METHOD FOR OPERATING A DOOR ACTUATOR

Description

[0001] The invention relates to a method for operating a door actuator of a door system, in particular a swing door with a pivoting door leaf. The invention further relates to a door actuator of a door system for carrying out a method according to the invention. STATE OF THE ART

[0002] DE 10 2016 119 339 A1 discloses a device for controlling a covering characteristic of an opening to be passed by an object by means of at least one closing element, wherein the device has a control unit which is configured to control the covering characteristic in an object-adaptive manner based on geometric object data and at least one additional situation characteristic.

[0003] US 5 647 173 A discloses an operating method for a revolving door in which the circumferential speed of the panels of the revolving door consists of a reinforcement component provided by a drive motor and a force that must be exerted on at least one of the panels of the revolving door.

[0004] EP 3 613 933 A1 discloses a method for operating an automatic door system comprising a door actuator connected to a door leaf. It specifies that radar motion detectors are used to control the door movement in automatic sliding doors. For swing doors, radar sensors for detecting monitoring areas are not common if the sensors ultimately detect people and transmit the corresponding data to a control unit for controlling the door system.

[0005] Furthermore, DE 196 13 178 A1 discloses a method for operating an automatic door system, and the door system has a door leaf that can be operated via a door actuator. Sensor units are also proposed that interact with a control unit, and the control unit can be controlled via sensor data to ensure optimal operation of the door system. Optimal operation of the door system is seen particularly in adapting the opening behavior of the door system to the frequency of passage. Thus, if a larger number of people pass through the door system, the opening behavior should differ from that of a single person. Additionally, weather conditions, the time of day, the day of the week, and, for example, the temperature difference between the inside and outside of a building should also be taken into account.

[0006] The ideal scenario is that a door opens only as far as necessary for the passage of one or more people. In particular, the door should open and close at the correct point, especially in the case of multi-leaf door systems, particularly sliding doors. The aim is to control one or more door leaves in such a way that a person passing through the doorway can continue their movement uninterrupted, while the door leaf neither opens earlier nor closes later than necessary. The goal is to create an intelligent door that allows the opening and closing behavior of the entire door system to be controlled based on traffic conditions and environmental factors such as temperature, wind, pressure difference, air exchange requirements, and similar parameters.

[0007] Door systems are generally supplied with factory presets, which an installer must then adjust on-site to the specific requirements of the installation location. This is often time-consuming and frequently results in multiple follow-up visits. For example, the door leaf movement of a door system in a hospital requires different control than in a school, a nursing home, or a public building. REVELATION OF THE INVENTION

[0008] The object of the invention is therefore to further improve a method for operating a door system, as well as to create such a door system with which the method according to the invention can be carried out. The improvement is intended in particular to establish optimal control of the door leaves of the door system in a simple manner, so that the movement of the person passing through is not impaired as much as possible after the door system has been installed on site.

[0009] According to the invention, the method comprises at least the following steps: performing a pivoting movement of the door leaf, determining an interaction between the door leaf and a person, determining a correction value for the pivoting movement of the door leaf due to the interaction, and correcting future pivoting movements of the door leaf by the correction value.

[0010] The core concept of the invention is the creation of a door system with a learning door operator that continuously optimizes itself, particularly during the initial period of use at the installation site. This makes it possible to install a door system with factory-set standard configurations at the installation site, without requiring a technician to perform time-consuming adjustments to the control system to suit the specific operating conditions. The adjustment of the door leaf's control occurs primarily during the initial period of use by acquiring and, in particular, storing correction values ​​through interaction with users. These values ​​then serve as the basis for controlling future swing movements of the door leaf. Consequently, the learning door operator can configure and optimize itself over its service life, especially during the initial phase, until interactions between users and the door leaf have reached a minimum.Only then can it be assumed that users are sufficiently satisfied with the door leaf's movement and no longer interact with it. This determined optimum for the door system's operation will then form the basis for its future operation.

