SECTIONAL DOOR OPERATOR SYSTEM

Abstract

The present invention provides a sectional door operator system (1) for opening and closing an opening (2). The sectional door operator system (1) comprises a door (8) arranged to move between an open (O) and a closed (C) position and comprising a plurality of interconnected horizontal sections (9a-e).The sectional door operator system (1) comprises at least one sensor device (40a, 40b) mounted on a section (9e) of the plurality of interconnected horizontal sections (9a-e), and at least one control unit (20a, 20b) being in operational communication with the drive unit system (100) and configured to control the operation of the drive unit system (100) at least based on sensor data (42) from the at least one sensor device (40a, 40b), wherein the sensor data (42) relates to an angle (f) of the door (8) relative to an actual horizontal plane of the sectional door operator system (1).

Description

SECTIONAL DOOR OPERATOR SYSTEM Technical field The present invention relates to a sectional door operator system for opening and closing an opening. More specifically, the present invention relates to controlling the operation of a sectional door operator system. Background Sectional door operator systems are frequently used to provide automatic opening and closing of doors to facilitate entry and exit from buildings, rooms, and other areas. Door operator systems typically comprise a series of drive units responsible for moving the sectional door between the closed and open positions. Sectional door operator systems are typically used in both public and private areas for extended periods and under varying conditions, including time of day, time of week, season, and traffic volume. Therefore, these systems must remain operational and reliable for long periods, even during heavy traffic of people or goods passing through the doors. During operation, the mechanical components of the door drive system, such as rollers, guides, or motors, are subject to wear and tear or adverse weather conditions. This can potentially result in malfunctions that cause the sectional door to become misaligned, crooked, or inoperable. Conventionally, this has been resolved by replacing the worn mechanical components and manually realigning the sectional door for subsequent operation. The present inventors have identified problems and shortcomings in this regard. Accordingly, an object of the present invention is to overcome, or at least mitigate, one or more of these problems. Summary An object of the present invention is to provide a door operator system that seeks to mitigate, lessen, or eliminate one or more of the deficiencies and disadvantages of the art identified above, individually or in any combination. This description proposes a solution to the problem described above. The proposed solution describes a sectional door operator system for opening and closing an opening. In a first aspect of the invention, a sectional door operator system is provided for opening and closing a ML / t / ZUZZ / U / / 104 opening. The sectional door operator system comprises a door arranged to move between an open and a closed position and comprising a plurality of interconnected horizontal sections, and a door frame comprising a first frame section on a first side of the opening and a second frame section on a second side of the opening, wherein the plurality of interconnected horizontal sections are connected to the door frame. The sectional door operator system further comprises a drive unit system mounted on a section of the plurality of interconnected horizontal sections, wherein the drive unit system is arranged to move the sectional door from the closed position to the open position.wherein the drive unit system comprises at least a first drive unit comprising a first motor and at least a second drive unit comprising a second motor, and wherein the first drive unit and the second drive unit are mounted on different vertical sides of the horizontal and interconnected section, at least one sensor device mounted on a section of the plurality of horizontal and interconnected sections, and at least one control unit that is in operational communication with the drive unit system and configured to control the operation of the drive unit system by, MA / / / 104 less depending on the sensor data of at least one sensor device, wherein the sensor data relates to an angle of the door relative to an actual horizontal plane of the sectional door operator system. The benefits of the present invention derive from improving the opening / closing process of the door panel in the door operator system to reduce or eliminate irregularities in the opening and closing operation. A sectional door operator system such as the one provided can ensure proper installation with respect to horizontal alignment and leveling, without requiring manual work by installation personnel. Additionally, a technical arrangement of the invention includes the detection of vibrations in mechanical components. The first aspect of the invention can prevent, mitigate, or eliminate mechanical problems in various components of sectional door operator systems. Furthermore, the door or individual door sections are less likely to become misaligned or twisted, which increases the quality and, therefore, the overall service life of the system. According to one embodiment of the invention, the sectional door operator system further comprises at least a first sensor device and a second sensor device, and wherein the sectional door operator system further comprises a first control unit and a second control unit. ML / / / 104 control, and where the first sensor device is configured to provide door sensor data to the first control unit, and the second sensor device is configured to provide door sensor data to the second control unit. The first control unit can be in operational communication with the first drive unit of the drive unit system, and the second control unit can be in operational communication with the second drive unit of the drive unit system. According to one embodiment, the at least one sensor device may comprise at least one accelerometer. The at least one sensor device may be arranged in one of the plurality of interconnected horizontal sections or in a lower section of the plurality of interconnected horizontal sections. According to one embodiment of the invention, the at least one control unit is configured to control the operation of the drive unit system by evaluating the received sensor data and, based on this evaluation, controlling the operation of at least the first drive unit and / or at least the second drive unit. The step of controlling the operation of at least the first drive unit and / or at least the second drive unit may include altering the speed of the first motor and / or the second motor. According to one method, the step of evaluating the received sensor data involves determining whether there is a deviation between the door sensor data and a maximum sensor threshold. If there is a deviation, the speed of either the first or second motor is altered; otherwise, the speed of both motors remains the same. According to one embodiment, the sectional door operator system further comprises at least a first and second sensing element configured to provide operating data from the first and second motors to at least one control unit, where the operating data comprises information related to the position of the first and / or second motor. The first and second sensing elements may be position sensors and / or encoders, and the first sensing element may be arranged with the first drive unit and configured to provide operating data from the first drive unit to the at least one control unit, and the second sensing element may be arranged with the second drive unit and configured to provide operating data from the second drive unit to the at least one control unit. ML / t / ZUZZ / U / / 104 According to one embodiment, at least one control unit is further configured to control the operation of the drive unit system by receiving operational data related to the first drive unit or the second drive unit, evaluating said received operational data and combining said evaluation of the operational data with said evaluation of sensor data, and based on said combined evaluation, controlling the operation of the first drive unit and / or the second drive unit. According to one modality, if a position deviation is determined between the first motor and the second motor, at least one control unit is further configured to determine which of the motors is farther from a target position, and if the second motor is determined to be farther from a target position than the first motor, the speed of the first motor will be reduced, and if the first motor is determined to be farther from a target position than the second motor, the speed of the second motor will be reduced. According to one modality, at least one control unit is further configured to determine if the position of the respective motors is equal to a target position, and if so, the at least one control unit is configured to stop the operation of both the first and second motors. According to one embodiment of the invention, the drive unit system further comprises a third and a fourth drive unit mounted in another section of the plurality of sections as the first and second drive units, wherein the third and fourth drive units are arranged to assist the first and second drive units when moving the door from the closed position to the open position, and wherein the third and fourth drive units are connected to at least one control unit, and wherein the sectional door operator system further comprises at least one third sensor device that is arranged in the same section as the third and fourth drive units and wherein at least one control unit is further configured to receive sensor data from the at least third sensor device. In a second aspect of the invention, a control unit is provided in a sectional door operator system that is in operational communication with a drive unit system comprising at least a first drive unit comprising a first motor and at least a second drive unit comprising a