METHOD AND DEVICE FOR OPERATION OF AN AUTOMATIC DOOR SYSTEM

Description

[0001] The invention relates to a method and a device for operating an automatic door system with at least one movable, adjustable and / or pivotable door leaf.

[0002] It is known that in automatic door systems (especially in automatic sliding door systems) the area in front of the door comprising at least one sliding door leaf is monitored by means of detection and / or monitoring devices, in order to then control the preferably automatic door or sliding door drive accordingly by means of an evaluation and / or control device.

[0003] The aforementioned detection and / or monitoring devices are often also referred to generally as "sensors" or "motion detectors". They can be installed separately or together.

[0004] The sensors, sensor devices or, more generally, the monitoring and detection devices, especially for controlling and monitoring doors, differ with regard to their technical function or application.

[0005] Motion detectors typically operate on the Doppler principle, meaning that a signal is emitted into the monitoring and triggering area of ​​the door to be monitored (regardless of whether it is a hinged door, sliding door, revolving door, or similar) and the reflected signal is received and evaluated. If the signal falls on a moving object, a frequency shift occurs depending on the relative movement of the moving object towards or away from the transmitter. These motion detectors can generally operate using ultrasound, infrared light, or radar.

[0006] In addition, so-called status detectors are known, which are also based on different technical principles and often operate in the infrared range. These typically use status detectors that evaluate so-called active infrared signals. By measuring the signal emitted by the sensors and detectors in the monitoring and triggering area, a corresponding evaluation and control of the door to be opened and closed can be carried out depending on the changing intensity of the reflected signal.

[0007] Furthermore, it is known to use at least one distance sensor as a sensor device, which consists, for example, of a transmitting device with at least one transmitter for sending an electromagnetic signal and a receiving device with at least one receiver for receiving the reflected signal. By means of the provided control and / or evaluation device, the time of flight of the signal emitted by the transmitting device and reflected by an object to be monitored can be measured directly or indirectly, from which the distance to the object can ultimately be derived. In other words, the distance measurement ultimately involves a direct or indirect evaluation of the signal's time of flight and / or phase and / or frequency and / or frequency modulation, or its change compared to the emitted signal. Such sensors are often also referred to as "Time of Flight" sensors or, in short, ToF sensors.

[0008] It is also known from DE 10 2008 008 142 B4 that the direction of an object located in and moving within a monitored area can be determined or ascertained by means of a suitable transmitting device, for example by a sum or difference calculation between two individual location coordinates of the moving object.

[0009] A method for operating a door system and a door system operating according to the method are also known, for example, from DE 196 13 178 A1.

[0010] Various door systems are shown and described, such as sliding door systems and revolving doors.

[0011] The door leaves or door elements are to be controlled according to a process that coordinates at least one higher-level program module in such a way that predefined criteria are optimally met, taking into account the traffic situation and / or environmental conditions detected by the sensors. Predefined criteria include, for example, entrance capacity, heat loss, safety, etc. Parameters related to the traffic situation include, for example, density, space requirements, the direction of movement of objects, their speed, etc. Environmental conditions include temperature, wind, pressure differences, and air exchange requirements, etc.

[0012] In one embodiment, it is shown that in the area of ​​a doorway, several vertically stacked and separately motor-driven and controlled door elements can be used, which, under the control of a control device, are opened only as far and for as long as is minimally necessary for a person to pass through. Each door element is driven to be slidable in the horizontal direction independently of the other, identically designed door elements. The individual door elements can therefore be controlled individually or in groups.

[0013] In WO 2006 / 033145 A1 and DE 196 13 178 A1, it is proposed to use a door system comprising a plurality of horizontally extending and superimposed or vertically extending and horizontally adjacent louvers for opening and closing a doorway. The individual louvers can be adjusted individually and independently of each other between their closed and open positions, so that, for example, the individual louvers only need to be moved into the open position to the extent that an object can be moved through the door without collision, according to its outer contour.

[0014] In the aforementioned DE 196 13 178 A1 and in US 2007 / 0094932 A1, it is also shown and explained how, for example, two or more sliding door leaves can be adjusted asymmetrically into the open position. This makes it possible to open a sliding door only in the area where an object is actually moving through the doorway. In this embodiment as well, the door opens wide enough for an approaching object to pass through without collision, according to its width. As usual, the door then closes again after the object has left the doorway.

[0015] KR 2013 0045627 A discloses a double-leaf door system with two door leaves. A sensor is arranged in each door leaf, which moves with the respective door and is configured to determine whether an object is located in a predetermined area in front of the door leaves. If so, the sensor sends a setting signal that determines the opening width of the door system. An additional sensor is arranged above the door leaves, which monitors an area further away from the door leaves and only activates the sensors when the additional sensor detects an object.

[0016] US 2001 / 048470 A1 also discloses an example of a method and a device for operating an automatic door system.

[0017] The object of the present invention is to improve a corresponding control system for wings, in particular for door wings.

[0018] The problem is solved according to the invention with respect to the method according to the features specified in claim 1 and with respect to the apparatus according to the features specified in claim 8. Advantageous embodiments of the invention are specified in the dependent claims.

[0019] The present invention represents a significant improvement over previous door control methods or door control devices.

[0020] In all systems known so far, the door is always designed to open depending on the detection of a moving object in a monitored area, and then close again after a timer expires if no object is present in the monitored area.

[0021] For example, the pre-published German patent DE 10 2008 008 142 B4 describes how the system should not only detect the presence of an object in a monitored area, but also its direction of movement. This allows, for instance, not only the door to be opened, but also cross-traffic suppression to be applied. According to this pre-published patent, the "cross-traffic suppression" feature is typically activated when the radar is directed at a path or sidewalk that runs alongside (or at least approximately alongside) the door. In this case, the door should only be opened if a person intends to pass through the door and not walk past it on the path or sidewalk. The corresponding evaluation and the associated direction detection then enable the aforementioned cross-traffic suppression to be applied based on the direction of movement.However, if it is detected that the moving object is moving towards the door, the door will be fully opened and, as mentioned, returned to the closed position after a timer has elapsed, unless another object moving towards the door is detected.

[0022] Regardless of whether the door is fully open or closed, it is also known that, for example, when an object is detected moving towards the door, the door may only open to a preset value or position, such as 75%. This is sometimes referred to as a "winter opening width" or "reduced opening." The aim is to achieve less heat exchange in winter, for example, to save energy.

