösung kann dadurch gesteigert werden. Das ist insbesondere im bodennahen Bereich, wo sich typischerweise störende Gegenstände befinden können, von Bedeutung.In principle, it may also be advantageous not to equidistant the protective beams, but rather to arrange them somewhat closer in the vicinity of the floor area, for example. The spatial resolution can be increased thereby. This is particularly important in the ground-near area, where typically can be disturbing objects, of importance.

Die Zuverlässigkeit der Absicherung kann außerdem gesteigert werden, wenn zusätzlich zu dem berücksichtigten nachlaufenden. Nebenschutzstrahl der Schutzstrahlposition und dem vorlaufenden Nebenschutzstrahl der nachfolgenden Schutzstrahlpositionen das Schalten innerhalb von festzulegenden Zeitintervallen weiterer, insbesondere gekreuzter, Schutzstrahlen und/oder Nebenschutzstrahlen bei der Auswertung und der Plausibilitätsbedingung berücksichtigt wird.The reliability of the hedge can also be increased if in addition to the considered trailing. Supplementary protection beam of the protective beam position and the leading secondary protection beam of the subsequent protective beam positions, the switching within fixed time intervals of further, especially crossed, protective beams and / or secondary protection beams in the evaluation and the plausibility condition is taken into account.

Grundsätzlich erfordert das erfindungsgemäße Verfahren, dass mindestens eine Schutzstrahlposition aktiv ist. Für die allererste und die letzte Position können gegebenenfalls abweichende Bedingungen gelten.In principle, the method according to the invention requires that at least one protective beam position is active. Different conditions may apply for the very first and last position.

In einer weiteren Ausführungsform der Erfindung ist es vorgesehen, dass die vorlaufenden Nebenschutzstrahlen in Bezug auf die parallelen Schutzstrahlen gegen die Richtung der Schließbewegung des abzusichernden Tores gekippt verlaufen, während die nachlaufenden Nebenschutzstrahlen in Bezug auf die parallelen Schutzstrahlen in die Richtung der Schließbewegung des abzusichernden Tores gekippt verlaufen.In a further embodiment of the invention, it is provided that the leading secondary protective beams are tilted with respect to the parallel protective beams against the direction of the closing movement of the gate to be protected, while the trailing secondary protective beams are tilted in the direction of the closing movement of the gate to be protected with respect to the parallel protective beams run.

Weiterhin können beim Passivstellen einer Schutzstrahlposition sowohl der parallele Schutzstrahl als auch die zugehörigen vorlaufenden und nachlaufenden Nebenschutzstrahlen passiv gestellt werden.Furthermore, when the passive position of a protective beam position, both the parallel protective beam and the associated leading and trailing secondary protection beams can be made passive.

Für die Plausibilitätsbedingung ist der nachlaufende Nebenschutzstrahl von geringer Bedeutung, denn bei der Plausibilitätsbedingung kommt es auf das zeitliche Verhalten einer Schutzstrahlposition und eines unmittelbar folgenden vorlaufenden Nebenschutzstrahls einer nachfolgenden Schutzstrahlposition an. Dennoch kann der nachlaufende Nebenschutzstrahl der passiv zu stellenden Schutzstrahlposition die Zuverlässigkeit der erfindungsgemäßen Absicherung der Schließbewegung eines Tores erhöhen.For the plausibility condition, the trailing secondary protection beam is of little importance, because in the case of the plausibility condition, the temporal behavior of a protective beam position and of an immediately following leading secondary protection beam of a subsequent protective beam position is important. Nevertheless, the trailing secondary protection beam of the passively placed protective beam position can increase the reliability of the inventive securing of the closing movement of a door.

Wenn jedoch ein Objekt durch mindestens einen aktiv gestellten parallelen Schutzstrahl und/oder mindestens einen aktiv gestellten Nebenschutzstrahl festgestellt wird, ist es vorgesehen, dass das überwachte Tor wieder vollständig geöffnet wird. Wird jedoch ein deutlich größeres Objekt durch mindestens einen aktiv gestellten parallel Schutzstrahl und zwei aktiv gestellte Nebenschutzstrahlen festgestellt, so könnte dieses von einer Steuer- und Auswerteeinrichtung als Passivzustand einer Schutzstrahlposition gedeutet werden, so dass das Objekt bis zu einem nachfolgenden vorlaufenden Nebenschutzstrahl oder gar bis zu einem nachfolgenden parallelen Schutzstrahl gedrängt wird, bevor das Tor in seine Offenposition zurückgefahren wird.However, if an object is detected by at least one active parallel protection beam and / or at least one active auxiliary protection beam, it is envisaged that the monitored gate will be fully reopened. However, if a significantly larger object detected by at least one active parallel protection beam and two active suppression beams, so this could be interpreted by a control and evaluation as a passive state of a protective beam position, so that the object up to a subsequent leading Nebenschutzstrahl or even up to a subsequent parallel protective beam is forced before the gate is moved back to its open position.

