METHOD FOR CONTROLLING A DOOR ARRANGEMENT, AS WELL AS A DOOR ARRANGEMENT OF THIS KIND AND A SAFETY DEVICE THEREFOR

Abstract

A door arrangement monitoring method, a safety device (5) and a door arrangement (1), including the safety device (5), are provided. The method monitors a monitored area positioned in front of a door opening, offset and parallel to a door closing plane, and performs a failure routine when an object (6) is detected in the monitored area and there is a risk of a collision of the object (6) with a door leaf (2). A current position of the object (6), and of a leading edge (23) of the door leaf (2), are detected. A direction of movement of the door leaf (2) is detected. The failure routine is initiated as a function of the current position of the object (6) and the leading edge (23) of the door leaf (2) as well as the direction of movement of the door leaf (2).

Claims

1. A method for controlling a door arrangement, the method comprising the steps of: providing a door arrangement comprising a door leaf which is guided in lateral guides and is driven by a drive means and is movable to and fro between an open and a closed position, in a door closing plane of a door opening, a safety device which safety device monitors a monitored area at least on one side, said monitored area being positioned in front of the door opening and being offset in parallel to the door closing plane, and which safety device performs a failure routine when an object is detected in the monitored area and hence a collision of the object with the door leaf is immanent: detecting a current position of the object; detecting a current position of a leading edge of the door leaf; detecting a direction of movement of the door leaf; and initiating the failure routine as a function of the current position of the object and the current position of the leading edge of the door leaf as well as the direction of movement of the door leaf.

2. The method according to claim 1, wherein the detection of the current position of the object is performed by using an optical detector means comprising a light grid system.

3. The method according to claim 1, wherein the detection of the current position of the object is performed with a differing detection density in partial areas of the monitored area.

4. The method according to claim 1, wherein only a partial area of the door opening is monitored for detecting the current position of the object.

5. The method according to claim 1, wherein the failure routine initiates a stopping of the door leaf movement and/or a reversal of the direction of movement of the door leaf when the leading edge of the door leaf has not yet passed the position of the object in the course of a closing movement in the direction of movement.

6. The method according to claim 1, wherein the failure routine initiates the stopping of the door leaf movement when the leading edge of the door leaf is positioned adjacent to the object in the course of a closing movement in the direction of movement.

7. The method according to claim 6, wherein the failure routine, after a predetermined dwell time, initiates a reversal of the direction of movement of the door leaf at reduced speed when the leading edge of the door leaf is positioned adjacent to the object in the course of the closing movement in the direction of movement.

8. The method according to claim 1, wherein the failure routine initiates a stopping of the door leaf movement when the leading edge of the door leaf has already passed the position of the object in the course of a closing movement in the direction of movement.

9. The method according to claim 8, wherein the failure routine initiates a continuation of the movement of the door leaf in a predetermined direction of movement at reduced speed when the leading edge of the door leaf has already passed the position of the object in the course of a closing movement in the direction of movement and the object is no longer detected.

10. The method according to claim 1, wherein the failure routine initiates the stopping of the door leaf movement when an object is detected in the course of the opening movement.

11. The method according to claim 10, wherein the failure routine, following the stopping of the door leaf movement, initiates an opening movement of the door leaf at reduced speed once the object is no longer detected.

12. The method according to claim 1, further comprising providing an appropriate emergency opening signal at the door arrangement, wherein the failure routine, detects an object and initiating an opening movement of the door leaf at reduced speed and with increased moment of force when the door arrangement receives the appropriate emergency opening signal.

13. A door arrangement comprising: a door leaf drive; lateral guides; a door leaf which is guided in the lateral guides and is, driven by the door leaf drive, and movable between an open position and a closed position, in a door closing plane of a door opening, a safety device which monitors a monitored area at least on one side, said monitored area being positioned in front of the door opening and being offset thereto and disposed in parallel to the door closing plane, and which safety device performs a failure routine when an object is detected in the monitored area and hence a collision of the object with the door leaf is immanent, wherein the safety device comprises: an object detecting means for detecting a current position of the object, a leading edge detecting means for detecting a current position of a leading edge of the door leaf, a door leaf direction detecting means for detecting the direction of movement of the door leaf, and a control means for initiating the failure routine as a function of the current position of the object and the current position of the leading edge of the door leaf as well as the detected direction of movement of the door leaf.

14. The door arrangement according to claim 13, wherein the object detecting means comprises at least one light grid system on both sides of the door opening.