[0023] Furthermore, DE 196 13 178 A1 only describes that, depending on an object, the multiple door elements arranged one above the other, which can be moved separately between their open and closed positions, should only be opened to the extent necessary for a person to pass through the door. That is, depending on these parameters, the door is opened accordingly until the person has passed through, and then closed again.

[0024] In contrast, the invention now proposes to control the opening movement and / or the closing movement of a single or multi-leaf door, at least in one time and / or movement phase. not or not solely dependent on the position of a detected moving object and / or the direction of movement of the detected object, and also not or not solely dependent on the width and / or contour of the object(s) moving through a door and / or its relative position to the at least one or the several leaves or door leaves to do, but Depending on the detected object, the opening and / or closing movement must be adjusted such that, at least within a time and / or movement phase, the respective degree or extent of the opening movement is dependent on the effective or current width, size, and / or contour or overall contour of an object moving through the door opening area. This effective or current width, size, and / or contour or overall contour changes during the object's movement through the door opening area.

[0025] In other words, the invention proposes that, in the case of a door with at least one leaf, the door leaf is moved or tracked according to the relevant width, size and / or contour or overall contour of the detected object, which is related to the door opening area and changes during the movement process through the door opening area, and thus preferably continues to open, continues to close or remains in its open position during the opening and / or closing process, depending on whether the section of the object currently entering the door opening area becomes wider or narrower, or whether its width remains the same for a certain phase of movement.

[0026] This is achieved by maintaining a preferably predefined lateral or safety distance between the object moving through the door and the main closing edge of the at least one door leaf, preferably at every stage. Thus, the opening width of the door leaf(s) changes, for example, at least in sections, as a person moves through the door's opening area.

[0027] If, for example, a moving object in a double-leaf door were to move only towards one leaf that, in its reversing and opening position, could be opened at least far enough for the object to pass through the open door, then only one of the two leaves would be moved into the open position, while the other would remain in its closed position.

[0028] Should a moving object approach a double door from an off-center position, one of the leaves would open wider than the other to allow the object to pass through without collision. The degree and width of opening of each door leaf would be adjusted to ensure the object can pass through without colliding with the door leaves or the main closing edges.

[0029] Therefore, the respective door leaf can preferably be opened so far that its main closing edge always opens and extends further by a preferably predefinable and / or preset value of, for example, 10 cm or 15 cm, etc., than would be necessary in principle with regard to the width of the object moving through the door.

[0030] The same effects apply equally to a single-leaf door, which would then only open to the extent necessary depending on the position, size and contour of the object passing through the door, such that collision-free passage through the partially opened door is possible depending on the direction of movement and size / contour of the object.

[0031] The same effect applies equally to mechanically coupled door leaves, whereby the door is only opened to the extent necessary to achieve the same advantages mentioned above.

[0032] Finally, the solutions according to the invention also apply to the case of a folding door, whereby the single-leaf folding door or the double-leaf folding door, for example, could open to different widths in order to realize the same advantages mentioned above.

[0033] The same applies to a swing door, whereby a single-leaf or, for example, a double-leaf swing door can be controlled in such a way that the individual swing leaves are only opened to the extent necessary, and possibly to different extents, so that collision-free and unimpeded passage through the door is possible.

[0034] This also applies to lock controls or personnel access control systems that use wings for object flow control.

[0035] The solution according to the invention makes it possible to control the door in such a way that it is adapted to the contour of an object passing through the door. In this respect, it is also referred to as object-related door control.

[0036] For example, if a person walks through the door pulling a suitcase behind them, the door leaves could initially be opened gradually, in an object-related manner, only to the extent that the person in question can pass through the door without collision at every stage of crossing the door opening area. Then, if the suitcase gets into the immediate area between the main closing edges of a double-leaf door, the door leaves would be further controlled in such a way that ultimately only the suitcase is pulled further through the door without collision.

[0037] With this type of "width detection" or "contour detection" of an object moving through the door, the closing movement can begin relatively early, and the door leaf(s) can be moved further in the closing direction in an object-controlled manner, as long as the object moving through the door is still in the immediate area between the main closing edges and is just about to leave this area. The narrower the relevant or effective width or size of the object in the door opening area, e.g., between two opposing main closing edges, the smaller the actual opening width of the door or the distance between the door leaves or their main closing edges can be set by correspondingly tracking or adjusting the movement of at least one door leaf.

[0038] In contrast to the prior art closing mechanism, which only occurs after a timer has elapsed or a detection signal indicates that the object has left the doorway, the invention enables very rapid and, for example, continuous closing, which begins even while the object is still within the doorway. This also reduces energy consumption and improves the safety function, particularly in the case of airlocks.

[0039] A similar process can be applied to the opening movement. The further an object moving through the door enters the immediate door opening area, and the wider and larger the section of the object entering this area becomes, the further at least one door leaf will be moved and tracked in the opening direction.

[0040] However, the control can also be based on the maximum width / contour of an object or a group of objects (especially several people walking close together) with a more complex "contour," for example, when a suitcase is being pulled along on one side of the body. In other words, the width can be adjusted so that it remains open at the desired width for both the person passing through the door and the suitcase being pulled through on one side, until the person with the suitcase has completely passed through the door.

[0041] However, "intelligent control methods" are also possible, such that after an object has left the immediate door area and has already completely passed through the door, the door is not immediately closed, because, for example, another object moving towards the door is recognized and detected in the immediate vicinity.

[0042] It is possible, at most, to leave at least one or preferably at least two wings open, or to redirect them so that the opening area is essentially provided and offered where the next detected object is moving.

[0043] In summary, the present invention enables the individual opening and / or closing of an automatically driven door with at least one leaf, and preferably with at least two leaves. A specific object, such as a person wishing to pass through the door, can be detected. Depending on the attributes of this object—that is, its position, speed of movement, direction of movement, and also its size or width, orientation, and contour (generally speaking, in a cross-sectional view parallel to the floor surface)—the door is then individually opened and readjusted in all directions during the passage. This means that either only the door leaf toward which the person is moving and intends to pass through is opened, allowing the other door leaf to remain closed.If a person moves more or less towards both door leaves, but not directly in the center, one door leaf will open further than the other. If the person has already passed more than 50% of the way through the immediate doorway, the door can even begin to close again, essentially following the object's outline or contour at a predetermined distance. This allows not only for very timely and optimally adapted door opening to the person passing through, but also, and perhaps more importantly, for door closing and readjustment. This enables energy-efficient opening and closing of the door, particularly during the winter months, and increases access control security in airlock applications.

