Automatic door

Abstract

The invention relates to an automatic door and a method for controlling an automatic door (10), comprising a control unit (70) for controlling the door, which acts on a door drive; further comprising a monitoring system (11), which comprises at least two sensors (12, 32) mounted on two opposite sides of the door, seen in the direction of the passage, wherein each of the sensors (12, 32) comprises a scanning unit (16, 36) monitoring a sensor safety area, which applies a safety signal to the control unit upon detection of an object within the sensor safety area of the sensor. According to the invention, after a predetermined time interval (TL) without detection within the sensor safety area of the sensor, the monitoring system (11) is set to a "restricted mode", in which mode at least one sensor safety area is set to a restricted area, wherein a safety signal is provided upon detection of an object within the restricted area, and upon detection within the restricted area the monitoring system will be set back to the unrestricted "normal" mode.

Description

Technical Field

[0001] This invention relates to automatic doors and a method for controlling automatic doors having two sensors. Background Technology

[0002] As is well known, automatic doors, especially industrial doors, are monitored by sensors to detect objects near the door. Another purpose of these sensors is to prevent people or machines from being crushed by the door when it is closing and people or machines are still under or beside it. Therefore, safety zones are preferably defined on both sides of the door, and when an object is detected within this safety zone, a safety procedure is triggered on the door controller during safety monitoring to protect people or machines from impact with the door. Typically, this occurs during door closing. The safety procedure causes the door closing movement to stop or reverse. The direction of door movement can preferably be vertical or horizontal.

[0003] Because the safety zone is very close to the door, the "safety condition" is falsely triggered due to door deformation. The sensor is interfered with by the door itself, incorrectly detecting an object even when there is none nearby. This disturbance could be due to wind causing door deformation or dents in the door caused by an accident (such as a forklift).

[0004] The problem is that the sensor cannot distinguish whether the detection is caused by actual interference or by the door itself. Summary of the Invention

[0005] The purpose of this invention is to control automatic doors, especially industrial doors, to avoid false detection of objects while still maintaining a high level of security.

[0006] In a known manner, an automatic door includes a control unit for controlling the door and acting on a door actuator. The automatic door also includes a monitoring system comprising at least two sensors mounted on two opposite sides of the door as viewed from the passageway.

[0007] The control unit is connected to the monitoring system. Each of the at least two sensors includes a scanning unit that monitors a sensor security area having at least two regions, an inner region and an outer region, wherein the outer region is farther from the door than the inner region. The two sensor security areas constitute a door security area.

[0008] Each of these sensors includes a detection unit to identify the presence of an object within an internal and / or external region. The detection unit analyzes the internal region and generates first detection information. The detection unit analyzes the external region and generates second detection information. The detection information is used to determine whether an object has been detected within a specific region. The detection unit is preferably a determining unit that functions as a scanning unit of a Time-of-Flight (TOF) laser scanner, wherein the determining unit evaluates the time-of-flight of the echoes of the generated laser pulses and determines the position of the object. Preferably, the internal and external regions can be scanned by such a laser scanner, with multiple echo points corresponding to the internal and external regions. The laser scanner can provide subsequent measurements to monitor the internal and external regions, or provide parallel measurements, such as pixels from a TOF camera being assigned to the internal and external regions.

[0009] The monitoring system also includes an evaluation unit that receives information from the detection unit. The evaluation unit determines, based on first and second detection information from the two sensors, that no detection occurred in either area of ​​the door security zone. The first and second detection information can communicate in such a way that the received information is the result of a logical OR combination of the first and second detection information. In this case, the evaluation unit may not be certain which specific area of ​​the sensor security zone the detection occurred in. Alternatively, the first and second detection information can communicate in a distinguishable manner.

[0010] According to the present invention, the evaluation unit determines a "no detection" time interval, during which no object is detected in either region of the two sensors. After a predefined time limit has elapsed, the evaluation unit adopts a "constrained mode".

