Method for operating a door installation and door installation for implementing the method

Abstract

The invention relates to a method for operating a door installation (100), wherein the door installation has at least one door leaf (10) and wherein a sensor unit (11) is provided and connected to a control unit (12) of the door installation, wherein the approach of a person (13) to the door installation (100) is detected by means of the sensor unit (11), in particular configured as a radar sensor or a camera, wherein the method has at least the following steps: detection of an approach angle (a) of the person (13) with which the person (13) approaches the door installation; and opening of the at least one door leaf (10) with an opening width (I, II) and / or with an opening speed, wherein the maximum opening width (I, II) or the maximum opening speed is determined by the control unit (12) depending on the approach angle (a) of the person (13) detected. The invention also relates to a door installation (100) with a control unit (12) for carrying out the method.

Description

Technical Field

[0001] This invention relates to a method for operating a door facility, wherein the door facility has at least one door leaf, and a sensor unit is disposed therein and connected to a control unit of the door facility, wherein the sensor unit is used to detect a person approaching the door facility, wherein the sensor unit is configured as a radar sensor or a camera. The invention also relates to a door facility with a control unit for implementing the method. Background Technology

[0002] For example, EP 3 613 933 A1 discloses a method for operating an automated door facility having a door actuator connected to a door leaf. It is proposed here that a radar motion detector for controlling the movement of the door is used for automated sliding doors. For swing doors, radar sensors for detecting monitored areas are not common, as sensors only detect people and transmit the corresponding data to a control unit for controlling the door facility.

[0003] DE 196 13 178 A1 discloses a method for operating an automated door system, wherein the door system may have door panels that can be operated via a door actuator. Furthermore, a sensor unit is proposed that works in conjunction with a control unit and can control the control unit via sensor data, thereby optimizing the operation of the door system. Optimizing the operation of the door system particularly involves matching the opening behavior of the door system to the frequency of passage of personnel. Therefore, the opening behavior should be different when a larger number of people pass through the door system compared to when only one person passes through. Weather conditions, time of day, day of the week, and, for example, the temperature difference between the inside and outside of the building should also be considered. Ideally, the door should be opened whenever passage of one or more people is necessary. In particular, when multiple door systems are involved, especially sliding doors, the doors should be opened and closed in the correct positions. In this regard, ideally, the door panels should be operated such that personnel can continue their walking motion in the passageway while passing through the door system, but the door panels do not open earlier or later than required. This should enable the realization of an intelligent door, which should be able to control the opening and closing behavior of the entire door facility based on traffic conditions and environmental conditions such as temperature, wind, pressure difference, ventilation requirements, and similar parameters. Summary of the Invention

[0004] Therefore, one object of the present invention is to further improve the method for operating a door facility, and for implementing such a door facility in which the method according to the invention can be carried out. The improvement should particularly lie in utilizing other key features to optimally manipulate the door leaf of the door facility, preferably during the movement of at least one person, the leaf of which the person wishes to pass. Here, for optimal manipulation, it is particularly important that the door leaf no longer remains open for longer than necessary, without impeding the walking movement of the person passing through.

[0005] The stated objective is achieved based on the method for operating a door facility according to the invention and the door facility according to the invention, which have respectively characterized features. Advantageous improvements of the invention are given herein.

[0006] According to the present invention, the method includes the steps of: detecting the approach angle of a person approaching the door facility at that angle; and opening at least one door leaf with an opening width and / or an opening speed, wherein a control unit determines the maximum opening width and / or the maximum opening speed based on the detected approach angle of the person.

[0007] The core idea of ​​this invention is to detect the approach angle of a person, which is detected by a sensor unit and transmitted to a control unit. The control unit can then take this angle, among other parameters, into account when the person approaches the door facility. Thus, when a person approaches the door from one side, the door leaf can be operated differently by means of the door actuator compared to when the person walks towards the door, for example, perpendicularly. From this, an optimized scheme can be derived to open the door leaf, for example, only to the extent necessary. This not only achieves the advantages of optimal door control, but also, in particular, to ensure the door leaf is not opened for longer or wider than required, reduces wear and tear on the door facility and door actuator, as well as energy consumption.