[0011] For the execution of the method, a sensor unit is provided with which the at least one person is detected, and the door operator has a control unit with which information from the sensor unit about the presence and / or the spatial distance and movement of the persons is received. The execution of the pivoting movement of the door leaf is based on the information detected by the sensor unit and additionally based on the correction value. The correction value can be used, in particular, where the control unit controls the actual circuitry of a drive unit in the door operator. The correction values ​​can thus, for example, advance or delay the opening time of the door leaf, accelerate or decelerate the opening speed of the door leaf, or increase or decrease the angular position of the door leaf in the open position.Similarly, the opening hold time, the closing speed and finally the reaction threshold of the door actuator when a person is detected by the sensor unit can also be set by means of the automatic optimization according to the invention.

[0012] The control unit has a correction value memory in which correction values ​​are stored. The correction values ​​can be stored in the correction value memory, particularly cumulatively, preferably permanently, but at least temporarily. Furthermore, it is provided that the correction values ​​in the correction value memory are optimized by an algorithm over the initial service life of the swing door, by prioritizing the correction values ​​for future swing movements of the door leaf in such a way as to minimize the future number of interactions between the door leaf and the people using the swing door. Consequently, during the execution of the algorithm, priority is given to the correction values ​​that generate the least possible interaction between the person using the door and the door leaf.Thus, the optimum can be found via the algorithm itself, for which a large number of correction values ​​are stored over a longer period, which are then evaluated in such a way that the correction values ​​that have generated a minimum of interactions between the user and the door leaf are used as the basis for the future control of the door leaf.

[0013] The interaction between the door leaf and the person can occur in various ways. For example, the interaction may involve a conscious action on the part of the person. This could include an interruption, a slowing down, and / or a halt to the person's movement just before they pass through the swing door. It is also possible that the interaction might involve an acceleration of the person's movement just before they pass through the swing door. Finally, it is conceivable that the interaction between the door leaf and the person could involve a further push in the opening movement of the door leaf.Pushing can be done during the opening movement or even in the open position of the door leaf, for example, if the door leaf either opens too slowly, so the person assists the opening movement, or if in the open position the door leaf is not open wide enough, so the person wants a larger opening angle and consequently pushes the door leaf into an even wider opening position.

[0014] According to a further development of the inventive method, the determination of the correction value for the pivoting movement of the door leaf based on interaction with a number of people in relation to the time of day and / or the day of the week can be carried out. Correction values ​​can thus be provided that are stored as dependent on the time of day or the day of the week. Furthermore, correction values ​​can be made dependent on the difference between the interior and exterior temperatures of the building, or on the season. Wind loads, pressure differences between the interior and exterior of a building, and / or solar radiation can also constitute further parameters that are correlated with the correction values, so that these additional parameters can also form the basis for the time-dependent or situation-dependent control of the pivoting movement of the door leaf.If, for example, users of the door system regularly push the door leaf open at very low outside temperatures or hold it open manually or with their foot, a weaker correction factor is applied than at very high outside temperatures. The same can be implemented for wind loads, temperature differences, and / or pressure differences between the interior and exterior of the building in which the door system is installed.

[0015] Preferably, the correction value for the pivoting movement of the door leaf is determined based on the interaction with the person, in conjunction with a detected approach speed and / or the person's height. This also allows the correction value to be stored in relation to the detected approach speed and / or the height of the approaching person. It is also conceivable to determine the approach angle of the person moving towards the door system. This allows the door operator to learn to optimally control the movement of the door leaf depending on the approach angle, so that, for example, when a person approaches the door system at an angle from the closing side of the door leaf, the door leaf only opens partially, and the opening angle of this partial opening can also be optimized using the learning algorithm according to the invention.

[0016] Finally, a matrix, table or list can be generated over a period of time, especially over a day or a week, of the interactions between the door leaf and a number of people, in which the correction values, especially in the correction value memory, are stored depending on the time of day and / or the day of the week and / or other environmental influences such as the season.

[0017] The invention further relates to a door actuator for carrying out a method according to the preceding description. A control unit with a correction value memory is provided. Finally, the door actuator has a drive unit with a sensor for detecting the interaction between the door leaf and a person.

