Automatic swing door and sensor
By installing lateral front and back sensors on the automatic swing door, the detection area is defined and signals are provided to the door controller, solving the safety problem of the automatic swing door at the main closing edge and achieving higher safety and continuity of normal operation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEA SA
- Filing Date
- 2021-07-28
- Publication Date
- 2026-07-21
AI Technical Summary
Existing automatic swing doors are prone to pinching or squeezing people, especially fingers, at the main closing edge, indicating that current safety measures are inadequate.
A lateral front sensor and a rear sensor are installed on the door leaf of an automatic swing door to define a detection area, including an edge detection area, for detecting potential hazards when the door is closed or open. The sensors determine the angular movement and position of the door through motion and position detectors and provide signals to the door controller to avoid pinching injuries.
It improves the safety of automatic swing doors at the main closing edge, reduces the risk of people being pinched or squeezed by the door leaf, ensures that the normal operation of the door is not disturbed, and the sensor design can respond quickly and adapt to different environmental conditions.
Smart Images
Figure CN116018446B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to automatic swing doors and sensors for automatic doors. Background Technology
[0002] As is known, automatic swing doors include door panels controlled by a door controller that controls the opening and closing of the door panels based on an opening signal. Furthermore, the door controller is connected to door sensors attached to both sides of the door panels. During the opening process, the side of the door panel facing away from the door opening is monitored by a sensor attached thereto. Once an object is detected within the sensor's detection area, a signal is sent to the door controller, which then stops the door panel's opening movement. Normally, the door panel's opening movement resumes after the object has left the detection area. If opening is no longer necessary, the door panel will close after a certain time interval. According to this method, a person obstructing the door panel during its opening movement can be protected from being struck by the door panel. During the closing movement, the side of the door panel facing the door opening is monitored by a sensor attached thereto. During the closing movement, once an object is detected, the door panel reopens. Therefore, a detection signal is transmitted from the sensor to the door controller, reversing the closing movement into a reopening movement. This operation allows a person to pass through a door that has begun to close without being struck by the door panel. For such applications, for example, BEA's LZR®-Flatscan SW can be used.
[0003] Despite all these safety measures in place, situations can still occur at the main closing edge of the door leaf, which is the edge opposite the door hinges, such as fingers getting caught between the door frame and the door leaf while the door is closing, or between the two doors of an automatic swing door. Summary of the Invention
[0004] The purpose of this invention is to improve the safety of automatic swing doors at the main closing edge, so as to avoid people being pinched or squeezed, especially fingers, at the main closing edge of the door leaf.
[0005] As is known, an automatic swing door includes a door controller and a door leaf assembly, the door leaf assembly including a door leaf, one side of which is pivotally attached to a door frame to cover the door opening. The door controller is typically capable of controlling at least one door leaf to open, close, reopen, and stop during its movement.
[0006] In addition, the door leaf has a back facing the door opening and a front facing away from the door opening. The door leaf also includes a hinge edge and a main closing edge opposite to the hinge edge. The door leaf assembly includes a front sensor attached to the front of the door leaf.
[0007] Viewed laterally, the front sensor is preferably attached near the hinge. The front sensor has a scanning field that extends along the door leaf towards the main closing edge of the door leaf opposite the hinge edge. At least one detection area is defined within the scanning field, which is the part of interest for the potentially variable scanning area. The detection area includes a detection zone as a ground projection of the detection area. Therefore, the detection area substantially covers the space above the detection area. The detection area is preferably close to the door leaf, or even as close to the door leaf as possible.
[0008] Within this detection area, the door detection area is defined as extending in the width direction of the door leaf, and the door detection area occupies most of the width of the door leaf, especially exceeding 70% of the door leaf width.
[0009] Based on this, the sensor includes a motion determination unit to determine the angular motion and / or angular position of the door.
[0010] It is known that the corner position of the gate can be used to limit or simplify the detection area of the scanning field to avoid false detection and self-activation.
[0011] According to the present invention, an edge detection area is defined within the detection area of the front sensor. The edge detection area extends beyond the door leaf detection area in the direction of the main closing edge. Preferably, the edge detection area extends beyond the door leaf. The automatic swing door is preferably configured such that, during the closing movement of the door, detecting an object in the edge detection area causes the door controller to reopen its corresponding door leaf or open the entire door. The automatic swing door is further configured such that, during the opening movement, when an object is detected in the door leaf detection area, the door leaf stops moving. Preferably, the automatic swing door can also be configured such that, if an object is detected in the door leaf detection area, the automatic swing door does not perform the opening movement.
[0012] This allows objects near the front of the door to be detected, thus preventing people or parts of their bodies from being trapped between the door and the frame, for example, at the main closing edge.
[0013] The edge detection area is preferably monitored only within a predetermined angular range during the door's closing movement. This range is preferably between a 45° opening angle and a fully closed door.
[0014] Specifically, during the door closing operation, object detection occurring in the door detection area of the front sensor has no effect on the door's movement. This could be because the door controller ignores the stop signal sent to it, or because the sensor ignores detection in the door detection area during closing.
[0015] Because the monitored edge detection area only includes the outer portion of the detection area, and because the angle range can be adjusted to monitor from, for example, a partially closed position to a closed position, it only covers potentially hazardous situations. Therefore, although security is improved, the door still largely operates without interruption.
