A door operator for operating a door of an automatic door system and a method for doing the same

Abstract

The present invention relates to the controlling of operation of a door in an automatic door system. The controlling of the operation comprising: operating the door in accordance with a predetermined speed reference for an operation cycle of the door by controlling a current delivered to an electric motor driving a door mechanism configured to operate on the door; monitoring the current delivered to the electric motor while driving the door mechanism; and limiting the current delivered to the electric motor while driving the door mechanism to not exceed a current threshold regardless of which current is requested in order to operate the door in accordance with the predetermined speed reference.

Description

[0001] A DOOR OPERATOR FOR OPERATING A DOOR OF AN AUTOMATIC DOOR SYSTEM AND A METHOD FOR DOING THE SAME

[0002] TECHNICAL FIELD

[0003] The present invention relates to operation of a door of an automatic door system. Especially, operation of the door so that the risk of the door injuring a user is reduced.

[0004] BACKGROUND ART

[0005] A door with a door operator, also known as an automatic door opener and / or closer, is a type of door operation system designed to open and / or close a door automatically. Such systems are typically referred to as an automatic door system. Automatic door systems are commonly used in commercial buildings, hospitals, airports, and other public spaces to provide convenient and accessible entry and exit points.

[0006] In order to detect and even possibly avoid collisions with a user, an automatic door system is typically equipped with safety sensors. Such safety sensors are configured to detect if a user is coming too close to the door. However, such safety sensors are in many situations too sensitive resulting in unwanted interruptions of the operation of the automatic door system. For example, a revolving door often stops when too many people try to pass it in the same section of the revolving door, because one of them will come too close to a door leaf. According to another example, a swing door often stops opening if a user approaches it from the side in which they open, e.g., if the approach a swing door from the outside of the building when the swing door swings outwards.

[0007] Accordingly, there is a need to find solutions to reduce unwanted interruptions of automatic door systems but at the same time safeguard so that the door system does not injure users of the system or that the system itself gets damaged from collisions with obstacles.

[0008] SUMMARY OF THE INVENTION

[0009] The present invention is set out in the appended set of claims.

[0010] According to a first aspect a door operator configured to operate a door of an automatic door system is provided. The door operator comprises a door mechanism, an electric motor, and control circuitry. The door mechanism is configured to operate on a door of the automatic door system. The electric motor is configured to drive the door mechanism. The control circuitry is configured to execute a speed control function, a current monitoring function and a current limitation function. The speed control function is configured to operate the door in accordance with a predetermined speed reference for an operation cycle of the door by controlling a current delivered to the electric motor while driving the door mechanism. The current monitoring function is configured to monitor the current delivered to the electric motor while driving the door mechanism. The current limitation function is configured to limit the current delivered to the electric motor while driving the door mechanism to not exceed a current threshold regardless of which current is requested by the speed control function to operate the door.

[0011] According to the former standard for automatic door system, EN 16005:2012, it is stated that any contact between the door and users is to be prevented. In order to avoid collisions, an automatic door system fulfilling the requirements of the EN 16005:2012 standard is typically equipped with safety sensors detecting possible collisions between the door and an obstacle in an operation region of the door. However, according to the latest version of the standard for automatic door systems, EN 16005:2023, contact between a door and an obstacle is acceptable if an on-site risk analysis shows that the consequences are low enough. This allows for collisions to occur as long as it can be safeguarded that the collision can be controlled so that the object causing the collision is not damaged. By implementing the current limitation as presented herein, consequences of a collision can be reduced drastically and automatic door systems can be installed without expensive and power consuming safety sensors. This may save cost, material resources, energy consumption and installation time. Moreover, functionality of the automatic door system may be improved since light collisions between a user and the door upon operation may be allowed.

[0012] The control circuitry may further be configured to execute a calibration function configured to set the current threshold. The setting of the current threshold may comprise detecting, during normal operation of the door, a peak current delivered to the electric motor while driving the door mechanism, and determining the current threshold based on the peak current.

[0013] Further, the operation cycle of the door may comprise a plurality of operation phases. The calibration function may be configured to detect a peak current for each such operation phase. Moreover, a current threshold for each such operation phase may be determined. Hence, a current threshold may be tailored for each operation phase allowing for increased sensitivity in the operation of the door. Further, by using individual current thresholds for the different operation phases, risks for incurring damage upon a collision may be mitigated.

