AU2023202059A1 - Method for controlling a door system - Google Patents

Abstract

METHOD FOR CONTROLLING A DOOR SYSTEM 5 Method for controlling a door system (100), in particular a sliding door system, with the door system (100) having a door drive (10), with which a movement of at least one leaf element (11) of the door system (100) is carried out, and with at least one sensor unit (12) being configured to provide sensor data (13) and having a sensor detection region (14), with at least one object, in 10 particular a plurality of objects (15), being detected within the sensor detection region (14) by means of the sensor unit (12) during a detection period and their position and/or movement and/or contour being output, in particular continuously, as sensor data (13), with a regulating unit (16) being configured which continuously and dynamically on an ongoing basis regulates the position 15 of the leaf element (11) based on the sensor data (13) as a function of the position and/or the movement and/or the contour of at least one object (15). (See Fig. 1) C) 0 81

Description

C)

Australian Patents Act 1990

ORIGINAL COMPLETE SPECIFICATION STANDARDPATENT

Invention Title Method for controlling a door system

The following statement is a full description of this invention, including the best method of performing it known to me/us:- la

The present invention relates to a method for controlling a door system, in particular a sliding door system, with the door system having a door drive, with which a movement of at least one leaf element of the door system is carried out, and with at least one sensor unit being configured to provide sensor data and having a sensor detection region, with at least one object, in particular a plurality of objects, being detected within the sensor detection region by means of the sensor unit during a detection period and their position and/or movement and/or contour being output, in particular continuously, as sensor data. Furthermore, the invention is aimed at a door system with a regulating unit for carrying out such a method.

STATE OF THE ART Door drives are known, which are connected to sensor units designed to detect people, for controlling automatic door systems, in particular sliding doors. Such door systems are controlled by control units that record the sensor data of the sensor units and output corresponding control pulses to the door drive. For example, DE 203 20 497 U1 shows a door system with a door drive and with a sensor unit, with the sensor unit serving as a presence sensor and with which the presence of people in a detection zone can be detected in order to actuate the door system and to open a door leaf when a person is present such that when the person is detected, the opening of the door leaf of the door system is triggered via the door drive. It is stated here that radar sensors can be used as the presence sensor, with radar sensors preferably being used in order to detect objects and in particular people in the distant region and to output corresponding presence information to the controller. Disadvantageously, however, usually only a simple opening pulse is then generated by the control unit as soon as the sensor unit detects the presence of a moving person and the detection is transmitted to the control unit in the form of corresponding sensor data. A leaf movement can be triggered, but this often starts too early or too late or is inappropriate in some other way, for example if the opening movement of the door leaf is too slow or the opening hold duration is too short or too long. An optimum for controlling door systems is, in particular, making it possible for people to pass through the door system in such a way that the movement of the at least one leaf element does not affect the walking movement of the person. On the other hand, however, the opening duration of the door leaf should not last too long, for example in order to minimize heat loss indoors when outside temperatures are low. In this respect, the leaf element should not be guided out of the closed position for longer than necessary in order to avoid energy losses. If the leaf elements move too quickly, wear and tear of the door system increases unnecessarily, and it is often the case that a person enters the sensor detection region but actually has no desire to enter the door system. As a result, many opening movements of leaf elements are carried out by door systems without a person passing through the door system. These disadvantages often result from the functioning of sensors of the sensor units which are not always reliable. It may for example happen that a person approaching a door system must interrupt the advancing movement if the leaf element opens too late as the unit has detected the person too late. If the person has passed the door system, the leaf element should be prevented from closing too early if there is a further malfunction of the second sensor unit. Controlling the leaf elements becomes more complex when there are a plurality of people, since care must always be taken to ensure that other people can also comfortably pass through the door system. Automatic door systems are usually equipped with sensor units that detect and evaluate approaching people and, if necessary, send a simple opening signal to the control unit of the door actuator of the automatic door system. The sensor units work on the basis of infrared light, radar technology or imaging technologies such as a camera with assigned image evaluation. The decision to transmit a signal for actuating the door, in particular to initiate an opening process, takes place through the sensor unit, and each signal from the sensor unit results in the door leaf of the automatic door system opening immediately. Although it is possible with modern control units to adapt the control signal to the leaf element as a function of the movement pattern of the at least one person, this adaptation usually takes place by way of a presetting or at least by way of algorithms preprogrammed in the control unit.

