Method and device for determining a diagnostic status of a door system

Abstract

The invention relates to a method for determining a diagnostic status of a door system having at least one electric drive motor, comprising providing measured values ​​of at least one measured variable from the door system, wherein at least one measured variable serves as a comparison measured variable; calculating first model values ​​of the comparison measured variable based on a first calculation model; comparing the measured values ​​of the comparison measured variable with the first calculated model values; and determining a diagnostic status based on the result of the comparison. The invention further relates to a device for carrying out the method.

Description

[0001] The present invention relates to a method for determining a diagnostic status of a door system having at least one electric drive motor. The invention further relates to a device for determining a diagnostic status of a door system.

[0002] Door systems, especially sliding door systems, typically consist of a motor, a gearbox, a belt that transmits power from the gearbox to the door leaves, radar and safety sensors, and a control unit. The control unit has a diagnostic system that can detect system errors. During normal operation of the door system, it can happen that errors are incorrectly detected by the system even though they do not exist. Conversely, it can also happen that errors exist but cannot be detected by the system.

[0003] For example, WO 2022 / 214454 A1 describes a support system for door operation and a method for predicting maintenance. DE 10 2017 103 020 B4, for example, shows a building door system that has an evaluation unit that receives measured values ​​from various sensors. The sensor data is compared with reference sensor data, with deviations then indicating a malfunction. The reference sensor data is obtained in advance, for example, through a learning run.

[0004] A disadvantage of this diagnostic system is that the reference data is very static and complex to generate. Therefore, this diagnostic system will not be able to respond well enough to changes.

[0005] It is therefore an object of the present invention to provide a method and a device which enable improved fault diagnosis of a door system so that, for example, faults can be detected early, even before a defect can paralyze the door system.

[0006] This task is solved by the method mentioned at the beginning by the following steps: Providing measured values ​​of at least one measured variable from the door system, wherein at least one measured variable serves as a comparison measured variable, calculating first model values ​​of the comparison measured variable based on a first calculation model, comparing the measured values ​​of the comparison measured variable with the calculated first model values, and determining a diagnostic status based on the result of the comparison.

[0007] In other words, the measured values ​​of a measured variable, such as the motor current of the drive motor, are compared with model values ​​of the same measured variable, whereby these model values ​​are calculated according to a specific calculation model. The calculation model itself can, for example, use measured values ​​from other measured variables from the door system. Any discrepancies between the measured values ​​and the model values ​​indicate an error.

[0008] In contrast to the aforementioned state of the art, no static reference values ​​are used for comparison; instead, model values ​​are calculated, for example, taking into account recorded measured values. This significantly improves the quality of diagnostics and error detection.

[0009] The object of the present invention is thus completely achieved.

[0010] In a preferred further development, second model values ​​of the comparison measured variable are calculated based on a second calculation model that differs from the first calculation model, and the measured values ​​of the comparison measured variable are then compared with the calculated first and second model values.

[0011] The advantage of this solution is that the recognition quality and reliability are further improved.

[0012] In a preferred further development, measured values ​​of several measured variables are provided by the door system, and at least one of the two calculation models uses measured values ​​of measured variables that do not correspond to the comparison measured variable.

[0013] In other words, at least one of the two calculation models uses measured values ​​from other variables, such as motor voltage or motor resistance, to calculate the motor current. The advantage of this solution is that it improves the quality of detection.

[0014] In a preferred refinement, the two calculation models use different measurement variables to calculate the model values. This means, for example, that the first calculation model uses the motor voltage to calculate the motor current, while the second calculation model uses the door mass, for example.

[0015] The advantage of this solution is to further improve the quality of recognition.

[0016] In a preferred development, data values ​​are provided from at least one data source. The data values ​​are preferably environmental values, preferably temperature or wind speed, in the area of ​​the door system. The environmental values ​​are preferably provided via sensors and / or weather services, in particular online weather services. Preferably, at least one of the two calculation models uses the provided data values.

[0017] In other words, the method for determining a diagnostic status not only processes data provided by the system itself, such as data from the drive motor, but also uses external data, which will subsequently be referred to as third-party data. Such third-party data can include, for example, wind speed or temperature in the area of ​​the door system. Both wind speeds and temperatures influence the function of the door system itself, so the use of such data makes it possible to detect false error messages. For example, an increased motor current caused by increased wind pressure on the door leaves can still be assessed as "normal," i.e., error-free. Comparing the motor current with a static reference value, however, would show a deviation and thus lead to an error message.