Ein zweiter Aspekt der Erfindung betrifft eine Vorrichtung zum Absichern von Toren, insbesondere von Toren, mit einem Lichtgitter zum Überwachen des abzusichernden Tores. Das Lichtgitter weist eine Mehrzahl von Schutzstrahlen in Schutzstrahlpositionen auf und ist wie folgt angeordnet. Das Lichtgitter fällt wenigstens teilweise mit einer Überwachungsfläche einer Bewegungsebene des abzusichernden Tores zusammen. Die Schutzstrahlen liegen quer zu einer Schließbewegungsrichtung des abzusichernden Tores. Jeder der Schutzstrahlen weist einen Aktivzustand auf, in dem der Schaltzustand dieses Schutzstrahls für einen Objektnachweis ausgewertet ist. Jeder der Schutzstrahlen weist außerdem einen Passivzustand auf, in dem der Schaltzustand dieses Schutzstrahls ermittelt ist, aber nicht zum Objektnachweis ausgewertet wird. Jede Schutzstrahlposition weist zusätzlich zu dem Schutzstrahl einen vorlaufenden Nebenschutzstrahl und einen nachlaufenden Nebenschutzstrahl auf.A second aspect of the invention relates to a device for securing gates, in particular gates, with a light grid for monitoring the gate to be protected. The light grid has a plurality of protective beams in protective beam positions and is arranged as follows. The light grid coincides at least partially with a monitoring surface of a plane of movement of the gate to be protected. The protective beams are transverse to a closing movement direction of the gate to be protected. Each of the protective beams has an active state in which the switching state of this protective beam is evaluated for object detection. Each of the protective beams also has a passive state in which the switching state of this protective beam is determined, but is not evaluated for object detection. Each protective beam position has, in addition to the protective beam, a leading secondary protection beam and a trailing secondary protection beam.

Die Vorrichtung weist eine Steuer- und Auswerteeinrichtung zum Steuern des Lichtgitters und zum Auswerten der von dem Lichtgitter gelieferten Messdaten auf. Die Steuer- und Auswerteeinrichtung ist darauf eingerichtet, ein Passivstellen einer Schutzstrahlposition bei folgender Plausibilitätsbedingung durchzuführen, wenn eine vorausgehende Schutzstrahlposition detektiert und passiv gestellt ist und die Schutzstrahlposition erstmalig geschaltet ist und mindestens der in Schließbewegung unmittelbar folgende vorlaufende Nebenschutzstrahl der folgenden Schutzstrahlposition in einem darauf folgenden an die Schließbewegung des Tores angepassten Zeitintervall schaltet.The device has a control and evaluation device for controlling the light grid and for evaluating the measurement data supplied by the light grid. The control and evaluation device is adapted to carry out a Passivstellen a protective beam position in the following plausibility condition when a preceding protective beam position is detected and passively set and the protective beam position is switched first and at least the immediately following in closing movement leading secondary protection beam of the following protective beam position in a subsequent the closing movement of the gate adjusted time interval switches.

Für die erfindungsgemäße Vorrichtung ergeben die gleichen Vorteile wie für das erfindungsgemäße Verfahren. Jedoch wird auf eine bevorzugte Ausführungsform der Lichtgitter hingewiesen, die für eine Ausführungsform der Vorrichtung eine Vielzahl von Infrarot-Halbleiterlasern als Lichtquellen in den Schutzstrahlpositionen aufweist. Darüber hinaus ist es auch möglich, lediglich in jeder Schutzstrahlposition einen Infrarot-Halbleiterlaser anzuordnen und durch prismatische Strahlteilung oder faseroptische Strahlteilung die beiden Nebenschutzstrahlen und den parallelen Schutzstrahl mittels einer einzigen Infrarot-Halbleiterlaserdiode zu erzeugen.For the device according to the invention give the same advantages as for the inventive method. However, a preferred embodiment is directed to the light grid which, for one embodiment of the apparatus, includes a plurality of infrared semiconductor lasers as light sources in the protective beam positions. Moreover, it is also possible to arrange an infrared semiconductor laser only in each protective beam position and to generate by prismatic beam splitting or fiber optic beam splitting the two secondary protection beams and the parallel protective beam by means of a single infrared semiconductor laser diode.

Zusammenfassend hat die Erfindung gegenüber den bekannten Lösungen den Vorteil, dass der unter der Schließkante ungeschützte Bereich kleiner ist und dass die optische Auflösung durch die vorlaufenden und nachlaufenden Nebenschutzstrahlen grundlegend verbessert wird. Gegenüber einer Lösung mit parallelen Lichtschranken, liefert die vorliegende Erfindung eine Verbesserung der Zuverlässigkeit. Gegenüber der im Stand der Technik bekannten Lösung, die optische Elemente auf dem bewegten Tor anordnet, ergibt sich bei der vorliegenden Lösung sowohl ein geringerer Aufwand in Bezug auf die Montage von zusätzlichen Teilen an der Schließkante des bewegten Tores als auch eine höhere Zuverlässigkeit, da an dem Tor keinerlei Zuleitungen oder andere elektrische Versorgungsanschlüsse vorgesehen werden müssen.In summary, the invention over the known solutions has the advantage that the unprotected under the closing edge area is smaller and that the optical resolution is fundamentally improved by the leading and trailing secondary protection beams. Compared to a solution with parallel light barriers, the present invention provides an improvement in reliability. Compared to the solution known in the prior art, which arranges optical elements on the moving gate, resulting in the present solution, both a lesser effort in terms of the assembly of additional parts to the closing edge of the moving door and a higher reliability, since the gate no supply lines or other electrical supply connections must be provided.

Die Erfindung wird nun anhand der beigefügten Figuren näher erläutert.

