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ES2133424T3 - Procedimiento para controlar el movimiento de puertas. - Google Patents

Procedimiento para controlar el movimiento de puertas.

Info

Publication number
ES2133424T3
ES2133424T3 ES94101255T ES94101255T ES2133424T3 ES 2133424 T3 ES2133424 T3 ES 2133424T3 ES 94101255 T ES94101255 T ES 94101255T ES 94101255 T ES94101255 T ES 94101255T ES 2133424 T3 ES2133424 T3 ES 2133424T3
Authority
ES
Spain
Prior art keywords
procedure
door
roller
toothed
belt
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.)
Expired - Lifetime
Application number
ES94101255T
Other languages
English (en)
Inventor
Norbert Dipl-Ing Gutknecht
Andreas Dipl-Ing Sukale
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.)
Inventio AG
Original Assignee
Inventio 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 Inventio AG filed Critical Inventio AG
Application granted granted Critical
Publication of ES2133424T3 publication Critical patent/ES2133424T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • 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
    • E05F15/60—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
    • E05F15/643—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings operated by flexible elongated pulling elements, e.g. belts, chains or cables
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • 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
    • E05F1/00—Closers or openers for wings, not otherwise provided for in this subclass
    • E05F1/02—Closers or openers for wings, not otherwise provided for in this subclass gravity-actuated, e.g. by use of counterweights
    • E05F1/025—Closers or openers for wings, not otherwise provided for in this subclass gravity-actuated, e.g. by use of counterweights with rectilinearly-moving counterweights
    • 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
    • E05Y2201/00—Constructional elements; Accessories therefor
    • E05Y2201/60—Suspension or transmission members; Accessories therefor
    • E05Y2201/622—Suspension or transmission members elements
    • E05Y2201/644—Flexible elongated pulling elements
    • E05Y2201/652—Belts
    • 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
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/45—Control modes
    • E05Y2400/456—Control modes for programming, e.g. learning or AI [artificial intelligence]
    • 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
    • E05Y2600/00—Mounting or coupling arrangements for elements provided for in this subclass
    • E05Y2600/40—Mounting location; Visibility of the elements
    • E05Y2600/458—Mounting location; Visibility of the elements in or on a transmission member
    • 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
    • E05Y2800/00—Details, accessories and auxiliary operations not otherwise provided for
    • 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
    • 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
    • E05Y2900/104—Application of doors, windows, wings or fittings thereof for buildings or parts thereof for elevators
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34122—Function, profile generator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36464—Position, teach, store extreme, full open, closed positions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37175—Normal encoder, disk for pulses, incremental
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37621—Inertia, mass of rotating, moving tool, workpiece, element
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41357—Belt
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42176—Motion profile
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43038—Parabolic acceleration, constant speed, parabolic deceleration as function of position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43074—Control speed, acceleration so as to follow desired speed profile
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45242—Door, panel, window operation, opening, closing

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Power-Operated Mechanisms For Wings (AREA)
  • Elevator Door Apparatuses (AREA)