[0014] According to a second aspect an automatic door system comprising the door operator according to the first aspect and a door is presented. The above-mentioned features and possible advantages of the door operator, when applicable, apply to this second aspect as well. In order to avoid undue repetition, reference is made to the above.

[0015] According to a third aspect a method for controlling operation of a door in an automatic door system is presented. The method comprises: operating the door in accordance with a predetermined speed reference for an operation cycle of the door by controlling a current delivered to an electric motor driving a door mechanism configured to operate on the door; monitoring the current delivered to the electric motor while driving the door mechanism; and limiting the current delivered to the electric motor while driving the door mechanism to not exceed a current threshold regardless of which current is requested in order to operate the door in accordance with the predetermined speed reference. The above- mentioned features and possible advantages of the door operator, when applicable, apply to this third aspect as well. In order to avoid undue repetition, reference is made to the above.

[0016] A further scope of applicability will become apparent from the detailed description given below. However, it should be understood that the detailed description and specific examples are given by way of illustration only.

[0017] It is to be understood that the terminology used herein is for purpose of describing particular embodiments only, and is not intended to be limiting. It must be noted that, as used in the specification and the appended claim, the articles "a", "an," "the," and "said" are intended to mean that there are one or more of the elements unless the context clearly dictates otherwise. Thus, for example, reference to "a unit" or "the unit" may include several devices, and the like. Furthermore, the words "comprising", "including", "containing" and similar wordings do not exclude other elements or steps.

[0018] BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other aspects will now be described in more detail, with reference to appended figures. The figures should not be considered limiting; instead, they are used for explaining and understanding. As illustrated in the figures, the sizes of layers and regions may be exaggerated for illustrative purposes. Like reference numerals refer to like elements throughout.

[0020] Fig. 1 schematically illustrates an automatic door system.

[0021] Fig. 2 illustrates a representation of a speed reference and a current provided to an electric motor as a function of time for an operation cycle of a door, current limitation thresholds in accordance with the present invention are also illustrated.

[0022] Fig. 3 is a block diagram of a method for controlling operation of a door in an automatic door system.

[0023] DETAILED DESCRIPTION

[0024] The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which currently preferred embodiments of the invention are shown. This invention may, however, be embodied in many different forms.

[0025] The present invention is directed towards mitigating the risks of a collision during operation of an automatic door system. An automatic door system is designed to open and close doors without manual intervention. Some examples of types of automatic door systems are sliding doors, swing doors, and revolving doors. Other automatic door systems may be considered such as folding doors, telescopic doors, hermetic doors, speed gates, garage doors, etc.

[0026] An automatic door system will be discussed in connection with Fig. 1. The automatic door system 100 comprises a door operator 120 and a door 110. The door operator 120 is configured to operate the door 110. In case of a sliding door, the door operator 120 is configured to operate a door leaf to slide in a support structure such that the door leaf slides from a closed state to an open state, or vice versa. In case of a swing door, the door operator 120 is configured to operate a door leaf being hingedly connected to a door frame to pivot such that the door leaf swings from a closed state to an open state, or vice versa. In case of a revolving door, the door operator 120 is configured to operate a rotating drum with a plurality of door leaves.

[0027] The door operator 120 comprises an electric motor 122 and a door mechanism 124. The electric motor 122 drives the door mechanism 124. Typically, a rotational force of the electric motor 122 is transmitted to the door mechanism 124 via a gear assembly 123. Such transmission of rotational force of the electric motor 122 to the door mechanism 124 allows for controlled and smooth movement of the door 110. The door mechanism 124 typically comprises mechanical linkage that connects the door operator 120 to the door 110 itself. The mechanical linkage translates the rotational force of the electric motor 122 into a motion of the door 110. The mechanical linkage is typically attached to a top portion of the door 110. Regardless of the type of door 110, the door operator 120 is configured to instruct the electric motor 122 to operate on the door mechanism 124 to open the door 110. Further, the door operator 120 may also be configured to instruct the electric motor 122 to operate on the door mechanism 124 to close the door 110.