Figur 1
zeigt eine Prinzipskizze eines Roll- oder Falttores mit einer Vorrichtung zum Absichern von Toren;
Figur 2
zeigt eine Prinzipskizze des abgesicherten Tores gemäß Figur 1 nach Passieren einer Schutzstrahlposition;
Figur 3
zeigt eine Prinzipskizze des abgesicherten Tores beim Erfassen eines kleinen Objekts im Bereich eines aktiven Lichtgitters;
Figur 4
zeigt eine Prinzipskizze des abgesicherten Tores beim Erfassen eines kleinen Objekts in unterschiedlichen Positionen im Bereich des aktiven Lichtgitters;
Figur 5
zeigt eine Prinzipskizze des abgesicherten Tors beim Erfassen eines großen Objekts innerhalb des aktiven Lichtgitters;
Figur 6
zeigt eine Prinzipskizze des abgesicherten Tors beim Erfassen eines großen Objekts in unterschiedlichen Positionen innerhalb des aktiven Lichtgitters.
The invention will now be explained in more detail with reference to the accompanying figures.
FIG. 1
shows a schematic diagram of a roll or folding gate with a device for securing gates;
FIG. 2
shows a schematic diagram of the safe gate according to FIG. 1 after passing a protective beam position;
FIG. 3
shows a schematic diagram of the safe gate when detecting a small object in the region of an active light grid;
FIG. 4
shows a schematic diagram of the safe gate when detecting a small object in different positions in the region of the active light grid;
FIG. 5
shows a schematic diagram of the protected gate when detecting a large object within the active light grid;
FIG. 6
shows a schematic diagram of the protected gate when detecting a large object in different positions within the active light grid.

Figur 1 zeigt eine Prinzipskizze eines Roll- oder Falttores 50, das eine Vorrichtung zum Absichern eines Torblattes 20 mit einer Schließkante 26 vor einer Kollision mit einem Objekt bei gleichzeitiger Absicherung einer Hochgeschwindigkeitsbewegung des Torblattes 20 in Pfeilrichtung 24 einer Schließbewegung. Das Torblatt 20 wird dabei seitlich in zwei Führungsprofilen 42 und 44 geführt, die über einen oberen Querbalken 46 auf Abstand gehalten werden, so dass sich eine lichte Breite b und eine lichte Höhe h einer Tordurchfahrt ergibt. Torblattsegmente des Torblattes 20 können hinter dem Querbalken 46 zusammengefaltet, aufgerollt oder in abgebogenen horizontal ausgerichteten Führungsprofilen beim Öffnen der Tordurchfahrt verstaut werden. FIG. 1 shows a schematic diagram of a roll or folding door 50, which includes a device for securing a door leaf 20 with a closing edge 26 against a collision with an object while ensuring a high-speed movement of the door leaf 20 in the direction of arrow 24 a closing movement. The door leaf 20 is thereby guided laterally in two guide profiles 42 and 44, which are held by an upper cross bar 46 at a distance, so that there is a clear width b and a clear height h a gate passage. Door leaf segments of the door leaf 20 can be folded behind the transom 46, rolled up or stowed in bent horizontally oriented guide profiles when opening the gate.

Dazu ist hinter oder an dem Querbalken 46 ein Motor 14 angeordnet, der ein Schaltrelais 48 aufweist, das über eine Steuerleitung 18 mit einer Steuer- und Auswerteeinrichtung 40 in Wirkverbindung steht. Zusätzlich kann über eine mechanische Verbindung 28 der Motor 14 mit einer Bremsvorrichtung 16 verbunden sein, die ihrerseits über eine mechanische Verbindung 38 mit dem Torblatt 20 verbunden ist, so dass zusätzlich zu einer Ausschaltung des Motors 14 ein Notbremsvorgang für das Torblatt 20 ausgelöst werden kann. Die Bremseinrichtung 16 ist dazu über eine weitere Steuerleitung 18' mit der Steuer- und Auswerteeinrichtung 40 verbunden.For this purpose, behind or on the transverse bar 46, a motor 14 is arranged, which has a switching relay 48 which is connected via a control line 18 with a control and evaluation device 40 in operative connection. In addition, via a mechanical connection 28, the motor 14 may be connected to a braking device 16, which in turn is connected via a mechanical connection 38 to the door leaf 20, so that in addition to a shutdown of the engine 14, an emergency braking operation for the door leaf 20 can be triggered. The braking device 16 is connected via a further control line 18 'to the control and evaluation device 40.

Eine Bewegungsebene 22 des Torblattes 20 wird durch ein Lichtgitter 10 überwacht, das in einem Überwachungsbereich 12 Schutzstrahlpositionen P3 bis Pn aufweist, die sich in einem Aktivzustand befinden, in dem der Schaltzustand von Schutzstrahlen für einen Objektnachweis von der Steuer- und Auswerteeinrichtung 40 ausgewertet wird. Außerdem befinden sich in dem Überwachungsbereich 22, der in Figur 1 gezeigt wird, Schutzstrahlpositionen P1 und P2 deren Schutzstrahlen in einen Passivzustand versetzt sind, in dem der Schaltzustand der Schutzstrahlen von der Steuer- und Auswerteeinrichtung 40 zwar erfasst wird, aber nicht zum Objektnachweis ausgewertet wird, da sich in diesem Überwachungsbereich der Schutzstrahlpositionen P1 und P2 das sich in Schließrichtung 24 bewegende Torblatt 20 befindet.A movement plane 22 of the door leaf 20 is monitored by a light grid 10 which has protective beam positions P3 to Pn in a monitoring area 12 which are in an active state in which the switching state of protective beams for an object detection is evaluated by the control and evaluation device 40. In addition, in the monitoring area 22 located in FIG. 1 is shown, protective beam positions P1 and P2 whose protective beams are placed in a passive state in which the switching state of the protective beams of the control and evaluation device 40 is indeed detected, but not evaluated for object detection, since in this monitoring range of the protective beam positions P1 and P2, the in the closing direction 24 moving door leaf 20 is located.

