Automatic swing door

Abstract

The invention relates to an automatic double swing door (10) defining a door threshold (12), comprising a first door leaf (20) and a second door leaf (30), where the automatic double swing door (10) comprises a first hinge (22) around which the first door leaf (20) is pivotable from a closed position to an open position thereof, a second hinge (32) around which the second door leaf (30) is pivotable from a closed position to an open position thereof, where the automatic swing door (10) comprises a door sensor (40) for monitoring a monitoring area (MA), with the door sensor (40) evaluating the monitoring area (MA) with respect to at least one object in the monitoring area (MA), with the door sensor (40) determining an evaluation result and providing the control signal (CS) to the control unit (50) depending on the evaluation result, which the door sensor (40) comprises a determination unit (42) that determines whether the at least one object (O1) intends to pass over the door threshold (12). According to the invention, the determination unit (42) determines whether the object (O1) is approaching the door threshold (12) from a position (POS_L) within the monitoring area (MA) which is closer to the first hinge (22) than to the second hinge (32), furthermore, the door sensor (40) is embodied in such a way that, under the condition that the object (O1) intends to pass through, the door sensor (40) can send a control signal (CS) to the control unit (50), upon which the control unit (50) acts on the second door drive (34), or on the first door drive (24) and on the second door drive (34), to open only the second door leaf (30) at an opening angle that allows the object (O1) to pass through.

Description

Automatic Swing DoorDescription

[0001] The invention relates to an automatic swing door according to claim 1, and to a method for operating an automatic swing door according to claim 13.

[0002] It is known to provide automatic double-leaf swing doors in buildings. Such automatic double-leaf swing doors either connect different rooms within the building, or they connect the inside of a building to the outside of the building.

[0003] However, opening of the door can cause draft and therefore impact the comfort in a room and affect the climatic conditions. The process of opening a specific leaf of an automatic door can be achieved via a manual input of a person who intends to pass through the door.

[0004] It is known from EP 0 696 670 Bl that it is not necessary to open all leaves of a door to allow an object to pass through. In EP 0 696 670 Bl the direction and speed of an approaching object are determined in order to control the opening of the sliding door. Two distance sensors are used to triangulate the approaching objects and thus determine their position and direction, and to determine the speed of an object to adapt the time of opening, or the opening speed, of the door leaf. According to this teaching, arrival points are calculated, and the leaves located close to these arrival points are operated.

[0005] A problem arising when this teaching is applied to swing doors, is that, in contrast to sliding doors, which can move perpendicular to the moving direction of the object, swing doors may move against the moving direction of an approaching object, particularly a person. This drawback increases if the swing door is timed in such that the “open time” of the door is reduced to a minimum, which means that the door leaf will be opened close to the approaching time of the object.

[0006] In particular, if the door, or the door leaf, is additionally equipped with safety sensors that prevent the door from hitting an approaching person, the door will stop, forcing the person to walk around the door leaf, with both door leaves in an open position all the time.58.395-2 WO FK 15.12.2025

[0007] To avoid such effects, the swing door leaf which is closer to the person needs to be opened well before the arriving time of the object so as to assure that the door leaf has already been opened before the person arrives close to the door threshold. Unfortunately, this results in a prolongation of the time period which is regarded as “open time”.

[0008] Accordingly, it is object of the invention to reduce the “open time” of the double-leaf swing door without reducing the comfort of a person passing through the door.

[0009] Hence, it is object of the invention to provide an automatic door that does not need manual input information from people or objects for opening the door and that can avoid any unnecessary opening of the door leaves while still providing a high degree of comfort when people pass through the door.

[0010] This object is accomplished by the characterizing features of claim 1 in combination with the features of its preamble. For the method, this object is accomplished by the characterizing features of claim 13 together with the features of the preamble of claim 13.

[0011] The subclaims relate to further advantageous embodiments of the invention.

[0012] As known in the prior art, an automatic swing door comprises a first door leaf and a second door leaf, which first door leaf is attached to a first hinge around which it is pivotable from a closed position to an open position. The second door leaf is attached to a second hinge around which it is pivotable from a closed position to an open position. The automatic door comprises a door threshold, which is defined to be the line connecting the first and the second hinge. In the sense of this specification, a hinge holds the door leaf in a pivotable manner. A hinge can take the form of a swivel hinge, a pivot hinge, or any other type of hinge.

[0013] The automatic swing door furthermore comprises a first door drive for operating the first door leaf and a second door drive for operating the second door leaf, which drives allow independent operation of the first door leaf and the second door leaf, resp.58.395-2 WO FK 15.12.2025

[0014] The automatic swing door comprises a control unit that receives control signals and that controls the first door drive and the second door drive. The second door drive and the first door drive are operated according to the control signals received by the control unit.

[0015] The automatic swing door furthermore comprises a door sensor which monitors a monitoring area. The door sensor is mounted relative to the door leaves in such a way that it monitors the monitoring area in front of the door, so that the monitoring area lies in the opening direction of the door, which is the opening direction of the first door leaf and the opening direction of the second door leaf.

[0016] The door sensor comprises a detection unit and a determination unit, with the determination unit evaluating the monitoring area and determining an evaluation result based on the data acquired by the detection unit.

[0017] The door sensor furthermore comprises a command unit that outputs a specific control signal, which specific control signal can be transmitted to the control unit depending on the evaluation result. Upon receiving the specific control signal, the control unit controls the door leaves such that they are operated according to the control signal.

[0018] In the evaluation process, the door sensor evaluates the monitoring area in such a way that, if a moving object is detected in the monitoring area, the determination unit determines at least one piece of information, namely approach information of the detected object.

[0019] The approach information contains the information that the moving object is approaching the door threshold from a certain region in the monitoring field.