[0018] For preferred further training, the following can serve as metrics: Door speed, door position, voltages, preferably mains voltage, intermediate circuit voltage, battery voltage, motor voltage or sensor voltages, currents, preferably motor current and battery charging current, temperatures, preferably temperatures of the motor or power amplifier, control signals from sensors, feedback signals from door locks / locks, control of the motors, preferably PWM and voltage, error messages from the own diagnostic functions, preferably with time of occurrence, parameterization of the door, preferably inputs / outputs, movement parameters.

[0019] In a preferred development, the first and / or the second calculation model takes into account at least one of the following parameters: Friction within the door system, preferably mechanical adjustment or lubrication of the mechanism, mass of the door of the door system, dimensions of the door of the door system, belt tensions, wind load, wind direction, wind strength, pressure differences between rooms connected by the door, detection range of sensors, pedestrian traffic through / past the door, in particular number, speed and direction of travel of the people, wear, in particular of the motor, the mechanics, the electronics, the battery and the power supply, cabling, in particular cable lengths / resistances, contact resistances and short circuits, tolerances / properties of electrical, electronic and mechanical components, in particular internal resistance, torque constant, speed constant and inductance of the motor, installation tolerances,Warping / settling of mechanical components of the door system.,

[0020] In other words, at least one of the calculation models uses one of the above-mentioned parameters to calculate the model values ​​of the comparison measured variable. Using these parameters, the procedure for determining a diagnostic status can respond even better to current conditions in the door system, thus further improving the diagnostic quality.

[0021] In a preferred development, the comparison metric is selectable. In other words, the user can select the metric on which the comparison is to be based. This allows different tests to be performed by selecting different comparison metrics.

[0022] In a preferred development, the measured values ​​are supplied by the door system via a data line, preferably a CAN bus, and preferably stored in a measured value memory. The measured values ​​are further preferably stored with a time stamp. The time stamp can be used to assign measured values ​​of different measured variables to a specific time period. Further preferably, data values ​​from data sources are also stored with the measured values, preferably with a time stamp. In other words, this means that external data, such as weather data, is also stored with the measured values, so that a comprehensive picture of the door system and its surroundings at a specific point in time or for a specific period of time is available. Typically, an opening and / or closing cycle of the door system is used as the time period.Such an opening and closing cycle determines, for example, the time period for which measured values ​​and model values ​​are compared with each other.

[0023] In a preferred development, the comparison measured variable is the motor current (I_Motor) of the electric drive motor, and the other measured variables supplied by the door system are the door speed (v_Door), the door position (x_Door), the motor voltage (U_Motor), and the motor temperature (T_Motor). Further preferably, the first calculation model calculates the first model values ​​for the motor current (I_Motor Model_1) as a comparison measured variable based on the measured motor voltage (U_Motor), the measured door speed (v_Door), the motor speed (w), the motor speed constant (kV), the gear ratio between the motor and the door (k_Gear Ratio), and the connection resistance (R) of the motor.Further preferably, the second calculation model calculates the second model values ​​for the motor current (I_Motor_Model_2) as a comparison measured variable on the basis of the measured door speed (v_Door), the mass of the door (m_Door), the door acceleration, the friction of the door (F_Friction), the gear ratio between motor and door (k_Gear ratio) and the torque constant (kM) of the motor.

[0024] This preferred example shows how the model values ​​for the reference measured variable, in this case the motor current, can be calculated based on other measured variables. As already explained, the use of different measured variables improves the quality of the diagnosis.

[0025] In a preferred embodiment, the second calculation model additionally takes into account data provided by the data source, in particular temperature and wind speed. This data can be provided, for example, by sensors located near the door system or can generally be retrieved via the Internet from data services, such as weather services.

[0026] In a preferred further development, approximately 10-100 measured values ​​per second of the at least one measured variable are provided, preferably stored.

[0027] In a preferred further development, a status of the door system, in particular the status "open" or "close", is provided with the measured values, preferably saved.

