EP3575534B1 - Device for securing the leaf movements of an automatic revolving door by means of a sensor system - Google Patents

Description

The invention relates to a device for sensor-based protection of the leaf movements of an automatic revolving door with a sensor unit arranged on the hinge side on the door leaf and/or a sensor unit arranged on the opposite hinge side on the door leaf and a door controller communicating with the sensor system.

Automatic revolving doors with a motor drive such as in particular an electric drive are well known. They always make it easier to pass through a door when manual operation is too cumbersome or tedious.

To ensure that the automated door leaf does not injure anyone when opening and closing, it is already known to protect the leaf movements with sensors. For this purpose, presence sensors are mounted on the door leaf on the hinge side and on the opposite hinge side, which move with the door leaf. If a person steps into the detection field of the sensor on the hinge side (BS) when opening the door leaf, the door control stops the door leaf. If a person enters the detection field of the sensor on the opposite hinge side (BGS) when closing the door leaf, the door control reverses the door leaf into the open position.

Until now, the relevant sensors had to be parameterized so that each sensor knew whether it was installed on the hinge side or on the opposite hinge side and whether the main closing edge (HSK) of the door leaf was on the right or left side of the sensor.

Often swing doors 12 open against a wall 10 (cf Figures 1 to 3 ). In this case, the wall 10 enters the detection field 14 of the sensor 16 provided on the hinge side if the door leaf 18 opens. So far, it has been necessary for the hinge-side sensor 16 and/or the door control to "learn" the wall 10 or for the wall to be parameterized, in particular taking into account the hinge opening angle, so that the door leaf 18 can open completely without the hinge-side sensor 16 detecting the wall 10 as an Person or obstacle detected.

The wall 10 itself can be inhomogeneous, i.e. there can be, for example, a table on which something sometimes stands, or a curtain that can sometimes be open and sometimes closed, a bookshelf with books, a separate wall 10 (cf. 2 ) or an incomplete wall 10 (cf. 3 ), A radiator and / or the like may be provided.

For various tasks, the door control requires knowledge of the width b of the door leaf 18 (cf. figure 5 ), for example to limit the leaf speed at the main closing edge, to calculate the mass moment of inertia of the door leaf 18 for the interpretation of the regulation, and/or the like.

Previously, the width b of the door leaf had to be set as a parameter on the door control during commissioning.

Active infrared (AIR) light sensors with triangulation or laser scanners, i.e. sensors that enable a more or less good resolution of the distance to the sensor, are currently used as sensors.

An example of such a conventional design with AIR light sensors is in 6 played back. A transmitter sends 28 spots of light. Knowing the optical base 32 of the AIR light scanner, a receiver 30 calculates the distance a of each reflected light spot. A disadvantage of such a conventional design is the low resolution.

the EP 2 418 517 A2 discloses a sensor arranged in the area of a wing system (20), which sensor-wise covers a predetermined detection area to be monitored in relation to a wing system. The sensor is designed as an image detection sensor and has at least two light-sensitive sensor elements that are arranged in such a way that they completely cover the detection area to be monitored. The light values recorded by the activated sensor elements together result in a respective image recorded by the sensor. In addition, the sensor has a control device or is coupled to it. The control device is provided to activate or deactivate predetermined sensor elements of the sensor according to a respective current state of the wing system. The sensor unit can be attached to the wing and store several images depending on the door opening angle.

The hitherto customary devices for sensor-based protection of the wing movements of an automatic revolving door or the previously customary sensor-protected automatic revolving doors have the disadvantages, among other things, that the detection fields of the sensors are fixed and the sensors have to be parameterized.

The invention is based on the object of specifying a device for sensory protection of the leaf movements of an automatic revolving door of the type mentioned at the outset, in which the aforementioned disadvantages are eliminated. In particular, it should be possible for the installation parameters of the sensors to be set automatically, the size of the detection fields of the sensors to be automatically optimally adapted to the environment, the testing of the sensors to be simplified, any provided handles to be automatically recognized and the sash width to be automatically determined.

According to the invention, this object is achieved by a device having the features of claim 1 . Preferred embodiments of the device according to the invention result from the dependent claims.

