DOOR MONITORING SYSTEM AND METHOD

Abstract

In example implementations, a door monitoring sensor is provided. The door monitoring sensor includes a communication interface to transmit an alarm when a door operates outside its operating parameters, an angle sensor to measure the door's rotational movement, a motion sensor to detect movement along an xyz coordinate plane, a radar sensor to detect an object, a rechargeable power supply to power the angle sensor, the motion sensor, and the radar sensor, and a processor. The processor is communicatively coupled to the communication interface, the angle sensor, the motion sensor, and the radar sensor.The processor must determine that the door is moving outside of the door's operating parameters and generate the alarm that is transmitted through the communication interface in response to the determination that the door is moving outside of the door's operating parameters.

Description

DOOR MONITORING SYSTEM AND METHOD BACKGROUND OF THE INVENTION Doors can be installed in various locations within different buildings. Some doors are vertically opening doors used to allow vehicles to enter and exit the building. For example, these doors may move vertically along a track or roll around a rotating drum when opened. Other doors may move horizontally, such as a side-rolling door. Doors can eventually fail after repeated use. For example, doors may become twisted or bent from collisions with equipment or vehicles. Damaged doors may jam or fail to open or close completely. This can create a safety issue. Furthermore, doors can function differently in different locations. For example, some doors may experience different environmental forces than others. Some doors may be mounted on different types of tracks and may move at different speeds. Some doors may be installed on uneven floors. BRIEF DESCRIPTION OF THE DRAWINGS FIGURE 1 illustrates a block diagram of a door with an example door monitoring system from this disclosure; FIGURE 2 is a block diagram of an example door monitoring sensor from this disclosure; FIGURE 3 is a block diagram that illustrates an example of the six degrees of movement measured by the door monitoring sensor of this disclosure; FIGURE 4 is a block diagram of the example door monitoring sensor in this disclosure that detects various forces; FIGURE 5 is a block diagram of the example door monitoring sensor used during a rotary door drum installation of the present disclosure; FIGURE 6 is a block diagram of the example door monitoring sensor in this disclosure that detects an object; FIGURE 7 is a block diagram of the example door monitoring sensor in an open position of this disclosure; and FIGURE 8 is an example flowchart of a method for monitoring the operation of a door using the door monitoring sensor of this disclosure. DETAILED DESCRIPTION OF THE INVENTION The examples described herein provide illustrations of a door monitoring system and a method for monitoring the quality of door installation and operation. As mentioned earlier, doors can fail after repeated use for a variety of reasons. Therefore, monitoring the safe operation of a door can prevent additional costs by correcting any malfunctions before further damage occurs. Furthermore, monitoring safe door operation can prevent injuries to people or damage to vehicles that might pass through the door. Furthermore, as noted earlier, doors can function differently in different locations. For example, some doors may experience different environmental forces than others. Some doors may be mounted on different types of tracks and move at different speeds. Some doors may be installed on uneven floors. Therefore, monitoring all doors within the same operating parameters can lead to false positives, even when some doors are actually functioning correctly. The disclosed door monitoring system and method can monitor a variety of different movements to determine if a door is functioning correctly. The door monitoring sensor described herein can establish safe operating parameters associated with a particular door. In other words, the door monitoring system described herein can monitor whether a particular door is functioning correctly within that door's operating parameters. The operating parameters of one door may differ from the operating parameters of another. Furthermore, the door monitoring sensor described herein can utilize a variety of different sensor types to measure movement in the x, y, and z directions, as well as roll, tilt, and yaw movements. Monitoring these various movements can help detect improper movements that may be caused by objects, wind force, broken components, and similar factors. In response, the door monitoring sensor can trigger an alarm or send a communication to a central monitoring device or system. In some configurations, the door monitoring sensor can be programmed to detect a specific combination of movements for a particular door. For example, the door monitoring sensor can measure movement along the x-axis in combination with roll and yaw for analysis. In one example, the door monitoring sensor described in this disclosure may also have a battery recharging system. As a result, the customer may not need to worry about replacing the door monitoring sensor's batteries. The recharging system may also allow the door monitoring sensor to include more powerful sensors, such as radar sensors, which consume large amounts of battery power that would otherwise be impossible. Finally, some sensors in the door monitoring system can be used during installation to ensure the door is installed correctly. For example, a leveling sensor can be used in the door monitoring system to ensure the door's rotating drum is properly installed and level before the door is deployed