[0044] The aforementioned lateral and / or safety distance between the main closing edges and the object passing through the door can also be adjusted differently for individually adapted opening and closing movements, or calculated on an object-specific basis using rule sets and / or empirical values.

[0045] If the temperatures inside and outside the building are at least similar, this distance can be increased and / or automatically controlled, for example, based on temperature sensors both inside and outside the building (i.e., when the temperature difference between inside and outside is small). If the outside temperatures are significantly lower than inside the heated building, especially during the winter months, or if the outside temperatures are significantly higher than inside the building during the summer months, the opening and closing movement can be adjusted so that the main closing edges open less wide, thus reducing the distance between the open main closing edges and the contour of the person.

[0046] Finally, such a different setting of the opening width, and thus the distance of the respective main closing edge to the object in question, could be set or calculated to be greater for a moving person than, for example, for an object being pulled along by the person, such as a suitcase. A distinction between people or animals passing through the door and objects can also be determined or detected by appropriate sensors, and the door movement can then be derived from this object-specific information.

[0047] Further advantages, details, and features of the invention will become apparent from the following description of exemplary embodiments. These will show in detail: Figure 1: a schematic front view of a double-leaf sliding door arrangement with a sensor device located above it; Figure 2a: a schematic horizontal section view through the door system according to Figure 1 in closed state; Figure 2b: a corresponding representation of Figure 2a , when both door leaves are 100% open; Figure 3a: a representation similar to Figure 2a , with a person approaching the door; Figure 3b: a representation following in time Figure 3a , if the person previously detected with the door closed passes through the door with both leaves open, specifically with only the left leaf partially open and the right leaf still completely closed; Figure 3c: a representation differing from Figure 3b, in which the person passes through the door only slightly off-center, so that the left and right door leaves are in a partially open position to different degrees; Figure 3d: a representation similar to Figure 3c , in which, however, a person or a moving object moves through the two partially opened sliding door leaves, so that the right sliding door leaf is further into its partially opened position than the left sliding door leaf, which has only moved slightly in its open position; Figure 4a: a similar illustration to Figure 3a, if a folding door system is used instead of a sliding door system; Figure 4b: a further modification in that a swing door system with, for example, two swing doors is used instead of a sliding or folding door system; Figures 5a-5c: an embodiment of the invention in which an object passes through a door opening area and the opening and closing movement is carried out in relation to the object, i.e., depending on the current width or size with which the object enters or is located in the door opening area; Figure 6a: a representation similar to Figure 3a , in which a person approaches a still closed sliding door, pulling a rolling suitcase behind them on their right; Figure 6b: a corresponding illustration of Figure 6a , if in time to the presentation according to Figure 6aSubsequently, the person has reached the immediate door opening plane of the double-leaf sliding door system, with the left door leaf being open further than the right door leaf; Figure 6c: a representation of a temporally related Figure 6b The following situation, in which a person has almost completely passed through the sliding door system and only the suitcase remains in the area of ​​the sliding door system, so that the left door leaf has already begun its closing movement; Figure 6d: another example of this Figure 6cA subsequent situation in which the person has already completely passed through the space between the sliding doors and only the suitcase remains in the plane of the sliding doors, and the sliding doors have moved towards each other to such an extent that essentially only sufficient space remains for the wheeled suitcase; Figure 7a: a door control differing from the preceding embodiment, in which the two sliding doors, depending on the more complex object, move to a relatively maximum opening position during the initial period in which the object, possibly with a suitcase behind it, passes through the door, depending on the direction of movement and the position; Figure 7b: a representation subsequent in time to the situation according to Figure 7a, in which only the sliding case remains in the plane of the door leaves and the door leaves are moved closer together in the closing direction only while leaving the door opening area at the now narrower width of the remaining object; Figure 8a: a representation comparable to Figure 3c , however, in the control according to Figure 7a, the lateral or safety distance between the opposing main closing edges of the two door leaves and the object or person passing through the door system is chosen to be larger or is automatically adjustable and set depending on at least one further factor; Figure 8b: a corresponding representation similar to Figure 8a, however, in the case of using a folding door system instead of a sliding door system; Figure 9a: a representation of an intelligent door control system in which, after passing through, for example, the sliding door system, the sliding doors are not closed relatively quickly, but are kept open, as another object approaching the door is already detected; and Figure 9b: a representation of the situation according to Figure 9a A subsequent situation in which the open sliding door leaves were kept open but their position was changed so that they cleared the path exactly where the other detected object was moving.

[0048] In Figure 1 A schematic representation shows a double-leaf sliding door 1 with two door leaves 1a, 1b in the closed position. The door is, for example, provided in a wall 5.

[0049] The door leaves 1a, 1b are connected in a known manner via a horizontally running beam above the door opening and in Figure 1 guide rail arrangement designated by reference numeral 7 with the associated drive devices and drive components (in Figure 1 (together designated with reference numeral 7) are held movable and moved between an open and a closed position by means of, for example, two drives (not shown in detail). The transmission of the direction of movement from the respective drive to the corresponding sash can be effected, for example, by means of two separate toothed belts. Reference is made in this respect to known sliding door systems.

[0050] In the present case, a separate drive unit 7a or 7b is provided for each separately controllable door leaf, which may, for example, also each have at least one motor 8a, 8b (in the case of a redundant drive). z.b.(each with two motors etc.), which, for example, control their respective sliding door wing 1a or 1b via the aforementioned separately assigned belt drive.

[0051] This design basically allows each wing to be controlled and moved separately from the other. dh It can also be moved to different distances in the open position and / or its closed position, independently of the other sliding door leaf.

[0052] In the illustrated embodiment, a sensor device 9 is provided above the door opening, i.e., for example in the area of ​​the suspension and running arrangement of the movable door leaves 1a, 1b, which in principle can also be positioned in a completely different location, for example on the ceiling, etc.

[0053] The sensor device 9 itself can comprise several sensors, including multiple sensors based on different technologies. Preferably, this sensor device can ultimately be generally referred to as a detection sensor or distance sensor, or it should comprise at least one detection sensor or distance sensor capable of detecting the object's width, i.e., its size in width, as well as its position. Thus, one or more such detection or distance sensors can be provided, or one or more detection or distance sensors can be included alongside other sensors based on different technologies, as discussed in the introduction.

