DE102008044990A1 - Method for controlling or monitoring drivable wing, particularly in form of rotating wing, sliding door wing, wing of folding door and window, involves projecting predetermined space element or opening wing in monitoring and releasing area - Google Patents

Abstract

The method involves projecting a predetermined space element or an opening wing (9) in the monitoring and releasing area. The predetermined space element or the opening wing operates a switchover in the evaluation and control device or in the sensor device for avoiding a collision-detection, during the opening process of the wing. An independent claim is included for a device for controlling or monitoring a drivable wing, particularly in the form of a rotating wing, a sliding door wing, a wing of a folding door and a window during the opening movement of the wing.

Description

The The invention relates to a method and a device for driving and / or monitoring a motor-driven wing during the opening phase according to the generic term of claim 1 or 10.

such Method and associated monitoring devices the closing movement of a wing, in particular a sliding door wing but also a rotary wing, a window or the like are well known. As is customary with such door drives Using sensors as monitoring and detection means, to monitor the passage area of a door and the door prefers automatically in opening or closed position to adjust.

When Sensors are basically motion detectors Consider that can work, for example, on the Doppler principle. These motion detectors often work on the basis of Infrared emitters, although ultrasonic sensors possible would.

Further are sensors in the manner of "status detectors" known which can evaluate, for example, a passive infrared radiation. By measuring the output in the monitoring and tripping area Radiation through the sensors and detectors can be dependent the changing intensity of the radiation a corresponding evaluation and control of the opening and doors to be closed.

After all but are also so-called presence detectors, in particular for Securing pinch and shear edges known. The simplest kind such detectors is for example a light barrier.

About that Finally, however, are also laser sensors or image recognition sensors (CCD cameras) etc. can be found.

With such known methods and devices a particularly automatically driven door system, d. H. especially a sliding door system, but as well a rotary wing system or a folding door system so monitor and control them via the sensors a person is detected approaching the door, to pivot the door device in the open position. Is detected by the sensor that the person moving the Door area leaves again, the relevant door can be redirected to their closing position. Thereby should a secure opening and closing be accomplished, without the door with a door area Person collides.

Besides but also methods and devices have already become known, in which, for example, a sliding door not the main edge of the leading edge in the closing direction Wing, but the leading in the opening direction Side closing edge to be checked with should. This is to avoid a collision with a person which is in the area of opening during the movement of the wing leading secondary edge is located. Can do this for example, also stationary mounted on a wall area sensors or sensor devices may be provided. In question is also possible a follower mounted on the door itself Sensor device.

So is already out of the DE 196 53 026 A1 to derive a method for operating an automatic sliding door system with at least one sliding leaf as known, which is drivable by means of a driven by an electronic control device drive means. According to this prior publication, a monitoring area is provided, which is passed when opening the sliding sash (ie not when closing) of a vertical side closing edge of the sash. This area is now to be monitored by a separately provided for this purpose sensor device. If, in the case of an opening sliding door leaf, a person is in an area which is run over by the secondary closing edge, a sensor device provided here would deliver a corresponding obstacle signal to the control device in order to carry out a corresponding modified sequence control (for example, a further opening movement of the sliding door leaf) decelerate, stop and / or even reverse at least for a certain distance in the closing direction).

According to one Another embodiment should also swept by a rotary wing Partial circular area to be monitored Again, avoid a collision with a person. To one to carry out a corresponding unambiguous evaluation, according to this Pre-publication. Image capture device used.

task The present invention is an improved process as well an improved device for controlling and / or monitoring a to create motor-driven wing.

The Task will be with respect to the method according to in claim 1 and with respect to the device accordingly the features specified in claim 10. advantageous Embodiments of the invention are specified in the subclaims.

By the present invention, the Handling and security area of a driven wing, regardless of whether it is a movable along an adjustment sliding door wing or a pivoting rotary wing of a rotary wing system or a folding door system or the like, again improved.

in the The scope of the inventive solution it is now possible, even that to a supervising Door area far away area, d. H. in the opening direction wing, to monitor more accurately and accurately and to better avoid switching errors.

Because when opening a wing, this can be close given space elements, for example, in the vicinity a side wall bounding the space laterally (ie next to the Door), near one beside the door Column in the room, an object located there for example in the form of a plant, a well, etc. Will now a wing moved in the open position or a rotary wing pivoted in the open position, so it is possible that the leading in the opening direction Side of the door near a building-side object, such as a wall, a Column, etc. passes and the sensor device - in particular then, if they are traveling on the door is arranged - now this object "detected". Here there is the danger that the so-called "object detected" as a person approaching the door interprets will, with the result that the further door opening process changed, for example, braked or stopped, the door may turn at least to some extent is reversed in the closed position, etc.

