METHOD FOR CONTROLLING A DOOR SYSTEM

Description

[0001] The present invention relates to a method for controlling a door system, in particular a sliding door system, wherein the door system has a door drive with which a movement of at least one leaf element of the door system is carried out, and wherein at least one sensor unit is configured to provide sensor data, which has a sensor detection range, wherein persons within the sensor detection range are detected by the sensor unit and their position and / or movement and / or contour are output as sensor data. The invention is further directed to a door system with a control system for carrying out the method. STATE OF THE ART

[0002] For the control of automatic door systems, especially sliding door systems, door drives connected to sensor units designed to detect people are known. Such door systems are controlled by control units that record the sensor data from the sensor units and output corresponding control pulses to the door drive.

[0003] For example, DE 203 20 497 U1 shows a door system with a door drive and a sensor unit, whereby the sensor unit serves as a presence sensor and can detect the presence of people in a detection zone. When the person is detected, the door drive triggers the opening of the door leaf of the door system. It is stated that radar sensors can be used as the sensor unit. Unfortunately, however, the control unit usually only generates a simple opening pulse as soon as the sensor unit detects the presence of a person and transmits the detection to the control unit as corresponding sensor data. Although a leaf movement can be triggered, it often starts too early or too late or is otherwise inappropriate, for example if the opening movement of the door leaf is too slow or the opening hold time is too short or too long.

[0004] From DE 10 2019 126 718 A1 a device for the building-fixed installation of a door system with at least one wing element which is automatically movable in a movement space is known, wherein monitoring means are set up to monitor the movement of the wing element in order to avoid a collision of the wing element with a person and / or an object, and wherein all monitoring means are formed from at least one or more cameras and at least one or more image evaluation units, wherein the camera is set up to monitor the movement space.

[0005] The system is based on controlling all monitoring of the movement of the wing element in or through the movement space using monitoring equipment that relies exclusively on at least one camera and at least one image analysis unit. Camera images can be analyzed with high quality, so that, especially with a redundant arrangement of monitoring equipment, i.e., at least two cameras, the electrified, particularly automated operation of the system with motorized wing elements can be carried out safely, particularly to avoid collisions with objects and especially with people.

[0006] The image analysis with the image analysis unit takes place before the start of the movement of the sash element into or through the movement space. In particular, a real-time analysis of the camera image is carried out with the image analysis unit in order to also monitor the behavior of a person while passing through the device or the presence of a person in or adjacent to the movement space of the sash element of the device, and if necessary, to immediately trigger a signal to, for example, stop or reverse the movement of the sash element. Thus, the analysis of the camera image with the image analysis unit takes over the function of contactless or tactile proximity sensors for closing edge protection, wherein the at least one or preferably the plurality of cameras are mounted in connection with the device in such a way that the movement space and, in particular, also adjacent areas of the movement space are monitored.This allows the installed sensor unit, which initially serves only to detect the person for the purpose of controlling the door drive, to simultaneously set up a closing edge protection system. However, the closing edge protection cannot react sufficiently quickly with a simple control system if the control function of the door drives is to be carried out using the control system with extended functions.

[0007] DE 10 2016119339 A1 relates to a device for controlling a coverage characteristic of an opening through which an object is to pass by at least one closing body, wherein the device has a control device which is configured to control the coverage characteristic in an object-adaptive manner based on geometric object data and at least one additional situation characteristic. DISCLOSURE OF THE INVENTION

[0008] The object of the invention is to further improve a method for operating a door system, in which the response behavior of the door leaf can be further improved based on a person's behavior. Another advantage is that the method can be operated with a minimal number of sensor units, which can be equipped with additional functions during operation and in interaction with the control system of the door drive.

[0009] This object is achieved based on a method according to the preamble of claim 1 and further based on a door system according to claim 8 with the respective characterizing features. Advantageous developments of the invention are specified in the respective dependent claims.

[0010] The method according to the invention for controlling a door system provides that a control system is set up with which the sensor data are received, wherein the control system has a first control module with which the movement of the at least one wing element of the door system is continuously and dynamically controlled as a function of the position, the movement and / or the contour of the at least one person, and wherein a second control module is provided with which a closing edge protection of the at least one wing element of the door system is set up based on the sensor data.