[0054] Such detection and / or distance sensors can, for example, be so-called "Time of Flight" sensors, also abbreviated as ToF sensors. These are sensors that comprise at least one sensor unit with at least one transmitter (e.g., a light source) and at least one receiver (e.g., a receiver). By means of an additional control and evaluation unit 11, such a detection sensor can then be used to determine not only the position of a sensor to be detected in the monitoring area relative to the door or the respective door leaf, but also its direction of movement and ultimately its width, size, and / or contour.For the following description, the contour in relation to the door leaf plane (in closed position) is particularly important for sliding or folding doors, as will become clear from the following description.

[0055] Using detection sensors, such as the aforementioned ToF sensors or at least one ToF sensor, it is possible to transmit signals towards the object being monitored via the transmitter and then capture the signal reflected by the monitored and detected object. From the received signal, particularly its travel time or phase, the distance between the at least one ToF sensor and the object detected in the monitoring area is then determined. Reference is made in this respect to known ToF sensors and ToF sensor devices, as well as FMCW sensor devices, including their operating principles.

[0056] In Figure 2ais a schematic view of the sliding door system according to Figure 1 reproduced, namely in a horizontal section through the representation according to Figure 1 , thus in a vertical top view of a floor surface 6. Not shown schematically in detail is an abstractly envisaged but spatially not necessarily limited monitoring area 19, in which monitoring of an object located or moving within this area can be carried out by means of the aforementioned sensor device 9. This monitoring area does not have to be rigidly defined; it can also represent a monitoring area of ​​varying dimensions. This monitoring area comprises a zone directly in front of the actual door leaves 1a, 1b. For the sake of simplicity, Figure 2Only one monitoring area is shown with respect to one side of the sliding door leaf, whereby a corresponding second sensor device or a comparable sensor device is also provided for monitoring the opposite side of the door system, namely in particular when public traffic is possible from both sides in both directions.

[0057] In Figure 2b is a corresponding representation to Figure 2aThe diagram is shown, however, in a representation where the two sliding door leaves 1a and 1b are adjusted to their maximum opening position, i.e., 100% open, leaving the actual door opening area 10 more or less completely unobstructed. This allows access to the maximum door width at its maximum opening width. Depending on the possible end position of the sliding door leaves 1a and 1b, this maximum door opening width is then formed between the two opposing and corresponding main closing edges 13 and / or with respect to the corresponding end faces 5a and / or 5b of the wall sections provided laterally by the door area. It should be noted that the aforementioned wall sections 5 can also consist of so-called fixed leaves, which are not movable.Finally, it should be noted that instead of a double-leaf sliding door, a multi-leaf sliding door is also an option, comprising, for example, two or three telescopically sliding door leaves (left and / or right). There are no restrictions in this regard.

[0058] Based on Figure 3a and 3b A first possibility has now been shown how the sliding door drive according to the invention can be operated.

[0059] This shows Figure 3a and 3b the schematic representation of a double-leaf sliding door drive in the area of ​​a door opening 10.

[0060] Within the abstractly defined potential monitoring area 19 (not further specified in relation to the floor area 6), a moving person P has now entered the detection area, i.e., the monitoring area 19. This person P will also be referred to generally as object P in the following diagram. This person is indicated in the schematic top view by an oval structure.

[0061] The sensor system is designed to detect not only the position of the object in question, i.e., person P, in relation to the doors, specifically doors 1a and 1b, but also the direction of movement 21 of person P. This direction of movement 21 can change (slightly) repeatedly as the person moves towards the door, resulting in a curved path. This detection is preferably performed continuously or at very short intervals by the sensors.

[0062] In the illustrated embodiment, the person or object P in question moves in the Figure 3a continue towards the still closed door in the position shown.

[0063] In Figure 3bThe figure shows how this person P is no longer in the position shown with dashed lines, but is now already in the immediate area of ​​the door leaves 1a, 1b.

[0064] Since in this illustrated embodiment the quantity preferably detected at least approximately parallel to the door plane (corresponding to the door leaves and thus also perpendicular to the surface of the floor 12) by the sensor device 9, dhIn particular, if the diameter or width or generally the contour of the person P passing through the door is smaller than half the door width, in other words, smaller than the door leaf closed by the left door leaf 1a in the closed state, and if the position of the object P is furthermore such that, with the left door leaf open, the object P only wants to move through this door section without colliding with the right door leaf 1b, which is still in its closed position, at its main closing edge 13, only the left door leaf 1a was moved into its open position by means of the control and / or evaluation device 11 and the associated drive device 7a.

[0065] The left door leaf 1a can be moved to its 100% open position. However, within the scope of the invention, it is also possible for the left door leaf to be moved, for example, only to 95%, 90%, 85%, or, for example, 83%, 82%, etc., into the open position, i.e., only to the extent that the resulting opening area is large enough for the person P in question to move between the two door leaves without collision.

[0066] Based on Figure 3c In contrast, it has been shown that, for example, the in Figure 3a Person P, who is still far from the door, has moved towards the door along a different direction of movement 21 in such a way that, compared to the embodiment according to Figure 3b slightly closer to the mid-position M (see also) Figure 2a ) wants to pass through the door.

[0067] In this case, the two door leaves 1a, 1b would now be adjusted in the opening direction by means of the sensor device 19 and the control and / or evaluation device 11, but again only to the extent necessary so that the person P in question can pass through the door unhindered and thus without collision on the path 21 chosen by the person in question.

[0068] In this embodiment, the left door leaf 1a would, for example, be moved approximately 60% of the way into its open position, whereas the right door leaf 1b would only be moved approximately 30% of the way into its open position, so that the area between the two opposing main closing edges 13 between the two leaves 1a and 1b is large enough for the person in question to pass through the door without collision. In this case, with the left door leaf 1a open to 60% and the right door leaf 1b open to 30%, the entire door width TB would be open to a total of 45%, so that the actual opening area OB with respect to the entire door width TB ( Fig. 2b ) ultimately only amounts to 45%.

[0069] The control of the door leaves can be carried out by means of the control and / or evaluation unit 11 in such a way that, starting from the specific path and the specific position of the monitored object P and its width B (preferably measured parallel to the movement path of the door leaves or the plane of the door leaves), the door leaves are always moved into the open position to such an extent that, for example, a safety and / or lateral distance SA of at least 10 cm, 15 cm or, for example, 20 cm is available as additional clearance between the outermost or lateralmost point 25 of the contour 23 of the object moving through the door and the respective adjacent main closing edge 13 of the respective door leaf 1a, 1b.