DISCLOSURE OF THE INVENTION The object of the invention is the further improvement of a method for operating a door system, in which the response behavior of the door leaf can be further adapted based on the behavior of the at least one object, in particular in the form of a person. Further advantageously, the method should be able to be operated with a minimum number of sensor units, which can be equipped with further functions during operation and in cooperation with the control of the door drives. This object is achieved proceeding from a method according to the preamble of the claim 1 and also proceeding from a door system according to claim 12 each with the characterizing features. Advantageous further developments of the invention are each indicated in the dependent claims. The method according to the invention for controlling a door system provides that a regulating unit is configured, which continuously and dynamically on an ongoing basis regulates the position of the leaf element based on the sensor data as a function of the position and/or the movement and/or the contour of at least one object. The core idea of the invention is the creation of a method for controlling a door system that does not use a control unit known per se to issue fixedly predetermined control commands to the door drives, but rather a regulating unit is configured which regulates the position of the leaf element as a direct function of the movement and/or the contour of the object, with the object usually being formed by a person. This regulation takes place, in particular in a closed control loop, over the entire period of time for which the object is located in the sensor detection region of the at least one sensor unit. This means that the movement of the person towards the door triggers a continuous opening movement of the leaf element. However, if the person moves away from the leaf element of the door system again, the leaf element closes again. In the same way, the object can change position transversely in front of the door system, and the leaf element will open according to the transverse movement of the object. In the same way, the speed of the movement of the object can also influence the opening speed of the leaf element. If the object approaches the door unit slowly, the leaf element only carries out a slow opening movement or the opening movement takes place later, and if the object approaches the door system very quickly, the leaf element also carries out a correspondingly fast opening movement or the opening movement takes place earlier. The triggering distance as the distance of the person and/or the object from the leaf element, in particular as the current distance of the person and/or the object from the leaf element, can also be taken into account. Since the sensor unit does not detect the person or the object as a point but as a contour, the minimum distance of the contour from the leaf element or the minimum distance of a main focus of the contour from the leaf element can be used as the distance of the person and/or the object from the leaf element. In particular in the case of two leaf elements of the door system, these can be regulated or readjusted continuously and dynamically on an ongoing basis independently of one another such that, for example, an entry path is released through the door system between the two door elements. If, for example, two objects enter the door system next to each other, the regulation takes place in a way that allows two objects to enter the door system at the same time. A method is thus proposed in which the control of the door system is configured based on a regulating unit, with a real-time-like response of the leaf element immediately following the movement or the contour of the object. The movement and the contour of the object also includes, for example, an arm or leg movement. For example, if a person puts a hand between the leaf elements, this movement is detected by the sensor unit in the same way, and the at least one leaf element releases an opening region for the hand or leg of the person. The same applies, for example, to rollators, strollers, hospital beds, children in close proximity to their parents, to objects carried by people and the like. In this respect, the sensors are in particular 3D sensors which, with a corresponding evaluation of the captured image, make sensor data available in such a way that enables the regulating unit preferably with a closed control loop to have a movement pattern of the at least one leaf element that is always adapted to the current position, speed and/or movement of the object and/or the contour of the object. In particular, with the regulating unit, the door drive is actuated continuously on an ongoing basis at least over the detection period of the object in the sensor detection region. As soon as a sensor unit detects an object in the sensor detection region, the regulating unit is activated accordingly and the door drives are continuously actuated, in particular without using predetermined opening and movement patterns of the leaf element for this purpose. According to an advantageous further development of the method, it is conceivable that the regulating unit increases an opening width of the door leaf when the object continuously approaches the leaf element and reduces it further or again when the object continuously moves away from the leaf element. This immediately following movement behavior of the leaf element following the behavior of the object is made possible by the regulating unit through a control loop, with the control loop comprising the sensor unit with the sensor data, the regulating unit and the door drive. In particular, the opening width can mean the width that is released by the leaf element for a passage through the door system. If a plurality of leaf elements are arranged in a door system, an opening width of the door system can accordingly be composed of the individual opening widths of the plurality of leaf elements. Alternatively or cumulatively, the change of the opening width of the leaf element can follow the movement, the approach and the distance of the object from the door system and/or the contour of the object. In particular, the contour can change when a person pushes or pulls an object in front of them, stretches out their arm, stretches out their leg, or makes any other movement. Due to the change of the contour of the object, there is also a change of the position of the at least one leaf element, even if the object itself remains at a fixed point. Of course, an actual position of the leaf element can also be transmitted by the door drive to the regulating unit such that based on the actual position of the leaf element, the regulating unit can continue to actuate the door drive such that the position of the leaf element can directly follow the change of the position of the object. Further advantageously, the sensor unit is configured such that the sensor detection region can extend into a passage region of the door system, and the at least one object can also be detected in the movement region of the leaf element. A passage region of the door system can be understood to be a plane and/or the immediate vicinity of the plane which is covered by the at least one leaf element in the closed position and/or with the plane being formed between an entrance side and an exit side of the door system. In this case, it is in particular advantageous if a sensor unit is configured on an entrance side and on an exit side of the door system in each case. The sensor detection regions of both sensor units are preferably designed such that in particular in the passage region they overlap, adjoin one another or at least have a distance from one another which is smaller than the dimensions of a person forming