EP2118421A2 - Capteur radar pour la commande de portes automatiques, porte automatique comportant un tel capteur radar et procédé d'utilisation d'une telle porte - Google Patents

Capteur radar pour la commande de portes automatiques, porte automatique comportant un tel capteur radar et procédé d'utilisation d'une telle porte

Info

Publication number
EP2118421A2
EP2118421A2 EP08701349A EP08701349A EP2118421A2 EP 2118421 A2 EP2118421 A2 EP 2118421A2 EP 08701349 A EP08701349 A EP 08701349A EP 08701349 A EP08701349 A EP 08701349A EP 2118421 A2 EP2118421 A2 EP 2118421A2
Authority
EP
European Patent Office
Prior art keywords
door
radar sensor
radar
detection area
detection
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP08701349A
Other languages
German (de)
English (en)
Inventor
Norbert Fend
Walter Etterlin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
4 Tec AG
Original Assignee
4 Tec AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 4 Tec AG filed Critical 4 Tec AG
Publication of EP2118421A2 publication Critical patent/EP2118421A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/56—Discriminating between fixed and moving objects or between objects moving at different speeds for presence detection
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/42—Detection using safety edges
    • E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/632—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/42—Detection using safety edges
    • E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
    • E05F2015/434—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound with cameras or optical sensors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/42—Detection using safety edges
    • E05F2015/487—Fault detection of safety edges
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
    • E05Y2900/13—Type of wing
    • E05Y2900/132—Doors