[0011] During "Restricted Mode," the detection area in the first zone is restricted to a restricted area, where detection information is forwarded only to the control unit based on detection within the restricted area. This means that the area that is the detection area in "Normal Mode" fades out in "Restricted Mode." During "Restricted Mode," a security signal is provided to the control unit's security port, where the security signal depends at least on second detection information and, if present, also on the first detection information. The second detection information refers to the external area that can remain unchanged between "Restricted Mode" and "Normal" Mode. Since the external area is farther from the door than the internal area, this setup ensures that personnel cannot reach the internal area without passing through the external area.

[0012] When the "undetected" time interval exceeds a predefined time limit and continues until a certain point, the monitoring system enters the "restricted mode" time interval, during which any detection unit provides positive second detection information or positive first detection information for the restricted area. At this time, the monitoring system is set back to the "normal mode" of security monitoring. It is also possible to set the monitoring system back to "normal mode" through other additional events.

[0013] According to this setting, the presence of objects in the fade-out area of ​​the inner zone will prevent the door controller's security program from being erroneously triggered, while still providing a high level of security.

[0014] Preferably, the monitoring system is configured in a restricted mode by placing the detection unit in a detection state, in which the detection unit ignores the first detection information outside the restricted area. Therefore, the detection signal forwarded to the evaluation unit is subsequently based solely on the second detection information, or on the second detection information and the first detection information derived from the restricted area.

[0015] A restricted region can be defined as part of an internal region, or it can be defined as zero.

[0016] According to the first embodiment, each sensor includes an evaluation unit. Each evaluation unit of the sensor is connected to the detection unit of the same sensor and the detection unit of another sensor. With this configuration, each sensor is aware of the detection state of the other sensor and can provide first and second detection information accordingly.

[0017] According to an improvement of the present invention, the transmission of first and second detection information in "normal mode" and "restricted mode" between sensors is accomplished through a communication port that transmits the first and second detection information in an encoded manner, particularly using PWM (pulse width modulation) serial encoding. Therefore, the communication port may include a contact relay that is switched on and off to encode the detection information.

[0018] The sensor may include an input port that is connected to the communication port of another sensor.

[0019] Alternatively, communication can be established via fieldbus ports, particularly CAN ports, where a single interface is sufficient for both input and output; thus, input and output ports can be implemented as a single physical port.

[0020] Each sensor may include a specific safety output port connected to the safety port of the control unit for transmitting safety signals in parallel to the door controller.

[0021] According to another embodiment of the invention, the two sensors are a first sensor and a second sensor, both of which include a safety output port. In this case, the first sensor provides first detection information and second detection information to the second sensor through its communication port, and the second sensor sends safety information to the control unit, preferably combining the detection information of the two sensors via an "OR" combination. With this configuration, the two sensors can work with a door controller that provides only one safety input.

[0022] Wiring between the sensor and the door controller can be done via a connection board.

[0023] Preferably, the distance between the innermost boundaries of the inner regions of the two sensors is less than the minimum extension of a predefined test body of a given size for safety standards. This allows the automatic door to meet these safety standards.

[0024] The scanning unit can be implemented to generate a curtain by a series of time-of-flight measurements of the reflected beam, wherein the interpolated beam along the scanning direction is regarded as the curtain.

[0025] According to another aspect of the invention, the evaluation unit can be implemented as a computing device including an input port for at least one detection unit and at least one output port for providing at least one security detection information to the door controller. When the entire internal region fades out and the confined area of ​​the internal region is reduced to zero, the security signal will be provided solely by the result of the second detection information.

[0026] According to this setup, the computing device can collect standard information from the first and second detection information, determine the time intervals during which no detection occurs, and when the monitoring system is set to "restricted mode," only the second detection information is forwarded to the control unit that can initiate the security procedure. Once a detection signal is received via the second detection information, "normal mode" is restored.

[0027] The computing device can be an additional processing unit within the sensor.

[0028] Furthermore, the computing device can be a standalone device connected between the door controller and the two sensors, or it can be part of the door controller, thereby providing information to the control unit of the door controller. The computing device then receives the first and second detection information from the two sensors.

[0029] According to another aspect, the present invention relates to a method for controlling an automatic door, the method comprising a control unit for controlling the door, the control unit acting on a door actuator, and a monitoring system. The monitoring system further comprises at least two sensors, first and second sensors, mounted on two opposite sides of the door in a passageway direction. Each sensor monitors a sensor safety zone, wherein when an object is detected within the sensor safety zone of the sensor, a safety signal is applied to the control unit.

