Automatic Swing Door and Sensor

Abstract

The present invention relates to an automatic swing door (10, 100) having a door control (22, 122), and the automatic swing door (10, 100) further comprises a door arrangement (12, 112) rotatably mounted on a door frame (30), the door arrangement (12, 112) comprising a door (14, 114) having a back surface (15b) facing the door opening (20), a forward surface (15a) facing away from the door opening (20), a hinge edge (15d), and a main closing edge (15c) located opposite the hinge edge (15d), and the door arrangement (12) The invention is characterized in that the door (14) includes a travel plane sensor (16) attached to a travel plane (15 a) of the door (14), the travel plane sensor (16) providing a scanning field covering at least a zone adjacent to the travel plane of the door between the hinge edge and the main closing edge (15 c), a detection zone (26) being defined within the scanning field, the travel plane sensor (16) including a motion detection unit (316) for determining the angular motion / angle position of the door (14), and during an opening operation of the door (14), the detection zone (26) includes a door zone (32) extending across most of the width of the door (14). During a closing operation of the door, the detection zone (26) includes an edge zone (36) extending beyond the door zone (32) toward the main closing edge (15 c), and when an object is detected within the edge zone (36), the door control (22) reopens or opens the door (14).

Description

Technical Field

[0001] The present invention relates to an automatic swing door described in the first part of claim 1 and a sensor for an automatic door described in the first part of claim 13.

Background Art

[0002] An automatic swing door is known to include a door that is controlled by a door control unit that opens and closes the door in response to an opening signal. The door control unit is also connected to door sensors attached to both sides of the door. When the door is opened, the surface of the door opposite to the door opening is monitored by a sensor attached thereto. When an object is detected within the detection zone of the sensor, a signal is output to the door control unit, and the door control unit stops the opening movement of the door. Usually, after the object has left the detection zone, the opening operation is resumed. When there is no longer an opening request, the door closes after a specific period of time has elapsed. Such measures can prevent a person who has entered the path of the door during the opening movement from hitting the door. When the door is closed, the surface of the door facing the door opening side is monitored by a sensor attached to the surface of the door facing the door opening side. If detected during the closing operation of the door, the door reopens. As a result, a detection signal is output from the sensor to the door control unit, and the closing movement is reversed to a reopening movement. By such an operation, a person can pass through a door that is already in the closed state without hitting the door. For such applications, for example, LZR (registered trademark) Flatscan SW of BEA is used.

[0003] Even if all these safety measures are taken, a situation can still occur where, at the main closing edge, which is the edge of the door opposite to the door hinge, a finger or the like is pinched between the door frame and the door of the automatic swing door or between two doors by the closing door.

Summary of the Invention

[0004] The object of the present invention is to improve the safety at the main closing edge of an automatic swing door so as to avoid an object, particularly a finger, from being pinched or collided at the main closing edge of the door.

[0005] The above problem is solved by the combination of the characteristic constituent elements of claim 1 and the constituent elements of the preceding part of the same claim.

[0006] Other advantageous embodiments of the present invention are described in the dependent claims.

[0007] In a known manner, an automatic swing door includes a door control unit and further includes a door arrangement body having a door. One side of the door is rotatably attached to a door frame portion to cover a door opening. The door control unit can usually control at least one door to open, close, reopen, and stop during its movement.

[0008] Furthermore, the door has a back surface facing the door opening side and a running surface facing the side opposite to the door opening. The door further has a hinge edge and a main closing edge opposite to the hinge edge. The door arrangement body includes a running surface sensor attached to the running surface of the door.

[0009] The running surface sensor is preferably attached closer to the hinge in the lateral direction. The running surface sensor provides a scanning field, which extends along the door in the direction of the main closing edge opposite to the hinge edge of the door. At least one detection zone is defined within the scanning field. The detection zone is a portion of interest in the infinitely extendable scanning field. The detection zone has a detection area, which is the projection of the detection zone onto the ground. Thus, the detection zone basically covers the volume above the detection area. The detection zone is preferably near the door or as close to the door as possible.

[0010] Within this detection zone, a door zone is defined so as to extend over most of the width of the door, particularly over more than 70%.

[0011] The sensor further includes a motion detection unit for determining the angular motion and / or angular position of the door.

[0012] It is known that information regarding the angular position of the door can be used to limit or reduce the detection zone of the scanning field, thereby avoiding false detections and spontaneous activations.

[0013] In the present invention, an edge zone of the detection zone of the in - progress surface sensor is defined within the detection zone. The edge zone extends beyond the door zone in the direction of the main closing edge. Preferably, the edge zone extends beyond the door. The automatic swing door is preferably configured such that when an object is detected within the above - mentioned edge zone during the closing movement of the door, the door control unit re - opens or opens the door. The automatic swing door is further configured to stop the movement of the door when an object is detected within the door zone during the opening movement. Preferably, the automatic swing door can additionally be configured such that it does not open when an object is detected within the door zone.

[0014] Thereby, an object approaching the in - progress surface of the detection target of the door can be detected, and by enabling such detection, it is possible to prevent a person or part of a person from being pinched, for example, between the door and the door frame at the main closing edge.

[0015] Preferably, the edge zone is monitored only during the closing movement of the door within a predetermined angular range. This range is preferably from an opening angle of 45° to the fully closed position of the door.

[0016] In particular, during the closing operation of the door, even if an object is detected within the door zone of the in - progress surface sensor, it has no effect on the behavior of the door. This may be based on, for example, the door control unit ignoring the transmitted stop signal, or the sensor ignoring detection events within the door zone during the closing of the door.

