EP3744936A1 - Revolving door system and method of monitoring such a revolving door system - Google Patents

Abstract

A revolving door system comprises a plurality of door leaves which are arranged in a drum formed by stationary wall elements and can be rotated together about an axis of rotation, as well as at least one safety sensor for monitoring at least one danger point in the revolving door system. An object detection device which rotates with the door leaves and is designed to monitor at least one three-dimensional protected area is provided as the safety sensor.

Description

The present invention relates to a revolving door system with a plurality of door leaves, which are arranged in a drum formed by stationary wall elements and can be rotated together about an axis of rotation, and with at least one safety sensor for monitoring at least one danger point in the revolving door system.

Revolving door systems inhibit the draft in buildings and allow a relatively large number of people to pass through each time unit. In general, revolving door systems have a central shaft-like rotating part to which two to four door leaves are attached. The rotation of the door leaves can be manual or power-operated, e.g. B. by means of an electric drive can be accomplished. In the case of power-operated revolving door systems in particular, the monitoring of one or more hazardous areas is of great importance in order to avoid crushing, shearing, bumping or drawing in body parts. For example, there is a risk of a person bumping into a subsequent door wing, of limbs being trapped between the closing edge of a door wing and the opposing closing edge of a wall element, and of clothes or fingers being drawn in on a wing edge that runs along the floor or on a wall element.

The individual danger spots are usually protected by separate sensors, the measuring principle of which is adapted to the type of danger. For example, switching strips can be mounted on the closing edges. The area in front of an opposing closing edge of a wall element can be monitored using a laser scanner or a light curtain. To ensure collision safety, the area in front of a wing can also be monitored using a laser scanner or a light curtain.

The monitoring of all closing edges, shear points and draw-in points on a revolving door system is complex and costly due to the necessary cabling and parameterization of the sensors. In addition, there is the risk of incorrect parameterization, which can lead to incorrect triggering of safety measures. Such false triggers, for example stopping the door leaves for no apparent reason, considerably reduce the ease of use of a revolving door system.

It is an object of the invention to facilitate the assembly of monitored revolving door systems and to increase the convenience of revolving door systems.

The object is achieved by a revolving door system with the features of claim 1.

According to the invention, an object detection device that rotates with the door leaves is provided as the safety sensor and is designed to monitor at least one three-dimensional protected area. Because of the three-dimensional protected area, one and the same object detection device can be used to monitor several, in particular different, danger spots. As a result of the invention, sensors can thus be saved, which not only lowers the production costs, but also reduces the expenditure on cabling and parameterization. The invention is based in particular on a departure from the principle common in the technical field of considering each hazardous point of a revolving door system from a safety point of view and accordingly monitoring it separately.

The protected area can be contiguous, i.e. it can extend continuously over a three-dimensional spatial area. It is not necessary that the Protected area corresponds to the physical detection area of the object detection device. Rather, the protected area can be artificial in the sense that it is defined by specifications in a control device assigned to the object detection device. Such protection areas specified by the software are also called "protection fields". A protective field in question can also be multi-level or subdivided.

For each door leaf of the revolving door system, a respective object detection device is preferably provided, which is designed to monitor at least one three-dimensional protected area in the vicinity of the relevant door leaf. In other words, it is preferred that each door leaf of the revolving door system is assigned a separate object detection device for monitoring at least one three-dimensional protected area. As a result, the advantages of the invention are particularly evident.

One embodiment of the invention provides that the object detection device is attached to the door leaf, in particular in the area of the upper edge of the door leaf, or that the object detection device is attached to a central rotating part of the revolving door system carrying the door leaves. This enables a particularly simple and inexpensive construction. In particular, there are generally cross members on the upper edges of the door leaves of a revolving door system, which can be used advantageously for attaching an object detection device.

Alternatively, the object detection device can also be attached to a ceiling part of the revolving door system which rotates with the door leaves but does not support the door leaves.

