Learning method for door sensor

Abstract

The present invention relates to a method for learning parameters of a door sensor (30), which is used to monitor a monitoring area (70, 71, 72) in front of a door leaf (21) of a door (20) and is used to be installed on a door leaf of a pivot door or a swing door, wherein the following method steps are implemented: using a rotation angle encoder with at least 2 axes, the rotation angle encoder is tilted at least 1 time relative to the door leaf; opening the door leaf of a closed door; detecting the rotation of the two axes of the rotation angle encoder during opening; determining the rotation direction of the two axes based on the rotation of the two axes; determining the door side (inside or outside of the door) on which the door sensor is installed on the door leaf based on the rotation direction of the two axes; storing the door side (inside or outside) in a memory, in particular in a memory of the door sensor.

Description

Technical Field

[0001] The invention relates to a learning method for a door sensor which moves together with a door leaf, the learning method being used to learn surrounding parameters. Background Art

[0002] Door sensors are known from the prior art, which are mounted on the door leaf of a pivoting door. The applicant's patent documents EP 2 453 254 A1, EP 2 453 260 B1, EP 2 698 649 B1, EP 2 453 252 B1 and EP 2 667 218 B1 describe general sensors without a learning method. Summary of the invention

[0003] It is an object of the present invention to provide an improved door sensor with a learning method.

[0004] Starting from a door sensor of the type mentioned at the outset, this object is achieved by a method according to the disclosure. Advantageous embodiments are given in other description parts.

[0005] According to the method of the invention, for learning parameters of a door sensor for monitoring a monitoring area in front of a door leaf and for installation on a door leaf of a pivoting door or a swinging door, the following method steps are performed:

[0006] - use of a rotary angle encoder with at least 2 axes, which is tilted at least 1 time with respect to the door leaf;

[0007] - opening of a closed door leaf;

[0008] - detecting the rotation of the two axes of the rotary angle encoder when opening;

[0009] - determining the rotation direction of the two axes based on the rotation of the two axes;

[0010] - based on the direction of rotation of the two axes, determining the door side (inside or outside of the door) on which the door sensor is mounted on the door leaf;

[0011] - Storing the door side (inside or outside) in a memory, in particular in a memory of a door sensor.

[0012] This method can have the advantage that the door sensor does not have to be preconfigured nor does it have to be configured during installation for its different mounting situations with respect to the door side of the application, so that both type variations and installation time and error potential can be reduced.

[0013] Preferably, further method steps are: determining the rotation direction of the door leaf (left or right) based on the rotation direction of at least one axis of the rotary angle encoder; and storing the rotation direction in a memory, in particular in a memory of the door sensor.

[0014] This can have the advantage that the door sensor does not have to be preconfigured nor configured during installation for its different installation situations with respect to a predefined rotational direction, so that both type variations and installation time and error potential can be reduced.

[0015] Preferably, further method steps are: opening the door to a maximum, in particular with a subsequent reversal, in particular with a subsequent closing of the door; detecting a maximum rotation angle based on a stationary state or based on a movement reversal of the opening to a maximum based on a rotational reversal; and storing the maximum rotation angle in a memory, in particular in a memory of a door sensor.

[0016] This can have the advantage that the door sensor does not have to be preconfigured nor configured during installation for its installation condition with respect to the maximum rotation angle of the door leaf, ie the maximum opening angle of the door, so that both type variations and installation time and error potential can be reduced.

[0017] Preferably, a further method step is to use at least a 2-axis rotary angle encoder which is tilted 2-fold relative to the door leaf. This can have the advantage that the rotary angle encoder in the door sensor can be arranged parallel to the main axis of the door sensor, whereby the door sensor can be produced more simply and cost-effectively.

[0018] Preferably, a further method step is to use a 3-axis rotary angle encoder. This can have the advantage that commercially available and inexpensive rotary angle encoders can be used.