second motor. The control unit is configured to control the operation of the drive unit system at least based on sensor data from at least one sensor device, wherein the sensor data relates to an angle of a door relative to an actual horizontal plane of the sectional door operator system. In a third aspect of the invention, a method is provided for controlling the operation of at least a first drive unit and at least a second drive unit of a drive unit system in a sectional door operator system. The method involves providing at least one sensor device and at least one control unit that is in operational communication with the drive unit system and is configured to control the operation of the drive unit system at least on the basis of sensor data from the at least one sensor device, wherein the sensor data relates to an angle of the door relative to an actual horizontal plane of the sectional door operator system. It should be emphasized that the term "comprises" when used in this specification is taken to specify the presence of established features, integers, steps, or components, but does not exclude the presence or addition of one or more additional features, integers, steps, components, or groups thereof. All terms used in the claims should be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to an [element, device, component, means, step, etc.] should be clearly interpreted as references to at least one instance of the element, device, component, means, step, etc., unless explicitly stated otherwise. The steps of any method described herein need not be performed in the exact order described, unless explicitly stated otherwise. A reference in this document to an entity that is designed to do something is intended to mean the same thing as an entity that is intentionally configured or adapted to do that same thing. Brief description of the drawings The foregoing will become clear from the following more detailed description of the example configurations, as illustrated in the accompanying drawings, where the same reference characters refer to the same parts in the different views. The drawings are not necessarily to scale; rather, the emphasis is on illustrating the example configurations. Figure 1 is a schematic perspective view of a door operator system comprising a sectional door in a closed position. Figure 2 is a schematic perspective view of a door operator system comprising a sectional door in a closed position. Figures 3a-3b are schematic perspective views of different door operator systems comprising a sectional door in a closed position. Figure 4 is a schematic block diagram representing parts of a door operator system according to the present invention. Figure 5 is a schematic block diagram representing parts of a door operator system according to the present invention. Figures 6a, 6b, 6c and 6d are schematic perspective views of different component assembly modalities in a door operator system. Figure 7 is a schematic flow diagram illustration depicting a method for controlling a drive unit system according to the present invention. Figure 8 is a schematic flow diagram illustration depicting a method for controlling a drive unit system according to the present invention. Figure 9 is a schematic flow diagram illustration depicting a method for controlling a drive unit system according to the present invention. Figure 10 is a schematic flow diagram illustration depicting a method for controlling a drive unit system according to the present invention. Detailed description of the modalities Embodiments of the invention will now be described with reference to the accompanying drawings. However, the invention can be embodied in many different forms and should not be interpreted as being limited to the embodiments set forth herein; rather, these embodiments are provided to make this description exhaustive and complete, and to fully convey the scope of the invention to those skilled in the art. The terminology used in the detailed description of the particular embodiments illustrated in the accompanying drawings is not intended to be limiting to the invention. In the drawings, similar numbers refer to similar elements. Figures 1 to 3b illustrate different embodiments of a sectional door operator system 1. However, as a person skilled in the art should understand, the inventive aspects of the present invention are also applicable to a door operator system that is a single-leaf door operator system.Figures 1 to 3b are schematic views of different embodiments of a door operator system 1 to which the inventive aspects of the present invention can be applied. The door operator system 1 comprises a door frame 3, a door 8, and a drive unit system 100. In a preferred embodiment of the invention, as illustrated in Figures 1-2, the drive unit system 100 comprises a first drive unit 10a and a second drive unit 10b. In an alternative embodiment, shown in Figure 3a, the drive unit system 100 comprises a third and a fourth drive unit 10c-d. The third drive unit 10c comprises a third motor 11c, and the fourth drive unit comprises a fourth motor 10d.Furthermore, as shown in Figure 3a, the third drive unit 10c further comprises a third sensing element 30c, and the fourth drive unit 10d further comprises a fourth sensing element 30d. In additional alternative embodiments, shown in Figure 3b, the drive unit system 100 may comprise an arbitrary number of drive units 10a-f, where each drive unit 10a-f comprises a motor 10a-f and a sensing element 30a-f. In all embodiments, the drive units 10a-f are preferably separate units that operate independently of each other. The door operator system 1 is arranged to be installed in an opening 2 defined by a wall 50 and a floor 23. The door operator system 1 is arranged to open and close the opening 2 by moving the door 8 between an open position O and a closed position C, as described in Figure 1. In this embodiment, door 8 is a sectional door 8 comprising a plurality of interconnected horizontal sections 9a-e connected to the door frame 3. In one embodiment, the door is a garage door. In an alternative embodiment, the door is an industrial door. Door 8 is arranged to move along the door frame 3 between the closed position C and the open position O. In one embodiment, door operator system 1 is a tilt-up door operator system. A tilt-up door operator system is a system in which the door in the closed position C is arranged substantially vertically and in the open position O is arranged substantially horizontally and within the opening. In an alternative embodiment, door operator system 1 is an upward-opening door operator system. An upward-opening door operator system is a system in which the door in the closed position C is arranged substantially vertically and in the open position O is arranged substantially vertically above the opening. The door frame 3 comprises a first frame section 4 on a first side 7 of the opening 2 and a second frame section 6 on a second side 5 of the opening 2. The door frame 3 is connected to the wall 50 and the floor 23. The first frame section 4 comprises a substantially vertical portion 4a and a substantially horizontal portion 4b. The second frame section 6 comprises a substantially vertical portion 6a and a substantially horizontal portion 6b. The vertical portion 4a, 6a and the horizontal portion 4b, 6b are connected to create a path for the door 8 to slide and a track for the drive units 10a-b to interact. Door 8 is directly or indirectly connected to the door frame 3. Door 8 is movably connected on a first side to the first section of frame 4 and movably connected on a second side to the second section of frame 6. In one embodiment, one or more of the plurality of ML / t / ZUZZ / U / / 104 sections 9a-e is connected to the first frame section 4 on said first side 7 and to the second frame section 6 on said second side 5. The first drive unit 10a comprises a first motor lia and the second drive unit 10b comprises a second motor 11b. The drive units 10a-b may further comprise at least one battery. The at least one battery is arranged to power the respective motor 11ab of the drive unit 10a-b. In one embodiment, the at least two motors lia-b are connected to one battery. In an alternative embodiment, one or more batteries are connected to each motor lia-b. In yet another embodiment, the first motor lia is connected to a first battery and the second motor 11b is connected to a second battery. The drive units lOa-b are connected and / or mounted on the door 8. In one embodiment, as will be described further in relation to Figure 2, the drive units lOa-b are mounted on a section 9e, i.e., one of said plurality of horizontal and interconnected sections, of the door 8. The first motor lia and the second motor 11b are arranged on the same section 9e. Preferably, the first motor lia and the second motor 11b are arranged on different vertical sides of section 9e. Each motor lia-b is thus arranged together with the first frame section 4 and the second frame section 6, respectively. Drive units lOa-b are further connected to the door frame 3. Drive units lOa-b are movably connected on one side to the first section of frame 4 and on the other side to the second section of frame 6. Therefore, the first motor lOa is movably connected to the first section of frame 4 and the second motor lOa-b is movably connected to the second section of frame 6. Drive units lOa-b are arranged to interact with the door frame 3 to move the sectional door 8 from the closed position C to the open position O and from the open position O to the closed position C. In one mode, at least one lla-b motor of the first and second drive units lOa-b is configured to brake the movement of the sectional door 8 when the sectional door 8 moves from the open position 0 to the closed position C. In another mode, both the first and second lla-b motors are configured to brake the movement of the sectional door 8 when the sectional door 8 moves from the open position O to the closed position C. In one embodiment, the door operator system 1 further comprises, as an optional feature, at least one load unit 13, 14. In one embodiment, as described in Figure 1, the door operator system 1 comprises a