It can be provided that the door leaves each have an upper edge, a lower edge and an outer side edge and the protection area is located on the Upper edge and / or on the lower edge and / or on the outer side edge of a door leaf extends at least substantially over the entire edge length. This means that it is preferred that the protection area on the upper edge and / or on the lower edge of the door leaf extends at least substantially over the entire width of the door leaf and / or that the protection area on the outer side edge of the door leaf extends at least substantially over the entire width Extends the height of the door leaf. This refinement enables the vertical draw-in points, the horizontal draw-in points and / or the closing edge to be monitored simultaneously by means of a single safety sensor.

A special embodiment of the invention provides that the protection area extends in a radial direction with respect to the axis of rotation beyond the outer side edge of the door leaf and / or that the protection area extends in a direction radial with respect to the axis of rotation beyond an opposite edge of a wall element if the outer side edge of the door leaf is next to the opposite edge of the wall element. Thus, by the object detection device rotating with the door leaf, not only the door leaf is secured, but also the opposite edge, in particular the so-called front post of the drum. If the protected area of the object detection device protrudes beyond the drum, a safety sensor mounted on the front post can therefore be dispensed with.

The protection area can adjoin a front surface of the door leaf, which points in an intended direction of rotation of the revolving door system. This means that the area in front of the door leaf in the direction of movement is reliably monitored. If there is an object in this area when the door leaves approach, the speed of rotation can be reduced or the approach can be completely prevented. This means that the so-called start-up safety can be established.

The protection area can at least essentially completely cover the front surface of the door leaf in order to produce collision safety even in unfavorable and unusual situations.

According to one embodiment of the invention, the protected area extends over a predetermined distance as seen in the direction of rotation from the front surface of the door leaf. In this design, a leading protection area of finite thickness is provided. The specified distance can be selected so that, on the one hand, impacts when starting are effectively avoided and, on the other hand, unnecessary safety measures are omitted.

The object detection device is preferably a camera. It has been found that a single camera can be used to monitor a sufficiently extensive protected area. Depending on the requirements, the camera can be a CMOS camera, a "time of flight" camera (TOF camera) or the like.

Another embodiment of the invention provides that the object detection device is connected to an electronic signal processing device which is designed to output a security signal based on a comparison of received monitoring signals with stored reference signals. The stored reference signals can be assigned to a revolving door system that is not used, that is, a person-free revolving door system. This enables reliable detection of unauthorized objects such as people or objects in the protected area. In the case of a camera, currently captured images can be compared with reference images, which is possible in a relatively simple manner by means of an electronic image processing device. The safety signal can be forwarded to a control unit of the revolving door system and / or to an external, for example acoustic and / or optical warning device. The electronic signal processing device can be accommodated in the object detection device or in a higher-level control unit of the revolving door system, depending on the design.

The signal processing device can be designed to detect and store the reference signals in a learning process without people entering the revolving door system. In this way, undesired triggering of safety functions by permitted objects such as components of the revolving door system can be avoided. The signal processing device can be designed to determine the size, position, direction of movement and / or speed of the detected object when an object is detected in the protected area, i.e. when a protected area is violated, in order to initiate different security measures depending on the type of object and object behavior. The learning process can be carried out when the revolving door system is commissioned.

The revolving door system preferably has a drive and a control unit connected to the drive, the control unit being designed to control the drive as a function of monitoring signals from the object detection device. Thus, depending on the monitoring result, different measures can be triggered, for example slow travel in one case and an emergency stop in another. This is because it can be advantageous in certain situations to only reduce the speed of the door leaves, but not to stop.

According to a further embodiment, the three-dimensional protection area is divided into at least two danger zones of different danger levels, a control unit of the revolving door system connected to the object detection device being designed to trigger different safety functions, depending on the danger zone in which an object is detected. For example It could be necessary for an object on a leading edge to stop the door leaf immediately, while for an object in front of the door leaf a slower approach is sufficient. The differentiation between danger zones of different danger levels can be combined with the above-described differentiation between different object sizes, object positions and / or object speeds in order to achieve a further refined coordination of the safety measures.