[0018] Features and details described in connection with the method according to the invention also apply in connection with the door actuator according to the invention, and vice versa. The features mentioned in the description and in the claims can be essential to the invention individually or in combination. In particular, a door actuator is protected with which the method according to the invention, especially the method according to any one of claims 1 to 6, can be carried out.

[0019] A door system for carrying out the method according to the invention is further disclosed. The door system comprises at least one, in particular several, in particular two, door leaves. The door system preferably comprises a door actuator according to the invention. The door system or the door actuator comprises a memory and / or a processor for carrying out the method.

[0020] The door system can be designed as a sliding door system, especially an automatic one, as a folding door system, as a swing door system or as a revolving door system.

[0021] Features and details described in connection with the inventive method and the inventive door actuator also apply in connection with the inventive door system and vice versa.

[0022] Furthermore, a computer program product for carrying out the method according to the invention is disclosed. Features and details described in connection with the method according to the invention, the door actuator according to the invention, and the door system according to the invention also apply in connection with the computer program product according to the invention, and vice versa. PREFERRED EXAMPLE OF THE INVENTION

[0023] Further measures improving the invention are described in more detail below, together with a description of a preferred embodiment of the invention, with reference to the figures. The figures show: Figure 1 shows a schematic view of a door system configured to carry out the method according to the invention, wherein a person is shown in front of the door leaf who does not interact with the door leaf; Figure 2 shows the view according to Fig. 1 , wherein the person interacts with the door leaf, Figure 3 a diagram showing the speed of a person's movement over time as they approach a door system, and wherein the speed increases as they approach the door system, Figure 4 a diagram showing the speed of a person's movement over time according to Figure 3, wherein the speed of the person slows down at or shortly before a door opening and Figure 5 is a schematic view of a door system with a door actuator in operative connection with a door leaf.

[0024] In the Figures 1 and 2 Each figure shows a door assembly 100, which has a door leaf 10 that can be opened automatically by a door operator 1. A person 11 is shown in front of the door assembly 100, approaching it at a speed v.

[0025] The approach is detected by a sensor unit 12, which is advantageously designed as a radar sensor. This allows the sensor unit 12 not only to detect the mere presence of person 11, but also to determine the approach speed, direction of approach, and, if applicable, the size of person 11. The sensor data acquired by the sensor unit 12 is then transmitted to a control unit 13, which can be integrated into the door actuator 1 or located externally. Finally, the control unit 13 is used to control the door actuator 1, initiating movement in the door leaf 10 and thus opening and closing it.

[0026] Figure 1 Person 11 is shown without any interaction with door wing 10, whereas Figure 2This example shows that person 11 manually operates the door leaf 10 in addition to the automatic operation by the door operator 1. This manual operation is detected by the door operator 1, and a correction value is determined to correct future swing movements of the door leaf 10, so that person 11 is ideally no longer required to interact with the door leaf 10.

[0027] The Figures 3 and 4 This figure exemplifies a non-manual or non-tactile form of interaction with the door leaf 10. It shows the walking speed v of person 11 over a time t in seconds, whereby person 11 initially approaches the door system 100 at an approximately constant speed until the door opens. The behavior of person 11 can be recorded by the sensor unit 12 and transmitted to the control unit 13.

[0028] Figure 3The diagram shows an example of a door opening time Tö, which is positioned such that person 11 must increase their walking speed to finally reach a passage time D, when the door leaf 10 is still open. As a result, this diagram shows that either the door opening time Tö occurs too early or the door leaf 10 closes again even though the person's passage time D has not yet been reached when passing through the door system 100. This interaction can be detected by the sensor unit 13.

[0029] Figure 4In contrast, it shows a door opening time To, which is positioned such that the person must reduce their walking speed v, for example, to wait for the door to open before finally passing through the door system 100. Thus, the delay must occur to reach the passage time D at the correct time by keeping the door leaf 10 in the open position as much as possible.