[0016] Depending on the door's location, especially near the point where the door is fully closed, the shape of the edge detection area can be adjusted. This prevents erroneous detection information, for example, by allowing the door frame to be seen. Therefore, it prevents accidental triggering of the reopening signal.
[0017] According to another embodiment of the invention, the door assembly may include a back sensor attached to the back of the door.
[0018] The rear sensor includes a door detection area and preferably also includes an edge detection area located behind the door detection area, near the main closing edge of the door. According to standard settings, during a closing operation, if an object is detected in both the door detection area and the edge detection area, the door controller will reopen the door. Preferably, the automatic door can also be configured such that if an object is detected in the door detection area, the door will not close.
[0019] When the door is in the closed position, the door controller can preferably cut off monitoring of the edge detection area or ignore reopening signals so that objects approaching the door in this state will not cause the door to reopen. Monitoring of the edge detection area can be cut off either when the door is fully closed or immediately after a certain period of time following the door's closure.
[0020] Front or rear sensors can determine whether the door is in the closed position by receiving information from the door controller.
[0021] The angular position / motion of the door can also be determined using motion and / or position detectors, particularly gyroscopes. In this case, the motion determination unit includes motion and / or position detectors, especially gyroscopes. The advantage is that the sensors themselves contain information about the door's position without needing to communicate with external resources.
[0022] The front and rear sensors include a door controller interface to transmit actions to the door controller. The door controller interface is preferably capable of transmitting three different actions to the door controller. These actions are primarily opening, reopening, and stopping. The front and rear sensors can be connected to the door controller in parallel.
[0023] According to another advantageous embodiment of the invention, the rear sensor and the front sensor are connected via a communication bus, wherein only the rear sensor or the front sensor is connected to the door controller via its door controller interface and transmits the corresponding signal to the door controller.
[0024] Communication between the front and rear sensors allows components such as motion and / or position detectors to be reused. Therefore, the signals received by the motion and / or position detectors can be verified.
[0025] The door controller interface for the front and / or rear sensors may include three output ports, which are preferably connected to corresponding input ports of the door controller via separate wiring. Each output port is used to transmit a specific command to the door controller. The output ports may include relays, which can trigger specific functions of the door controller by switching the relays.
[0026] The rear sensor and the front sensor are preferably connected via a master / slave structure, and preferably, the master sensor is connected to the door controller.
[0027] This setup allows only a single wire from one sensor to the door controller, eliminating the need for parallel wiring between two sensors, thus enabling the door controller to provide all necessary functionality. In a master / slave configuration, at least one sensor must be configured accordingly to transmit all necessary information to the door controller. In the case of a standard door controller, an output port of an electronic relay is connected to the door controller to transmit "stop," "open," and "reopen" signals.
[0028] Due to a further improvement in the invention, the sensor includes a scanning unit comprising a laser scanner operating based on the time-of-flight principle. Preferably, the laser scanner is a scanner including a rotating mirror comprising multiple surfaces that deflect emitted and reflected light pulses. The scanner scans at least one scanning curtain along each surface. Preferably, these surfaces are inclined relative to each other with respect to the axis of rotation, such that the scanner scans multiple inclined curtains. Due to this arrangement, the detection area has a certain depth in a direction perpendicular to the door panel. This arrangement therefore allows for scanning a three-dimensional detection area.
[0029] The depth of the detection area allows the edge detection area to extend beyond the main closed edge without being affected by door handles that could cause occlusion on a single curtain. Occlusion would prevent the scanner from seeing objects near the main closed edge of the door.
[0030] According to another aspect of the invention, the edge detection region is substantially arc-shaped. This arc-shaped design maximizes the area of the edge detection region in a static manner. Otherwise, the shape of the edge detection region would need to be constantly adjusted to prevent interference, for example, from walls.
[0031] Another aspect of the invention relates to an automatic swing door having a door leaf assembly as described above, and a second door leaf assembly including a rear sensor and a front sensor, which are attached to the door leaf in the manner described above.
[0032] The second door assembly and the first door assembly preferably operate asynchronously, with the first door following the second door in its closing motion. In this case, the second door is in the closed position before the first door.
[0033] When the first door panel and the second door panel operate synchronously, both are implemented in a manner similar to the aforementioned single door panel.
[0034] In synchronous operation, the two door panels close symmetrically and synchronously. In this case, both the first and second door panels are in the closed position simultaneously.
[0035] Unlike the first door assembly, the second door assembly has rear and front sensors that define different edge detection areas. When the second door is closed, detecting an object within the edge detection area will cause the door to open.
[0036] Therefore, the rear sensor and the front sensor preferably include a first output port for triggering a reopening function, a second output port for triggering a stop function, and a third output port for triggering an opening function to open the door.
[0037] The sensor may have a door status determination unit. For example, the door status determination unit can reliably generate a "door is open" signal as long as the other door is not closed, and / or reliably generate a "door is closed" signal once the door is fully closed. The automatic swing door is considered fully closed only when both door panels are closed.
[0038] The door status determination unit may include a connector that is connected to the door controller. Due to this connection, the door status determination unit can determine the door status by evaluating the position or status of the door panels as transmitted by the door controller, and determine when both door panels are closed.