[0020] According to the invention, the determination unit determines whether the position from which the detected object is approaching is closer to the first hinge than to the second hinge. In particular, the determination unit can comprise at least one first zone predefined within the monitoring area, which first zone is delimited by a boundary line of which each point is located at a distance from the first hinge and a distance from the second hinge. The first zone is defined in such a way that, for each point of the boundary line, the distance from the first hinge is smaller than the distance from the second hinge. For example, the determination58.395-2 WO FK 15.12.2025unit sets the approach information to a first zone value if the position from which the detected object is approaching is closer to the first hinge than to the second hinge. Preferably, the approach information is stored in a variable.

[0021] The determination unit can relate the approach information to an object. It is, therefore, possible to track more than one object.

[0022] If there is one object in the monitoring area that intends to pass through the door, and if the approach information contains the information that the detected object is approaching from a position which is closer to the first hinge than to the second hinge, then the door sensor outputs a control signal to the control unit, upon which the control unit acts either on the second door drive only, or on both on the first door drive and the second door drive, so as to open only the second door leaf at an opening angle that will allow the object to pass through.In particular, if the approach information is a first zone value, the determination unit can set the evaluation information to a first evaluation result. That the approach information is a first zone value is a condition required to set the evaluation information to a first information result. As soon as the first evaluation result is transmitted to the command unit, the door sensor sends a corresponding first control signal to the control unit using its command unit.

[0023] The first control signal is received by the control unit and triggers the control unit to open the second door leaf at an opening angle. This opening angle is greater than a predefined passage angle. Furthermore, upon receipt of the first control signal, the first door leaf remains in a closed position or opens at an opening angle which is smaller than the predefined passage angle. The passage angle is preferably 40° . An opening angle for a full opening is usually about 90° .

[0024] According to a further embodiment of the invention, the determination unit can determine if the position from which the detected object is approaching is closer to the second hinge than to the first hinge. If the object is determined to intend to pass through the door, the door sensor can send a control signal to the control unit, upon which the control unit acts on the first door drive, or on both the first door drive and the second door drive, to cause opening of only the first door leaf at an opening angle that allows the object to pass through.58.395-2 WO FK 15.12.2025

[0025] Accordingly, the determination unit determines object approaching information which is, in particular, set to a second zone value only if the position from which the object is approaching the door is closer to the second hinge than to the first hinge.

[0026] By analogy with the first evaluation result, in case there is a single object in the monitoring area that intends to pass through, and if the position from which the detected object is approaching is closer to the second hinge than to the first hinge, the evaluation information can be set to the second evaluation result. The determination whether the position from which the detected object is approaching is closer to the second hinge than to the first hinge, is performed in that the determination unit comprises a definition of the second zone that is predefined within the monitoring area. The second zone is delimited by a boundary line. Each point of the boundary line is located at a distance from the first hinge and a distance from the second hinge. The second zone is defined in such a way that, for each point of the boundary line, the distance from the second hinge is smaller than the distance from the first hinge. The determination unit determines whether the object enters the second zone. This can be the case if the position of the object is determined to lie within the second zone for the first time.

[0027] If the position from which the detected object is approaching is closer to the second hinge than to the first hinge, the condition that the approaching information is set to the second approach value is met. Upon receipt of the second evaluation result, the door sensor sends a second control signal to the control unit by its command unit. Accordingly, the command unit decides which command to send depending on the evaluation result. In particular, the command unit has a storage in which relations between specific control signals and specific evaluation information are stored. In this way, the first evaluation result is related to the first control signal, and the second evaluation result is related to the second control signal. Obviously, additional relations can be stored in the command unit.

[0028] The second control signal triggers the control unit to open the first door leaf at an opening angle greater than the passage angle, and to keep the second door leaf in a closed position or to open it only at an opening angle which is smaller than the passage angle.58.395-2 WO FK 15.12.2025

[0029] According to the invention, for setting the evaluation information to the first determination result or to the second determination result, an intention-to- pass-through condition needs to be met.

[0030] The evaluation information is only set to the first determination result or to the second determination result, resp., if it is determined that the intention-to- pass-through condition is fulfilled. Only then will the first control signal, or the second control, respectively, be transmitted to the door control unit.

[0031] This control behaviour according to the invention prevents the path of the object from being interrupted by the opening of a door leaf, and still requires only one door leaf to be opened. Therefore, the automatic double-leaf swing door according to the invention saves energy and reduces wear on the door mechanism, as any unnecessary opening of the door leaves is avoided.

[0032] According to a further embodiment of the invention, the door sensor stores, and can provide, a plurality of control signals, at least the following set of activation signals, which are control signals that induce operation of the door, i.e. open both door leaves, reopen, fully open first leaf only, fully open second leaf only.

[0033] According to a further advantageous embodiment of the invention, in addition to the activation signals, the door sensor can output stop and close signals as well.

[0034] By the transmission of a close signal, an opening decision could be reversed before the door leaf reaches its fully-open-position. Hence in this case, the “open time” can be further reduced.

[0035] According to a further embodiment of the invention, the first door leaf is a primary door leaf, whilst the second door leaf is a secondary door leaf. The primary door leaf can open while the second door leaf remains closed. To open the secondary door leaf, the primary door leaf needs to open at a certain “minimum angle”, which “minimum angle” is smaller than the passage angle to allow the secondary door leaf to open. In this case, the signal “fully open second leaf only” also triggers the first drive to open the first door leaf at this “minimum angle”.58.395-2 WO FK 15.12.2025

[0036] According to a further embodiment of the invention, the door control unit comprises a master control unit and a slave control unit. In particular, the master control unit controls the first drive whereas the slave control unit controls the second drive.

[0037] According to a further embodiment of the invention, a detection unit can comprise a laser scanner that uses time-of-flight (TOF) evaluation to monitor the monitoring area. The laser scanner is suitable to cover a monitoring area that has a horizontal extent. An appropriate laser scanner could be a 3D laser scanner or a 2D laser scanner which scans in an essentially horizontal plane.