Die Steuer- und Auswerteeinrichtung 40 ist deshalb über Signalleitungen 34 mit einer Vielzahl von Schutzstrahlpositionen P1 bis Pn, die an oder in dem linken Führungsprofil 42 des Tores angeordnet sind, verbunden. Anstelle der Signalleitungen 34 kann auch eine in einem Multiplexverfahren betriebene Signalleitung 34 eingesetzt werden. Jede Schutzstrahlposition P weist drei Schutzstrahlen auf, nämlich einen vorlaufenden Nebenschutzstrahl V, einen parallel zur Schließkante 26 ausgerichteten Schutzstrahl S und einen nachlaufenden Nebenschutzstrahl N. Zum Schalten werden in dem rechten Führungsprofil 44 entsprechende Empfangspositionen E1 bis En vorgesehen. Diese Empfangspositionen E1 bis En können beispielsweise Photodioden oder Photowiderstände aufweisen, deren Messwerte bzw. Schaltzustände über weitere Signalleitungen 36 der Steuer- und Auswerteeinrichtung 40 zugeführt werden. Anstelle der weiteren Signalleitungen 36 kann auch eine in einem Multiplexverfahren betriebene Signalleitung eingesetzt werden. Andererseits ist es auch möglich, dass in den Empfangspositionen E1 bis En lediglich Reflektoren angeordnet sind und in den Schutzstrahlpositionen P1 bis Pn entsprechende Sensoren zusätzlich zu den Emittern für die Schutzstrahlen vorgesehen sind.The control and evaluation device 40 is therefore connected via signal lines 34 with a plurality of protective beam positions P1 to Pn, which are arranged on or in the left guide profile 42 of the gate. Instead of the signal lines 34, a signal line 34 operated in a multiplex method can also be used. Each protective beam position P has three protective beams, namely a leading secondary protection beam V, a protective beam S aligned parallel to the closing edge 26 and a trailing secondary protection beam N. For switching purposes in the right guide profile 44 corresponding receiving positions E1 to En provided. These receiving positions E1 to En can, for example, photodiodes or photoresistors whose measured values or switching states are supplied via further signal lines 36 of the control and evaluation device 40. Instead of the further signal lines 36, a signal line operated in a multiplex method can also be used. On the other hand, it is also possible that in the receiving positions E1 to En only reflectors are arranged and in the protective beam positions P1 to Pn corresponding sensors are provided in addition to the emitters for the protective beams.

Figur 1 zeigt, dass die Empfangsstationen E1 und E2 weder die parallelen Schutzstrahlen S1 und S2, noch die vorlaufenden Nebenschutzstrahlen V1 und V2 oder die nachlaufenden Nebenschutzstrahlen N1 und N2 empfangen, da eine Seitenkante des Torblattes 20 die emittierten Schutzstrahlen der Schutzstrahlpositionen P1 und P2 abdeckt. Die Empfangsstationen E3 bis En empfangen hingegen Signale und geben Messsignale über die Signalleitung 36 an die Steuer- und Auswerteeinheit weiter, solange kein Objekt in der Überwachungsfläche 12 auftaucht und auch das Torblatt, das sich mit hoher Geschwindigkeit in Schließrichtung 24 bewegt die weiteren Schutzstrahlpositionen P3 bis Pn noch nicht passiert hat. FIG. 1 shows that the receiving stations E1 and E2 receive neither the parallel protection beams S1 and S2, nor the preceding subsidiary protection beams V1 and V2 or the trailing auxiliary protection beams N1 and N2, since a side edge of the door panel 20 covers the emitted protective beams of the protective beam positions P1 and P2. The receiving stations E3 to En, however, receive signals and pass measuring signals via the signal line 36 to the control and evaluation unit, as long as no object appears in the monitoring area 12 and the door leaf, which moves at high speed in the closing direction 24, the other protective beam positions P3 to Pn has not happened yet.

Während die parallelen Schutzstrahlen S direkt auf jeweils eine der geradlinig gegenüberliegenden Empfangspositionen E ausgerichtet sind, sind die vorlaufenden Nebenschutzstrahlen V auf die jeweils vorhergehende Empfangsposition E-1 ausgerichtet und die nachlaufenden Nebenschutzstrahlen N sind auf die jeweils nachfolgende Empfangsposition E+1 ausgerichtet. Mit dieser Verkippung von Schutzstrahlen wird erreicht, dass der Zwischenraum zwischen zwei parallelen Schutzstrahlen S und S+1 beim Schließen des Tores durch die gegenüber den parallelen Schutzstrahlen S nachlaufenden gekippten Nebenschutzstrahlen N zusätzlich zu den parallelen Schutzstrahlen S und S+1 überwacht werden kann.While the parallel protective beams S are aligned directly on each one of the rectilinearly opposite receiving positions E, the leading secondary protection beams V are aligned with the respective previous receiving position E-1 and the trailing Nebenschutzstrahlen N are aligned with the respective subsequent receiving position E + 1. With this tilting of protective beams, it is achieved that the gap between two parallel protective beams S and S + 1 can be monitored in addition to the parallel protective beams S and S + 1 when the gate is closed by the tilted secondary protection beams N following the parallel protective beams S.

Ein Objekt, das sich innerhalb eines aktiven Lichtstrahlengitters 10 befindet, kann ohne weiteres detektiert werden. Damit das sich mit großer Geschwindigkeit schließende Torblatt 20 jedoch nicht als Objekt von der Steuer- und Auswerteeinrichtung fehlgedeutet wird, muss eine Plausibilitätsbedingung erfüllt sein, ehe eine weitere Schutzstrahlposition in den Passivzustand versetzt wird. Diese Plausibilitätsbedingung wurde vorstehend erörtert, so dass sich eine Wiederholung an dieser Stelle erübrigt.An object located within an active light beam grid 10 can be readily detected. However, in order that the door leaf 20 closing at high speed is not misinterpreted as an object by the control and evaluation device, a plausibility condition must be met before another Protective beam position is placed in the passive state. This plausibility condition was discussed above, so that a repetition at this point is unnecessary.