By the present invention is thus ensured that predetermined Room elements clearly recognized and not as (possibly) in the surveillance area resting or passing through the surveillance area moving persons can be interpreted. As part of the Invention is thus the monitoring area in the opening direction the wing so adapted and / or changed and / or the evaluation changed so that in itself in the surveillance area Room element not erroneously referred to as a "zu protective person "is interpreted with the Result that the opening movement of the wing too stopped early, slowed or the opening Wings even at least for a degree in Closed position is reversed erroneously.

The Solution according to the invention can be used both in stationary sensor devices as well as sensor devices be realized, which mounted on a wing ride are.

is For example, on a rotary wing, a sensor device with the rotary wing mitverschwenkbar on the opening direction mounted side, so can be ensured within the scope of the invention be that one in the sensor area, ie in the monitoring and tripping area getting fixed space object (eg a side wall of the room) does not cause that generates a collision avoidance signal and / or a corresponding Collision avoidance reversal is made, for example slowing down the door, slowing down, stopping, closing reverse, etc. The same is true even if, for example the corresponding sensor device fixed to a wall, z. B. a transverse to the door transverse wall or is mounted in the other room object. Because even in this case could which approach the space objects and thus in the sensor or the monitoring and triggering area of the Sensor device reaching wings wrongly to be interpreted as a person to be protected the wing again according to a predetermined collision avoidance circuit change or redirect. The invention thus ensures that into the sensor and thus into the monitoring and tripping area on a wing a space object (for example, wall) fixedly mounted sensor device not the only person moving collision protection avoidance circuit sequence triggers.

When Particularly favorable, the invention proves a Rotary vane drive, especially when the rotary vane drive from its closed position in the open position not only to a maximum of 180 ° is opened (if namely the wall in extension of the door passage straight on), but if, for example next to the door extends an angular transverse wall, so the door is only up to approximate Parallel position can be opened to the adjacent transverse wall can. Are in this case on the transverse wall fixed sensor devices and / or on the door moving sensor devices provided, it would always lead to a false trip or misinterpretation, namely, when on the Door wing mitbewegten sensors now the fixed wall in the "detection area" of the sensor device passes and / or fixed sensors now the opening Door leaves in the detection area of this example on the wall mounted sensor device.

• – der Erfassungsbereich bevorzugt von der Öffnungslage der Tür abhängig lageverändert und/oder verkleinert wird, dass die erwähnte Fehldetektion unterbleibt, und/oder
• – bevorzugt von der Öffnungsstellung des Flügels abhängig die ortsabhängig vorgegebenen Raumelemente insbesondere in einem Teach-In-Verfahren erfasst und diese Signale abgespeichert werden. Gelangen somit Raumelemente oder die sich öffnende Tür in den Erfassungsbereich der Sensoreinrichtung, so sind diese Daten als ”zulässig” charakterisiert und führen somit nicht zu einer Fehlinterpretation bezüglich des weiteren an sich gewünschten Öffnungsvorganges des Flügels. Befinden sich tatsächlich nicht Raumelemente, sondern Personen (gegebenenfalls nur temporär) in diesem überwachten Bereich, kann eine folgerichtige Auswertung vorgenommen und der weitere Öffnungsvorgang zum Schutz dieser Person unterbunden oder die sich öffnende Flügeltür mehr oder weniger schnell oder langsam abgebremst oder teilweise sogar zumindest über ein gewisses Wegstück in Schließstellung umgesteuert werden.

According to the invention it is now provided that

• - The detection range is preferably dependent on the position of the door opening and / or reduced that the mentioned misdetection is omitted, and / or
• - Preferably from the opening position of the wing depending on the space-dependent predetermined spatial elements detected in particular in a teach-in process and these signals are stored. Thus, if space elements or the opening door in the detection range of the sensor device, so these data are characterized as "permissible" and thus do not lead to a misinterpretation with respect to the other desired opening operation of the wing itself. If there are not room elements, but persons (possibly only temporarily) in this monitored area, a logical evaluation can be carried out and the further opening process can be prevented to protect this person or the opening hinged door slowed down more or less quickly or slowly or even at least over one certain way piece to be reversed in the closed position.

When the invention proves to be particularly advantageous if, for example the sensor device a plurality of juxtaposed sensors includes, then provided according to the invention is that in particular depending on the opening stroke and / or the opening position of the opening area to be monitored a wing, the individual sensors in succession reduced their individual monitoring area and / or be switched off, in such a way that thereby a per se occurring detection of a in the area to be monitored is omitted in itself provided space object.

The Invention is particularly advantageous in sensors use, for example, connected via a CAN bus are. This allows each sensor separately, so individually Interrogate. In addition, each sensor can be controlled individually be that its sensor field dis cret or continuously reduced and at the end completely shut down or if necessary without prior reduction the sensor field is switched off directly, as the corresponding Sensor is hidden.

at a teach-in procedure can be the door drive corresponding Communicate information from each individual sensor when the door is open when opening responds and when the corresponding sensor or the sensor field is switched off or hidden, reduces etc. shall be. When you open it can not only the sensors are individually switched off or hidden, but it also makes sure that the last one Sensor almost until the door completely opens stay active. This allows a gapless Protection during the entire opening of the wing.