[0019] Preferably, a further method step is to use a gyroscopic sensor as a rotation angle encoder. This can have the advantage that very small components can be used.

[0020] Further features of the invention are shown in the accompanying drawings.

[0021] The advantages mentioned in each case can also be achieved with feature combinations not mentioned above or below. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings show exemplary embodiments of the invention. Unless otherwise expressly stated, all drawings relate to a door sensor according to the invention mounted on a door leaf in the same arrangement. In this case, the same reference numerals in the individual drawings denote elements that correspond to one another. Among them:

[0023] Figure 1 A door with a door sensor is shown in a 3D view;

[0024] Figure 2 A door with a door sensor is shown in a top view;

[0025] Figure 3 A door sensor having a housing is shown;

[0026] Figure 4 The mounting plate for the door sensor is shown;

[0027] Figure 5 The door sensor is shown on the mounting plate;

[0028] Figure 6 The door sensor is shown on the mounting plate;

[0029] Figure 7 shows the orientation of the door sensor;

[0030] Figure 8 Shows the installation status;

[0031] Fig. 9 A monitoring area showing a closed door;

[0032] Fig.10 A monitoring area showing an open door;

[0033] Fig.11 Shows the rear monitoring area when the door is closed;

[0034] Fig.12 Shows the rear surveillance area with the door slightly open;

[0035] Fig.13 The rear monitoring area is shown when the door is further opened. DETAILED DESCRIPTION

[0036] Figure 1 The door 20 with the door sensor 30 is shown in a 3D view.

[0037] The door 20 has a door leaf 21 which is rotatably fastened to the wall 10 via a door hinge 22. The door leaf can be closed or opened in one direction (here toward the observer) so that it releases the door opening 11.

[0038] The door hinge 20 fixes the rotation axis of the door leaf. The rotation axis is the following axis: the door leaf can move a certain rotation angle around the axis. When the door is closed, the rotation angle is zero. When the door is opened to the maximum, the door is opened to the maximum rotation angle.

[0039] The door 20 is a pivoting door that opens in only one direction. The door and the door leaf have two door sides. The first door side is the inside of the door, which is the side toward which the door will open. The second door side is the outside of the door, which is the side toward which the door will close.

[0040] The door can have one of two directions of rotation. The direction of rotation of the door is the side on which the door's axis of rotation is on the inside of the door. The direction of rotation can be right-handed or left-handed. The door 20 has an axis of rotation on the left side and is therefore left-handed.

[0041] A door sensor 30 is mounted on the door leaf 21, on the inside of the door, on the side of the rotation axis on the door leaf, at a very short distance (less than 20 cm or less than 10% of the width or height of the door leaf) from the upper end and the side ends of the door leaf. The door sensor 30 monitors a three-dimensional monitoring area 70. The door sensor mounted in this way is considered to move together with the door leaf. Likewise, the monitoring area 70 moves with the door leaf. In other words, the monitoring area can be at least partially constant with respect to the door leaf. The figure shows a practical view of the possible range of the monitoring area.

[0042] The door 20 is a door driven by a door control motor and the door sensor is designed to transmit a signal to the door control in response to its detection in the monitoring area. If a person is detected in the monitoring area in the movement area of ​​the door leaf, this can be a safety signal for stopping the door. If a person walking towards the door is detected in the monitoring area, the safety signal can also be an opening signal for opening the door.

[0043] Figure 2 Shows Figure 1 Top view of the door.

[0044] Figure 3 As Figure 1 The detailed view of FIG. 2 shows the door sensor 30 with the housing 37 on the door leaf 21 .

[0045] Figure 4 As Figure 3 The detailed view of shows a mounting plate 31 for the door sensor. The mounting plate 31 has a face 32 for face-parallel mounting on the door leaf 21, a horizontal edge 33 for orientation parallel to the upper edge of the door leaf, and a vertical edge 34 for orientation parallel to the side edge of the door leaf. The mounting plate has a support element 35 for orienting the door sensor at a defined angle with respect to the face of the door leaf. The mounting plate has a retaining element 36 for orienting the door sensor fixedly and at a defined angle with respect to the horizontal and the upper edge of the door leaf.