for operation. Figure 1 illustrates an example of the door monitoring system 100 of this disclosure. In one example, the door monitoring system 100 may include a door 102 that includes a door monitoring sensor 104. In one example, the door 102 may be a vertically opening door that moves vertically up and down along opposing rails 114 and 116. For example, the door 102 may include a plurality of panels 108i through 108n (hereafter also referred to individually as a panel 108 or collectively as panels 108). The panels 108 may include wheels that roll within rails 114 and 116. In one example, the panels 108 can be flexible such that the door 102 can be rolled around a rotating drum of the door 112. The rotating drum of the door 112 can be rotated by a motor 110. The motor 110 can be controlled by a controller that includes a processor (not shown) to control the operation of the motor 110 in response to inputs to open and close the door 102. In another example, panels 108 can be moved upwards along rails 114 and 116 and rest along a horizontal portion of rails 114 and 116 that lies above and parallel to the floor. In another example, door 102 can be a flexible material without panels 108 that can be rolled around the rotating drum of door 112. In yet another example, door 102 can be a grille, or any other barrier that can be moved to cover an opening in a building. In one example, door 102 might be located in a warehouse or building. Door 102 can experience a variety of different forces that can affect its ability to open and close properly. For example, strong winds can cause door 102 to tilt, bend, twist, and so on. The force of the wind can cause door 102 to jam or prevent it from opening and closing. In another example, a vehicle might collide with the door, damaging panel 108 and causing it to malfunction within rails 114 and 116. For example, the damaged panel 108 might be bent or twisted relative to the other panels 108 of door 102. In yet another example, an object might become lodged under door 102 and could damage it if the door is closed over the object. In one example, door monitoring sensor 104 can measure various movements of door 102 to determine if door 102 is functioning correctly. If door 102 is not functioning correctly, the door monitoring sensor can trigger an alarm and / or transmit a notification to a central monitoring system. In one example, door monitoring sensor 104 might include a variety of different sensor types to measure various movements and rotations of door 102. Door monitoring sensor 104 might include a rechargeable battery that can be charged by a power supply 106. The power supply 106 can recharge the battery when door 102 is closed (or open, depending on the location of door monitoring sensor 104). As a result, door monitoring sensor 104 might include more powerful sensor types not previously used in door monitoring systems (for example, a radar sensor). Furthermore, the door monitoring sensor 104 can learn the operating parameters of door 102 and monitor its operation within those parameters. For example, different doors may operate differently. Some doors may rest on an uneven floor. Therefore, when the door is closed, the bottom of the door may not be flat or may be at an angle. Some doors may experience some vibration when closing due to wear on the tracks. Some doors may experience some rotation due to constant wind forces, while others may operate smoothly in calm environments that do not experience such strong winds. Some doors may have a bottom bar that is tilted from top to bottom. The door monitoring sensor 104 can learn the default tilt angle and set it to "level." The 104 door monitoring sensor can learn these variations in the operating parameters of a particular door and can monitor the door within those operating parameters, which may be unique to that door. In other words, measuring different movements for one door might indicate that the door is functioning correctly. However, the same measurements of different movements for a second door might indicate that the second door is not functioning correctly. Furthermore, the door monitoring sensor 104 can periodically modify or update the operating parameters of door 102 over time. For example, door 102 might be damaged and vibrate more. Instead of purchasing a new door, a customer can simply update the door's operating parameters to account for the additional vibration when monitoring the operation of door 102. In one mode, the 104 door monitoring sensor can also be used for security. For example, the 104 door monitoring sensor can detect when a door is forcibly opened from below while closed. Similarly, a level sensor can detect uneven movement, a motion sensor can detect a sudden upward movement outside of operating parameters, and so on. The 104 door monitoring sensor can then trigger an alarm or notify a central monitoring system of a potential intrusion. Details of the level sensor, motion sensor, and other sensor types of the 104 door monitoring sensor are discussed in more detail below. Although door monitoring sensor 104 is illustrated as if it were on a lower panel 108 of door 102, it should be noted that door monitoring sensor 104 can be located on any panel or in any location (e.g., the top, a side, in the center, and so on). Furthermore, although only one door monitoring sensor 104 is illustrated in FIGURE 1, it should be noted that any number of door monitoring sensors 104 can be deployed. Figure 2 illustrates a block diagram of the door monitoring sensor 104 of this disclosure. The door monitoring sensor 104 may include a processor 202, a battery 204, a communication interface 206, a plurality of sensors 208, 210, 212, and 214, and a memory 216. The processor 202 may be communicatively coupled