[0038] According to a further embodiment of the invention, the door sensor, more specifically the detection unit, comprises an FMCW radar unit. Use of the FMCW radar technology allows a precise analysis, and a sufficiently large monitoring area can be covered to allow timely operation of the door leaves. In this embodiment, the FMCW radar unit is used to determine the position and moving direction of the at least one object. The FMCW radar unit has a higher level of immunity to environmental conditions such as fog, sunshine or smoke. Moreover, an FMCW radar unit, in contrast to a laser scanner is less influenced by a situation where objects are approaching the door behind other objects. Accordingly, the accuracy of determining the approaching information can be increased.

[0039] Both the energy consumption relative to the detection range and the device size relative to the detection range are rather low for an FMCW radar unit. They are, for example, much lower than for a laser scanner.

[0040] In particular, the door sensor can specifically evaluate a first activation zone and a second activation zone. Here, the first activation zone is set in such a way that all positions within the first activation zone are located at a smaller distance from the first hinge than from the second hinge. The second activation zone is set in such a way that all positions within the second activation zone are located at a greater distance from the first hinge than from the second hinge. During the evaluation, the approaching information can easily be obtained in such a way as to record whether the object has passed through the first activation zone or the second activation zone, before the intention-to-pass-through condition is met.58.395-2 WO FK 15.12.2025

[0041] By defining these activation zones, a minimum distance from the door threshold can be set.

[0042] The door sensor can easily determine and record if the respective object has passed through a specific activation area and thereby set the approaching information accordingly.

[0043] According to a further embodiment of the invention, a door opening zone can be defined within the monitoring area to determine the intention-to-pass- through condition.

[0044] This door opening zone is preferably set closer to the door threshold than the activation zones. The door opening zone can be used as a reference. In particular, the opening zone in such a way that the moving direction of an object is determined and, if the object reaches a predefined distance from the door opening zone in the moving direction, the intention-to-pass-through condition is set to be true. If the intention-to-pass-through information is the last information to be evaluated for determining the evaluation information, then the evaluation information is set respectively and the transmission of the control signal is triggered.

[0045] According to a further embodiment of the invention, the predefined distance can be a variable distance being defined by a predefined function. Hence the predefined distance can preferably be adapted to the speed of the object. This would make the distance a function of the speed. In particular, the function sets a relation so that the distance increases with object speed. Preferably, the distance is a function of the speed and a time that is allotted for the opening process of the door. Hereinafter, this time shall be referred to as the allotted time. Due to this method, the distance depending on the speed can be used to control the opening of the door in such a way that the door will be sufficiently open when the object reaches the door.

[0046] In a preferred embodiment, the allotted time is longer than the time the door requires to fully open a door leaf. The time the door requires to fully open a door leaf is referred to as leaf-opening time.58.395-2 WO FK 15.12.2025

[0047] Accordingly, the allotted time can be pre-set or can be adjusted based on the pre-set time. The minimum distance can be determined if the allotted time equals the time needed for a door leaf to open.

[0048] Alternatively, an anticipated time can be calculated from speed and distance from the door. To trigger the intention-to-pass-through condition, the anticipated time is compared with the allotted time. The intention-to-pass-through condition is met when the allotted time equals the anticipated time.

[0049] A further method is suggested for determining whether an object has reached the predefined distance at which the intention-to-pass-through condition is met. According to this method, a rectangle is calculated around the object, with the length of a first edge of the rectangle corresponding to the speed. In particular, the length of the first edge is calculated by d(v) = v * t_o, with the parameter t_o being the allotted time. The parameter t_o can be a fixed value or can be variable value that is adjusted with respect to approaching conditions, for example a certain flux of people in front of the door.

[0050] Furthermore, to determine the orientation of the first dimension, the direction of movement of the object is evaluated, and the first edge of the rectangle is correlated to it. The length of the second edge corresponds to a fixed value or can be a variable value, e.g. proportional to the width of the object. By choosing a certain length of the second edge, the behaviour of the door can be influenced regarding lateral approach and / or parallel traffic rejection. Preferably, the second edge is set to the position of the centre of the object.

[0051] The evaluation step can then determine if the rectangle touches or intersects the door-opening zone. In this case, it is assumed that the intention-to- pass-through condition is met. Accordingly, when the rectangle touches or intersects the opening zone the first time, the predefined distance according to the distance function is reached. Computing overlapping rectangles is an effective way of computing because it allows the use of a simple algorithm, as it is a solely geometric approach. Due to the width of the second edge, the control decision can be based on further information without a lot of additional computational effort.58.395-2 WO FK 15.12.2025

[0052] In particular, the door-opening zone is defined as a rectangular zone as well.

[0053] According to a further improvement of the invention, the door sensor may include a tracking unit that tracks the path of an object in order to improve the accuracy of the estimation if an object intends to pass through the door. Due to tracking the object, the history of the movement of the object can be taken into account in the evaluation. This allows an improved prediction about the intention of an object to pass through the door.

[0054] According to an advantageous embodiment of the invention, the size of an object is assumed to be smaller than the door width, so only one door leaf is automatically opened for one object at a time. According to a further embodiment, the size of the object is determined, and only in case the object size is smaller than the door width, only one door leaf will be opened, otherwise both door leaves will be opened.

[0055] According to a further embodiment of the invention, the door-opening zone and the activation zones can be defined by the user using a teach -in process. Alternatively, the door-opening zone and the activation zones are fixed and scaled with respect to the door leaf width.

[0056] According to a further aspect of the invention, the invention relates to a method for controlling an automatic door of the type described in the preamble of claim 1.

[0057] According to a first step, it is determined whether an object is approaching the door via the first activation zone, with all the possible positions in the first activation zone being closer to the first hinge than to the second hinge, or via a second activation zone, with all the possible positions in the second activation zone being closer to the second hinge than to the first hinge.

[0058] According to a further step, it is determined whether the detected object intends to pass through the door.

[0059] If the object is determined as intending to pass through the door, and if the object is approaching via the first activation zone, the second door leaf is58.395-2 WO FK 15.12.2025opened to allow the object, in particular a pedestrian, to pass through. The first door leaf remains closed or is opened only at an opening angle required to allow the other door leaf to open.