The System not only works with triangulation sensors, but with various other according to the state of the art basically known sensors, for example, with distance measurement sensors or a laser sensor or scanner.

Especially when using a laser sensor, a light beam can be generated, the example of prism or mirror devices is permanently deflected so that the laser beam to be monitored Scans area.

Here it is now possible the surveillance area depending on the opening movement and opening position to change the wing or to reduce or but at least the evaluation to change so that the opening movement of a Wing not because of a per se lying in the sensor area Space element is stopped too soon. Because in such Cases, the door should be up to his open maximum opening position easily can be. A room element located in the sensor area should not be detected as a "protected person" and can be interpreted.

Although according to the DE 198 04 631 C2 It has already been proposed to monitor the area swept over by a closing wing and to store the basic data that can be determined in this context. This opens up the possibility of comparing the respectively currently measured position-dependent and / or speed-dependent sensor data, data patterns and / or signal curves with those of the respectively closed position and / or closing movement of the at least one blade corresponding to previously stored basic data, in order then to depend on the known qualitative and / or quantitative deviation of the respectively currently measured signal data from the (the respective closed position and / or the closing movement of the at least one wing corresponding stored) stored basic data to make a corresponding deviating sequential circuit, for example, a change in the opening direction of the wing. Thus, in contrast to the invention, this prior art teaching deals only with the monitoring of a wing during the closing phase.

Also the DE 198 04 573 C2 deals only with the monitoring of a wing during the closing movement (thus again not with the monitoring of the opening movement of a wing, to which the present invention makes reference). So that beats DE 198 04 573 C2 before, at the beginning or during the closing of a wing (ie, as mentioned, not during the opening process of the wing) in a designated sensor device and / or the evaluation and / or control stage to make a switch so, that is switched from a large or initial monitoring and triggering area and / or a higher sensitivity to a smaller and / or location changed monitoring and triggering range or a lower sensitivity such that during the closing of the wing a self-triggering and switching the wing in the open position is prevented.

in the In contrast, the present invention is concerned with a Possibility to increase security is not during the closing process of a grand piano, but during the opening phase of a grand piano, for which the above-mentioned prior publications no Have given suggestions. While in the prior art the previously provided sensors for monitoring and controlling the closing movement of the door of However, these sensors were the most dangerous Part of the door opening largely useless. this will changed in the context of the present invention.

The Invention will be described below with reference to embodiments explained in more detail. In detail:

1 a schematic horizontal plan view of a room with two mutually perpendicular walls and located during the opening process rotary vane;

2 : a corresponding representation to 1 in which, however, the rotary wing is already opened further;

3 : one too 1 and 2 deviating embodiment, with a swing door system, in which a sensor device is used with a plurality of sensors that differ from the 1 and 2 not on the wing itself, but on a fixed adjacent space element (wall) are mounted;

4 a corresponding plan view of a horizontal sectional view using a sliding door system, the sliding door wing moves into a sensor device with a plurality of stationary sensors;

5 : one too 4 Deviating embodiment in which the sensor device moves in the region of the closing edge with the sliding door leaf; and

6 : one too 1 and 2 Deviating representation with respect to a folding door.

In 1 is a space schematically 1 in plan view of its bottom surface 3 reproduced, with a first wall 5 which has a doorway area 7 having.

In this doorway area 7 is a wing in the embodiment shown 9 pivotally provided between a closed and an open position, namely in the illustrated embodiment, a rotary wing 9a ,

This rotary wing 9a is according to the graphic representation after 1 about a vertical pivot axis 11 , which in the following partly also as rotation axis 11 is designated, between the mentioned opening and closing position pivotable.

In the illustrated embodiment according to 1 is near the vertical axis of rotation 11 one to the first, the doorway area 7 receiving wall 5 a perpendicular to this second wall 15 intended. As a result, the wing 9 can not be pivoted by its closed position by a maximum of 180 ° in the open position, but approximately only up to about 90 ° or slightly above.

In the illustrated embodiment is on the veschwenkbaren wing 9 With this mitverschwenkbar a sensor device 17 with five individual sensors 17a - 17e preferably arranged in a horizontal plane next to each other, for example, the average height of the wing or rather in the top or bottom of the wing area 9 ,

In the exemplary embodiment shown, this results in an entire sensor area 20 , so einamter recognition, monitoring and / or triggering area 20 monitored by the overall view of the five individual monitoring areas 20a - 20e is formed. Because every single sensor 17a - 17d monitors a subarea 20a - 20e ,

In the embodiments are partially simplifying the individual sensors 17a - 17e associated sensor areas (ie the detection, monitoring and / or triggering areas) shown as if they would not overlap. This can actually be realized in this way, in particular if the distance between the individual sensor regions is significantly smaller than the cross-sectional size of a person P to be detected in the sensor region, as in FIG 1 is shown. Usually, however, the individual sensor areas 20a to 20e overlap. That is, in the embodiment of FIG 1 and 2 each two adjacent sensor areas have an overlapping common monitoring area, where the individual sensor areas are not completely separated from each other. By the seemingly separate representation of the However, individual sensor areas results in greater clarity and clarity in the drawings, which is why this variant is preferred in the accompanying figures.