[0028] The automatic door system 100 typically further comprises an activation device 130. The activation device 130 is configured to initiate the operation of the door 110. Some common activation devices 130 include: Push buttons, motion sensors and access control systems. Push buttons may be located near the door, users can press a button to activate the door. Motion sensors are configured to detect the motion within a defined range, a detection of motion triggering the door to open. Motion sensors may be based on various technologies such as infrared sensors or radar. Access control systems may be operated using e.g. swipe cards, key fobs, or other access control devices. In summary, the activation device 130 is configured to generate an initiation signal for initiating an operation on the door 110 upon the activation device 130 being actuated.

[0029] The door operator 120 further comprises control circuitry 160. The control circuitry 160 may include a processor 161, such as a central processing unit, CPU, a microcontroller, or a microprocessor. The processor 161 is configured to execute program code stored in a memory 170, in order to carry out functions and operations of the door operator 120. The memory 170 may be one or more of a buffer, a flash memory, a hard drive, a removable medium, a volatile memory, a non-volatile memory, a random access memory, RAM, or another suitable memory unit. In a typical arrangement, the memory may include a nonvolatile memory for long term data storage and a volatile memory that functions as system memory for the control circuitry 160. The memory 170 may exchange data with the processor over a data bus. Accompanying control lines and an address bus between the memory 170 and the processor also may be present. Functions and operations of the door operator 120 may be embodied in the form of executable logic routines (e.g., lines of code, software programs, etc.) that are stored on a non-transitory computer readable medium (e.g., the memory 170) and are executed by the control circuitry 160 (e.g., using the processor 161). Furthermore, the functions and operations of the door operator 120 may be a stand-alone software application or form a part of a software application that carries out additional tasks related to the door operator 120. The functions and operations may be considered a method that the door operator 120 is configured to carry out. Also, while the described functions and operations may be implemented in software, such functionality may as well be carried out via dedicated hardware or firmware, or some combination of hardware, firmware and / or software.

[0030] The control circuitry 160 is configured to receive signals, e.g. the initiation signal from the activation device 130. Based on a received initiation signal, the control circuitry 160 is configured to initiate an opening cycle for opening the door 110. During the opening cycle the electric motor 122 is instructed to operate on the opening mechanism 124 to open the door 110. The control circuitry 160 may also be configured to manage different settings for the door 110, such as door operation speed, opening width, and hold-open times.

[0031] The components of the automatic door system 100 are typically powered by electricity. This is governed by a power supply 150 of the automatic door system 100. The power supply 150 may form part of the door operator 120. The power supply 150 is typically connected to mains via an electrical system of the building in which the door 110 is arranged. Moreover, the automatic door system 100 may comprise backup batteries to ensure operation during a power outage.

[0032] The sequence of operation of the door operator 120 generally involves keeping the door 110 in a closed position and in response to a signal from the activation device 130 initiating an opening cycle. When a person or object interacts with the activation device 130, an initiation signal is generated by the activation device 130, the control circuitry 160 is acting on this initiation signal and triggers the electric motor 122 to operate on the opening mechanism 124 to open the door 110. In this disclosure this operation is referred to as an opening cycle. An opening cycle is an example of an operation cycle of the door 110 in the automatic door system 100. Upon the door 110 being in an open state, after a predetermined time, which is often referred to as a hold-open time, the control circuitry 160 instructs the electric motor 122 to operate the opening mechanism 124 to close the door 110. This will hereinafter be referred to as a closing cycle. A closing cycle is an example of an operation cycle of the door 110 in the automatic door system 100. The control circuitry 160 may further comprise an encoder 162. The encoder 162 is used to monitor and provide feedback on the position and movement of the door 110. Encoders are commonly employed in automatic door systems 100 to ensure precise control over the motion of the door 110 and to gather information about a current degree of opening of the door 110. The current degree of opening being a measure of how much, e.g. what percentage, the door has opened from point zero, 0%, being the door in the closed position, to the fully open state, 100%. As the door 110 opens or closes, the encoder 162 generates a position signal that correspond to the door's position, i.e. it's degree of opening. This information may be used for different purposes by the control circuitry 160. For example, the position signal from the encoder 162 allows the control circuitry 160 to accurately determine the door's position, i.e. degree of opening, at any given time. Moreover, the position signal from the encoder 162 allows the control circuitry 160 to determine a speed and acceleration of the door 110 during an opening cycle and / or closing cycle. Hence, the position information provided by the encoder 162 may be used for controlling the speed, acceleration, and deceleration of the door 110 during its movement. The use of an encoder 162 creates a closed-loop system in which the control circuitry 160 continuously receives feedback about the position of the door 110 and may adjust the electric motor operation to maintain desired performance. The feedback from the encoder 162 further allows for customization of the door operator 120. Parameters such as opening and closing speed, hold-open times, and acceleration profiles can be precisely controlled based on the real-time information provided by the encoder 162.