[0011] The core idea of ​​the invention is the improved design of a control system with a first control module and a second control module, wherein the first control module controls the movement of the sash element in direct dependence on the position, movement and / or contour of the at least one person, in particular in the form of an active control loop that is maintained throughout the entire time the person passes through the door system. With this improved control system, the above-described method according to the invention can therefore also be carried out. For this purpose, the control system also has a second control module with which closing edge protection is ensured. The first control module and the second control module or at least their CPU cores can be accommodated in a common housing.

[0012] Both the control of the sash element and the closing edge protection should be based on the same sensor data from at least one sensor unit and preferably from two sensor units. The sensor data from the sensor units can be sent separately to both the first control module and the second control module.

[0013] The advantage of the method according to the invention is that with the hardware and software structure thus produced, comprising at least one, preferably two, sensor units, as well as the control system with the first and second control modules for evaluating, in particular, 3D camera data, approval according to the so-called performance level "c" or "d" can be achieved. Thus, particularly with redundant use of sensor data from two sensor units and respectively assigned sensor detection ranges, a probability of a dangerous failure of the correct control of the wing elements can be specified as 1:333,333 to 1:1,000,000 (PI c) or up to 1:1,000,000 to 1:10,000,000 (PI d).

[0014] The first control module is characterized in particular in that the sensor data are evaluated therewith in particular autonomously and a movement of the at least one wing element is determined based on the position, the movement and / or the contour of the at least one person, in that the first control module continuously controls the door drive of the wing element by means of an active control loop at least over a detection period of the person in the sensor detection range.

[0015] The second control module is characterized in particular by the fact that the sensor data are also evaluated autonomously, and the first control module receives and checks specific travel movements of the at least one wing element in such a way that a collision of the wing element with the person is avoided and closing edge protection is provided. Consequently, it is provided that the first control module initially transmits control data for controlling the at least one door drive of the wing element to the second control module, wherein the control data is evaluated by the second control module in correlation with the sensor data and finally output to the door drives of the wing elements.

[0016] In other words, functional safety is first tested in the second control module, so that the second control module evaluates the sensor data from the sensor unit in parallel with the first control module and, in particular, independently of each other. The evaluation takes place in parallel with the evaluation by the first control module. Thus, the second control module can authorize the movement corridor, which is calculated by the first control module for the person to pass through the door system, by the second control module.

[0017] In particular, the first control module does not fulfill the functional safety of the closing edge protection, but rather merely calculates the optimal travel path of the wing elements to create the ideal movement corridor for the person to pass through the door system. Finally, the second control module, as part of functional safety, checks for a possible collision between the wing elements and the person, particularly during a closing movement of the wing elements of a sliding door system. If the second control module determines that a collision is not possible, the passage corridor determined by the first control module is finally released, and the door drives are controlled by the second control module.

[0018] In particular, sensor units are installed on both sides of the door system, wherein the sensor units have or form respective sensor detection areas which overlap in the plane of movement of the leaf elements, are adjacent to one another or are at least spaced apart by a distance which is smaller than the size of a particularly small person, so that the detection of the at least one object is carried out from a first sensor detection area to a second sensor detection area in a transitional and, in particular, uninterrupted manner.

[0019] The sensor detection areas do not necessarily have to overlap, nor do they have to be approximately adjacent to one another, since a person generally has a spatial extent. The distance between the sensor detection areas of both sensor units on opposite sides of the door should be at least small enough to prevent a small person, such as a child, from remaining undetected between the sensor detection areas. If there is a detection gap between the sensor detection areas on opposite sides of the door, this can be filled by interpolation, so that there is practically no need to interrupt the control.

[0020] At least one image evaluation unit is provided to evaluate the sensor data from the sensor units, with each of the two control modules preferably being assigned its own image evaluation unit. In particular, it is provided that an image evaluation unit is set up in conjunction with or as a component of the first control module and the second control module, with the image evaluation unit continuously tracking the person's movement over its entire detection period and making the data available to the respective control module. The first control module evaluates the image data to create an optimal passageway for the person through the door system, and the second control module, in particular with its own assigned image evaluation unit, evaluates possible collisions in the movement area of ​​the leaf elements, so that a collision of a leaf element with a person through the door system is prevented.The image evaluation units, particularly for evaluating 3D image data, can each be part of the control modules, so that the first control module has a first image evaluation unit and the second control module has a second image evaluation unit configured separately from the first image evaluation unit. However, an image evaluation unit that is used equally by both control modules is also conceivable.