[0060] If the object is determined as intending to pass through the door, and if the object is approaching the door via the second activation zone, the first door leaf is opened to allow the object, in particular a pedestrian, to pass through. The second door leaf remains closed or is opened only at an opening angle required to allow the other door leaf to open.

[0061] According to a further embodiment of the method, a control signal is transmitted to the control unit upon which the first leaf fully opens, where the second leaf remains closed. If an object approaches via the second activation zone, a control signal be transmitted to the control unit that the second leaf fully opens, where the first leaf remains closed.

[0062] According to a further aspect of the invention, the intention to pass through is determined by determining the distance of an object. The intention-topass-through condition is found to be true when the object reaches a predefined distance from the door threshold. Once the intention-to-pass-through condition is found to be true, the specific control signal, in particular an activation signal, is triggered.

[0063] According to a further advantageous embodiment, the predefined distance can be predefined by an algorithm that calculates the distance depending on the speed of the object.

[0064] According to a further embodiment of the method, the first door leaf is a primary door leaf and the second door leaf is a secondary door leaf.

[0065] According to a further embodiment of the method, the size of an object is determined, and, if the width, which is the extent of the object perpendicular to its moving direction, is bigger than the door width, then both leaves are opened irrespective of the approaching zone. In this process, the allotted time is increased to prevent the door leaf that is closer from getting in the way of the path of the object that is approaching the more distant door leaf.58.395-2 WO FK 15.12.2025

[0066] Further advantages, features and applications of the present invention can be gathered from the description which follows in combination with the embodiments illustrated in the drawings.

[0067] In the drawings,Fig. 1 is a general setup of an automatic door;Fig. 2 shows an example of functional units of the automatic swing door according to the invention;Fig. 3a illustrates a determination unit, in a method for controlling an automatic door;Fig. 3b illustrates a command and control unit, in a method for controlling an automatic door;Fig. 4 is a further embodiment of an automatic double-leaf swing door according to the invention;Fig. 5 is a further embodiment of an automatic double-leaf swing door according to the invention.

[0068] Fig.l shows a general setup of an automatic double-leaf swing door 10 according to the invention. The automatic door 10 comprises a first door leaf 20 and a second door leaf 30. Furthermore, the automatic door 10 comprises:- a first hinge 22 around which the first door leaf 20 is pivotable about a hinge axis,- a second hinge 32 around which the second door leaf 30 is pivotable about a hinge axis,- a first drive 24 that moves the first door leaf 20,- a second drive 34 that moves the second door leaf 30,- a control unit 50 that controls the first drive 24 and the second drive 34.58.395-2 WO FK 15.12.2025

[0069] The control unit 50 controls the door leaves 20, 30 in such a way that they rotate / move from a closed position to an open position and vice-versa. The control unit 50 usually comprises respective door controllers.

[0070] Furthermore, a door threshold 12 is defined between the hinges 22, 32, which an object 01, particularly a pedestrian, needs to pass to pass through the automatic door 10.

[0071] The automatic door 10 comprises a door sensor 40 to evaluate a monitoring area MA in front of the automatic door 10. In “front of” refers to the opening side of the automatic door 10. The door sensor 40 comprises a detection unit 44, which in this example is an FMCW radar sensor for monitoring the monitoring area MA.

[0072] The door sensor 40 determines at least the positions of objects 01. Additionally, it may determine their respective moving direction, speed and size.

[0073] The door sensor 40 according to the invention is embodied to determine whether a detected object 01 is approaching the door from a first position POS_L which is at a first distance DfromFH from the first hinge 22 that is smaller than the second distance DfromSH from the second hinge 32.

[0074] The door sensor 40 and the control unit 50 are implemented in such a way that under the condition that the object is approaching the door via the predefined first position POS_L, the door controller can actuate the second door drive 34, or both the second door drive 34 and the first door drive 24, to open only the second door leaf 30 at an angle that allows an object 01, particularly a pedestrian, to pass through. In contrast to the prior art, here the door leaf further away from the approaching object is opened instead of the closer door leaf . This has the advantage, as indicated in Fig. 1, that in the case shown, the first door leaf 20 can be kept in a closed position when the object 01 is approaching the second door leaf 30. As the first door leaf 20 is kept in a closed position, it will not interfere with the path of the object 01. The moving range of the first door leaf 20 is indicated by the quarter-circle around the first hinge 22. To provide sufficient comfort to the user, it is clear from this example that, when the first door leaf 20 cannot be kept in a closed position, the first door leaf 20 has to be in a fully open58.395-2 WO FK 15.12.2025position before the object 01 arrives at the area indicated by the circle, as in the prior art.

[0075] This has the disadvantage that the door will not close for quite a while, even if only the closest door leaf is opened. During this “open time”, the room condition is influenced in a negative way. In contrast thereto, the automatic door 10 according to the invention can open the second door leaf 30 rather shortly before the object 01, usually a person, is close to the second door leaf 30 even if the object 01 is already within the moving range of the first door leaf 20. Hence it is clear that for a person to conveniently pass through the automatic door 10, it sufficient to open only one door leaf and this even just for a reduced timespan. It is even conceivable that, depending on the approaching direction of the object, the opening angle can be reduced. As a result, the automatic door according to the invention provides high comfort, reduces energy loss and reduces wear on the door mechanism.

[0076] Fig. 2 shows the functional units of an embodiment of a double-leaf swing door according to the invention.

[0077] The automatic double-leaf swing door 10 comprises a detection unit 44 for detecting objects in a monitoring area MA. The detection unit 44 can comprise at least one detector. The at least one detector can operate based on different sensing principles, for example LIDAR, radar, or camera. However, in a preferred embodiment of the invention, the at least one detector of the detection unit is an FMCW radar unit.

[0078] The objects to be detected are preferably pedestrians.

[0079] The detection result of the detection unit 44 is processed by a data acquisition unit 43 in such a way that it can be further processed by a determination unit 42.