the object, in particular a child, such that the detection of the at least one object is carried out passing from a first sensor detection region to a second sensor detection region in particular without interruption. This puts the regulating unit in the position to track objects passing through the door system from the approach region to the exit region without interruption and at the same time to provide protection of the closing edges based only on the sensor units. If there is a detection gap between the sensor detection regions on the entrance side and the exit side, this can be filled by interpolation, such that there is practically no need for an interruption in regulation. Further advantageously, at least one image evaluation unit is configured in connection with the at least one sensor unit, with the continuous tracking of the movement of the object and/or its contour over its entire detection period and/or over the entire detection region being carried out at least in a supportive manner by means of the image evaluation unit and made available to the regulating unit. If a plurality of sensor units are provided in the door system, each sensor unit can be assigned an image evaluation unit, with the image evaluation unit advantageously being configured as part of or directly assigned to the regulating unit such that the sensor data of the plurality of sensor units is supplied to the centrally configured image evaluation unit, which, in particular in a structural unit or at least in a direct data connection with the regulating unit, outputs the corresponding image data. In this case, the sensor data can be the data that has already been output by the image evaluation unit to the regulating unit. The door system preferably has at least two leaf elements, with the movements of the leaf elements being regulated continuously and dynamically on an ongoing basis independently of one another by means of the regulating unit via the respective door drives, in particular by means of a closed control loop. For example, if the door system has two leaf elements, the movements of the two leaf elements can be regulated continuously and dynamically on an ongoing basis independently of one another by means of the regulating unit. For this purpose, in particular, each leaf element is assigned its own door drive such that, for example, in the case of a sliding door system, two leaf elements running counter to one another are not driven via a common belt. The method according to the invention works particularly advantageously if each leaf element is assigned its own door drive such that each leaf element can be regulated separately by the regulating unit, independently of other leaf elements. Further advantageously, the method is carried out such that with the at least one sensor unit and with the associated sensor detection region, protection of the closing edges of the at least one leaf element is carried out by evaluating the sensor data of the sensor unit, in particular without further sensors, and/or in particular only via the regulating unit. The door unit can therefore be configured without further sensors, which are otherwise used separately to protect the closing edges. The protection of the closing edges takes place via the sensor units, in particular 3D cameras, and the sensor detection regions can in particular also overlap in the danger region of the closing edges or they can also not overlap but rather expand a field of vision such that the monitoring of closing edges takes place simultaneously via at least two sensor units, in particular comprising 3D cameras to provide redundant data that can be correlated by means of the controller. In this way, the plausibility of the camera data received can be checked via the image evaluation unit and protection of closing edges can be provided with a high level of operational reliability. The sensor detection regions do not necessarily have to overlap and they do not have to be approximately adjacent to one another, since a person generally has a spatial expansion. The distance between the sensor detection regions of both sensor units on the opposing door sides should be at least small enough to prevent a small person, such as a child, from remaining undetected between the sensor detection regions. A further advantage is provided when a virtual safety envelope is placed around the detected contour of the object by means of the image evaluation unit and/or the regulating unit such that a safety distance is maintained between the object and the leaf element, preferably with the regulating unit readjusting the at least one door drive in such manner as if the object had the dimensions according to the safety envelope. The safety envelope can also be overlaid with a comfort envelope, which, in addition to the safety envelope to avoid collisions, also makes it possible to actuate the leaf elements at a distance from the object such that the object, in particular in the form of a person, does not have to change its movement due to the presence of a leaf element. This results in improved ease of entry to the door system. Further advantageously, an authentication device is provided with which the object and/or a person forming the object is authenticated, with the door system with the regulating unit being controlled such that only successfully authenticated objects can pass through the door system. The authentication device can be configured in the form of a card reader, for example, and if an object is authenticated at the card reader, the sensor unit can identify the person who has just been authenticated and continue to track them as they continue to move. For example, if the authenticated person increases the distance from the door system again and another, non authenticated person approaches the door system, the regulating unit does not open the door leaves for the other person, since this person is not authorized to pass through the door system. Only through the continuous, dynamic tracking of objects, according to the invention, in the sensor detection region and through the direct regulation of the movement of the leaf elements based on the movement of the person is such a security-relevant control of the door leaves possible such that only authenticated persons can actually pass through the door system. If no card reading unit is configured and the authentication takes place, for example, via a digital signal, a corresponding receiving device, for example a mobile phone, can be located within the sensor detection region and the person carrying the receiving device can be assigned as an object according to the authentication. Authenticated persons receive a digital marking like a tag by means of the regulating unit, who can then ultimately move through the door system independently of their further movement within the sensor detection region, while persons who do not bear such a tag cannot pass through the door system. The invention is also aimed at a door system with a regulating unit for carrying out the method described above. The door system preferably has a regulating unit which has at least one sensor unit and/or a door drive and forms an in particular closed control loop with which the movement of at least one leaf element can be regulated. The regulating unit can be at least part of a control module or it is provided that the regulating unit has or forms a control module with which the movement of the at least one leaf element can be triggered and/or monitored, in particular indirectly via the drive. The sensor unit preferably has at least one, in particular a single camera, preferably two cameras and/or the sensor unit has at least one light source with which a light grid can be projected into the sensor detection region and/or the sensor unit has a LiDAR sensor.