[0021] As a result, the architecture of the control system according to the invention results in the fact that although the first control module calculates the control of the door drives of the wing elements, the control only takes place after the control data has passed through the second control module in order to examine the calculated movement data of the wing elements for a possible collision and finally release it if there is no risk of a collision.

[0022] For example, the first control module comprises a Linux computer, while the second control module is based on a microcontroller. For example, the first control module can be implemented as a Raspberry Pi, while the microcontroller is configured to run an RTOS operating system, enabling real-time capability. On the other hand, the Linux system forming the first control module can be implemented with IP capability and integrated into a network accordingly, so that communication between the sensor units and the control modules is based on an Ethernet, for example, while communication between the second control module, in particular the microcontroller and the door drives, is based on a CAN bus.

[0023] The control modules are configured in parallel so that they evaluate the data from the sensor units independently of each other, while the door drives are controlled solely by the second control module via the CAM bus. The control data for controlling the leaf elements is transferred from the first control module to the second control module.

[0024] Preferably, the sensor detection areas for implementing the method are divided into a person movement area remote from the door and a safety area near the door. The first control module evaluates the person movement area remote from the door via the image evaluation unit, and the second module predominantly evaluates the safety area near the door via the image evaluation unit. To continuously track the movement and contour of the person throughout the entire door system, the first control module can also evaluate the safety area near the door, so that the evaluation of the safety area near the door can be carried out independently by both control modules.By evaluating the image data from the image evaluation unit with the second control module, closing edge protection or, for example, the provision of escape routes is created, so that the door corridor, which is determined for the leaf position with the first control module, is checked by the second control module.

[0025] The door system preferably has two leaf elements, with the control system controlling the two leaf elements independently of each other, and the leaf elements being moved independently of each other. For example, if a person enters the door system off-center, one leaf element can move further into the closed position, while the second leaf element moves further into the open position, to create an optimal doorway. This creates an off-center doorway through which the person can enter the door system.

[0026] The invention further relates to a door system with a control system for implementing the method described above. The control system, the at least one sensor unit, and / or the at least one door drive form a control loop with which the movement of the at least one leaf element, or preferably the movement of two leaf elements, can be controlled. The leaf element is controlled continuously and dynamically throughout the entire period during which the person passes through the door system.

[0027] The control system according to the invention has a first control module with which the sensor data can be evaluated and wherein control data for a travel movement of the at least one wing element can be determined based on the position, the movement and / or the contour of the at least one person.

[0028] The control system further comprises a second control module with which the sensor data can be evaluated and with which travel movements of the at least one wing element determined by the first control module can be checked in the form of control data, so that a collision of the wing element with the person is avoided and a closing edge protection is created.

[0029] The sensor unit of the door system has at least one and preferably two cameras. It is particularly provided that the sensor unit has at least one light source with which a light grid can be projected into the sensor detection area. The sensor unit can be designed as a 3D camera, a stereo camera, a triangulation system, a ToF (Time of Flight) camera, a light field camera, an RGB camera, and / or a LIDAR system.

[0030] Preferably, the sensor unit has at least one, in particular a single camera, preferably two cameras and / or the sensor unit has at least one light source with which a light grid can be projected into the sensor detection area and / or the sensor unit has a LIDAR sensor.

[0031] Preferably, the sensor unit has at least one and preferably two cameras and / or the sensor unit has at least one light source with which a light grid can be projected into the sensor detection area and / or the sensor unit has a LIDAR sensor.

[0032] In this respect, several image-processing or at least optically functioning sensor principles are conceivable within the scope of the invention, including

[0033] Stereo cameras, LIDAR sensors, and / or the like. Thus, distance measurement sensors that provide distances for multiple points in the detection area are also conceivable within the scope of the invention.

[0034] Preferably or exclusively, sensor units are used that are suitable for measuring distances between the sensor and surfaces, where the surfaces are formed by the objects to be detected and / or by objects in the environment such as the floor, doors, frames, and walls. Such sensor units determine the distance between the sensor and the surface either through the triangulation method and / or by measuring the time of flight of radiation from a transmission source belonging to the sensor unit.

[0035] When applying the triangulation method, the different directional angles to a defined surface point are determined from at least two spaced-apart reference points consisting of two or more wave-sensitive sensors, e.g., line sensors or single-point sensors or cameras. This is preferably a stereo camera. Alternatively, the triangulation method uses a wave-sensitive sensor, particularly a camera, and a point-shaped reference light source, e.g., a point-raster light source.