to the communication interface 206, the plurality of sensors 208, 210, 212, and 214, and the memory 216. The processor 202 may be a solid-state integrated circuit or an application-specific integrated circuit (ASIO) processor. In one example, communication interface 206 can be either wired or wireless. It can communicate over a local area network (e.g., Wi-Fi, Bluetooth, Zigbee, etc.) or a wide area network (e.g., cellular). Communication interface 206 can establish a communication path with a monitoring system (not shown). This monitoring system can be a central controller or master controller that can communicate with multiple different door monitoring sensors 104 in a warehouse and / or other wireless sensors. In one mode, the door monitoring sensor 104 may include firmware stored in memory 216. The communication interface 206 may allow the door monitoring sensor 104 to communicate with the monitoring system or another server to update the firmware through a communication network. IVIA / E / ZUZo / UOoO IO The monitoring system can receive alarms and / or notifications from door monitoring sensor 104. As a result, the technician can view the alarm and attempt to repair door 102 and clear the alarm. The notification may include the measurement values ​​taken by sensors 208, 210, 212, and 214, suggested corrections based on the measurements (e.g., remove object, track misalignment, wait to operate the door due to high winds, and the like), an identification of door 102 that triggered the alarm, and similar information. In one example, battery 204 can supply power to sensors 208, 210, 212, and 214. Battery 204 can be rechargeable. For example, the housing of the door monitoring sensor 104 can have contacts that can be electrically connected to the contacts of the power supply 106. When the door 102 is in the desired position (e.g., closed as illustrated in FIGURE 1), the contacts of battery 204 and the contacts of the power supply 106 can be connected to recharge battery 204. In one example, sensors 208, 210, 212, and 214 can provide measurements for a plurality of different movements of door 102. In one example, sensors 208, 210, 212, and 214 can provide measurements for six different movements of door 102. FIGURE 3 illustrates the different movements that can be measured. In one example, sensors 208, 210, 212, and 214 can measure movements along the xyz coordinate system, as shown on axis 300 in FIGURE 3. In other words, one or more of sensors 208, 210, 212, and 214 can measure linear motion along a z-axis 302, along an x-axis 304, and along a y-axis 306. In addition, one or more of sensors 208, 210, 212, and 214 can measure rotational movements. Rotational movements can include yaw 308 about the z-axis 302, pitch 310 about the x-axis 304, and roll 312 about the y-axis 306. Referring back to FIGURE 2, sensor 208 can be an angle sensor, sensor 210 can be a motion sensor, sensor 212 can be a level sensor, and sensor 214 can be a radar sensor. Angle sensor 208 can measure rotational movements. For example, angle sensor 208 can measure tilt 310, roll 312, and yaw 308. Angle sensor 208 can measure rotation as an angular measurement from a starting position of 0 degrees. For example, when door 102 is installed, the door's rest position when closed can be set to 0 degrees. The amount of tilt 310, roll 312, and yaw 308 from this position can be measured in degrees of rotation from the 0-degree rest position. Figure 4 illustrates an example where wind 404 can exert force against the door panels 108 of door 102. Wind 404 can cause door 102 to tilt slightly or rotate in a direction where wind 404 is pushing against it. IVIA / C / ZUZo / UOoO IO door 102. The rotation caused by the wind 404 can be measured by the angular sensor 208. In one example, motion sensor 210 can measure linear motion along the z-axis 302, x-axis 304, and y-axis 306. Motion sensor 210 can be either a gyroscopic sensor or an accelerometer. Motion sensor 210 can measure the velocity and / or acceleration of door 102, as well as the distance door 102 moves along the z-axis 302, x-axis 304, and y-axis 306. For example, referring again to FIGURE 4, the wind 404 can push the door to the right. The motion sensor 210 can measure the distance the door 102 moves along the y-axis 306. In one example, level sensor 212 can detect whether a bottom bar (e.g., a bottom surface on the bottommost panel 108 of door 102) is level. Referring back to FIGURE 4, the bottom panel 108 may be tilted from a level position 406, illustrated by dashed lines. Level sensor 212 can measure an angle 402 formed by the bottom of panel 108 to the level position 406. Level sensor 212 may be adjusted to "level" when door 102 is installed. For example, some floors in some entrances may not be perfectly flat. Therefore, the "level" may actually be slightly tilted for some doors. Additionally, level sensor 212 can be used to calibrate other components of door 102 during installation. Figure 5 illustrates an example where level sensor 212 of the door monitoring sensor 104 can be used to level the rotating drum of door 112 during installation. For example, door 102 can be moved to an open position and wrap around the rotating drum of door 112. Level sensor 212 can measure whether the rotating drum of door 112 is level and correctly installed. As illustrated in Figure 5, if the rotating drum of door 112 were uneven, it could cause door 102 to wrap around the rotating drum. This could cause the bottom of door 102 to be at an angle 502, illustrated by the dashed lines.The level sensor 212 can detect this angle 502 and adjustments can be made to the door rotary drum 112 until the door rotary drum 112 is level. In one example, radar sensor 214 can detect objects within the path of door 