[0046] Figure 5 Also as Figure 3The detailed view of shows a door sensor 30 with a mounting plate 31 on a door leaf 21. The door sensor has a 3D image sensor 40, which has a transmitter 41 and a receiver 42. The transmitter sends infrared radiation modulated with 20 MHz into the monitoring area. The receiver is a pixel matrix sensor, which receives the radiation of the transmitter reflected by the monitoring area as an image and is constructed to detect the modulated phase shift of the received radiation compared to the emitted radiation for each of its pixels. Due to the phase shift, the receiver determines the distance of the surface reflected on the pixel in the monitoring space for each of its pixels and thus generates a 3D image. Other door sensors use the flight time of the transmitted and reflected radiation instead of the phase shift, which is similar in the final effect. This door sensor is also called a TOF (Time of Flight) sensor. The pixels of the receiver used are also called demodulation pixels.

[0047] Figure 6 Also as Figure 3 The detailed view of shows a door sensor 30. The support element 35, together with the face 32 of the mounting plate, fixes the viewing direction and the main axis of the door sensor in relation to the face of the door leaf. The retaining element 36, together with the horizontal edge 33 and the vertical edge 34 of the mounting plate, fixes the viewing direction and the main axis of the door sensor in relation to the horizontal edge and the upper edge of the door leaf. The viewing direction and the main axis of the door sensor are defined by the optical axes of the transmitter 41 and the receiver 42.

[0048] Figure 7 The orientation of the door sensor 30 relative to the door leaf 21 is shown as a detailed view of the above-mentioned figure.

[0049] The coordinate system of the door leaf has a zero point in its axis of rotation at the upper end of the door leaf. The X axis 23 of the door leaf extends horizontally toward the hinge 22, the Y axis 24 of the door leaf extends perpendicularly to the face of the door leaf toward the outside of the door, i.e. away from the observer, and the Z axis 25 of the door leaf extends vertically downwards.

[0050] The coordinate system of the door sensor has its zero point in the door sensor. The X-axis 51 of the door sensor is rotated 30° downwards about the Y-axis of the door leaf compared to the X-axis of the door leaf. The Z-axis 53 of the door sensor is rotated 15° forwards toward the observer about the X-axis of the door sensor compared to the plane of the door leaf. The Y-axis 52 of the door sensor is correspondingly derived and is shown facing away from the observer. The main viewing direction of the door sensor therefore runs obliquely downwards and is pivoted 30° from the vertical to the outer edge of the door leaf and 15° forwards from the plane of the door leaf.

[0051] The door sensor has a 3-axis gyro sensor as a rotation angle encoder and is not shown in the drawing. The gyro sensor is oriented according to the coordinate system of the door sensor.

[0052] Figure 8 Four mounting situations of the door sensor 30 on the door leaf 21 are shown. Mounting situation 61 corresponds to the above-mentioned figure. Mounting situations 62, 63 and 64 do not correspond to the above-mentioned figure.

[0053] Installation situations 61 and 62 show the door sensor 30 on the door inner side of the door leaf 21, while installation situations 63 and 64 show the door sensor 30 on the door outer side of the door leaf 21. Installation situations 61 and 63 show the door sensor 30 on a left-handed door because the hinge 22 is arranged on the left side of the door inner side. Installation situations 62 and 64 show the door sensor 30 on a right-handed door because the hinge 22 is arranged on the right side of the door inner side.