[0008] According to the present invention, the method can be implemented by means of a door device, wherein the door leaf has a hinge side and a closing side, wherein when a person approaches from the closing side of the door device, the opening width of the door leaf is determined to be smaller compared to when a person approaches from the hinge side of the door device, wherein therefore when a person approaches from the hinge side of the door device, the opening width of the door leaf is determined to be larger compared to when a person approaches from the closing side of the door device. The closing side is formed on the side where a handle assembly, a lever, a handle, etc., are installed.

[0009] The core idea behind adjusting the opening width of a door is spatial adaptation to the direction in which a person approaches the door installation. When a person approaches from the closed side of the door installation, for example, extending at an acute angle relative to a wall where the door installation is located, it is sufficient for the door to open only, for example, 45°; the door does not necessarily need to have an opening angle of 75°. However, if a person approaches from the hinged side, then the person must go around the door in a certain way. To allow for the most comfortable and minimal effort to go around the door, the door should open not just 45°, but at least 75°, to provide the widest possible door opening for the walker, which is perceived as comfortable.

[0010] According to the invention, the method further proposes that when a person approaches from the closed side of the door facility, the opening speed of the door leaf is determined to be smaller compared to when a person approaches from the hinge side of the door facility, and wherein therefore when a person approaches from the hinge side of the door facility, the opening speed of the door leaf is determined to be larger compared to when a person approaches from the closed side of the door facility. If, for example, a person approaches from the closed side of the door facility, then an opening angle of, for example, 45° may be sufficient. In order to move the door leaf to an opening width of only 45° within the same movement time, the door leaf can move slowly so as to move to 45° in the same time as when the door leaf moves to an opening width of 75°. As a result, energy can also be saved by reducing the movement speed, and the material load on the door facility, especially the door actuator, can be reduced.

[0011] On the other hand, it is sufficient to subsequently identify personnel in the area near the wall, which is certainly true in the case of radar sensors as well. The optimal coverage of the radar field for identification is, for example, around a 0° angle perpendicular to the closed door, at +50° to -50°. Therefore, the side areas receive slightly worse detection, requiring personnel to approach the door more closely from the edge areas in order to eventually be identified. However, since an opening width of, for example, 45° is sufficient when personnel approach, for example, from the closed side of the door installation, the later identification of the opening requirement is not significantly disadvantageous.

[0012] Therefore, the opening time is determined so that the arrival time of a person at the door is first determined by the distance-time law. The time must be subtracted to account for the opening duration, in addition to taking into account the safety time. However, the total time between the person's identification and the start of the door's movement can be shorter due to the reduced opening angle when approaching the door obliquely, for example, from the closed side, since the door only needs a shorter time to open to a maximum 45° angle than to a maximum 75° angle. Therefore, a person approaching the door directly, i.e., from a 0° angle, triggers the door to open, where the door leaf typically opens to 75°.

[0013] According to a further configuration of the method, the door facility may have a first door leaf and a second door leaf, wherein the opening width and / or opening speed of the first door leaf and the second door leaf are determined by a control unit based on the approach angle of a person, such that the opening width and / or opening speed are different from each other when the approach angle is greater than or less than 0°, and / or the opening width and / or opening speed are the same when the approach angle is 0°, where 0° corresponds to a vertical line on the plane of the door leaf. Thus, the behavior of a single door leaf can also be controlled in a double-leaf door facility, as is also achieved in a door facility with only one door leaf. Special cases may also arise where only a single door leaf is opened when a person approaching the door facility at an angle is identified. Preferably, the door leaf on the side from which the person approaches the closed side should be opened.

[0014] Furthermore, the method according to the invention proposes to detect and / or determine the size of a person by means of a sensor unit and / or a control unit, wherein the size of the person and the approach angle are correlated with each other as a first correlation value by means of the control unit, and the opening width and / or opening speed are determined by means of the control unit from the first correlation value. This results in a further improvement in door control, and in particular, avoids the situation where, when a very tall person approaches from the closed side of the door at a certain angle, the door only has a reduced opening width, and the size of the person here also includes, for example, a person carrying items such as wheelchairs, walkers, luggage, hospital beds, trolleys, etc.