[0080] The determination unit 42 determines whether an object, in particular a moving object, is detected within the monitoring area MA. If an object is detected, the detection unit 42 determines whether the object intends to pass through the automatic swing door 10 or not. Furthermore, it determines from which part of the58.395-2 WO FK 15.12.2025monitoring area the object is approaching the automatic swing door 10. Based on this evaluation, the determination unit then creates evaluation information El.

[0081] This evaluation information El is transmitted to a command unit 46, which converts the evaluation result El into a control signal CS and transmits it to the control unit 50. The control unit 50 converts the control signal CS into a drive command DC, so that the first door drive 24 and the second door drive 34 of the drive unit 60 can be operated accordingly to open and close the door leaves 20, 30.

[0082] In this preferred embodiment of the invention, the detection unit 44 and the acquisition unit 43, the determination unit 42 and the command unit 46 are part of the door sensor 40, which is a device having a sensor housing that is preferably attached to a door frame of the automatic swing door 10.

[0083] The evaluation performed in the determination unit 42, the command unit 46 and the control unit 50 will be described in more detail with reference to Fig. 3a and Fig 3b.

[0084] Fig. 3a shows an example of the evaluation performed by the determination unit 42. The determination unit 42 receives the acquired data from the data acquisition unit 43. In a first step, the determination unit 42 determines whether an object, particularly an object of interest, is present in the monitoring area MA. This means that for example static objects like permanent obstacles are filtered out and not regarded as objects. If an object is detected, the determination unit 42 determines approaching information Al of this object. The approaching information Al provides the information about the approach zone AZ_1, AZ_2 through which the object has approached the door. Accordingly, the approach information can be set at least to a first zone value. According to the invention, the first zone value can be set if the object was determined, as a “minimum criteria”, if the object is approaching the door from a position which is at a distance from the first hinge DfromFH and at a distance from the second hinge DfromSH, with the distance from the first hinge DfromFH being smaller than the distance from the second hinge DfromSH.

[0085] More preferably, as shown in the present example, the approach information can also be set to a second zone value. According to the invention, the58.395-2 WO FK 15.12.2025second zone value can be set if the object was determined to be approaching from a position which is at a distance from the first hinge DfromFH that is greater than the distance from the second hinge DfromSH. To determine the approach information Al, activation zones AZ_1, AZ_2 can be defined, where the activation zones allow positions for which DfromSH>DfromFH or DfromSH<DfromFH, respectively.

[0086] This is a simple way of evaluating the approach information Al.

[0087] In addition to the criterion DfromSH > DfromFH, further criteria can be applied. For example, this can be a further distance criterion, for example being at a minimum distance from the second hinge.

[0088] Furthermore, the determination unit 42 evaluates if the object intends to pass through the door 10. In a very simple way, the intention-to-pass-through condition could be set to be true if the object reaches a specific distance from the door threshold 12.

[0089] An improved evaluation of the intention-to-pass-through condition may include the determination of the speed and the approaching direction as well. Furthermore, parallel traffic rejection algorithms may be applied as well to prevent unnecessary activation of the door.

[0090] When the intention-to-pass-through condition is true, the evaluation information El is determined based on the approach information Al of the object. If the approach information Al is the first zone value, then the evaluation result El is set to a first evaluation result. If the approach information Al is the second zone value, then the evaluation result El is set to a second evaluation result.

[0091] As shown in Fig. 3b, based on this evaluation result, a command unit 46 can determine an appropriate control signal CS to control the door leaves accordingly.

[0092] If the evaluation information El is the first evaluation result, a first control signal can be transmitted. This could for example be a positive signal on a first discrete output port, in particular a relay. If the evaluation information El is the58.395-2 WO FK 15.12.2025second evaluation result, a second control signal can be transmitted. This could for example be a positive signal on a second discrete output port, such as a relay.

[0093] This control signal OS can be used by the control unit 50 to determine a drive command DC. According to the invention, the drive command corresponding to the first evaluation result is the open_second_door_leaf_only command. This triggers the second door drive to fully open the second door leaf.

[0094] In a discrete setup, every door drive may have its own door controller. The drive command DC is implemented by connecting the second door drive via its second controller to the first output port. Such a system can have two master controllers. Accordingly, the first control signal sent by the first output port results in an opening of the second door leaf only.

[0095] Similarly, an open_first_door_leaf_only command is implemented in that the second output port is connected to the first door controller.

[0096] A further command open_both_door_leaves is implemented by sending a positive signal to the first discrete output port and the second discrete output port.

[0097] The first door controller will act on the first door drive, and the second door controller will act on the second door drive accordingly to execute the commands.

[0098] In an alternative solution, the control unit 50 can comprise a first door controller and a second door controller. The first door controller is the master controller, the second door controller is the slave controller. The first door controller can receive the control signal CS, which can already include a command. The first controller can implement the command and act on the first door drive according to the command. Furthermore, it can transmit a command to the second door controller.

[0099] In this master-slave setup, it is possible, in case the second door leaf is a secondary door leaf, to cause the first door leaf, which is a primary door leaf, toopen at an opening angle that is smaller than the passage angle to allow the secondary leaf to open at an opening angle that is greater than the passage angle.58.395-2 WO FK 15.12.2025This function may be regarded as an implementation of an open_second_door_leaf_only command.

[0100] Fig. 4 refers to a first embodiment of the invention. The automatic swing door 10 comprises a first door leaf 20 and a second door leaf 30. Furthermore, the automatic door 10 comprises a first hinge 22 around which the first door leaf 20 is pivotable about a hinge axis. Furthermore, the automatic door 10 comprises a second hinge 32 around which the second door leaf 30 is pivotable about a hinge axis. The automatic door furthermore comprises a first drive 24 that moves the first door leaf 20 and a second drive 34 that moves the second door leaf 30. The automatic door 10 furthermore comprises a control unit 50 that controls the first drive 24 and the second drive 34 to operate the respective door leaf 20, 30 from a closed position to an open position thereof. The control unit can comprise a first door controller 26a and a second door controller 36a.