[0030] After a predefined time interval following no detection occurring within the sensor's safe zone, the monitoring system is set to "restricted mode," where at least one sensor safe zone is set as a restricted zone, and a safety signal is provided when an object is detected within the restricted zone. Furthermore, once a detection occurs within the restricted zone, the monitoring system is set back to the unrestricted "normal" mode.

[0031] According to this method, in this case, the area near the door can fade out, and the detection in the faded area during the restricted mode will not erroneously trigger the security procedure.

[0032] As mentioned earlier, this method can be implemented in automatic doors.

[0033] Advantageously, in another embodiment of this method, each sensor security zone includes an inner zone and an outer zone, wherein the inner zone is closer to the door than the outer zone, and wherein, during the restricted mode, only the inner zone is reduced to a restricted zone. This ensures that the outer zone prevents access to the inner zone from the outside without being detected.

[0034] According to another embodiment, each sensor includes a detection unit that analyzes data collected by the scanning unit, wherein the detection unit ignores data outside the restricted area of ​​the sensor's safe region to generate a detection signal during restricted mode.

[0035] According to another aspect, two sensors, namely the first sensor and the second sensor, transmit the detection status of the sensor's safe area and restricted area to another sensor, wherein, taking into account the information of the other sensor, each sensor is set to a restricted mode, and only the second sensor forwards the safety signal to the control unit.

[0036] Other advantages, features and potential applications of the present invention can be set forth in the following description in conjunction with the embodiments shown in the accompanying drawings. Attached Figure Description

[0037] Throughout the specification, claims, and drawings, these terms and related reference numerals will be used, which are readily apparent from the appended list of reference numerals. The drawings are as follows:

[0038] Figure 1a is a side view of the automatic door;

[0039] Figure 1b is a cross-sectional view of the automatic door.

[0040] Figure 2 Function diagram for the initial setup of the monitoring system;

[0041] Figure 3 This shows the monitoring system's mode under specific detection conditions;

[0042] Figure 4 Functional diagram for further configuration of the monitoring system; and

[0043] Figure 5 This is a functional diagram showing further settings for the monitoring system. Detailed Implementation

[0044] Figure 1a A schematic side view of an automatic door 10 according to the present invention is shown. The automatic door includes a door element 14 driven by a door actuator and a monitoring system 11 including two sensors 12, 32, wherein each sensor monitors at least one internal area IR and one external area OR. The two sensors 12, 32 are mounted on opposite sides of the door as viewed along the passageway. Each sensor includes a scanner 16, 36 that generates two outer curtain OCs and one inner curtain IC. The distance between the inner curtain IC of the sensors 12, 32 and the innermost outer curtain OC is less than the minimum extension of the test body T, approximately 10 cm. This arrangement ensures that the unmonitored area below or beside the door is smaller than the test body size required by safety standards.

[0045] Figure 1b A schematic cross-sectional view bb of the automatic door 10 according to the present invention is shown. Door element 14 is shown in a wind-bent state in the figure. In this case, according to the present invention, the interior area is set as a "restricted area" by fading out the central portion of the first curtain. Figure 2 The corresponding process and settings are explained in more detail.

[0046] Figure 2 A functional diagram showing the basic setup of the monitoring system 11 according to the present invention is provided. This setup shows two sensors 12 and 32. Each sensor 12 and 32 includes a scanner 16 and 36 connected to detection units 18 and 38 to determine which object is detected in the region IR or OR of the scanner 16 and 36. Detection units 18 and 38 are connected to evaluation units 20 and 40 of sensors 12 and 32.

[0047] In addition, each sensor 12, 32 includes input ports 50, 60, communication ports 52, 62, safety output ports 54, 64, and another output port 56, 66, which can be used to detect the presence of a curtain that is not used for security purposes and is not connected in this basic setup. First detection information regarding the internal area and second detection information regarding the external area are related to the safety signal.

[0048] The evaluation unit 20 of the first sensor 12 is connected to the input port 50 in the first sensor 12.