[0070] Based on Figure 3dThis only demonstrates that, in principle, comparable control steps can be carried out if a corresponding object P approaches the sliding door system off-center, i.e., predominantly in the area of ​​the right door leaf 1b, intends to pass through the door system. In this case, the right door leaf 1b opens further than the left door leaf. However, even in this embodiment, the door control, the door opening, and the degree of opening are object-dependent, i.e., dependent on the size, width (diameter), and / or contour of the object P moving through the door system or the immediate door opening area 10, and thus also on its direction of movement.

[0071] Based on Figure 4a is only schematically in deviation from the variant according to Figure 3bIt has been shown that the control method according to the invention for operating a door system is not only applicable to a sliding door system (with one or more leaves), but can also be applied to a folding door system. This is because even in the variant according to Figure 4aIt can be seen that, due to the specific direction of movement 21 on the immediate door opening area 10, the two folding doors 1a and 1b are moved to different distances into their open position, namely only far enough that, taking into account a safety distance (SA) between the outermost points of the object P passing through the door and the main closing edges 13, exactly the path is cleared along which the person in question intends to pass through the door system. Here, too, the opening movement and the extent of the opening movement are object-dependent, i.e., dependent on the location or direction of movement of the object P and its width, diameter, or generally its contour K.

[0072] Based on Figure 4bThe relevant example shown is only for the case where a swing door system is used, in which two swing leaves 1a and 1b can be moved from a closed position to an open position relative to the wall sections 5 via vertical pivot axes. In the variant according to Figure 4b The two swing leaves 1a, 1b shown have been adjusted to the open position so that, depending on the size (i.e., the diameter or contour of the object P) on the one hand and its direction of movement 21 on the other, they are only opened to such an extent that a sufficient opening width OB is available so that the object P can pass through the swing door system without collision.

[0073] In the Figures 5a to 5cThe illustration shows in three more detailed steps how the opening movement and / or closing movement of a single or multi-leaf door is carried out depending on the width, size and / or contour or overall contour of the detected object, which is related to the door opening area 10 and changes during the movement process through the door opening area.

[0074] In other words, the invention proposes that, in the case of a door with at least one leaf, the door leaf is moved, tracked, or readjusted according to the relevant and / or effective width, size, and / or contour or overall contour of the detected object, as it relates to the door opening area and changes during movement through the door opening area. This can be achieved by maintaining a preferably predefinable lateral safety or side distance SA between the object moving through the door and the main closing edge of the at least one door leaf, preferably at every stage. Thus, the opening width of the door leaf(s) changes, for example, at least in sections, as a person moves through the door's opening area.

[0075] According to Figure 5a The object is currently entering doorway 10. In Figure 5bThe object, with its greatest width, is located exactly in the door opening area 10, as shown in the illustration. Figure 5c The door leaf has almost left door opening area 10 and is only partially within it. This allows the door leaves to be controlled and / or adjusted accordingly during the opening phase, the closing phase, or only one of the two phases.

[0076] Based on the description, it is clear that the door control should be implemented based on the detected object in such a way that the respective degree or extent of the opening and / or closing movement, at least within a time and / or movement phase, depends on the effective or current width, size, and / or contour or overall contour of an object moving through the door opening area. This effective or current width, size, and / or contour or overall contour typically changes during the object's movement through the door opening area.

[0077] Therefore, within the scope of the invention, it is particularly possible, when initially reaching or entering the immediate door opening area, to allow the opening movement of a door with at least one door leaf to end only at a point in time when the object is already at least partially within the immediate door opening area of ​​the at least one door leaf. Likewise, within the scope of the invention, it is particularly possible, when leaving the door opening area, to allow the closing movement of a door with at least one door leaf to begin at a point in time when the object is still at least partially within the immediate door opening area of ​​the at least one door leaf.

[0078] The above-described modes of operation and process steps also apply to all other described embodiments.

[0079] For sliding doors, hinged doors, or folding doors, the door opening area 10 lies between the main closing edges. For single-leaf doors, the door opening area 10 lies between the main closing edge of one door leaf and the opposite section of the door frame.

[0080] Based on Figure 6a and 6b It has now been shown how the door control can look, for example, in the case of a monitored object P having a more complex outer or overall contour 23, within the scope of the invention.

[0081] In the representation according to Figure 6a It can be seen that it is now comparable to the variant according to Figure 3a a person has entered the monitoring area of ​​sensor device 9, for example, pulling a suitcase or object G equipped with wheels with their right hand.

[0082] Therefore, in the direction of movement 21, an asymmetric overall contour 23 results.

[0083] In the representation according to Figure 6bThe detected object has now approached the actual door so closely that the corresponding door leaves, depending on the direction of movement chosen by the person in question, their relative position to the respective door leaf, and their width B, are located within the area of ​​the already opened leaves 1a and 1b. Depending on their position and width, the two door leaves 1a and 1b have been opened to such an extent that, in addition to the aforementioned safety or side section SA, they are extended to the respective main closing edge 13 of the respective leaf, allowing the person P to pass through the appropriately opened leaves 1a and 1b without collision. However, as the person continues to pass through, the situation changes due to the complex (i.e., asymmetrical) contour of the object P, insofar as the door leaves 1a and 1b must now follow this altered contour 23.

[0084] Thus, it is now possible, based on Figure 6c shown how the person P in question has almost completely passed through the door, but the suitcase G is still in the door opening area 10.

[0085] Since, due to the specific contour 23 and depending on the progressive dimension with which the object P moves through the immediate door opening area 10, in which the door leaves can be adjusted between the opening and closing positions, the actual width extension B1 of the object P now changes in the area of ​​the movement path of at least one leaf, to which the additional object or case G also belongs.

[0086] At the in Figure 6c During the time period shown, the person P in question has almost left the actual door opening area, so that, for example, the left door leaf 1a is already opposite the illustration according to Figure 6b a little further into the closed position, so that as person P progresses further, the door leaf 1b must be moved further into its open position so that suitcase G can also be moved through the door without collision.