[0017] Since the edge zone to be monitored only includes the outer part of the detection zone, and the angular range can be adjusted so that monitoring starts from an angular position where the door is partially closed, for example, starting from a semi-closed position and continuing to the fully closed position, only situations with a potential risk will be covered. Therefore, it is possible to significantly maintain the continuous operation of the door while improving safety.

[0018] The shape of the edge zone can be adjusted according to the position of the door, especially in a position close to the fully closed door position. By such adjustment, for example, false detection information can be prevented by looking at the door frame part. Thereby, the malfunction of the reopening door signal is prevented.

[0019] In another embodiment of the present invention, the door arrangement body can be provided with a rear sensor attached to the back surface of the door.

[0020] The rear sensor has a door zone and preferably also includes an edge zone subsequent to it, which is an edge zone near the main closing edge of the door. In the standard setting, when an object is detected within the door zone and the edge zone during the door closing operation, the door control unit reopens the door. Preferably, the automatic door can additionally be configured so that the door does not close when an object is detected within the door zone.

[0021] Preferably, the monitoring of the edge zone can be switched off, or the door control unit ignores the reopening door signal when the door is in the closed position, so that the reopening of the door is not accidentally triggered by the approach of the door in this state. The monitoring of the edge zone can be switched off immediately when the door is fully closed or after a specific time has elapsed after the door is closed.

[0022] The forward surface sensor or the rear sensor can determine that the door is in the closed position by receiving information from the door control unit.

[0023] The angular position / angular movement of the door can also be determined by a movement and / or position detector, in particular a gyroscope. In this case, the movement detection unit comprises a movement and / or position detector, in particular a gyroscope. The advantage of such a configuration is that the sensor can obtain information about the door position itself without the need to communicate with external resources.

[0024] The front sensor and the rear sensor comprise a door control unit interface for transmitting an action to the door control unit. Preferably, the door control unit interface is configured to be able to transmit three different actions to the door control unit. The above actions are in particular opening the door, reopening the door and stopping. The front sensor and the rear sensor can be connected in parallel to the door control unit.

[0025] In another advantageous embodiment of the present invention, the rear sensor and the front sensor are connected via a communication bus, and only the rear sensor or only the front sensor is connected to the door control unit via the door control unit interface to transmit each signal to the door control unit.

[0026] By performing communication between the front sensor and the rear sensor as described above, redundant use of components such as a movement and / or position detector becomes possible. Thereby, the signal received by the movement and / or position detector can be verified.

[0027] The door control unit interface of the front sensor and / or the rear sensor can comprise three output ports, and these three output ports are each preferably connected to each corresponding input port of the door control unit via individual wiring. Each output port is used to transmit a specific command to the door control unit. The output port can comprise a relay, and by switching the relay, a specific function in the door control unit can be triggered.

[0028] Preferably, the rear sensor and the front sensor are connected in a master / slave architecture, and preferably, the sensor acting as the master is connected to the door control unit.

[0029] With such a configuration, only one wiring from one sensor to the door control unit can be provided, eliminating the need to provide parallel wiring for both sensors in order for the door control unit to provide all necessary functions. In the case of a master / slave architecture, at least one of the sensors needs to be configured correspondingly to transmit all necessary information to the door control unit. In the case of a standard door control unit, the output port, which is an electronic relay, is connected to the door control unit to transmit a "stop" signal, an "open door" signal, and a "reopen door" signal to the door control unit.

[0030] In another improved form of the present invention, the sensor includes a scanning unit, and the scanning unit includes a laser scanner that operates based on the propagation time principle. Preferably, the laser scanner is a scanner with a rotating mirror, and this rotating mirror has a plurality of facets that deflect the emitted light pulse and the reflected light pulse. Such a scanner scans along at least one scanning curtain per facet sweep. Preferably, the plurality of facets are inclined with respect to the rotation axis, so that the scanner scans a plurality of inclined curtains. With such an arrangement, the detection area has a certain depth in a direction perpendicular to the door. With the above arrangement, it becomes possible to scan a three-dimensional detection zone.

[0031] Due to the depth of the detection zone as described above, the edge zone can be extended further beyond the main closing edge without interference from the door handle. If the door handle interferes with the edge zone, it can cause a shadow phenomenon in one curtain. When the shadow phenomenon occurs, an object next to the main closing edge of the door becomes invisible to the scanner.

[0032] In another aspect of the present invention, the shape of the edge zone is substantially curved. With this curved shape, the area of the edge zone can be statically maximized. If it is not in a curved shape, for example, in order to prevent interference by a wall or the like, the shape of the area of the edge zone has to be adjusted constantly.

[0033] Another aspect of the present invention relates to an automatic swing door including the above-described door arrangement body and a second door arrangement body. The second door arrangement body includes a rear sensor and a running surface sensor, and both sensors are attached to the door as described above.

[0034] Preferably, the second door arrangement body and the first door arrangement body operate asynchronously. During the closing movement of the door, the first door follows the second door. In such a case, the second door reaches the closed position before the first door.

[0035] When the first door arrangement body and the second door arrangement body operate synchronously, both have a configuration similar to the door arrangement body in the case where there is one such door arrangement body.

[0036] In synchronous operation, both door arrangement bodies close symmetrically. In that case, the first door and the second door reach the closed position simultaneously.

[0037] The difference from the first door arrangement body is that the second door arrangement body has a different definition of the edge zone of the running surface sensor and the rear sensor. When an object is detected in the edge zone with the second door in the closed state, the door opens.

[0038] Therefore, the rear sensor and the running surface sensor preferably include a first output port for triggering the re-opening function, a second output port for triggering the stop function, and a third output port for triggering the opening function for opening the door.

[0039] The sensor can include a door state detection unit. The door state detection unit can generate a clear open door state signal, for example, when the other door is not closed, and / or can generate a clear closed door state signal when the door is completely closed. When both doors are closed, the automatic swing door is considered to be completely closed.