[0028] In a preferred embodiment, the diagnostic status is at least one of the following: error-free, local increase in door friction, drive motor resistance error, drive motor winding defect, change in drive motor torque constant, and change in door mass.

[0029] It is understood that this list is not exhaustive, but that other diagnostic statuses can be derived from the comparison results.

[0030] The object underlying the invention is also achieved by a device for determining a diagnostic status of a door system with at least one electric drive motor, wherein the device has: an interface for receiving measured values ​​of at least one measured variable from the door system, wherein at least one measured variable serves as a comparison measured variable, a device for calculating first model values ​​of the comparison measured variable based on a first calculation model, a device for comparing the measured values ​​of the comparison measured variable with the first calculated model values, and a device for determining a diagnostic status based on the result of the comparison.

[0031] The advantages of this device correspond to the previously explained advantages of the method according to the invention.

[0032] At this point, it should be noted that the device preferably comprises means for carrying out the aforementioned method steps. The device is therefore suitable for carrying out the method as defined in the claims.

[0033] It is understood that the features mentioned above and those to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

[0034] Further advantages and embodiments of the invention will become apparent from the description and the accompanying drawings. These show: Figure 1 shows a schematic representation of a door system designed as a sliding door system; Figure 2 shows a block diagram of a control system and an evaluation device; Figure 3 shows a block diagram for explaining the method according to the invention; Figure 4 shows a diagram for explaining the calculation models; and Figures 5A-J show various measured value diagrams in which the measured values ​​of the comparison measured variable and the model values ​​calculated by two calculation models are plotted over a total of five time periods 1 to 5 of an opening cycle.

[0035] In Figure 1 A door system 10 is schematically illustrated, preferably a sliding door system 11. It should be noted at this point that the door system 10 may also be a revolving door or another door system. The following description is therefore not limited to the sliding door system 11 shown as an example.

[0036] In the present embodiment, the door system 10 comprises two door leaves 12, which are moved via a drive system 14, which, for example, includes an electric drive motor 15. Typically, sensors 18 are assigned to this door system, which monitor the area around the two door leaves in order to automatically open and / or close the door leaves 12, for example. Furthermore, the door system 10 is also assigned operating elements 20, with which certain functions can be manually executed.

[0037] The door system 10 includes a control device 24 connected to the drive system 14. In particular, the control device 24 serves to acquire and record data from the drive system. Of course, the control device 24 shown can also perform other control tasks for controlling the door system, although this is not important below.

[0038] The door system 10 is also associated with a wind sensor 26 and a temperature sensor 28, each of which is connected to the control device 24. The preferably wired electrical connection essentially serves to exchange data between the sensors 26, 28 and the control device 24. The control device 24 can therefore also detect and record wind speed and temperature in the vicinity of the door system 10.

[0039] In Figure 1An external data source 30 is also shown, which is also connected to the control device 24 for exchanging data. The external data source 30 can be a data source accessible via the Internet, for example, a weather data source. In addition to or as an alternative to the two sensors 26, 28, the control device 24 can therefore also retrieve corresponding weather data, such as wind speed, temperature, etc., via the Internet, whereby a geographical position must be transmitted to the external data source 30 for this purpose.

[0040] During operation of the door system 10, the control device 24 captures and stores corresponding data, e.g., between 10 and 100 data items per second. These data items can be retrieved at a later time, for example, directly by a service employee on-site or remotely via the Internet 32, for further processing. This processing of the captured data will be discussed in more detail later.

[0041] In Figure 2The control device 24 is shown schematically again, comprising, among other things, a first memory 38 and a second memory 40. The first memory 38 serves, for example, to store the measured values ​​of various measured variables supplied by the drive system or door system, along with time stamps, while the second memory 40 serves to store data originating from external data sources, also with time stamps. It is understood that the two memories 38, 40 can physically form one memory.

[0042] The control device 24 further comprises an interface 42 that enables a data connection 44 with an evaluation device 50. The data connection 44 can be configured as a wired or wireless data connection.

[0043] The evaluation device 50 also has an interface 52 for the data connection 44.

