EP1875030B1 - Device for controlling a driving moving element, for example, a door - Google Patents

Device for controlling a driving moving element, for example, a door Download PDF

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Publication number
EP1875030B1
EP1875030B1 EP06742608.0A EP06742608A EP1875030B1 EP 1875030 B1 EP1875030 B1 EP 1875030B1 EP 06742608 A EP06742608 A EP 06742608A EP 1875030 B1 EP1875030 B1 EP 1875030B1
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EP
European Patent Office
Prior art keywords
moving element
distance
door
electronic unit
driven
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EP06742608.0A
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German (de)
French (fr)
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EP1875030A1 (en
EP1875030B2 (en
Inventor
Bas Albers
Beat De Coi
Peter Nebiker
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Cedes AG
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Cedes AG
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2400/00—Electronic control; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/30—Electronic control of motors
    • E05Y2400/32—Position control, detection or monitoring
    • E05Y2400/322—Position control, detection or monitoring by using absolute position sensors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2400/00—Electronic control; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/30—Electronic control of motors
    • E05Y2400/32—Position control, detection or monitoring
    • E05Y2400/35—Position control, detection or monitoring related to specific positions
    • E05Y2400/356—Predefined intermediate positions
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2400/00—Electronic control; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/30—Electronic control of motors
    • E05Y2400/40—Control units therefore
    • E05Y2400/41—Control units therefore for multiple motors
    • E05Y2400/415—Control units therefore for multiple motors for multiple wings
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2400/00—Electronic control; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/45—Control modes
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
    • E05Y2900/13—Application of doors, windows, wings or fittings thereof for buildings or parts thereof characterised by the type of wing
    • E05Y2900/132—Doors