The device according to the invention for sensor-based protection of the leaf movements of an automatic revolving door comprises a sensor system with a sensor unit that can be arranged on the door leaf on the hinge side and/or a sensor unit on the opposite hinge side sensor unit that can be arranged on the door leaf and a door control that communicates with the sensors. Each sensor unit comprises an at least essentially two-dimensional distance scanner, with the sensors and/or the door controller being designed in such a way that in a respective automatically executed learning cycle during an opening and/or closing cycle of the door leaf, a respective sensor unit at successive door opening angles in one hinge-side or hinge-opposite plane that measures the distances from the respective sensor unit to the area surrounding the door leaf, a three-dimensional image from the measured values obtained in the different planes as a function of the door opening angle as a function of the distances measured in the different planes from the respective sensor unit to the area around and the door opening angle determined of the environment and stores the three-dimensional image of the environment determined in this way.

By comparison with the stored three-dimensional image, the sensors and/or the door control during operation can reliably detect people or obstacles that would impede the movement of the door leaf from the area around the door leaf, e.g. wall, frame, other door leaf, curtain behind the door and/or or the like, and thus expand its active detection area into the secondary closing edge and beyond the main closing edge, which significantly increases the level of protection on the door. The sensors and/or the door control thus automatically adapt the detection field to the respective environment. The sensors no longer have to be parameterized. In addition, the testing of the sensors including the automatically recorded environment is simplified. Any grab bars that are present are automatically recognized and the sash width can be determined automatically. The sensor system and/or the door control system are preferably designed in such a way that the detection field of a respective sensor unit is automatically adapted to the three-dimensional image of the environment determined in each case. In addition, the sensors and/or the door control are preferably also designed in such a way that people or obstacles located in the area of the door leaf are distinguished from the environment represented by the three-dimensional image.

The respective sensor unit of the sensor system comprises a planar light scanner as a planar distance scanner, with an AIR light sensor and/or a laser scanner preferably being provided in each case as the planar distance scanner.

According to a preferred practical embodiment of the device according to the invention, the area distance scanner of a respective sensor unit comprises a transmitter, a rotating mirror and a receiver. The sensor system and/or the door control are designed in such a way that to measure the distances to the surroundings in a respective hinge-side or opposite hinge-side plane, a scanning beam from a respective sensor unit is directed in the respective plane to the surroundings of the door leaf and the distances to the surroundings are measured from the Light propagation time between the transmitter and receiver of a respective sensor unit can be determined.

The respective sensor unit, in particular one comprising an AIR light sensor, is designed in such a way that during a respective opening or closing cycle of the door leaf at a respective current door opening angle in the respective plane, it measures the distances to the surroundings along a line as a function of the current door opening angle . The environment is thus scanned by a respective sensor unit.

The detection field of the hinge-side sensor unit and/or the detection field of the hinge-side sensor unit preferably protrude beyond the door leaf at least on one side, preferably on both sides.

It is particularly advantageous if the detection field of the hinge-side sensor unit and/or the detection field of the hinge-side sensor unit is extended beyond the door leaf into the secondary closing edge and/or beyond the main closing edge. This increases the level of protection at the door accordingly.

A respective sensor unit can be arranged in particular in an upper area of the door leaf.

Advantageously, the sensors and/or the door control are also designed to automatically determine the width and/or the height of the door leaf.

The sensors and/or the door control are preferably designed to automatically determine the distance between the secondary closing edge and the main closing edge of the door leaf and/or the distance between the frames provided on the two sides of the door leaf and to automatically determine the width of the door leaf using this distance .

It is also particularly advantageous if the sensors and/or the door control system are designed to automatically recognize a respective handle of the leaf.

Handle bars on the door leaf can be easily detected by a respective sensor unit, since the position of such a handle bar relative to the respective sensor unit traveling with the door leaf remains unchanged and the handle bar also moves with the door leaf.

Advantageously, the presence of a respective handle bar can be signaled by the sensor system. Additional measures can be taken if necessary, since the sensors provide the relevant information and the door control system knows that the door leaf is not fully secured.

In particular, it is also advantageous if the function of the sensor system can be automatically and regularly monitored, in particular via the door control.

In this case, the function of the sensor system can advantageously be monitored using at least one area of the determined environment as a test object.