[0087] This illustration also shows that, for example, by avoiding or circumventing a time control (as provided for in the prior art), the closing movement of the differently controlled door leaves can occur relatively quickly and directly as soon as the object in question has passed through more than 50% of the actual door opening area or door area 10. This also shows that the door closing movement can be object-dependent within the scope of the invention, i.e., depending on the object's location, its direction of movement, and / or its actual contour in the immediate movement area and / or area between the closing edges 13 of the respective door leaves.

[0088] From the representation according to Figure 6dIt can be seen that the actual person P has now completely passed through the door opening area 10, so that in the relevant situation the left door leaf 1a has immediately already moved into its 100% closed position, whereas the right door leaf 1b is still predominantly in its open position, since the suitcase G pulled by person P is still in the opening area, i.e. in the area of ​​the door opening 10.

[0089] As person P continues to move, the right door leaf 1b can then be moved into its closed position relatively quickly and directly within the scope of the invention, as soon as the towed suitcase G has left the area of ​​the door opening 10, in other words, the entire monitored object P is no longer in the area of ​​the immediate door opening 10.

[0090] In other words, the separately controllable door leaves 1a, 1b can be controlled in such a way that they essentially "follow" the respective outer or overall contour 23 of the detected object P. In other words, the two separately controllable door leaves are always opened only minimally or very minimally, that is, opened just enough so that the detected object, depending on its specific contour (i.e., in the circumferential direction), is detected parallel to the surface of the floor 6, and the leaves 1a, 1b are opened sufficiently so that, according to the determined or detected contour 23, depending on the relevant position and taking into account an additionally definable safety or lateral distance SA, the doorway can be traversed along the path individually chosen by the person.Based on the preceding embodiment according to Figures 6a to 6d, it is shown how, in the case of a quasi "complex overall contour" 23, the opening width of the door leaves 1a, 1b is continuously adjusted as the object P, G passes through the immediate door opening area 10, thus adapting their opening width to the current width of the complex contour 23 and closing relatively quickly again depending on the object after the object has been completely passed through, i.e. not as in the prior art by means of a time control, usually after a preset time has elapsed after a person has passed through the door.

[0091] In the variant according to Figure 7a and 7b It has been shown that even with a complex overall contour 23, for example when a person or object P asymmetrically pulls an object or suitcase G behind them (in the variant according to Figure 7a and 7b(on the right side), the sensor device 9 can also detect the total width, i.e., the maximum total width, as well as the position and direction of movement of the object P, G. Subsequently, the control system according to the invention can be actuated so that the door leaves 1a, 1b are opened in such a way that, taking into account a safety and lateral distance SA, the object P with object G can pass through the door depending on its position and, above all, its movement. In other words, the door leaves are individually and independently adjusted optimally depending on the object and the object and their direction of movement, so that a sufficient opening width OB is set to allow the object with the object to pass through the door without collision.

[0092] In this case, however, the relevant optimal maximum opening width OB, which relates to the entire object, is only maintained during the initial step of passing through the door. If it is detected that the overall width of the object is decreasing, for example, because... Figure 7b As shown, the leading part of the object with the greater overall width has already left the actual door opening area 10, so the closing movement of at least one door leaf, here door leaf 1a, begins in adaptation to the currently changed remaining width of the object in the door opening area, as shown by Figure 6d explained and shown. Thus, an automatic adjustment is made to the changing effective width of the overall contour 23 as one continues to pass through the open door.

[0093] Any intermediate controls between the variant according to the exemplary embodiment according to Figure 6a to 6d as well as Figure 7a and 7bare possible, in which further adjustments are possible before the entire object P with object G has left the actual door opening area 10.

[0094] It has already been mentioned that the side spacing SA can be adjusted manually or automatically by the control and evaluation unit 11.

[0095] For example, based on Figure 8a in deviation from the variant according to Figure 3c It has been shown that a much larger lateral distance SA was selected. As mentioned, this lateral distance can be arbitrarily specified or, depending on certain other parameters, can also be automatically and differently adjusted by the control unit.

[0096] And this also applies in principle to all of the aforementioned door types, for example to sliding door systems as shown by... Figure 8ashown, or for example for folding door systems where a larger side clearance SA can be set or specified by the system, as is the case, for example, in the embodiment shown in the following. Figure 8b This is shown. Finally, this also applies to a rotary vane drive, as illustrated in the drawing by means of Figure 4b was shown. There, too, the following could be demonstrated: Figure 4b The swing leaves 1a and 1b shown can be further adjusted into the open position to increase the opening width OB and thus the side distance SA. There are no restrictions regarding a specific type of door system in this respect.

[0097] But even in the example after the Figures 8a and 8b The subsequent object-dependent wing position adjustment occurs at least in one time and / or movement phase during the phase of entering the door opening area and / or during the phase of leaving the door opening area, as is partially demonstrated by Figures 5a to 5c or Figure 7a and 7b shown.

[0098] Furthermore, it is noted that the value for the safety or lateral clearance (SA) can be automatically adjusted by the control unit, particularly depending on the indoor or outdoor temperature, i.e., the temperatures on both sides of the automatic door system. If the temperature difference between indoor and outdoor temperatures is small, the safety or lateral clearance (SA) can be increased to improve the comfort of the building. Conversely, with large temperature differences, such as in summer when the outdoor temperature is high and the indoor temperature is low, or in winter when the indoor temperature is high and the outdoor temperature is low, the safety or lateral clearance (SA) can be reduced to minimize energy flow between the two sides of the automatic door, i.e., the interior and exterior, and thus save energy.

[0099] The timing of when the opening movement of the door leaf(s) and when the closing movement of the door leaf(s) begins could also be adjusted based on such temperature conditions or temperature differences. For example, with small temperature differences, the door leaves could be moved into the required open position relatively early, while the closing movement might occur later than in the embodiments described above.

[0100] Furthermore, intelligent controls are also possible to the extent that, for example, a closing movement is not carried out if another object approaching the door is detected relatively soon after the closing movement. It is possible to estimate whether, for example, the closing and subsequent opening movement consumes more energy than, for example, the extended opening phase, during which the system waits until a second or subsequent person has also passed through the door before finally closing it.

[0101] This can be seen, for example, in the Figures 9a and 9b shown. In the situation according to Figure 9aIf a detected object P is already directly within the door opening area 10, the door leaves 1a and 1b have moved into the open position at this point. With further progress, one of the possible and usual control steps would move the sliding doors 1a and 1b into their closed position, and then, upon detection of a subsequent object P1, they would be opened again, again depending on the object. In the described case, however, the subsequent object P1 and its direction of movement 21' are detected so early that, after object P leaves the immediate door opening area 10, the door leaves remain open.