Definitions

  • the invention relates to a device for controlling a driven movement element, for example a door, a gate or a window according to the preamble of claim 1.
  • the closing of sliding doors is monitored with sensors with which an object in the trajectory of a door leaf is detectable, that is, the sensor provides, determines whether an object is present or not. There is no further differentiation.
  • the EP 0 696 670 A1 an arrangement for automatic opening and closing of doors, in which outside a door activation zone a surveillance zone is defined, in which objects can approach the door. The door is operated so that it is fully open at the predicted arrival time of the object.
  • the JP 08285184 A describes a monitoring of the opening area of a swing gate, then whether there is an obstacle in it. If such is detected, the door control is prevented from fully opening the relevant door to avoid a collision.
  • the US 2002 / 118,114 A1 describes a sensor for automatic doors, in which cameras are used to create images of the two areas surrounding the door inside and outside. Distances of objects detected on the images in each individual image are determined by means of a distance measuring unit.
  • the US 2004 / 200,149 A1 describes a door-space monitoring device for monitoring a door cabinet area of a motor vehicle door. This is provided with the door cabinet area detecting sensor means, evaluating with a sensor data evaluation and a control unit for controlling sensor means or evaluation, wherein by means of a light source, a micro-mirror unit and a photoreceiver, a planar monitoring area is monitored.
  • the object of the invention is to improve the control of a driven movement element via an object sensor with regard to the opening and / or closing behavior.
  • the invention is based on a device for controlling a driven moving element, for example a door, which comprises an electronic unit with an object sensor.
  • the electronic unit is designed by means of the object sensor to determine an object distance between the driven moving element and an object in the region of the moving element and to control the movement of the moving element depending thereon.
  • a sliding door can always be opened only exactly so that an approaching and the door passing object, for example, a person can pass through the sliding door collision-free.
  • the opening conditions and the degree of opening of the sliding door can be reduced to a minimum, whereby unnecessary heat loss from rooms that are entered through the sliding door, can largely avoid.
  • the object sensor can eg be an optical sensor, a sensor for other electromagnetic waves, eg radar waves and / or be a sensor for sound waves, eg ultrasonic waves.
  • means are provided which determine the object distance from a distance of the object sensor to the object, a distance from the object sensor to the movement element and the angle between the distance directions.
  • the object distance is determined in this way indirectly on the basis of two distances including the angle between the distances.
  • each distance between the moving element and the object can be determined, as long as the central object sensor can supply information about the distance to the moving element and to the object including the angle between these distances.
  • the electronic unit is designed to use a front edge of the movement element as a reference to the movement element for determining the object distance.
  • the distance to the leading edge is preferably determined. In this approach, it is believed that the leading edge should first collide with an object, such as an approaching person, and therefore the object distance with respect to that leading edge should be detected.
  • the object sensor comprises a transmitter and receiver for a signal, for example for sound or electromagnetic waves, in particular light
  • the electronic unit is adapted to a distance which travels a signal emitted by the transmitter via a reflection surface to the receiver to determine by an evaluation of a waveform, for example in light of a phase of a modulated on the light oscillation and with this type of distance measurement to determine the object distance.
  • a pulsed signal can also be considered as a signal in which, for example, phase information is evaluated.
  • an object distance can be detected with comparatively high accuracy.
  • the object distance to several objects can also be determined.
  • the speed of the driven movement element can also be determined in this way, which is important in the same way for optimum control of the driven movement element.
  • the electronic unit performs the control of the driven moving member such that the distance between a position of the driven moving member, preferably the leading edge of the driven moving member and the object is at least approximately maintained at a predetermined value.
  • the object distance is at least partially maintained at a predetermined value.
  • the object distance is kept at a predefinable constant value. Keeping constant avoids a collision between the object and the movement element.
  • the predefinable value of a Function follows.
  • the predetermined distance can be changed as a function of the distance of the object from the driven element or a door plane.
  • the predetermined distance can also be made dependent on whether the person is still in front of the door, in the doorway or after the door.
  • the function can also be a discrete function.
  • parameter fields are specified, eg a look-up table.
  • the predeterminable value represents a minimum value, this is preferably dependent on the braking distance of the driven movement element and / or on empirically determined "well-being parameters", ie values at which a person with a pleasant feeling passes the driven movement element.
  • the minimum value will be greater than 10 cm.
  • the invention is particularly applicable to sliding doors, hinged doors, vertical doors, folding doors and windows.
  • a further improvement in the control of the movement of the driven movement element can be achieved in that in an advantageous embodiment of the invention, the electronic unit generates a control signal for the control of the driven movement element, in which a braking distance of the driven movement element is taken into account.
  • the object distance can be further optimized with regard to its minimum, which can be used positively in the reduction of opening states, for example a sliding door.
  • the electronic unit controls the driven moving element so that the moving element, for example a door is closed as quickly as possible after a Object, for example a person has passed the movement element and / or that the movement element, for example a door, is opened as late as possible when an object, for example a person, is moving towards the movement element.
  • the moving element for example a door is closed as quickly as possible after a Object, for example a person has passed the movement element and / or that the movement element, for example a door, is opened as late as possible when an object, for example a person, is moving towards the movement element.
  • the electronic unit controls the speed of the moving element to a per se undisturbed movement path depending on the object distance.
  • the speed is successively reduced at a corresponding approach to the object.
  • the speed adaptation may e.g. gradually.
  • the electronic unit performs the control such that when the moving element is blocked for more than a predetermined time, this ends with gentle pressure closing.
  • FIG. 1 an optical door sensor arrangement 1 is shown on a sliding door 2 with an optical sensor 1a above the sliding door 2. Wings 3, 4 of the sliding door 2 are partially open and are closing at speeds V 1 and V r . An object 5, for example a Human being moving at a speed V 0 to the sliding door 2 to.
  • the door sensor assembly 1 captures 3D images of your surroundings.
  • a built-in computer (not shown) analyzes the images and determines therefrom the position and speed of the sliding door leaves 3, 4 and the object 5.
  • FIG. 1 are shown for three pixels from a thus determined image vectors 6, 7 and 10.
  • the vectors 6 and 7 are directed to pixels of edges 8, 9 of the respective wings 3, 4 and the vector 10 to a pixel of the object 5.
  • the edges 8, 9 of the wings 3, 4 and also the object 5 are detected simultaneously over several pixels.
  • the inventive approach is explained by the three selected vectors to the corresponding pixel.
  • the positions of the pixels can be determined via the vectors 6, 7 and 10.
  • an object distance 11, 12 that is in the present case a distance between each of the front edge 8, 9 of the sliding door leaves 4, 5 and the object 5, the angle between the vectors 6 and 10 can be determined. With the amounts of the vectors 6 and 10 then the distance 11, 12 between the object 5 and the respective wing edge 8, 9 can be calculated.
  • the relative speed of the object 5 to the two door leaf edges 8, 9 can be determined from a plurality of such measurements. This makes it possible to foresee if the object would collide with one of the two door leaf edges 8, 9. Thus, the door leaves 3, 4, possibly separately, be stopped to avoid a collision. In this process can also be considered the braking distance of the door 3, 4. In conventional door controls with a light curtain or light curtain can however, only the presence of an object can be detected.
  • FIG. 2a the object 5 moving in the direction of the sliding door 2 is shown.
  • the door sensor arrangement 1 detects the distance 10a to the object 5 and the distances 6a, 7a to the door leaf edges 8, 9. From these distances 6a, 7a, the distances 11, 12 from the object 5 to the door edges can be considered taking into account the angle between the distances 6a and calculate 10a, 7a and 10a, respectively.
  • the distances 11, 12 are transmitted to a door control, whereby the movement and position of the door leaves 3, 4 can be controlled as a function of the distances 11, 12.
  • FIG. 2b the situation is shown in which the door leaf 3 is partially closed, for example so that less warm air (symbolized by the arrows W) can escape from a room which is entered through the door 2. Not only the current position of the object 5 is considered, but also its speed and the speed of the door wings 3, 4.
  • the controller can be adjusted so that the door is decisive, which would cause the fastest collision with the object 5.
  • FIG. 4 is a wing door 3 with symbolized speed ranges 14, 15, 16, 17 shown.
  • V b the door sensor system monitors 1 regions 14, 15, 16, 17. Located at someone within the range, the hinged door 3 is stopped. If an object is inside of the area 15, it will continue to slow down. If an object is within the area 16, the process continues comparatively faster and within the area 17 the door is moved at normal speed.

Description

Die Erfindung betrifft eine Vorrichtung zur Steuerung eines angetriebenen Bewegungselements, zum Beispiel einer Tür, eines Tores oder eines Fensters nach dem Oberbegriff des Anspruchs 1.The invention relates to a device for controlling a driven movement element, for example a door, a gate or a window according to the preamble of claim 1.

Stand der TechnikState of the art

Bei bekannten Ausführungsformen wird das Schließen von Schiebetüren mit Sensoren überwacht, mit welchen ein Objekt in der Bewegungsbahn eines Türflügels detektierbar ist, das heißt der Sensor stellt,fest, ob ein Objekt vorhanden ist oder nicht. Eine weitere Differenzierung erfolgt nicht.In known embodiments, the closing of sliding doors is monitored with sensors with which an object in the trajectory of a door leaf is detectable, that is, the sensor provides, determines whether an object is present or not. There is no further differentiation.