15. The door arrangement according to claim 13, wherein the object detecting means for detecting the current position of the object comprises a device for detecting or setting a differing detection density in partial areas of the monitored area.

16. The door arrangement according to claim 13, wherein the monitored area is only a partial area of the door opening.

17. A safety device for a door arrangement comprising a door leaf which is guided in lateral guides and is, driven by a drive means, and is movable between an open and a closed position in a door closing plane of a door opening, wherein the safety device monitors a monitored area at least on one side, said monitored area being positioned in front of the door opening and being offset in parallel to the door closing plane, and performs a failure routine when an object is detected in the monitored area and hence a collision of the object with the door leaf is immanent, wherein the safety device comprises: an object detecting means for detecting a current position of the object; a leading edge detecting means for detecting a current position of a leading edge of the door leaf; a door leaf direction detecting means for detecting a direction of movement of the door leaf; and a control means for initiating the failure routine as a function of the current position of the object and the current position of the leading edge of the door leaf as well as the direction of movement of the door leaf.

18. The safety device according to claim 17, wherein the object detecting means comprises at least one light grid system on both sides of the door opening.

19. The safety device according to claim 17, wherein the object detecting means for detecting the current position of the object comprises a device for detecting or setting differing detection densities in partial areas of the monitored area.

20. The safety device according to claim 17, wherein the monitored area is only a partial area of the door opening.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In the drawings:

[0048] FIG. 1 is a schematic side view of a lifting door arrangement in accordance with the invention;

[0049] FIG. 2 is a schematic representation of one of possible risk scenarios;

[0050] FIG. 3 is a schematic representation of another of possible risk scenarios; and

[0051] FIG. 4 is a schematic representation of another of possible risk scenarios.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0052] Referring to the drawings, in accordance with the illustration in FIG. 1 a door arrangement 1 is configured as a lifting door in the instant embodiment. It comprises a door leaf 2 which is guided in lateral guides 3, wherein only one guide 3 is shown in the schematic illustration of FIG. 1, which is partially a sectional view. The guide which is not shown is of a design analogous to that of the illustrated guide 3 and is arranged to face same, so that the door leaf 2 is accommodated between the lateral guides and is guided to be movable vertically therein.

[0053] In the open position the door leaf 2 is accommodated in the region of a door lintel in a non-illustrated spiral section as a coil. In the closed position the door leaf 2 closes the free passage space, i.e. the area of the door opening, between the lateral guides 3 completely down to the ground. The door leaf 2 comprises a lamella armor or slat assembly or roller shutter assembly 21 which is constructed of lamellae or slats or roller shutter elements connected with each other to be angled towards each other and extending transversely to the door opening. An end plate 22 follows the lowermost lamella of the door leaf 2 as a bottom-side end. The end plate is conventionally designed to be more massive than the individual lamellae and, when the door arrangement 1 is closed, it rests on the ground with a leading edge 23 formed thereon.

[0054] The door leaf 2 is driven by a drive means (door leaf drive), which is configured as an electric motor here, such that the door leaf can be moved to and fro between an open and a closed position. In the instant embodiment the drive means 4 drives a drive shaft, which is provided in the lintel region and is not illustrated in detail here, in the desired direction of rotation so as to move the door leaf 2 between two door leaf end positions.

[0055] The door arrangement 1 moreover comprises a safety device 5 monitoring a monitored area which is positioned in front of the door opening and is offset in parallel to the door opening plane, so as to avoid a collision of an object 6 with the door leaf 2 or at any rate to limit the consequences of such collision.

[0056] The safety device 5 comprises a plurality of detection means which are linked with one another and in the instant embodiment also with the drive means 4.

[0057] Thus, the safety device 5 comprises an object detecting means 51 for detecting the current position of a detected object 6, which uses data of a light grid system 52 in the instant case.

[0058] The light grid system 52 defines the monitored area with respect to the door closing plane. As may be seen from FIG. 1, in the instant embodiment the monitored area is restricted in the height of the door opening to a partial area of the door closing plane.

[0059] The light grid system 52 comprises a plurality of light barriers 52a to 52h, each comprising a sender and a receiver, which are positioned on both sides of the door opening and face each other. In the illustrated embodiment the light barriers 52a, 52b, 52c, and 52d have a larger distance from each other than the light barriers 52d, 52e, 52f, 52g, and 52h. Accordingly, the detection density is lower in the head region of the object 6, which is illustrated as a person here, than in the region of the upper part of the body of the object 6, in which mostly also the hands of the person involved may get into danger.