first load unit 13 and a second load unit 14. MA / t / ZUZZ / U í í 104 The charging units 13 and 14 are preferably connected to the door frame 3. The first charging unit 13 is mounted in a position that corresponds to the battery position of the respective drive unit 10a-b when the sectional door 8 is in the closed position C. The first charging unit 13 is arranged to connect to and charge at least one battery in the closed position. The second charging unit 14 is mounted in a position that corresponds to the battery position of the drive unit system 100 when the sectional door 8 is in the open position C. The first charging unit 14 is arranged to connect to and charge at least one battery in the open position. In one embodiment, the battery can be continuously charged by means of an electrical cable connecting the battery to a power source. In one embodiment, at least one lla-b motor of the respective lOa-b drive unit is configured to act as a generator and to charge at least one battery when the sectional door 8 moves from the open position O to the closed position C. In one embodiment, both the first and second lla-b motors of the lOa-b drive units are configured to act as a generator and to charge at least one battery when the sectional door 8 moves from the open position O to the closed position C. In one embodiment, at least the first and second motors 11ab of the drive units lOa-b are direct current DC motors. In a preferred embodiment, at least the first and second motors lla-b are brushless direct current (BLDC) motors. In one embodiment, at least one motor lla-b of the drive units lOa-b further comprises a brake (not shown). In one embodiment, both the first and second motors comprise the brake. In one embodiment, the brake is an electromagnetic brake. The brake is arranged to control / reduce the speed of door 8 when it moves from the open position O to the closed position C. In one embodiment, the first and second motors are positioned to control / reduce the speed of door 8 when it moves from the open position O to the closed position C; this can be done with or without the brakes. Different connections between the drive unit and the door frame 3 are known in the prior art and will not be discussed further herein. For example, the drive unit may comprise one or more pinions (not shown) that rotate the motors when the weight of door 8 moves the door 8. Additionally or alternatively, the drive units may further comprise a plurality of wheels (not shown) arranged to be rotated by the motors. ML / t / ZUZZ / U / / 104 Figures 4 and 5 illustrate different configurations based on some inventive aspects of the solution. The sectional door operator system 1 can perform its normal operation according to any of the configurations shown in Figures 4-5. In these modalities shown in Figures 4 and 5, the sectional door operator system comprises a first control unit 20a and a second control unit 20b. A control unit 20 can be implemented in any known controller technology, including, but not limited to, microcontrollers, processors (e.g., PLC, CPU, DSP), FPGA, ASIC, or any other suitable digital and / or analog circuit capable of performing the intended functionality. The control unit 20 can also be implemented using instructions that enable the functionality of the equipment (hardware), for example, using instructions from computer programs executable on a general-purpose or special-purpose processor that can be stored on a computer-readable storage medium (disk, memory, etc.) to be executed by said processor. The control unit 20 is configured to read instructions from memory and execute these instructions to control the operation of the drive unit 100 system. The control unit's memory can be implemented using any known memory technology, including, but not limited to, ROM, RAM, SRAM, DRAM, CMOS, FLASH, DDR, SDRAM, or some other memory technology. In some configurations, the memory may be integrated or internal to the control unit 20. The memory can store program instructions for execution by the control unit 20, as well as temporary and permanent data used by the control unit 20. As shown in Figures 4 and 5, the door operator system 1 further comprises a first sensor device 40a and a second sensor device 40b. It should be noted that sensor devices 40a-b are also present, although not shown, in the configurations illustrated in Figures 1-2. As will be described in more detail with reference to Figures 6a-d, different numbers of sensor devices could be used. Before presenting the details of the modalities shown in Figures 4 and 5, an explanation is provided on what kind of deficiencies a sensor device 40 can mitigate, lessen or eliminate according to some inventive aspects of the solution. As briefly mentioned in the background section of the invention, a door 8 of a door operator system 1 is susceptible to various types of disturbances during normal operation. These disturbances include, but are not limited to, vehicles or objects impacting door 8 by force, and vibrations generated by door 8 while MA / / / Ί 04 moves between positions, wear of mechanical components or environmental parameters such as wind load, temperature changes, etc. disturbances can cause malfunction of the components of the door operator system 1. Specifically, a sectional door 8 or any interconnected section 9a-e of the sectional door 8 may twist or become misaligned with respect to an actual horizontal plane of the door operator system 1. In an ideal operation of the door operator system 1, the door 8 and all its interconnected sections 9a-e are perfectly horizontal at the floor level of the door operator system 1. A deviation of an angle φ of door 8 or any interconnected section 9a-e relative to an actual horizontal plane of the door operator system 1 is ideally detected as early as possible. Therefore, a sensor device 40 can be configured to continuously monitor each individual section 9a-e of door 8 and transmit the information to at least one control unit 20. Furthermore, the sensor device 40 can be configured to detect wear on critical components of the door operator system 1 by applying signal analysis to observe the vibrations generated by the movement of door 8. The control unit 20 can then compare these vibrations with a normal vibration pattern of door 8 and thus determine if any ML / t / ZUZZ / U / / Ί04 A mechanical component requires manual service or maintenance. Vibration analysis can detect problems such as imbalance, bearing failures, mechanical play, misalignment, resonance and natural frequencies, electric motor failures, or bent shafts. Examples of vibration measurements may include, but are not limited to, overall vibration level, vibration spectral analysis, discrete frequency monitoring, shock pulse monitoring, kurtosis measurement, signal averaging, cepstrum analysis, or any combination thereof. In this respect, the gate operator system 1 can also be self-learning to intelligently generate, for example, bearing fault diagnoses and machine health attributes. When sensor device 40 provides control unit 20 with data from sensor 42, control unit 20 attempts to recognize patterns on its own. Control unit 20 of the gate operator system 1 thus makes autonomous decisions. Both supervised and unsupervised learning algorithms can be implemented and / or applied, such as regression algorithms, decision trees, K-means, K-nearest neighbors, neural networks, support vector machines, or principal component analysis. An intelligent system like the one described can learn from the continuous reception of accurate sensor readings from sensor device 40.Autonomously generated bearing fault diagnoses and / or machine status attributes can be stored in the memory of control unit 20 for use in the control system of drive unit 100. This will be explained in detail by referring to Figures 7-8. Referring back to Figure 4, at least one sensor device 40a-b is configured to provide data from sensor 42ab of gate 8 to at least one control unit 20a-b. In Figure 4, two sensor devices 40a-b are present, each connected to a control unit 20a, 20b. This configuration will be described in the following section. However, it should be noted that the following description is applicable to a situation with only one sensor device and / or only one control unit. The sensor devices 40a-b are configured to allow continuous monitoring and adjustment of horizontal alignment and leveling by means of continuous data transmission from sensor 42a-b to the control units 20a-b. The data from sensor 42a-b relates to an angle φ of door 8 relative to an actual horizontal plane of the door operator system 1. To accurately determine the horizontal direction of door 8 relative to gravity, the sensor devices 40a-b may contain at least one accelerometer. Alternatively or additionally, the sensor devices 40a-b may comprise at least one gyroscope sensor or any other electrical component capable of accurately determining an object's angle relative to an actual horizontal plane. In still other embodiments, the sensor devices 40a-b may comprise a level, such as a tubular level or a sight level, etc. The sensor devices 40a-b can be arranged in different locations within the sectional door operator system, as shown in Figures 6a-6d. In Figure 6a, two sensor devices 40a-b are arranged in a lower section 9e near a respective drive unit 10a-b. The sensor devices 40a-b are configured to communicate sensor data to a control unit 20a. In Figure 6b, two sensor devices 40a-b are arranged in a lower section 9e near a respective drive unit 10a-b. The first sensor device 40a is configured to communicate sensor data to a first control unit 20a, and the second sensor device 40b is configured to communicate sensor data to a second control unit 20b. Furthermore, the first control unit 20a and the second control unit 20b can be configured to communicate with each other. In one mode, the first control unit 20a is configured to communicate sensor data to the second control unit 20b. ML / / / 104 In one mode, the second control unit 20b is configured to communicate sensor data to the first control unit 20a. In Figure 6c, a sensor device 40a is arranged in a lower section 9e at a location between