[0039] The "door is open" affirmative signal can alternatively be generated by extending the detection area beyond the edge detection area towards another door leaf. This additional area can extend approximately the width of the door leaf. For example, the door is considered open whenever a specific change in the detected event occurs in this area.
[0040] Preferably, once the door status determination unit provides a "door is open" signal or stops providing a "door is closed" signal, for example when the first door is open, the edge detection area of the front sensor and / or the back sensor attached to the second door is activated.
[0041] When a timer is used to cut off the edge detection area after the door is closed, the timer can be reset as long as the door state determination unit determines this "door is open" affirmative signal.
[0042] During closing, the door detection area on the front sensor, located laterally next to the edge detection area, can be configured to provide a stop signal or disable. During opening, the door detection area can be configured to trigger a stop signal on the door controller. Preferably, the automatic door opening can be configured such that the door does not open if an object is detected within the door detection area. During opening, the edge detection area of the front sensor disables.
[0043] When an automatic swing door includes two door panels, monitoring of the delayed cut-off edge detection area is useful. In the case of delayed cut-off, the automatic swing door can be configured such that a detection event in the edge detection area of the rear sensor and / or front sensor of the second door panel triggers an opening signal, at least opening the door panels to which the rear sensor and front sensor are attached from the closed position.
[0044] Delayed shut-off can be achieved by starting a timer when the first door to be closed is in the closed position.
[0045] In the closed position of the door, the rear sensor and / or the front sensor can provide an open signal for the detection of the edge detection area.
[0046] During door closure, the back-side sensor is preferably configured to provide a reopening signal when an object is detected within the door detection area that overlaps with the edge detection area. In the closed position, the back-side sensor may provide an opening signal for detection in the edge detection area, wherein the door detection area is inactive and deactivated in the closed position, and / or in this case, the signal provided by the sensor may be ignored by the door controller.
[0047] The rear sensor facing the door opening includes an edge detection area within its detection zone that extends beyond the door leaf, specifically beyond the main closing edge of the door leaf. This edge detection area is activated until the first door leaf is in the closed position. During closing, once an object is detected within this edge detection area, the door leaf reopens. In the closed position, the entire door is reopened.
[0048] According to another aspect of the invention, the edge detection area is substantially arc-shaped. This arc-shaped design maximizes the edge detection area in a static manner. Otherwise, the shape of the edge detection area would need to be constantly adjusted to prevent interference from other door panels.
[0049] Preferably, there is a motion relationship between the two door panels, which can be achieved through a connection between two door controllers. According to this relationship, when only one door panel detects an object, both door panel devices can open simultaneously.
[0050] According to another aspect, the present invention relates to a sensor that generates a scanning field capable of monitoring a detection area of a certain width. The sensor includes a door controller interface that can be connected to the input port of a door controller.
[0051] The sensor includes a scanning unit comprising a laser scanner that emits light pulses reflected by objects within the scanning field. The sensor also includes a detection and evaluation unit that assesses the received pulses based on the time-of-flight principle. The laser scanner includes a rotating mirror for deflecting the emitted pulses, the mirror having at least two surfaces: a first surface with a first tilt angle that generates a first curtain, and a second surface with a second tilt angle that generates a second curtain. The basic operating principle of such a laser scanner is well known to those skilled in the art, as disclosed in EP 1832866 A2.
[0052] These surfaces are tilted at different angles relative to the rotation axis of the rotating mirror. Light pulses are deflected at the mirror surfaces, where a pulse emitted along one mirror surface creates a curtain during a surface scan. A surface scan refers to a series of pulses emitted towards the same surface during the rotation angle of the mirror's rotating surface. This rotation angle lies between the starting and ending positions of the angle, where the pulse is first fully deflected on the mirror surface to help establish the scan field, and at the ending position, the pulse is most recently fully deflected on the mirror surface.
[0053] The predetermined rotation angle depends on the number of faces of the rotating mirror.
[0054] The purpose of this invention is to provide a security sensor with multiple curtains, which has the advantages of fast response and high resolution. The sensor should be relatively small to facilitate installation on a swing door.
[0055] According to the present invention, the detection determination unit is configured to perform a first evaluation step, evaluating a first set of measurement results for the pulses. This first set of measurement results includes at least some measurement results of pulses accumulated in at least two planar scans, in which pulse emission is triggered by multiple pulses shifting relative to the corner mirror position in subsequent planar scans, the pulses having varying deflection angles. The first set of measurement results defines a "high-resolution" portion within the detection area.
[0056] Based on the first set of measurements, the determining unit is implemented to determine whether an object exists in the high-resolution portion of the detection area. Specifically, the high-resolution area is more or less a virtual curtain in which physical curtains with the same facet angles are superimposed. Accordingly, small objects such as fingers can be detected within this high-resolution area.
[0057] The detection determination unit is further configured to perform a second evaluation step, which evaluates a second set of measurement results, the second set of measurements including the measurement results of a single-face scan of the second surface.
[0058] Based on the second set of measurements, the determining unit determines whether an object exists within the detection area of the second curtain. This allows the sensor to react quickly after scanning only one surface, enabling rapid safety action to be taken relative to the rotational speed of the rotating mirror.
[0059] According to this scheme, no additional pulses are needed to improve the resolution in a certain area. Therefore, no additional heat dissipation measures are required, and the overall size of the sensor can be kept very small.
