Method for operating a door actuator

Abstract

The invention relates to a method for operating a door actuator. More particularly, the invention relates to a method of operating a door actuator of a door system, in particular a pivoting leaf door, the door system having at least one movable door leaf, a control device designed to control the drive of a door actuator coupled to the door leaf, a sensor unit designed to detect a person in a region in front of the door system and to pass information relating to the person to the control device, the method having at least the following steps: detecting a first person; calculating a possible arrival time of the first person at the door leaf; calculating a first control parameter for actuating the door leaf in relation to the first person; detecting at least one second person; calculating a possible arrival time of the second person at the door leaf; calculating a second control parameter for actuating the door leaf in relation to the second person; correlating the first control parameter with the second control parameter to form a first control parameter set; and controlling the drive of the door leaf on the basis of the first control parameter set.

Description

Technical Field

[0001] The present invention relates to a method for operating a door actuator for a door system, particularly a swing-leaf door, the door system comprising: at least one movable door leaf; a control device designed to control the drive of an actuator coupled to the door leaf; and a sensor unit designed to detect a person in an area in front of the door system and to transmit information related to the person to the control device. Background Technology

[0002] EP 3 613 933 A1 discloses a method for operating an automatic door system having a door actuator connected to a door leaf. It is noted that a radar motion detector is used to actuate the door movement of the automatic sliding door. For swing-leaf doors, radar sensors are not commonly used for detecting and monitoring areas if a sensor eventually detects a person and transmits the corresponding data to a control unit to control the door system.

[0003] Another method for operating an automatic door system is known from DE 196 13 178 A1, and this door system has door panels that can be actuated via door actuators. Furthermore, a sensor unit is proposed that works in conjunction with a control unit, and the control unit can be actuated using sensor data to achieve optimal operation of the door system.

[0004] Optimal operation of a door system is specifically considered in terms of its opening behavior, which is adapted to the frequency of passage by people. Therefore, the opening behavior should be designed differently if a large number of people pass through the door system compared to if only a single person passes through. Additionally, weather conditions, time of day, day of the week, and factors such as the temperature difference between the interior and exterior of the building should also be considered.

[0005] In this context, the ideal condition is considered as the door opening only when a person must pass through. Specifically, for example, if a multi-leaf door system is involved, particularly a sliding door, the door should open and close in the correct positions. The aim here is to actuate one or more door leaves so that a person can continue their passage along a constant path while passing through the door system, with the door leaves neither opening earlier than necessary nor closing later than necessary. Therefore, an intelligent door should be provided that can control the opening and closing behavior of the entire door system based on traffic conditions and environmental conditions, such as temperature, wind, pressure differences, the need for air exchange, and similar parameters.

[0006] The controller for operating an automatic door system can generally be optimized for only one person's entry. However, there may be situations where two or more people enter the door system and enter the detection area of ​​the sensor unit. The goal here is to achieve optimal control of the movement of at least one door leaf when multiple people enter the door system simultaneously, allowing each person to enter the door system without obstruction, but also preventing the door leaf from unnecessarily leaving the closed position for an extended period of time when multiple people are present. Summary of the Invention

[0007] Therefore, the object of the present invention is to further improve the method for operating a door system and to provide a door system through which the method according to the invention can be performed. In particular, even when multiple people enter the door system, the improved solution should achieve optimal actuation of the door leaf of the door system, so that each person can enter the door system through the door leaf without obstruction, but otherwise the door leaf will not be unnecessarily open for an extended period of time.

[0008] This objective is achieved by method 1 according to the preamble of claim 1 and the gate actuator combined with the feature portion according to claim 9. Other advantageous modifications of the invention are indicated in the dependent claims.

[0009] According to the present invention, the method comprises at least the following steps: detecting a first person; calculating the possible arrival time of the first person at the door; calculating a first control parameter to actuate the door with respect to the first person; detecting at least one second person; calculating the possible arrival time of the second person at the door; calculating a second control parameter to actuate the door with respect to the second person; associating the first control parameter with the second control parameter to form a first control parameter set; and controlling the actuation of the door based on the first control parameter set.