two drive units 10a-b. In different configurations, the sensor device 40a is arranged in different locations in the lower section 9e. The sensor device 40a is configured to communicate sensor data to a control unit 20a. In Figure 6d, a sensor device 40a is arranged in a lower section 9e between two drive units 10a-b. In different configurations, the sensor device 40a is arranged in different locations within the lower section 9e. The sensor device 40a is configured to communicate sensor data to a first and a second control unit 20a-b. Furthermore, the first control unit 20a and the second control unit 20b can be configured to communicate with each other. In one configuration, the first control unit 20a is configured to communicate sensor data to the second control unit 20b. In another configuration, the second control unit 20b is configured to communicate sensor data to the first control unit 20a. Although not shown in Figures 6a-6c, the sensor devices 40a-b can be arranged in any interconnected section 9a-e, not just the lower section 9e, since accurate data from sensor 42a-b can be obtained and transmitted to the control units 20a-b. Furthermore, although not shown, the control units 20a-b of Figures 6a-6d can be arranged in any section 9a-e. In the configurations shown in Figures 6a-6d, the sensor devices 40a-b are arranged as separate devices. If this is the case, means are provided for communicating sensor data 42a-b from the sensor device to at least one control unit 20a-b. For example, a communication interface configured as a transceiver may be provided. The communication interface may be based on known transceiver standards such as GBIC, SFP, SFP+, QSFP, XFP, XAUI, CXP, or CFP. In alternative configurations, the 40a-b sensor devices can be arranged directly on a PCB of the 20a-b control units. This can simplify the process of communicating data from the 42a-ba sensor to the 20a-b control units, as internal means for communication can be implemented within the 20a-b control units. In Figures 4 and 5, the sectional door operator system 1 may further comprise a control unit of the ML / í í Ί 04 Operator 60 (optional feature). The operator 60 control unit is configured to receive control data from at least one 20a-b control unit. The control data may include, for example, the operating status, the status of individual mechanical components, and / or the current of a motor in the sectional door operator system 1. The at least one 20a-b control unit may be configured to generate a report of any errors detected by the at least one 40a-b sensor device and subsequently report the findings to the operator 60 control unit. For example, if a motor current is above a predetermined error threshold value, this may be reported. Information regarding a motor current is useful for identifying whether the motor is under a higher than normal load. This may be the case, for example, if something is jammed in the door operator system 1. The report can be transmitted via a communication interface operating between at least one control unit 20a and the operator's control unit 60. Furthermore, the report can also be transferred using IoT (Internet of Things) services. Different IoT protocols can be used in different embodiments of the invention. For example, these protocols include, but are not limited to, Bluetooth, Wi-Fi, ZigBee, MQTT IoT, CoAP, DDS, NEC, AMQP, LoRaWAN, REID, Z-Wave, Sigfox, Thread, EnOcean, and communication protocols based on ML / í í Ί 04 cell phones or any combination thereof. The error report may include, for example, a report of door misalignments and / or any operational inconsistencies. If an error report has been generated, the Operator Control Unit 60 can be further configured to generate an alarm if one or more limits exceed a predetermined error threshold. This alarm can be indicated by an audible signal, a visual signal, or by transmitting the information to external devices. Additionally, if a safety hazard is detected, the Operator Control Unit 60 can respond by terminating the operation of System 1. The operator control unit 60 can be further configured to be controllable by an operator of system 1. The operator control unit 60 can comprise one or more screens for displaying information from system 1. In addition, the one or more screens can comprise touch screen functions and / or one or more buttons for manual operation of system 1. Therefore, the operator control unit 60 can serve as a backup controller in case of automation failures of system 1. In one embodiment, the drive unit system 100 comprises one or more sensors (not shown) arranged to identify a person or object in the path of door 8 and to interrupt or reverse the movement of door 8 upon identifying the person or object. The one or more sensors may be one or more of a pressure sensor, an IR sensor, a camera, a radar, or a presence sensor. If one or more sensors identify a person or object in the path of door 8, the sensors may send a signal to the control unit 20, which may control door 8 and stop its movement. The control unit 20 then controls door 8 to return to the open position O or to hold it until the person or object has moved and controls the door to continue to the closed position. As door 8 moves toward floor 23, it reaches the closed position C.In the closed position C, the drive unit battery will be connected to the first charging unit 13 and the battery will be charged. The control units 20a-b are in operational communication with the drive unit system 100. The control units 20a-b can be in wired communication with the two drive units lOa-b or in wireless communication. In addition, the control units 20ab are configured to communicate with the sensor devices 40a-b. As will be described further with reference to Figures 7-8, the control units 20a-b are configured to control the operation of at least the first and second motor lla-b. In a preferred embodiment, the control units 20a-b are configured to control and adjust the operating speed of the motor lla-b of its associated drive unit lOa-b in response to control signals 34a-b received from the control units 20a-b. Each sensor device 40a-b is configured to provide data from sensor 42a-b of door 8 and transmit that data to the control units 20a-b. This is illustrated in Figure 4, which shows the first sensor device 40a transmitting data from sensor 42a of door 8 to the first control unit 20a. The second sensor device 40b transmits data from sensor 42b of door 8 to the second control unit 20b. The control units 20a-b are configured to evaluate the data from sensor 42a-b of the door and, depending on the evaluation, transmit a control signal 34a-ba to the first drive unit 10a and / or to the second drive unit 10b. In alternative configurations, a single sensor device 40 can be configured to transmit data from sensor 42 to a single control unit 20.In an alternative mode, a single sensor device 40 can be configured to transmit sensor data 42 to two or more control units 20. In yet another mode, two or more sensor devices 40 can be configured to transmit sensor data 42 to a single control unit 20. Control units 20a-b are configured to receive information about whether door 8 should be opened or closed. In one mode, control units 20a-b are configured to receive input from one or more user interfaces, a mechanical button, or a remote control from operator control unit 60. In a preferred embodiment, the control units 20ab are configured to control and adjust the operating speed of one or all of the lla-b motors in response to sensor data 42a-b collected by the sensing devices 40a-b. The sensor data 42a-b is collected from both 40a-b sensing devices, and the motors are then individually controlled by the control units 20a-b based on this sensor data. Therefore, there is no master-slave relationship between the motors, as each lla-b motor can be controlled individually. For example, the speed of the first motor can be reduced while maintaining the speed of the second motors, or vice versa. Thus, it is possible to alter the position / speed of one of the motors to achieve the preferred situation where the motors are arranged in the same position, i.e., synchronized with each other.Therefore, as shown in the configurations of Figures 4 and 5, the first control unit 20a is in operational communication with the first drive unit 10a of the drive unit system 100. In addition, the second control unit 20b is in operational communication with the second drive unit 10b of the drive unit system 100. Although not required, the above-described mode would be functional even if there were a master-slave relationship between the motors. As shown and described in more detail with reference to Figure 5, the door operator system 1 further comprises at least two sensing elements 30a-b. It should be noted that the sensing elements 30a-b are also present, although not shown, in the embodiments illustrated in Figures 1-3b. In one embodiment in which the door operator system 1 comprises a first and a second drive unit 10a-b, the system 1 further comprises a first and a second sensing element 30a-b. Each sensing element 30a-b is arranged together with a respective motor 11a-b of each drive unit 10a-b. The data collected from the sensing elements 30a-b are used to determine the operation of the motors 11ab. The sensing element may also be part of any of the control units 20a-b.The control units 20a-b can also be in operational communication with the sensing elements 30a-b; this communication can be wired or wireless. In a preferred mode, the control units 20a-b are configured to control and adjust the operating speed of one or all of the liaM A / t / ZUZZ / U / 7104 b motors in response to the operational data 32a-b collected by the sensing elements 30a-b. In one embodiment, the sensing element 30a-b is a sensor. The sensor could be a position sensor configured to determine the position of motor 11ab. Alternatively, the sensor is an encoder configured to determine the position of motor lla-b. Preferably, the encoder is a rotary encoder that converts the angular position or movement of a shaft in the motor into a digital output signal. The sensing element 30a-b could also be part of motor