[0102] However, within the scope of the invention it is possible (as demonstrated by Figure 9b(As additionally shown) that the door leaves are redirected, i.e., in their position and opening width, to provide an opening area OB which, while fundamentally object-dependent, is also dependent on a subsequent object P1, i.e., on its contour 23, meaning its width, size, or diameter, as well as on its direction of movement. In the variant shown according to Figure 9a and 9b The following object P1 approaches the door further to the right compared to the preceding object P, so that then according to Figure 9a already opened door leaf 1a, 1b from the position according to Figure 9aThe door leaves are moved into the position according to 8b and their distance (between the opposing main closing edges 13) is adjusted so that this distance corresponds to the contour, width, or size of the next object P1 plus a predetermined or automatically set lateral distance. In other words, a closed position of the door leaves between the passage of object P and then of the subsequent object P1 is optionally avoided.

[0103] The described method can be used not only for sliding doors, but also, as mentioned and shown, for example, for telescopic sliding door systems, folding door systems, or revolving door systems, including swing doors, where, for instance, two or three telescopically cooperating left leaves and two or three telescopically cooperating right door leaves are provided. Here, the advantage of individual and separate control of the individual door leaf mechanisms becomes even more apparent. This is because such doors typically have a very large width relative to the contour of a person passing through them.

Claims

1. Method for operating an automatic door system with at least one shiftable, adjustable and / or pivotable door wing (1; 1a, 1b), whereupon a door opening region (10) with a door width (TB) can be released and closed, with the following features - a control and evaluation device (11) is used, - a sensor device (9) is used, with which a monitoring region (19) allocated to and / or upstream of the at least one door wing (1; 1a, 1b) for detecting objects (P, G) in this monitoring region (19) and / or moving forward is monitored, - an object (P, G) in the monitoring region (19) and / or an object group in the monitoring region (19) is detected in relation to its or their position and movement direction and in relation to its width and / or size and / or orientation and / or contour (K) or total contour (23) by means of the sensor device (9) and / or by means of the control and / or evaluation device (11), and - at least in a time and / or movement phase, the opening width (OW) of the at least one door wing (1; 1a, 1b) is changed relating to the object depending on the current position and movement direction (21) and depending on the current width and / or size and / or contour (K) or total contour (23) of the detected object (P, G) in relation to the door opening region (10) and changing during the forwards movement process through the door opening region (10), and - opening and / or closing the at least one door wing (1; 1a, 1b) is carried out in such a way that a) the opening movement of the at least one door wing (1; 1a, 1b) only ends at a point in time when the detected object (P, G) is already at least partially in the immediate door opening region (10) of the at least one door wing (1; 1a, 1b), and / or b) the closing movement of the at least one door wing (1; 1a, 1b) already starts at a point in time when the detected object (P, G) is still at least partially in the immediate door opening region (10) of the at least one door wing (1; 1a, 1b), wherein the at least one door wing (1; 1a, 1b) is only shifted or traced back so far in the opening direction and / or in the closing direction that the opening width (OW) in relation to the door width (TB) corresponds at least to the width (B) or the current width (B1) in the door opening region (10) of the detected object (P, G) including a safety and / or side distance (SA).

2. Method according to claim 1, characterised in that, with an at least two-winged door, the method comprises one or more of the following steps: - only one door wing (1; 1a, 1b) is opened when, due to its current position, orientation and movement direction and its width and / or size and / or contour (K) or total contour (23), a detected object (P) is only moved towards one of the two door wings (1; 1a, 1b) in such a way that, here, the necessary opening width (OW) between the at least two main closing edges (13) of the two door wings (1; 1a, 1b) pointing towards each other corresponds to the width, size and / or contour (K) or total contour (23) of the detected object (P, G) including the twofold configured safety and / or side distance (SA) calculated based on the object, - the two door wings (1; 1a, 1b) are shifted increasingly further in the opening direction or increasingly further in the closing direction depending on the current position and the movement direction and the current width, size and / or contour (K) or total contour (23) of the detected object (P, G) in relation to the door opening region (10) and changing during the forwards movement process through the door opening region (10), in such a way that the opening width (OW) corresponds to the width, size and / or contour (K) or total contour (23) of the section of the object (P, G) immersing to different extents in the door opening region (10) depending on the forwards movement process including the safety or side distance (SA) provided on each side of the object (P, G), - when a detected object (P, G) and / or a detected object group steps through the door opening region (10), the door wings (1; 1a, 1b) of the current contour (K) or the current total contour (23) of the detected object are traced back in such a way that the preferably predeterminable safety and / or side distance (SA) between the main closing edge (13) of the relevant door wing (1; 1a, 1b) respectively adjacent to the detected person (P, G) and the respectively current detected width and / or size and / or contour (K) or total contour (23) and / or orientation of the detected object (P, G)in the door opening region (10) is maintained, and / or - the shifting movement of the at least one door wing (1; 1a, 1b) with independently and / or mechanically connected door wings is carried out at least in a time and / or movement phase depending on the forward movement and the current remaining width and / or size and / or contour (K) of the total contour (23) of the object (P, G) moving through the door opening (10).

3. Method according to one of claims 1 or 2, characterised in that the safety and / or side distance (SA) is differently predetermined or set and / or set depending on at least one further parameter, in particular can be calculated and / or learned in particular depending on the temperature and / or energy consumption and / or depending on a temperature difference between the spaces separated from one another and / or relating to the object class and / or object orientation and / or the collision risk to be expected.

4. Method according to one of claims 1 to 3, characterised in that a closing movement of the at least one door wing (1; 1a, 1b) ceases after stepping through the door opening region (10) or only partially closes up to the contour including the safety distance (SA) of the following object and / or the following object group, when a further object (P, G) approaching the door opening region (10) and / or a further object group approaching the door opening region (10) is detected by means of the sensor device (9).

5. Method according to one of claims 1 to 4, characterised in that a closing movement of the at least one door wing (1; 1a, 1b) is signalled visually and / or acoustically after and / or during a detected object (P / G) stepping through when a further object (P, G) approaching the door opening region (10) and / or a further object groups approaching the door opening region is detected by means of the sensor device (9).