[0010] The core concept of this invention is to integrate multiple control parameters to control the actuation of a door panel in a door system. This allows the control parameters for actuating the door panel to be determined even when multiple people enter the system, ensuring comfortable entry for each individual. Control is also possible to prevent the door panel from unnecessarily remaining in the open position for extended periods. To this end, the method first detects a first person and calculates first control parameters, enabling optimal actuation of the door panel when the first person is present. If a second person is detected, second control parameters are generated. As a core part of this invention, the first and second control parameters are correlated to form a control parameter set, which ultimately forms the basis for controlling the actuation of the door panel.

[0011] In this way, gate control can be achieved based on the correlation between two control parameters, rather than simply by superimposing individual values. For example, the possible arrival time of the first person cannot be superimposed on the arrival time of the second person. Therefore, according to the present invention, the arrival times, speeds, and / or directions of movement of at least two people are compared with each other, for example, or the sets of parameters related to the respective people are compared with each other as a whole, for example, as a person vector.

[0012] Specifically, the method provides that, after calculating the first control parameters with respect to the actuation of the door by a first person, the first control parameters are stored in an index memory. In the present case, the index memory is understood as a memory having discrete storage locations or discrete storage spaces for each control parameter or set of control parameters, such that individual information relating to whether a control parameter or set of control parameters has been stored can be read from the index memory.

[0013] According to the present invention, the first control parameter and the second control parameter are associated to form a control parameter set by corresponding comparison only when the control parameter or control parameter set has been saved. However, when there is no used storage location in the index memory, the door drive is controlled only based on the first control parameter.

[0014] After calculating the second control parameters to actuate the door with respect to a second person, a step is performed to check whether the first control parameters exist in the index memory. If the result of the query is that the control parameters do not exist, the door is controlled based on the first control parameters; however, if the result of the query is that the first control parameters exist, a first set of control parameters is formed and the door is controlled based on the set of control parameters.

[0015] The method according to the invention can also be used when more than two people enter the door system. Therefore, a third person can be detected first after this occurs, at which point the likely arrival time of the third person at the door is calculated. Then, a third control parameter is calculated, which is used to actuate the door and relates only to the third person. The association is then performed again according to the invention, but using a first set of control parameters formed by the first and second control parameters in the index memory, such that the first set of control parameters is associated with the third control parameter calculated for the third person to form a new second set of control parameters.

[0016] Then, the door's drive can be controlled based on the new second set of control parameters. The second set of control parameters is then stored again as a single set of control parameters in the index memory by replacing or rewriting the first set, causing the index memory to be set back to +1 without modification. Therefore, either no control parameters exist in the index memory such that the index = 0, or a control parameter for one person or a set of control parameters for at least two people exists in the index memory. In this regard, a query is used to determine whether a control parameter or a set of control parameters exists in the index memory, so that only in this case will an association be made through a corresponding comparison.

[0017] This method can be summarized by the following further steps: After each determination of a further control parameter, it is queried whether the control parameter has been saved. If the control parameter has not been saved, index 0 is specified such that the movement of the door is determined based on the calculated first control parameter. If the first control parameter has been saved, the index in the index memory is specified as +1, and the previously saved control parameter based on index +1 is associated with the most recently determined second control parameter based on index +2 by means of comparison, such that the movement of the door is controlled by the best of the previously saved control parameter based on index +1 and the most recently saved control parameter based on index +2, wherein the best also forms a newly saved set of control parameters.

[0018] If no other person is detected and the door has been closed again according to the set of control parameters used, the +1 or +2 index memory is deleted again and thus set to index 0, so that the control device is set back to the initial state and is only reactivated when the next person is detected.