[0033] However, as readily understood by the skilled person, kinematic signals (position, speed, acceleration) can be measured using sensors such as incremental encoders, hall sensors or accelerometers, or they can be estimated using the electro-magnetic force generated by the rotating motor.

[0034] In order to control the operation of the door 110 during an operation cycle, the control circuitry 160 is configured to execute a speed control function 172. The speed control function 172 is configured to operate the door 110 in accordance with a predetermined speed reference for an operation cycle of the door 110. This is achieved by controlling a current delivered to the electric motor 122 while driving the door mechanism 124. An example of a speed reference is illustrated in Fig. 2 as a bold solid line. In Fig. 2, also a current provided to the electric motor 122 as a function of time is illustrated as a solid line. In Fig. 2, the units on the vertical axis have been removed deliberately due to only the relative proportions being of importance. The horizontal axis represents time increasing from left to right. However, it has been removed to improve the readability of the chart. The graph illustrates an operation cycle that takes about three seconds. Fig. 2 will be discussed in more detail below.

[0035] During an operation cycle it is to be safeguarded so that the door 110 is not injuring a person and / or damaging an object entering an operating region of the door 110. Historically this has been made using safety sensors. Such safety sensors are configured to detect whether the operating region for the door 110 is clear. If the safety sensor detects an obstruction in the operating region during an operating cycle, a safety signal is generated and sent to the door operator 120. Based on such a safety signal, the control circuitry 160 instructs the electric motor 122 to stop operation on the opening mechanism 124. Hence, during an operation cycle, the safety sensor 140 ensures that the door 110 will not hit an obstruction detected in the operating region for the door 110.

[0036] However, as discussed above in the background section, safety sensors are in many situations too sensitive resulting in unwanted interruptions of the operation of the automatic door system. For example, a revolving door often stops when too many people try to pass it in the same section of the revolving door, because one of them will come too close to a door leaf of the revolving door. According to another example, a swing door often stops opening if a user approaches it from the side in which they open, e.g., if the user approaches a swing door from the outside of the building when the swing door swings outwards.

[0037] As discussed above, in order to control the operation of the door 110 during an operation cycle, the control circuitry 160 is configured to execute the speed control function 172. The speed control function 172 is configured to operate the door 110 in accordance with the predetermined speed reference for the operation cycle of the door 110. This is achieved by controlling the current delivered to the electric motor 122 while driving the door mechanism 124. A collision between the door 110 and a person and / or an object will lead to a decrease of the speed the door. Hence, the speed control function 172 will therefore increase the current to the electric motor 122 to follow the speed reference, i.e. to keep an error between the speed reference and the actual speed small. Hence, as a result of a collision, the current to the electric motor 122, and hence a force applied to the door 110, and also a force applied to the person and / or object colliding with the door 110, will increase. Such increase in force will continue until the collision is detected. Accordingly, a risk of injuring the person and / or damaging the object colliding with the door 110 exists.

[0038] The inventor has realized that by limiting the current delivered to the electric motor 122 during an operation cycle, a risk of injuring a person and / or damaging an object colliding with the door 110 will be mitigated. This has been implemented by adding functionality to the control circuitry 160 of the door operator 120, the functionality namely being that the control circuitry 160 has been developed to also execute a current monitoring function 174 and a current limitation function 176. The current monitoring function 174 is configured to monitor the current delivered to the electric motor 122 while driving the door mechanism 124. The current limitation function 176 is configured to limit the current delivered to the electric motor 122 while driving the door mechanism 124 to not exceed a current threshold regardless of which current is requested by the speed control function 172 to operate the door 110. By limiting the current, the speed control function 172 is prevented from applying a risk exposing force to a person / object colliding with the door 110.