[0036] Preferred combinations in the triangulation method are: 1. The angle and / or distance calculation is carried out using external light, e.g. sun or room lighting and two or more wave-sensitive sensors. 2. The angle and / or distance calculation is carried out using the system's own light sources, preferably point-shaped, e.g. point grid, and at least one wave-sensitive sensor. 3. Combination of 1 and 2, which ensures that the sensor system is suitable for at least carrying out the distance calculation both in the dark and / or weak light and in very strong external light.

[0037] When measuring the time of flight of radiation, one or more transmission sources belonging to the sensor unit are used, which generate the radiation in the form of electromagnetic waves, in particular light, radar, radio, X-rays, microwaves and / or sound waves, emit them and project them onto the surfaces of the objects to be detected. A receiving system of the sensor unit, which is sensitive to the respective type of radiation, captures the rays reflected from the surfaces. Together with a calculation unit of the control unit or the sensor unit, the travel time that the radiation requires from the time of transmission to reception in the receiving system is determined directly in the form of time measurement and / or indirectly, in particular in the form of measuring interference, phase shifts and / or frequency shifts, in particular in relation to the emitted radiation.The one or more transmission sources can emit diffuse, i.e., scattered radiation, particularly in conjunction with a TOF camera, FMCW radar (FMCW = Frequency-Modulated Continuous Wave Radar system), and / or radiation focused on one or more points, particularly in conjunction with LiDAR (LIDAR stands for Light Detection and Ranging), laser arrays, and / or laser scanners. Furthermore, the different areas of a sensor detection range can be illuminated with the radiation simultaneously and / or sequentially, i.e., one after the other, or in combinations.

[0038] In particular, a method can be used which combines both the triangulation method and the measurement of the transit time of radiation from a transmitting source belonging to the sensor unit.

[0039] As a result of the method, a distance image can be provided which comprises the complete sensor detection area from several individual distance measurement points.

[0040] Particularly preferred is the use of a LIDAR sensor in conjunction with a method based on distance measurement. This combination, like the others mentioned, represents a particularly efficient option, particularly with regard to safety and / or complexity. PREFERRED EMBODIMENT OF THE INVENTION

[0041] Further measures improving the invention are described in more detail below, together with the description of a preferred embodiment of the invention, with reference to the figures. It shows: Figure 1 shows a schematic perspective view of a door system with a control system for carrying out the method, and Figure 2 shows the expansion of the control system with a first control module and with a second control module.

[0042] Figure 1 shows a schematic perspective view of a door system 100, which is designed as a sliding door system with two linearly movable wing elements 11. The wing elements 11 are each driven by a door drive 10, with the movements of the wing elements 11 being decoupled from one another via the separate door drives 10.

[0043] The illustration shows a sensor unit 12 on the front side of the door system 100, which spans a sensor detection area 14 on the floor side in front of the door system 100. The same sensor unit 12 with a similar sensor detection area 14 can also be present on the rear side of the door system 100 in a manner not shown in detail.

[0044] The door system 100 further comprises a control system 16, which is connected to the two door drives 10 and also to the sensor unit 12 or to the sensor units 12. Also shown is a person 15 in the front sensor detection area 14, and an authentication device 19 is located laterally to the sensor detection area 14. The person 15 can authenticate themselves via the authentication device 19 in order to obtain authorization to enter the door system 100. The authentication device 19 is shown in data communication with the control system 16.

[0045] Furthermore, the person 15 holds, for example, a communication device 20 in their hand, and the communication device 20 can be, for example, a mobile phone. This also makes it possible, in a manner not described in detail, for the person 15 to authenticate themselves contactlessly and / or wirelessly with the communication device 20. The data communication can communicate, for example, with the authentication device 19 or with a communication device (not shown in detail) as a component of the control system 16 or the sensor unit 12. In this case, the authorization is queried as to whether the person 15 carrying the communication device 20 is authorized to enter the door system 100.

[0046] The sensor unit 12 comprises, for example, a stereo camera, in particular a 3D camera, with which depth images can be captured. As soon as the person 15 has entered the sensor detection area 14, the sensor unit 12 can detect the position, speed, direction of movement, and even the contour of the person 15 and transmit them to the control system 16. This makes it possible for the sensor unit 12 to continuously track the movement of the person 15, and the sensor data 13, which is transmitted to the control system 16 via the data connection shown, enables the direct control of the door drives 10 to move the leaf elements 11 depending on the current position, speed, direction of movement, and the contour of the person 15.Thus, the control system 16 establishes an active control loop through which an immediate, continuous and dynamic response of the wing elements 11 to the behavior of the person 15 can take place.