According to an expedient practical embodiment of the device according to the invention, during a respective monitoring cycle for monitoring the function of the sensor system, a respective sensor unit can be used to check whether the determined environment has remained unchanged. If this is the case, the respective sensor unit knows that its function is given.

According to a further expedient practical embodiment of the device according to the invention, the function of the sensor system can be monitored via the door control using the redundancy that results from the two three-dimensional images of the environment generated over a respective opening or closing cycle of the door leaf.

If two sensor units are mounted on the door leaf, the sensor unit provided on the hinge side sees the same image when opening as the sensor unit provided on the opposite hinge side when closing. If the door control knows both three-dimensional images, it can use the relevant redundancy, for example to monitor the function of both sensor units during commissioning, i.e. when the environment is first scanned.

It is also particularly advantageous if the sensor system for determining the respective current door opening angle is provided with a position measuring system such as a gyroscope or the like in particular. Alternatively or additionally, however, the respective current door opening angle can also be provided via the door control.

The sensors preferably communicate with the door control via a sensor bus.

Such a sensor bus represents a simple, inexpensive solution for a corresponding communication connection between the door control and the sensor unit or the sensor units provided on the hinge side and the opposite hinge side. The sensor units can then, for example, not only see the leaf width, but also the complete three-dimensional image of the environment transferred to the door control.

Fig. 1

eine schematische Darstellung einer durch eine Vorrichtung sensorisch absicherbaren Drehflügeltür, die gegen eine vollständige Wand öffnet,

Fig. 2

eine schematische Darstellung einer gegen eine abgesetzte Wand öffnenden Drehflügeltür, die durch eine beispielhafte Ausführungsform einer Vorrichtung sensorisch abgesichert ist, bei der die Erfassungsfelder der Sensoreinheiten jeweils beidseitig über den Türflügel hinausragen,

Fig. 3

eine weitere schematische Darstellung einer Drehflügeltür, die durch eine beispielhafte Ausführungsform einer Vorrichtung sensorisch abgesichert ist, bei der die Erfassungsfelder der Sensoreinheiten jeweils beidseitig über den Türflügel hinausragen, wobei die Drehflügeltür jedoch gegen eine unvollständige Wand öffnet,

Fig. 4

eine weitere schematische Darstellung einer Drehflügeltür, die durch eine beispielhafte Ausführungsform einer Vorrichtung sensorisch abgesichert ist, bei der das Erfassungsfeld der Sensoreinheiten jeweils über den Türflügel hinausragt,

Fig. 4a

eine schematische Darstellung einer erfindungsgemäß sensorisch abgesicherten Drehflügeltür gemäß Fig. 4, wobei die Erfassungsfelder der beiden Sensoreinheiten jedoch automatisch durch Griffstangen eingeschränkt sind,

Fig. 5

eine schematische Darstellung der Breite und des Öffnungswinkels eines Drehtürflügels,

Fig. 6

eine schematische Darstellung einer herkömmlichen, durch AIR-Lichttaster abgesicherten zweiflügeligen Tür,

Fig. 7

eine schematische Darstellung einer beispielhaften Ausführungsform einer Vorrichtung zur sensorischen Absicherung der Flügelbewegungen einer automatischen Drehtür, wobei im vorliegenden Fall beispielsweise eine zweiflügelige Tür mit zwei Drehflügeln dargestellt ist, deren Flügelbewegungen jeweils durch eine entsprechende Vorrichtung sensorisch abgesichert sind, und

Fig. 8

eine schematische Darstellung einer erfindungsgemäßen Ausführungsform einer insbesondere einen AIR-Lichttaster umfassenden Sensoreinheit, die während eines jeweiligen Öffnungs- bzw. Schließzyklus des Türflügels bei einem jeweiligen Türöffnungswinkel in der jeweiligen Ebene die Abstände zur Umgebung entlang einer Linie als Funktion des jeweiligen aktuellen Türöffnungswinkels misst.