[0101] The first door controller 26a comprises two communication ports 26a_ll, 26a_l2 that cause a specific operation of the first door leaf. The first door controller 26a comprises a first communication port, at which a closing of the loop results in an operation to open the first door leaf, which is a fully opening operation. The first door controller 26a comprises a second communication port, at which a closing of the loop results in an operation to close the first door leaf, which is a fully closing operation.

[0102] The second door controller 36a comprises two communication ports 36a_ll, 36a_l2, that cause a specific operation of the first door leaf 20.

[0103] Furthermore, the automatic door 10 comprises a door sensor 40 which comprises a detection unit 44 that is an FMCW radar unit. The door sensor 40 is set up to monitor a monitoring area MA. The door sensor 40 is positioned in such a way that its viewing direction of the door sensor 40 is directed to the front of the door 10, which is the side to which the door leaves open. Accordingly, the monitoring area MA is defined in front of the door 10 as well.

[0104] The definition of the monitoring area is predefined and / or defined by the user.58.395-2 WO FK 15.12.2025

[0105] According to this specific embodiment, the door sensor 40 defines a first activation zone AZ_1 in such a way that each point of the boundary line is closer to the first hinge 22 than to the second hinge 32. Accordingly, all positions POS_L of that first activation zone AZ_1 are closer to the first hinge 22 than to the second hinge 32. If an object is determined to have entered the first activation zone AZ_1, the approach information can be set to a first zone value. Furthermore, in a similar way, the door sensor 40 defines a second activation zone AZ_2 which is positioned in such a way that all positions POS_R of that second activation zone AZ_2 are closer to the second hinge 32 than to the first hinge 22. In this example, both the first activation zone AZ_1 and the second activation zone AZ_2 are of rectangular shape.

[0106] Furthermore, the door sensor defines an opening zone OZ within the monitoring area MA. The opening zone OZ is closer to the door threshold 12 than the first activation zone AZ_1 and the second activation zone AZ_2.

[0107] The door sensor 40 comprises a determination unit 42 to determine a certain location of an object 01 in the monitoring area MA. The determination unit 42 uses the results of the detection unit 44. The determination unit 42 evaluates the monitoring area MA in that it determines whether an object 01, while approaching the door threshold, has passed through the first activation zone AZ_1 or the second activation zone AZ_2. The determination unit 42 sets approaching information Al of the object to a first zone value or to a second zone value, respectively, as soon as the object 01 enters the first activation zone AZ_1 or the second activation zone AZ_2. All positions within the first activation zone AZ_1 are positions POS_L that are closer to the first hinge than to the second hinge. All positions within the second activation zone AZ_2 are positions POS_R that are closer to the second hinge than to the first hinge.

[0108] Furthermore, the determination unit 42 determines whether the object 01 intends to pass through the door. In this example, this is concluded if the object reaches a certain trigger distance TD to the opening zone OZ. To do so, the determination unit 42 determines the distance of the object 01 from the opening zone OZ. Once the objects 01 reaches the trigger distance TD, the intention-to-58.395-2 WO FK 15.12.2025pass-through condition is set to be true and the evaluation information is sent to the command unit 46.

[0109] According to this example, the determination unit 42 determines the trigger distance D in such a way that it determines the distance in the moving direction of the object 01. Preferably, the trigger distance is a variable distance that depends on the speed of the object 01. The determination unit determines the speed of the object 01 and calculates the trigger distance TD according to a predefined algorithm.

[0110] The door sensor 40 furthermore comprises a command unit 46. Upon receiving the evaluation information El, the command unit 46 determines an appropriate command. In this case, the evaluation information only contains the approach information Al, which in this case has been set to the first zone value. Accordingly, the evaluation information El is set to a first evaluation result.

[0111] In the command unit, the first evaluation result results in a specific control signal CS. In this example, the door sensor 40, more specifically the command unit 46, comprises a first relay output port 46a and a second relay output port 46b that outputs a first control signal CS_1 by closing the second relay output port 46b in order to execute an open_second_door_leaf_only command.

[0112] In this example, the open_second_door_leaf_only is implemented by connecting the second relay output port 46b to a first input port of the second door controller 36a_l 1 that opens the door leaf if the loop on the first input port is closed.

[0113] If the approach information Al were set to the second zone value SZV, the command open_first_door_leaf_only would be executed by the control unit 50. The open_first_door_leaf_only command is implemented by connecting the first relay output port 46a to a first input port 26a_l 1 of the first door controller 26 that opens the door leaf 20 if the loop on the first input port is closed.

[0114] According to the invention, as shown in Fig. 4, if an object 01 is approaching the door threshold 12 via the first activation zone AZ_1, the automatic door 10 opens the door leaf opposite to its approaching position of the object 01. This prevents the first door leaf from interfering with the path of the object whilst58.395-2 WO FK 15.12.2025the latter is approaching the second door leaf. Furthermore, as it is sufficient to open only one door leaf, this avoids any unnecessary opening of the first door leaf, which results in reduced wear and reduces climatic influence on the room behind the door (draft, heat loss, etc..).

[0115] The present invention thus proposes a smart swing door, which reduces the influence of any unnecessary opening of the door and nevertheless provides high comfort for users while passing through the door.

[0116] Fig. 5 shows an improved embodiment of an automatic swing door 10, according to the invention, where the general setup is the same.

[0117] In contrast to Fig. 4, the first door leaf 20 is a primary door leaf, and the second door leaf 30 is a secondary door leaf.

[0118] The automatic door according to the described embodiment has a further operation option, namely to move the primary door leaf from a closed position to a slightly open position, so as to allow the secondary leaf to open. This is called a limited opening operation. The control unit 50 comprises a receiving means to receive control signals upon which the intended operation is executed. The control unit 50 comprises a master control unit 52, which comprises a door controller, and a slave control unit 54, which comprises a door controller.