[0060] The multiple pulses preferably consist of most of the pulses from the second surface scan.
[0061] Preferably, the first set of measurements includes all measurements from subsequent surface scans. This results in a higher resolution evaluation across the entire virtual first curtain.
[0062] According to another aspect of the invention, the first set of measurement results is obtained in such a way that the results of the pulse deflected by the first surface are accumulated in at least two subsequent surface scans of the first surface. Due to this embodiment of the device, the number of surfaces with different slopes can be increased when the size of the mirror is small, since only one surface is needed for each curtain.
[0063] According to another embodiment, the mirror may include a third surface with a tilt angle substantially the same as the first surface. The first set of measurements can be obtained by accumulating the measurements from the first and third surface scans. This allows for higher resolution with a fast sensor response.
[0064] Advantageously, the first and second curtains are installed at an angle relative to the vertical plane. The angle of inclination of the first curtain is smaller than that of the second curtain. In particular, the angle of inclination of the first surface relative to the axis of rotation of the mirror is smaller than that of the second surface relative to the axis of rotation of the mirror.
[0065] In this setup, the first curtain closest to the door is evaluated based on the first set of measurements, while the next second curtain, farther from the door, is not evaluated in the same way. In this situation, a person must react quickly to pass through the second curtain and then reach the first curtain at high resolution. This setup provides high overall security.
[0066] According to another embodiment of the invention, the number of pulses in the first curtain can be higher than the number of pulses in the second curtain. This keeps the total number of pulses per rotation at a low level, thereby minimizing thermal impact and making the technology easier to implement.
[0067] Advantageously, the mirror may have a third and a fourth surface, with an increased tilt angle relative to the rotation axis compared to the first and second surfaces. Preferably, the third and fourth surfaces of the mirror form a curtain with a lower resolution than the second curtain in the direction away from the door. This results in better resistance to environmental conditions within a detection area of a certain depth.
[0068] In addition, the sensor also includes a motion determination unit for determining angular position and angular direction of motion. This arrangement coordinates detection results related to the sensor's position, which is relevant to its use on the swing gate. The motion determination unit preferably includes a motion and / or position detector.
[0069] According to another advantageous embodiment, the sensor includes a detection determination unit that defines a detection area within a scanning field, wherein detecting an object within the detection area can trigger an output at an output port. The detection area monitored in the width direction includes at least two different, successively arranged detection areas, and each port is activated based on the detection of a certain area and the angular position of the door and the direction of door movement.
[0070] The detection area is divided into at least two areas. In the width direction, there is first the door leaf detection area and then the edge detection area.
[0071] According to a further improvement of the present invention, the first curtain monitors the second area, i.e., the edge detection area, and the second curtain monitors the first area, i.e., the door panel detection area. According to this embodiment, subsequent lateral areas can be monitored at different resolutions. By monitoring the door panel detection area and the edge detection area of the swing door as described above, the door panel detection area has higher immunity than the edge detection area. This configuration enables the detection of small objects in the edge detection area and avoids erroneous interference in the larger door panel detection area.
[0072] The detection and determination unit determines which output information should be transmitted to the door controller and sends the corresponding commands to the door controller interface.
[0073] Preferably, the detection determination unit has a first configuration setting: when the position evaluation unit determines that the movement direction is the closing direction, it sets first output information that is valid for detection events within the edge detection area; when the position evaluation unit determines that the door leaf's movement direction is the opening direction, it sets second output information that is valid for detection events within the door leaf detection area. Furthermore, a stop signal can be provided when the door is fully closed. The output information is transmitted accordingly by the door controller.
[0074] The detection determination unit has a second configuration setting: when the motion determination unit determines that the door is not moving and is in the closed position, it sets a third output information (open) that is valid for detection events within the edge detection area. Furthermore, when the door is fully closed, a stop signal can be provided for detection events within the door detection area. During the closing process, a first output information that is valid for detection events within the edge detection area is set. In this case, the third output information can be activated. When the position evaluation unit determines that the movement direction is the opening direction, it sets a second output information that is valid for detection events within the door detection area. Furthermore, when the door is fully closed, detection events within the door detection area can trigger the second output information. This configuration prevents the door from opening.
[0075] The detection determination unit has a third configuration setting: when the position evaluation unit determines that the movement direction is the closing direction, a first output information is set to be valid for detection within the edge detection area or the door leaf detection area. Preferably, when the position evaluation unit determines that the door is fully open, the first output information can be set to be valid, providing a reopening signal for the detection event within the door leaf detection area.
[0076] The detection determination unit has a fourth configuration setting: when the position evaluation unit determines that the door is not moving and is in the closed position, it sets a third output information (open) valid for detection within the edge detection area; and when the position evaluation unit determines that the sensor's movement direction is the closing direction, it sets a first output information valid for detection within either the edge detection area or the door detection area. Furthermore, in this case, the third output information can be enabled. Preferably, when the position evaluation unit determines that the door is fully open, it provides a reopening signal for the detection event within the door detection area.
[0077] According to a further improvement of the invention, the door controller interface includes three separate output ports, which can be connected to a standard door controller via separate wiring, wherein the first, second, and third output information are provided by activating the first, second, and third output ports. The output ports are generally designed as switches, preferably electronic relays. This configuration allows sensors to be connected to a standard swing door controller.