In Figur 1 befinden sich der vorlaufende Nebenschutzstrahl V1, der parallele Schutzstrahl S1 und der nachlaufende Nebenschutzstrahl N1 bereits im passiven Schaltzustand, ebenso der vorlaufende Nebenschutzstrahl V2, der parallele Schutzstrahl S2 und der nachlaufende Nebenschutzstrahl N2. Um das Torblatt 20 in Schließbewegungsrichtung 24 fortlaufen zu lassen, wird nun die Plausibilitäts-bedingung auf die Schutzstrahlen der Schutzstrahlposition P3 unter Berücksichtigung des nachlaufenden Nebenschutzstrahls N3 und des vorlaufenden Nebenschutzstrahls V4 der nächstfolgenden Schutzstrahlposition P4 angewandt. Wird die Plausibilitätsbedingung erfüllt, können die Schutzstrahlen der Schutzstrahlposition P3 in den Passivzustand übergehen und der Schließprozess kann ohne Störung fortgesetzt werden, wie es die nächste Figur 2 zeigt.In FIG. 1 are the leading secondary protection beam V1, the parallel protective beam S1 and the trailing Nebenschutzstrahl N1 already in the passive switching state, as the leading Nebenschutzstrahl V2, the parallel protective beam S2 and the trailing Nebenschutzstrahl N2. In order to allow the door leaf 20 to continue in the closing movement direction 24, the plausibility condition is now applied to the protective beams of the protective beam position P3, taking into account the trailing secondary protection beam N3 and the leading auxiliary protection beam V4 of the next protective beam position P4. If the plausibility condition is satisfied, the protective beams of the protective beam position P3 can pass into the passive state and the closing process can be continued without disturbance as the next one FIG. 2 shows.

Figur 2 zeigt eine Prinzipskizze des abgesicherten Tores 50 gemäß Figur 1 nach Passieren einer weiteren Schutzstrahlposition P3. Die fortschreitende Schließung des Torblattes 20 in Schließrichtung 24 war möglich, weil die Schutzstrahlposition P3 erstmalig mit ihrem parallelen Schutzstrahl S geschaltet wird und mindestens der in Schließbewegung unmittelbar folgende, vorlaufende Nebenschutzstrahl V4 der nachfolgenden Schutzstrahlposition P4 in einem darauf folgenden an die Schließbewegung des Tores angepassten Zeitintervall schaltet. Dieses Zeitintervall kann äußerst kurz sein, da nicht gewartet werden muss, bis die Schließkante 26 den nachfolgenden parallelen Schutzstrahl erreichen muss, wie es im Stand der Technik erforderlich ist, sondern wenn bereits die Schließkante 26 den vorlaufenden Nebenschutzstrahl V4 nach einem kurzen Zeitintervall erreicht. Das Zeitintervall muss folglich lediglich Unebenheiten der Schießkante 26 überbrücken, nicht aber den zeitlichen Abstand zum nachfolgenden parallelen Schutzstrahl aufweisen, wie im Stand der Technik. Dieses relativ kurze Zeitintervall kann wie bereits oben erwähnt durch eine einmalige Lernfahrt des Tores 50 ermittelt und in der Steuer- und Auswerteeinheit 40 gespeichert werden. FIG. 2 shows a schematic diagram of the secure door 50 according to FIG. 1 after passing another protective beam position P3. The progressive closing of the door leaf 20 in the closing direction 24 was possible because the protective beam position P3 is switched for the first time with its parallel protective beam S and at least the immediately following in closing movement, leading secondary protection beam V4 of the subsequent protective beam position P4 in a subsequent adapted to the closing movement of the door time interval on. This time interval can be extremely short, since it is not necessary to wait until the closing edge 26 has to reach the subsequent parallel protective beam, as required in the prior art, but when the closing edge 26 already reaches the leading secondary protection beam V4 after a short time interval. Consequently, the time interval only has to bridge unevenness of the firing edge 26, but does not have to have the time interval to the subsequent parallel protective beam, as in the prior art. As already mentioned above, this relatively short time interval can be determined by a one-time learning run of the door 50 and stored in the control and evaluation unit 40.

Figur 3 zeigt eine Prinzipskizze des abgesicherten Tores 50 beim Erfassen eines kleinen Objekts 30 im Bereich eines aktiven Lichtgitters 10 zwischen den Schutzstrahlpositionen P3 bis Pn. Wie Figur 3 zeigt, werden durch das kleine Objekt 30 der parallele Schutzstrahl S3 und der nachlaufende Nebenschutzstrahl N3 unterbrochen, so dass die in Figur 1 gezeigte Steuer- und Auswerteeinheit 40 ein Öffnen des Tores 50 entgegen der Schließbewegungsrichtung 24 nun in Pfeilrichtung 24' veranlassen kann. Beim Öffnen des Tores 50 werden die in Figur 3 noch im Passivzustand befindlichen Schutzstrahlen der Schutzstrahlpositionen P1 und P2 zurück in den Aktivzustand versetzt, weil dann wieder eine optische Verbindung zu den Empfangspositionen E1 und E2 besteht. FIG. 3 shows a schematic diagram of the secure door 50 when detecting a small object 30 in the region of an active light grid 10 between the protective beam positions P3 to Pn. Like FIG. 3 shows, are interrupted by the small object 30 of the parallel protection beam S3 and the trailing Nebenschutzstrahl N3, so that the in FIG. 1 shown control and evaluation unit 40 can cause opening of the door 50 against the closing movement direction 24 now in the direction of arrow 24 '. When opening the gate 50, the in FIG. 3 protective radiation positions of the protective beam positions P1 and P2, which are still in the passive state, are set back into the active state, because then there is again an optical connection to the receiving positions E1 and E2.