102. Radar sensor 214 can prevent door 102 from accidentally closing on a person, object, vehicle, and the like, which could cause injury or damage to equipment. As indicated above, sensors 208, 210, 212, and 214 can measure various movements of door 102 and compare the measured movements with the operating parameters 218 stored in memory 216. When any of the measured movements fall outside the operating parameters 218, the processor 202 can generate an alarm and / or transmit a notification to a central monitoring system, as described above. In one example, operating parameters 218 can define acceptable ranges of movement along the z-axis 302, the x-axis 304, and the y-axis 306, as well as pitch 310, roll 312, and yaw 308. Operating parameters 218 can be associated with different positions of door 102. For example, operating parameters 218 can have values ​​when the door is fully open, when the door is closed, when the door moves between open and closed or closed to open, and so on. In one example, operating parameters 218 can be defined for door 102 during an initialization process. For instance, after door 102 is successfully installed, the door monitoring sensor 104 can collect data from door 102. Door 102 can be opened and closed multiple times to allow the door monitoring sensor 104 to measure movement along the z-axis 302, x-axis 304, and y-axis 306, as well as pitch 310, roll 312, and yaw 308. The average values ​​for each movement can be calculated within a desired range. In one example, the range might include a low and a high value measured for each movement. The range might also include a standard deviation above and below the calculated average value for each movement. As noted earlier, the operating parameters 218 may differ for each installed door 102. For example, some doors may be installed in windy locations where high wind speeds can cause significant y-axis movements, roll, and yaw. Other doors may be installed where large machinery operates, resulting in vibrations. Vibration can cause movement along the x and y axes, as well as some rotation in the pitch, roll, and yaw directions. Furthermore, operating parameters 218 can be updated periodically over time. For example, as parts of panel 108 or rails 114 and 116 wear out, door 102 may vibrate more over time. This can lead to continuous alarms. Therefore, operating parameters 218 can be updated periodically to account for increased vibration as part of the door's "normal" operation. In one example, the operating parameters 218 may also include the known travel distance for opening and / or closing, an average speed and / or acceleration of the door's movement, and the like. Figure 6 illustrates an example of the radar sensor 214 detecting movement (e.g., along the z-axis 302) outside the range within the operating parameters 218. Radar sensor 214 can detect when a distance 604 is less than a known remaining closing distance 606. For example, the known remaining closing distance 606 can be tracked by the amount of movement already traveled and a known distance from open to closed. For example, motion sensor 210 can detect the distance the door 102 has traveled. Radar sensor 214 can detect the remaining distance to the ground. However, in FIGURE 6, an object 602 may be under door 102. The radar sensor 214 may detect that the distance 604 to object 602 is less than the known remaining travel distance 606 to close the door. In response, the door monitoring sensor 104 may transmit a signal to stop the motor 110. In another example, one side of door 102 might come off track 114. As a result, the door might close very slowly due to increased friction or decreased mobility. The door monitoring sensor 104 might detect that the speed of door 102 is outside the acceptable speed range and trigger an alarm. In another example, if door 102 suddenly drops and the acceleration falls outside the acceptable acceleration range (for example, one of the panels 108 is disconnected from door 102 and is in free fall), the door monitoring sensor 104 might trigger an alarm. In one example, memory 216 can also include preset positions for various errors or when movements are outside the operating range. For example, if one of the operating parameters 218 is violated and door 102 is closing, the door monitoring sensor 104 can cause door 102 to reverse to an open position. If one of the operating parameters 218 is violated and door 102 is in the open position, door 102 can remain open and temporarily block a closing operation. If one of the operating parameters 218 is violated and door 102 is in a closed position, door 102 can move to an open position and temporarily block a closing operation. If one of the operating parameters 218 is violated and door 102 is opening, door 102 may continue moving to the open position and temporarily block the closing operation.It should be noted that these predetermined positions are provided as examples, and that any logic can be implemented for a particular gate, in a particular location, for a particular operation. In some examples, two or more of the sensors 208, 210, 212, and 214 can work together for a particular logic operation of gate 102. FIGURE 7 illustrates a side view of gate 102 to illustrate an example of the combinational logic of two or more of the sensors 208, 210, 212, and 214. IVIA / C / ZUZo / UOoO IO For example, radar sensor 214 may continuously trigger alarms if it is active when door 102 is in the open position. Radar sensor 214 can continuously detect moving objects or activity near the ceiling of the location. Additionally, battery 204 can recharge in the closed position. Consequently, if radar sensor 214 is continuously active in the open position, it can rapidly deplete battery 204. Without battery