[0040] The door state detection unit can be provided with a connection part to the door control unit. Through this connection part, the door state detection unit can identify the door state by evaluating the position or state of the door leaf transmitted from the door control unit, thereby grasping when both door leaves will close.

[0041] Alternatively, by extending the detection zone beyond the edge zone in the direction of the other door leaf, a clear door-opening state signal can be generated. This additional zone can extend about the width of the door leaf. For example, when a specific change in the detection event occurs in this additional zone, it is presumed that the door is in the open state.

[0042] Preferably, when the edge zone of the advancing surface sensor and / or the rear sensor attached to the second door leaf is activated, for example, when the door state detection unit outputs a door-opening state signal or stops outputting a door-closed state signal in response to the opening of the first door leaf and the like.

[0043] When using a timer to turn off the edge zone after the door is closed, the timer can be reset when the door state detection unit determines a clear door-opening state signal.

[0044] When closing the door, in order to output a stop signal, a door zone can be set on the side of the edge zone of the advancing surface sensor, or the door zone can be deactivated. When opening the door, the door zone can be set to trigger a stop signal to the door control unit. Preferably, the automatic door can be additionally configured so that the door does not open when an object is detected within the door zone. During door opening, the edge zone of the advancing surface sensor can be deactivated.

[0045] When the automatic swing door has two door arrangements, it is useful to delay turning off the monitoring of the edge zone. When turning off with a delay, the automatic swing door issues an opening signal when a detection event occurs within the edge zone of the rear sensor of the second door and / or within the edge zone of the traveling surface sensor, and at least the door to which the rear sensor and / or the traveling surface sensor is attached can be configured to open from the closed position.

[0046] Turning off with a delay can be achieved by starting a timer when the first door attempting to close reaches the closed position.

[0047] When detected within the edge zone when the door is in the closed position, the rear sensor and / or the traveling surface sensor can output an opening signal.

[0048] When closing the door, when an object is detected within the door zone, preferably the rear sensor is configured to output a re-opening signal, and this door zone can overlap with the edge zone. When in the closed position, when detected within the edge zone, the rear sensor can output an opening signal, the door zone becomes inactive while in the closed position, and / or the door control unit can ignore the signal output by the sensor in such a case.

[0049] The rear sensor facing the door opening side has an edge zone within its detection zone, and this edge zone extends beyond the door, particularly beyond the main closing edge of the door. This edge zone is activated until the first door reaches the closed position. When an object is detected within this edge zone during closing, the door re-opens. In the closed position, the entire door re-opens.

[0050] In another aspect of the present invention, the shape of the edge zone is substantially curved. With this curved shape, the edge zone can be statically maximized. Without a curved shape, in order to prevent being obstructed by the other door, the shape of the edge zone would have to be adjusted constantly.

[0051] Preferably, there is a relationship of movement between two doors, and this relationship can be realized by the connection between two door control units. This relationship is such that when an object is detected only by one door arrangement body, both door arrangement bodies can be opened simultaneously.

[0052] On the other hand, the present invention relates to a sensor that can generate a scanning field for monitoring a detection zone having a certain width. The sensor is provided with a door control unit interface that can be connected to an input port of the door control unit.

[0053] The sensor is provided with a scanning unit, and the scanning unit is provided with a laser scanner that emits optical pulses, and these optical pulses are reflected by an object in the scanning field. The sensor further includes a detection evaluation unit that evaluates the received pulses based on the propagation time principle. The laser scanner is provided with a rotating mirror for deflecting the emitted pulses, and the rotating mirror has at least two facets, namely a first facet having a first inclination that generates a first curtain and a second facet having a second inclination that generates a second curtain. The basic operating principle of such a laser scanner is considered to be known to those skilled in the art and is described, for example, in European Patent Application Publication No. 1832866.

[0054] The above-mentioned facets have different inclinations with respect to the rotation axis of the mirror. The optical pulses are deflected by the mirror facets, and in one facet sweep, the pulses sent along one mirror facet generate one curtain. Facet sweep is a series of pulses sent to the same facet while the mirror rotates at a certain facet rotation angle. The facet rotation angle is the angle between the start angle position, which is the earliest time when the pulses can be completely deflected at the facet to contribute to the establishment of the scanning field, and the end angle position, which is the latest time when the pulses can be completely deflected at the facet.

[0055] The predetermined facet rotation angle depends on the number of facets of the mirror.

[0056] An object of the present invention is to provide a safety sensor having a plurality of curtains, and to achieve high speed and high resolution of the response time of the sensor. Further, in order to make the sensor easily attachable to a swing door, it is also an object to make the sensor relatively small.

[0057] In the present invention, the detection determination unit is configured to perform a first evaluation step of evaluating a first set of measurement results of the pulses. At least a part of the first set of measurement results is accumulated by at least two facet sweeps, and the transmission of the pulses is triggered to shift a plurality of pulses with respect to the mirror angular position so as to shift the deflection angle in a plurality of consecutive facet sweeps. The first set of measurement results becomes the "high resolution" part of the detection zone.

[0058] The determination unit is configured to determine whether or not an object exists in the high resolution part of the detection zone based on the first set of measurement results. The high resolution zone is particularly a virtual curtain in which a plurality of physical curtains with equal facet angles are superimposed more or less. With such a configuration, in the above high resolution zone, a small object such as a finger can be detected.

[0059] The detection determination unit is further configured to perform a second evaluation step of evaluating a second set of measurement results including the measurement results of only one facet sweep of the second facet.

[0060] The determination unit determines whether or not an object exists in the detection zone of the second curtain based on the second set of measurement results. As a result, the response time of the sensor after only one facet sweep can be increased, so that safety measures can be taken as quickly as possible in relation to the rotation speed of the mirror.