[0049] The input port 50 of the first sensor 12 is connected to the communication port 62 of the second sensor 32. The evaluation unit 40 of the second sensor 32 is also connected to the communication port 62. The evaluation unit 40 provides a signal to the communication port 62 containing first and second detection information from the detection unit 38. Thus, the evaluation unit 20 of the first sensor 12 receives information about the first and second detection information from the second sensor 32. Transmission through the communication port is preferably accomplished via pulse width modulation (PWM). This signal can be a combination of the first and second detection information.

[0050] The evaluation unit 40 of the second sensor 32 is connected to the input port 60 of the sensor 32.

[0051] The input port 60 of the second sensor 32 is connected to the communication port 52 of the first sensor 12. The evaluation unit 20 of the first sensor 12 is connected to the communication port 52 of the first sensor 12. The evaluation unit 20 applies a signal containing the first information and the second information of the detection unit 18 to the communication port 52. In this way, information containing the first information and the second information of the first sensor 12 is provided to the evaluation unit 40 of the second sensor 32.

[0052] Since both evaluation units 20 and 40 receive information containing first and second information from the first and second sensors, each evaluation unit 20 and 40 can independently determine the time interval of consecutive "not detected" in all relevant regions IR and OR of the two sensors 12 and 32.

[0053] Once the "no detection" time interval exceeds a predefined time limit, sensors 12 and 32 are set to "restricted mode," according to which a portion of the internal area, particularly the central portion of the first curtain, is faded out. Therefore, a safety signal is then generated based on detections in the remaining restricted detection area of ​​the internal area, rather than on the entire internal area. The safety signal is then transmitted to control unit 70. The safety signal still takes into account detections in the external area.

[0054] Since the evaluation unit of the second sensor, for example, knows the detection status of the safe areas of the two sensors 12 and 32, the second sensor 32 can forward the signal to the control unit 70 through its safe port by combining the detection information of the inner area IR and the outer area OR of the two sensors. This configuration reduces wiring work.

[0055] This means that as long as sensors 12 and 32 are in this "restricted" mode, they will not acquire false positive information in the fade-out area, thereby triggering the safety procedure in control unit 70. In this case, no safety signal will be sent to control unit 70. Furthermore, evaluation units 20 and 40 are implemented in such a way that when detection units 18 and 38 determine a positive detection in the restricted detection area of ​​the internal region IR or the external region OR, the monitoring system resets to "normal" mode. In "normal" mode, a safety signal will be submitted after a safety signal is detected within the door safety area.

[0056] This results in the following: as long as sensors 12 and 32 are in "restricted mode", the signals generated by the deformation of the gate element are ignored, and these signals will be considered again when the monitored security area is interrupted, for example, from the external area OR.

[0057] When the sensor activates "limited mode", the predefined time limit is best set to about 2 seconds.

[0058] As described above, the wiring between the two sensors and the door controller is preferably completed through wiring board 68.

[0059] Figure 3 This diagram illustrates the monitoring system's behavior regarding its operating modes. The upper part of the diagram shows the monitoring system's modes. "N" indicates "Normal Mode," and "R" indicates "Restricted Mode." Figure 3 In the example, "restricted mode" is defined as follows: the fade-out area is set to the entire inner curtain, thus covering the entire inner area, while there are no restricted monitoring areas in the inner curtain IC and the inner area. Alternatively, the detection information from the restricted area of ​​the inner area can be regarded as the outer area signal (C_O) of the door security area.

[0060] "S1" and "S2" are sensors installed opposite the automatic door. "C_l" and "C_O" are signals corresponding to the scanner's detection status. During time period A, an object is detected by the scanner in one of the outer curtains OC of sensor "S1" and evaluated accordingly by the detection unit. The monitoring system is in "normal" detection mode. At the beginning of period B, the object is no longer present in the outer curtain. Since no other detection occurs, a "no detection" time interval begins, and the end of the time interval is set to a predefined TL length. After TL expires in time period C, the monitoring system is set to "restricted mode".

[0061] During cycle D, the scanning unit identifies detection events within the inner curtain, causing the detection state C_l to change accordingly. Since the monitoring system is in "restricted mode," the detection unit ignores this event and does not pass it on to the evaluation unit.