power, door monitoring sensor 104 may deactivate when door 102 is in motion. In one example, motion sensor 210 can work in conjunction with radar sensor 214 to deactivate radar sensor 214 when door 102 is in certain positions. For example, motion sensor 210 might detect that door 102 is parallel to floor 702 (e.g., in an open position along line 706). Processor 202 can then deactivate radar sensor 214 while motion sensor 210 detects the open position. At a later time, door 102 may be closing. Motion sensor 210 can detect movement along a direction perpendicular to the floor 702 (for example, a direction along a line 704). In response, processor 202 can activate radar sensor 214. It should be noted that other combinations of sensors 208, 210, 212, and 214 can work together. For example, level sensor 212 can work similarly with radar sensor 214. In another example, when motion sensor 210 does not detect movement, processor 202 can deactivate all other sensors 208, 212, and 214 to reduce battery consumption. Figure 8 illustrates a flowchart of an example method 800 for monitoring the operation of a door using the door monitoring sensor of this disclosure. Method 800 can be implemented using the door monitoring sensor 104, illustrated in Figures 1 and 2 and described above. In block 802, method 800 begins. In block 804, method 800 defines the operating parameters. For example, the operating parameters can be defined during an initialization process. The initialization process might include performing multiple door opening and closing cycles. Multiple different door movements can be measured as the door opens and closes. In one example, the different movements might include six different motions. These six different movements could include movement along an x-axis, a y-axis, and a z-axis, as well as pitch, roll, and yaw. The x-axis, y-axis, and z-axis can be measured as a linear distance in millimeters, centimeters, inches, and so on. Pitch, roll, and yaw can be measured as an angular value in degrees of rotation. In one example, the average value for each of several different movements can be calculated to define the door's operating parameters. A range of values ​​based on the average value can be used. For example, the range could include a low and high value, a standard deviation above and below the average value, a percentage above and below the average value, and so on. In block 806, method 800 measures a plurality of different movements during door operation. Once the operating parameters are defined and the door is activated, the door movements can be monitored or measured by a door monitoring sensor. The measured door movements can then be compared with the operating parameters. In block 808, method 800 determines if at least one of the different movements is outside the operating parameters. For example, if the measurement of one of the door movements falls outside the range for that movement, the movement may be violating the operating parameters. If no movements are outside the respective operating parameters, then the response to block 808 can be no. Method 800 can then return to block 806. In one example, if at least one of the moves falls outside the operating parameter range for that move, then the answer to block 808 can be yes. If the answer to block 808 is yes, method 800 can proceed to block 810. In block 810, method 800 generates an alarm. For example, the alarm might include a flashing light on the door monitoring sensor, an audible alarm, and similar features. The alarm can be sent to a central monitoring system to be displayed to a technician. In block 812, method 800 transmits a notification to a monitoring system. For example, the notification might include an alarm from block 810. The notification might also include information for a technician to clear the alarm. For instance, the notification might identify which door monitoring sensor and / or door triggered the alarm. It might also specify what movement was detected outside of operating parameters and the door's current status (e.g., closed, open, stuck between open and closed, etc.). Based on this information, the technician can then attempt to repair the door and clear the alarm. In block 814, method 800 moves the door to a predetermined position. For example, when an alarm is triggered, the door might move to this predetermined position to prevent further damage or injury. This predetermined position could be an open position and might temporarily prevent the door from closing. In block 816, method 800 determines whether the alarm is cleared. For example, a technician might repair the door's operation or remove the force causing the door to move outside of its operating parameters. If the alarm is not cleared, method 800 can continue looping within block 816. If the alarm is cleared, method 800 can proceed to block 818. In block 818, method 800 determines whether or not to continue monitoring the door. For example, after clearing the alarm, the door can be reactivated, and the door monitoring sensor can continue monitoring its operation. If the answer to block 818 is yes, method 800 can return to block 806. If the answer to block 818 is no, method 800 can proceed to block 820. For example, the door monitoring sensor can be deactivated for maintenance, repair, replacement, and similar tasks. Method 800 ends at block 820. It will be appreciated that the variants of the aforementioned features and functions, and others, or alternatives thereof, may be combined in many other different systems or applications. Various alternatives, modifications, variations, or improvements thereto, unforeseen or unanticipated, may subsequently be made by those skilled in the art, which are also intended to be covered by the following claims.