The invention is explained in more detail below using an exemplary embodiment with reference to the drawing; in this show:

1

a schematic representation of a swing door that can be secured by sensors and opens against a full wall,

2

a schematic representation of a swing door opening against a detached wall, which is protected by sensors using an exemplary embodiment of a device in which the detection fields of the sensor units protrude on both sides beyond the door leaf,

3

a further schematic representation of a swing door, which is protected by sensors using an exemplary embodiment of a device, in which the detection fields of the sensor units protrude on both sides over the door leaf, but the swing door opens against an incomplete wall,

4

a further schematic representation of a swing door, which is protected by sensors using an exemplary embodiment of a device in which the detection field of the sensor units protrudes beyond the door leaf,

Figure 4a

a schematic representation of a swing door secured by sensors according to the invention according to FIG 4 , whereby the detection fields of the two sensor units are automatically restricted by handlebars,

figure 5

a schematic representation of the width and the opening angle of a revolving door leaf,

6

a schematic representation of a conventional double-leaf door secured by AIR light sensors,

7

a schematic representation of an exemplary embodiment of a device for sensory protection of the leaf movements of an automatic revolving door, in the present case, for example, a double-leaf door with two revolving leaves is shown, whose Wing movements are secured by sensors in each case by a corresponding device, and

8

a schematic representation of an embodiment according to the invention of a sensor unit comprising in particular an AIR light sensor, which during a respective opening or closing cycle of the door leaf at a respective door opening angle in the respective plane measures the distances to the surroundings along a line as a function of the respective current door opening angle.

As in particular from the Figures 7 and 8 As can be seen, a respective device 34 according to the invention for sensor-based protection of the leaf movements of an automatic revolving door 36 comprises a sensor system 40 with a sensor unit 42 arranged on the hinge side on the door leaf 38 and/or a sensor unit 44 arranged on the opposite hinge side on the door leaf 38, as well as a door controller communicating with the sensor system 40 46

Each sensor unit 42, 44 comprises an at least essentially two-dimensional distance scanner, with the sensor system 40 and/or the door controller 46 being designed such that in a respective automatically executed learning cycle during an opening and/or closing cycle of the door leaf 38, a respective sensor unit 42 , 44 measures the distances to the surroundings of the door leaf 38 at successive door opening angles in a hinge-side or opposite hinge-side plane 48, 48', from the measured values obtained in the different planes as a function of the door opening angle as a function of the distances to the surroundings and measured in the different planes determines a three-dimensional image of the environment as a function of the door opening angle and stores the three-dimensional image of the environment determined in this way.

The sensor system 40 and/or the door control 46 are accordingly designed in such a way that the detection field of a respective sensor unit 42, 44 is automatically adapted to the environment and to the people located in the area of the door leaf 38 or obstacles can be distinguished from the environment represented by the determined three-dimensional image.

A respective sensor unit 42, 44 of the sensor system 40 comprises a planar light scanner as a planar distance scanner, wherein the planar distance scanner can in particular include a laser scanner and/or an AIR light scanner. In a learning process, the detection field can be limited to the width and height of the door leaf.

The area distance scanner of a respective sensor unit 42, 44 can, for example, comprise a transmitter, a rotating mirror and a receiver. Sensors 40 and/or door control 46 are designed in particular so that, in order to measure the distances to the surroundings in a respective hinge-side or opposite hinge-side plane, a scanning beam from a respective sensor unit 42, 43 in the respective plane 48, 48' is projected onto the surroundings of the Door leaf 38 directed and the distances to the environment are determined in each case from the light travel time between the transmitter and receiver of a respective sensor unit. As in particular from the 8 As can be seen, a respective sensor unit 42, 44, in particular an AIR light sensor, can be designed in such a way that during a respective opening or closing cycle of the door leaf 38 at a respective current door opening angle a(t) in the respective plane it measures the distances x _n (t) to the surroundings along a line 50 as a function of the respective current door opening angle α(t).

The detection field of sensor unit 42 on the hinge side and/or the detection field of sensor unit 44 on the opposite hinge side can protrude beyond door leaf 38 at least on one side, preferably on both sides (cf. in particular the Figures 2 to 4a ). The detection field of the hinge-side sensor unit 42 and/or the detection field of the hinge-side sensor unit 44 can each be extended beyond the door leaf 38 into the secondary closing edge NSK and/or beyond the main closing edge (HSK).

Like in particular 7 As can be seen, the sensor system 40 or a respective sensor unit 42, 44 can be arranged in particular in an upper region of the door leaf 38.