[0061] With the above-described solution means, it becomes unnecessary to add a pulse to improve the resolution in a specific zone, thereby eliminating the need to add separate measures regarding heat dissipation and enabling the overall size of the sensor to be maintained relatively small.

[0062] The above plurality of pulses are preferably composed mainly of the pulses of the second facet sweep.

[0063] Preferably, the first set of measurement results includes all the measurements of subsequent facet sweeps. Thereby, a higher resolution evaluation is achieved over the entire virtual first curtain.

[0064] In another aspect of the present invention, the first set of measurement results is obtained by accumulating the results of pulses deflected by the first facet in at least two consecutive facet sweeps of the first facet. With the apparatus of this embodiment, it is possible to increase the number of facets with different inclinations with a small size of the mirror. This is because only one facet is required per curtain.

[0065] In another embodiment, the mirror can have a third facet whose inclination is substantially equal to that of the first facet. The first set of measurement results is obtained by accumulating the measurement results in the first facet sweep and the third facet sweep. Thereby, the resolution can be further improved and the response time of the sensor can be increased.

[0066] Advantageously, the first and second curtains are inclined with respect to the vertical plane at the mounting position. The inclination angle of the first curtain is smaller than the inclination angle of the second curtain. In particular, the inclination of the first facet with respect to the rotation axis of the mirror is smaller than the inclination of the second facet.

[0067] In the above configuration, the first curtain closest to the door is evaluated based on the first set of measurement results, while the second curtain farther from the next door is not evaluated by the first set of measurement results. In this case, a person must pass through the second curtain with a high response speed before reaching the first curtain with high resolution. Such a configuration provides high overall safety.

[0068] In another embodiment of the present invention, the number of pulses in the first curtain can be made larger than the number of pulses in the second curtain. Thereby, the total number of pulses per rotation can be maintained small, the thermal influence can be suppressed small, and the technical realization can be made easier.

[0069] Advantageously, the mirror can have third and fourth facets with an inclination angle with respect to the rotation axis larger than those of the first and second facets, and preferably, the above third and fourth facets of the mirror form a curtain with a lower resolution than the second curtain in the direction away from the door. Thereby, within a detection zone having a certain depth, the resistance to ambient conditions can be improved.

[0070] The sensor further includes a motion detection unit for obtaining the angular position and the angular motion direction. This enables coordination of the detection results regarding the sensor position, which is important when using the sensor in a swing door. Preferably, the motion detection unit includes a motion and / or position detector.

[0071] In another advantageous embodiment, the sensor further includes a detection determination unit for defining a detection zone within the scanning field, and when an object is detected within the detection zone, a specific output can be performed at the above output port. The monitored detection zone includes at least two different consecutive detection zones in the width direction, and separate ports are activated depending on the detection in a specific zone, the angular position of the door, and the motion direction of the door.

[0072] The detection zone is divided into at least two zones, which are divided in the width direction into a door zone that is the first zone and an edge zone that is the next second zone.

[0073] In another improved form of the present invention, the first curtain monitors the edge zone that is the second zone, and the second curtain monitors the door zone that is the first zone. In this embodiment, a plurality of laterally continuous zones can be monitored with different resolutions. By monitoring the door zone and the edge zone of the swing door as described above, the immunity in the door zone becomes higher than the immunity in the edge zone. Thereby, small objects can be detected in the edge zone, and spurious disturbances in the larger door zone can be avoided.

[0074] The detection decision unit determines what output information should be transmitted to the door control unit and transmits a corresponding command to the door control unit interface.

[0075] Preferably, the detection decision unit has a first configuration setting, and the first configuration setting actively sets the first output information based on a detection event within the edge zone when the position evaluation unit detects the movement direction in the door closing direction. The second output information is actively set based on a detection event within the door zone when the position evaluation unit detects the movement direction in the door opening direction of the door. Additionally, a stop signal can be output while the door is fully closed. Accordingly, the output information is transferred by the door control unit.

[0076] The detection decision unit has a second configuration setting, and the second configuration setting actively sets third output information (open) based on a detection event within the edge zone when the motion detection unit determines that there is no motion and the position is at the closed position. Additionally, a stop signal can be output based on a detection event within the door zone while the door is fully closed. During door closing, the first output information is actively set based on a detection event within the edge zone. In such a case, the third output information can additionally be actively set. The second output information is actively set based on a detection event within the door zone when the position evaluation unit detects a motion direction in the door opening direction. Additionally, the second output information can be triggered based on a detection event within the door zone while the door is fully closed. Thereby, the door is prevented from opening.

[0077] The detection decision unit has a third configuration setting, and the third configuration setting actively sets the first output information based on a detection within the edge zone or the door zone when the position evaluation unit detects a motion direction in the door closing direction. Preferably, when the position evaluation unit determines that the door is fully opened, the first output information can be actively set based on a detection event within the door zone to output a signal for reopening the door.

[0078] The detection decision unit has a fourth configuration setting. When the position evaluation unit detects that there is no movement and the position is the closed position, the fourth configuration setting actively sets the third output information (open) based on the detection within the edge zone. When the position evaluation unit detects the movement direction of the sensor in the closing door direction, the first output information is actively set based on the detection within the edge zone or the door zone. In such a case, the third output information can additionally be actively set. Preferably, when the position evaluation unit determines that the door is fully opened, a reopening door signal is output based on the detection event within the door zone.

[0079] In another improved form of the present invention, the door control unit interface includes three individual output ports that can be connected to a standard door control unit by individual wiring. By operating the first, second, and third output ports, the first, second, and third output information is output. Such output ports are generally configured as switches and preferably configured as electronic relays. Thereby, the sensor can be connected to a standard swing door control unit.

