HK1176122B - Sensor device, safety device, door and method for controlling its movement - Google Patents

Description

The invention relates to a sensor device for monitoring a movable guided movement element in relation to unwanted collisions as defined in claim 1, a safety device as defined in claim 7, a gate as defined in claim 11, and a method for controlling the movement of a movable guided movement element as defined in claim 12.

The state of the art is already known from EP 0 902 157 A2 a safety device for motorized doors, in which a light curtain can be formed to monitor the level of the door latch for objects that could lead to a collision.

Other such systems are known from WO 2009/090097 A2 and JP 2003314875 A.

The aim is to propose a sensor, a safety device, a gate and a method for controlling the movement of a movable, guided movement element to protect against unwanted collisions, which will allow better detection of an obstacle.

The task is solved by the characteristics of claims 1, 9 and 10 respectively, based on a sensor, a safety device, a gate or a procedure of the type mentioned at the beginning.

The measures referred to in the dependent claims allow for advantageous extensions and upgrades of the invention.

Accordingly, a sensor device for protecting a moving, guided movement element against unwanted collisions is characterised by the fact that the sensors are trained as distance sensors to determine the distance of the object.

In principle, it is possible to arrange sensors in such a way that they cover the area exactly traversed by the movement element when it moves. However, it is often sufficient to arrange the sensors, e.g. slightly moved to this movement area of the movement element, in front of and/or behind it. This arrangement can greatly reduce the placement of the sensors and the damage caused by the regular movement of a moving element.In these cases, the area detected by the sensors can also be easily moved to the actual movement area of the movement element without significantly affecting safety. For the purposes of the invention, a monitoring area is detected, the monitoring of which is suitable to avoid collisions that occur under normal circumstances. For example, it is conceivable that the monitoring area includes only the movement area, a part of the movement area or an area whose monitoring can detect the usually possible collisions, e.g. if this area is located in close proximity to the movement area. For example, it is conceivable to place the sensors parallel to the gate opening guidance.

The sensors consist of a transmitter and a receiver for sending and receiving electromagnetic radiation and are arranged or aligned so that the radiation emitted by them penetrates the monitoring area.

The detection of the object which is an obstacle to the movement of the moving element can be improved by training the sensors as distance sensors to determine the distance of the object. Whereas conventional light barriers can only detect that the corresponding beam of light is interrupted at some point by an obstacle, this allows a more precise determination of the location of the corresponding object or obstacle.

It is therefore advantageous to save an additional receiver facing the transmitter or an additional reflector reflecting back the beam emitted by the transmitter.

For example, in a gate, the movement area is a plane, with the guide inside the plane, and the sensors can be arranged and aligned in a relatively simple way.

The main advantage is the integration of the sensors into a rail, which can be installed in a relatively simple way along the guide and allows a compact design.

A particularly simple design is achieved by having at least two of the beams run parallel to each other. The distance between the beams or sensors can be determined by the application. For example, it is conceivable to arrange the sensors at a distance of about 20 cm or to have the beams run at a distance of about 20 cm.

If a moving element such as a gate is carried in a guide, such as a guide rail, the

In principle, however, it is also possible to make the beams pass diagonally, for example when fewer sensors are available and a further area is to be covered by the diagonal with a few sensors.

A particularly preferred further development of the invention is to train the sensor device as a light curtain, which can cover the whole or at least a substantial part of the monitoring area. In particular, it may be advantageous, depending on the application, to provide sufficient beams to penetrate the space in such a way that most obstacles entering the movement area are actually detected. For most movement elements with a guide, such as guided gates, the light curtain usually describes a plane.

The distance sensors can be trained in different ways, for example as infrared reflection sensors or time-of-flight sensors (abbreviated TOF sensors) or as 3D sensors. In addition, an embodiment may provide for the use of several of these sensors in combination. In time-of-flight sensors, a distance measurement can be made by evaluating the duration of light. For this purpose, for example, a signal can be modulated to the emitted light.

It is also possible that the rays from at least one of the sensors are not just describing a line but are penetrating a cone-shaped area, for example to allow better detection of objects.

In many cases it will also be sufficient to place the sensors on one side of the movement area; on the one hand, this can save costs; on the other hand, for example, a distance measurement that is performed vertically from the guide will always determine the same distance to the guide rail; however, a positioning of the sensors from several sides may also be necessary, for example, when the extension of the object is to be determined or how many objects are in the movement area.