[0054] There are therefore four different installation situations, which are given by the combination of two possible door sides (door inside or door outside) and two possible rotation directions of the door leaf (right-hand or left-hand). These are in detail:

[0055] Installation situation 61: Door swinging left on the outside

[0056] Installation situation 62: Door swinging right on the outside

[0057] Installation situation 63: Door swinging left on the inside

[0058] Installation situation 64: Door swinging right on the inside

[0059] In the learning mode, the rotation angle sensor detects rotation about all three axes when the door is open. The door sensor thus determines the direction of rotation about each of its axes. Based on the direction of rotation about the three axes, the door sensor now determines the applicable installation situation unambiguously with the help of the following table. A positive direction of rotation in the mathematical sense is indicated here by a "+".

[0060]

[0061] It can be seen from the table that the detection of only 2 axes is sufficient when these are axes X and Y or Y and Z, since a clear association of the installation situation can also be achieved with only these axes. In this respect, it is sufficient to use a 2-axis rotary angle encoder for the door sensor.

[0062] It should also be pointed out that it is sufficient for the coordinate system of the rotary angle encoder to be twisted about only one axis relative to the door leaf. That is, it is sufficient for the Z axis 53 of the rotary angle encoder to be twisted forwards by 15° relative to the surface of the door leaf about the X axis of the door sensor towards the observer. That is, the X axis of the rotary angle encoder can remain parallel to the X axis of the door leaf.

[0063] Fig. 9The monitoring range 71 of the door sensor 30 is shown when the door leaf 21 is closed. The monitoring range 71 ends at the outer edge of the door.

[0064] Fig.10 Shown in Fig. 9 The enlarged monitoring area 72 of the door sensor 30 when the door leaf 21 of the same door is slightly opened. The monitoring area 72 now extends beyond the outer edge of the door. Fig. 9 and Fig.10 The door sensor 30 is therefore designed to change the monitoring range as a function of the rotation angle and in this case to increase the monitoring range as the rotation angle increases.

[0065] The door sensor can be designed to achieve the greatest increase approximately at a door leaf rotation angle of 45°, so that the monitoring area decreases again towards the end of the outer edge of the door when the door leaf is closed or opened by 90° or fully opened.

[0066] Fig.11 , Fig.12 and Fig.13 A plan view of a door having a door leaf 21 with a door sensor 30 and monitoring areas 70 , 71 is shown at different rotation angles of the door leaf.

[0067] Fig.11 , Fig.12 and Fig.13 The rotation angle of the door leaf of the door is limited to a radial limit line at 90° approximately by a bottom stop, by a vertically adjacent wall, by a limit device of a door mechanism or by a limit device consisting of a door control device of a motor door drive.

[0068] Fig.11 The door leaf 11 is closed and the monitoring area 70 extends as a right-angled adjacent door leaf vertically across the width of the door leaf into the space in front of the door leaf.

[0069] Fig.12 The door leaf 11 is opened 30° and Fig.13 The door leaf is opened by 60° and the monitoring area 71 extends as a right-angled adjacent door leaf in the width of the door leaf into the space in front of the door leaf, wherein the monitoring area 71 is reduced on this side of the door hinge so that the monitoring area does not extend beyond the radial limitation line of the maximum movement of the door leaf.

[0070] The door sensor is therefore designed to change the extent of the monitoring range as a function of the rotation angle of the door leaf so that the monitoring range is always cut off by the surface of the door leaf at the maximum opening angle and therefore does not protrude beyond it. This also makes it possible to substantially conceal a wall so that it is not detected as an obstacle when the door sensor approaches.