[0078] According to another embodiment of the invention, the second and third configurations can also disable edge detection after the timer terminates. Specifically, after the sensor receives a "door closed" position signal, a timer that keeps edge detection valid is started.
[0079] Preferably, once the door status determination unit provides a "door is open" signal or stops providing a "door is closed" signal, for example, when the first door leaf is open, the configuration is set to activate the edge detection area of the front sensor and / or the rear sensor attached to the second door leaf.
[0080] The timer can be reset when the door status determination unit provides a "door is open" signal or as long as it does not receive a "door is closed" signal.
[0081] Preferably, in the closed position, the detection area can extend to detect whether another door leaf is moving, thereby determining the door's state. In this way, the timer can be reset whenever such a signal is detected, or the timer can be used to activate the edge detection area.
[0082] By utilizing four such sensors, a double-leaf automatic swing door can be easily configured, reducing the risk of crushing between the two leaves. Further advantages, features, and potential applications of the invention will now be described in conjunction with the embodiments shown in the accompanying drawings.
[0083] According to another advantageous embodiment, the invention includes a detection determination unit configured to perform a detection event when an object is detected in a door detection area starting from the door detection area size and an object is detected in an edge detection area starting from the edge detection area size. The edge detection area size is preferably smaller than the door detection area size.
[0084] Based on this characteristic, the sensitivity within the door panel detection area is lower than the sensitivity within the edge detection area.
[0085] Therefore, very small objects, such as fingers, can be identified in the edge detection area, while the door detection area is unaffected by these small objects, thus reducing interference during major routine operations.
[0086] The sensor is implemented as a laser scanner, which includes multiple rotating mirrors, specifically four with surfaces tilted relative to each other. The mirror deflection scanning pulses provide four scanning curtains. The resulting scanning field is a three-dimensional scanning field; therefore, the detection area correspondingly has a depth perpendicular to the door panel.
[0087] This setup enables high physical detection resolution while also providing strong interference immunity. Another advantage in monitoring the main closing edge of the door is that multiple curtains overcome the difficulty of door handles extending vertically along the door, as a single door handle cannot block all the curtains. Attached Figure Description
[0088] Other advantages, features, and application possibilities of the present invention can be seen from the following description in conjunction with the embodiments shown in the accompanying drawings.
[0089] In the specification, claims, and drawings, the terms and related reference numerals used are listed in the reference numeral list below. The drawings are illustrated below:
[0090] Figure 1 This is a top view of the automatic swing door according to the present invention;
[0091] Figure 2 The automatic swing door is located during the closing movement. Figure 1 Top view of the location shown;
[0092] Figure 3 The automatic swing door is located during the closing movement. Figure 1 A top-view diagram showing the location of the door after the indicated position;
[0093] Figure 4 This is a top view schematic diagram of an automatic door having a first door leaf device and a second door leaf device according to the present invention;
[0094] Figure 5 This is a top view schematic diagram of an automatic door having a first door leaf device and a second door leaf device according to the present invention;
[0095] Figure 6 This is a side view of the door assembly shown in the above figures;
[0096] Figure 7 This is another side view of the door assembly in the above figures; and
[0097] Figure 8 This is a schematic diagram of a door sensor according to the present invention. Detailed Implementation
[0098] Figure 1 A top view schematic diagram of an automatic swing door 10 according to the present invention is shown. The swing door includes a door leaf assembly 12, which includes a door leaf 14 and a front sensor 16 mounted on the front side 15a of the door opposite the door opening 20. The automatic door 10 includes a door controller 22 for opening and closing the door.
[0099] Furthermore, the door assembly 12 has a back sensor 18 mounted on the back of the door leaf 14. The front sensor 16 and the back sensor 18 are mounted at the upper end of the door leaf 14 near the hinge end 15d and provide a downward scanning field extending along the door leaf 14 towards the main closing edge 15c. Accordingly, detection areas 26, 28 extend substantially along the door leaf and have a certain depth perpendicular to the door leaf 14. The detection area 26 of the front sensor 16 includes a door leaf detection area 32 and an edge detection area 36. The door leaf detection area 32 covers most of the width of the door leaf 12, and the edge detection area 36 covers the area of the detection area 26 that extends beyond the door leaf detection area 32 and beyond the main closing edge 15c in the direction of the main closing edge 15c. The detection area of the back sensor 18 includes a door leaf detection area 42 and an edge detection area 46.
[0100] The front sensor 16 and the rear sensor 18 are interconnected via BUS communication, preferably using a master / slave structure. The front sensor 16 is connected to the door controller 22 via separate wiring.
[0101] like Figure 1 As shown, during the closing operation, edge detection regions 36 and 46 are activated. An event indicating an object is detected within edge detection regions 36 and 46 will cause the door controller to generate a signal to reopen.
[0102] The front sensor 16 and the rear sensor 18 include motion determination units in the form of gyroscopes to determine the position of the door and the direction of its movement.
[0103] Therefore, edge detection area 36 is activated only at the very end of the closing movement to avoid adversely affecting the normal operation of the door. Edge detection area 46 of the rear sensor 18 is also activated at this position. In this case, the action triggered by a detection event in edge detection area 46 is no different from the action triggered by a detection event in door leaf detection area 42. The difference is that during the closing operation, detection events in door leaf detection area 32 do not cause any movement of the door 10, while detection events in edge detection area 36 cause the door to reopen.