[0015] According to an improved embodiment of the invention, the approach speed of a person approaching a door facility is detected and / or determined by means of a sensor unit and / or a control unit. Here, the control unit determines the opening time earlier when the approach speed is higher compared to when the approach speed is lower. Similarly, when the approach speed is higher, the opening speed of at least one door leaf is determined to be greater compared to when the approach speed is lower. In the same manner, when the approach speed is lower, the opening time is determined later compared to when the approach speed is higher, and / or when the approach speed is lower, the opening speed of at least one door leaf is determined to be smaller compared to when the approach speed is higher.

[0016] According to another embodiment of the invention, a motion vector is determined by a control unit from the approach angle and the approach speed, the motion vector being used as parameters for the opening width and / or opening speed of at least one door leaf. If the size of a person is also additionally detected, then a motion vector with additional information is formed based on the size of the person. The motion vector may also be referred to herein as a person vector, because a unique motion vector is generated for each person as multiple people pass through the door facility. In particular, a unique motion vector with additional size information about the person is generated for each person.

[0017] Therefore, it is proposed that when the size of a person is detected and / or determined by means of a sensor unit and / or by means of a control unit, the size of the person and the motion vector are correlated with each other by means of the control unit as a second correlation value, which is used alone or additionally as a parameter for the opening width and / or opening speed of at least one door leaf.

[0018] It is also proposed that a first sensor unit is provided on a first side of the door facility and a second sensor unit is provided on a second side of the door facility, wherein the first sensor unit and the second sensor unit are configured as radar sensors or cameras, wherein motion vectors of people are formed on both sides of the door facility across the door facility, and / or wherein motion vectors of the door facility in the internal area between the sensor units can be determined by the sensor units in a computational manner without the aid of the sensor units.

[0019] If a sensor unit on the first side of the door installation detects an arriving person, the person can be tracked shortly before reaching the door installation itself using motion vectors; however, detection is no longer performed using radar sensors or cameras in the immediate vicinity of the door panel. On the departure side of the door, another sensor unit captures the person's image again until the person finally leaves the departure area of ​​the door installation, and a second sensor unit can report the departure. The person's motion vector remains constant from the initial detection on the arrival side until the person leaves on the departure side, thus forming a command variable for controlling the door panel using the control unit.

[0020] In this regard, it is possible to generate vectors when the sensor unit has a radar sensor or a camera. In particular, a radar sensor can not only identify the presence of people, but also detect the distance, speed, and direction of movement of people, and it is possible to distinguish between approaching or increasing distance of people by means of a radar sensor. The same features can also be achieved by means of a camera or corresponding image evaluation. Here, it is very advantageous to generate motion vectors by means of sensors, so that only the vector data of the identified objects is transmitted to the control device. From information from, for example, two sensors, namely sensors on the approach and departure sides of the door facility, the control device determines how the person actually moves and also calculates the predicted movement, especially the direction of the movement channel and the speed of the person, so as to optimally control the movement of the door. In this way, people can pass through the door facility with the highest comfort, while at least one door does not need to be kept open for a long time.

[0021] Furthermore, it is proposed that the control unit detects tactile interactions between a person and the door panel. The control unit detects the movement of the door panel or the tactile interaction with the door panel in the open position and stores this information continuously or briefly as correction factors. This allows the control unit to adjust the future movement of the door panel based on the correction factors, particularly the maximum opening width and / or opening speed and / or opening timing and / or the strength of the assist device. This enables a learning-based door control device where the control unit stores empirical values ​​and correlates them with currently detected data.

[0022] This allows for the identification of whether, given a preset door opening speed, a person periodically pushes the door in the opening direction or whether no tactile interaction occurs. If the door is periodically pushed in the opening direction, the control device can deduce, for example, that the door should either be opened earlier or the opening speed increased in the future. As a result, the door control device itself can be optimized until, for optimal operation by different people, they ultimately do not engage in any tactile interaction with one or more door panels.

[0023] Finally, it is proposed to calculate the opening time using a control unit, which determines the opening time based on the distance-time law from the person's current distance and approach speed relative to the door facility. This involves shifting the opening time forward for the door's opening duration and additionally providing a buffer period. This prevents a person from entering an open door, ensuring that the door is already open to the preset width when the person actually approaches it.

