EP4043684A1 - Method for operating a door system - Google Patents

Abstract

The invention relates to a method for operating a door system (100) with a door leaf (10) that can be moved by means of a door operator and with a sensor unit (11) that is at a height (h) above a floor (12) of the door system (100) and with which the approach of a person (13) to the door leaf (10) is detected by means of a control unit (15), the method having at least the following steps: determining a direct distance (D') between the sensor unit (11) and the person (13) by means of the sensor unit (11); determining a horizontal distance (D) between the sensor unit (11) and the door leaf (10) by means of a geometric relationship of the person (13), the door leaf (10) and the height (h) of the sensor unit (11); Determining the estimated time of approach (ETA) of the person (11) based on the determined horizontal distance (D) and opening the door leaf (10). The invention also relates to a door system (100) with a control unit (15) with which the method can be carried out.

Description

The invention relates to a method for operating a door system with a door leaf that can be moved by means of a door operator, and with a sensor unit that is arranged at a height above a floor of the door system and with which the approach of a person to the door leaf is detected by means of a control unit becomes. The invention is also aimed at a door system with a control unit with which such a method can be carried out.

STATE OF THE ART

The automatic operation of door systems with one or more door leaves is known for sliding doors and swing doors. The sensor units, which are usually stationarily arranged above the door leaf on the lintel or on the wall in which the door system is installed, are located at a considerable height above the floor, with the floor of the door system usually also being the floor that Area in front of and behind the door leaf and which is walked on by people.

When operating automatic door systems, there has been an increasing demand in recent years for needs-based control the movement of the door leaf, in particular in order to control the movement of the door leaf in such a way that one or more people can pass through the door system unhindered, but the door leaf does not remain in the open position longer than necessary, for example. This also includes not opening the door leaf unnecessarily early, especially in cold weather.

Especially when sensor units with radar sensors are used, distances, speeds and directions of movement of people can be detected with the radar sensors, and the information about one or more detected people is transmitted to a control unit of the door system, which finally calculates the corresponding movement parameters for the door leaf . In this respect, these movement parameters are based on the measured values of the at least one sensor unit, it being possible for the sensory detection of one or more persons, for example, to be faulty. In this respect, it is desirable to reduce and in particular to avoid erroneous sensor data for feeding a control unit by means of sensors as far as possible.

For example, the WO 2008/084058 A2 a door system with a door leaf, and above the door leaf a sensor unit is attached, which is positioned at a considerable height above the floor of the door system. Small people, such as children, are detected more from above than from the front, especially in the vicinity of the door leaves, so that the sensor data provided by the sensor unit to the control unit are only qualified to a limited extent in order to perform a well-adapted movement of at least one door leaf, in particular a rotating leaf .

DISCLOSURE OF THE INVENTION

The object of the invention is improved operation of a door system with a door leaf, and improved detection of objects, in particular people, should be made possible in order to provide high-quality data to a control unit in order to control the door leaf of the door system as optimally as possible.

This object is achieved based on a method according to the preamble of claim 1 and based on a door system according to claim 11 with the respective characterizing features. Advantageous developments of the invention are specified in the dependent claims.

The method according to the invention has at least the following steps: determining a direct distance between the sensor unit and the person by means of the sensor unit; determining a horizontal distance between the sensor unit and the door panel using a geometric relationship between the position of the person, the door panel and the height of the sensor unit; Determination of the probable approach time of the person on the basis of the determined horizontal distance and opening of the door leaf.

The core idea of the invention is to eliminate the relatively high height of the arrangement of the sensor units above the ground by calculation, so that the sensor unit provides measurement data that no longer have the height error of the sensor unit, or the sensor unit can provide conventional measurement data and in the control unit the large installation height of the sensor unit above the door leaf can be calculated.

The result is improved data quality for controlling the door leaf, since the distance between the person and the door system can be determined much more precisely. Consequently, the control of the movement of the door leaf can also be improved. The direct distance between the sensor unit and the person relates to the distance that runs obliquely in the geometric relationship if it has to be assumed that the sensor unit is arranged significantly higher than the height of the person, for example a child. This effect comes into play in particular with very high doors and when children walk through the door system.

The horizontal distance can be, for example, the distance between the person and the door system, which is directly above the floor of the door system, with the horizontal distance also being determined with sufficient accuracy if it can be determined using a distance above the floor, which, however, is not is larger than the person's height. In this case, detecting the distance of the person, the speed of movement or also the direction of movement of the person is a question of the alignment of the so-called radar lobe, which depends on the arrangement of the radar antenna. Regardless of the alignment of the radar antenna and thus the radar lobe, the mathematical elimination of the mounting height of the sensor unit can lead to a significant improvement in the data quality that is supplied by the sensor unit or that is calculated by the control unit for controlling the door leaf.