[0047] The sensor unit 12 is designed such that the sensor detection area 14 is divided into a person movement area 14a remote from the door and a safety area 14b. In the person movement area 14a, the sensor unit 12 can detect the presence and movement of the person 15, whereby this detection of the person 15 is also maintained in the safety area 14b. In addition, however, the sensor unit 12 is configured to additionally provide closing edge protection for the wing elements 11 in the safety area 14b. The image analysis of the sensor data provided by the sensor unit 12 is oriented towards securing the movement area of ​​the wing elements 11, thus preventing the wing elements 11 from colliding with foreign objects, and in particular with the person 15, particularly during movement in the closing direction.If the sensor unit 12 detects a person 15 or another object in the safety area 14b, the movement of the wing element 11 can be prevented accordingly, particularly in the final stage, by the control system 16.

[0048] Figure 2 shows a schematic view of the structure of the control system 16 for controlling the door system 100 according to Figure 1 .

[0049] The control system 16 has a first control module 16a and a second control module 16b, which can preferably be operated independently of one another and / or autonomously. Two sensor units 12 are shown on the left side, which transmit sensor data 13 to the control system 16 via a network, for example, Ethernet. The control system 16 has a first control module 16a and a second control module 16b, with the sensor data 13 being transmitted in the same way to both the first and second control modules 16a and 16b.

[0050] On the right side of the control system 16, door drives 10 for moving the wing elements 11 are provided as examples. Figure 1 The connection between the second control module 16b and the door drives 10 is established, for example, via a CAN bus.

[0051] The first control module 16a has an image evaluation unit 18 that receives the sensor data 13 from the sensor unit 12. The image evaluation unit 18 enables an evaluation of the image recorded by the sensor unit 12, for example, comprising a stereo camera. The first control module 16a serves to generate control data 17, which is transmitted to the second control module 16b. First, an optimal wing position 21 is determined, which is then transferred to the second control module 16b in the form of control data 17. A processor 22 of the first control module 16a can be formed, for example, by a Raspberry Pi, and the operating system can be formed by Linux.

[0052] This means that the first control module 16a is particularly IP-capable and can be integrated into a network.

[0053] The second control module 16b also has an image evaluation unit 18, which in particular or predominantly monitors the security area 14b according to Figure 1This ensures that there are no people or foreign objects within the range of movement of the wing elements 11. The second control module 16b has a further processor 23, and with this, an evaluation of the optimal wing position 21 can be carried out by examining whether a collision with the person 15 or with another object can occur. If the evaluation is negative and the wing element 11 can be moved freely, a permitted door corridor 24 is formed with the position of the position(s) of the wing elements 11. Thus, if the door corridor 24 according to the optimal wing position 21, which is determined by the first control module 16a, is transferred to the second control module 16b via the control data 17, and the optimal wing position 21 results in a door corridor, the release can take place and the door drives 10 are controlled.The second control module 16b receives the control data 17 of the first control module 16a, and after a comparison of the sensor data 13 by means of the image evaluation unit 18, the door drives 10 can finally be controlled by the second control module 16b.

[0054] As a result, a control system 16 is created that enables the performance level "c" or "d", so that the door system 100 can track the person 15 based on at least one or preferably two sensor units 12 without additional sensors for closing edge protection, can create an optimal leaf position 11 for entering the door system 100, and at the same time enables closing edge protection.

[0055] The invention is not limited in its implementation to the preferred embodiment described above. Rather, a number of variants are conceivable, which, within the scope of the claims, utilize the presented solution even in fundamentally different embodiments. All features and / or advantages apparent from the claims, the description, or the drawings, including structural details or spatial arrangements, may be essential to the invention both individually and in a wide variety of combinations. List of reference symbols:

[0056] 100 door system 10Door drive 11Leaf element 12Sensor unit 13Sensor data 14Sensor detection area 14aPerson movement area 14bSecurity area 15Person 16Control system 16aFirst control module 16bSecond control module 17Control data 18Image evaluation unit 19Authentication device 20Communication means