In addition, the sensor system 40 and/or the door control 46 can also be used, in particular, to automatically determine the width b (cf. in particular figure 5 ) and the height of the door leaf 38.

A respective sensor unit 42, 44 can determine the width of the door leaf 38, for example, by seeing the door leaf 38 opening and/or closing, since the sensor unit 42, 44 moves with the door leaf 38, and/or by a respective sensor unit 42, 44 determines the distance between the secondary closing edge NSK and the main closing edge HSK or the distance between the frame 24 left and right. In the latter case, the sensors 40 and/or the door control 46 are each used, in particular, to automatically determine the distance between the secondary closing edge NSK and the main closing edge HSK of the door leaf 38 and/or the distance between the frames 24 provided on the two sides of the door leaf 38 and to the automatic determination of the width of the door leaf 38 performed over this distance.

As in particular from the Figure 4a As can be seen, the sensors 40 and/or the door control 46 can each also be designed for the automatic detection of a respective handle bar 26 of the door leaf 38 . In addition, the presence of a respective handle bar 26 can be signaled by the sensor system 40 . By a respective sensor unit 42, 44 providing information that the door leaf 38 is not fully secured due to a respective handle bar 26, additional measures can be taken if necessary.

The detection of a respective handle bar 26 on the door leaf 38 by the sensor system 40 is relatively simple, since the position of such a handle bar 26 in relation to a respective sensor unit 42, 44 traveling with the door leaf 38 remains unchanged, since the handle bar 26 moves with the door leaf 38 moved.

In addition, the function of the sensor system 40 can also be automatically and regularly monitored, in particular via the door control 46 . The function of the sensor system 40 can be monitored in particular using at least one area of the determined environment as a test object.

During a respective monitoring cycle for monitoring the function of the sensor system 40, a respective sensor unit 42, 44 can also be used to check whether the determined environment has remained unchanged.

In order to monitor the function of the sensor system 40, a respective sensor unit 42, 44 can check in each cycle whether it sees its surroundings unchanged. If this is the case, the respective sensor unit 42, 44 knows that it is functioning.

The function of the sensor system 40 can also be monitored via the door control 46 using the redundancy that results from the two three-dimensional images of the environment generated over a respective opening or closing cycle of the door leaf 38 .

If a sensor unit 42 or 44 is mounted both on the hinge side and on the opposite hinge side of the door leaf 38, the sensor unit 42 on the hinge side sees the same image when opening as the sensor unit 44 on the opposite hinge side when closing. If the door controller 46 knows both images, it can use the resulting redundancy, for example, to monitor the function of the two sensor units 42, 44 during commissioning, ie when the environment is first scanned.

In order to determine the respective current door opening angle a(t), the sensor system 40 can be provided, for example, with a position measuring system such as, in particular, a gyroscope or the like. Alternatively or additionally, the respective current door opening angle a(t) can also be made available via the door control 46 . The sensor system 40 or a respective sensor unit 42, 44 therefore knows the current door opening angle a(t), with, as mentioned, for example a respective sensor unit 42, 44 having a position measuring system such as in particular a gyroscope or the like and/or a respective sensor unit 42, 44 communicates with the door controller 46, which knows the current door opening angle a(t) and transmits it to a respective sensor unit 42, 44.

The sensor system 40 can communicate with the door controller 46 via a sensor bus, for example. Such a sensor bus represents a simple, inexpensive solution for a communication connection between the door control 46 and the two sensor units 42, 44 on the hinge side and the opposite hinge side. The sensor units 42, 44 can then, for example, not only measure the leaf width, but in particular also the complete three-dimensional image of the surroundings via the sensor bus to the door control 46 .

A respective use of a device according to the invention with sensor units forming flat distance sensors entails, among other things, the advantages that the installation parameters of the sensor units are automatically set, the size of the detection field of a respective sensor unit is automatically optimally adapted to the environment, the testing of a respective sensor unit is simplified , any handles present are automatically recognized and the sash width is automatically determined.

1 shows a swing door 12 that can be secured by sensors using a device 34, in which both a hinge-side sensor unit 16 and a hinge-side sensor unit 22 are arranged on the door leaf 18 to generate a detection field 14 on the hinge side and a detection field 20 on the opposite hinge side. In this case, the revolving door 12 opens against a complete wall 10. The use of a device 34 according to the invention prevents the wall 10 from being detected as a person or an obstacle when the revolving door 12 is opened further.