Dementsprechend wird bei der Detektion eines Objektes die Schiebetür immer komplett geöffnet. Im Winter ergibt sich allerdings die Problematik, eine Schiebetür, wenn möglich, geschlossen zu halten, um Wärmeverluste von Räumen, die über die Schiebetür betreten werden können, zu vermeiden.Accordingly, when the object is detected, the sliding door is always completely opened. In winter, however, there is the problem of keeping a sliding door closed, if possible, in order to avoid heat loss from rooms that can be entered via the sliding door.

Eine bekannte Lösung, um in solchen Situationen weniger Wärme zu verlieren, besteht darin, die Tür nicht ganz zu öffnen. Da Menschen erwarten, dass sich die Tür komplett öffnet, kommt es regelmäßig zur Kollision zwischen Menschen und der nicht ganz geöffneten Tür.One known solution to losing less heat in such situations is not to fully open the door. There People expect that the door opens completely, there is a regular collision between people and the door not quite open.

Aus dem Stand der Technik zeigt die EP 0 696 670 A1 eine Anordnung zum automatischen Öffnen und Schließen von Türen, bei welcher außerhalb einer Türaktivierungszone eine Überwachungszone definiert ist, in welcher sich Objekte der Tür nähern können. Die Tür wird so betätigt, dass sie zur vorhergesagten Ankunftszeit des Objekts voll geöffnet ist. Die JP 08285184 A beschreibt eine Überwachung des Öffnungsbereichs eines Schwenktores, daraufhin, ob darin ein Hindernis vorhanden ist. Sofern ein solches erkannt wird, wird die Torsteuerung vom vollständigen Öffnen des betreffenden Tores gehindert, um eine Kollision zu vermeiden. Die US 2002/118,114 A1 beschreibt einen Sensor für automatische Türen, bei welchem mittels Kameras Bilder von den beiden die Tür innen und außen umgebenden Bereichen erstellt werden. Mittels einer Abstandsmesseinheit werden Abstände von auf den Bildern erkannten Objekten in jedem einzelnen Bild ermittelt. Mittels weiterer Boden- und Höhenmesssensoren erfolgt eine weitere Prüfung, ob sich im zu überwachenden Bereich vor bzw. hinter der Tür ein vom Boden bzw. von der Tür verschiedenes Objekt befindet. Sofern dies der Fall ist, wird die Tür vollständig geöffnet bzw. in vollständig geöffnetem Zustand gehalten. Die US 2004/200,149 A1 beschreibt eine Tür-Raum-Überwachungsvorrichtung zur Überwachung eines Türschrankbereichs einer Kraftfahrzeugtür. Diese ist mit den Türschrankbereich erfassenden Sensormitteln, mit einer Sensordaten auswertenden Auswerteeinrichtung und mit einer Steuereinheit zur Steuerung von Sensormitteln oder von Auswerteeinrichtungen versehen, wobei mittels einer Lichtquelle, einer Mikro-Spiegeleinheit und einem Fotoempfänger ein flächiger Überwachungsbereich überwacht wird.From the prior art shows the EP 0 696 670 A1 an arrangement for automatic opening and closing of doors, in which outside a door activation zone a surveillance zone is defined, in which objects can approach the door. The door is operated so that it is fully open at the predicted arrival time of the object. The JP 08285184 A describes a monitoring of the opening area of a swing gate, then whether there is an obstacle in it. If such is detected, the door control is prevented from fully opening the relevant door to avoid a collision. The US 2002 / 118,114 A1 describes a sensor for automatic doors, in which cameras are used to create images of the two areas surrounding the door inside and outside. Distances of objects detected on the images in each individual image are determined by means of a distance measuring unit. By means of further ground and height measurement sensors, a further check is made as to whether an object different from the ground or from the door is located in front of or behind the door in the area to be monitored. If so, the door is fully opened or kept fully open. The US 2004 / 200,149 A1 describes a door-space monitoring device for monitoring a door cabinet area of a motor vehicle door. This is provided with the door cabinet area detecting sensor means, evaluating with a sensor data evaluation and a control unit for controlling sensor means or evaluation, wherein by means of a light source, a micro-mirror unit and a photoreceiver, a planar monitoring area is monitored.

Aufgabe und Vorteile der ErfindungPurpose and advantages of the invention

Der Erfindung liegt die Aufgabe zugrunde, die Steuerung eines angetriebenen Bewegungselements über einen Objektsensor im Hinblick auf das Öffnungs- und/oder Schließverhalten zu verbessern.The object of the invention is to improve the control of a driven movement element via an object sensor with regard to the opening and / or closing behavior.

Diese Aufgabe wird durch die Merkmale des Anspruchs 1 gelöst.This object is solved by the features of claim 1.

In den abhängigen Ansprüchen sind vorteilhafte und zweckmäßige Weiterbildungen der Erfindung angegeben.In the dependent claims advantageous and expedient developments of the invention are given.