A correction value is advantageously determined by means of the geometric relationship, which forms a factor between the direct distance and the determined horizontal distance: D′·k=D. The correction value is denoted by k and the direct distance is denoted by D', so finally the horizontal distance is denoted by D.

The anticipated approach time is the time that still elapses when the person moves towards the door system at the determined distance and the determined approach speed. In order to precisely determine the probable approach time according to the distance-time law, it is therefore necessary to determine the essentially horizontal distance between the person and the door system. If, according to the invention, the large mounting height of the sensor unit is calculated using the geometric relationship and the horizontal distance is used as a basis for the distance-time law, the probable approach time for the person to reach the door system can be determined much more precisely than with conventional methods.

For example, the geometric relationship is based on determining an angle between a leg along the direct distance and a leg along the horizontal distance. In particular, the angle can result in: u=sin ⁻¹ (h/D′). The correction value is determined in particular by: k=cos(u).

The correction value can change in particular as the person approaches the door system, since the angle between the horizontal and the direct distance between the person and the sensor unit increases continuously as the person approaches the door system.

The door system has in particular a door operator which is controlled by the control unit, with the door operator in particular also having the control unit. The determination of the correction value the horizontal distance and finally the estimated time of approach carried out in particular with the control unit. However, it is also conceivable that at least the determination of the horizontal distance from the person is already determined with the sensor unit, so that the value corrected by the correction factor k is sent from the sensor unit to the control unit.

With further advantage, the control device can have a RAM memory in which the correction value k is stored. In particular, the method provides that after the sensor unit has been installed, the height of the sensor unit above the ground is determined, and the resulting correction value k is stored in the RAM memory.

It is also conceivable that during the installation of the door system with the door operator, the height of the installed sensor unit above the floor is entered manually into the control unit by an operator. With the input of the height h into the control unit, the correction value can consequently also be determined internally in the control, since only the installation height h of the sensor unit has to be determined as a variable variable when the door system is installed.

A correction value is preferably determined only if the deviation of the direct distance between the sensor unit and the person and the determined horizontal distance is more than 10%. This reduces the required computing power so that the calculation does not have to be carried out every time the door system is inspected. This is particularly advantageous when several people enter the door systems at the same time.

In particular, a door system is placed under protection with which the method according to one of claims 1 to 10 according to the invention can be carried out.

The door system is designed in particular as an automatic sliding door system, as a folding door system, as a swing door system or as a revolving door system.

Features and details that are described in connection with the method according to the invention also apply in connection with the door system according to the invention and vice versa. The features mentioned in the description and in the claims can each be essential to the invention individually or in combination.

Furthermore, the invention is aimed at a computer program product for implementation in a control unit of a door system with the features described above, which is designed to carry out the method according to the invention in accordance with the above description.

PREFERRED EMBODIMENT OF THE INVENTION

Figur 1

eine erste schematische Darstellung einer Türanlage mit einer oberhalb eines Türflügels angeordneten Sensoreinheit, wobei die Türanlage von einer Person begangen wird und

Figur 2

die Türanlage gemäß Fig. 1 mit der Person, die sich der Türanlage weiter genähert hat.

Further measures improving the invention are presented in more detail below together with the description of a preferred exemplary embodiment of the invention with reference to the figures. It shows:

figure 1

a first schematic representation of a door system with a sensor unit arranged above a door leaf, the door system being walked on by a person and

figure 2

the door system according to 1 with the person who has approached the door system further.

figure 1 FIG. 1 shows a door assembly 100 in a wall 14, and the door assembly 100 includes a door panel 10 shown in a closed position. A sensor unit 11 is arranged above the door leaf 10 . The sensor unit 11 is fixed at the height h above the floor 12, with the floor 12 also forming part of the passage area of the door system 100, which in this respect has the same height.

The person 13 is located at a horizontal distance D away from the door system 100. Due to the mounting height h of the sensor unit 11, there is a direct distance D' between the person 13 and the sensor unit 11, and the direct distance D' runs obliquely and is consequently longer than the horizontal distance D between the person 13 and the door system 100.

If the door system 100 is operated, the following method is carried out with the control unit 15: determining the direct distance D′ between the sensor unit 11 and the person 13 by means of the sensor unit 11 by conventionally detecting the person 13; Determining a horizontal distance D between the sensor unit 11 and the door leaf 10 by means of a geometric relationship between the position of the person 13, the position of the door leaf 10 and the position of the sensor unit 11 of height h; and the probable approach time ETA of the person 11 is determined on the basis of the ascertained horizontal distance D, after which an opening of the door leaf 10 is finally triggered by the control unit 15 .