Will now be the rotary wing 9a according to the arrow 22 pivoted from its Verschließstellung out in the open position, so would in the schematic representation in plan view according to 1 one in the opening area 23 into or P is moving through the sensor device 17 be detected, ie at least by one or more of the individual sensors 17a - 17e ,

In the embodiment shown would be the sensors 17d and 17e consistently generate a corresponding detection signal and transmit a collision signal to an evaluation and control unit. There could now be initiated on the basis of this collision signal, a sequential circuit, the further opening operation of the wing 9 . 9a stops or slows down or the wing 9 . 9a even pivots back by a certain way in the closed position, so that a collision with the detected person P is omitted.

Every object that is in the of the wings 9 . 9a during the opening process swept opening area 23 would be detected as an object to be protected, with the above triggering triggering a collision prevention circuit.

Would such a person P not be in the opening area 23 an automatic door control system could be the illustrated rotary wing 9a open unhindered when, for example, a person P approaches the door and through a usually above the opening and closing door on the wall 5 attached sensor device is detected. The same applies if, for example, a person approaches the door from the other door side and a sensor device provided on the wall there, usually above the doorway, detects this approaching person P.

Will the door 9 . 9a , as shown in the illustration 2 in the absence of a person in the opening area 23 is shown, further open, so gets in the embodiment shown already at an opening angle of about 40 ° to 45 °, the second wall 15 in the detection area of the innermost lying sensor field 20a , Typically, this would trigger the detection of a "person to be protected" or a generally "protected object" who the, with the result that the above-explained collision avoidance circuit is initiated. Depending on how the collision avoidance circuit is constructed, the wing can be braked, stopped and / or at least swiveled back by a certain distance. Other sequential circuits are conceivable.

According to the invention, however, it is now provided that preferably as a function of the respective position and / or position and / or as a function of the opening angle or path of the wing 9 . 9a in the electronic evaluation and / or control device a different circuit sequence are triggered, in which a collision avoidance circuit under stopping the opening movement of the door leaf, braking the door leaf and / or at least partially Rückverschwenkung the door leaf, etc. does not occur.

Alternatively or additionally, it would also be possible to use the innermost sensor field 20a and / or the innermost sensor 17c disable, so that here a collision signal can not be delivered at all.

According to the invention, it is thus provided that an in the detection range of a sensor 17 moving space object 15 such as a sidewall, does not cause this spatial object 15 as a person to be protected P can be interpreted, with the result that despite detection of the spatial object 15 the opening process of the wing 9 . 9a can be continued unhindered.

As the opening degree increases, each additional sensor field, ie each further detection, monitoring and / or triggering field, then successively arrives 20b until finally 20e in an area in which the sensor in question detects the fixed wall, ie the fixed space element 15 ,

• – nacheinander jedes weitere Sensorfeld 20b, 20c, 20d und 20e zunächst in seiner wirksamen Größe so verringert wird, dass bis zur Endstellung, d. h. der maximalen Öffnungsstellung des Türflügels die betreffende angrenzende zweite Wand 15, also das entsprechende Raumelement 15, nicht detektiert wird, und/oder
• – alternativ oder ergänzend zur Verkleinerung des betreffenden Sensorfeldes sukzessive eine Abschaltung der betreffenden Sensoren 17a, 17b, 17c, 17d und 17e erfolgt, um eine Kollision mit einem Raumelement 15 zu vermeiden, und/oder
• – die entsprechenden Kollisionssignale der einzelnen Sensoren 17a–17e zwar erzeugt werden, wenn das betreffende feststehende Raumelement (hier also die zweite Wand 15) in den jeweiligen Detektionsbereich eines betreffenden Sensors gelangt, dann allerdings das betreffende Kollisionssignal in der elektronischen Auswert- und Steuerungseinrichtung so unterdrückt und/oder ausgeblendet wird, dass jedenfalls keine ansonsten übliche Kollisions-Folgeschaltung ausgelöst wird.

Therefore, according to the invention in the evaluation and / or control electronics provided that preferably depending on the position, ie depending on the open position and / or the opening angle of the wing when adjusting in the opening direction either

• - each successive sensor field 20b . 20c . 20d and 20e is initially reduced in its effective size so that up to the end position, ie the maximum opening position of the door, the relevant adjacent second wall 15 , that is the corresponding room element 15 , is not detected, and / or
• - Alternatively or in addition to the reduction of the relevant sensor field successively a shutdown of the respective sensors 17a . 17b . 17c . 17d and 17e takes place to collide with a room element 15 to avoid and / or
• - The corresponding collision signals of the individual sensors 17a - 17e while being generated if the relevant fixed space element (here the second wall 15 ) in the respective detection range of a respective sensor, but then the relevant collision signal in the electronic evaluation and control device is suppressed and / or hidden so that in any case no otherwise usual collision sequence circuit is triggered.