[0071] Overview of the door sensor's features:

[0072] The door sensor for mounting on the door leaf of a pivoting door or a swinging door comprises a 3D image sensor for monitoring a monitoring area in front of the door leaf and a rotation angle encoder for detecting the rotation angle of the door leaf, wherein the door sensor has a common carrier, which connects the 3D image sensor and the rotation angle encoder. Preferably, the rotation angle encoder is a rotation angle encoder of at least 2 axes. Preferably, the rotation angle encoder is a gyro sensor. Preferably, the common carrier defines a mounting surface for mounting on the door leaf and the rotation angle encoder is arranged obliquely with respect to the mounting surface and is particularly arranged at an angle of 15°. Preferably, the common carrier comprises an edge or mark for orienting the carrier horizontally and / or vertically on the door leaf, and the rotation angle encoder is arranged obliquely with respect to the edge or mark and is particularly arranged at an angle of 30°. Preferably, the common carrier has a mounting plate for receiving the 3D image sensor and the rotation angle encoder in a positionally stable manner, the mounting plate having a surface for mounting on a door leaf and / or the mounting plate comprising edges or markings which are provided for horizontal and / or vertical orientation on the door leaf, wherein the rotation angle encoder is arranged with a 1-fold or 2-fold inclination with respect to two perpendicular axes in the mounting surface, in particular the main axis of the door leaf. Preferably, the door sensor has a predetermined side for mounting toward the door leaf. Preferably, the rotation angle encoder is a 3-axis rotation angle encoder, in particular a 3-axis gyro sensor. Preferably, the door sensor has a memory for storing environmental parameters, in particular the door side (inside or outside of the door), the direction of rotation (left-handed door or right-handed door) and the maximum rotation angle of the door leaf.

[0073] Method for learning parameters of a door sensor for monitoring a monitoring area in front of a door leaf of a door and for mounting on a door leaf of a pivoting door or a swinging door, the door sensor having at least a 2-axis rotary angle encoder, the rotary angle encoder being tilted at least 1-fold relative to the door leaf, wherein the following method steps are performed: using at least a 2-axis rotary angle encoder, the rotary angle encoder being tilted at least 1-fold relative to the door leaf; opening the door leaf of a closed door; detecting the rotation of the two axes of the rotary angle encoder during opening; determining the direction of rotation of the two axes based on the rotation of the two axes; determining the door side (door inner side or door outer side) on which the door sensor is mounted on the door leaf based on the direction of rotation of the two axes; storing the door side (inside or outside) in a memory, in particular in a memory of the door sensor. Preferably, further method steps are determining the direction of rotation of the door leaf (left-hand or right-hand) based on the direction of rotation of at least one axis of the rotary angle encoder; and storing the direction of rotation in a memory, in particular in a memory of the door sensor. Preferably, further method steps are opening the door to a maximum, in particular with a subsequent reversal, in particular with a subsequent closing of the door; detecting a maximum rotation angle based on a stationary state or based on a reversal of movement based on the opening to a maximum based on a reversal of rotation; and storing the maximum rotation angle in a memory, in particular in a memory of a door sensor. Preferably, a further method step is using at least a 2-axis rotation angle encoder, which is tilted 2-fold with respect to the door leaf. Preferably, a further method step is using a 3-axis rotation angle encoder. Preferably, a further method step is using a gyroscopic sensor as the rotation angle encoder.

[0074] A door sensor for mounting on a door leaf of a pivoting door or a swinging door, comprising a 3D image sensor for detecting a monitoring area in front of the door leaf and a rotation angle encoder or a signal input device for acquiring the rotation angle of the door leaf, wherein the door sensor is configured to change the range of the monitoring area according to the rotation angle. Preferably, the door sensor is configured to change the range of the monitoring area toward the outer edge of the door according to the rotation angle. Preferably, the door sensor is configured to at least partially increase the range as the rotation angle increases. Preferably, the door sensor is configured to first increase the range and then reduce the range again as the rotation angle increases. Preferably, the door sensor is configured to at least partially reduce the range as the rotation angle increases. Preferably, the door sensor is configured to first reduce the range and then increase the range again as the rotation angle increases. Preferably, the door sensor is configured to change the range of the monitoring area according to the maximum rotation angle of the opening of the door leaf. Preferably, the door sensor is designed to change the monitoring area in such a way that it does not substantially extend beyond the surface of the door leaf at the maximum rotation angle, in particular does not extend beyond the surface of the door leaf at the maximum rotation angle in a fixed spatial section, in particular does not extend beyond the plane of the door leaf at the maximum rotation angle. Preferably, the door sensor has a common carrier, which connects the 3D image sensor to the rotation angle encoder. Preferably, the rotation angle encoder is a gyroscopic sensor. Preferably, the change in the extent of the monitoring area is caused by a change in the evaluated spatial point.