[0080] In another embodiment of the present invention, the second configuration and the third configuration can additionally provide for the deactivation of the edge zone after the timer expires. In particular, after the sensor receives a "closed state" position signal, a timer for actively maintaining the edge zone starts. Preferably, the above configuration is set to activate the edge zone of the advancing surface sensor and / or the rear sensor attached to the second door when, for example, the door state detection unit outputs an open door state signal or stops outputting a closed door state signal in response to the opening of the first door.

[0081] The timer can be reset when the door decision unit outputs an open door state signal or unless a closed door state signal is received.

[0082] Advantageously, the detection zone can be extended to detect whether the other door is in motion at the closed door position, enabling door state determination. Thereby, the timer can be reset if such a signal is detected, or the edge zone can be activated using the timer.

[0083] The four sensors described above can be easily attached to a two-leaf automatic swing door, thereby reducing the risk of collision between the two doors of the automatic swing door. Reading the following description with reference to the embodiments shown in the drawings will clarify further advantages, configurations, and possible uses of the present invention.

[0084] In another advantageous embodiment, the present invention comprises a detection decision unit, which is set to execute a detection event when an object equal to or larger than the door zone size in the door zone and equal to or larger than the edge zone size in the edge zone is detected. Preferably, the edge zone size is smaller than the door zone size.

[0085] In the above configuration, the sensitivity within the door zone is lower than the sensitivity within the edge zone.

[0086] Thereby, in the edge zone, very small objects such as fingers can be recognized, and the door zone no longer detects such small objects, making it less susceptible to interference in most normal operations.

[0087] The sensor is configured as a laser scanner, which includes a rotating mirror having a plurality of, particularly four, facets inclined to each other, such that four scanning curtains are provided when the scanning pulse is deflected by the mirror facets. The scanning field obtained as described above is a three-dimensional scanning field, whereby the detection zone has a depth in a direction perpendicular to the door.

[0088] With the above configuration, a high physical detection resolution can be achieved, and a high level of immunity is provided. Another advantage related to monitoring the main closing edge of the door is that by using a plurality of curtains, since the door handle cannot block all the curtains, scanning problems caused by the door handle extending in the vertical direction along the door can be solved.

[0089] In the specification, claims, and drawings, terms described in the description of the reference signs and their reference signs are generally used.

Brief Description of the Drawings

[0090]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

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Figure 8

Embodiments for Carrying Out the Invention

[0091] FIG. 1 is a schematic top view of an automatic swing door 10 according to the present invention. The swing door includes a door arrangement body 12, and the door arrangement body 12 includes a door 14 and a traveling surface sensor 16 attached to a traveling surface 15a facing the side opposite to a door opening 20 in the door. The automatic door 10 includes a door control unit 22 for opening and closing the door.

[0092] Furthermore, the door arrangement body 12 includes a rear surface sensor 18 attached to the rear surface of the door 14. The traveling surface sensor 16 and the rear surface sensor 18 are attached near the upper end of the door 14 and at the hinge end 15d of the door, and provide a downward scanning field extending along the door 14 in the direction of the main closing edge 15c of the door 14. Therefore, the detection areas 26, 28 extend substantially along the door and have a certain depth in a direction perpendicular to the door 14. The detection area 26 of the traveling surface sensor 16 includes a door zone 32 and an edge zone 36. The door zone 32 covers most of the width of the door 12, and the edge zone 36 covers a zone that protrudes from the door zone 32 and protrudes from the main closing edge 15c in the direction of the main closing edge 15c in the detection area 26. The detection zone of the rear surface sensor 18 includes a door zone 42 and an edge zone 46.

[0093] The traveling surface sensor 16 and the rear surface sensor 18 are preferably connected to each other by bus communication using a master / slave architecture. The traveling surface sensor 16 is connected to the door control unit 22 via individual wiring.

[0094] As shown in FIG. 1, the edge zones 36, 46 become active during the door closing operation. When a detection event occurs within the edge zones 36, 46, it becomes a door reopening signal in the door control unit.

[0095] The forward surface sensor 16 and the rear surface sensor 18 are equipped with a motion detection unit in the form of a gyroscope to grasp the position of the door and the direction of movement of the door. As a result, the edge zone 36 is activated only in the last part of the closing movement so as not to adversely affect the overall behavior of the door. The edge zone 46 of the rear surface sensor 18 is also activated at this position. In this case, the action triggered as a result of a detection event occurring within the edge zone is not different from the action triggered when a detection event occurs within the door zone 42. In contrast, when a detection event occurs within the door zone 32 during the closing operation, it does not cause an action of the door 10, and when a detection event occurs within the edge zone 36, the door reopens.

[0096] The forward surface sensor 16 is provided with a plurality of output ports, and each output port is connected to a corresponding input port of the door control unit.

[0097] FIG. 2 shows the door during the closing operation before the position shown in FIG. 1. In this situation, since there is no risk of collision between the door frame portion 30 and the door 14, neither the forward surface sensor 16 nor the rear surface sensor 18 monitors its own edge zone. Therefore, a person standing beside the door 14 is presumed to be safe, and no safety measures are required by the door control unit 22.

[0098] FIG. 3 shows the door position during the closing operation after the position shown in FIG. 1. When the door 14 passes through the door frame portion 30, the edge zone 46 and, in some cases, the door zone 42 are adjusted so that the door frame portion 30 is not located within the detection zone and, thereby, no action is triggered during the closing of the door. This is achieved by detecting the frame portion during the teach-in process and ignoring this frame portion during operation so that the frame portion is not part of the detection zone. After the door 14 reaches the closed position, neither the stop action nor the reopening action at the closed position is executed by the door control unit.

[0099] During the door opening movement not shown in the drawings, the edge zone 46 is not monitored by the advancing surface sensor 16, nor is it monitored by the rear sensor 18.