The invention also relates to a revolving door system with several door leaves, which are arranged in a drum formed by stationary wall elements and are rotatable together about an axis of rotation, and with at least one safety sensor for monitoring at least one danger point of the revolving door system, the safety sensor being an object detection device rotating with the door leaves is provided. The object detection device is attached to the door leaf, in particular in the area of the upper edge of the door leaf, or to a central rotating part of the revolving door system that carries the door leaves. By mounting on the door leaf or on the central rotating part, a protected area that rotates with the door leaves can be realized in a particularly simple manner.

The invention also relates to a method for monitoring a revolving door system which comprises a plurality of door leaves, which are arranged in a drum formed by stationary wall elements and can be rotated together about an axis of rotation, in particular a revolving door system as described above. It is provided that a three-dimensional protected area in the vicinity of a door leaf is monitored by means of at least one object detection device and / or that at least one danger point of the revolving door system is monitored by means of an object detection device which is attached to a door leaf or to a central rotating part of the revolving door system carrying the door leaf becomes. Such a monitoring allows a comprehensive and achieve reliable protection of the dangerous areas of a revolving door system without any significant reduction in ease of use.

A safety function of the revolving door system is preferably triggered based on an evaluation of the monitoring of the three-dimensional protected area. The triggering of the safety function can include a control intervention in a drive of the revolving door system, for example a speed adjustment or an emergency braking. Alternatively or in addition, an optical and / or acoustic warning signal, for example, can be output.

Provision can be made for the door leaves to be rotated in a teaching process without people entering the revolving door system and for monitoring signals from the object detection device to be stored as reference signals during the rotation. The door leaves are preferably rotated by at least one full revolution during the learning process. The learning process can be carried out when the revolving door system is commissioned. A particularly reliable learning effect results if the rotary position of the door leaves is detected during the teaching process and the reference signals are related to the respective associated rotary positions.

Fig. 1

ist eine perspektivische Darstellung eines erfindungsgemäßen Karusselltürsystems.

Fig. 2

zeigt das Karusselltürsystem gemäß Fig. 1 in einer Draufsicht.

Further developments of the invention can also be found in the dependent claims, the description and the accompanying drawings.

Fig. 1

Figure 3 is a perspective view of a revolving door system according to the invention.

Fig. 2

shows the revolving door system according to Fig. 1 in a top view.

This in Fig. 1 The revolving door system 11 according to the invention shown is shown by way of example with three door leaves 13 which can be rotated together about a vertical axis of rotation 17 within a housing-like drum 15. The drum 15 is formed by a bottom part 19, a top part 20 and two side wall elements 21, 22. The door leaves 13 can, as shown, meet directly in the area of the vertical axis of rotation 17 or be attached to a separate central rotating part, a so-called shaft. The components of the housing-like drum 15 are stationary. In principle, however, the ceiling part 20 or a further ceiling part (not shown) could rotate with the door leaves 13.

The revolving door system 11 shown is power-operated and accordingly has a, preferably electric, drive and a control unit which is in signal connection with the drive, which is shown in FIG Fig. 1 however, is not shown. Furthermore, an object detection device 25 in the form of a camera is attached to each of the door leaves 13, of which in Fig. 1 only two are visible. As shown, the object detection devices 25 are fastened in the region of the upper edges 27 of the door leaves 13. The object detection devices 25 are each preferably in signal connection with the control unit of the drive. Furthermore, the object detection devices 25 are assigned respective electronic control devices which are shown in FIG Fig. 1 are also not shown.