Definitions

  • the present invention relates to the field of automatic doors. It relates to a radar sensor for the control of automatic doors, an automatic door with such a radar sensor, and a method for operating such a door.
  • Opening the door competent sensor works as a motion detector, which detects an object to be moved to the door and triggers a corresponding opening command of the door control.
  • the sensor responsible for monitoring the passage area of the door only detects the (static) presence of an object in the closing area.
  • FIG. 1 A known from the prior art, exemplary solution with two different sensors is shown in simplified form in Fig. 1:
  • the automatic door 10 'of FIG. 1 is designed as a symmetrical sliding door, in a door frame 11, two door leaves 12 and 13 horizontally between an opening position and a closing position are movable.
  • To control the door movement sensors 15 and 16 are arranged on both sides of the door frame above the passage area D in the middle, which are connected to a central controller 14 (dotted connection lines).
  • two (horizontal) light barriers 17 and 18 are provided at different heights above the ground, which are also connected to the controller 14. Is automatically located initiated closure process a person or another object in the passage area D, the closing process is stopped and reversed, ie the door 10 'opens again. If an object in the passage area D is detected before the beginning of the closing process, the closing process is suspended.
  • motion sensors 15, 16 have become increasingly in recent times
  • Radar sensors enforced, the structure and function is described for example in the document DE-A1 -100 12 115.
  • a sliding door system is known, in each case two sensors are provided, one of which is designed to detect an approach to the door and the other for detecting obstacles in the range of movement of the sliding sash.
  • the motion sensor here is a passive infrared sensor, the obstacle sensor an active infrared sensor.
  • the object is solved by the totality of the features of claims 1, 10 and 15.
  • the essence of the invention is to use a single radar sensor which, in addition to a first detection area in which it detects objects moved by evaluation of Doppler signals, has a second detection area in which it detects the distance to objects present in this area.
  • the two differ in their properties
  • Detection areas from each other in position and shape, in particular, the second detection area is transverse to the emission direction substantially adjacent to the first detection area.
  • a preferred embodiment of the invention is characterized in that the radar sensor has a radiation characteristic with a main lobe and a first side lobe, and that the first side lobe defines the first detection area and the main lobe defines the second detection area.
  • the radar module is operated in the frequency-modulated continuous wave mode (FMCW), wherein the radar module comprises a voltage-controlled oscillator, and a varactor is provided for controlling the voltage-controlled oscillator.
  • FMCW frequency-modulated continuous wave mode
  • the radar module for the evaluation of the received signals has a quadrature channel and an input signal.
  • Phase channel having a corresponding mixing device, and that the output signals of the two channels are evaluated by means of a controller provided in the microprocessor with respect to the first and second detection range.
  • a further development is characterized in that the output signals of the two channels for evaluating the Doppler signals in the first detection area are amplified in a first amplifier which is arranged between the radar module and the microprocessor, and in that the output signals of the two channels for the evaluation of the distance measurement in the second detection area be amplified in a second amplifier, which is arranged between the radar module and the microprocessor.
  • a common third amplifier with controllable variable amplification is arranged between the radar module and the first and second amplifiers for preamplifying the output signals of the two channels.
  • a preferred embodiment of the inventive automatic door is characterized in that the at least one radar sensor is mounted on a door frame above the passage area laterally.
  • a radar sensor can be arranged in each case on both sides of the door frame, wherein the detection ranges of both radar sensors overlap in the passage area of the door.
  • the automatic door is characterized in that the second detection area in the passage direction to a distance of several decimeters, in particular 20-30 cm, extends from the door, and that the first detection area in the passage direction to a distance from several meters, especially 1, 5-2.5 meters, from the door.
  • the automatic door can be designed as a hinged door, revolving door or sliding door.
  • the door is designed as a sliding door and has two opposite sliding door leaves.
  • An embodiment of the method according to the invention is characterized in that the distance measurements in the second detection area are carried out continuously, and that the respective measurement result is compared with a stored first reference value which has previously been determined for the free passage area with the door completely open.
  • a refinement is characterized in that the distance measurements in the second detection area are continued when the door closes and is in different intermediate positions, and that the measurement results are compared with stored second reference values previously for the free passage area at the respective intermediate position of the door have been determined.
  • Fig. 1 shows an automatic door with various sensors according to the prior art
  • FIG. 2 in side view a highly schematic representation of a
  • FIG. 3 in plan view from above the door of Fig. 2 in the closed
  • FIG. 3 (a) and in the opened state (Fig. 3 (b));
  • Fig. 4 seen the two detection areas of a door according to the invention with only one sensor in the passage direction;
  • Fig. 5 seen the two detection areas of Figure 4 from the side.
  • Fig. 6 seen the two detection areas of Figure 4 from above.
  • Fig. 7 shows the main and side lobes of a radar sensor according to the invention
  • FIG. 8 shows the highly simplified block diagram of a radar sensor according to an embodiment of the invention.
  • Fig. 9 in several sub-figures different phases when closing a sliding door monitored according to the invention.
  • the basic idea of the present invention is to cover the door opening (dynamic measurement) with a special radar sensor and additionally the function of the light barrier in FIG. 1 (static presence measurement).
  • a radar sensor 20 or 21 is used on one or both sides of the door frame 11 to monitor the entire space in front of, in and behind an automatic door 10 from the top to the bottom 19.