Figur 4 zeigt eine Prinzipskizze des abgesicherten Tores 50 beim Erfassen eines kleinvolumigen Objekts 30 in unterschiedlichen Positionen 30, 30', 30" und 30'" im Bereich des aktiven Lichtgitters mit den Schutzstrahlpositionen P3 bis Pn. Während, wie in Figur 3 gezeigt, das kleine Objekt 30 den parallelen Schutzstrahl S3 und den nachlaufenden Schutzstrahl N3 der Schutzstrahlposition P3 unterbricht, würde ein kleines Objekt 30' den nachlaufenden Nebenschutzstrahl N3 und den vorlaufenden Nebenschutzstrahl V4 der nachfolgenden Schutzstrahlposition P4 unterbrechen. In der weiteren Position des kleinen Objekts 30" würde lediglich der parallele Schutzstrahl S3 der Schutzstrahlposition P3 unterbrochen und schließlich würde in der Position des kleinen Objekts 30'" der parallele Schutzstrahl S3 und der vorlaufende Nebenschutzstrahl V4 der nachfolgenden Schutzstrahlposition P4 geschaltet bzw. unterbrochen. In jeder der Positionen, die durch die Objekte 30, 30', 30" und 30'" in Figur 4 gezeigt werden, wird das Torblatt 20 entgegen der Schließbewegungsrichtung 24 in Pfeilrichtung 24' geöffnet und die volle Tordurchfahrt freigegeben. FIG. 4 shows a schematic diagram of the safe gate 50 when detecting a small-volume object 30 in different positions 30, 30 ', 30 "and 30'" in the region of the active light grid with the protective beam positions P3 to Pn. While, as in FIG. 3 3, the small object 30 interrupts the parallel protective beam S3 and the trailing protective beam N3 of the protective beam position P3, a small object 30 'would interrupt the trailing secondary protective beam N3 and the leading secondary protective beam V4 of the subsequent protective beam position P4. In the further position of the small object 30 ", only the parallel protective beam S3 of the protective beam position P3 would be interrupted and, finally, in the position of the small object 30 '", the parallel protective beam S3 and the leading secondary protection beam V4 would be switched or interrupted for the subsequent protective beam position P4. In each of the positions, which are shown by the objects 30, 30 ', 30 "and 30'" in Figure 4, the door leaf 20 is opened against the closing movement direction 24 in the direction of arrow 24 'and the full gate passage released.

Figur 5 zeigt eine Prinzipskizze des abgesicherten Tores 50 beim Erfassen eines großen Objekts 32 innerhalb des aktiven Lichtgitters 10 mit den Schutzstrahlpositionen P3 bis Pn. Da dieses Objekt 32 so groß ist, dass es sowohl den nächsten parallelen Schutzstrahl S3 erstmalig abdeckt und dazu den nachlaufenden Nebenschutzstrahl N3 sowie den vorlaufenden Nebenschutzstrahl V4 der nachfolgenden Schutzstrahlposition P4 unterbricht und damit das kurze Zeitintervall ebenfalls erfüllt hat, würde ein Objekt 32 dieser Größe die Plausibilitätsbedingung erfüllen und das Torblatt 20 in Schließbewegungsrichtung 24 das Objekt abdrängen. Erst wenn das Objekt 32 eine Position erreicht, die gegen die Plausibilitätsbedingung verstößt, wird die Schließbewegung in Pfeilrichtung 24 beendet und das Objekt kann aus dem aktiven Lichtgitterbereich der Überwachungsfläche 22 der Schutzstrahlpositionen P3 bis Pn entfernt werden. FIG. 5 shows a schematic diagram of the secure door 50 when detecting a large object 32 within the active light grid 10 with the protective beam positions P3 to Pn. Since this object 32 is so large that it covers both the next parallel protective beam S3 for the first time and to the trailing Nebenschutzstrahl N3 and the leading secondary protection beam V4 of the subsequent protective beam position P4 interrupts and thus the short time interval has also met, an object 32 of this size would meet the plausibility requirement and the door leaf 20 in closing movement direction 24 push the object. Only when the object 32 reaches a position violating the plausibility condition, the closing movement in the direction of arrow 24 is terminated and the object can be removed from the active light grid area of the monitoring area 22 of the protective beam positions P3 to Pn.

Figur 6 zeigt eine Prinzipskizze des abgesicherten Tores 50 beim Erfassen eines großen Objekts 32 in unterschiedlichen Positionen 32, 32' und 32" innerhalb des aktiven Lichtgitters 10 mit den Schutzstrahlpositionen P3 bis Pn. Dabei zeigt sich, dass in jeder der gezeigten Positionen der Objekte 32, 32' und 32" die Plausibilitätsbedingung erfüllt wird, da der jeweils parallele Schutzstrahl S3 erstmalig geschaltet oder unterbrochen wird und sowohl der nachlaufende Nebenschutzstrahl N3 als auch der vorlaufende Nebenstrahl V4 der nachfolgenden Schaltstrahlposition P4 von dem Objekt 32 in den Positionen 32, 32' und 32" unterbrochen wird. Somit werden beim Weiterfahren in Schließbewegungsrichtung 24 des Torblattes 20 die großvolumigen Objekte 32, 32' und 32" in eine Position gedrängt, in der die Plausibilitätsbedingung nicht mehr erfüllt ist, da bereits der nächste Schutzstrahl S4 ohne Unterbrechung mindestens eines nachlaufenden oder vorlaufenden Nebenschutzstrahls zusätzlich geschaltet bzw. unterbrochen wird. FIG. 6 5 shows a schematic diagram of the protected gate 50 when detecting a large object 32 in different positions 32, 32 'and 32 "within the active light grid 10 with the protective beam positions P3 to Pn. It is shown that in each of the positions of the objects 32, 32 shown 'and 32 "the plausibility condition is met, since the respective parallel protection beam S3 is switched or interrupted for the first time and both the trailing auxiliary protection beam N3 and the leading secondary beam V4 of the subsequent switching beam position P4 of the object 32 in the positions 32, 32' and 32" Thus, when moving further in the closing movement direction 24 of the door leaf 20, the bulky objects 32, 32 'and 32 "are urged into a position in which the plausibility condition is no longer met, since already the next protection beam S4 without interruption of at least one trailing or leading Nebenschutzstrahls additionally switched bz w is interrupted.