lla-b. This is especially true if the motors 11ab are brushless DC electric motors. In one embodiment, the sensing element 30a-b is an encoder that measures relative to a fixed scale, thus measuring absolute movement rather than the rotation of the motor's output shaft. Each lla-b motor is associated with a sensing element 30a-b configured to detect operating data 32 from the lla-b motors and transmit that data to the control units 20a-b. This is illustrated in Figure 5, which shows that the first sensing element 30a transmits operating data 32a from the first lla-b motor to the first control unit 20a. The second sensing element 30b transmits operating data 32b from the second lla-b motor to the second control unit 20b. The control units 20a-b are configured to evaluate the operating data 32a-b from the first and second lla-b motors and, depending on the evaluation, transmit a control signal 34a-b to the first lla-b motor and / or the second lla-b motor. As shown in Figure 5, the door operator system 1 further comprises a door 8 and a drive unit system 100 comprising two drive units 10a-b with their associated motor lla-b. In addition, two control units 20a-b operate independently and receive and transmit signals individually. The control signals 34a-b transmitted from the control units 20a-b to the drive units 10a-b of the drive unit system 100 are thus generated independently of each other. Therefore, there is no master-slave relationship between the motors, as each motor lla-b can be controlled individually. For example, the speed of the first motor can be reduced while maintaining the speed of the second motor, or vice versa.Therefore, it is possible to alter the position / speed of one of the motors to achieve the preferred situation in which the motors are arranged in the same position, i.e., synchronized with each other. In alternative modalities, means for communication between two or more control units 20 can be provided in the form of a communication interface. ML / t / ZUZZ / U ί ί Ί 04 The door operator system 1 illustrated by Figure 5 further comprises a first sensor element 30a and a first sensor device 40a configured to provide data 32a, 42a to the first control unit 20a. In addition, system 1 comprises a second sensor element 30b and a second sensor device 40b configured to provide data 32b, 42b to the second control unit 20b. In the modalities shown in Figures 4 and 5, each control unit 20 implements a method for controlling the operation of the drive units lOa-b of the drive unit system 100. In Figure 7, a control unit 20 is implementing a method of the type illustrated in Figure 4. The method involves a step 810 of receiving sensor 42 data from a sensor device 40 related to an angle φ of door 8 relative to an actual horizontal plane of the sectional door operator system 1. The control unit 20 comprises means for receiving sensor 42 data in the form of, for example, a communication interface. For instance, sensor 42 data has been routed from the sensor device 40 via the communication interface to the control unit 20. Since the sensor device 40 is configured to continuously monitor door 8, even very small deviations can be observed long before door 8 begins to malfunction. ML / t / ZUZZ / U / / Ί 04 Furthermore, the method involves evaluating the data received from sensor 42 and determining whether there is a deviation between the data from door sensor 8 and a maximum sensor threshold. The evaluation stage can comprise a plurality of different evaluation methodologies. For example, using self-learning algorithms, as explained above, the generated vibration patterns stored in the memory of control unit 20 can be compared internally with a normal vibration pattern within control unit 20. Consequently, the intelligent system can generate a recommended output. The recommended output can determine a control signal 34 based on a combination of parameters obtained from the prevailing machine learning algorithm and / or the recently received sensor data 42.The newly generated output can further adjust the learning algorithm parameters, thereby further improving the accuracy of any control signal 34 generated in the future. Alternatively or additionally, the evaluation can also be based on environmental parameters or any damage to gate 8, or any combination thereof. The step of evaluating the data received from sensor 42 may also include detecting misalignments of door 8 and potentially stopping the operation of door 8. ML / t / ZUZZ / U / / 104 completely. The control unit 20 can generate a report of any fault or error detected by the sensor device 40 and subsequently report the findings to an operator control unit 60 using technologies explained above by referring to Figures 4-5. A maximum deviation threshold may depend on the characteristics of the door operator system 1. The deviation threshold can be predetermined by a user or adjusted autonomously by the learning algorithm. In general, door 8 or any section 9 of door 8 will ideally be parallel to a horizontal plane of the door operator system 1, but other configurations are possible. Based on the decision determined from the evaluated sensor data 42, the method further involves a step of monitoring 840 the operation of at least one drive unit 10 of the drive unit system 100. The monitoring 840 operation step comprises altering 842 the speed of a motor of at least one drive unit 10 or maintaining 844 the speed of a motor of at least one drive unit 10. If a deviation above the deviation threshold is detected, the control unit 20 is configured to alter 842 the speed of a motor 11 of at least one drive unit 10. Otherwise, the control unit 20 is configured to MA / / / Ί 04 maintain 844 the speed of motor 11 of at least one drive unit 10. The control unit 20 can be further configured to determine if the motor current of at least one drive unit 10 is above a predetermined error threshold value. If this is the case, the control unit 20 is configured to send an error signal via IoT services or via a communication interface to the operator control unit 60, and to stop at least one drive unit 10. The control unit 20 can also be configured to initiate the brakes of a motor of at least one drive unit 10. Information regarding the current of a motor is beneficial in identifying whether the motor is exposed to a load higher than normal. This may be the case, for example, if something is jammed in the door operator system 1. In Figure 8, a control unit 20 is implementing a method of the preferred mode illustrated in Figure 5. Here, the steps of the method are similar to those in Figure 7 with some modifications. Since the sectional door operator system 1 in this mode comprises sensing elements 30, additional functionalities are taken into account. The step of receiving 910 sensor data and evaluating 920 said data received from the sensor is similar to the corresponding steps in Figure 7. The mode illustrated by Figure 8 further comprises the steps of receiving 915 operational data 32 from the sensor elements 30 related to at least the first drive unit 10a or the at least the second drive unit 10b. In addition, an evaluation step 925 of said operational data 32 received is performed. In step 925, a control unit 20 evaluates whether there is a deviation between two lia-b motors positioned in the same section 9 that exceeds a predetermined maximum deviation threshold. In one mode, if the second lia motor is farther from the target position than the first lia motor, the evaluation will determine whether to reduce the speed of the first lia motor. This allows the second lia motor to catch up with the first lia motor so that they are in the same position and thus reach the target position simultaneously. Similarly, if the first lia motor is farther from the target position than the second lia motor, the evaluation will determine whether to reduce the speed of the second lia motor. This allows the first lia motor to catch up with the second 11b motor. In an alternative mode, if the second 11b motor is farther from the target position than the first lia motor, the evaluation will determine whether to increase the speed of the second 11b motor. This allows the second 11b motor to catch up with the first lia motor so that they are in the same position and, therefore, reach the target position at the same time. Similarly, if the first lia motor is farther from the target position than the second 11b motor, the evaluation will determine whether to increase the speed of the first 11b motor. This allows the first lia motor to catch up with the second 11b motor. If, on the other hand, it is determined that the deviation is below the maximum deviation threshold, the evaluation will determine that the current speed of the two lla-b motors should be maintained. The operating data may also include information relating to the current of the lla-b motors. Control unit 20 is further configured to determine if the actual position is equal to the target position. If the actual position is determined to be equal to the target position, control unit 20 will stop both motors 11ab and possibly also initiate the brakes. The sensing elements 30a-b could be position sensors configured to determine the position of a motor 11. Alternatively, the sensing elements 30a-b could be encoders configured to determine the position of a motor 11. Preferably, the encoder is a rotary encoder that converts the angular position or shaft motion of the motor into a digital output signal. The sensing elements 30a-b could also be part of a motor 11. This is especially true if the motor 11 is a brushless DC electric motor. Therefore, the evaluation of operating data is related to having a synchronized vertical position of two drive units lOa-b, lOc-d, or lOe-f with each other. In a subsequent step, this operational data evaluation is combined 930 with the sensor data evaluation obtained from the evaluation steps 820 when referring to Figure 7. The combination will result in a decision that ensures both a synchronized vertical position of two drive units 10a-b, 10c-d or 10e-f, as well as correct alignment of door 8 with an actual horizontal plane of the door operator system 1. Finally, the steps of controlling 