Die Erfindung geht von einer Vorrichtung zur Steuerung eines angetriebenen Bewegungselements, zum Beispiel einer Tür aus, die eine Elektronikeinheit mit einem Objektsensor umfasst. Der Kern der Erfindung liegt darin, dass die Elektronikeinheit mittels des Objektsensors dazu ausgelegt ist, eine Objekt-Distanz zwischen dem angetriebenen Bewegungselement und einem Objekt im Bereich des Bewegungselements zu ermitteln und abhängig davon die Bewegung des Bewegungselements zu steuern. Durch diese Maßnahme kann zum Beispiel eine Schiebetür immer nur genau so geöffnet werden, dass ein herannahendes und die Tür passierendes Objekt, zum Beispiel eine Person kollisionsfrei die Schiebetür passieren kann. Dementsprechend lassen sich zum Beispiel im Winter die Öffnungszustände und der Grad der Öffnung der Schiebetür auf ein Minimum reduzieren, wodurch unnötige Wärmeverluste aus Räumen, die durch die Schiebetür betreten werden, weitgehend vermeiden können. Der Objektsensor kann z.B. ein optischer Sensor, ein Sensor für andere elektromagnetische Wellen, z.B. Radarwellen und/oder ein Sensor für Schallwellen, z.B. Ultraschallwellen sein.The invention is based on a device for controlling a driven moving element, for example a door, which comprises an electronic unit with an object sensor. The essence of the invention is that the electronic unit is designed by means of the object sensor to determine an object distance between the driven moving element and an object in the region of the moving element and to control the movement of the moving element depending thereon. By this measure, for example, a sliding door can always be opened only exactly so that an approaching and the door passing object, for example, a person can pass through the sliding door collision-free. Accordingly, for example, in winter, the opening conditions and the degree of opening of the sliding door can be reduced to a minimum, whereby unnecessary heat loss from rooms that are entered through the sliding door, can largely avoid. The object sensor can eg be an optical sensor, a sensor for other electromagnetic waves, eg radar waves and / or be a sensor for sound waves, eg ultrasonic waves.

In einer besonders bevorzugten Ausgestaltung der Erfindung sind Mittel vorgesehen, die die Objekt-Distanz aus einer Distanz des Objektsensors zum Objekt, einer Distanz vom Objektsensor zum Bewegungselement und dem Winkel zwischen den Distanzrichtungen ermitteln.In a particularly preferred embodiment of the invention, means are provided which determine the object distance from a distance of the object sensor to the object, a distance from the object sensor to the movement element and the angle between the distance directions.

Die Objekt-Distanz wird auf diese Weise indirekt auf der Grundlage von zwei Distanzen inklusive des Winkels zwischen den Distanzen bestimmt. Dadurch kann mittels z.B. eines zentralen Objektsensors jede Distanz zwischen Bewegungselement und Objekt bestimmt werden, sofern der zentrale Objektsensor Informationen über die Distanz zum Bewegungselement und zum Objekt einschließlich des Winkels zwischen diesen Distanzen liefern kann.The object distance is determined in this way indirectly on the basis of two distances including the angle between the distances. Thereby, by means of e.g. of a central object sensor, each distance between the moving element and the object can be determined, as long as the central object sensor can supply information about the distance to the moving element and to the object including the angle between these distances.

In einer bevorzugten Ausführungsform ist die Elektronikeinheit dazu ausgelegt, zur Bestimmung der Objekt-Distanz als Bezug am Bewegungselement eine Vorderkante des Bewegungselements heranzuziehen. Bei einer Tür wird vorzugsweise die Distanz zu deren Vorderkante ermittelt. Bei diesem Ansatz geht man davon aus, dass die Vorderkante mit einem Objekt, zum Beispiel einer herannahenden Person als erstes kollidiert und daher die Objekt-Distanz in Bezug auf diese Vorderkante erfasst werden sollte.In a preferred embodiment, the electronic unit is designed to use a front edge of the movement element as a reference to the movement element for determining the object distance. For a door, the distance to the leading edge is preferably determined. In this approach, it is believed that the leading edge should first collide with an object, such as an approaching person, and therefore the object distance with respect to that leading edge should be detected.

In einer überdies bevorzugten Ausgestaltung der Erfindung umfasst der Objektsensor einen Sender und Empfänger für ein Signal, z.B. für Schall oder elektromagnetische Wellen, insbesondere Licht, wobei die Elektronikeinheit dazu ausgebildet ist, eine Distanz, die ein vom Sender ausgesandtes Signal über eine Reflexionsfläche zum Empfänger zurücklegt, durch eine Auswertung eines Signalverlaufs, z.B. bei Licht einer Phase einer auf das Licht aufmodulierten Schwingung zu ermitteln und mit dieser Art der Distanzmessung die Objekt-Distanz zu bestimmen. Grundsätzlich kann als Signal auch ein gepulstes Signal in Frage kommen, bei welchem z.B. eine Phaseninformation ausgewertet wird. Es ist jedoch prinzipiell auch denkbar eine Laufzeitinformation auszuwerten.In a further preferred embodiment of the invention, the object sensor comprises a transmitter and receiver for a signal, for example for sound or electromagnetic waves, in particular light, wherein the electronic unit is adapted to a distance which travels a signal emitted by the transmitter via a reflection surface to the receiver to determine by an evaluation of a waveform, for example in light of a phase of a modulated on the light oscillation and with this type of distance measurement to determine the object distance. In principle, a pulsed signal can also be considered as a signal in which, for example, phase information is evaluated. However, it is also conceivable in principle to evaluate a runtime information.

Durch diese Vorgehensweise lässt sich eine Objekt-Distanz mit vergleichsweise hoher Genauigkeit erfassen. Auch die Objekt-Distanz zu mehreren Objekten ist ermittelbar. Durch mehrere Messungen ist es überdies möglich, den zeitlichen Verlauf der Objekt-Distanz, also die Geschwindigkeit zu berechnen, so dass die Objektgeschwindigkeit in die Steuerung des angetriebenen Bewegungselements, zum Beispiel einer Tür miteinbezogen werden kann.By doing so, an object distance can be detected with comparatively high accuracy. The object distance to several objects can also be determined. Moreover, by means of several measurements, it is possible to calculate the time profile of the object distance, that is to say the speed, so that the object speed can be included in the control of the driven moving element, for example a door.