[0100] FIG. 4 shows the automatic door 100 of the present invention provided with the first door arrangement 12, and the configuration of this first door arrangement 12 is basically the same as that described in the above-mentioned figures. In FIG. 4, the door during the closing operation is shown, and it is in a substantially closed position.

[0101] The door 100 in FIG. 4 also includes a second door arrangement 112 as an additional point for the case shown in FIG. 1. The second door arrangement 112 includes a door 114, on which an advancing surface sensor 116 and a rear sensor 118 are attached, and a door control unit 122 for operating the door 114 is also attached. The two door arrangements 14, 114 operate asynchronously such that when opening the door, the first door 14 opens earlier than the second door 114, and when closing the door, the second door 114 closes earlier than the first door 14.

[0102] The advancing surface sensor 116 has a detection zone 126, and the detection zone 126 includes a door zone 132. During the door opening operation of the door, the door zone 132 provides a stop signal. During the door closing operation, this stop signal is ignored by the door control unit 122. During the door closing operation, an edge zone 136 exists within the detection zone, and this edge zone 136 is located next to the door zone 132 in the direction of the main closing edge of the door 114. When a detection event occurs in this edge zone during the closing operation, the door reopens. Alternatively, it is also possible to reopen the door, that is, to reopen both doors, when a detection event occurs in the edge zone during the closing operation as described above.

[0103] Furthermore, the interface needs to be able to enable communication for activating the stop function and the reopening function of the door control unit during door closing. Therefore, the sensor connected to the door control unit is provided with a door control unit interface for transmitting three different actions to the door control unit 122.

[0104] The rear sensor 118 has a detection zone 128, and the detection zone 128 includes a door zone 142. When a detection event occurs within the door zone 142 while the door is closed, the door 114 or both doors 14, 114 reopen. Further, the detection zone 128 includes an edge zone 146, which is located next to the door zone 142 and extends beyond the door 114. When a detection event occurs within the edge zone 146 while the door is closed, the door 114 or both doors 14, 114 reopen.

[0105] After the door 114 is closed, the door reopening function is no longer executed by the door control unit 122. When a detection event occurs within the edge zones 136, 146 at the closed position, the door 100 opens.

[0106] FIG. 4 further shows a configuration in which a curved shape is provided for each zone, which is alternatively applicable.

[0107] FIG. 5 shows the situation during the closing of the automatic door 100 of FIG. 4. In this figure, the second door 114 is in a fully closed state, and the first door 14 is in a substantially closed state.

[0108] The advancing surface sensor 116 and / or the rear sensor 118 includes a closed position specifying unit capable of deriving whether the door 100 is fully closed. This closed position specifying unit can include a connection part for transmitting information on the closed position of the door between the door control units, or can include a connection part for transmitting the position of the door derived from a sensor attached to one door to the other door among the sensors of the plurality of doors.

[0109] After the second door 114 is closed, when a detection event occurs within the edge zone 136, the door opening process of the door 100 is activated. This behavior is maintained until the first door 14 also reaches the closed position. Therefore, the advancing surface sensor 116 includes a door control unit interface for enabling an "open door" action in the door control unit 122.

[0110] For the reasons described above, the rear sensor 118 includes a door control unit interface that enables the "door opening" action and the "re-opening" action in the door control unit 122. When individual wiring is provided between the door control unit and the sensor, the sensor preferably has three separate output ports.

[0111] In a preferred embodiment of the present invention, all sensors 16, 18, 116, 118 have the same components, and all sensors include a door control unit interface that outputs three separate output information.

[0112] FIG. 6 is a side view of the door arrangement of the previous figure. The sensor is configured as a laser scanner, and this laser scanner includes a rotating mirror having four facets inclined to each other, whereby four scanning curtains are provided when the scanning beam is deflected by the mirror facets. The scanning field is a three-dimensional scanning field, whereby the detection zone has a depth D in a direction perpendicular to the door.

[0113] Also, from FIG. 6, it can be seen that when the depth D of the scanning zone substantially coincides with at least the width of the door, the passage can be completely monitored while the door is in the open position. By monitoring the passage in the open position, it is possible to avoid triggering the closing process when an object exists within the detection zone, particularly within the door zone. This applies to both single-door applications and double-door applications. Therefore, unnecessary closing movements are prevented, and the efficiency of the door can be improved.

[0114] FIG. 7 is another side view of the door arrangement 12. In this figure, the sensor 16 is attached near the hinge at the upper end of the door 14. The scanning field extends in the vertical and horizontal directions. The main part of the scanning field indicated by the beam 200 (shown by a dashed line) extends in the direction of the main closing edge of the door. This side view shows the extent at the height of the monitoring space perpendicular to the detection zone 26.

[0115] FIG. 8 is a schematic diagram of a door sensor 300 according to the present invention. The door sensor 300 includes a scanning unit 308, and the scanning unit 308 includes a rotating mirror 310 that deflects a transmitted laser beam and / or an echo laser beam. The rotating mirror 310 has four facets with different inclinations, and each facet transmits or receives a beam. The beam is transmitted by a transmitting unit 311, and the echo beam is received by a receiving unit 312. The scanning unit further includes a detection determination unit 314.

[0116] The detection determination unit 314 determines the spatial position of an object depending on the propagation time until an echo of the transmitted pulse is received and the beam angle. The door sensor 300 further includes a door position and motion detection unit 316, and the door position and motion detection unit 316 can preferably be configured to include a gyroscope. Further, the door sensor 300 includes a door state detection unit 318 that can derive whether the door is fully closed. Assuming that all doors are in the closed position means that the door is fully closed.