[0044] In addition to an interface 52 for the data connection 44 to the control device, the evaluation device 50 also has a first calculation unit 56 and a second calculation unit 58, which use different calculation models to perform calculations based on measured values ​​and other data, both of which originate, for example, from the control device 24. The results of the calculation units 56, 58 in the form of model values ​​(for a predetermined time period, e.g., an opening cycle) are fed to a comparison unit 60, which also receives the measured values ​​of the comparison variable. The first model values ​​supplied by the first calculation unit 56, the second model values ​​supplied by the second calculation unit 58, and the measured values ​​of the comparison variable from the control device 24 are compared, whereby a diagnosis determination unit 62 can determine a diagnostic status of the door system 10 from the comparison result.For this purpose, the diagnosis determination unit can, for example, access a look-up table or, in the broadest sense, a database in which the corresponding diagnosis statuses for certain deviation patterns are stored.

[0045] The evaluation device 50 further comprises a further interface 54 which transmits the result of the diagnosis determination unit 62, ie the determined diagnosis status, to an output unit 70, wherein the output unit 70 is preferably a monitor 71.

[0046] The evaluation device 50 and the output unit 70 can be provided in the form of a computer, in particular a notebook, wherein the method explained in detail below is executed in the form of software on the notebook. The computer only needs to be connected to the control device 24 in order to read out the measured values ​​and data stored in the first memory and the second memory. The diagnostic method can then be executed. In this case, it is no longer necessary for the computer to remain connected to the control device 24. Alternatively, the data connection 44 between the control device 24 and the computer 50, 70 could also be implemented via a remote connection, so that the computer does not have to be used at the location of the door system.

[0047] Of course, it would also be possible to integrate the evaluation device 50 and the output unit 70 directly into the control device 24 or generally into the door system 10. The door system would then have all the components needed to communicate current diagnostic statuses to a service employee or to immediately issue alarm signals. An external electronic device, such as a computer, would then no longer be necessary.

[0048] With reference to Figure 3 The procedure for determining a diagnostic status of a door system is explained below.

[0049] In a first step 80, measured values ​​originating from the door system, for example the drive 14, are recorded and preferably stored in a memory with a time stamp, step 84. Simultaneously or alternatively with a time delay, external data is recorded in step 82 and also saved with a time stamp, step 84. When recording external data, it is important that it matches the measured values ​​in time, i.e. there must not be any large time differences. Preferably, measured values ​​and external data are recorded synchronously and saved with the same time stamp. The external data can be data that is not directly assigned to the drive system, for example weather data such as temperature and wind speeds, or for example data from a building management system.Finally, external data can also be data that is permanently stored in the door system but is not directly linked to the drive system, such as the door mass, door dimensions, friction values, etc.

[0050] From the stored measured values ​​of various measured variables, a measured variable is defined as a reference measured variable. This definition can be made manually by the user or can be predefined. A reference measured variable could be, for example, the motor current or the motor voltage. The measured values ​​of the defined reference measured variable are retrieved in step 86 and compared in step 92.

[0051] Stored measured values ​​of specific measured variables are retrieved from the memory, for example, along with stored external data, and fed to a first calculation model to calculate initial model values. These initial model values, calculated in step 88, also describe the reference measured variable, for example, the motor current. In other words, this means that the first calculation model calculates model values ​​of the reference measured variable for the same period as the measured values ​​of the specified reference measured variable.

[0052] In the same way, stored measured values ​​of specific measured variables are retrieved from the memories together with stored external data and fed to a second calculation model to calculate second model values. These second model values ​​calculated in step 90 also describe the comparison measured variable, for example the motor current. In other words, the second calculation model calculates model values ​​of the comparison measured variable for the same period as the measured values ​​of the specified comparison measured variable. However, the second calculation model differs from the first calculation model, i.e., different measured variables or parameters are used to calculate the model values ​​for both calculation models. The use of two calculation models increases the possibilities for determining different diagnostic statuses.

[0053] The model values ​​of the first calculation model and the second calculation model are compared in step 92 with the measured values ​​of the comparison measured variable, preferably over an entire closing and / or opening phase of the door system.

[0054] In step 94, a diagnostic status is then determined based on the aforementioned comparison, for example, accessing a database for this purpose. In this database, empirically determined comparison results are assigned to specific diagnostic statuses. Such a diagnostic status can be, for example, one of the following: error-free, local increase in door friction, fault in the resistance of the drive motor, defect in the winding of the drive motor, change in the torque constant of the drive motor, and change in the door mass, to name just a few of the possible diagnostic statuses. However, the present invention is not limited to these diagnostic statuses.