Neben der Objekt-Geschwindigkeit ist auf diese Weise auch die Geschwindigkeit des angetriebenen Bewegungselements ermittelbar, die für eine optimale Steuerung des angetriebenen Bewegungselements in gleicher Weise wichtig ist.In addition to the object speed, the speed of the driven movement element can also be determined in this way, which is important in the same way for optimum control of the driven movement element.

In einer überdies bevorzugten Ausgestaltung der Erfindung führt die Elektronikeinheit die Steuerung des angetriebenen Bewegungselements derart aus, dass die Distanz zwischen einer Stelle des angetriebenen Bewegungselements, vorzugsweise der Vorderkante des angetriebenen Bewegungselements und dem Objekt zumindest annähernd auf einem vorgegebenen Wert gehalten wird. Vorzugsweise wird die Objekt-Distanz zumindest abschnittsweise auf einem vorgegebenen Wert gehalten. In einer bevorzugten Ausgestaltung ist es günstig, die Objekt-Distanz kontinuierlich z.B. mehrfach pro Sekunde zu bestimmen. In einer außerdem bevorzugten Ausgestaltung wird die Objekt-Distanz auf einem vorgebbaren konstanten Wert gehalten. Durch das Konstanthalten wird vermieden, dass eine Kollision zwischen Objekt und Bewegungselement eintritt. Es ist jedoch auch möglich, dass der vorgebbare Wert einer Funktion folgt. Denkbar wäre eine Veränderung der vorgegebenen Distanz in Abhängigkeit des Abstandes des Objekts vom angetriebenen Element oder einer Türebene. Die vorgegebene Distanz kann auch davon abhängig gemacht werden, ob die Person sich noch vor der Tür, im Durchgang der Tür oder nach der Tür befindet. Bei der Funktion kann es sich auch um eine diskrete Funktion handeln. Möglich ist auch, dass Parameterfelder vorgegeben werden, z.B. ein Look-uptable. Für den Fall, dass der vorgebbare Wert einen Minimalwert darstellt, ist dieser vorzugsweise abhängig vom Bremsweg des angetriebenen Bewegungselements und/oder von empirisch ermittelten "Wohlfühlparametern", das heißt Werten, bei welcher eine Person mit einem angenehmen Gefühl das angetriebene Bewegungselement passiert. Vorteilhafterweise wird der Minimalwert größer als 10 cm betragen.In a further preferred embodiment of the invention, the electronic unit performs the control of the driven moving member such that the distance between a position of the driven moving member, preferably the leading edge of the driven moving member and the object is at least approximately maintained at a predetermined value. Preferably, the object distance is at least partially maintained at a predetermined value. In a preferred embodiment, it is favorable to determine the object distance continuously, for example several times per second. In a further preferred embodiment, the object distance is kept at a predefinable constant value. Keeping constant avoids a collision between the object and the movement element. However, it is also possible that the predefinable value of a Function follows. It would be conceivable to change the predetermined distance as a function of the distance of the object from the driven element or a door plane. The predetermined distance can also be made dependent on whether the person is still in front of the door, in the doorway or after the door. The function can also be a discrete function. It is also possible that parameter fields are specified, eg a look-up table. In the event that the predeterminable value represents a minimum value, this is preferably dependent on the braking distance of the driven movement element and / or on empirically determined "well-being parameters", ie values at which a person with a pleasant feeling passes the driven movement element. Advantageously, the minimum value will be greater than 10 cm.

Bei mehreren Bewegungselementen ist es bevorzugt, wenn alle Bewegungselemente unabhängig steuerbar sind. Dadurch lassen sich für die einzelnen Bewegungselemente bestmögliche Bewegungsabläufe erzielen.With several movement elements, it is preferred if all movement elements are independently controllable. As a result, the best possible movement sequences can be achieved for the individual movement elements.

Für den Fall, dass mehrere angetriebene nicht unabhängig bewegbare Bewegungselemente vorgesehen sind, ist es vorteilhaft, wenn die kleinste ermittelte Distanz zu einem Bewegungselement, insbesondere zur Vorderkante eines Bewegungselements für die Steuerung der Bewegungselemente maßgebend ist.In the event that several driven not independently movable movement elements are provided, it is advantageous if the smallest determined distance to a moving element, in particular to the leading edge of a moving element for the control of the moving elements is authoritative.

Durch diese Vorgehensweise kann bei im Wesentlichen nicht erhöhtem Steueraufwand zumindest eine teiloptimierte Bewegung der Bewegungselemente erreicht werden.By doing so, at least a partially optimized movement of the moving elements can be achieved with substantially no increased control effort.

Die Erfindung lässt sich insbesondere auf Schiebetüren, Flügeltüren, vertikale Türen, Falttüren und auch Fenster anwenden.The invention is particularly applicable to sliding doors, hinged doors, vertical doors, folding doors and windows.