Claims

1. A door monitoring sensor, characterized in that it comprises: a communication interface for transmitting an alarm when a door operates outside of the door's operating parameters; an angle sensor for measuring the rotational movement of the door; a motion sensor for detecting movement along an xyz coordinate plane; a radar sensor for detecting an object; a rechargeable power supply for providing power to the angle sensor, the motion sensor, and the radar sensor; and a processor communicatively connected to the communication interface, the angle sensor, the motion sensor, and the radar sensor, wherein the processor must: determine that the door is moving outside of the door's operating parameters; and generate the alarm that is transmitted by the communication interface in response to a determination that the door is moving outside of the door's operating parameters.

2. The door monitoring sensor according to claim 1, characterized in that the rotational movement measured by the angular sensor comprises tilt, roll, and yaw.

3. The door monitoring sensor according to claim 1, characterized in that the motion sensor comprises a gyroscope.

4. The door monitoring sensor according to claim 1, characterized in that the motion sensor comprises an accelerometer.

5. The door monitoring sensor according to claim 1, characterized in that the motion sensor comprises a level sensor.

6. The door monitoring sensor according to claim 5, characterized in that the level sensor is for determining that a rotating door drum is level when the door is installed.

7. The door monitoring sensor according to claim 1, characterized in that it further comprises: a memory for storing the operating parameters of the door, wherein the operating parameters of the door are defined during an initialization process that monitors a plurality of door opening and closing cycles.

8. The door monitoring sensor according to claim 7, characterized in that the door operating parameters comprise an average of values ​​recorded by the angle sensor and the motion sensor during the plurality of door opening and closing cycles.

9. The door monitoring sensor according to claim 1, characterized in that the processor is further for: deactivating the radar sensor when the motion sensor detects that the door is in an open position.

10. A door, characterized in that it comprises: a vertically rolling door; a plurality of rails for guiding the movement of the vertically rolling door; a rotating door drum for wrapping the vertically rolling door around the rotating door drum when the vertically rolling door is opened; and a door monitoring sensor for measuring six different movements of the vertically rolling door and for activating an alarm when at least one of the six different movements is measured outside the operating parameters defined for the door.

11. The door according to claim 10, characterized in that the door monitoring sensor further comprises: a rechargeable power supply for powering the sensors of the door monitoring sensor.

12. The door according to claim 10, characterized in that the door monitoring sensor further comprises: an angular sensor for measuring three different rotational movements of the vertically rolling door.

13. The door according to claim 10, characterized in that the door monitoring sensor further comprises: a motion sensor for detecting movement along an xyz coordinate plane of the vertically rolling door.

14. The door according to claim 13, characterized in that the motion sensor comprises a level used to determine that the rotating drum of the door is level during installation.

15. The door according to claim 10, characterized in that it further comprises a radar sensor for detecting an object and returning the vertically rolling door to a predetermined position when the object is detected while the vertically rolling door is closing.

16. A method, characterized in that it comprises: defining the operating parameters of a door during an initialization process; measuring a plurality of different movements during the operation of the door; determining that the door is malfunctioning when at least one of the plurality of different movements falls outside the operating parameters of the door; generating an alarm; and transmitting the alarm to a monitoring system in response to the determination.

17. The method according to claim 16, characterized in that the initialization process comprises: performing a plurality of door opening and closing cycles; measuring the plurality of different movements; and calculating an average value for each of the plurality of different movements to define the operating parameters of the door.

18. The method according to claim 16, characterized in that the plurality of different movements comprises a movement along an xyz coordinate plane, pitch, roll, and yaw.

19. The method according to claim 16, characterized in that one of the operating parameters comprises detecting an object through a radar sensor while the door is closing, and the method further comprises: moving the door to a predetermined position in response to the detection of the object.

20. The method according to claim 19, characterized in that it further comprises: determining that the door is in an open position; and deactivating the radar sensor in response to the determination that the door is in the open position.

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