In principle, it is conceivable to provide at least one sensor designed as a light barrier in addition to the distance sensors, and this combination ensures the best possible safety in the movement of the moving element.

Accordingly, the safety device according to the invention comprises an electronic unit with which the data determined by the sensors, i.e. measured values or the like, can be read out. A connection between the sensors and the electronic unit can be made by fixed or wireless wiring. Furthermore, the electronic unit can be integrated into the sensor device, such as the bar.

The electronic unit can transmit commands or signals. It is conceivable that the electronic unit is connected to another control unit to control the motion of the motion element, whereby the control unit may be mounted outside the sensor device. Control in this context means a control and/or regulation of the motion element, that is, the movement of the motion element can be started or stopped, accelerated or slowed down if necessary, via the control unit.

It is also conceivable that the movement of the movement element is not initially stopped by the control unit but only slowed down, for example if the movement element is still a sufficiently large distance from the obstacle.

It is possible, in principle, to place the control unit outside the sensor device or integrated into the sensor device. Furthermore, an electronic unit which interacts with the control unit may be housed in the sensor device. However, it is also possible for a control unit outside the sensor device to be directly connected to the sensors. In particular, in the case of further development of the invention, the distance sensors can be used to determine whether the sensors are actually detecting the motion element itself or the object.the motion element itself and not an obstacle or other object was detected. This is because obstacles are usually further away under normal circumstances. It is conceivable that the sensor is located within the guide and therefore measures a small distance when the motion element is guided through this area of the guide. It is also conceivable that the sensors are placed next to the guide and part of the motion element reaches the respective monitored area as soon as the motion element reaches the appropriate location. If the motion element does not extend beyond the guide and the sensors can be placed next to the guide, for example, a blind or a lasso can also be placed on the motion element,The measurement of the measured value shall be made on the basis of the following equation:

In particular, the specific distances of several distance sensors can be compared to increase the reliability of detection. For example, if a gate moves within the guide rail, it is plausible that the movement element, here the gate itself, has been detected if above a certain height the sensors only detect the distances typical of the movement element. An obstacle will typically not penetrate the monitoring area from top to bottom or will also remain firmly in place at the top of the monitoring area.

Furthermore, in an embodiment of the invention, it is possible to determine the direction of motion of the motion element and/or the direction of motion of the object. This is made possible in a beneficial way by taking a distance measurement. A subsequent distance measurement can then determine whether the corresponding distance has changed. This comparison can be made, for example, in the control unit. In addition, it is possible to arrange sensors accordingly so that their beams run along the direction of motion of the motion element and thus, if necessary, the motion of the motion element can be detected.

Distance measurement can be used in other ways as well. For example, several motion elements may be arranged side by side. It is also possible that a corresponding object is only in the range of motion of one of these motion elements. To prevent the movement of all motion elements from being stopped when the corresponding object is detected by the sensors, the determination of distance by the distance sensors can be used.

If the direction of motion of the object is determined in such a further development of the invention, it can also be determined which movement element is to be affected in its speed and, if necessary, stopped.

In particular, the movement element may be designed as a gate, for example as a rolling, sectional or sliding gate. Accordingly, a gate of the invention is characterised by the provision of a safety device according to the invention or a corresponding embodiment or training.

In addition, a process for controlling the motion of a movable guided movement by means of a restraint device of the invention or an equivalent embodiment or training is characterised by the following process steps:

The data determined by the sensors, i.e. the specified distances, are read out, and the data can be assigned to the sensor from which they were read. The data are compared to a reference value. This is done, for example, in the electronic unit or in the control unit. A reference value can be a value measured when neither an object nor the motion element itself is in the monitoring area. The reference value can also be the distance measured when the motion element is in the monitoring area. Furthermore, another value can be set to take into account, for example, measurement tolerances. This can, if necessary, improve the reliability of the process. A similar or more comparable reference can be obtained.

For example, when closing a gate, it can be observed over time that one sensor after another measures distances from top to bottom less than or equal to a reference value for a gate leading into the surveillance area.

In the case of further development of the invention, sensors may be activated or deactivated accordingly. For example, if the evaluation shows that a sensor detects the moving gate, it may be deactivated, i.e. it may be turned off, or its measured values may no longer be included in the evaluation.

Example of implementation

An example of the invention is shown in the figure and is explained in more detail below, giving further advantages. Figure 1 a gate safety device according to the invention.