[0039] In order to set the current threshold, a calibration procedure may be performed. During such a calibration procedure, the control circuitry 160 is configured to execute a calibration function 175. The calibration function 175 is configured to set the current threshold. This is achieved by, during normal operation of the door 110, detecting a peak current delivered to the electric motor 122 while driving the door mechanism 124. In this context, normal operation of the door 110 is an operation during which no collision between the door 110 and a person / object occurs, hence, a normal operation of the door is a collision- free operation of the door 110. The peak current may be determined as an average of the current from a plurality of normal operation cycles. The current threshold may then be set based on the peak current. The current threshold is typically set as the peak current multiplied by a safety factor. The safety factor is a design variable being larger than one.

[0040] Hence, during the calibration procedure, the door operator 120 learns the magnitude of the current provided to the electric motor 122 during collision-free operation. During the collision-free operation, the automatic door system 100 is operated according to the speed reference and the current (a function of time) is monitored. Based thereon, a peak current can be determined. The peak current being the largest current provided to the electric motor 122 during collision-free operation. In Fig. 2, the current provided to the electric motor 122 is illustrated as a solid line. The operation cycle (i.e. an opening cycle or a closing cycle) of the automatic door system 100 may comprise a plurality of operation phases. These operation phases may be referred to as an acceleration phase, a constant speed phase and a deceleration phase. The operation cycle illustrated in connection with Fig. 2 comprises an acceleration phase, a constant speed phase and a deceleration phase. During the calibration procedure, a respective peak current for each such operation phase may be determined. Further, a respective current threshold for each such operation phase may be determined. This is illustrated in Fig. 2 in which a respective current threshold for each operation phase is illustrated as a dotted line. Hence, a peak current may be evaluated for each operation phase individually and individual current thresholds may be set for the different operation phases. Using different current threshold for the different operation phases allow for a fine-tuned risk mitigation.

[0041] In normal, collision free, operation the current to the electric motor 122 is controlled such that the door 110 is following the speed reference. However, as a consequence of implementing the current limitation as discussed above, in case of a collision, the current to the electric motor 122 is limited. As a consequence, the door 110 may no longer follow the speed reference. This since, in case of a collision, an increase of the current to the electric motor 122 above the current limit would be required to follow the speed reference. Hence, by implementing a current limitation as discussed above, the door may no longer follow the speed reference. If a difference between the speed reference and an actual speed of the door increases, it can be used to detect the collision. Accordingly, the control circuitry 160 may be configured to execute a collision detection function 177. The collision detection function 177 is configured to, upon a difference between the speed reference and an actual speed exceeding a threshold for collision, issue a collision signal. It is readily understood that the threshold for collision may be set in various ways. According to one example, the threshold for collision is set based on a percentage of the speed reference. For example, in case the actual speed is 80% of the reference speed the threshold for collision is reached.

[0042] The control circuitry 160 may further be configured to, in response to the collision signal, execute a termination function 178. The termination function 178 is configured to terminate the operation of the automatic door system 100.

[0043] Alternatively, the control circuitry 160 may further be configured to, in response to the collision signal, execute a reversing function 179. The reversing function 179 is configured to reverse the driving of the electric motor 122. Fig. 3 is a flow chart illustrating the steps of a method 300 for controlling operation of a door 110 in an automatic door system 100. Below, the different steps are described in more detail. Even though illustrated in a specific order, the steps of the method 300 may be performed in any suitable order, in parallel, as well as multiple times. Some of the steps, or even all steps, of the method 300 may be executed by the door operator 120 discussed above. Alternatively, at least some of the steps may be executed at another device.

[0044] The method comprises operating S302 the door 110 in accordance with a predetermined speed reference for an operation cycle of the door 110. This is achieved by controlling a current delivered to the electric motor 122 driving the door mechanism 124. While operating S302 the door 110 in accordance with the predetermined speed reference for an operation cycle of the door 110, the current delivered to the electric motor 122 while driving the door mechanism 124 is monitored S304. Further, the current delivered to the electric motor 122 while driving the door mechanism 124 is limited S306 to not exceed a current threshold regardless of which current is requested in order to operate the door 110 in accordance with the predetermined speed reference.

[0045] The method 300 may further comprise setting S301 the current threshold. This is achieved as follows: during normal operation, i.e. collision-free operation, of the door 110, detecting S301a a peak current delivered to the electric motor 122 while driving the door mechanism 124. The current threshold may thereafter be determined based on the peak current. This is discussed in more detail above in connection with the discussion of the calibration procedure, in order to avoid undue repletion, reference is made to this discussion. Further, as also discussed above, the operation cycle of the door 110 may comprise a plurality of operation phases, and a current threshold may be determined for each such operation phase.