The Reduction of the individual sensor fields and one if necessary subsequent shutdown or the sole shutdown of the individual Sensor fields (without previous reduction of their size or alignment etc.) may be through an associated electronic Evaluation and / or control device to be made.

To For example, the opening degree of the door can always be determined and depending on the degree of opening (which ultimately corresponds to a degree of angle) the corresponding switching or the corresponding reduction of the individual sensor fields and / or triggered the shutdown of the individual sensor fields controlled become. Ultimately, the position-dependent action on the sensor fields (reducing the size of the Sensor fields and / or shutdown of the sensor fields, etc.) also by a time control or other technical measures will be realized. In general, includes an associated Evaluation and control device ultimately also a position control device and / or a position detection device for the wing, in dependence on the thus determined opening position and / or opening position of the wing the corresponding Reversal with respect to the sensors or the evaluation and Make control device. For the further opening movement then appropriate collision signals can be avoided or yet generated collision signals are interpreted so that it this is the self-detection of the spatial element and / or of the opening door leaf, Thus, thus avoiding the protection of persons collision avoidance sequential circuit, is suppressed etc. The corresponding data can In this case, preferably read in a teach-in method, about what it can be known exactly when the reversal takes place and / or For example, the aforementioned individual sensors hidden should be.

The only relevant decision is that from a certain opening position or opening position of the relevant wing 9 . 9a a corresponding modified circuit should be effective. In this case, as stated, instead of reducing the sensor fields and / or switching off the sensor fields, a modified collision signal sequential circuit can also be activated, with the aim that, for example, in the position according to FIG 2 from the innermost sensor 17a triggered collision signal in the sensor monitoring area 20a should not be interpreted as a collision protection signal, with the result that the opening process of the door braked, stopped and optionally reversed to a certain extent. Because at this opening position is a possible collision signal of the innermost sensor 17a be interpreted in the evaluation and control device so that this is only one through the room object 15 self-triggered collision signal should be and can (in this area so no person to be protected can be).

Consequently can also by another optionally fixed sensor device or by other trigger detectors, etc., if necessary a different degree of opening of the wing be recognized, depending on the different Evaluation and interpretation of occurring collision signals and / or reduce the corresponding sensor fields and / or shut down etc.

In contrast to the embodiment of the 1 and 2 in which the sensor devices 17a - 17e with the door 9 . 9a are pivotally attached thereto, is in the embodiment according to 3 provided that the sensor devices 17a - 17e fixed, for example, on the second wall 15 are arranged.

This offers advantages especially if the sensor field 20 usually so large that it covers the entire or at least one relevant opening area 23 , which is run over by the wing, is covered by the sensor device. This basically to be monitored opening area 23 is in 3 located.

In this embodiment, that would be the vertical axis of rotation 11 nearest sensor 17a with its associated sensor field 20a the increasingly more powerful door 9 . 9a detect first, then the second sensor 17b etc. The evaluation and sequential circuit would be analogous, as in the embodiment of the 1 and 2 ,

The same principle applies even if, for example, the door can be opened by a larger angle than 90 °, for example even up to about 180 °, if not a transverse wall 15 is provided.

In the embodiment according to 3 is therefore with respect to the open position of the door shown 9 . 9a (It is opened at an angle of 30 °) shown that the surveillance area 20a of the pivot axis 11 closest surveillance area 20a already significantly reduced and already the second sensor 17b and even the third sensor 17c are set to slightly smaller surveillance area. If this reduction were not made, but the sensor fields always remain the same size, would be possible alternatively, the innermost, ie the pivot axis 11 nearest sensors 17a , subsequently 17b and shortly before reaching the door opening position according to 3 already the third sensor 17c off. This is irrelevant to the safety of the door movement, since a person coming from above, so according to the arrow 40 the entire sensor monitoring area 20 approaching, would already be detected by the uppermost sensor. The reduction (ie shortening) of the sensor monitoring fields 20 This can be done continuously or in at least one or more discrete steps. Mixed systems are also possible at any time.

In 4 a corresponding example of a sliding door drive is shown. In this case could be on the wall 5 adjacent to the doorway area 7 fixed side by side, for example, again five sensors 17a - 17e be mounted. These sensors 17 monitor the opening area of the sliding door leaf 9 . 9b , so at its minor closing edge 9 ' , Depending on the dependence of the opening position of the sliding door leaf 9b could in this case also a sensor after another 17a - 17e be switched off or at least the presence of a collision signal suppressed so or bypassed, so that the door is stopped, reversed or decelerated without generating a collision circuit, etc.