Claims

1. A method for controlling a door system (100), in particular a sliding door system, wherein the door system (100) has a door drive (10) which is used to carry out a movement of at least one leaf element (11) of the door system (100), and wherein at least one sensor unit (12) is configured to provide sensor data (13) and has a sensor detection region (14), wherein persons (15) within the sensor detection region (14) are detected by means of the sensor unit (12) and their position and / or movement and / or contour are output as sensor data (13), wherein a control system (16) is configured which is used to receive the sensor data (13), wherein the control system (16) - has a first control module (16a) which is used to continuously and dynamically regulate on an ongoing basis the movement of the at least one leaf element (11) of the door system (100) as a function of the position, the movement and / or the contour of the at least one person (15), and - has a second control module (16b) which is used to configure closing edge protection of the at least one leaf element (11) of the door system (100) based on the sensor data (13), wherein using the second control module (16b), the sensor data (13) is evaluated and travel movements of the at least one leaf element (11) determined by the first control module (16a) are verified such that a collision of the at least one leaf element (11) with the person (15) is avoided and the closing edge protection is provided, wherein the first control module (16a) transmits to the second control module (16) control data (17) for activating the door drive (10) of the at least one leaf element (11), wherein the control data (17) is evaluated by the second control module (16) in correlation with the sensor data (13), characterised in that the door drive (10) of the at least one leaf element (11) is activated by the first control module (16a) only after the control data (17) has passed through the second control module (16b).

2. The method for controlling a door system (100) according to claim 1, characterised in that the first control module (16a) evaluates the sensor data (13) and determines a travel movement of the at least one leaf element (11) based on the position, the movement and / or the contour of the at least one person (15), in that the first control module (16a) continuously activates the door drive (10) of the leaf element (11) on an ongoing basis at least for a detection period of the person (15) in the sensor detection region (14) by means of an active control loop.

3. The method for controlling a door system (100) according to one of the preceding claims, characterised in that a sensor unit (12) is configured on both sides of the door system (100) and / or wherein the sensor detection regions (14) of both sensor units (12) overlap, adjoin one another or are at least at a distance from one another which is smaller than the dimension of a, in particular small, person such that the detection of the at least one object (15) is carried out from a first sensor detection region (14) to a second sensor detection region (14) in a transitional manner and, in particular, without interruption.

4. The method for controlling a door system (100) according to one of the preceding claims, characterised in that an image evaluation unit (18) is configured in connection with or as a component of the first control module (16a) and the second control module (16a), wherein the image evaluation unit (18) continuously tracks the movement of the person (15) for their entire detection period and provides this information to the respective control module (16a, 16b).

5. The method for controlling a door system (100) according to one of the preceding claims, characterised in that the sensor detection region (14) has a person movement region (14a) remote from the door and a safety region (14b) close to the door, wherein the person movement region (14a) remote from the door is evaluated using the first control module (16a) via the image evaluation unit (18) and the safety region (14b) close to the door is evaluated using the second control module (16b) via the image evaluation unit (18).

6. The method for controlling a door system (100) according to one of the preceding claims, characterised in that the second control module (16b) evaluates in real time the person movement region (14a) of the sensor detection region (14) remote from the door.

7. The method for controlling a door system (100) according to one of the preceding claims, characterised in that the door system (100) has two leaf elements (11), wherein the control system (16) activates the two leaf elements (11) independently of one another and wherein the leaf elements (11) are moved independently of one another.

8. A door system (100) with a control system (16) for carrying out a method according to one of claims 1 to 7, wherein the control system (16) has a first control module (16a) which can be used to evaluate the sensor data (13) and to determine control data (17) for a travel movement of the at least one leaf element (11) based on the position, the movement and / or the contour of the at least one person (15), and wherein the control system (16) has a second control module (16b) which can be used to evaluate the sensor data (13) and to verify travel movements of the at least one leaf element (11) determined by the first control module (16a) in the form of control data (17) such that a collision of the leaf element (11) with the person (15) is avoided and closing edge protection is provided.

9. The door system (100) according to claim 8, characterised in that the control system (16), the at least one sensor unit (12) and / or the at least one door drive (10) form a control loop which can be used to regulate the movement of at least one leaf element (11).

10. The door system (100) according to one of claims 8 to 9, characterised in that the sensor unit (12) has at least one and preferably two cameras and / or in that the sensor unit (12) has at least one light source which can be used to project a light grid into the sensor detection region (14) and / or in that the sensor unit (12) has a 3D camera and / or a stereo camera and / or a triangulation system and / or a time-of-flight (ToF) camera and / or a light field camera and / or an RGB camera and / or a lidar system.