[0119] A respective control signal is sent to the control unit 50, more specifically to the master control unit 52, which comprises a door controller. If the control signal to open only the secondary door leaf is received by the master control unit, the master control unit opens the first door leaf 20 to allow the secondary door leaf 30 to open. After that, the master control unit 52 sends a command to the slave control unit 54 to open the second door leaf 30.

[0120] Furthermore, to evaluate the intention-to-pass-through condition the determination unit 42 performs a graphical evaluation.

[0121] The determination unit 42 is embodied in such a way that it defines a door opening zone OZ, which is predefined within the monitoring area MA. The object 01 is tracked in such a way that an object rectangle OR is assigned to the object 01, which object rectangle OR has a first edge and a second edge. The first58.395-2 WO FK 15.12.2025edge has a length that is related to the speed of the object 01. The rectangle is oriented in such a way that its first edge is parallel to the moving direction of the object 01. The object rectangle is placed in such a way that the centre of the second edge is aligned with a centre of gravity of the object 01. The width of the second edge can be a fixed width or can be set in relation to a determined width of the object. The object rectangle OR moves with the object.

[0122] The determination unit 42 determines that the intention-to-pass-through condition is true when the object rectangle OR intersects the opening zone OZ.

[0123] Preferably, the opening zone OZ is defined in such a way that its length in a direction perpendicular to the door threshold 12 is smaller than the width of the door, more preferably smaller than half the width of a door leaf, and that its length in a lateral direction is smaller than the distance between the first hinge 22 and the second hinge 32.

[0124] Furthermore, the determination unit 42 determines the size of the object 01 and, when the size of the object is found to be too big to pass through a single door leaf, a control signal is sent that will lead to an operation that causes both door leaves to be opened.

[0125] Moreover, a third activation zone AZ_3 can be defined between the first activation zone AZ_1 and the second activation zone AZ_2. The control signal related to an object approaching the door via the AZ_3 zone is to open the primary door leaf.58.395-2 WO FK 15.12.2025List of Reference Signs

[0126] 10 automatic swing door12 door threshold20 first door leaf22 first hinge24 first door drive30 second door leaf32 second hinge34 second door drive40 door sensor42 determination unit43 data acquisition unit44 detection unit46 command unit50 control unit52 master control unit54 slave control unit60 drive unitAl approach informationAZ_1 first approach zoneAZ_2 second approach zoneAZ_3 third approach zoneOS control signalDfromFH distance from first hingeDfromSH distance from second hinge58.395-2 WO FK 15.12.2025El evaluation informationBl boundary line of first approach zone AZ_1B2 boundary line of second approach zone AZ_2MA monitoring area01 objectOR object rectangleOZ opening zonePOS-L positionPOS-R position 95-2 WO FK 15.12.2025

Claims

-25-Claims1. Automatic double swing door (10) defining a door threshold (12), comprising a first door leaf (20) and a second door leaf (30), where the automatic double swing door (10) comprises a first hinge (22) around which the first door leaf (20) is pivotable from a closed position to an open position thereof, a second hinge (32) around which the second door leaf (30) is pivotable from a closed position to an open position thereof, which automatic swing door (10) furthermore comprises a first door drive (24) for operating the first door leaf (20) and a second door drive (34) for operating the second door leaf (30), which the automatic swing door (10) comprises a control unit (50) for receiving control signals and for controlling the first door drive (24) and the second door drive (34) according to the control signals received, wherein, furthermore, the automatic swing door (10) comprises a door sensor (40) for monitoring a monitoring area (MA), with the door sensor (40) evaluating the monitoring area (MA) with respect to at least one object in the monitoring area (MA), with the door sensor (40) determining an evaluation result and providing the control signal (CS) to the control unit (50) depending on the evaluation result, which the door sensor (40) comprises a determination unit (42) that determines whether the at least one object (01) intends to pass over the door threshold (12), characterized in that the determination unit (42) determines whether the object (01) is approaching the door threshold (12) from a position (POS_L) within the monitoring area (MA) which is closer to the first hinge (22) than to the second hinge (32), furthermore, the door sensor (40) is embodied in such a way that, under the condition that the object (01) intends to pass through, 95-2 WO FK 15.12.2025the door sensor (40) can send a control signal (CS) to the control unit (50), upon which the control unit (50) acts on the second door drive (34), or on the first door drive (24) and on the second door drive (34), to open only the second door leaf (30) at an opening angle that allows the object (01) to pass through.

2. Automatic swing door (10) according to claim 1, characterized in that the determination unit (42) determines whether the object (01) is approaching the door threshold (12) from a position (POS_R) within the monitoring area (MA) which is closer to the second hinge (32) than to the first hinge (22), with the door sensor (40) being embodied in such a way that, under the condition that the object (01) intends to pass through, the door sensor (40) can send a control signal (CS) to the control unit (50), upon which the control unit (50) acts on the first door drive (24), or on the first door drive (24) and on the second door drive (34), to open only the first door leaf (20) at an opening angle that allows the object (01) to pass through.

3. Automatic swing door (10) according to claim 1, characterized in that the determination unit (42) comprises at least one first zone (AZ_1) that is defined within the monitoring area (MA), which first zone (AZ_1) is delimited by a boundary line (Bl), with each point of the boundary line (Bl) being located at a distance from the first hinge (DfromFH) and a distance from the second hinge (DfromFH), where the first zone (AZ_1) is defined in such a way that, for each point of the boundary line (Bl), the distance from the first hinge (DfromFH) is smaller than the distance from the second hinge (DfromSH), where in order to determine whether the object (01) is approaching the door threshold (12) from a position (POS_L) within the 95-2 WO FK 15.12.2025monitoring area (MA) which is closer to the first hinge (22) than to the second hinge (32), the determination unit (42) sets approach information to a first value when the object enters the first zone (AZ_1).