950 the operation of at least one drive unit 10 are similar to the control step 840 when referring to Figure 7. One modality of the control unit 20 is described in more detail with reference to Figure 9. A detailed description of how two lla-b motors can be synchronized with each other is provided in this document. In the first step 1002, control unit 20 determines a target position for the two motors lla-b. Control unit 20 continuously establishes a target position and the ML / / / 104 lla-b motors are individually driven to continuously reach the target position. In a subsequent step 1004, the actual current position of the two motors lla-b is read. The actual position is read relative to the door's travel. This step is preferably performed by the sensor elements 30a-b, which receive position information from the motors lla-b. Once the position data is received, it is used to calculate 1006 the actual position of door 8. This step is preferably performed by calculating the average of the position readings from the two motors lla-b. In a subsequent step 1008, the deviation between the first motor lia and the second motor 11b is calculated. If the deviation is above the predetermined threshold 1010, which represents a maximum normal deviation, the speed of one of the motors must be modified 1014. The deviation is preferably related to a deviation in the current position of the two motors lla-b and / or the calculated deviation in the actual position of the two motors lla-b. Methods of speed alteration have already been described with reference to Figures 7 and 8. If the deviation is below the predetermined threshold 1010, the speed of the motors is not altered 1012. Therefore, both motors operate at the same speed. Once control unit 20 has determined whether the speed of motors lla-b should be altered, the next step is to determine 1016 whether a current in the first motor lia, the second motor 11b, and / or both the first motor lia and the second motor 11b is above a predetermined error threshold value. If a motor current is found to be above the predetermined error threshold value, control unit 20 is configured to send an error signal to the operator control unit 60 or otherwise notify system 1 that an error 1018 has occurred. Once the system has identified the error, both motors 1022 are stopped. The motors can be stopped by reducing the speed to zero and / or initiating the brakes on motors lla-b. If the current of a motor is found to be below the predetermined error threshold value, control unit 20 is configured to determine (1020) whether the actual position is equal to the target position. If the actual position is found to be equal to the target position, control unit 20 will stop (1022) both motors lla-b and possibly also initiate the brakes. If the actual position is found not to be equal to the target position, control unit 20 will return to step 1004 and read the actual position of the motors. As described above, a drive unit system 100 may comprise at least a first drive unit 10a comprising a first motor 10a and a second drive unit 10b comprising a second motor 11b mounted on the first section 9e of the door 8. The first drive unit 10a is movably connected to the first frame section 4 and the second drive unit 10b is movably connected to the second frame section 6. According to the above, the drive unit system 100 may further comprise additional drive units 10c-f. One embodiment of control unit 20 is described in more detail with reference to Figure 10. Here, a detailed description is provided of how door 8 or any section 9a-e is held horizontally in relation to an actual horizontal plane of the sectional door operator system 1. In a first step 1102, the control unit 20 determines a target position corresponding to an actual horizontal plane of the sectional door operator system 1. The control unit 20 continuously establishes a target position and the drive units are individually driven to continuously reach the target position. In a subsequent step 1104, data from sensor 42 relating to the current angle of door 8 or any section 9a-e relative to the target position are read. This step is preferably performed by at least one sensor device 40 that receives information about the tilt angle of door 8. In a subsequent step 1106, the deviation between the target position and the current angle of door 8 or any section 9a-e is calculated. If the deviation is above a predetermined sensor threshold 1108, representing a maximum normal deviation, the speed of one of the motors 11 must be modified 1112. For example, a master system operator or an intelligent software system can decide the predetermined sensor threshold 1108. The deviation is preferably related to a deviation of door 8 or any section 9a-e relative to an actual horizontal plane of the sectional door operator system 1. If the deviation is below the predetermined sensor threshold 1110, the speed of the motors 11 is not altered. Therefore, the motors 11 are driven at the same speed. Once the control unit 20 has determined whether the speed of the motors 11 should be altered, the next step is to determine 1114 whether the deviation is so large that the operation of door 8 needs to be stopped. If the deviation is above a maximum misalignment threshold 1116, the operation of the door is stopped completely 1118, and the control unit 20 can generate a report 1120 of any fault or error detected by any sensor device 40. The findings can be reported to a master system by transmitting them through an internal or external communication interface to the control unit 20, or through IoT services. If the deviation is below a maximum misalignment threshold, the control unit 20 is configured to read sensor data 42 related to the current angle of the door 1104. In one embodiment, as illustrated in Figures 3a-3b, the drive unit system 100 comprises a third and a fourth drive unit 10c-d mounted on a second horizontal section 9 of the horizontal sections and arranged to assist the first and second drive units 10a-b in moving the sectional door 8 from the closed position C to the open position O. The third and fourth drive units 10c-d are connected to a third and fourth control unit 20c-d respectively, and arranged to be controlled by the control units 20c-d in the same manner as described above in relation to the first and second drive units 10a-b. In this embodiment, the door operator system 1 comprises four drive units 10a-d, four sensing elements 30ad, at least one sensing device 40, and four control units 20a-d.The first and second drive unit lOa-b are arranged in section 9e and the third and fourth. The four drive units lOc-d are arranged in another section 9c. Each sensing element 30a-d is arranged together with a respective drive unit lOa-d. Therefore, the first and second sensing elements 30a-b are arranged together with the first and second drive units 10ab, and the third and fourth sensing elements 30c-d are arranged together with the third and fourth drive units lOc-d. In one embodiment, the at least one sensing device 40 can be arranged in any of the plurality of horizontal or interconnected sections 9ae. In another embodiment, the at least one sensing device can be mounted directly on a PCB of any of the control units 20a-d. In one embodiment, the first and second drive units 10a-b and the first and second detection elements 30a-b are arranged in a section 9e which is located in section 9 of the door that is closest to the 23rd floor in the closed position C. However, it should be noted that section 9e could also be, for example, section 9d, which is the section that is arranged next to the section that is closest to the 23rd floor in the closed position C. In one embodiment, the drive unit system 100 comprises a fifth and a sixth drive unit 10e-f mounted on a third horizontal section 9 of the horizontal sections 9 and arranged to assist the other ML / í í Ί 04 drive units lOe-f when moving the sectional door 8 from the closed position C to the open position O. The fifth and sixth drive units lOe-f are connected to a fifth and sixth control unit 20e-fy arranged to be controlled by the control units 20e-f in the same manner as described above in relation to the first and second drive units 10ab. In one embodiment, the door operator system 1 comprises six drive units lOa-f, six sensing elements 30a-f, at least one sensing device 40, and six control units 20a-f. The first and second drive units lOa-b are arranged in a section 9e, the third and fourth drive units lOc-d are arranged in another section 9c, and the fifth and sixth drive units lOe-f are arranged in another section 9d. Each 30a-f detection element is arranged together with a respective lla-f drive unit.Therefore, the first and second sensing elements 30a-b are arranged together with the first and second drive units lOa-b, the third and fourth sensing elements 30c-d are arranged together with the third and fourth drive units lOc-d, and the fifth and sixth sensing elements 30e-f are arranged together with the fifth and sixth drive units lOe-f. In one embodiment, the at least one sensing device 40 can be arranged on any of the plurality of horizontal or interconnected sections 9ae. In another embodiment, the at least one sensing device can be mounted directly on a PCB of any of the control units 20a-f. In the modalities where the additional sections 9a-e are arranged with detection elements 30, sensor devices 40 and drive units 10, these can be arranged in alternate sections, each section being arranged either in a section or above section 9e. The invention has been described above in detail with reference to its embodiments. However, as those skilled in the art will readily understand, other embodiments within the scope of the present invention, as defined in the appended claims, are equally possible. It is recalled that the invention can be generally applied to an entrance system having one or more movable door elements without being limited to any specific type. The door element(s) may be, for example, a hinged door element, a revolving door element, a sliding door element, a top-sectional door element, a horizontally folding door element, or a lift-up (vertically lifting) door element.