Eine weitere Verbesserung der Steuerung der Bewegung des angetriebenen Bewegungselements kann dadurch erzielt werden, dass in einer vorteilhaften Ausgestaltung der Erfindung die Elektronikeinheit ein Steuersignal für die Steuerung des angetriebenen Bewegungselements erzeugt, in welchem ein Bremsweg des angetriebenen Bewegungselements berücksichtigt ist. Dadurch kann die Objekt-Distanz im Hinblick auf deren Minimum noch weiter optimiert werden, was positiv bei der Erniedrigung von Öffnungszuständen, beispielsweise einer Schiebetür genutzt werden kann.A further improvement in the control of the movement of the driven movement element can be achieved in that in an advantageous embodiment of the invention, the electronic unit generates a control signal for the control of the driven movement element, in which a braking distance of the driven movement element is taken into account. As a result, the object distance can be further optimized with regard to its minimum, which can be used positively in the reduction of opening states, for example a sliding door.

Um eine noch weiter verfeinerte Steuerung des angetriebenen Bewegungselements hinsichtlich Öffnungs- und/oder Schließzustände des Bewegungselements zu erhalten, wird im Weiteren vorgeschlagen, dass die Elektronikeinheit das angetriebene Bewegungselement so steuert, dass das Bewegungselement, zum Beispiel eine Tür möglichst schnell geschlossen wird, nachdem ein Objekt, zum Beispiel eine Person das Bewegungselement passiert hat und/oder dass das Bewegungselement, zum Beispiel eine Tür, so spät wie möglich geöffnet wird, wenn ein Objekt, zum Beispiel eine Person sich auf das Bewegungselement zu bewegt.In order to obtain a further refined control of the driven moving element with respect to opening and / or closing states of the moving element, it is further proposed that the electronic unit controls the driven moving element so that the moving element, for example a door is closed as quickly as possible after a Object, for example a person has passed the movement element and / or that the movement element, for example a door, is opened as late as possible when an object, for example a person, is moving towards the movement element.

In einer überdies bevorzugten Ausgestaltung der Erfindung steuert die Elektronikeinheit die Geschwindigkeit des Bewegungselementes auf einen an sich ungestörten Bewegungsweg abhängig von der Objektdistanz. Durch diese Maßnahme kann z.B. bei vergleichsweise großen Objektdistanzen eine erhöhte Geschwindigkeit vorgegeben werden, wobei die Geschwindigkeit bei einer entsprechenden Annäherung an das Objekt sukzessive herabgesetzt wird. Die Geschwindigkeitsanpassung kann z.B. schrittweise erfolgen.In a further preferred embodiment of the invention, the electronic unit controls the speed of the moving element to a per se undisturbed movement path depending on the object distance. By this measure, e.g. at relatively high object distances an increased speed are given, the speed is successively reduced at a corresponding approach to the object. The speed adaptation may e.g. gradually.

Im Weiteren ist es bevorzugt, wenn die Elektronikeinheit die Steuerung derart vornimmt, dass wenn das Bewegungselement länger als eine vorgegebene Zeit blockiert wird, dieses mit sanftem Druck den Schließvorgang beendet.Furthermore, it is preferred if the electronic unit performs the control such that when the moving element is blocked for more than a predetermined time, this ends with gentle pressure closing.

Zeichnungendrawings

In den Zeichnungen werden verschiedene Ausführungsbeispiele der Erfindung gezeigt und nachstehend unter Angabe weiterer Vorteile und Einzelheiten näher erläutert. Es zeigen

Figur 1
in einer schematischen dreidimensionalen Ansicht eine optische Türsensoranordnung einer zweiflügligen Schiebetür mit herannahendem Objekt,
Figur 2a-c
Bewegungszustände der zweiflügligen Schiebetür nach Figur 1 beim Durchtritt eines Objekts in Draufsicht und
Figur 3
eine schematische Abbildung, die das Verfahren einer Bestimmung des Abstandes zwischen einer Schiebetürkante und einem Objekt veranschaulicht und
Figur 4
eine schematische Draufsicht auf eine Flügeltüre zur Veranschaulichung der Geschwindigkeitssteuerung der Flügeltür.
In the drawings, various embodiments of the invention are shown and explained in more detail below, with further details and advantages. Show it
FIG. 1
in a schematic three-dimensional view, an optical door sensor arrangement of a two-leaf sliding door with approaching object,
Figure 2a-c
Movement states of the two-leaf sliding door after FIG. 1 in the passage of an object in plan view and
FIG. 3
a schematic diagram illustrating the method of determining the distance between a sliding door edge and an object, and
FIG. 4
a schematic plan view of a wing door to illustrate the speed control of the hinged door.

Beschreibung der AusführungsbeispieleDescription of the embodiments

In Figur 1 ist eine optische Türsensoranordnung 1 an einer Schiebetür 2 mit einem optischen Sensor 1a oberhalb der Schiebetür 2 dargestellt. Flügel 3, 4 der Schiebetür 2 sind teilweise geöffnet und schließen sich gerade mit Geschwindigkeiten V1 und Vr. Ein Objekt 5, zum Beispiel ein Mensch bewegt sich mit einer Geschwindigkeit V0 auf die Schiebetür 2 zu.In FIG. 1 an optical door sensor arrangement 1 is shown on a sliding door 2 with an optical sensor 1a above the sliding door 2. Wings 3, 4 of the sliding door 2 are partially open and are closing at speeds V 1 and V r . An object 5, for example a Human being moving at a speed V 0 to the sliding door 2 to.