[0117] The detection determination unit 314 is configured to set a signal depending on the information provided to the detection determination unit 314 by the motion detection unit 316 and the door state detection unit 318 according to the conditions described in the previous figures.

[0118] The door sensor 300 includes a door control unit interface 340 connected to the detection determination unit 314, and the detection determination unit 314 transmits the required output information to the door control unit interface 340.

[0119] In the present invention, the door control unit interface 340 includes at least three output ports 342, 344, 346, and these output ports 342, 344, 346 transmit a "re-open door" signal via the first output 342, transmit a "stop" signal via the second output 344, and transmit an "open door" signal via the third output 346.

Description of Reference Numerals

[0120] 10 Automatic swing door 12 Door placement body 14 Door 15a Forward face 15b Back face 15c Main closing edge part 15d Hinge end part 16 Forward face sensor 18 Back face sensor 20 Door opening 22 Door control unit 26 Detection zone 28 Detection zone 30 Door frame part 32 Door zone 36 Edge zone 42 Door zone 46 Edge zone 100 Automatic swing door 112 Door placement body 114 Door 116 Forward face sensor 118 Back face sensor 122 Door control unit 132 Door zone 142 Door zone 146 Edge zone 300 Door sensor 308 Scanning unit 311 Sending part 310 Rotating mirror 312 Receiving part 314 Detection decision unit 316 Motion detection unit 318 Door state detection unit 320 Facet 340 Door control unit interface 342 Output port 344 Output port 346 Output port

Claims

1. An automatic swing door (10, 100) comprising a door control unit (22, 122), further comprising a door placement body (12, 112) rotatably attached to a door frame portion (30), the door placement body (12, 112) includes a door (14, 114) having a back surface (15b) facing the door opening (20) side, a traveling surface (15a) facing the side opposite to the door opening (20), a hinge edge portion (15d), and a main closing edge portion (15c) located on the side opposite to the hinge edge portion (15d), the door placement body (12) includes a traveling surface sensor (16) attached to the traveling surface (15a) of the door (14), the traveling surface sensor (16) provides a scanning field that at least covers a zone adjacent to the traveling surface of the door between the hinge edge portion and the main closing edge portion (15c) of the door, a detection zone (26) is defined within the scanning field, the traveling surface sensor (16) includes a motion detection unit (316) for obtaining the angular motion / angle position of the door (14), during the door opening operation of the door (14), the detection zone (26) includes a door zone (32) extending over most of the width of the door (14), during the door closing operation of the door, the detection zone (26) includes an edge zone (36) extending beyond the door zone (32) in the direction of the main closing edge portion (15c). When an object is detected within the edge zone (36), the door control unit (22) reopens the door (14) or opens the door. An automatic swing door (10, 100) characterized by the above.

2. The door placement body (12) includes a back surface sensor (18) attached to the back surface (15b) of the door (14). The automatic swing door according to Claim 1.

3. The detection zone (28) of the back surface sensor (18) is an edge zone (46). When an object is detected within the edge zone (46), the edge zone (46) that reopens the door (14) and / or opens the door (10, 100) is included. The automatic swing door according to Claim 2.

4. The back surface sensors (18, 118) include a scanning unit that generates a three-dimensional scanning field and three-dimensional detection zones (26, 28, 126, 128). The automatic swing door according to Claim 2 or 3.

5. The forward surface sensor (16, 116) includes a scanning unit that generates a three-dimensional scanning field and three-dimensional detection zones (26, 28, 126, 128). The automatic swing door according to any one of claims 1 to 4.

6. The scanning unit is a laser scanner that establishes the scanning field by transmitting a plurality of laser pulses and evaluating the propagation time of the echoes. The automatic swing door according to claim 4 or 5.

7. The edge zone (36) of the detection zone (26) covers an area zone that extends laterally beyond the main closing edge (15c) of the door (14). The automatic swing door according to any one of claims 1 to 6.

8. A first door arrangement (12), a second door (14), and a second door arrangement (112) including a forward surface sensor (116) and / or a rear surface sensor (118). The automatic swing door according to any one of claims 1 to 7.

9. When the second door (114) is in the closed position, the forward surface sensor (116) and / or the rear surface sensor (118) are configured to output an open signal in response to detection within the edge zones (136, 146) when the first door (14) is not closed. The automatic swing door according to claim 8.

10. The first door arrangement (12) and the second door arrangement (112) operate asynchronously such that the second door (114) reaches the closed position before the first door (14). The automatic swing door according to claim 8 or 9.

11. The forward surface sensor (116) and / or the rear surface sensor (118) include a door state detection unit (318). The door further includes a detection determination unit (314) that defines the detection zone (26) within the scanning field. The door state detection unit (318) transmits an open door state signal to the detection determination unit (314) when at least one door is not in the closed position, and / or transmits a closed door state signal to the detection determination unit (314) when the door is closed. The automatic swing door according to claim 10.

12. The edge zone is activated when the door state detection unit (318) does not transmit an open door state signal and / or does not transmit a closed door state signal. The automatic swing door according to claim 11.

13. The front surface sensor (116) and / or the back surface sensor (118) are provided with a timer, the timer starts when the motion detection unit determines that the door (112) is in the closed position, ends after a predetermined time has elapsed, and when the timer ends, the edge zones (136, 146) are deactivated, The automatic swing door according to any one of claims 10 to 12.