[0062] Following this incident, the monitoring system will not change its mode, and signals will not be forwarded to the door controller's security port. Therefore, the control unit will not trigger security procedures, such as reopening the door.

[0063] During cycles D and E, the monitoring system remains in this "restricted mode". During cycle F, the scanning unit of sensor S2 detects an object in its outer curtain OC, and the detection state C_O is set to "1". Although the monitoring system is in "restricted mode", the detection unit forwards the second detection information to the evaluation unit. The monitoring system is then set back to "normal" mode. The second detection information is also forwarded to the control unit.

[0064] Figure 4 Another example of the invention is shown, wherein an internal region IR dedicated to the first detection information is located near the door, and the entire internal region fades out during a “restricted mode.” In this example of the invention, the evaluation unit 140 is implemented within a separate computing device 150, which includes the evaluation unit 140 and has a connection port connected to the detection units 118 and 138. The evaluation unit receives signals containing the first detection information from the first sensor 112 and the second detection information from the second sensor 132.

[0065] In this scenario, the door security zone in "restricted" mode only covers the external area dedicated to the second detection information.

[0066] Therefore, the evaluation unit 140 can prevent the first detection information from being forwarded to the control unit 170, which is part of the door controller 190, during the "restricted" mode. Thus, detecting an object in the interior area IR during the restricted mode will not cause an erroneous triggering of the safety procedure.

[0067] The working method of assessment unit 140 and Figure 2 and Figure 3 The same as shown.

[0068] Figure 5 Another embodiment of the invention is shown. The monitoring system includes two sensors 112, 132 having scanners 116, 136 and detection units 118, 138, wherein the detection units analyze the signals from the scanners 116, 136 and transmit first detection information to an evaluation unit 240, in which case the evaluation unit 240 is part of a door controller 290.

[0069] After a predefined time interval of preferably 2 seconds, when the evaluation unit does not receive any detection signal of the first or second detection information, the monitoring system is set to "restricted mode".

[0070] In this case, the door security zone, such as Figure 4 As shown.

[0071] In this case, only the second detection information is provided to the control unit 270 of the door controller 290.

[0072] Once an object is detected in the external area OR, the monitoring system is reset to the "normal" mode, which requires consideration of both first and second detection information.