[0019] The following sub-steps can also be provided for each step of the method: Therefore, a person vector can be defined for each person, the person vector being determined at least based on the detected person's velocity, where velocity represents the vector length, and the person vector being determined based on the detected person's direction of motion, where direction of motion represents the vector direction, and the possible arrival time of the person at the door can be calculated based on the person vector. The person vector can be improved by other features, such as those related to the size of the person or objects associated with the person, for example, a wheelchair, a hospital bed, etc.

[0020] To simplify this method, and particularly to execute it only when a corresponding need exists, it is provided that when comparing the second control parameter with the first control parameter in a tolerance query, or when comparing the third control parameter with the first set of control parameters, the tolerance is checked, and if there is a deviation between the second and first control parameters within the tolerance, the first or second control parameter is used to control the door, without associating the first and second control parameters to form the first set of control parameters. For example, the tolerance may relate to a deviation of approximately 5% to 10% between the control parameters. For instance, if a child is accompanying an adult, and the control parameters specifically related to the child's person vector and the control parameters related to the adult's person vector deviate by only about 5% from each other, such that the calculated door control time also deviates by about 5%, the comparison of the index memory values ​​can be omitted, and the door can be actuated directly using the first control parameter.

[0021] The features and details described in conjunction with the method according to the invention are also suitable for use with the door actuator according to the invention, and vice versa. In this case, the features mentioned in the specification and claims may each be necessary for the invention individually or in combination. In particular, a door actuator is protected by which the method according to the invention, especially the method according to any one of claims 1 to 8, can be performed.

[0022] The invention also relates to a door actuator for a door system having a control device, the door actuator being designed to perform the previously described methods. In this case, a sensor unit is advantageously provided, designed as a radar sensor or a camera with a specified image evaluation unit, and the distance, speed, and approach angle of one or more persons can be detected via a transmitter unit.

[0023] The present invention also relates to a door system for performing the method according to the invention. The door system may in this case include at least one, particularly multiple, particularly two door panels. The door system may also include a door actuator according to the invention. The door system or door actuator may particularly include a memory and / or a processor for performing the method.

[0024] The door system is preferably designed as, in particular, an automatic sliding door system, a folding fan door system, a pivoting fan door system, or a revolving door system.

[0025] The features and details described in conjunction with the method and the door actuator according to the invention are also suitable for use with the door system according to the invention, and vice versa.

[0026] The present invention also relates to a software program product for performing the method according to the invention and / or for operating a door actuator according to the invention.

[0027] The features and details described in conjunction with the method according to the invention, the door actuator according to the invention, and the door system according to the invention are also suitable for use in conjunction with the software program product according to the invention, and vice versa. Attached Figure Description

[0028] Other measures to improve the invention will now be described in more detail with reference to the accompanying drawings and preferred exemplary embodiments thereof, the drawings of which illustrate:

[0029] Figure 1 A schematic diagram of a door system is shown, in which, for example, three people enter the door system simultaneously, and

[0030] Figure 2 This is a flowchart illustrating the method according to the present invention. Detailed Implementation

[0031] Figure 1 A view of a door system is shown, which has a door actuator 1 for actuating a door leaf 10. A control device 11 is shown as part of the door actuator 1 and is mounted on the upper side of the door. Sensor units 12 located on the two sides of the door system are used to detect three people 13, 14, and 15, as shown by way of example. People 13, 14, and 15 approach the door leaf 10 from, for example, from both sides of the door system with person vectors V1, V2, and V3.

[0032] Figure 2 A simplified flowchart illustrates a method for operating a door actuator 1 according to the present invention. The method begins with the detection of at least one first person, and if multiple people are detected, the calculated control parameters are compared. Figure 1 The reference numerals in the figures can be used accordingly in the following description.

[0033] First, the first person 13 is detected; this step is marked 100. Then, step 110 is performed, relating to the calculation of the possible arrival time of the first person 13 at the door. If person vectors V1, V2, and V3 are determined in step 110, the arrival time can be calculated based on person vector V1. Person vector V1 is determined at least based on the velocity of the detected person 13, where velocity represents the vector length, and person vector V1 is also determined based on the direction of movement of the detected person 13, where the direction of movement represents the vector direction.