  • Each radar sensor 20, 21 has a first detection area 22, 24 and a second detection area 23, 25, respectively.
  • a dynamic measurement is performed, ie, moving objects such as a person 26 approaching the door 10 are detected and detected the control of the door 10 is common. This measurement is carried out according to the known Doppler principle.
  • the first Detection area 22, 24 extends from the door to a distance from the door 10 of about 1.5 to 2.5 m.
  • one or more time-staggered frequency sweeps carry out a distance measurement on objects located in the passage region D of the opened door, which constitute an obstacle to the closing of the door 10.
  • the result of the current distance measurement is compared with stored results which were obtained with the door open without hindrance in an earlier learning step. As soon as the results compared differ significantly, the closing process is stopped or a closing process is not initiated.
  • Detection areas 22, 24 and 23, 25 are carried out simultaneously at any time by performing sweeps at certain time intervals for the static measurement and dynamic measurements according to the Doppler principle between the sweeps. However, it is expedient to measure with the door closed only in the first detection areas 22, 24 (FIG. 3 (a)) and the measurements in the second detection areas 23, 25, which detect the passage area D of the door 10, according to FIG. to begin only when the door 10 has opened automatically ( Figure 3 (b)).
  • the static measurement in the second detection area 25 can according to FIG. 9 with
  • the closing process is subdivided into steps with different opening widths (eg FIGS. 9 (a) - (c)).
  • a reference signal of the undisturbed door characteristic of the opening width is stored in the memory of the radar sensor, with which the current measurement is compared in each case. If a disturbing object enters the passage area D of the door during the closing process, deviates from the measured signal from the stored reference signal and the closing process is aborted and reversed.
  • the two detection regions 24, 25 In the passage direction (FIG. 4) and seen from the side (FIG. 5), the two detection regions 24, 25 have a simplified triangular cross section profile, while the cross section is semicircular (first detection region 24) when viewed from above (FIG. has the shape of a narrow strip (second detection area 25).
  • the two detection areas 24, 25 are defined by the side lobe 46 (first detection area 24) and the main lobe 47 (second detection area 25) in the radiation characteristic of the radar sensor 20, 21, wherein the strong main lobe 47 for increased sensitivity in the (static Distance measurement in the passage area D stands.-
  • the two detection areas 24, 25 can be changed in their extent by changing the gain of an amplifier (35 in Fig. 8).
  • the construction of the radar sensor 21 is shown in a simplified block diagram in FIG. 8.
  • Essential components of the radar sensor 21 are the actual radar module 27, which is responsible for transmitting and receiving the radar signals, and a microprocessor 28, which controls and evaluates its various outputs 42, .., 45 outputs signals for further use in the door control.
  • the radar module 27 contains, inter alia, a feed 33, a voltage-controlled oscillator (VCO) 32, which preferably operates with a varactor, an enable circuit 31 for controlling the activity of the module, as well as an in-phase channel 30 and a quadrature channel 29, in FIG where the received signal is mixed with the frequency from the oscillator 32 in antiphase.
  • VCO voltage-controlled oscillator
  • the output signals of both channels 29, 30 are pre-amplified in a common amplifier 35 with a low-pass function and then supplied to separate amplifiers 36 and 37 with band-pass function.
  • the common amplifier 35 has a from Microprocessor 28 controlled variable gain, which is switched when switching between static (sweep) and dynamic measurement (Doppler) and can be changed to change the extent of the detection ranges.
  • Subsequent upper amplifier 36 amplifies the sweep signal generated by frequency modulation for the static
  • a radar signal evaluation block 40 is provided in the microprocessor 28 in which the radar signals from the amplifiers 36 and 37 are evaluated, in particular subjected to digital filtering and fast Fourier transformation.
  • the microprocessor 28 controls the oscillator 32 via a digital-to-analogue converter 38.
  • a temperature sensor (for example NTC) 34 is provided on the radar module 27, the signal of which reaches the microprocessor 28 via an amplifier 38.
  • the microprocessor 28 is connected to a memory 41.
  • the output 42 is provided in particular for the diagnosis of the radar sensor 21, the output 43 for the presence signal from the second detection range 23, 25, the output 44 for motion signals from the first detection area 22, 24, and the output 45 for display and control functions.
  • motion information can be distinguished whether it is human or immobile objects.
  • This safety function is also active during the following door closing, as the computer knows the reference pictures of the door closing and checks them constantly when closing.
  • the antenna diagram is shaped so that the energy is emitted mainly (in the main lobe) down to the largest
  • Light sensors only detect the area in front of the door leaves).
  • the patch antennas of the radar module used can be excited so that the main lobe is inclined by about 10 ° in the door. This is a static detection in the entire danger zone of moving
  • the same antenna has forward side lobes.
  • the gain of the analog channel (amplifier 35) can be switched during operation.
  • these side lobes can be used frontally for dynamic detection. - Through this switching static and dynamic fields can be changed independently.
  • the sensor can provide an output for detection (opening pulse to the
  • a self-monitoring of the computer and its memory can be provided.
  • the function of the radar sensor can thus be checked completely over the entire amplifier chain.
  • Reflections of the door leaves are not within the detection range.
  • the present sensor uses the signals of the door wings around the
  • Two radar sensors can be used for the safe operation of the door.
  • One is integrated on the side of the door in the automatic, and one is mounted on the other side in a housing.
  • the two detection fields also contain the
  • the radar sensors are monitored by a constantly running test procedure.
  • the standard DIN 18650 (and AUTSCHR) can already with only one
  • Radar sensor of the inventive type are met, with a inside Radar sensor according to the invention and outside a standard sensor is mounted.
  • VCO Voltage Controlled Oscillator