2 shows a further schematic representation of a swing door 12, which is protected by sensors using an exemplary embodiment of a device 34, in which the detection fields 14, 20 of the sensor units 16, 22 each protrude beyond the door leaf 18. In the present case, the revolving door 12 opens against a detached wall 10. The use of a device 34 according to the invention prevents the detached wall 10 from being detected as a person or obstacle when the revolving door 12 is opened further.

3 FIG opens. The use of a device 34 here in particular prevents the incomplete wall 10 from being detected as a person or obstacle when the revolving door 12 is opened further.

At the in 4 In the illustrated further swing door 12 secured by a device 34 by sensors, the detection fields 14, 20 of the sensor units each project beyond the door leaf 18, as a result of which optimal protection of the leaf movement is achieved. The secondary closing edge NSK can be additionally monitored in particular by the sensor unit 20 on the opposite side of the hinge. The level of protection is also higher on the HSK main closing edge. If the door leaf 18 opens, the automatic adjustment of the detection field 14 on the hinge side prevents the adjacent wall from being detected as a person or an obstacle. When the door leaf 18 closes, the automatic adjustment of the detection field 20 on the opposite hinge side prevents the relevant frame 24 or, in the case of double-leaf doors, also the further leaf from being detected as a person or an obstacle.

At the in the Figure 4a In the further swing door 12 shown, the fields of detection 14, 22 of the two sensor units 16, 22 are automatically restricted by handle bars 26 with the use of a device 34.

figure 5 shows a schematic representation of the width b and the opening angle of a revolving door leaf.

Reference List

10

Wall

12

swing door

14

Detection field on the hinge side

16

Sensor on the hinge side

18

door leaf

20

Detection field on the opposite hinge side

22

Sensor on the opposite side of the hinge

24

frame

26

handle bar

28

Channel

30

recipient

32

optical base

34

contraption

36

automatic revolving door

38

Door leaf, rotating leaf

40

sensors

42

Sensor unit on the hinge side

44

Sensor unit on the opposite side of the hinge

46

door control

48

level

50

line

52

AIR light spot

a

Distance

b

width of the door leaf

a

door opening angle

at)

current door opening angle

BGS

band opposite side

B.S

band side

HSK

main closing edge

NSK

secondary closing edge

Claims (18)