[0060] The distance of the light grid system 52 from the door closing plane, i.e. the movement plane of the door leaf 2, is dimensioned such that this distance is as small as possible, on the one hand, to keep the overall size of the door arrangement 1 restricted, and permits a preferably early detection of an object 6, on the other hand. In practice, the concrete circumstances at the site of operation of the door arrangement 1 and the dimension and movement speed of the door leaf 2 alike play a substantial role.

[0061] Typically, the distance of the light grid system 52 from the movement plane of the door leaf 2 lies in a range of between 10 cm and 50 cm. In particular application cases, however, other distances may also be chosen. Furthermore, the safety device 5 comprises a door leaf leading edge detecting means 53 for detecting the current position of the leading edge 23 of the door leaf 2, which obtains its data from the drive means 4 in the instant embodiment. For this purpose, rotation angle data of the drive means 4 in comparison to a zero position with a completely closed door are referred to so as to detect the position of the leading edge 23.

[0062] Moreover, the safety device 5 comprises a door leaf direction of movement means 54 for detecting the direction of movement of the door leaf 2. This means 54 also uses data of the drive means 4 so as to detect the direction of movement of the door leaf by means of the direction of rotation thereof.

[0063] The safety device 5 further comprises control means 55 which takes and evaluates the data of the means 51, 53, and 54. If an object 6 was detected, the control means initiates a suitable failure routine as a function of the current position of the object 6, the current position of the leading edge 23 of the door leaf 2, and the direction of movement of the door leaf 2. Its concrete configuration depends on the three parameters mentioned and thus directly meets the respective risk situation in front of the door leaf 2. The control means 55 controls the drive means 4 in a suitable manner for this purpose.

[0064] FIGS. 2 to 4 schematically illustrate three examples of possible risk situations.

[0065] FIG. 2 illustrates a situation in which the door leaf 2, which is not shown in detail here, is in a closing movement, which is illustrated by an arrow P1. The door leaf 2 is positioned just above the object 6. At the same time, the object 6 moves toward the door closing plane, which is illustrated by a further arrow P2. In such a situation, grave injuries of the object 6, which is illustrated as a person here, may be caused by the leading edge 23 of the door leaf 2. In this case the control means 55 will initiate the immediate stopping of the door leaf 2 and, as a rule, also a speedy reversal of the direction of movement of the door leaf 2.

[0066] FIG. 3 illustrates a situation in which the object 6 is detected while the door leaf 2 is moved to its open position. This is illustrated by an arrow P3. Thus, there is the risk that the object 6, which is identified as a person in the instant case, suffers abrasions by the lamella armor 21 sliding past the head. Moreover, even graver injuries may be caused by the fact that the, as a rule, somewhat thicker end plate 22 of the door leaf 2 bumps with an edge on the head of the object 6. In this case the movement of the door leaf 2 is immediately stopped by the control means 55. Only when the means 51 detects that the object 6 has left the monitored area is a continuation of the opening movement at reduced speed permitted.

[0067] FIG. 4 illustrates a panic situation in front of a door arrangement 1 which serves as an escape way, wherein the door leaf 2 is closed and a plurality of objects 6, here a plurality of persons, push against the door leaf 2. If an emergency opening signal for the door arrangement 1 exists, it is necessary that the escape way opens nonetheless for avoiding further endangering of the objects 6. The control means 55 then initiates, in response to this emergency opening signal, an opening movement of the door leaf 2 at reduced speed and with increased moment of force through the drive means 4. This is initiated although persons push against the door leaf 2 since the injuries to be feared, such as abrasions, etc. are generally less critical than the actual risk situation, for instance a fire, which caused the persons to escape. As may be gathered from these example cases, the control means 55 of the safety device 5 is configured such that it is adapted to initiate, on the basis of the determined parameters concerning the current position of the object 6, the current position of the leading edge 23 of the door leaf 2, and the direction of movement of the door leaf 2, a reaction with respect to the door leaf movement which is adequate for the risk situation. Such reaction patterns are pre-programmed in the control means 55 and may then be chosen automatically as a function of the parameters and be triggered at the drive means 4.