The sensor unit preferably has at least one and preferably two cameras and/or the sensor unit has at least one light source with which a light grid can be projected into the sensor detection region and/or the sensor unit has a LiDAR sensor. In this respect, a plurality of image-processing or at least optically functioning sensor principles are conceivable within the scope of the invention, including stereo cameras, LiDAR sensors and/or the like. Thus, within the scope of the invention, distance measurement sensors are also conceivable that provide distances for a plurality of points in the detection region. Preferably or exclusively, sensor units are used that are suitable for measuring distances between the sensor and surfaces, with the surfaces being formed by the objects to be detected and/or by objects in the environment such as floors, doors, frames and walls. Such sensor units determine the distance between the sensor and the surface either by the triangulation method and/or by measuring the travel time of radiation from a transmission source belonging to the sensor unit. When using the triangulation method, the different directional angles become a defined surface point of at least two spaced reference points, which consist of two or more wave-sensitive sensors, e.g. line sensors or single-point sensors or cameras. This is preferably a stereo camera. Alternatively, a wave sensitive sensor, in particular a camera, and a punctiform reference light source, e.g. a point grid light source, are used in the triangulation method. Preferred combinations in the triangulation method are: 1. The angle and/or distance is calculated by means of extraneous light, e.g. sun or room light and two or more wave-sensitive sensors 2. The angle and/or distance is calculated by means of the system's own light sources, preferably in a punctiform, e.g. point grid manner, and at least one wave-sensitive sensor 3. Combination of 1 and 2, which means that the sensor system is suitable for carrying out at least the distance calculation both in darkness and/or weak light and in very strong extraneous light. When measuring the travel time of radiation, one or a plurality of transmission sources belonging to the sensor unit are used, which generate and emit the radiation in the form of electromagnetic waves, in particular light, radar, radio, X-rays, microwaves and/or sound waves, and project them onto the surfaces of the objects to be detected. A receiving system of the sensor unit, which is sensitive to the respective type of radiation, receives the rays reflected from the surfaces. Together with a calculation unit of the control unit or the sensor unit, the travel time required by the radiation from the time of emission to receipt in the receiving system is determined directly in the form of a time measurement and/or indirectly, in particular in the form of a measurement of interferences, phase shifts and/or frequency shifts, in particular in relation to the emitted radiation. The one or plurality of transmission source(s) can emit diffuse, i.e. scattered radiation, in particular in connection with a TOF camera, FMCW radar (FMCW= Frequency-Modulated Continuous Wave Radar Systems) and/or radiation focused on one or a plurality of points, in particular in connection with LiDAR (LiDAR stands for Light Detection and Ranging), laser array and/or laser scanner. Furthermore, the different regions of a sensor detection region can be illuminated with the radiation simultaneously and/or sequentially, i.e. in chronological succession, or combinations. In particular, a method can be used which combines both the triangulation method and the measurement of the travel time of radiation from a transmission source belonging to the sensor unit. As a result of the method, a distance image can be provided which includes the in particular complete sensor detection region from a plurality of individual distance measurement points. A LiDAR sensor is particularly preferably used in connection with a method based on the distance measurement. This combination, in particular as well as the others mentioned, represents a particularly efficient option, in particular in terms of security and/or complexity.