Die Türsensoranordnung 1 erfasst 3D-Bilder von Ihrer Umgebung. Ein eingebauter Rechner (nicht dargestellt) analysiert die Bilder und ermittelt daraus die Position und Geschwindigkeit der Schiebetürflügel 3, 4 und des Objekts 5. In Figur 1 sind für drei Pixel aus einem auf diese Weise ermittelten Bild Vektoren 6, 7 und 10 dargestellt. Die Vektoren 6 und 7 sind auf Pixel von Kanten 8, 9 der jeweiligen Flügel 3, 4 und der Vektor 10 auf ein Pixel des Objekts 5 gerichtet. Normalerweise werden die Kanten 8, 9 der Flügel 3, 4 und auch das Objekt 5 über mehrere Pixel gleichzeitig erfasst. Dadurch lässt sich eine höhere Genauigkeit und damit Sicherheit erzielen. Die erfinderische Vorgehensweise wird aber anhand der drei ausgewählten Vektoren zu dem entsprechenden Pixel erklärt.The door sensor assembly 1 captures 3D images of your surroundings. A built-in computer (not shown) analyzes the images and determines therefrom the position and speed of the sliding door leaves 3, 4 and the object 5. In FIG. 1 are shown for three pixels from a thus determined image vectors 6, 7 and 10. The vectors 6 and 7 are directed to pixels of edges 8, 9 of the respective wings 3, 4 and the vector 10 to a pixel of the object 5. Normally, the edges 8, 9 of the wings 3, 4 and also the object 5 are detected simultaneously over several pixels. As a result, a higher accuracy and thus safety can be achieved. However, the inventive approach is explained by the three selected vectors to the corresponding pixel.

Die Positionen der Pixel lassen sich über die Vektoren 6, 7 und 10 bestimmen. Für die Bestimmung einer Objekt-Distanz 11, 12 (siehe Figur 3), das heißt im vorliegenden Fall einer Distanz zwischen jeweils der Vorderkante 8, 9 der Schiebetürflügel 4, 5 und dem Objekt 5, lässt sich der Winkel zwischen den Vektoren 6 und 10 ermitteln. Mit den Beträgen der Vektoren 6 und 10 ist dann die Distanz 11, 12 zwischen dem Objekt 5 und der jeweiligen Flügelkante 8, 9 berechenbar.The positions of the pixels can be determined via the vectors 6, 7 and 10. For the determination of an object distance 11, 12 (see FIG. 3 ), that is in the present case a distance between each of the front edge 8, 9 of the sliding door leaves 4, 5 and the object 5, the angle between the vectors 6 and 10 can be determined. With the amounts of the vectors 6 and 10 then the distance 11, 12 between the object 5 and the respective wing edge 8, 9 can be calculated.

Aus mehreren solchen Messungen kann zudem die relative Geschwindigkeit vom Objekt 5 zu den beiden Türflügelkanten 8, 9 ermittelt werden. Dies ermöglicht es, vorauszusehen, wenn das Objekt mit einer der beiden Türflügelkanten 8, 9 kollidieren würde. Damit können die Türflügel 3, 4, möglicherweise separat, gestoppt werden, um eine Kollision zu vermeiden. Bei diesem Vorgang lässt sich zudem der Bremsweg der Türflügel 3, 4 berücksichtigen. Bei herkömmlichen Türsteuerungen mit einem Lichtgitter oder Lichtvorhang kann dagegen nur die Anwesenheit eines Objektes festgestellt werden.In addition, the relative speed of the object 5 to the two door leaf edges 8, 9 can be determined from a plurality of such measurements. This makes it possible to foresee if the object would collide with one of the two door leaf edges 8, 9. Thus, the door leaves 3, 4, possibly separately, be stopped to avoid a collision. In this process can also be considered the braking distance of the door 3, 4. In conventional door controls with a light curtain or light curtain can however, only the presence of an object can be detected.

In Figur 2a wird das Objekt 5, das sich in die Richtung Schiebetür 2 bewegt, gezeigt. Die Türsensoranordnung 1 erfasst die Distanz 10a zum Objekt 5 und die Distanzen 6a, 7a zu den Türflügelkanten 8, 9. Aus diesen Distanzen 6a, 7a lassen sich die Distanzen 11, 12 vom Objekt 5 zu den Türkanten unter Berücksichtigung des Winkels zwischen den Distanzen 6a und 10a bzw. 7a und 10a berechnen. Die Distanzen 11, 12 werden einer Türsteuerung übermittelt, womit die Bewegung und Position der Türflügel 3, 4 in Abhängigkeit der Distanzen 11, 12 gesteuert werden kann.In FIG. 2a the object 5 moving in the direction of the sliding door 2 is shown. The door sensor arrangement 1 detects the distance 10a to the object 5 and the distances 6a, 7a to the door leaf edges 8, 9. From these distances 6a, 7a, the distances 11, 12 from the object 5 to the door edges can be considered taking into account the angle between the distances 6a and calculate 10a, 7a and 10a, respectively. The distances 11, 12 are transmitted to a door control, whereby the movement and position of the door leaves 3, 4 can be controlled as a function of the distances 11, 12.

In Figur 2b wird die Situation gezeigt, in welcher der Türflügel 3 teilweise geschlossen wird, zum Beispiel damit weniger warme Luft (symbolisiert durch die Pfeile W) aus einem Raum, der durch die Tür 2 betreten wird, entweichen kann. Dabei wird nicht nur die aktuelle Position des Objekts 5 berücksichtigt, sondern auch dessen Geschwindigkeit und die Geschwindigkeit der Türflügel 3, 4.In FIG. 2b the situation is shown in which the door leaf 3 is partially closed, for example so that less warm air (symbolized by the arrows W) can escape from a room which is entered through the door 2. Not only the current position of the object 5 is considered, but also its speed and the speed of the door wings 3, 4.