Figure 1 shows a safety device with a sensor bar 1 for a sectional gate 2 whose individual sections 2a, 2b run in guide rails 3a, 3b. The gate 2 moves in the direction of motion according to the arrow A. The area of movement of the gate 2 with the direction of movement A is described by the plane E. In this plane there is an object 4, here a person. If the movement of the gate 2 in the direction of A were to continue, a collision of the gate 2 with the person 4 would occur. Along the guide rails 3a, a sensor bar 1 with distance sensors 5 is mounted, wherein in Figure 1 the guide rails 3a are covered by the sensor bar 1. The guide rails 5 and 6 can be sent back to the plane E.

The distance sensors 5 are trained as TOF sensors. In the lower part of the range of motion, the beams of the sensors 5' hit the person 4. These 5' sensors each individually determined the distance between the guide rail 3a, where the respective sensors 5' are located, and the respective point of contact on the person 4. Thus, first, it can be determined how far the gate 2 moving in the direction of A is still approximately from the person 4, since it is known how many sensors 5 are still between the gate 2 and the person 4.

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The data analysis in this example is performed in a microcontroller integrated in sensor bar 1. This microcontroller is trained to send a shutdown signal to controller 7 in the event of an obstacle in the monitoring area. Controller 7 in turn controls the motor 8 for the movement of gate 2.

Furthermore, if person 4 is moving within level E, the sensors 5' can determine the direction and, if necessary, the speed of the person's movement.

In principle, it is conceivable to apply the subject of the invention not only to gates but also to machines in order to improve machine safety.

List of references:

1Sensor strip2Tor2aTor segment2bTor segment3aGuidance rail3bGuidance rail4Person5TOF sensors5'TOF sensor (person detected)5'TOF sensor (gate detected)6Beam7control8MotorADirection of movement of the gateEBmotion plane

Claims (11)

1. Safety device for protection of a movable moving element, which is guided in a guide, against unwanted collisions of the moving element with an object which is located in a monitoring area, with a sensor device (1) for monitoring the moving element (2) with regard to unwanted collisions of the moving element with the object (4), having at least two sensors (5) for detecting the object, wherein the sensors comprise a transmitter and a receiver for transmitting and receiving electromagnetic beams (6), wherein the sensors are arranged next to each other so that they can be attached parallel to the guide (3a), and the sensors (5) are also orientated so that the beams (6) which are transmitted by them pass through the monitoring area, wherein the sensors (5) are designed as distance sensors for determining the distance of the object (4), and an electronic unit (7) is provided for reading out the data which is determined by the sensors and for providing commands and/or signals, characterized in that the electronic unit is designed to deduce on the basis of the distance determined by at least one of the sensors whether the moving element or the object is detected, by the distance established by the sensors being compared with a reference value, wherein the distance which is measured when the moving element is located in the monitoring area serves as the reference value,
2. Safety device according to Claim 1, characterized in that the sensors are arranged in a strip.
3. Safety device according to one of the aforesaid claims, characterized in that at least two of the sensors (5) are orientated so that their beams extend parallel to each other.
4. Safety device according to one of the aforesaid claims, characterized in that at least one of the sensors (5) is arranged so that its beams extend perpendicular to the guide.
5. Safety device according to one of the aforesaid claims, characterized in that at least one of the sensors (5) is designed as follows:

   - infrared reflection sensor or

   - time-of-flight sensor or

   - 3D sensor.
6. Safety device according to one of the aforesaid claims, characterized in that at least one of the sensors (5) is designed so that its beams pass through a conical area.
7. Safety device according to one of the aforesaid claims, characterized in that the electronic unit is designed to determine the movement direction of the moving element and/or of the object with the aid of the sensor device.
8. Safety device according to one of the aforesaid claims, characterized in that a control unit is provided for controlling the moving element, which control unit comprises the electronic unit or which can be connected to the electronic unit.
9. Door (2), especially roller door, sectional door or sliding door, characterized in that a safety device is provided according to one of the aforesaid claims.
10. Method for controlling the movement of a movable moving element, which is guided in a guide, with the aid of a safety device according to one of the aforesaid claims, characterized in that the method comprises the following method steps:

    - read-out of the data which is determined by the sensors (5) and association of the respective data with the selected sensor (5) in each case

    - comparison of the respective data with at least one reference value

    - evaluation based on the comparison and based on the position of the associated sensor (5).
11. Method according to one of the aforesaid claims, characterized in that activation and/or deactivation of at least one of the sensors (5) is carried out as a function of the evaluation.