Each of the object detection devices 25 is designed to monitor a three-dimensional protection area 30 in the vicinity of the respective door leaf 13. For the sake of clarity, in Fig. 1 only one of the protection areas 30 is shown. The protection area 30 can in particular be a protection field established by the relevant control device. As shown, the protective areas 30 are cuboid and directly adjoin the respective front surfaces 31 of the door leaves 13. The front surface 31 corresponds in each case to that flat side of the relevant door leaf 13 which points in the intended direction of rotation 32. Each of the protection areas 30 extends in the vertical direction starting from the relevant object detection device 25 to the floor 33 and in the horizontal direction from the axis of rotation 17 to beyond the outer side edge 35 of the door leaf 13. The respective protective areas 30 thus extend as far as the lower edges 37 of the door leaves 13. Furthermore, each of the protective areas 30 extends into the vicinity of the upper edge 27 of the relevant door leaf 13. That is to say, each of the protective areas 30 extends on the upper edge 27, on the lower edge 37 and on the outer side edge 35 of the relevant door leaf 13 at least essentially over the entire edge length.

Due to the extension of the protection areas 30, different hazard areas and different hazardous situations are equally protected in the revolving door system 11 according to the invention. In particular, both the pull-in protection on the outer side edges 35, the upper edges 27 and the lower edges 37 and the collision safety in the area in front of the door leaves 13 are guaranteed. Since each of the protective areas 30 extends in a radial direction with respect to the axis of rotation 17 beyond the front posts 40 of the wall elements 21, 22 when the outer side edge 35 is next to the relevant front post 40, the security of the front post is also ensured.

The control unit is designed to take into account the monitoring signals output by the object detection devices 25 when controlling the drive. As soon as an object is detected at a hazard, the speed of the drive is reduced or even an emergency stop is initiated. The object detection devices 25 designed as cameras can distinguish between different objects and different movement states of objects in order to trigger specifically adapted safety functions.

As in the top view according to Fig. 2 As can be seen, each of the protection areas 30 has a collision safety zone 41, a front post safety zone 42, a side entry safety zone 43 and a bottom entry safety zone 44. The control unit of the revolving door system 11 is designed to trigger different safety functions, depending on in which of the zones specified above an object is detected.

The control devices assigned to the object detection devices 25 are designed for the execution of learning algorithms. When the revolving door system 11 is put into operation, the door leaves 13 are rotated as part of a learning process without people entering the revolving door system 11, with monitoring signals from the object detection devices 25 being stored as reference signals during the rotation, preferably with the respective associated rotational positions of the door leaves 13. In the subsequent normal operation of the revolving door system 11, current monitoring signals of the object detection devices 25 are compared with the stored reference signals and, based on a result of the comparison, objects located in the protection areas 30 are recognized. The learning process and / or the object recognition process could also be carried out by means of a higher-level signal processing device connected to all object detection devices 25.

In the case of a revolving door system 11 according to the invention, only a few sensors are required in order to secure the entire danger area. In addition, only a small amount of wiring and assembly is required. Commissioning is quick and easy. Since unnecessary emergency stops are avoided, the convenience of a revolving door system 11 according to the invention is also increased. Avoiding unnecessary emergency braking also reduces the wear and tear on the revolving door system 11. In addition, injuries that can result from unnecessary emergency braking by hitting a door leaf 13 are excluded.

List of reference symbols

11

Revolving door system

13

Door leaf

15th

drum

17th

Axis of rotation

19th

Bottom part

20th

Ceiling part

21st

Wall element

22nd

Wall element

25th

Object detection device

27

Top edge

30th

Protection area

31

Front face

32

Direction of rotation

33

ground

35

outer side edge

37

Lower edge

40

Front post

41

Collision safety zone

42

Front post security zone

43

Side feed safety zone

44

Ground catchment safety zone

Claims (15)