BezugszeichenlisteLIST OF REFERENCE NUMBERS

1010
Lichtgitterlight Curtain
1212
Überwachungsflächemonitoring area
1414
Motorengine
1616
Bremsvorrichtungbraking device
18, 18'18, 18 '
Steuerleitungcontrol line
2020
Torblattdoor leaf
2222
Bewegungsebenemovement plane
2424
SchließbewegungsrichtungClosing movement direction
24'24 '
Pfeilrichtung entgegen der SchließbewegungsrichtungArrow direction against the closing movement direction
2626
Schließkanteclosing edge
2828
mechanische Verbindungmechanical connection
30, 30', 30", 30"'30, 30 ', 30 ", 30"'
Objekt (klein)Object (small)
32, 32', 32"32, 32 ', 32 "
Objekt (groß)Object (big)
3434
Signalleitungsignal line
3636
Signalleitungsignal line
3838
mechanische Verbindungmechanical connection
4040
Steuer- und AuswerteeinrichtungControl and evaluation device
4242
linkes Führungsprofilleft guide profile
4444
rechtes Führungsprofilright leadership profile
4646
Querbalkencrossbeam
4848
Schaltrelaisswitching Relays
5050
Torgate
E1E1
erste Empfangspositionfirst reception position
E2E2
zweite Empfangspositionsecond reception position
E3E3
dritte Empfangspositionthird reception position
E4E4
vierte Empfangspositionfourth reception position
Ens
n-te Empfangspositionnth reception position
N1N1
erster nachlaufender Nebenschutzstrahlfirst trailing secondary protection beam
N2N2
zweiter nachlaufender Nebenschutzstrahlsecond trailing secondary protection beam
N3N3
dritter nachlaufender Nebenschutzstrahlthird trailing secondary protection beam
N4N4
vierter nachlaufender Nebenschutzstrahlfourth trailing secondary protection beam
Nnnn
n-ter nachlaufender Nebenschutzstrahln-th trailing secondary protection beam
P1P1
erste Schutzstrahlpositionfirst protective beam position
P2P2
zweite Schutzstrahlpositionsecond protective beam position
P3P3
dritte Schutzstrahlpositionthird protective beam position
P4P4
vierte Schutzstrahlpositionfourth protective beam position
Pnpn
n-te Schutzstrahlpositionnth protective beam position
S1S1
erster paralleler Schutzstrahlfirst parallel protective beam
S2S2
zweiter paralleler Schutzstrahlsecond parallel protective beam
S3S3
dritter paralleler Schutzstrahlthird parallel protective beam
S4S4
vierter paralleler Schutzstrahlfourth parallel protective beam
Snsn
n-ter paralleler Schutzstrahlnth parallel protective beam
V1V1
erster vorlaufender Nebenschutzstrahlfirst leading secondary protection beam
V2V2
zweiter vorlaufender Nebenschutzstrahlsecond leading secondary protection beam
V3V3
dritter vorlaufender Nebenschutzstrahlthird leading secondary protection beam
V4V4
vierter vorlaufender Nebenschutzstrahlfourth leading secondary protection beam
VnVn
n-ter vorlaufender Nebenschutzstrahlnth leading secondary protection beam

Claims (14)