Claims

1. A sectional door operator system (1) for opening and closing an opening (2), comprising: a door (8) arranged to move between an open position (O) and a closed position (C) and comprising a plurality of interconnected horizontal sections (9a-e), a door frame (3) comprising a first frame section (4) on a first side (7) of the opening (2) and a second frame section (6) on a second side (5) of the opening (2), wherein the plurality of interconnected horizontal sections (9a-e) are connected to the door frame (3), a drive unit system (100) mounted on a section (9e) of the plurality of interconnected horizontal sections (9a-e), wherein the drive unit system (100) is arranged to move the sectional door (8) from the closed position (C) to the open position (O),wherein the drive unit system (100) comprises at least a first drive unit (10a) comprising a first motor (11a) and at least a second drive unit (10b) comprising a second motor (11b), and wherein the first drive unit (10a) and the second drive unit (10b) are mounted on different vertical sides of the interconnected horizontal section (9e), at least one sensor device (40a, 40b) mounted on a section (9e) of the plurality of interconnected horizontal sections (9a-e), and at least one control unit (20a, 20b) being in operational communication with the drive unit (100) and configured to control the operation of the drive unit system (100) at least based on sensor data (42) of the at least one sensor device (40a, 40b),wherein the sensor data (42) relates to an angle (φ) of the door (8) with respect to an actual horizontal plane of the sectional door operator system (1).