14. A sensor (300) comprising a scanning unit (308) for generating a scanning field, the scanning unit (308) comprises a laser scanner (311, 312, 310) for emitting optical pulses that are evaluated according to the propagation time principle, the laser scanner comprises a rotating mirror (310), the rotating mirror (310) has at least two facets with different inclinations with respect to the rotation axis (R) of the rotating mirror (310), the optical pulses are deflected by the mirror facets (320), and while the mirror is rotating by a predetermined angle (facet sweep), a train of emitted pulses creates a curtain at the mirror facets, the sensor further comprises a door control unit interface (340) for providing information for triggering a plurality of different door functions in a door control unit, the sensor further comprises a detection decision unit (314) for defining detection zones (26, 28, 126, 128) within the scanning field, when an object is detected within the detection zones (26, 28, 126, 128), in the sensor (300) a specific output for triggering a specific door function is made at the door control unit interface (340), the detection decision unit (314) is configured to perform a first evaluation step of evaluating a first set of measurement results of pulse measurement results, at least a part of the first set of measurement results being accumulated by at least two facet sweeps, the emission of the pulses is triggered to shift a plurality of pulses with respect to the angular position of the mirror so as to shift the deflection angle in a plurality of consecutive facet sweeps, the detection decision unit is configured to perform a second evaluation step of evaluating a second set of measurement results comprising the measurement results of only one facet sweep of a second facet characterized sensor (300).

15. The first set of the measurement results is obtained by accumulating the results of the pulses deflected by the first facet in at least two consecutive facet sweeps of the first facet. The sensor according to claim 14.

16. The mirror (310) has a third facet with a substantially equal inclination to the first facet. The first set of the measurement results is obtained by accumulating the measurement results in the first facet sweep and the third facet sweep. The sensor according to claim 14 or 15.

17. It includes a motion detection unit (316) for obtaining the angular position and angular motion direction of the sensor. The sensor according to any one of claims 14 to 16.

18. The detection zone includes at least two different consecutive detection zones in the width direction, and an edge zone (36, 46, 136, 146) follows the door zone (32, 42, 132, 142). The sensor according to any one of claims 14 to 17.

19. The edge zone (36, 46, 136, 146) is evaluated using the first set of the measurement results, and the door zone (32, 42, 132, 142) is evaluated using the second set of the measurement results. The sensor according to claim 18.

20. The inclination of the first facet (320) with respect to the rotation axis of the mirror is smaller than the inclination of the second facet (321). The sensor according to any one of claims 14 to 19.

21. The door control unit interface (340) provides three different output information for triggering at least three different door functions. The sensor according to any one of claims 14 to 20.

22. Different output information is generated depending on the detection events at a specific zone, the angular position of the door, and the motion direction of the door. The sensor according to any one of claims 14 to 21.

23. The door control unit interface (340) includes three individual output ports (342, 344, 346), and the three individual output ports (342, 344, 346) can be connected to the input ports of the door control unit via a wired connection, especially an individual wired connection. The sensor according to any one of claims 14 to 22.

24. It includes a motion detection unit (316) for obtaining the angular position and angular motion direction of the sensor. The detection zone includes at least two different continuous detection zones in the width direction, and an edge zone (36, 46, 136, 146) follows after the door zone (32, 42, 132, 142). The detection determination unit (314) has a first configuration setting. The first configuration setting actively sets first output information based on detection within the edge zone (36) when the motion detection unit (316) detects a closing door motion direction, and actively sets second output information based on a detection event within the door zone (32) when the motion detection unit (316) detects an opening door motion direction. The sensor according to any one of claims 14 to 17 and claims 19 to 23.

25. The detection determination unit (314) has a second configuration setting. The second configuration setting actively sets third output information (open) based on a detection event within the edge zone (136) when the motion detection unit (316) determines that there is no motion direction and the position is the closed door position. The first output information is actively set while the motion detection unit (316) determines that the motion direction is the closing door direction. The second output information is actively set based on detection within the door zone (132) when the motion detection unit (316) detects an opening door motion direction. The sensor according to claim 24.

26. The detection determination unit (314) has a third configuration setting, and the third configuration setting actively sets the first output information based on detection within the edge zone (46) or within the door zone (42) when the motion detection unit (316) detects a closing door motion direction. The sensor according to claim 24 or 25.

27. The detection determination unit (314) has a fourth configuration setting. The fourth configuration setting is to actively set the third output information (open) based on the detection within the edge zone (146) when the motion detection unit (316) detects that the motion direction is absent and the position is the closed door position. The first output information is actively set based on a detection event within the edge zone (146) or within the door zone (142) when the motion detection unit (316) detects a motion direction in the closing door direction. The sensor according to any one of claims 24 to 26.

28. A door state detection unit (318) that transmits an open door state signal to the detection determination unit (314) when at least one door is in the open door position and / or transmits a closed door state signal to the detection determination unit (314) when the door is closed. The sensor according to claim 27.

29. The detection determination unit (314) includes a timer. The timer starts when the motion detection unit (316) determines that the door (112) is in the closed door position, ends after a predetermined time has elapsed, and the edge zones (136, 146) are deactivated when the timer ends. The sensor according to any one of claims 24 to 27.

30. The detection determination unit (314) includes a timer. The timer starts when the motion detection unit (316) determines that the door (112) is in the closed door position, ends after a predetermined time has elapsed, the edge zones (136, 146) are deactivated when the timer ends, and the timer restarts when the door state detection unit (318) does not transmit an open door state signal and / or does not transmit a closed door state signal. When the door state detection unit (318) does not transmit an open door state signal and / or does not transmit a closed door state signal, the timer restarts. The sensor according to claim 28.

31. A door state detection unit (318) that transmits an open door state signal to the detection determination unit (314) when at least one door is in the open door position and / or transmits a closed door state signal to the detection determination unit (314) when the door is closed. The detection determination unit has a configuration setting in which the edge zone is activated when the door state detection unit (318) does not transmit an open door state signal and / or does not transmit a closed door state signal. The sensor according to claim 27.

32. An automatic swing door according to any one of claims 1 to 13, wherein the oncoming surface sensor has a configuration according to any one of claims 14 to 31.

Images