Would a person at a door position before or during the opening movement 20 move in one of the corresponding sensor fields, in an area in which, depending on the position of the opening door leaf 9b the secondary closing edge lying in the opening direction 9 ' can not yet be located, it can be decided by the electronic evaluation and control device clearly that this must be an object to be protected. In this case, therefore, a corresponding collision avoidance circuit would not be initiated, in which, as mentioned, the opening movement is stopped, decelerated and / or reversed in a closing movement.

Based on 5 is shown schematically that, for example, again a sensor at the minor closing edge 9 ' rides arranged. For example, this sensor runs on a transverse wall 15 In this case too, the sensor area must be correspondingly reduced and, if appropriate, shortly before reaching the end point or at the end point of the maximum opening movement of the sliding door leaf 9b be switched off completely. The operation is therefore basically similar to the embodiment according to 2 ,

The principles explained according to the invention are equally applicable to a folding door. Because even with a folding door is a wing 9 . 9c similar to a rotary wing in the embodiment according to 1 and 2 pivoted outwards about a vertical axis. Also in this embodiment, with respect to a foldable wing (regardless of whether one or more sensor devices or on an adjacent wall one or more sensor devices are provided on the pivotable folding wing) come to a self-triggering collision detection when the moving along with the door sensor device a fixed Detected wall or other room element or vice versa detects a fixed to a side wall sensor device detects the outwardly pivoted portion of the folding door.

In 6 the opening movement of a folding door is shown, the one with the pivot axis 11 connected first wing 9c which has a further connection axis 119 with a second folding door wing 9'c articulated is connected. The free end 119 ' of the second wing 9 ' is usually held and guided in a rail extending above the doorway. It is referred in this respect to known constructions. Also in this embodiment, at least in the first with the pivot axis 11 connected wings 9c and / or on the adjacent wall 5 or on the wall perpendicular to it 15 be provided with monitoring fields corresponding sensor devices, as with reference to the other embodiments, especially with reference to the embodiments according to the 1 to 3 was explained.

It proves to be particularly favorable, the sensors mentioned 17a - 17e via a CAN bus with an evaluation and / or control device (usually a microprocessor-controlled evaluation and / or control device) to connect, control over, interrogate, etc. This makes it possible, every single sensor 17a - 17e independently of the other sensors to target. As a result, the size and / or orientation of the individual sensor fields 20a - 20e variable in position, reducible, continuous or discreet. Equally possible here, however, is the targeted shutdown of a sensor 17a - 17e and / or the suppression of a corresponding sensor field 20a - 20e , Otherwise, the corresponding influencing of the evaluation and control device is accordingly possible, according to which an individual sensor emits a detection signal when the door leaf or a room element enters the sensor monitoring area, but this collision signal is not used for a collision avoidance sequential circuit, as it Protection is common in persons detected in the surveillance area.

Preferably, the corresponding data are read in a teach-in process and made available to the evaluation and control device. This shows the door drive of each individual sensor 17a - 17e when the door 9 . 9a . 9b respectively. 9c responds, so when the door in a fixed sensor field (if this example, on a room element 15 attached) or vice versa a fixed space element in the mitbewegte with the door sensor field 20 arrives. When opening the door then the individual sensors 17a - 17e are individually hidden, ie switched off or the otherwise provided explained sequential circuits are made so that the last sensor can remain active almost until the door is fully open. This provides a virtually complete protection during the entire opening movement of a door 9 ,

For the sensors 17 All suitable sensors can be considered. Particularly suitable are so-called triangulation sensors. In addition, however, other distance measurement sensors come into consideration, such as a laser sensor or a laser scanner. This offers the special ren advantage that his surveillance area during the opening movement of a door by appropriate control of the deflection and deflection (about which the laser beam is deflected) can be particularly easily adapted to the circumstances, ie reduced in particular during the opening movement of the door and / or changed position and, if necessary, especially at the end of the opening process can be switched off completely.

in the The invention has been explained that by the Circuit provided according to the invention the presence a room element and / or the opening movement of a Wing due to the sensor device used or the multiple sensors used can not cause that a further opening movement of the grand piano braked, stopped or even a wing to a certain extent Path swung back in the closing direction becomes, only because of a spatial element or the opening Wing itself is detected by the sensor device, So there is no person to be protected in this area is. Should otherwise be actually in the monitored Area a detected person move in, so should appropriate Of course, collision avoidance signals are always generated and a corresponding collision avoidance circuit sequence always corresponding to be triggered. This collision avoidance circuit can z. B. are called that the opening door actually braked, if possible very fast slowed down and stopped or at least at a very slow opening speed slowed down and one more opened to a certain extent possibly with lower torques and opening forces etc. Which collision sequential circuit upon detection of a person to be protected provided in the monitoring area and triggered is to be, is at the discretion of the skilled person.