The anticipated approach time ETA is the time that the person 13 needs in relation to their current position and in relation to the current speed of movement towards the door system 100 in order to arrive at the door system 100 and to pass through it. Based on the Approaching time ETA, the control unit 15 can finally determine an optimal movement of the door leaf 10, in particular with regard to the opening time, the opening holding time and the subsequent closing of the door leaf 10. The horizontal distance D can, for example, using the Pythagorean theorem or on the basis of the relationship υ = sin ^{- 1} (h/D') can be determined.

figure 2 shows the door system 100 according to FIG figure 1 with the door leaf 10, the control unit 15 and the door operator 16 in the arrangement of the wall 14. The sensor unit 11 is arranged above the door leaf 10 at the height h. Compared to the first position with the horizontal distance D1, the person 13 has already moved further towards the door system 100, so that the distance from D1 to D is reduced. This also reduces the direct distance D1 'to D. The direct distance D' is consequently measured even more obliquely than the direct distance D' with the more distant person 13. As a result, the angle υ1 to υ is larger, since the geometric relationship between the person 13, the position of the sensor unit 11 in the mounting height h and the reduced horizontal distance D has changed. As a result, the correction value k also changes according to the relationship D' · k = D continuously as the person 13 approaches the door system 100. The correction is thus carried out continuously during the phase in which the person 13 approaches the door leaf 10, so that for each position the correct horizontal distance D can be determined from the approach.

Based on the horizontal distance D, the control unit 15 consequently calculates the expected approach time ETA, which in this respect has been determined more precisely. The control of the door operator 16 for moving the door leaf 10 via the control unit 15 can also be controlled in an improved manner, in particular by an optimum To determine the opening time, an optimal opening time and also an optimal closing time of the door leaf 10 .

The invention is not limited in its implementation to the preferred exemplary embodiment given above. Rather, a number of variants are conceivable which make use of the solution shown even in the case of fundamentally different designs. All of the features and/or advantages resulting from the claims, the description or the drawings, including structural details or spatial arrangements, can be essential to the invention both on their own and in a wide variety of combinations.

Reference list:

100

door system

10

door leaf

11

sensor unit

12

floor

13

person

14

Wall

15

control unit

16

door operator

D

horizontal distance

D'

direct distance

D1

horizontal distance

D1'

direct distance

H

Height

υ

angle

υ1

angle

ETA

approach time

Claims (13)

Method for operating a door system (100) with a door leaf (10) that can be moved by means of a door operator, and with a sensor unit (11) that is arranged at a height (h) above a floor (12) of the door system (100). and with which the approach of a person (13) to the door leaf (10) is detected by means of a control unit (15), the method having at least the following steps: - determining a direct distance (D') between the sensor unit (11) and the person (13) by means of the sensor unit (11), - Determining a horizontal distance (D) between the sensor unit (11) and the door leaf (10) by means of a geometric relationship of the person (13), the door leaf (10) and the height (h) of the sensor unit (11), - determining the estimated time of approach (ETA) of the person (13) based on the determined horizontal distance (D) and - Opening the door leaf (10). Method according to claim 1,
characterized,
that a correction value (k) is determined by means of the geometric relationship, which forms a factor between the direct distance (D') and the determined horizontal distance (D) to D' k = D. Method according to claim 1 or 2,
characterized,
that the geometric relationship is based on the determination of an angle (υ) between a leg along the direct distance (D') and a leg along the horizontal distance (D). Method according to one of claims 1 to 3,
characterized,
that the angle is determined by:
υ = sin ^-1 (h/D'). Method according to one of claims 1 to 3,
characterized,
that the correction value (k) is determined as k = cos (υ). Method according to one of the preceding claims,
characterized,
that the correction value (k) changes as the person (13) approaches the door system (100), the correction value (k) continuously depending on the distance of the person (13) from the door system (100) by means of the control unit (15). is adjusted. Method according to one of the preceding claims,
characterized,
that the door system (100) has a door operator (16) which is controlled by the control unit (15) and/or which has the control unit (15), the determination of the correction value (k), the horizontal distance (D) and finally of the estimated time of approach (ETA) with the control unit (15). Method according to one of the preceding claims,
characterized,
that the control device has a RAM memory in which the correction value (k) is stored. Method according to one of the preceding claims,
characterized,
that when installing the door system (100) with the door operator (16), the height (h) of the installation of the sensor unit (11) above the floor (12) is entered into the control unit (15). Method according to one of the preceding claims,
characterized,
that a correction value (k) is only determined if the deviation of the direct distance (D') between the sensor unit (11) and the person (13) and the ascertainable horizontal distance (D) is more than 10%. Door system (100) with a control unit (15) with which the method according to one of the preceding claims can be carried out. Door system (100) according to claim 11,
characterized,
that the door system (100) is designed as an automatic sliding door system, as a folding door system, as a swing door system or as a revolving door system. Computer program product for implementation in a control unit (15) of a door system (100) according to Claim 11 or 12, which is designed to carry out a method according to one of Claims 1 to 10.

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