[0104] The front sensor 16 includes output ports, each of which is connected to a corresponding input port of the door controller.
[0105] Figure 2 The door is shown in position during the closing movement. Figure 1 The position shown is before the indicated position. In this case, neither the front sensor 16 nor the rear sensor 18 monitors their edge detection areas because there is no risk of being squeezed between the door frame 30 and the door leaf 14. Therefore, a person standing next to the door leaf 14 is considered safe, and thus the door controller 22 does not need to generate a safety action.
[0106] Figure 3 The door is shown in position during the closing movement. Figure 1 The position following the indicated location. When door leaf 14 passes door frame 30, edge detection area 46 and possible door leaf detection area 42 are adjusted so that door frame 30 is not within the detection area, thus door frame 30 will not trigger any action during door closing. This is because the door frame is detected during training but ignored during operation, making the door frame no longer part of the detection area. Once door leaf 14 reaches the closed position, the door controller neither performs a stop action nor a reopen action in the closed position.
[0107] During the opening motion (not shown in the figure), the edge detection area 46 is monitored by neither the front sensor 16 nor the rear sensor 18.
[0108] Figure 4 An automatic door 100 according to the present invention is shown, the automatic door 100 having a first door leaf device 12, the first door leaf device 12 being arranged in a manner substantially the same as that described in the previous figures. According to... Figure 4 As shown, the door is in a nearly closed position during the closing operation.
[0109] In addition, for Figure 4 In the example shown, door 100 includes a second door assembly 112. This second door assembly 112 includes a door leaf 114 and a door controller 122 that controls the door leaf 114, with a front sensor 116 and a rear sensor 118 attached to the door leaf 114. The two door assemblies 12 and 112 open and close asynchronously, such that the first door leaf 14 opens before the second door leaf 114, and the second door leaf 114 closes before the first door leaf 14.
[0110] The front sensor 116 includes a detection area 126, which includes a door leaf detection area 132. This door leaf detection area 132 provides a stop signal during door opening operations. During door closing operations, the door controller 122 ignores this stop signal. During door closing operations, an edge detection area 136 exists within the detection area following the door leaf detection area 132, in the direction towards the main closing edge of the door leaf 114. During closing operations, a detection event within this edge detection area causes the door leaf to reopen. Alternatively, the entire door may reopen, meaning both door leaves are open.
[0111] In addition, an interface is needed to transmit communication to trigger the door controller's stop and reopen functions during door closure. Therefore, the sensors connected to the door controller include a door controller interface for transmitting three different actions to the door controller 122.
[0112] The rear sensor 118 includes a detection area 128 having a door leaf detection area 142. During closure, a detection event within the door leaf detection area 142 causes door leaf 114 or both door leaves 14, 114 to reopen. Accordingly, the detection area 128 includes an edge detection area 146 located behind the door leaf detection area 142 and extending beyond door leaf 114. During closure, a detection event within this edge detection area 146 causes door leaf 114 or both door leaves 14, 114 to reopen.
[0113] Once door 114 is closed, door controller 122 will no longer perform the reopening function. In the closed position, detection events within edge detection areas 136 and 146 will cause door 100 to open.
[0114] Figure 4 Another application also shows a specific area with a curved shape.
[0115] Figure 5 It shows Figure 4 The automatic door 100 is in a certain state during the closing period, wherein the second door leaf 114 is completely closed and the first door leaf 14 is almost closed.
[0116] The front sensor 116 and / or the rear sensor 118 include a closing position determination unit capable of determining whether the door 100 is fully closed. This closing position determination unit may include a connector between door controllers to transmit information about the door's closing position, or a connector between sensors on each door leaf to transmit position information of that door leaf obtained by sensors attached to the same door leaf to another door leaf.
[0117] Once the second door leaf 114 is closed, a detection event within the edge detection area 136 initiates the opening process of the door 100. This operation continues until the first door leaf 14 is also in the closed position. Therefore, the front sensor 116 includes a door controller interface, enabling the door controller 122 to perform the "open" action.
[0118] For this purpose, the rear sensor 118 includes a door controller interface that enables the door controller 122 to perform "open" and "reopen" actions. In the case of separate wiring between the door controller and the sensor, the sensor preferably includes three independent output ports.
[0119] According to a preferred embodiment of the present invention, all sensors 16, 18, 116, and 118 have the same components, and all sensors have a gate controller interface that provides three independent output information.
[0120] Figure 6A side view of the door assembly described in the foregoing figures is shown. The sensor is a laser scanner, including a rotating mirror with four surfaces tilted relative to each other, providing four scanning curtains as the scanning beam is deflected by the mirror surfaces. The scanning field is a three-dimensional scanning field, therefore the detection area correspondingly has a depth D perpendicular to the door panel.
[0121] from Figure 6 Furthermore, it can be concluded that when the depth D of the scanning area almost matches the width of the door leaf, the passage can be fully detected when the door leaf is in the open position. By detecting the passage in the open position, the closing process will not be triggered as long as an object is present in the detection area, especially the door leaf detection area. This is effective for both single-leaf and double-leaf door applications. Therefore, door efficiency can be improved by avoiding unnecessary closing movements.