4. Automatic swing door according to any one of the preceding claims 2 to 3, characterized in that the determination unit (42) comprises a definition of at least one second zone (AZ_2), which is predefined within the monitoring area (MA), which second zone (AZ_2) is delimited by a boundary line (B2), with each point of the boundary line (B2) being at a distance from the first hinge (DfromFH) and a distance from the second hinge (DfromFH), wherein the second zone AZ_2 is defined in such a way that, for each point of the boundary line (B2), the distance from the second hinge (DfromSH) is smaller than the distance from the first hinge (DfromFH), and wherein the determination unit (42) determines whether the object (01) has entered the second zone (AZ_2) in order to determine if the object (01) is approaching the door threshold (12) from a position (POS_R) within the monitoring area (MA) which is closer to the second hinge (32) than to the first hinge (22), the determination unit sets approach information to a second value when the object enters the second zone (AZ_2).

5. Automatic swing door (10) according to any one of the preceding claims 1 to 4, characterized in that the determination unit (42) determines an intention-to-pass-through condition, and that the control signal (CS) is sent to the control unit (50) in case the intention-to-pass-through condition is determined to be true. 95-2 WO FK 15.12.2025-28-6. Automatic swing door (10) according to any one of the preceding claims 1 to5, characterized in that the determination unit (42) is embodied in such a way that a door opening zone (OZ) is predefined within the monitoring area (MA), and that the object (01) is tracked in such a way that an object rectangle (OR) is assigned to the object (01), where the object rectangle (OR) has a first edge of a length that is related to the speed of the object (01), and that the first edge has an orientation that is related to the moving direction of the object (01), which object rectangle (OR) has a second edge, with the centre of the second edge being aligned with a centre of gravity of the object (01), the determination unit (42) determines that the intention- to-pass-through condition is true when the object rectangle (OR) intersects the opening zone (OZ).

7. Automatic swing door (10) according to any one of the preceding claims 2 to6, characterized in that the opening zone (OZ) is defined in such a way that its length in a direction perpendicular to the door threshold (12) that is smaller than the width of the door, in particular smaller than half the width of the first door leaf (20), and that its length in a lateral direction is smaller the distance between the first hinge (22) and the second hinge (32).

8. Automatic swing door (10) according to any one of the preceding claims 3 to 7, characterized in that the determination unit (42) tracks the object by assigning a position rectangle (PR) to the object (01), which position rectangle is centered on the point of gravity of the object (01), wherein the determination unit (42) determines that the object (01) enters the first zone (AZ_1) when the position rectangle (PR) touches or intersects the boundary 95-2 WO FK 15.12.2025-29- line of the first zone AZ_1, and determination unit (42) determines that the object (01) enters the second zone (AZ_2) when the position rectangle (PR) touches or intersects the boundary line of the second zone AZ_2.

9. Automatic swing door (10) according to any one of the preceding claims 1 to 8, characterized in that the determination unit (42) sets approach information to a first approach value, if it determines that the object (01) has entered the first zone (AZ_1) and sets the approach information to a second approach value, if it determines that the object (01) has entered the second zone (AZ_2).

10. Automatic swing door (10) according to any one of the preceding claimsl to9, characterized in that the first leaf (20) is a main / primary leaf and the second leaf (30) is the secondary leaf, where for opening only the second leaf (30) at least at a passage angle, the first leaf (20) is opened at an angle which is smaller than the passage angle.

11. Automatic swing door (10) according to any one of the preceding claims 1 to10, characterized in that the door sensor (40) comprises a detection unit (44) that is an FMCW-radar unit or a laser scanner unit.

12. Automatic swing door (10) according to any one of the preceding claims 1 to11, characterized in that the control unit (50) comprises a master control unit (52) and a slave control unit (54).

13. Method for controlling an automatic door (10) according to the preamble of claim 1, characterized in that, a) it is determined whether an object is approaching the door via the first activation zone (AZ_1), which first activation zone (AZ_1) is defined in such a way that all the possible 95-2 WO FK 15.12.2025-30- positions of an object (01) within the first activation zone (01) are closer to the first hinge (22) than to the second hinge (32), or via a second activation zone (AZ_2), which the second activation zone (AZ_2) is defined in such a way that all the possible positions in the second activation zone (AZ_2) are closer to the second hinge (32) than to the first hinge (22) b) if the object intends to pass through and if the object is approaching via the first activation zone (AZ_1), the second door leaf (30) is opened to allow the object (01), in particular a pedestrian, to pass through, and the first door leaf (20) remains closed or is opened only at an opening angle required to allow the second door leaf (30) to open; or c) if the object intends to pass through and if the object is approaching via the second activation zone (AZ_2), the first door leaf (20) is opened to allow the object (01), in particular a pedestrian, to pass through.

14. Method according to claim 13, characterized in that, if an object is approaching via the second activation zone, a control signal (OS) is transmitted to the control unit (50) which causes the first door leaf (20) to fully open, with the second door leaf (30) remaining closed, wherein furthermore if an object (01) is approaching via the second activation zone, a control signal (OS) is transmitted to the control unit (50) which causes the second door leaf (30) to fully open, with the first door leaf (20) remaining closed.

15. Method according to claim 13 or 14, characterized in that the intention-topass-through condition is determined by determining the distance of an 95-2 WO FK 15.12.2025object, in such a way that the intention-to-pass-through condition is found to be true when the object reaches a predefined distance from the door threshold (12).

16. Method according to claim 15, characterized in that the predefined distance can be predefined by an algorithm that calculates the distance depending on the speed of the object.

17. Method according to any one of the preceding claims 13 to 16, characterized in that the first door leaf (20) is a primary door leaf and the second door leaf (30) is a secondary door leaf, wherein for opening the secondary door leaf, the primary door leaf is opened up at an opening angle that is smaller than a predefined passage angle.

18. Method according to any one of the preceding claims 13 to 17, characterized in that the size of the object is determined, wherein, if the width of the object is determined to be greater than the width of the first door leaf (20), then both door leaves will be opened. 95-2 WO FK 15.12.2025

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