Should in the context of the invention, a room element or the opening Wing reach the respective sensor area, should the associated collision sequential circuit for the protection of persons not be triggered. Nevertheless, this means not that the opening movement of the wing unchanged must be continued. As an additional safety device can certainly be provided that nevertheless a wing at a slightly reduced speed, with reduced torques or Forces etc. continue to open. This changed Control for the further opening movement of the Wing does not mean that here is a collision avoidance circuit sequence has been triggered, which otherwise only in the surveillance area persons actually to be protected be effective or implemented.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 19653026 A1 [0009]
• - DE 19804631 C2 [0027]
• - DE 19804573 C2 [0028, 0028]

Claims (18)

Method for controlling and / or monitoring a drivable wing ( 9 ; 9a . 9b . 9c ), in particular in the form of a rotary wing ( 9a ), a sliding door leaf ( 9b ), a grand piano ( 9c ) a folding door, a window or the like, during the opening movement of the wing ( 9 ; 9a . 9b . 9c ), having the following features: - a sensor device ( 17 ) for monitoring and detecting an at least one wing ( 9 ; 9a . 9b . 9c ) associated monitoring and triggering area ( 23 ), - it becomes one on the wing ( 9 ; 9a . 9b . 9c ) sitting and with this mitbewegte sensor device ( 17 ), creating one in front of the opening wing ( 9 ; 9a . 9b . 9c ) monitoring and triggering area ( 23 ) and / or one on a stationary room element ( 15 ) located sensor device ( 17 ) generating one in front of the spatial object ( 15 ) monitoring and triggering area ( 23 ), - at the latest during the opening process of the wing ( 9 ; 9a . 9b . 9c ) is used to avoid collision detection in the monitoring and tripping area ( 23 ) predetermined spatial element ( 15 ) and / or the surveillance and triggering area ( 23 ) entering opening wing ( 9 ; 9a . 9b . 9c In the evaluation and / or control device and / or in the sensor device, a changeover is performed, the changeover to avoid a collision sequential circuit takes place in such a way that from a large or initial monitoring and triggering area to a positionally changed and / or spatially reduced one Monitoring and triggering area ( 23 ) and additionally or alternatively the corresponding triggering and monitoring area ( 23 ) is switched off or hidden, or ignored, if the between the opening ( 9 ; 9a . 9b . 9c ) and the room element ( 15 ) remaining distance is smaller or smaller than the effective in this direction per se length and / or size of the monitoring and triggering area ( 23 ) of the associated sensor device ( 17 ). Method according to claim 1, characterized in that a plurality of sensors ( 17a - 17e ) are used, which are arranged side by side with horizontal component, wherein to avoid a collision detection with a given space element ( 15 ) and / or a wing moving into the monitoring and triggering area ( 9 ; 9a . 9b . 9c ) a) the associated sensor device ( 17a - 17e ) shut down or faded out sequentially, or b) the individual sensors ( 17a - 17e ) associated with individual monitoring and triggering areas ( 20a - 20e ) and / or changed position, or c) the individual sensors ( 17a - 17e ) associated with individual monitoring and triggering areas ( 20a - 20e ) initially reduced in size and then switched off, or d) the corresponding collision detection signals in the evaluation and / or control device are not used to trigger a collision sequential circuit. Method according to claim 1 or 2, characterized in that a sensor device ( 17 ) with several on the wing ( 9 ; 9a . 9b . 9c ) transversely to the pivot axis ( 11 ) staggered sensors ( 17a - 17e ) is used. Method according to claim 1 or 2, characterized in that a sensor device ( 17 ) with several on a fixed space element ( 15 ) offset with horizontal components sensors ( 17a - 17e ) be used. Method according to one of claims 1 to 4, characterized in that the reduction and / or change in position of the at least one sensor field ( 20 ; 20a - 20e ) and / or the shutdown of the at least one sensor ( 17 ; 17a - 17e ) and / or the suppression and / or non-utilization of a collision sequential circuit as a function of the position and / or swivel position of a wing ( 9 ; 9a . 9b . 9c ) he follows. Method according to claim 5, characterized in that a position-control device and / or position-recognition device is used, as a function of which the reversal with respect to the sensors ( 17 ; 17a - 17e ), the sensor fields ( 20 ; 20a - 20e ) and / or the suppression of a collision sequential circuit is performed. Method according to one of claims 1 to 6, characterized in that for a wing ( 9 ; 9a . 9b . 9c ) a teach-in procedure is performed to determine when an opening wing ( 9 ; 9a . 9b . 9c ) and / or a fixed spatial element ( 15 ) into the monitoring and triggering area ( 23 ) of the one and preferably a plurality of sensors ( 20 ; 20a - 20e ) in order to activate switching from these data determined in the teach-in procedure to avoid a collision sequential circuit. Method according to one of claims 1 to 7, characterized in that the at least one and preferably a plurality of sensors ( 17 . 