[0122] Figure 7 Another side view of the door assembly 12 is shown, in which the sensor 16 is mounted on the upper end of the door leaf 14 near the hinge. The scanning field extends vertically and horizontally. The main portion of the scanning field, indicated by the dashed line beam 200, extends toward the main closing edge of the door. This side view shows the height extension of the monitoring space perpendicular to the detection area 26.
[0123] Figure 8 A schematic diagram of a door sensor 300 according to the present invention is shown. The door sensor 300 includes a scanning unit 308, which includes a rotating mirror 310 that deflects the emitted laser beam and / or the echo laser beam. The rotating mirror 310 has four differently tilted surfaces, each surface for emitting and receiving the beam. The beam is emitted by a transmitter 311, while the echo beam is received by a receiver 312. The scanning unit also includes a detection and determination unit 314.
[0124] The detection and determination unit 314 determines the spatial position of the object based on the beam angle and the flight time from the emitted pulse to the received echo. The door sensor 300 also includes a door position and motion determination unit 316, which is preferably implemented using a gyroscope. Furthermore, the door sensor 300 includes a door state determination unit 318 capable of determining whether the door is fully closed, meaning that all door panels should be in the closed position.
[0125] The detection determination unit 314 is implemented to set a signal based on the information provided to the detection determination unit 314 by the motion determination unit 316 and the gate state determination unit 318, according to the conditions described in the aforementioned figure.
[0126] The door sensor 300 includes a door controller interface 340 connected to the detection and determination unit 314, which transmits the requested output information to the door controller interface 340.
[0127] According to the present invention, the door controller interface 340 includes at least three output ports 342, 344, and 346, which transmit a "reopen" signal via the first output port 342, a "stop" signal via the second output port 344, and an "open" signal via the third output port 346.
[0128] List of icon numbers
[0129] 10 Automatic swing door; 12 Door leaf assembly; 14 Door leaf; 15a Front; 15b Back; 15c Main closing edge; 15d Hinge end; 16 Front sensor; 18 Back sensor; 20 Door opening; 22 Door controller; 26 Detection area; 28 Detection area; 30 Door frame; 32 Door leaf detection area; 36 Edge detection area; 42 Door leaf detection area; 46 Edge detection area; 100 Automatic swing door; 112 Door leaf assembly; 114 Door leaf; 116 Front sensor; 118 Back sensor; 122 Door controller; 132 Door leaf detection area; 142 Door leaf detection area; 146 Edge detection area; 300 Door sensor; 308 Scanning unit; 311 Transmitter; 310 Rotating mirror; 312 Receiver; 314 Detection determination unit; 316 Motion determination unit; 318 Door status determination unit; 320 Face; 340 Door controller interface; 342 Output port; 344 Output port; 346 Output port
Claims
1. An automatic swing door, comprising a door controller, and further comprising a door leaf assembly pivotally attached to a door frame, the door leaf assembly including a door leaf, a hinge edge, and a main closing edge opposite the hinge edge, the door leaf having a rear face facing a door opening and a front face facing away from the door opening; the door leaf assembly including a front face sensor attached to the front face of the door leaf, the front face sensor providing a scanning field that at least covers an area adjacent to the front face of the door leaf between the hinge edge and the main closing edge, defining a detection area within the scanning field; the front face sensor including a motion determination unit to determine angular motion / angular position of the door leaf; during the opening operation of the door leaf, the detection area includes a door leaf detection area extending substantially the width of the door leaf; characterized in that, During the door closing operation, the detection area includes an edge detection area that extends beyond the door leaf detection area along the direction of the main closing edge. When an object is detected in the edge detection area, the door controller is triggered to reopen the door leaf or open the door.
2. The automatic swing door according to claim 1, characterized in that, The door assembly includes a back sensor attached to the back of the door.
3. The automatic swing door according to claim 1, characterized in that, The edge detection area of the detection area covers the area that extends laterally beyond the main closed edge of the door leaf.
4. The automatic swing door according to claim 2, characterized in that, The detection area of the rear sensor includes an edge detection area, and when an object is detected in the edge detection area, the door is reopened and / or the door is opened.
5. The automatic swing door according to claim 2, characterized in that, The front sensor and / or the rear sensor include a scanning unit that generates a three-dimensional scanning field and a three-dimensional detection area.
6. The automatic swing door according to claim 5, characterized in that, The scanning unit is a laser scanner, which establishes the scanning field by emitting multiple laser pulses and evaluates the flight time of the echoes.
7. The automatic swing door according to any one of the preceding claims, characterized in that, The automatic swing door includes a first door panel assembly and a second door panel assembly, wherein the second door panel assembly includes a front sensor and / or a rear sensor.
8. The automatic swing door according to claim 7, characterized in that, The front and / or rear sensors of the second door assembly are configured such that, in the closed position of the second door assembly, as long as the door of the first door assembly is not closed, a detection event in the edge detection area of the second door assembly will transmit an open signal.
9. The automatic swing door according to claim 7, characterized in that, The first door assembly and the second door assembly operate asynchronously, with the door of the second door assembly in the closed position before the door of the first door assembly.
10. The automatic swing door according to claim 9, characterized in that, The front sensor and / or the rear sensor includes a door status determination unit that transmits a "door is open" signal when at least one door leaf is not in the closed position and / or transmits a "door is closed" signal when the door is closed.