[0034] Then, in step 120, the first control parameter 16' is calculated. The first control parameter 16' is shown, for example, as stored in the index memory 17, and the door 10 is actuated using the first control parameter 16' with respect to the first person 13 or based on the first person vector V1—if the first person vector V1 is calculated according to the first control parameter 16'. As shown, the first control parameter 16' is then stored in the index memory 17, wherein the control parameters 16, particularly the opening time, opening speed, and opening holding period of the door 10, are stored in or through step 130.

[0035] After saving control parameter 16' in step 130 comes step 140, which involves a query relating to whether the control parameter set 16' of the previously detected person has been saved in the index memory 17. If the control parameter set 16' has not been saved, then the detected person 13 is therefore the first person, and if the latest time for initiating the opening movement of door leaf 10 is reached, the activation 190 of door actuator 1 is finally performed together with the opening time query 200.

[0036] However, if query 140 determines that the control parameter set 16' is already stored in the index memory 17 and another person 14 is detected, then comparison 150 is enabled via steps 110, 120, and 130 by further determining the control parameter 16" in which the first control parameter 16' is compared with the second control parameter 16"; or the first control parameter set 16s1 from the index memory 17 is compared with the third control parameter 16"' or the second control parameter set 16s2. This method is followed by a tolerance query 170, and if the deviation of the parameters compared as described above is within the tolerance, a further opening time query 200 is performed, such that the activation 190 of the door actuator 1 is ultimately based on the control parameter 16' or 16" or the control parameter set 16s1 or 16s2.

[0037] If the deviation of the parameters compared above is not within the tolerance, then only control parameter 16s1 is formed, and if no other person 15 is detected, then gate actuator 190 is enabled based on the first control parameter set 16s1 and open time query 200 is executed.

[0038] The generated control parameter set 16s1 or 16s2 is produced by value integration 180, which occurs after tolerance lookup 170. If the deviation between the parameters to be compared is not within the tolerance, it is marked as "No". The generated control parameter set 16s1 or 16s2 then forms a new index 1 or 2 to be stored in index memory 17, such that the new index is formed by storing control parameters 130 in index memory 17.

[0039] Therefore, to achieve optimal actuation of the door 10, after value integration 180 and reindexing of memory 17, the index memory 17 is reset 160 again, and the control device 11 of the door actuator 1 is reset to standby mode, for example.

[0040] The design of this invention is not limited to the preferred exemplary embodiments described above. In fact, even with substantially different embodiments, various variations of the presented solution are conceivable. All features and / or advantages indicated from the claims, description, or drawings—including construction details or spatial arrangements—may be essential to the invention in themselves and in the most diverse combinations.

[0041] List of reference numerals

[0042] 1. Door actuator

[0043] 10 Doors

[0044] 11 Control device

[0045] 12 sensor units

[0046] 13 people

[0047] 14 people

[0048] 15 people

[0049] 16' First control parameter

[0050] 16” Second control parameter

[0051] 16”' Third control parameter

[0052] 16s1 First Control Parameter Set

[0053] 16s2 Second Control Parameter Set

[0054] 17 Indexed Memory

[0055] V1 First Person Vector

[0056] V2 Second Person Vector

[0057] V3 Third-person vector

[0058] 100 Generated Human Vectors

[0059] 110 Calculate the possible arrival time

[0060] 120 Calculate control parameters

[0061] 130 Save control parameters

[0062] 140 Query

[0063] 150 comparisons

[0064] 160 Reset of Index Memory

[0065] 170 Tolerance Inquiry

[0066] 180 value integration

[0067] 190. Activate the door actuator.