6. Method according to one of claims 1 to 5, characterised in that the beginning of the opening movement and / or the beginning of the closing movement of the at least one door wing (1; 1a, 1b) is carried out depending on the position and / or orientation and / or the movement direction and / or speed of the detected object (P, G) and / or depending on predeterminable or measurable sizes, in particular depending on preferably measured temperatures and / or depending on energy requirement calculations.

7. Device for operating an automatic door system with at least one shiftable, adjustable and / or pivotable door wing (1; 1a, 1b), whereupon a door opening region (10) with a door width (TB) can be released and sealed, with the following features: - a control and / or evaluation device (11) is used, - a sensor device (9) is provided, with which a monitoring region (19) allocated to and / or upstream of the at least one door wing (1; 1a, 1b) for detecting objects (P, G) in this monitoring region (19) and / or moving forward is carried out, - the sensor device (9) and / or the control and / or evaluation device (11) is constructed in such a way that an object (P, G) in the monitoring region (19) and / or an object group in the monitoring region is detected in relation to its or their position and movement direction and in relation to its width and / or size and / or orientation and / or contour (K) or total contour (23), and - the control and / or evaluation device (11) is constructed in such a way that, at least in a time and / or movement phase, the opening width (OW) of the at least one door wing (1; 1a, 1b) is changed relating to the object depending on the current position and movement direction (21) and depending on the current width and / or size and / or contour (K) or total contour (23) of the detected object (P, G) in relation to the door opening region (10) and changing during the forwards movement process through the door opening region (10), and - the control and / or evaluation device (11) is constructed in such a way that a) the opening movement of the at least one door wing (1; 1a, 1b) only ends at point in time when the detected object (P, G) is already at least partially in the immediate door opening region (10) of the at least one door wing (1; 1a, 1b), and / or b) the closing movement of the at least one door wing (1; 1a, 1b) already starts at a point in time when the detected object (P, G) is still at least partially in the immediate door opening region (10) of the at least one door wing (1; 1a, 1b), wherein the control and / or evaluation device (11) is constructed in such a way that the at least one door wing (1; 1a, 1b) is only shifted or traced back so far in the opening direction and / or in the closing direction that the opening width (OW) in relation to the door width (TB) corresponds at least to the width (B) or the current width (B1) in the door opening region (10) of the detected object (P, G) including a safety and / or side distance (SA).

8. Device according to claim 7, characterised in that the control and / or evaluation device (11) is constructed in such a way that, with an at least two-winged door, - only one door wing (1; 1a, 1b) is opened when, due to its current position, orientation and movement direction and its width and / or size and / or contour (K) or total contour (23), a detected object (P) is only moved towards one of the two door wings (1; 1a, 1b) in such a way that, here, the necessary opening width (OW) between the at least two main closing edges (13) of the two door wings (1; 1a, 1b) pointing towards each other corresponds at least to the width, size and / or contour (K) or total contour (23) of the detected object (P, G) including the twofold configured safety and / or side distance (SA) calculated based on the object, and / or - for each of the at least two door wings (1; 1a, 1b) in one piece or extendable or retractable in the manner of a telescope, a separate drive device (7a; 7b) is provided, and that the control and / or evaluation device (11) is constructed in such a way that, depending on the current position and the movement direction and the current width, size and / or contour (K) or total contour (23) of the detected object (P, G) related to the door opening region (10) and changing during the forwards movement process through the door opening region (10), they are shifted increasingly further in the opening direction or increasingly further in the closing direction in such a way that the opening width (OW) corresponds to the width, size and / or contour (K) or total contour (23) of the section of the object (P, G) immersing to different extents in the door opening region (10) depending on the forwards movement process including the safety or side distance (SA) provided on each side of the object (P, G).

9. Device according to one of claims 7 or 8, characterised in that the control and / or evaluation device (11) is constructed in such a way that, when a detected object (P, G) steps through the door opening region (10), the door wings (1; 1a, 1b) of the current contour (K) or total contour (23) of the detected object (P, G) are always traced back in such a way that a preferably predeterminable and / or object-related safety and / or side distance calculated from parameters between the main closing edge (13) of the relevant door wing (1; 1a, 1b) respectively adjacent to the detected person (P, G) and the respectively current detected width, size and / or contour (K) or total contour (23) of the detected object (P, G) in the door opening region (10) between the two main closing edges (13) corresponds to the two door wings (1; 1a, 1b) and / or the control and / or evaluation device (11) is constructed in such a way that the shifting movement of the at least one door wing (1; 1a, 1b) is carried out with independently and / or mechanically connected door wings at least in a time and / or movement phase depending on the forwards movement and the current remaining width and / or size and / or contour (K) or total contour (23) of the object (P, G) moved through the door opening (10).

10. Device according to one of claims 7 to 9, characterised in that the control and / or evaluation device (11) is constructed in such a way that the safety and / or side distance (SA) is differently predetermined or set and / or differently set depending on at least one further parameter, in particular can be calculated and / or learned depending on the temperature and / or energy consumption and / or depending on a temperature different between the rooms separated from each other by the door system, and / or in relation to the object class and / or object orientation and / or the collision risk to be calculated.

11. Device according to one of claims 7 to 10, characterised in that the control and / or evaluation device (11) is constructed in such a way that a closing movement of the at least one door wing (1; 1a, 1b) ceases after stepping through the door opening region (10) or only partially closes up to the contour including a safety distance (SA) of the following object and / or object group, when a further object (P, G) and / or object group approaching the door opening region (10) is detected.

12. Device according to one of claims 7 to 11, characterised in that the control and / or evaluation device (11) is constructed in such a way that a closing movement of the at least one door wing (1; 1a, 1b) is continued and / or intensified after and / or during a detected object (P, G) and / or an object group steps through the door opening region (10) for separation and / or actively closes and / or visually and / or acoustically signals up to the contour (K) or overall contour (23) of the first objector object group and / or including a minimum safety distance (SA) when a further object (P, G) and / or object group is detected by means of the sensor device (9).

13. Device according to one of claims 7 to 12, characterised in that the control and / or evaluation device (11) is constructed in such a way that the beginning of the opening movement and / or the beginning of the closing movement of the at least one door wing (1; 1a, 1b) is carried out depending on the position and / or the movement direction and / or orientation of the detected object (P, G) and / or depending on predeterminable or measurable sizes, in particular depending on preferably measured temperatures and / or depending on energy consumption calculations.