Abstract

EN ESTE PROCEDIMIENTO PARA EL CALCULO DE LAS CURVAS DE DESPLAZAMIENTO TOMA PARTE UN CONTROL (11) DE PUERTA Y UN ACCIONAMIENTO (9) DE PUERTA EN EL PROCEDIMIENTO. UNA DISPOSICION (1) CON UNA CABINA DE ASCENSOR CARACTERISTICA MUESTRA HOJAS (2) DE PUERTA, QUE SON ACCIONADAS A PARTIR DE UNA PRIMERA CORREA (4) DENTADA, PROCEDENTE DE UN MOTOR (3), UNA SEGUNDA CORREA (5) DENTADA, UN RODILLO (6) DE ACCIONAMIENTO, UN RODILLO (7) DE INVERSION Y UN SENSOR (8) INCREMENTAL QUE COMPONEN EL ACCIONAMIENTO (9) DE LA PUERTA. EL MOTOR (3) SE ABASTECE CON ENERGIA ELECTRICA A PARTIR DE UNA PARTE (12) DE POTENCIA EL CONTROL (11) DE PUERTA. EL SENSOR (8) INCREMENTAL ACCIONADO POR EL RODILLO (7) DE INVERSION SE ENCUENTRA EN UNION CON UNA SEGUNDA INTERFASE (10) DE UN MICROCOMPUTADOR (13). EN EL PROCEDIMIENTO LAS CONSTANTES NECESARIAS SE ELIGEN DE FORMA LIBRE Y SON COMUNICADAS AL ALGORITMO POR MEDIO DE UNA TERMINAL (15). LOS VALORES TEORICOS Y REALES DE LA POSICION DE LA HOJA DE PUERTA COMUNICAN AL ORDENADOR (14) DECURVA DE DESPLAZAMIENTO UNA REGULACION (17), QUE CONTROLA DE FORMA CORRESPONDIENTE LA PARTE (12) DE POTENCIA.
ES94101255T 1994-01-28 1994-01-28 Procedimiento para controlar el movimiento de puertas. Expired - Lifetime ES2133424T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP94101255A EP0665182B1 (de) 1994-01-28 1994-01-28 Verfahren zur Steuerung der Bewegung von Türen

Publications (1)

Publication Number Publication Date
ES2133424T3 true ES2133424T3 (es) 1999-09-16

Family

ID=8215636

Family Applications (1)

Application Number Title Priority Date Filing Date
ES94101255T Expired - Lifetime ES2133424T3 (es) 1994-01-28 1994-01-28 Procedimiento para controlar el movimiento de puertas.

Country Status (7)

Country Link
US (1) US5625175A (es)
EP (1) EP0665182B1 (es)
JP (1) JPH07229358A (es)
AT (1) ATE179387T1 (es)
CA (1) CA2139706C (es)
DE (1) DE59408176D1 (es)
ES (1) ES2133424T3 (es)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2187385A1 (es) * 2001-11-28 2003-06-01 Gonzalez Jose Joaquin Iranzo Dispositivo para el accionamiento y control de puertas en general
CN112723069A (zh) * 2020-12-16 2021-04-30 长沙慧联智能科技有限公司 基于tof视觉检测的电梯门运行状态监测方法及系统