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Power-Operated Mechanisms For Wings (AREA)

Abstract

L'invention concerne un capteur radar (20, 21) pour la commande de portes automatiques (10), comportant un module radar émettant des signaux radar et recevant des signaux de réflexion, ainsi qu'une commande correspondante. Le capteur radar (20, 21) présente une première zone de détection (22, 24) dans laquelle le capteur détecte des objets mobiles par évaluation de signaux Doppler. La commande de porte est simplifiée et améliorée du fait que le capteur radar (20, 21) présente une deuxième zone de détection (23, 25) dans laquelle le capteur détecte la distance par rapport à des objets présents dans ladite zone.
EP08701349A 2007-01-12 2008-01-09 Capteur radar pour la commande de portes automatiques, porte automatique comportant un tel capteur radar et procédé d'utilisation d'une telle porte Withdrawn EP2118421A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH382007 2007-01-12
PCT/EP2008/050185 WO2008084058A2 (fr) 2007-01-12 2008-01-09 Capteur radar pour la commande de portes automatiques, porte automatique comportant un tel capteur radar et procédé d'utilisation d'une telle porte

Publications (1)

Publication Number Publication Date
EP2118421A2 true EP2118421A2 (fr) 2009-11-18

Family

ID=38508934

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08701349A Withdrawn EP2118421A2 (fr) 2007-01-12 2008-01-09 Capteur radar pour la commande de portes automatiques, porte automatique comportant un tel capteur radar et procédé d'utilisation d'une telle porte

Country Status (2)

Country Link
EP (1) EP2118421A2 (fr)
WO (1) WO2008084058A2 (fr)

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Publication number Priority date Publication date Assignee Title
CA2691924A1 (fr) * 2010-02-05 2011-08-05 Sensotech Inc. Systeme de protection virtuelle de l'operateur
US11066276B2 (en) 2018-04-30 2021-07-20 Otis Elevator Company Enhanced door detection
DE102018128012A1 (de) * 2018-11-08 2020-05-14 DILAX Intelcom GmbH Vorrichtung und Verfahren zur Unterscheidung und Zählung von Personen und Gegenständen
CN111413746A (zh) * 2020-03-26 2020-07-14 青岛中加特电气股份有限公司 检测传感器
DE102020112883A1 (de) 2020-05-12 2021-11-18 Dormakaba Deutschland Gmbh Schiebetüranlage
CN112462357B (zh) * 2020-12-17 2024-04-30 广东蓝水花智能电子有限公司 一种基于fmcw原理的自动门控制方法及自动门控制系统
EP4043684A1 (fr) 2021-02-12 2022-08-17 dormakaba Deutschland GmbH Procédé de fonctionnement d'une installation de porte
CN113501398B (zh) * 2021-06-29 2022-08-23 江西晶浩光学有限公司 控制方法、装置及存储介质
IT202300015837A1 (it) * 2023-07-27 2025-01-27 Inxpect S P A Sistema radar per il controllo di un cancello automatico

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US4967083A (en) * 1989-04-14 1990-10-30 The Stanley Works Door sensor system
US5142152A (en) * 1991-01-02 1992-08-25 The Stanley Works Sliding door sensor
JP2002512689A (ja) * 1997-04-14 2002-04-23 マイクロテック・インターナショナル・インコーポレイテッド ドップラーレーダー警告システム
DE19804631C2 (de) * 1998-02-05 2001-10-11 Agta Record Ag Fehraltorf Verfahren und Vorrichtung zur Ansteuerung und/oder Überwachung eines motorisch angetriebenen Flügels
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Also Published As

Publication number Publication date
WO2008084058A2 (fr) 2008-07-17
WO2008084058A3 (fr) 2008-11-20

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