Für den Fall, dass die Türflügel 3, 4 nicht separat bewegt werden können, lässt sich die Steuerung so einstellen, dass der Türflügel maßgebend ist, der am schnellsten eine Kollision mit dem Objekt 5 verursachen würde.In the event that the door leaves 3, 4 can not be moved separately, the controller can be adjusted so that the door is decisive, which would cause the fastest collision with the object 5.

Hat das Objekt, so wie in Figur 2c gezeigt, die Tür 2 passiert, kann auch der Türflügel 4 geschlossen werden.Has the object, as in Figure 2c shown, the door 2 happens, also the door 4 can be closed.

In Figur 4 ist eine Flügeltüre 3 mit symbolisierten Geschwindigkeitsbereichen 14, 15, 16, 17 dargestellt. Wenn sich die Flügeltür 3 mit einer Geschwindigkeit Vb öffnet, überwacht die Türsensoranordnung 1 Bereiche 14, 15, 16, 17. Befindet sich jemand innerhalb des Bereichs, so wird die Flügeltür 3 angehalten. Befindet sich ein Objekt innerhalb des Bereichs 15, so wird verlangsamt weitergefahren. Befindet sich ein Objekt innerhalb des Bereichs 16, so wird vergleichsweise schneller weitergefahren und innerhalb des Bereichs 17 wird die Tür mit normaler Geschwindigkeit bewegt.In FIG. 4 is a wing door 3 with symbolized speed ranges 14, 15, 16, 17 shown. When the hinged door 3 opens at a velocity V b, the door sensor system monitors 1 regions 14, 15, 16, 17. Located at someone within the range, the hinged door 3 is stopped. If an object is inside of the area 15, it will continue to slow down. If an object is within the area 16, the process continues comparatively faster and within the area 17 the door is moved at normal speed.

Claims (9)

  1. Device for controlling a driven moving element (3, 4) in the form of a door, a gate or a window, which comprises an electronic unit with an object sensor (1a), wherein the electronic unit is designed, by means of the object sensor (1a), to determine an object distance (11) between the driven moving element (3, 4) and an object (5) in the region of the moving element (3, 4) and to control the movement of the moving element (3, 4) depending on said object distance, wherein the moving element closes and opens an opening, characterised in that the electronic unit is also designed to use a front edge (8, 9) of the moving element (3, 4) for determining the object distance (11) as a reference on the moving element, wherein the front edge is the edge on which a collision between the object and moving element occurs first and which lies at the opening and means are provided to determine the object distance (11) from a distance (10a) between the object sensor (1a) and the object (5), a distance (6a, 7a) between the object sensor (1a) and the front edge of the moving element (3, 4) and the angle α between the vectors (6, 7 and 10) of the distance directions.
  2. Device according to claim 1, characterised in that the object sensor (1a) comprises a transmitter and receiver for a signal, e.g. for sound or electromagnetic waves, in particular light, wherein the electronic unit is designed to determine a distance which a signal emitted by the transmitter covers via a reflection surface to the receiver, by an evaluation of a signal profile, e.g. in the case of light, a phase of an oscillation modulated onto the light, and to determine the object distance (11) with this type of distance measurement.
  3. Device according to any one of the preceding claims, characterised in that the electronic unit generates a control signal for controlling the driven moving element (3, 4) depending on the velocity (V0) of the object (5) and/or the velocity (V1, Vr) of the driven moving element (3, 4).
  4. Device according to any one of the preceding claims, characterised in that the electronic unit performs the control of the driven moving element (3, 4) in such a way that the object distance (11) between a location of the driven moving element, preferably the front edge (8, 9) of the driven moving element (3, 4) and the object (5) is kept at a predetermined value.
  5. Device according to any one of the preceding claims, characterised in that a plurality of driven moving elements (3, 4) can be controlled independently.
  6. Device according to any one of the preceding claims, characterised in that with a plurality of driven moving elements (3, 4) which cannot be moved independently, the smallest distance determined is crucial for the control of the moving elements (3, 4).
  7. Device according to any one of the preceding claims, characterised in that the electronic unit generates a control signal for controlling the driven moving element (3, 4) which takes account of a deceleration distance of the driven moving element (3, 4).
  8. Device according to any one of the preceding claims, characterised in that the electronic unit controls the driven moving element (3, 4) in such a way that the moving element (3, 4) is closed as rapidly as possible after an object (5) has passed the moving element (3, 4), and/or in that the moving element (3, 4) is opened as late as possible when an object (5) moves towards the moving element (3, 4).
  9. Device according to any one of the preceding claims, characterised in that the electronic unit controls the velocity of the moving element to an inherently undisturbed movement path dependent on the object distance.
EP06742608.0A 2005-04-19 2006-04-19 Device for controlling a driving moving element, for example, a door Active EP1875030B2 (en)

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DE102005018231 2005-04-19
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PCT/EP2006/003577 WO2006111365A1 (en) 2005-04-19 2006-04-19 Device for controlling a driving moving element, for example, a door

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Also Published As

Publication number Publication date
WO2006111365A1 (en) 2006-10-26
EP1875030A1 (en) 2008-01-09
JP2008537040A (en) 2008-09-11
EP1875030B2 (en) 2019-09-04
US20080084300A1 (en) 2008-04-10
US9145727B2 (en) 2015-09-29
CN101180444B (en) 2013-01-16
CN101180444A (en) 2008-05-14

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