[0024] The sensor unit typically has a main detection area, wherein at least one sensor unit, particularly a radar sensor or camera, is mounted on or in the area of ​​the door installation such that the main detection area is oriented toward the closing side of the door. This is achieved by rotating the sensor unit, particularly the radar sensor or camera, from a 0° intermediate position, with the detection angle of the main detection area rotated toward the intermediate position calculated by a control unit. Consequently, the detection area on the weaker side, especially from the closing direction, becomes smaller, allowing for faster identification of personnel approaching the door installation at an acute angle to the wall into which it is installed. Here, the main detection area can be rotated toward the closing side of the door until there is virtually no area where personnel detection is poor. The necessarily increased area of ​​poor detection from the hinge side of the door is not a problem for personnel approaching the door installation from the hinge side, because these personnel already maintain a greater distance from the wall, as each person subconsciously understands when passing through a pivoting door that the door will open in the opposite direction of the person's walking when they are closer to the wall. In this regard, the regular behavior of people moving toward the door facility allows for this rotation of the radar sensor's main detection area.

[0025] The present invention also relates to a door facility with a door manipulator for implementing the aforementioned method. It is proposed that the sensor unit has at least one radar or camera, wherein the approach angle of a person approaching the door facility can be detected and / or determined by means of the radar sensor or camera, and the control unit is configured such that at the opening time, at least one door leaf is opened with an opening width and / or an opening speed based on the detected approach angle of the person.

[0026] Advantageous improvements to the door arrangement are given in the specification and in the drawings. The features and details described in conjunction with the method according to the invention also apply here in conjunction with the door arrangement according to the invention, and vice versa. Here, the features mentioned in the specification are important to the invention individually or in combination. In particular, the following door arrangements are protected, by means of which the method according to the invention can be implemented, and the methods that can be implemented by means of the door arrangements are also protected.

[0027] The door facility according to the invention is further configured such that the approach speed of a person approaching the door facility can be detected and / or determined by means of a radar sensor or a camera, wherein the control unit is configured such that at the opening time point, at least one door leaf is opened with an opening width and / or an opening speed based on the detected approach speed of the person.

[0028] The sensor unit has a main detection area, wherein at least one of the sensor units, particularly a radar sensor or a camera, is mounted on or in the area of ​​the door facility such that the main detection area is oriented toward the closing side of the door leaf, in such a way that the sensor unit, particularly the radar sensor or camera, is arranged in a manner that rotates out from the middle position of 0°.

[0029] The door installation can be configured as, in particular, an automatic sliding door installation, a folding door installation, a swing door installation, or a revolving door installation.

[0030] Furthermore, the present invention relates to a computer program product for implementation in a control unit of a door facility having the aforementioned features, configured to implement the method according to the invention described above. Attached Figure Description

[0031] Other improvements to the invention will now be described in detail along with the description of preferred embodiments of the invention with reference to the accompanying drawings. The drawings show:

[0032] Figure 1 A schematic view of a door facility is shown, in which a person walks perpendicularly toward the door facility, and the door leaf is exemplarily opened at 75°;

[0033] Figure 2 Showing according to Figure 1 A top view of a door facility, in which a person approaches the door facility from the closed side at an angle and the door leaf is exemplarily opened at 45°;

[0034] Figure 3 A door installation with sliding doors is shown, in which a person is centrally positioned and approaches the door installation perpendicularly;

[0035] Figure 4 Showing according to Figure 3 A door system with sliding doors, in which people approach the door system at an angle;

[0036] Figure 5 A side view of the door facility is shown, with one person on the approach side and one person on the exit side; and

[0037] Figure 6 A door device is shown, which has a sensor unit that rotates toward the closing side of the door device. Detailed Implementation

[0038] Figure 1 and 2A door assembly with a door leaf 10 is shown, the door leaf being pivotable by means of a door manipulator 1. The door leaf 10 has a hinge side, shown on the left side of the door leaf 10 and forming the turning point of the door leaf, and the free side of the door leaf 10 forms a closed side, the closed side having fittings for the door leaf 10 in a manner not shown in detail. Figure 1 A door leaf 10 with a first opening width I is shown here, which is, for example, 75°, and Figure 2 The door leaf 10 is shown with a second opening width II, which is, for example, 45°. The door leaf 10 is therefore in the 0° position in the closed position.