[0075] A door with the above-mentioned door sensor, in particular a pivot door or a swing door, wherein the door sensor is mounted on the surface of the door leaf and in particular on the upper part of the door leaf, in particular on the upper 90% of the door leaf, in particular on one side of the rotation axis, in particular less than 20% of the width of the door leaf, in particular less than 10% of the width of the door leaf, from the rotation axis.

[0076] Reference numerals list

[0077] 10Wall

[0078] 11 Door openings

[0079] 20 doors

[0080] 21 doors

[0081] 22 Door Hinges

[0082] 23 X axis of door leaf

[0083] 24 Y axis of the door leaf

[0084] 25 Z axis of the door leaf

[0085] 30 door sensors

[0086] 31 Mounting plate

[0087] 32 Mounting plate surface

[0088] 33 Horizontal edge of mounting plate

[0089] 34 Vertical edge of mounting plate

[0090] 35 Support elements

[0091] 36 Holding element

[0092] 37 Shell

[0093] 40 3D Image Sensor

[0094] 41 Transmitter

[0095] 42 Receiver

[0096] 50 3-axis gyro sensor

[0097] 51 X-axis of the gyro sensor

[0098] 52 Y axis of the gyro sensor

[0099] 53 Z axis of the gyro sensor

[0100] The first case of 61 arrangement

[0101] The second case of 62 arrangement

[0102] The third case of 63 arrangement

[0103] The fourth case of 64 arrangement

[0104] 70 monitoring areas

[0105] 71 Reduced monitoring area

[0106] 72 Increased monitoring area

Claims

1. A method for learning parameters of a door sensor (30), the door sensor - a monitoring area (70, 71, 72) in front of a door leaf (21) of a pivoting door or a swinging door (20), - for mounting on a door leaf (21) of a pivoting door or a swinging door (20), Features The following steps: - use of a rotary angle encoder with at least 2 axes, which is tilted at least 1 time with respect to the door leaf; - opening of a closed door leaf; - detecting the rotation of the two axes of the rotary angle encoder when opening; - determining the rotation direction of the two axes based on the rotation of the two axes; - based on the direction of rotation of the two axes, determining the door side on which the door sensor is mounted on the door leaf; The door side is stored in a memory so that the door sensor (30) does not have to be preconfigured nor has to be configured during installation for its different installation situations with respect to the door side of use.

2. The method according to claim 1, characterized in that Other steps: - determining the rotation direction of the door leaf based on the rotation direction of at least one axis of the rotation angle encoder; The rotational direction is stored in a memory so that the door sensor (30) does not have to be preconfigured nor configured during installation with respect to its installation conditions with respect to the rotational direction.

3. The method according to any one of the preceding claims, characterized in that Other steps: - opening the door as far as possible; - detection of the maximum rotation angle based on a stationary state or based on a reversal of the movement after opening to the maximum rotation; - storing the maximum rotation angle in a memory, so that the door sensor (30) Its mounting situation with respect to the maximum rotation angle, ie the maximum opening angle of the door, does not have to be configured in advance nor during installation.

4. The method according to claim 1, characterized in that Another method steps: At least a 2-axis rotary angle encoder is used, which is tilted twice relative to the door leaf.

5. The method according to claim 1, characterized in that Another method steps: - Use a 3-axis rotary angle encoder.

6. The method according to claim 1, characterized in that -Use the gyro sensor as a rotation angle encoder.

Images