[0030] Both cases according to the Figures 3 and 4 The diagrams show forms of interaction that are solely attributable to the behavior of person 11 passing through door 100. Therefore, a haptic interaction between person 11 and door leaf 10 is not strictly necessary, and the sensor unit can also detect the behavior of person 11, from which an optimization of the control of the movement of door leaf 10 can be derived.

[0031] Figure 5Figure 1 shows the setup of a door system 100 with a door actuator 1, which is operatively connected to a door leaf 10. The operative connection includes a sensor 15, which can detect whether external forces are applied to the door leaf 10, for example, when a person pushes the door leaf open or pulls it back into the closed position. The information from the sensor 15 can be transmitted to the control unit 13, which includes a correction value memory 14. Thus, the control unit 13 and the correction values ​​stored in the correction value memory 14 enable continuous optimization of the control of the drive unit 16 in order to continuously improve the movement behavior of the door leaf 10 for the specific application.The control unit 13 receives additional information from the sensor unit 12, which is designed as a radar sensor and serves to detect persons 11.

[0032] The invention is not limited in its implementation to the preferred embodiment described above. Rather, within the scope of the claims, a number of variants are conceivable which utilize the solution presented even in fundamentally different embodiments. Reference symbol list:

[0033] 100 door system 1 door operator 10 Door leaf 11 Person 12 Sensor unit 13 Control unit 14 Correction value memory 15 Sensor 16 Drive unit t(s) Time in seconds v Walking speed of the person Tö Door opening time D Passage time

Claims

1. A method for operating a door actuator (1) of a door system (100), in particular a swing leaf door, with at least one sensor unit (12), with which a person (11) is recorded, and with a control unit (13), with which information is received from the sensor unit (12) about the presence and / or about spatial dimensions and movements of persons (11), and furthermore with a pivotally movable door leaf (10), wherein the method has at least the following steps: - carrying out a swivelling movement of the door leaf (10) by means of the door actuator (1), - determining an interaction between the door leaf (10) and the person (11), wherein the interaction between the door leaf (10) and the person (11) - is pushing the opening movement of the door leaf (10), - and / or relates to an interruption, slowing down and / or stopping of the walking movement of the person (11) shortly before the person (11) passes through the swing leaf door, - and / or an acceleration of the person (11) shortly before the person (11) passes through the swing leaf door, - determining a correction value for the swivelling movement of the door leaf (10) on the basis of the interaction, wherein the control unit (13) has a correction value memory (14) in which the correction values are stored, - wherein the correction values are optimised in the correction value memory (14) via an algorithm over the in particular initial period of use of the swing leaf door, in that the correction values for future swivelling movements of the door leaf (10) are prioritised such that the future number of interactions between the door leaf (10) and the person (11) walking through the swing leaf door is minimised, and - correcting future swivelling movements of the door leaf (10) by the correction value, wherein - the swivelling movement of the door leaf (10) is carried out based on the information recorded by the sensor unit (12) and additionally based on the correction value.

2. The method according to claim 1, characterised in that the correction values are stored cumulatively in the correction value memory (14).

3. The method according to one of the preceding claims, characterised in that the interaction between the door leaf (10) and the person (11) relates to a conscious behaviour of the person.

4. The method according to one of the preceding claims, characterised in that the determination of the correction value for the swivelling movement of the door leaf (10) is carried out on the basis of the interaction with a number of persons (11) in connection with the time of day and / or with the day of the week.

5. The method according to one of the preceding claims, characterised in that the determination of the correction value for the swivelling movement of the door leaf (10) is carried out on the basis of the interaction with the person (11) in connection with a recorded approach speed and / or with a recorded size of the person (11).

6. The method according to one of the preceding claims, characterised in that over a time sequence, in particular over a day or a week, the interactions between the door leaf (10) and a number of persons (11) generate a matrix, a table or a list in which the correction values are stored, in particular in the correction value memory (14).

7. A door actuator (1) for carrying out a method according to one of the the preceding claims, wherein a control unit (13) is provided with a correction value memory (14), wherein a drive unit (16) is provided, which is at least indirectly coupled to the door leaf (10), and wherein the drive unit (16) is designed with a sensor (15) for recording an interaction between the door leaf (10) and a person (11).