[0046] The method may further comprise, upon a difference between the speed reference and an actual speed exceeding a threshold for collision, issuing S308 a collision signal. In response to the collision signal, the operation of the automatic door system 100 may be terminated S310a. Alternatively, in response to the collision signal, the operation of the automatic door system 100 may be reversed by reversing S310b the driving of the electric motor 122. The person skilled in the art realizes that the present invention by no means is limited to what is explicitly described above. On the contrary, many modifications and variations are possible within the scope of the appended claims.

[0047] Additionally, variations can be understood and effected by the skilled person in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims.

Claims

CLAIMS1. A door operator (120) configured to operate a door (110) of an automatic door system (100), the door operator (120) comprising: a door mechanism (124) configured to operate on a door (110) of the automatic door system (100); an electric motor (122) configured to drive the door mechanism (124); and control circuitry (160) configured to execute: a speed control function (172) configured to operate the door (110) in accordance with a predetermined speed reference for an operation cycle of the door (110) by controlling a current delivered to the electric motor (122) while driving the door mechanism (124), a current monitoring function (174) configured to monitor the current delivered to the electric motor (122) while driving the door mechanism (124), and a current limitation function (176) configured to limit the current delivered to the electric motor (122) while driving the door mechanism (124) so to not exceed a current threshold regardless of which current is requested by the speed control function to operate the door (110).

2. The door operator (120) according to claim 1, wherein the control circuitry (160) is further configured to execute: a calibration function (175) configured to set the current threshold by: detecting, during normal operation of the door (110), a peak current delivered to the electric motor (122) while driving the door mechanism (124), and determining the current threshold based on the peak current.

3. The door operator (120) according to claim 2, wherein the operation cycle of the door (110) comprises a plurality of operation phases, wherein the calibration function (175) is configured to detect a peak current for each such operation phase and determine a current threshold for each such operation phase.

4. The door operator (120) according to any one of claims 1-3, wherein the control circuitry (160) is further configured to execute a collision detection function (177) configured to, upon a difference between the speed reference and an actual speed exceeding a threshold for collision, issue a collision signal.

5. The door operator (120) according to claim 4, wherein the control circuitry (160) is further configured to, in response to the collision signal, execute a termination function (178) configured to terminate the operation of the automatic door system (100).

6. The door operator (120) according to claim 4, wherein the control circuitry (160) is further configured to, in response to the collision signal, execute a reversing function (179) configured to reverse the driving of the electric motor (122).

7. An automatic door system (100) comprising the door operator (120) according to any one of claims 1-6 and a door (110).

8. A method for controlling operation of a door (110) in an automatic door system (100), the method comprising: operating (S302) the door (110) in accordance with a predetermined speed reference for an operation cycle of the door (110) by controlling a current delivered to an electric motor (122) driving a door mechanism (124) configured to operate the door (110); monitoring (S304) the current delivered to the electric motor (122) while driving the door mechanism (124); and limiting (S306) the current delivered to the electric motor (122) while driving the door mechanism (124) so to not exceed a current threshold regardless of which current is requested in order to operate the door (110) in accordance with the predetermined speed reference.

9. The method according to claim 8, further comprising setting (S301) the current threshold by: detecting (S301a), during normal operation of the door (110), a peak current delivered to the electric motor (122) while driving the door mechanism (124), anddetermining (S301b) the current threshold based on the peak current.

10. The method according to claim 9, wherein the operation cycle of the door (110) comprises a plurality of operation phases, wherein a peak current delivered to the electric motor (122) while driving the door mechanism (124) is detected (S301a) for each such operation phase and wherein a current threshold is determined (S301b) for each such operation phase.

11. The method according to any one of claims 8-10, further comprising, upon a difference between the speed reference and an actual speed exceeding a threshold for collision, issuing (S308) a collision signal.

12. The method according to claim 11, further comprising, in response to the collision signal, terminating (S310a) the operation of the automatic door system (100).

13. The method according to claim 11, further comprising, in response to the collision signal, reversing (S310b) the operation of the automatic door system (100) by reversing the driving of the electric motor (122).

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