Revolving door system (11) with at least two door leaves (13), which are arranged in a drum (15) formed by stationary wall elements (21, 22) and can be rotated together about an axis of rotation (17), and with at least one safety sensor for monitoring at least one danger point the revolving door system (11),
an object detection device (25) which rotates with the door leaves (13) and which is designed to monitor at least one three-dimensional protected area (30) is provided as the safety sensor. Revolving door system according to claim 1,
characterized,
that for each door leaf (13) of the revolving door system (11) a respective object detection device (25) is provided, which is designed to monitor at least one three-dimensional protected area (30) in the vicinity of the relevant door leaf (13). Revolving door system according to claim 1 or 2,
characterized,
that the object detection device (25) is attached to the door leaf (13), in particular in the area of the upper edge (27) of the door leaf (13), or that the object detection device (25) is attached to a central rotating part of the revolving door system (11) carrying the door leaves (13) ) is appropriate. Revolving door system according to one of the preceding claims,
characterized,
that the door leaves (13) each have an upper edge (27), a lower edge (37) and an outer side edge (35) and the protective area (30) is located on the upper edge (27) and / or on the lower edge (37) and / or on the outer side edge (35) of a door leaf (13) extends at least substantially over the entire edge length. Revolving door system according to one of the preceding claims,
characterized,
that the protection area (30) extends in a radial direction with respect to the axis of rotation (17) beyond the outer side edge (35) of the door leaf (13) and / or
that the protection area (30) extends in a radial direction with respect to the axis of rotation (17) beyond a counter edge (40) of a wall element (21, 22) when the outer side edge (35) of the door leaf (13) extends next to the counter edge ( 40) of the wall element (21, 22) is located. Revolving door system according to one of the preceding claims,
characterized,
that the protection area (30) is adjacent to a front surface (31) of the door leaf (13) which points in a designated direction of rotation (32) of the revolving door system (11),
in particular wherein the protection area (30) at least substantially completely covers the front surface (31) of the door leaf (13). Revolving door system according to claim 6,
characterized,
that the protected area (30), viewed in the direction of rotation (32), extends over a predetermined distance from the front surface (31) of the door leaf (13). Revolving door system according to one of the preceding claims,
characterized,
that the object detection device (25) is at least one 2D camera and / or at least one 3D camera and / or a time-of-flight camera (TOF camera). Revolving door system according to one of the preceding claims,
characterized,
that the object detection device (25) is connected to an electronic signal processing device which is designed to output a safety signal based on a comparison of received monitoring signals with stored reference signals. Revolving door system according to claim 9,
characterized,
that the signal processing device is designed to record and store the reference signals in a learning process without people entering the revolving door system (11). Revolving door system according to one of the preceding claims,
characterized,
that the revolving door system has a drive and a control unit connected to the drive, the control unit being designed to control the drive as a function of monitoring signals from the object detection device (25). Revolving door system according to one of the preceding claims,
characterized,
that the three-dimensional protection area (30) is divided into at least two danger zones (41, 42, 43, 44) of different danger levels, a control unit of the revolving door system (11) connected to the object detection device (25) being designed to trigger different safety functions, depending on the situation , in which danger zone (41, 42, 43, 44) an object is detected. Revolving door system (11) with at least two door leaves (13), which are arranged in a drum (15) formed by stationary wall elements (21, 22) and can be rotated together about an axis of rotation (17), and with at least one safety sensor for monitoring at least one danger point the revolving door system (11),
an object detection device (25) rotating with the door leaves (13) is provided as the safety sensor, the object detection device (25) being attached to the door leaf (13), in particular in the area of the upper edge (27) of the door leaf (13), or where the object detection device (25) is attached to a central rotating part of the revolving door system (11) carrying the door leaves (13). Method for monitoring a revolving door system (11) which comprises at least two door leaves (13) which are arranged in a drum (15) formed by stationary wall elements (21, 22) and can be rotated together about an axis of rotation (17), in particular a revolving door system ( 11) according to one of the preceding claims,
characterized,
that a three-dimensional protection area (30) in the vicinity of a door leaf (13) is monitored by means of at least one object detection device (25) and / or that
at least one hazardous point of the revolving door system (11) is monitored by means of an object detection device (25) which is attached to a door wing (13) or to a central rotating part of the revolving door system (11) carrying the door leaves (13). Method according to claim 14,
characterized,
that based on an evaluation of the monitoring of the three-dimensional protected area (30), a safety function of the revolving door system (11) is triggered and / or
that the door leaves (13) are rotated in a learning process without people entering the revolving door system (11) and monitoring signals from the object detection device (25) are stored as reference signals during the rotation.

Images