[0055] In step 96, the diagnostic status is displayed, for example, on a monitor. Based on this diagnostic status, the user can then initiate further steps, such as ordering maintenance of the door system.

[0056] In Figure 4 The following diagram shows again which measured variables or parameters can be used for the two calculation models. For example, in the first calculation model, the motor current can be calculated based on the motor voltage, motor resistance, speed constant, torque constant, motor temperature, and door speed. In the second calculation model, the motor current is calculated based on the door mass, door acceleration, system friction, and wind speed or the wind pressure acting on the door.

[0057] If the comparison reveals deviations, conclusions can be drawn about influencing factors such as friction, belt tension or engine wear.

[0058] With reference to the Figures 5A to J Various scenarios are explained below using examples, although it should be noted that this is not an exhaustive list of possible scenarios, but merely shows a few examples.

[0059] In Figure 5AA diagram shows three measured variables during an opening movement of a sliding door of the door system 10. The three measured variables are the door position x_door, the door speed v_door and the door acceleration a_door. The opening movement itself can be divided into five phases: firstly, the door is at position X equal to zero (closed), secondly, the door accelerates in the opening direction, thirdly, the door moves at a constant speed in the opening direction, fourthly, the door decelerates during its opening movement, and fifthly, the door is in the opening position. The five phases mentioned thus define an opening cycle in terms of time, whereby during this cycle (time period) measured values ​​from the drive 14 and data, for example from an external data source, are recorded and saved. The measured values ​​and the calculated model values ​​for an opening cycle are then determined and compared with one another.At this point, however, it should be noted that the recording of the measured values ​​and data as well as the comparison can also take place over longer periods of time, for example for one opening cycle and one closing cycle or for several cycles.

[0060] The three curves in Figure 5A illustrate that the acceleration value alternates between a positive value, zero, and a negative value, while the speed increases in phase two (acceleration phase), remains constant in phase three, and returns to zero in phase four (deceleration phase). The door position changes more nonlinearly between a closed position and an open position.

[0061] In Figure 5BThe diagram shows the measured value of motor current and the model values ​​for the comparison measured value of motor current derived from the two calculation models. It can be seen that the curves of the measured values ​​of the comparison measured value of motor current and the model values ​​for the comparison measured value provided by the two calculation models are identical, i.e., the curves are congruent across the five phases of an opening cycle.

[0062] Based on the result of this comparison, it can now be concluded that the door system's drive is functioning correctly. A possible diagnostic status would therefore be "error-free."

[0063] The model values ​​of the two calculation models can be calculated as follows: Calculation of the motor current using a first calculation model: Imot = f Umot kV nmot Rmot . Umot = Motor voltage kV = speed constant nmot = engine speed Rmot = winding resistance Imot = Umot − nmot ∗ kV / Rmot Calculation of the motor current using a second calculation model: Imot = f m , a , kV , kM , nmot , Rmot , FR . kM = torque constant m = System mass FR = system friction v = translational door speed a = translational door acceleration l radius = radius of the pulley on the belt of the sliding door a = δv / δt F R = k A ∗ sin k B ∗ tan − 1 k C ∗ v door − 1 ∗ k C ∗ v door − tan − 1 k C ∗ v door + k R F total = m ∗ a + F R F mot = U mot − n mot ∗ k V / R mot ∗ k M / l radius F total = F mot I mot = F mot ∗ l radius / k M

[0064] Of course, it would also be possible to use the "motor voltage" instead of the "motor current" as a reference measurement. Then the following calculations can be performed: Calculating the motor voltage using the first calculation model: U mot = f I mot , k V , n mot , R mot . I mot = Motorstorm U mot = I mot ∗ R mot + n mot ∗ k V

[0065] Calculation of the motor voltage using a second calculation model: U mot = f m , a , k V , k M , R mot , F R .

[0066] To F total To obtain the equations are used as in the first example. F mot = I mot ∗ k M / l radius F total = F mot U mot = F mot ∗ l radius / k M

[0067] In Figure 5CA diagram is shown in which the motor current and the motor current from the first calculation model are identical, while the motor current supplied by the second calculation model differs locally, specifically in phase two in this embodiment. This difference suggests that there is a local increase in door friction, for example, due to wear on the guide rail. The diagnostic status would therefore be "local increase in door friction."