11. The automatic swing door according to claim 10, characterized in that, The edge detection region is activated once the door state determination unit transmits a "door is open" signal and / or does not transmit a "door is closed" signal.
12. The automatic swing door according to claim 9, characterized in that, The front sensor and / or the rear sensor includes a timer that starts when the motion determining unit determines that the door is in the closed position and terminates after a predetermined time, wherein the edge detection area is disabled when the timer terminates.
13. The automatic swing door according to claim 2, characterized in that, The front sensor and / or the back sensor includes a scanning unit that generates a scanning field. The scanning unit includes a laser scanner that emits laser pulses evaluated according to the time-of-flight principle. The laser scanner includes a rotating mirror with at least two surfaces, including a first surface and a second surface, which are tilted at different angles relative to the rotation axis of the rotating mirror. The laser pulses are deflected at the mirror surfaces. When the rotating mirror rotates at a predetermined angle, each mirror surface emits a series of pulses, i.e., a surface scan, thereby generating a curtain. The front sensor and / or the back sensor also includes a door controller interface to provide information for triggering different door functions of the door controller. It also includes a detection determination unit that defines a detection area within the scanning field. Detection of objects within the detection area causes the door controller interface to output an output to trigger a corresponding door function. The detection determination unit is implemented to perform a first evaluation step, evaluating a first set of measurement results for the pulses, the first set of measurement results including at least some measurement results of the pulses accumulated in at least two surface scans. In the subsequent face scan, pulse emission is triggered by multiple pulses shifting relative to the position of the rotating mirror, with the pulses having varying deflection angles; the detection determination unit is also configured to perform a second evaluation step, evaluating a second set of measurement results, which includes the measurement results of only one face scan of the second face.
14. The automatic swing door according to claim 13, characterized in that, The first set of measurement results is obtained by accumulating the results of the pulse deflected by the first surface in at least two subsequent surface scans of the first surface.
15. The automatic swing door according to claim 13, characterized in that, The rotating mirror includes a third surface with a tilt angle substantially the same as the first surface, and the first set of measurement results is obtained by accumulating measurements on the first surface scan and the third surface scan.
16. The automatic swing door according to claim 13, characterized in that, The evaluation of the edge detection area includes the first set of measurement results, while the evaluation of the door detection area includes the second set of measurement results.
17. The automatic swing door according to any one of claims 13 to 16, characterized in that, The tilt angle of the first surface relative to the rotation axis of the rotating mirror is smaller than the tilt angle of the second surface relative to the rotation axis of the rotating mirror.
18. The automatic swing door according to any one of claims 13 to 16, characterized in that, The door controller interface provides three different output messages, which can trigger at least three different door functions.
19. The automatic swing door according to any one of claims 13 to 16, characterized in that, Different output information is generated based on the detected events in a certain area, the angular position of the door, and the direction of the door's movement.
20. The automatic swing door according to any one of claims 13 to 16, characterized in that, The door controller interface includes three separate output ports, which are connected to the input ports of the door controller via wiring.
21. The automatic swing door according to claim 13, characterized in that, The detection and determination unit has a first configuration setting: when the motion determination unit determines that the motion direction is the closing direction, it sets a first output information that is valid for detection within the edge detection area; and when the motion determination unit determines that the motion direction is the opening direction, it sets a second output information that is valid for detection events within the door detection area.
22. The automatic swing door according to claim 21, characterized in that, The detection determination unit has a second configuration setting: when the motion determination unit determines that there is no movement direction and the position is closed, it sets a third output information that is valid for the detection events in the edge detection area; when the motion determination unit determines that the movement direction is the closing direction, it sets the first output information to be valid; and when the motion determination unit determines that the movement direction is the opening direction, it sets the second output information to be valid for the detection in the door detection area.
23. The automatic swing door according to claim 21, characterized in that, The detection and determination unit has a third configuration setting: when the motion determination unit determines that the motion direction is the closing direction, it sets the first output information that is valid for detection within the edge detection area or the door detection area.
24. The automatic swing door according to claim 21, characterized in that, The detection determination unit has a fourth configuration setting: when the motion determination unit determines that there is no movement direction and the position is closed, it sets a third output information that is valid for detection within the edge detection area; and when the motion determination unit determines that the movement direction is a closing direction, it sets the first output information to be valid for detection events within the edge detection area or the door detection area.
25. The automatic swing door according to any one of claims 21 to 24, characterized in that, The front sensor and / or the rear sensor includes a door status determination unit that transmits a "door is open" signal to the detection determination unit when at least one door leaf is in the open position and / or transmits a "door is closed" signal to the detection determination unit when the door is closed.
26. The automatic swing door according to claim 25, characterized in that, The detection and determination unit includes a timer, which starts when the motion determination unit determines that the door is in the closed position and terminates after a predetermined time. The edge detection area becomes invalid when the timer terminates.
27. The automatic swing door according to claim 26, characterized in that, The timer resumes once the door status determination unit transmits a "door is open" signal and / or does not transmit a "door is closed" signal.
28. The automatic swing door according to claim 25, characterized in that, The door state determination unit includes a configuration such that the edge detection region is activated once the door state determination unit transmits a "door is open" signal and / or does not transmit a "door is closed" signal.