[0039] Figure 1 A person 13 is shown moving vertically toward the door facility 100. This vertical position forms a 0° approach angle, while... Figure 2 The image shows person 13 approaching the door facility at an approach angle α of, for example, 30°.

[0040] Figure 1 and 2 The comparison shows that when a person 13 approaches obliquely from the hinge side, the door leaf 10 does not open as wide as when the person 13 approaches the door facility 100 perpendicularly, i.e., from the 0° direction. The method for implementing the invention proposes that the approach angle α of the person 13 is detected by means of the sensor unit 11, and the approach angle α forms an angle between the person 13 and the 0° perpendicular direction at which the person 13 approaches the door facility obliquely. Furthermore, the method proposes that the door leaf 10 opens either with a first opening width I or a second opening width II, the first and second opening widths being related to the detected approach angle α. Additionally, a first or second opening speed can be provided when opening the door leaf 10, wherein a larger first opening width I results in a larger opening speed than a smaller second opening width II.

[0041] Figure 3 and 4 A door facility 100 having a door leaf 10 that is configured to be push-pull movable is shown, and the movement of the door leaf 10 is controlled by a control unit 12. The sensor unit 11 is shown exemplary only on the approach side of the door facility 100, which may also be present in the same manner on the departure side of the door facility 100.

[0042] exist Figure 3 In the middle, personnel 13 approach the door facility 100 from a vertical line, described by an angle of 0°, and the two door panels 10 open at the same distance and at the same speed.

[0043] exist Figure 4In this example, person 13 approaches at an angle α about a vertical line of 0°, and the example shows that the door leaf 10 on the approaching side of person 13 opens further than the door leaf 10 on the side away from the approaching side. Here, of course, the door leaf 10 on the left side away from the approaching side can still open to a certain distance, and the door leaf 10 on the right side does not necessarily need to be fully opened. Ideally, the opening widths of the two door leaves 10 open a passageway for the movement of person 13, as the person passes through the door facility 100. Exemplarily, the left door leaf 10 here shows a smaller first opening width I, while the right door leaf shows a larger second opening width II.

[0044] The movement of the door 10 is controlled via a control unit 12, which is electrically connected to at least one sensor unit 11 in a manner not shown in detail. The sensor unit 11 is exemplarily a radar sensor or camera, which can not only detect the presence of a person 13, but also the distance and angle α between the person 13 and the door structure 100 at which the person 13 approaches the door structure 100. Furthermore, the radar sensor or camera can determine the approach speed of the person 13 by means of corresponding image evaluation.

[0045] Figure 5 A door facility 100 is shown, having a door actuator 1 for manipulating a door leaf 10, and sensor units 11 are provided on both sides of the door facility 100. The sensor units 11 can detect detection areas 14 separately, allowing the identification of a person 13 within the detection areas 14. Between the two detection areas 14, particularly directly within or below the door facility 100 or door leaf 10, there exists an internal area 15 that cannot be monitored by the sensor units 11.

[0046] Sensor unit 11 is configured to determine a motion vector V derived from the approach speed and angle of a person 13 approaching the door facility 100. Motion vector V forms parameters for opening widths I and II, with which one or more door panels 10 should open; similarly, the opening speed of the door panels 10 can be determined based on the parameters and motion vector V. Motion vector V can be formed from a detection area 14 on the approach side of the door facility 100 to a detection area 14 on the departure side of the door facility 100. Internal areas 15 that cannot be detected by sensor unit 11 can be additionally determined computationally. Therefore, a continuous and unique motion vector V, calculated in real time for each segment of movement, can be determined from two exemplary single motion vectors V.

[0047] Figure 6A door assembly 100 with a sensor unit 11 is shown, which rotates toward the closing side of the door leaf 10. The sensor unit 11 is exemplarily a radar sensor, which is fixedly mounted and, in this respect, does not rotate during the continuous operation of the door assembly 100.

[0048] The sensor unit 11, configured as a radar sensor, has a main detection area H, which, in a non-rotating configuration, has a central axis of 0°, orthogonal to the door facility 100. The main detection area H extends from -50° to +50° around 0°. If the sensor unit 11 rotates by a rotation angle β, then a rotated main detection area H' is also derived. The applicable 0° is then shown as dashed lines by means of the two boundaries of the main detection area H'.