  1. Method for securing gates with a light grid which emits a plurality of protective beams (S1 to Sn) in protective beam positions (P1 to Pn),
    wherein the light grid (10) is arranged so that its monitoring area (12) at least partially coincides with a movement plane (22) of the gate (20) to be secured, wherein the protective beams (S1 to Sn) of the light grid (10) are arranged transversely to a closing movement direction (24) of the gate (20) to be secured, wherein each of the protective beams (S1 to Sn) forms an active state, in which the switching state of this protective beam (S1 to Sn) is evaluated for an object detection, and
    wherein each of the protective beams (S1 to Sn) forms a passive state, in which the switching state of this protective beam (S1 to Sn) is detected but not evaluated for the object detection,
    characterised in that
    each protective beam position (P1 to Pn) emits in addition to the protective beam (S1 to Sn) a fore-running ancillary protective beam (V1 to Vn) and an after-running ancillary protective beam (N1 to Nn) and
    the protective beam position (P) in case of subsequent feasibility condition is set passively if namely
    a preceding protective beam position (P - 1) is passively set, and
    the protective beam position (P) is switched for the first time with its protective beam (S) and at least the after-running protective beam (N) of the protective beam position (P) and the fore-running ancillary protective beam (V + 1), directly following in the closing movement, of the subsequent protective beam position (P + 1) switch in a subsequent time interval adapted to the closing movement of the gate, and
    the closing movement of the gate stops if an object is detected by at least one actively set protective beam and / or at least one actively set ancillary protective beam.
  2. Method according to claim 1,
    characterised in that
    the gate (20) to be monitored opens completely or partially if an object (30) is detected by at least one actively set protective beam (S) and / or at least one actively set ancillary protective beam (V or N).
  3. Method according to claim 1 or 2,
    characterised in that
    the protective beams (S1 to Sn) extend parallel to a closing edge (26) of the gate.
  4. Method according to one of claims 1 or 2,
    characterised in that
    the parallel protective beams (S1 to Sn) of the light grid (10) are not arranged equidistantly.
  5. Method according to one of claims 1 to 4,
    characterised in that
    the fore-running ancillary protective beams (V1 to Vn) extend tilted with respect to the parallel protective beams (S1 to Sn) towards the direction (24) of the closing movement of the gate (20) to be secured.
  6. Method according to one of claims 1 to 5,
    characterised in that
    the after-running ancillary protective beams (N1 to Nn) extend tilted with respect to the parallel protective beams (S1 to Sn) in the direction (24) of the closing movement of the gate to be secured.
  7. Method according to one of claims 1 to 6,
    characterised in that
    with passive setting of a protective beam position (P) both the parallel protective beam (S) and also the associated fore-running and after-running ancillary protective beams (V and N) are passively set.
  8. Method according to one of claims 1 to 7,
    characterised in that
    with the feasibility condition a condition is set for the temporal switching behaviour of a protective beam position (P1 to Pn) and a directly following fore-running ancillary protective beam (V2 to Vn).
  9. Method according to one of claims 1 to 8,
    characterised in that
    the feasibility condition additionally requires that at least one further protective beam and / or at least one further fore-running and / or after-running ancillary protective beam switch(es).
  10. Method according to one of claims 1 to 9,
    characterised in that
    the value of the time interval adapted to the closing movement of the gate (20) is determined in a teaching run.
  11. Device for securing gates (20), in particular for carrying out a method according to one of claims 1 to 9, with a light grid (10) to monitor the gate (20) to be secured,
    wherein the light grid (10) has a plurality of protective beams (S1 to Sn) in protective beam positions (P1 to Pn) and is arranged so that
    a monitoring area (12) at least partially coincides with a movement plane (22) of a gate (20) to be secured, and
    that its protective beams (S1 to Sn) lie transversely to a closing movement direction (24) of the gate (20) to be secured,
    wherein each of the protective beams (S1 to Sn) has an active state, in which the switching state of this protective beam (S1 to Sn) is evaluated for an object detection and
    with a control and evaluation means (40) to control the light grid (10) and evaluate the measurement data supplied by the light grid, wherein each of the protective beams (S1 to Sn) has a passive state, in which the switching state of this protective beam (S1 to Sn) is detected, but not evaluated for the object detection, characterised in that
    each protective beam position (P1 to Pn) has in addition to the protective beam (S1 to Sn) a fore-running ancillary protective beam (V1 to Vn) and an after-running ancillary protective beam (N1 to Nn) and
    that the control and evaluation means (40) is adapted to passively set a protective beam position (P) with subsequent feasibility condition if namely a preceding protective beam position (P-1) is passively set, and
    the protective beam position (P) is switched for the first time with its protective beam (S) and at least the after-running protective beam (N) of the protective beam position (P) and the fore-running ancillary protective beam (V + 1), directly following in the closing movement, of the subsequent protective beam position (P + 1) switch in a subsequent time interval adapted to the closing movement of the gate, and
    the closing movement of the gate stops if an object is detected by at least one actively set protective beam and / or at least one actively set ancillary protective beam.
  12. Device according to claim 11,
    characterised in that
    the light grid (10) has a plurality of infrared semiconductor lasers as light sources in the protective beam positions (P1 to Pn).
  13. Device according to claim 11 or 12,
    characterised in that
    light emitting diodes or VICSEL are used as light sources.
  14. Device according to one of claims 11 to 13,
    which is adapted to be incorporated into a door frame.
EP13186611.3A 2013-09-30 2013-09-30 Method and apparatus for securing gates Active EP2853677B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP13186611.3A EP2853677B1 (en) 2013-09-30 2013-09-30 Method and apparatus for securing gates

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP13186611.3A EP2853677B1 (en) 2013-09-30 2013-09-30 Method and apparatus for securing gates

Publications (2)

Publication Number Publication Date
EP2853677A1 EP2853677A1 (en) 2015-04-01
EP2853677B1 true EP2853677B1 (en) 2016-03-02

Family

ID=49304699

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13186611.3A Active EP2853677B1 (en) 2013-09-30 2013-09-30 Method and apparatus for securing gates

Country Status (1)

Country Link
EP (1) EP2853677B1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017127486A1 (en) * 2017-11-21 2019-05-23 Sick Ag SAFETY CONTROL AND SAFETY SYSTEM

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3603940A1 (en) * 1986-02-07 1987-08-13 Efaflex Transport Lager DEVICE FOR CONTROLLING THE OPENING AND / OR CLOSING PROCESS OF HIGH-SPEED GATES
DE19739543A1 (en) 1997-09-09 1999-03-11 Efaflex Inzeniring D O O Ljubl Safety device for motorized gates
DE102005003794A1 (en) 2005-01-26 2006-08-03 Cedes Ag Gate, e.g. rolling gate, protecting device, has light barriers between which distance transfers another light barrier in measuring state if gate is in path between another two of barriers and before gate reaches former barrier
DE102008023294B4 (en) 2008-01-16 2010-02-04 Cedes Ag Securing system for securing a moving, guided movement element against unwanted collisions
EP2374985A3 (en) * 2010-04-08 2014-10-01 Strack Lift Automation GmbH Motorised door with a safety device

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