2. The sectional door operator system (1) according to claim 1, wherein the sectional door operator system (1) further comprises at least a first sensor device (40a) and a second sensor device (40b), and wherein the sectional door operator system (1) further comprises a first control unit (20a) and a second control unit (20b), and wherein the first sensor device (40a) is configured to provide sensor data (42) of the door (8) to the first control unit (20a), and the second sensor device (40b) is configured to provide sensor data (42) of the door (8) to the second control unit (20b). MA / t / ZUZZ / U / 7104 3. The sectional door operator system (1) according to claim 2, wherein the first control unit (20a) is in operational communication with the first drive unit (10a) of the drive unit system (100), and wherein the second control unit (20b) is in operational communication with the second drive unit (10b) of the drive unit system (100).

4. The sectional door operator system (1) according to any of the preceding claims, wherein at least one sensor device (40) comprises at least one accelerometer.

5. The sectional door operator system (1) according to any of the preceding claims, wherein at least one sensor device (40) is arranged in one of the plurality of interconnected horizontal sections (9a-e).

6. The sectional door operator system (1) according to claim 5, wherein at least one sensor device (40) is arranged in a lower section (9e) of the plurality of interconnected horizontal sections (9a-e).

7. The sectional door operator system (1) according to any of the preceding claims, wherein at least one control unit (20) is configured to control the operation of the drive unit system (100) by evaluating said received sensor data (42), and based on said evaluation of sensor data, control the operation of at least the first drive unit (10a) and / or at least the second drive unit (10b).

8. The sectional door operator system (1) according to claim 7, wherein the step of controlling the operation of at least the first drive unit (10a) and / or at least the second drive unit (10b) comprises altering the speed of the first motor (11a) and / or the second motor (11b).

9. The sectional door operator system (1) according to claim 7 or 8, wherein the step of evaluating said received sensor data (42) comprises determining whether there is a deviation between the sensor data (42) from the door (8) and a maximum sensor threshold.

10. The sectional door operator system (1) according to any of claims 7 to 9, wherein if there is a deviation, the speed of the first motor (lia) or the second motor (11b) is altered, and otherwise the speed of the first motor (lia) and the second motor (11b) is maintained.

11. The sectional door operator system (1) according to any of the preceding claims, further comprising at least a first and second detection element (30a, 30b) configured to provide operating data (32) from the first and second motor (lia, 11b) to the at least one control unit (20), wherein the operating data (32) comprises information related to the position of the first and / or second motor (lia, 11b).

12. The sectional door operator system (1) according to claim 11, wherein the first and second detection elements (30a, 30b) are position sensors and / or encoders.

13. The sectional door operator system (1) according to claim 11 or 12, wherein the first detection element (30a) is arranged together with the first drive unit (10a) and is configured to provide operating data (32) from the first drive unit (10a) to the at least one control unit (20a, 20b), and wherein the second detection element (30b) is arranged together with the second drive unit (10b) and is configured to provide operating data (32) from the second drive unit (10b) to the at least one control unit (20a, 20b).

14. The sectional door operator system (1) according to claim 7, wherein at least one control unit (20a, 20b) is further configured to control the operation of the drive unit system (100) by: receiving operational data (32) related to the first drive unit (10a) or the second drive unit (10b); evaluating said received operational data (32); and combining said evaluation of operational data with said evaluation of sensor data, and on the basis of said combined evaluation, controlling the operation of the first drive unit (10a) and / or the second drive unit (10b).

15. The sectional door operator system (1) according to claim 9 or 10, wherein if a position deviation is determined to exist between the first motor (lia) and the second motor (11b), the at least one control unit (20a, 20b) is further configured to determine which of the motors (lia, 11b) is farther from a target position, and if the second motor (11b) is determined to be farther from a target position than the first motor (lia), the speed of the first motor (lia) will be reduced, and if the first motor (11b) is determined to be farther from a target position than the second motor (lia), the speed of the second motor (lia) will be reduced.

16. The sectional door operator system (1) according to any of the preceding claims, wherein at least one control unit (20a, 20b) is further configured to determine whether the position of the respective motors (lia, 11b) is equal to a target position, and if so, the at least one control unit (20) is configured to stop the operation of both the first and second motors (lia, 11b).

17. The sectional door operator system (1) according to any of the preceding claims, wherein the drive unit system (100) further comprises a third and a fourth drive unit (10c, 10d) mounted in another section (9c) of the plurality of sections (9a-e) as the first and second drive units (10a, 10b), wherein the third and fourth drive units (10c, 10d) are arranged to assist the first and second drive units (10a, 10b) in moving the door (8) from the closed position (C) to the open position (O), and wherein the third and fourth drive units (10c, 10d) are connected to at least one control unit (20a, 20b), and wherein the door operator system (1) further comprises at least a third sensor device (40c) that is arranged in the same section (9c) as the third and fourth drive units. drive (10c,lOd) and wherein at least one control unit (20a, lOd) 20b) is further configured to receive sensor data (42) from at least the third sensor device (40c) ML / t / ZUZZ / U / / Ί 04, 18. A control unit (20a, 20b) in a sectional door operator system (1) that is in operational communication with a drive unit system (100) comprising at least a first drive unit (10a) comprising a first motor (11a) and at least a second drive unit (10b) comprising a second motor (11b) and configured to control the operation of the drive unit system (100) at least based on sensor data (42) from at least one sensing device (40a, 40b), wherein the sensor data relates to an angle (φ) of a door (8) relative to an actual horizontal plane of the sectional door operator system (1).

19. A method for controlling the operation of at least a first drive unit (10a) and at least a second drive unit (10b) of a drive unit system (100) in a sectional door operator system (1), wherein the method involves providing at least one sensor device (40a, 40b) and at least one control unit (20a, 20b) that are in operational communication with the drive unit system (100) and configured to control the operation of the drive unit system (100) at least based on sensor data (42) of the at least one sensor device (40a, 40b), wherein the sensor data (42) relates to an angle (φ) of the door (8) relative to an actual horizontal plane of the sectional door operator system (1).

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