[0049] The areas adjacent to the main detection area H' that are no longer detectable by the entire field strength or are completely undetectable are designated as wide area Z1 and narrow area Z2. If the sensor unit 11 does not rotate, then the two areas Z1 and Z2 are the same size. However, by rotation, the narrow area Z2 is obtained from the closing side direction of the door leaf 10, while the area on the hinge side of the door leaf 10 widens, resulting in a wider area Z1.

[0050] Since the narrow zone Z2 has been reduced by the rotation of the sensor unit 11, personnel can be better identified when they approach the adjacent main detection area H' of the door facility 100 from the narrow zone Z2 or the edge area. This results in improved functionality during the operation of the door facility 100, allowing for better identification of personnel approaching from the closed side. Personnel approaching from the hinge side of the door facility 100 will naturally prefer to bypass the wide zone Z1, as they know that the door has an opening direction opposite to the direction of travel. In this respect, an increase in the wide zone Z1 on the hinge side of the door leaf 10 is not necessarily disadvantageous.

[0051] The invention is not limited in its implementation to the foregoing preferred embodiments. Rather, various variations are conceivable, even those solutions shown in embodiments that are of different types in principle. All features and / or advantages derived from the claims, specification, or drawings, including structural details or spatial arrangements themselves and their various combinations, may be important to the invention.

[0052] List of reference numerals

[0053] 100-door facility

[0054] 1 Door controller

[0055] 10 Doors

[0056] 11 Sensor Units

[0057] 12 Control Units

[0058] 13 people

[0059] 14 Detection Area

[0060] 15 Internal Area

[0061] α Approach angle

[0062] β rotation angle

[0063] V Motion Vector

[0064] Z1 Wide Area

[0065] Z2 Narrow Area

[0066] H Main detection area

[0067] H' Rotation Main Detection Area

[0068] I First Open Width

[0069] II. Second Opening Width

Claims

1. A method for operating a door facility (100), wherein the door facility (100) has at least one door leaf (10) having a hinge side and a closing side, and wherein a sensor unit (11) is disposed therein and the sensor unit is connected to a control unit (12) of the door facility (100), wherein a person (13) approaching the door facility (100) is detected by means of the sensor unit (11), wherein the method comprises at least the following steps: - Detect the approach angle (α) of the person (13) approaching the door facility (1) at that angle; and - To open at least one door leaf (10) with an opening width (I, II) and / or an opening speed, wherein the maximum opening width and / or maximum opening speed are determined by the control unit (12) based on the detected approach angle (α) of the person (13). - Wherein, when the person (13) approaches from the closed side of the door facility (100), the opening width (II) of the door leaf (10) is determined to be smaller compared to when the person (13) approaches from the hinge side of the door facility (100), and - Wherein the opening width (I) of the door leaf (10) is determined to be greater when the person (13) approaches from the hinge side of the door facility (100) compared to when the person (13) approaches from the closed side of the door facility (100).

2. The method according to claim 1, Its features are, - When the person (13) approaches from the closed side of the door facility (100), the opening speed of the door leaf (10) is determined to be smaller compared to when the person (13) approaches from the hinge side of the door facility (100), and - When the person (13) approaches from the hinge side of the door facility (100), the opening speed of the door leaf (10) is determined to be greater than when the person (13) approaches from the closing side of the door facility (100).

3. The method according to claim 1 or 2, Its features are, The door facility (100) has a first door leaf and a second door leaf, wherein the opening width (I) and / or opening speed of the first door leaf and the opening width (II) and / or opening speed of the second door leaf are determined by means of the control unit according to the approach angle (α) of the person (13), such that when the approach angle (α) is greater than or less than 0 degrees, the opening width (I, II) and / or the opening speed are different from each other, and / or when the approach angle (α) is 0 degrees, the opening width (I, II) and / or the opening speed are the same, wherein 0 degrees corresponds to a vertical line on the plane of the door leaf (10).

4. The method according to claim 1 or 2, Its features are, The size of the person (13) is detected and / or determined by means of the sensor unit (11) and / or by means of the control unit (12), wherein the size of the person and the approach angle (α) are correlated with each other as a first correlation value by means of the control unit (12), and the opening width (I, II) and / or the opening speed are determined by means of the control unit (12) from the first correlation value.