[0068] 200 Open Time Inquiry

[0069] 210 Create a new index

Claims

1. A method for operating a door actuator (1) of a door system, the door system comprising: at least one movable door leaf (10); a control device (11) configured to control the actuation of the door actuator (1) coupled to the door leaf (10); and a sensor unit (12) configured to detect a person (13, 14, 15) in an area in front of the door system and to transmit information relating to the person (13, 14, 15) to the control device (11), wherein, The method comprises at least the following steps: - First person detected (13). - Calculate (110) the possible arrival time of the first person (13) at the door (10), - Calculate (120) the first control parameter (16') to actuate the door leaf (10) with respect to the first person (13), - Save (130) the first control parameter (16') in the index memory (17), - At least one second person was detected (14). - Calculate (110) the possible arrival time of the second person (14) at the door (10), - Calculate (120) the second control parameter (16'') to actuate the door leaf (10) with respect to the second person (14), - Perform a query (140) to determine whether the first control parameter (16') exists in the index memory (17). - Associate the first control parameter (16') with the second control parameter (16'') to form a first control parameter set (16s1), and - Control the drive of the door leaf (10) based on the first set of control parameters (16s1) (160). - After each determination of further control parameters (16', 16''), query (240) whether these control parameters (16', 16'') have been saved. - If the control parameter (16') has not yet been saved, index 0 is specified such that the movement of the door leaf (10) is determined based on the calculated first control parameter (16'), and - If the first control parameter (16') has already been saved, increment the index by 1, and then: - By means of comparison (150), the previously saved control parameter according to index +1 is associated with the most recently determined second control parameter (16'') according to index +2, and - The movement of the door leaf (10) is controlled (160) by the best of the previously saved control parameters (16') at index +1 and the most recently saved control parameters (16'') at index +2, wherein the best forms the control parameter set (16s1).

2. The method according to claim 1, Its features are, The following are the further steps: - A third person was detected (15). - Calculate (110) the possible arrival time of the third person (15) at the door (10), - Calculate (120) the third control parameter (16''') to actuate the door leaf (10) with respect to the third person (15), and - By means of comparison (150), the first set of control parameters (16s1) is associated with the third control parameters (16''') calculated for the third person (15) to form a new set of control parameters (16s2), and - The drive of the door leaf (10) is controlled (160) based on the new second set of control parameters (16s2).

3. The method according to claim 1 or 2, Its features are, After at least one person or the last person has passed through, and when no other person is detected and the door (10) is closed, the index memory (17) is deleted again and thus set to index 0.

4. The method according to claim 1 or 2, Its features are, The following are the further steps: - Generate (100) person vectors (V1, V2, V3) for the corresponding person, wherein the person vectors (V1, V2, V3) are determined at least based on the detected person's velocity, the velocity representing the vector length, and the person vectors (V1, V2, V3) are determined based on the detected person's direction of motion, the direction of motion representing the vector direction, and - Calculate the possible arrival time of the person at the door (10) based on the person vector (V1, V2, V3) (110).

5. The method according to claim 2, Its features are, When the second control parameter (16'') is compared with the first control parameter (16') or the third control parameter (16''') is compared with the first control parameter set (16s1) in the tolerance query (170), the tolerance is checked. If the deviation between the second control parameter (16'') and the first control parameter (16') is within the tolerance, the first control parameter (16'') or the second control parameter (16'') is used to control the door leaf (10), and the first control parameter (16'') is not associated with the second control parameter (16'') to form the first control parameter set (16s1).

6. The method according to claim 1, characterized in that, The door system is a pivoting fan door.

7. A door actuator (1) for a door system having a control device (11), the door actuator (1) being designed to perform the method according to any one of claims 1 to 6.

8. The door actuator (1) according to claim 7. Its features are, A sensor unit (12) is provided, which is designed as a radar sensor or a camera with a specified image evaluation unit, and through the sensor unit (12), the distance, speed and approach angle of one or more people can be detected.

9. A door system having at least one door actuator (1) according to claim 7 or 8 and at least one door leaf (10).

10. A software program product for performing the method according to any one of claims 1 to 6 and / or for operating the door actuator (1) according to claim 7 or 8.

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