[0068] In the following, a scheme (algorithm) for user-specifically programmable reaction patterns of the control means 55 is illustrated by way of example:

[0069] I. Course of events during the closing process of the door leaf 2: [0070] door arrangement 1 is open [0071] closing instruction is given [0072] all safety systems are free, otherwise closing will not take place—closing process starts [0073] interruption of at least one light beam of the light grid system 52 [0074] door leaf 2 above the head protection area (light barriers 52a to 52d) of the monitored area? then continue with step A [0075] door leaf 2 within the head protection area (light barriers 52d to 52h) of the monitored area? then continue with step B [0076] door leaf 2 within the bruise protection area for fingers of the monitored area? then continue with step C [0077] door leaf 2 below the monitored area? then continue with step D. [0078] Step A: Stopping of the door leaf 2 and speedy reversing process, automatic restart of the closing process [0079] Step B: Stopping of the door leaf 2, dwell time and decelerated reversing process, waiting for new closing instruction [0080] Step C: Stopping of the door leaf 2, dwell time and decelerated reversing process if the light grid above is also free [0081] Step D: Stopping of the door leaf 2 and decelerated closing process of the door leaf 2 after release of the light grid system 52.

[0082] II. Course of events during the opening of the door leaf 2: [0083] door arrangement 1 is closed [0084] opening instruction is given [0085] light grid system 52 is free, otherwise opening will not take place [0086] interruption of a light beam of the light grid system 52 [0087] stopping of the opening movement of the door leaf 2 [0088] release of the light beam—continuation of the opening movement of the door leaf 2 at reduced speed.

[0089] III. Panic prevention at a door arrangement 1 in escape ways:

[0090] Starting situation a: [0091] door arrangement 1 is closed [0092] light grid system 52 does not respond (no object close to the door leaf 2 detected) [0093] opening instruction from arbitrary controller [0094] door arrangement opens at predetermined maximum speed.

[0095] Starting situation b: [0096] door arrangement 1 is closed [0097] light grid system 52 responds (i.e. a person is close to the door leaf 2, possibly a crowd of people) [0098] immediate opening of the door leaf 2 at reduced speed and with increased moment of force.

[0099] The illustrated scheme (provided algorithm) of reaction patterns of the control device 55 is exemplary for most applications. In specific situations, however, deviations may be necessary for the protection of objects 7 and/or the components of the door arrangement 1, which will have to be programmed individually in the control means 55.

[0100] In addition to the explained embodiment the invention allows further configuration approaches.

[0101] It goes without saying that the explained door arrangement is not restricted to a roller shutter and/or a lifting door. Instead, the invention may readily also be used with some other kind of door arrangement and also in some other orientation of the door closing plane in which a door leaf is moved in a corresponding manner. Moreover, the door arrangement may also a small door arrangement or the like. Preferably, however, the door arrangement is configured as a quickly moving industrial door, especially an industrial lifting door.

[0102] The door leaf may be formed of lamellae, slats, roller shutter elements, sections, or as a one-piece door leaf. Accordingly, it is not necessary that the door leaf 2 is available as a coil in the door lintel in the open position. Instead, it may also be guided to extend flatly.

[0103] The current position of the object may also be detected by some other kind than by an optical detector means. It is, for instance, also possible to use ultrasonic sensors, radar sensors, or the like. Likewise, a detector beam system, as it has e.g. become known from DE 10 2008 017 244 A1, may also be used for the detection of an object.

[0104] Moreover, the means for detecting the current position of the object may, in a simplified embodiment, also comprise an even distribution of the detection density across the entire monitored area.

[0105] As was explained, the monitored area may be a partial area of the door opening. In an alternative embodiment, however, the entire area of the door opening may also be monitored.

[0106] If the position of the leading edge 23 of the door leaf 2 is detected on the basis of the rotation angle at the drive means 4, the end position of the door leaf 2 in the open state may also be used as a zero point here. Alternatively, the detection of the position of the leading edge 23 of the door leaf 2 may also be performed by separate sensors independently of the drive means 4. Thus, for instance, a specific detection unit may be arranged in the region of a guide 3, which responds to a chip in the end plate 22 and thus determines the position thereof.

[0107] Likewise, the direction of movement of the door leaf 2 may also be detected by appropriate sensor elements especially in the region of the guides 3, so that no access to the rotation direction data of the drive means 4 is necessary then.

[0108] The triggering of the drive means 4 in a detected risk situation may, instead by the direct access of the control means 55, also be performed indirectly via a system control unit of the door arrangement, for instance. Other suitable trigger possibilities may also be used.

[0109] While specific embodiments of the invention have been shown and described in detail to illustrate the application of the principles of the invention, it will be understood that the invention may be embodied otherwise without departing from such principles.