1. Apparatus (34) for safeguarding the leaf movements of an automatic revolving door (36; 12) using sensors, having a sensor system (40) comprising a sensor unit (42; 16) which can be arranged on the hinge side of the door leaf (38; 18) and/or a sensor unit (44; 22) which can be arranged on the counter-hinge side of the door leaf (38; 18) and having a door controller (46) which communicates with the sensor system (40), wherein a respective sensor unit (42, 44; 16, 22) comprises an at least substantially flat distance scanner, wherein the sensor unit (42, 44; 16, 22) comprises a flat light scanner as the flat distance scanner, and the sensor system (40) and/or the door controller (46) is/are configured in such a manner that, in a respective automatically performed learning cycle during an opening and/or closing cycle of the door leaf (38; 18), a respective sensor unit (42, 44; 16, 22) measures the distances between the respective sensor unit (42, 44; 16, 22) and the surroundings of the door leaf (38; 18) for successive door opening angles (α) in each case in a hinge-side or counter-hinge-side plane (48, 48'), determines a three-dimensional image of the surroundings from the measured values obtained in the various planes on the basis of the door opening angle (α) as a function of the distances between the respective sensor unit (42, 44; 16, 22) and the surroundings, as measured in the various planes, and as a function of the door opening angle (α) and stores the three-dimensional image of the surroundings which is determined in this manner, characterized in that a respective sensor unit (42, 44; 14, 20) is configured in such a manner that, during a respective opening or closing cycle of the door leaf (38, 18), it measures the distances (xn(t)) between the respective sensor unit (42, 44; 16, 22) and the surroundings along a line (50) for a respective current door opening angle (α(t)) in the respective plane as a function of the respective current door opening angle (α(t)).
2. Apparatus according to Claim 1,
   characterized in that the sensor system (40) and/or the door controller (46) is/are configured in such a manner that the detection field of a respective sensor unit (42, 44; 16, 22) is automatically adapted to the respectively determined three-dimensional image of the surroundings.
3. Apparatus according to Claim 1 or 2,
   characterized in that the sensor system (40) and/or the door controller (46) is/are configured in such a manner that persons or obstacles in the region of the door leaf (38; 18) are distinguished from the surroundings represented by the determined three-dimensional image.
4. Apparatus according to at least one of the preceding claims,
   characterized in that a respective sensor unit (42, 44; 14, 20) of the sensor system (40) comprises an AIR light sensor and/or a laser scanner as the flat distance scanner.
5. Apparatus according to at least one of the preceding claims,
   characterized in that the flat distance scanner of a respective sensor unit (42, 44; 14, 20) comprises a transmitter, a rotating mirror and a receiver, and the sensor system (40) and/or the door controller (46) is/are configured in such a manner that, in order to measure the distances between the respective sensor unit (42, 44; 16, 22) and the surroundings in a respective hinge-side or counter-hinge-side plane, a scanning beam of a respective sensor unit (42, 44; 14, 20) in the respective plane (48, 48') is directed to the surroundings of the door leaf (38; 18) and the distances between the respective sensor unit (42, 44; 16, 22) and the surroundings are each determined from the time of flight between the transmitter and the receiver of a respective sensor unit (42, 44C).
6. Apparatus according to at least one of the preceding claims,
   characterized in that the detection field (14) of the hinge-side sensor unit (16) and/or the detection field (20) of the counter-hinge-side sensor unit (22) project(s) beyond the door leaf (16) in each case on at least one side, preferably on both sides.
7. Apparatus according to Claim 6,
   characterized in that the detection field (14) of the hinge-side sensor unit (16) and/or the detection field (20) of the counter-hinge-side sensor unit (22) is/are each extended beyond the door leaf (18) into the secondary closing edge (NSK) and/or beyond the main closing edge (HSK).
8. Apparatus according to at least one of the preceding claims,
   characterized in that a respective sensor unit (42, 44; 14, 20) can be arranged in an upper region of the door leaf (38; 18).
9. Apparatus according to at least one of the preceding claims,
   characterized in that the sensor system (40) and/or the door controller (46) is/are configured to automatically determine the width and/or the height of the door leaf (38; 18).
10. Apparatus according to Claim 9,
    characterized in that the sensor system (40) and/or the door controller (46) is/are configured to automatically determine the distance between the secondary closing edge (NSK) and the main closing edge (HSK) of the door leaf (38; 18) and/or the distance between the frames (24) provided on both sides of the door leaf (38; 18) and to automatically determine the width of the door leaf (38; 18) using this distance.
11. Apparatus according to at least one of the preceding claims,
    characterized in that the sensor system (40) and/or the door controller (46) is/are configured to automatically detect a respective grab bar (26) of the door leaf (18).
12. Apparatus according to Claim 11,
    characterized in that the presence of a respective grab bar (26) can be signalled by the sensor system (40) .
13. Apparatus according to at least one of the preceding claims,
    characterized in that the function of the sensor system (40) can be automatically regularly monitored, in particular via the door controller (46) .
14. Apparatus according to Claim 13,
    characterized in that the function of the sensor system (40) can be monitored using at least one region of the determined surroundings as a test object.
15. Apparatus according to at least one of the preceding claims,
    characterized in that, during a respective monitoring cycle for monitoring the function of the sensor system (40), a respective sensor unit (42, 44; 14, 20) can be used to check whether the determined surroundings have remained unchanged.
16. Apparatus according to at least one of the preceding claims,
    characterized in that the function of the sensor system (40) can be monitored via the door controller (46) using the redundancy which results from the two three-dimensional images of the surroundings generated over a respective opening or closing cycle of the door leaf (38; 18).
17. Apparatus according to at least one of the preceding claims,
    characterized in that the sensor system (40) is provided with a position measuring system, such as a gyroscope or the like in particular, in order to determine the respective current door opening angle (α) and/or the respective current door opening angle (α(t)) can be provided via the door controller (46).
18. Apparatus according to at least one of the preceding claims,
    characterized in that the sensor system (40) communicates with the door controller (46) via a sensor bus.

Images