[0068] In Figure 5D The measured motor current values ​​and the model values ​​of the second calculation model are identical, while the model values ​​of the first calculation model differ in phases two, three, and four. This deviation suggests that there is a fault in the electric motor resistance, for example, due to wear. The diagnostic status would therefore be "Electric motor resistance fault."

[0069] In Figures 5E and 5FTwo diagrams are shown in which the measured motor current values ​​and the model values ​​of the second calculation model are identical. However, the model values ​​of the first calculation model differ in phases two, three, and four, with the deviation showing a dependence on the speed, which is clearly visible in phases two and four, for example. These deviations suggest that the speed constant of the electric motor has changed. There is a defect in the motor windings. The diagnostic status would therefore be "Defect in the motor windings."

[0070] In the Figures 5G and 5HThe measured values ​​of the motor current and the model values ​​of the first calculation model are identical. The measured values ​​of the second calculation model differ in phases two, three, and four. These deviations indicate that the torque constant of the electric motor has changed. There is a motor defect, for example, due to overheating. The diagnostic status would therefore be "Motor defect."

[0071] In Figure 5I The measured values ​​of the motor current and the model values ​​of the first calculation model are identical. The measured values ​​of the second calculation model only differ in phases two and four. These deviations indicate that the door mass has changed. Parts of the door leaf or door mechanism must have become detached. The diagnostic status would therefore be "Door mass has changed."

[0072] In Figure 5JCombinations of previously mentioned cases / scenarios are shown, which lead to the superposition of the effects. In Figure 5J is a combination of the Figures 5C and 5I shown. The diagnosis here would then be that the door mass has changed and there is a local increase in door friction.

[0073] As previously indicated, the above examples represent only a selection of possible diagnoses resulting from the comparison of measured values ​​with the model values. Furthermore, other comparison measured values ​​can be used instead of the motor current, which in turn can lead to different diagnostic statuses. Of course, multiple comparisons can also be performed sequentially using multiple comparison measured values ​​to obtain a comprehensive picture of the door system's condition.

[0074] The above explanations demonstrate that the method for determining a diagnostic status can utilize a wide range of measured variables and external data to make high-quality statements about the door system. The comparison data is continuously calculated, allowing for a significant improvement in the diagnosis compared to fixed reference values.

[0075] According to the present disclosure, a method and apparatus as defined in the independent claims are described. Further embodiments of the invention are defined in the dependent claims. Although the invention is defined only by the claims, the following embodiments, examples, and aspects serve to facilitate understanding of the invention and its advantages.

[0076] Clause 1. Method for determining a diagnostic status of a door system (10) with at least one electric drive motor (15), with Providing (80) measured values ​​of at least one measured variable from the door system, wherein at least one measured variable serves as a comparison measured variable; calculating (88) first model values ​​of the comparison measured variable based on a first calculation model; comparing (92) the measured values ​​of the comparison measured variable with the first calculated model values; and determining (94) a diagnostic status based on the result of the comparison.

[0077] Clause 2. The method of clause 1, comprising calculating (90) second model values ​​of the comparison measurand based on a second calculation model that differs from the first calculation model; and comparing (92) the measured values ​​of the comparison measurand with the first and second calculated model values.

[0078] Clause 3. A method according to clause 1 or 2, wherein measured values ​​of several measured variables are provided by the door system, and at least one of the two calculation models uses measured values ​​of measured variables that do not correspond to the comparison measured variable.

[0079] Clause 4. A method according to any of the preceding clauses, where the two calculation models use different metrics to calculate the model values.

[0080] Clause 5. A method according to any preceding clause, wherein data values ​​are provided from at least one data source.

[0081] Clause 6. Method according to Clause 5, wherein the data values ​​are environmental values, preferably temperature or wind speed, in the area of ​​the door system.

[0082] Clause 7. Methods according to Clause 6, wherein the environmental values ​​are provided by sensors and / or by meteorological services, in particular online meteorological services.

[0083] Clause 8. A method according to any one of clauses 5 to 7, wherein at least one of the two calculation models uses the provided data values.