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JP3299135B2 (ja) * 1996-02-28 2002-07-08 株式会社ナブコ 自動ドア装置の制御装置
JP3883611B2 (ja) * 1996-07-03 2007-02-21 三菱電機株式会社 エレベータドア制御装置
DE19710338C5 (de) * 1997-03-13 2007-06-06 Conti Temic Microelectronic Gmbh Verfahren zur Steuerung des Schließvorgangs von Schließvorrichtungen mit mindestens einem elektromotorisch bewegten Teil
JP4015721B2 (ja) * 1997-05-19 2007-11-28 株式会社日立製作所 エレベータドア制御装置
ES2134165B1 (es) 1997-12-11 2000-04-16 Tecnolama S A Procedimiento y dispositivo para el cierre y la apertura de puertas de aparatos elevadores.
AT405922B (de) * 1998-02-19 1999-12-27 Hoerbiger Gmbh Verfahren zur steuerung einer betätigungsanordnung für bewegliche teile an fahrzeugen und betätigungsanordnung
DE59908337D1 (de) * 1998-04-07 2004-02-26 Demag Cranes & Components Gmbh Fahrwerk, insbesondere für Hebezeuge und hängende Lasten
KR20050044626A (ko) * 2002-09-27 2005-05-12 미쓰비시덴키 가부시키가이샤 엘리베이터 도어의 제어 장치
EP1608545A4 (en) * 2003-04-01 2007-12-05 Llc Lunasee LUMINOUS SAFETY SIGNALING STRUCTURES FOR HUMAN PROPULSION VEHICLE
US7441914B2 (en) * 2003-04-01 2008-10-28 Lunasee, Llc Phosphorescent charging system for wheeled vehicles having phosphorescent wheels
SG121101A1 (en) 2004-10-01 2006-04-26 Inventio Ag Inputting or adjusting reference positions in a door controller
FI117283B (fi) * 2005-02-04 2006-08-31 Kone Corp Hissijärjestelmä
US7525265B2 (en) * 2005-04-20 2009-04-28 The Chamberlain Group, Inc. Drive motor reversal for a barrier operator or the like
EP1922278B1 (en) * 2005-09-05 2012-11-14 Kone Corporation Elevator arrangement
CN101258087B (zh) * 2005-09-05 2010-06-16 通力股份公司 用于改进电梯系统的性能的方法和系统
FI117701B (fi) * 2005-11-24 2007-01-31 Kone Corp Laitteisto ja menetelmä hissin oven ohjaamiseksi
US7992688B2 (en) * 2006-05-29 2011-08-09 Mitsubishi Electric Corporation Door device for an elevator
EP2298683A1 (de) * 2009-09-18 2011-03-23 Inventio AG Türantrieb
DE102011003399B4 (de) * 2010-12-30 2013-05-08 Siemens Aktiengesellschaft Absolutpositionsbestimmung bei Antriebssystemen
DE102012204076B4 (de) * 2012-03-15 2014-03-06 Siemens Aktiengesellschaft Positionsbestimmung mittels Winkelmessung
DE102012210592C5 (de) * 2012-06-22 2020-04-30 Geze Gmbh Automatische Drehtüranlage sowie Verfahren zum Betrieb einer automatischen Drehtüranlage
CN104918874B (zh) 2013-01-08 2018-09-14 奥的斯电梯公司 包括一个或多个标记的电梯门摩擦皮带传动器
CN105026299B (zh) * 2013-03-12 2017-03-08 三菱电机株式会社 电梯门控制装置
DE102013204925B4 (de) 2013-03-20 2018-03-01 Siemens Aktiengesellschaft Steuerung eines Antriebs für ein bewegbares Objekt
US11053725B2 (en) * 2017-04-11 2021-07-06 Overhead Door Corporation Sliding barrier tracking system
US11215004B2 (en) 2019-03-22 2022-01-04 Ford Global Technologies, Llc Closed loop door position control
CN111747253B (zh) * 2019-03-27 2021-12-03 上海三菱电梯有限公司 电梯层门装置
CN111305693A (zh) * 2019-12-20 2020-06-19 今创集团股份有限公司 一种门机构电机驱动系统
EP3859114A1 (de) * 2020-01-28 2021-08-04 Gretsch-Unitas GmbH Baubeschläge Schiebetüranlage und verfahren zum betreiben einer schiebetüranlage

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2187385A1 (es) * 2001-11-28 2003-06-01 Gonzalez Jose Joaquin Iranzo Dispositivo para el accionamiento y control de puertas en general
WO2003046322A1 (es) * 2001-11-28 2003-06-05 Iranzo Gonzalez Jose Joaquin Dispositivo para el accionamiento y control de puertas en general
ES2187385B1 (es) * 2001-11-28 2004-07-16 Jose Joaquin Iranzo Gonzalez Dispositivo para el accionamiento y control de puertas en general.
CN112723069A (zh) * 2020-12-16 2021-04-30 长沙慧联智能科技有限公司 基于tof视觉检测的电梯门运行状态监测方法及系统

Also Published As

Publication number Publication date
JPH07229358A (ja) 1995-08-29
ATE179387T1 (de) 1999-05-15
EP0665182A1 (de) 1995-08-02
CA2139706A1 (en) 1995-07-29
CA2139706C (en) 2005-03-29
DE59408176D1 (de) 1999-06-02
EP0665182B1 (de) 1999-04-28
US5625175A (en) 1997-04-29

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