17a - 17e ) are connected via a CAN bus and individually queried and / or controlled and in particular individually hidden. Method according to one of claims 1 to 8, characterized in that as sensors ( 20 ; 20a - 20e ) Triangulation sensors or distance measurement sensors or laser scanners are used. Device for controlling and / or monitoring a drivable wing ( 9 ; 9a . 9b . 9c ), in particular in the form of a rotary wing ( 9a ), a sliding door leaf ( 9b ), a grand piano ( 9c ) a folding door, a window or the like, during the opening movement of the wing ( 9 ; 9a . 9b . 9c ), with the following features: it is a sensor device ( 17 ) for monitoring and detecting an at least one wing ( 9 ; 9a . 9b . 9c ) associated monitoring and triggering area ( 23 ), - it is one on the wing ( 9 ; 9a . 9b . 9c ) sitting and with this mitbewegte sensor device ( 17 ), creating one in front of the opening wing ( 9 ; 9a . 9b . 9c ) monitoring and triggering area ( 23 ) and / or one on a stationary room element ( 15 ) located sensor device ( 17 ) generating one in front of the spatial object ( 15 ) monitoring and triggering area ( 23 ), it is an evaluation and / or control device provided by means of the latest during the opening process of the wing ( 9 ; 9a . 9b . 9c ) to avoid collision detection of a person in the monitoring and triggering area ( 23 ) predetermined spatial element ( 15 ) and / or the surveillance and triggering area ( 23 ) entering opening wing ( 9 ; 9a . 9b . 9c ) in the evaluation and / or control device and / or in the sensor device a switch is feasible, - the switching to avoid a collision sequential circuit is such that from a large or initial monitoring and triggering area in a positionally changed and / or spatially reduced monitoring and triggering range ( 23 ) and additionally or alternatively the corresponding triggering and monitoring area ( 23 ) is switched off or hidden, or ignored, if the between the opening ( 9 ; 9a . 9b . 9c ) and the room element ( 15 ) remaining distance is smaller or smaller than the effective in this direction per se length and / or size of the monitoring and triggering area ( 23 ) of the associated sensor device ( 17 ). Apparatus according to claim 10, characterized in that a plurality of sensors ( 17a - 17e ) are provided, which are arranged side by side with horizontal component, wherein to avoid a collision detection with a given spatial element ( 15 ) and / or a wing moving into the monitoring and triggering area ( 9 ; 9a . 9b . 9c ) a) the associated sensor device ( 17a - 17e ) can be switched off or blanked out consecutively, or b) the individual sensors ( 17a - 17e ) associated with individual monitoring and triggering areas ( 20a - 20e ) are reducible and / or positionally variable, or c) the individual sensors ( 17a - 17e ) associated with individual monitoring and triggering areas ( 20a - 20e ) can first be reduced in size and then switched off, or d) the corresponding collision detection signals in the evaluation and / or control device can not be suppressed or faded out to trigger a collision sequential circuit. Apparatus according to claim 10 or 11, characterized in that a sensor device ( 17 ) with several on the wing ( 9 ; 9a . 9b . 9c ) transversely to the pivot axis ( 11 ) staggered sensors ( 17a - 17e ) is provided. Apparatus according to claim 10 or 11, characterized in that a sensor device ( 17 ) with several on a fixed space element ( 15 ) offset with horizontal components sensors ( 17a - 17e ) is provided. Device according to one of claims 10 to 13, characterized in that the reduction and / or change in position of the at least one sensor field ( 20 ; 20a - 20e ) and / or the shutdown of the at least one sensor ( 17 ; 17a - 17e ) and / or the suppression and / or non-utilization of a collision sequential circuit as a function of the position and / or swivel position of a wing ( 9 ; 9a . 9b . 9c ) he follows. Apparatus according to claim 14, characterized in that a position control device and / or position-detecting device is provided, in dependence of which the reversal with respect to the sensors ( 17 ; 17a - 17e ), the sensor fields ( 20 ; 20a - 20e ) and / or the suppression of a collision sequential circuit is feasible. Device according to one of claims 10 to 15, characterized in that for a wing ( 9 ; 9a . 9b . 9c ) a teach-in procedure is feasible to determine when an opening wing ( 9 ; 9a . 9b . 9c ) and / or a fixed spatial element ( 15 ) into the monitoring and triggering area ( 23 ) of the one and preferably a plurality of sensors ( 20 ; 20a - 20e ) in order to activate switching from these data determined in the teach-in procedure to avoid a collision sequential circuit. Device according to one of claims 10 to 16, characterized in that the at least one and preferably a plurality of sensors ( 17 . 17a - 17e ) are connected via a CAN bus and individually queried and / or controlled and in particular individually fade out. Device according to one of claims 10 to 17, characterized in that the sensors ( 20 ; 20a - 20e ) or comprise triangulation sensors or distance measurement sensors or laser scanners.