5. The method according to claim 1 or 2, Its features are, The approach speed of the person (13) is detected and / or determined by means of the sensor unit (11) and / or by means of the control unit (12), at which the person (13) approaches the door facility (100), wherein the control unit (12) is used to detect and / or determine the approach speed of the person (13) approaching the door facility (100). - At higher approach speeds, determine the opening timing earlier compared to at lower approach speeds, and / or - When the approach speed is higher, the opening speed of the at least one door leaf (10) is determined to be greater than that when the approach speed is lower.

6. The method according to claim 5, Its features are, The motion vector (V) is determined by the control unit (12) from the approach angle (α) and the approach speed, and the motion vector is used as a parameter for the opening width (I, II) and / or opening speed of the at least one door leaf (10).

7. The method according to claim 6, Its features are, The size of the person (13) is detected and / or determined by means of the sensor unit (11) and / or by means of the control unit (12), wherein the size of the person (13) and the motion vector (V) are correlated with each other by means of the control unit (12) as a second correlation value, the second correlation value being used as a parameter for the opening width (I, II) and / or opening speed of the at least one door leaf (10).

8. The method according to claim 6, Its features are, A first sensor unit is provided on a first side of the door facility (100) and / or a second sensor unit is provided on a second side of the door facility (100), wherein a motion vector (V) of the person (13) is formed on both sides across the door facility (100), and wherein the motion vector (V) of the door facility (100) in the internal area (15) between the sensor units (11) without the aid of the sensor units (11) is determined by the control unit (12) in a calculated manner.

9. The method according to claim 8, Its features are, The first and second sensor units are configured as radar sensors or cameras.

10. The method according to claim 1 or 2, Its features are, The control unit (12) detects tactile interactions between the person (13) and the door (10), wherein the control unit (12) detects the movement of the door (10) or the tactile interaction with the door (10) in the open position and stores it continuously or temporarily as a correction factor, so that the control unit (12) adjusts the future movement of the door (10) according to the correction factor.

11. The method according to claim 10, Its features are, The future movement of the door leaf (10) involves the maximum opening width and / or opening speed and / or opening time and / or the strength of the assist device.

12. The method according to claim 5, Its features are, The opening time is calculated by means of the control unit (12), wherein the opening time is determined by means of the distance-time law from the current distance and approach speed of the person (13) relative to the door facility (100), wherein the opening time is advanced for the opening duration and buffer time of the door leaf (10).

13. The method according to claim 1 or 2, Its features are, The sensor unit (11) has a main detection area (H), wherein at least one of the sensor units (11) is mounted on or in the area of ​​the door facility (100) such that the main detection area (H) is oriented toward the closing side of the door leaf (10) in such a way that the sensor unit (11) is arranged to rotate out from a 0-degree intermediate position, wherein the rotation angle (β) of the main detection area (H') rotating toward the intermediate position is calculated by means of the control unit.

14. The method according to claim 13, Its features are, The sensor unit (11) is configured as a radar sensor or a camera.

15. A door facility (100) for implementing the method according to any one of claims 1 to 13, the door facility having a door manipulator (1). Its features are, The sensor unit (11) has at least one radar sensor or camera, wherein the radar sensor or camera is capable of detecting and / or determining the approach angle (α) of a person (13) approaching the door facility (100), and the control unit (12) is configured to open the at least one door leaf (10) at the opening time point according to the detected approach angle (α) of the person (13) with an opening width (I, II) and / or an opening speed.

16. The door facility (100) according to claim 15. Its features are, The radar sensor or the camera can detect and / or determine the approach speed of a person (13) approaching the door facility (100), wherein the control unit (12) is configured to open at least one door leaf (10) at an opening time based on the detected approach angular velocity of the person (13) with an opening width (I, II) and / or an opening speed.

17. The door facility (100) according to claim 15 or 16. Its features are, The sensor unit (11) has a main detection area (H), wherein at least one of the sensor units (11) is mounted on or in the area of ​​the door facility (100) such that the main detection area (H) is oriented toward the closing side of the door leaf (10) in such a way that the sensor unit (11) is arranged to rotate out from the middle position of 0 degrees.

18. The door facility (100) according to claim 17. Its features are, The sensor unit (11) is configured as a radar sensor or a camera.

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