[0073] Reference Symbol List

[0074] 10 Automatic Doors

[0075] 11 Monitoring System

[0076] 12 sensors

[0077] 14-gate components

[0078] 16 Scanner

[0079] 18 detection units

[0080] 20 assessment units

[0081] 32 sensors

[0082] 36 Scanner

[0083] 38 detection units

[0084] 40 assessment units

[0085] 50 input ports

[0086] 52 communication ports

[0087] 54 Security Information Output Port

[0088] 56 Another output port

[0089] 60 input ports

[0090] 62 communication ports

[0091] 64 Security Information Output Port

[0092] 66 Another output port

[0093] 68 wiring board

[0094] 70 control unit

[0095] 112 sensor

[0096] 116 Scanner

[0097] 118 detection units

[0098] 132 sensor

[0099] 136 Scanner

[0100] 138 detection units

[0101] 140 assessment units

[0102] 150 computing devices

[0103] 170 control unit

[0104] 240 assessment units

[0105] 270 control unit

[0106] 290-door controller

[0107] A cycle

[0108] B cycle

[0109] C cycle

[0110] C_l detection status

[0111] C_0 Detection Status

[0112] D cycle

[0113] E cycle

[0114] F cycle

[0115] IC inner curtain

[0116] IR internal region

[0117] OC outer curtain

[0118] OR outer area

[0119] S1 sensor

[0120] S2 sensor

Claims

1. An automatic door (10) comprising a control unit (70) for controlling the door and acting on a door actuator; It also includes a monitoring system (11), which includes at least two sensors (12, 32) installed on the inside and outside of the door as viewed from the passageway. Each of the sensors (12, 32) includes a scanning unit (16, 36) that monitors a sensor safety area, the safety area comprising an inner region (IR) and an outer region (OR), and each sensor (12, 32) includes a detection unit (18, 38) connected to the scanning unit (16, 36), wherein the inner region (IR) is analyzed and first detection information is generated in the detection unit (18, 38), and the outer region (OR) is analyzed and second detection information is generated in the detection unit (18, 38). The monitoring system (11) includes at least one evaluation unit (20, 40) connected to the detection unit (18, 38) and the control unit (70), characterized in that the evaluation unit (20, 40) determines, based on the first detection information and the second detection information from the two sensors, that no object was detected within a predefined time interval (TL) in the sensor safety area. After a predefined time interval (TL) during which no object is detected, the monitoring system (11) is set to "restricted mode", in which the first detection information comes only from the restricted area of ​​the interior region (IR); The control unit (70) is provided with a safety signal based on the first detection information and the second detection information of the restricted area of ​​the internal region (IR) or the second detection information of the second detection information. Once an object is detected in a restricted area of ​​the outer region (OR) or inner region (IR), the monitoring system will be set back to the unrestricted "normal" mode.

2. The automatic door according to claim 1, characterized in that, The restricted region is either a portion of the internal region (IR) or zero.

3. The automatic door according to claim 1 or 2, characterized in that, Each sensor includes a communication port (52, 62), wherein the detection unit (18, 38) is connected to the communication port to transmit a combination of the first detection information and the second detection information.

4. The automatic door according to claim 3, characterized in that, Each of the sensors (12, 32) includes an evaluation unit (20, 40) connected to the communication port (52, 62) of another sensor (32, 12) and the detection unit (18, 38) of the same sensor (12, 32).

5. The automatic door according to claim 4, characterized in that, Each of the sensors (12, 32) includes a communication input port (50, 60) connected to a communication port (52, 62) of another sensor.

6. The automatic door according to claim 5, characterized in that, The communication input ports (50, 60) and communication ports (52, 62) are serial ports.

7. The automatic door according to claim 1 or 2, characterized in that, The monitoring system (11) includes a computing device (150), wherein the computing device (150) includes an evaluation unit, wherein first detection information and second detection information are sent to the computing device (150) and the evaluation unit, wherein, during the "restricted mode", only a security signal depending on the second detection information and the first detection information about the "restricted area" is forwarded to the control unit.

8. The automatic door according to claim 1, characterized in that, The scanning units (16, 36) include a laser scanner that determines the position of an object by determining the flight time of the echo of a laser pulse generated by the laser scanner, in order to sample the inner region (IR) and the outer region (OR).

9. The automatic door according to claim 1, characterized in that, The time interval for "No object detected" (TL) is set to 1 to 3 seconds.

10. The automatic door according to claim 1, characterized in that, The door is either an industrial door or a pedestrian door.

11. A method for controlling an automatic door (10), the door including a control unit (70) for controlling the door and acting on a door actuator; further including a monitoring system (11) including at least two sensors (12, 32) mounted on the inner and outer sides of the door as viewed from a passageway, wherein, Each of the sensors (12, 32) monitors a sensor safety zone and, when an object is detected within the sensor safety zone of the sensor, applies a safety signal to the control unit. The safety zone includes an inner zone (IR) and an outer zone (OR), with the inner zone (IR) being closer to the door than the outer zone (OR). The system is characterized in that, after a predefined time interval (TL), if no object is detected within the sensor safety zone of the sensor, the monitoring system (11) is set to a "restricted mode" to set the inner zone (IR) of at least one sensor as a restricted zone. A safety signal is provided when an object is detected within the restricted zone, and the monitoring system returns to an unrestricted "normal" mode once a detection occurs within the restricted zone.

12. The method for controlling an automatic door (10) according to claim 11, characterized in that, Each sensor includes a detection unit (18, 38) that analyzes data collected by the scanning unit (16, 36), wherein the detection unit (18, 38) ignores data outside the restricted area of ​​the sensor's safe zone in order to generate a detection signal during the restricted mode.

13. The method for controlling an automatic door (10) according to claim 11 or 12, characterized in that, Two sensors (12, 32), namely the first sensor (12) and the second sensor (32), transmit the detection status of the sensor's safe area to the other sensor, wherein, taking into account the information of the other sensor (12, 32), each sensor (12, 32) is set to a restricted mode, wherein only the second sensor (32) forwards the safety signal to the control unit.

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