[0084] Clause 9. Method according to one of the preceding clauses, wherein the measured variables are the following: door speed, door position, voltages, preferably mains voltage, intermediate circuit voltage, battery voltage, motor voltage or sensor voltages, currents, preferably motor currents and battery charging current, temperatures, preferably temperatures of the motor or power amplifier, control signals from sensors, feedback signals from door locks / locks, control of the motors, preferably PWM and voltage, error messages from the own diagnostic functions, preferably with time of occurrence, parameterization of the door, preferably inputs / outputs, movement parameters.

[0085] Clause 10. Method according to one of clauses 2 to 9, wherein the first and / or the second calculation model takes into account at least one of the following parameters: friction within the door system, preferably mechanical adjustment or lubrication of the mechanism, mass of the door of the door system, dimensions of the door of the door system, belt tensions, wind load, wind direction, wind force, pressure differences between rooms connected by the door, detection range of sensors, pedestrian traffic through / past the door, in particular the number, speed and direction of travel of the pedestrians, wear, in particular of the motor, the mechanics, the electronics, the battery and the power supply, cabling, in particular cable lengths / resistances, contact resistances and short circuits, tolerances / properties of electrical, electronic and mechanical components, in particular internal resistance, torque constant, speed constant and inductance of the motor,Installation tolerances, warping / settlement of mechanical components of the door system.,

[0086] Clause 11. Method according to any of the preceding clauses, wherein the comparison metric is selectable.

[0087] Clause 12. Method according to one of the preceding clauses, wherein the measured values ​​are supplied by the door system via a data line, preferably a CAN bus, and are preferably stored in a measured value memory.

[0088] Clause 13. Procedure according to Clause 12, whereby the measured values ​​supplied are stored with a time stamp.

[0089] Clause 14. Methods according to clauses 5, 6 or 7 and 13, whereby data values ​​from data sources are also stored in addition to the measured values, preferably with a time stamp.

[0090] Clause 15. Method according to one of the preceding clauses, wherein the comparison measured variable is the motor current (I_Motor) of the electric drive motor and the other measured variables supplied by the door system are the door speed (v_Door), the door position (x_Door), the motor voltage (U_Motor), and the motor temperature (T_Motor).

[0091] Clause 16. Method according to clause 15, wherein the first calculation model calculates the first model values ​​for the motor current (I_Motor_Model_1) as a comparison measured variable on the basis of the measured motor voltage (U_Motor), the measured door speed (v_Door), the motor speed (w), the speed constant of the motor (kV), the gear ratio between motor and door (k_Getriebe) and the connection resistance (R) of the motor.

[0092] Clause 17. Method according to clause 15 or 16, wherein the second calculation model calculates the second model values ​​for the motor current (I_Motor_Model_2) as a comparison measured variable on the basis of the measured door speed (v_Door), the mass of the door (m_Door), the door acceleration, the friction of the door (F_Friction), the gear ratio between motor and door (k_Gear ratio) and the torque constant (kM) of the motor.

[0093] Clause 18. Methods according to clauses 6 and 17, wherein the second calculation model takes into account additional data provided by the data source, in particular temperature and wind speed.

[0094] Clause 19. Method according to one of the preceding clauses, wherein 10 to 100 measured values ​​per second of the at least one measured variable are provided, preferably stored.

[0095] Clause 20. Method according to one of the preceding clauses, wherein a status of the door system, in particular opening or closing, is provided in addition to the measured values.

[0096] Clause 21. The method of any preceding clause, wherein the diagnostic status is at least one of the following: fault-free, local increase in door friction, drive motor resistance fault, drive motor winding defect, drive motor torque constant change, and door mass change.

[0097] Clause 22. Device for determining a diagnostic status of a door system (10) with at least one electric drive motor, with an interface (52, 54) for receiving measured values ​​of at least one measured variable from the door system, wherein at least one measured variable serves as a comparison measured variable; a device (56) for calculating first model values ​​of the comparison measured variable based on a first calculation model; a device (60) for comparing the measured values ​​of the comparison measured variable with the first calculated model values; and a device (62) for determining a diagnostic status based on the result of the comparison. List of reference symbols:

[0098] 10 door system 50 Evaluation device 11 Sliding door system 52 interface 12 door leaf 54 interface 14 drive 56 First calculation unit 15 Electric motor 58 Second calculation unit 18 sensor 60 Comparison unit 20 Controls 62 Diagnostic investigation unit 24 Control device 70 Output unit 26 Wind sensor 71 monitor 28 Temperature sensor 80 Recording measured values 30 External data source 82 Collection of external data 32 Internet connection 84 Save with timestamp 38 First storage 86 Retrieving measured values 40 Second storage 88 Calculate 1. Model values 42 interface 90 Calculate 2. Model values 44 Data connection 92 Compare 94 Determine diagnostic status 96 Output diagnostic status

Claims

1. A method for determining a diagnostic status of a door system (10) having at least one electric drive motor (15), comprising: providing (80) measured values ​​of at least one measured variable from the door system, wherein at least one measured variable serves as a comparison measured variable; calculating (88) first model values ​​of the comparison measured variable based on a first calculation model; comparing (92) the measured values ​​of the comparison measured variable with the first calculated model values; and determining (94) a diagnostic status based on the result of the comparison.

2. The method according to claim 1, comprising calculating (90) second model values ​​of the comparison measured variable based on a second calculation model that differs from the first calculation model; and comparing (92) the measured values ​​of the comparison measured variable with the first and second calculated model values.

3. The method according to claim 1 or 2, wherein measured values ​​of a plurality of measured variables are provided by the door system, and at least one of the two calculation models uses measured values ​​of measured variables that do not correspond to the comparison measured variable.

4. Method according to one of the preceding claims, wherein the two calculation models use different measured variables to calculate the model values.

5. Method according to one of the preceding claims, wherein data values ​​are provided from at least one data source.

6. The method according to claim 5, wherein the data values ​​are environmental values, preferably temperature or wind speed, in the area of ​​the door system.

7. The method according to claim 6, wherein the environmental values ​​are provided via sensors and / or by weather services, in particular online weather services.

8. The method according to any one of claims 5 to 7, wherein at least one of the two calculation models uses the provided data values.

9. Method according to one of the preceding claims, wherein measured variables are the following: door speed, door position, voltages, preferably mains voltage, intermediate circuit voltage, battery voltage, motor voltage or sensor voltages, currents, preferably motor currents and battery charging current, temperatures, preferably temperatures of the motor or power stage, control signals from sensors, feedback signals from door locks / locks, control of the motors, preferably PWM and voltage, error messages from the own diagnostic functions, preferably with the time of occurrence, parameterization of the door, preferably inputs / outputs, movement parameters.

10. The method according to one of claims 2 to 9, wherein the first and / or the second calculation model takes into account at least one of the following parameters: friction within the door system, preferably mechanical adjustment or lubrication of the mechanism, mass of the door of the door system, dimensions of the door of the door system, belt tensions, wind load, wind direction, wind strength, pressure differences between rooms connected by the door, detection range of sensors, pedestrian traffic through / past the door, in particular the number, speed and direction of travel of the people, wear, in particular of the motor, the mechanics, the electronics, the battery and the power supply, cabling, in particular cable lengths / resistances, contact resistances and short circuits, tolerances / properties of electrical, electronic and mechanical components, in particular internal resistance, torque constant, speed constant and inductance of the motor,Installation tolerances, warping / settlement of mechanical components of the door system., 11. Method according to one of the preceding claims, wherein the comparison measurement variable is selectable.

12. Method according to one of the preceding claims, wherein the measured values ​​are supplied by the door system via a data line, preferably a CAN bus, and are preferably stored in a measured value memory, wherein the supplied measured values ​​are preferably stored with a time stamp.

13. The method according to claim 5, 6 or 7 and 12, wherein data values ​​from data sources, preferably with a time stamp, are also stored in addition to the measured values.

14. The method according to any one of the preceding claims, wherein the diagnostic status is at least one of the following: error-free, local increase in door friction, drive motor resistance error, drive motor winding defect, drive motor torque constant change, and door mass change.

15. A device for determining a diagnostic status of a door system (10) with at least one electric drive motor, comprising an interface (52, 54) for receiving measured values ​​of at least one measured variable from the door system, wherein at least one measured variable serves as a comparison measured variable; a device (56) for calculating first model values ​​of the comparison measured variable based on a first calculation model; a device (60) for comparing the measured values ​​of the comparison measured variable with the first calculated model values; and a device (62) for determining a diagnostic status based on the result of the comparison.

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