PREFERRED EXEMPLARY EMBODIMENT OF THE INVENTION Further measures that improve the invention will be outlined in greater detail below together with the description of a preferred exemplary embodiment of the invention on the basis of the figures, in which is shown: Figure 1 a schematic plan view of a door system with a regulating unit according to the invention for carrying out the method, Figure 2a-2b the movement behavior of the leaf elements of the door system as a function of the movement behavior of an object, Figure 3a-3c another example of the movement of the leaf elements as a function of the movement behavior of the object, Figure 4a-4c another exemplary embodiment of the movement behavior of the leaf elements as a function of the movement of the object and Figure 5 a representation of the door system with an object having a safety envelope. Figure 1 represents a view of the door system 100 with the essential components of the invention. The door system 100 has two leaf elements 11 which can be moved independently of one another between an open position and a closed position with respectively assigned door drives 10. The door system 100 is designed as a sliding door system such that the leaf elements 11 can be moved in their plane of extension. An object 15 is represented in the form of a person who is approaching the door system 100 on an approach side. The side facing away forms the exit side, with a sensor unit 12 being arranged both on the approach side and on the exit side. The sensor unit 12 spans a sensor detection region 14 within which objects 15 can be detected by the sensor unit 12. The sensor unit 12 is formed, for example, by a 3D camera; the sensor unit 12 can also have a light source with which, for example, a light grid can be generated within the sensor detection region 14. The sensor units 12 are connected to a regulating unit 16 via an image evaluation unit 17. The sensor units 12 supply sensor data 13 to the image evaluation unit 17 which ultimately supplies corresponding data to the regulating unit 16. This data includes in particular the position, the movement speed and the movement direction as well as the contour of the at least one object 15 within the sensor detection region 14. Furthermore, the regulating unit 16 is connected to the respective door drives 10 such that the door drives 10 can be actuated with the regulating unit 16. Likewise, the door drives 10 provide position data about the current position of the leaf elements 11 between the closed position and the open position to the regulating unit 16. A control loop is established with the regulating unit 16, in which the sensor units 12 and the door drives 10 are also involved. With the control loop, the regulating unit enables continuous, dynamically ongoing regulation of the position of the leaf elements 11 between the open and the closed position, which are actuated continuously and dependently on the basis of the sensor data 13, which includes the current position, the movement speed, the movement direction and in particular the contour of the object 15. The way in which the leaf elements 11 can move in response to the movement of the object 15 is shown in Figures 2a to 2c. Figure 2a represents the object 15 within the sensor detection region 14 such that the object 15 is detected by the sensor unit 12 on the approach side of the door system 100. However, the object 15 is at a distance from the leaf elements 11 which is still too great for the leaf elements 11 to be moved from the closed position into the open position, as indicated by the arrows. In Figure 2b, the object 15 in the form of the person has moved into the plane of movement of the leaf elements 11 such that the leaf elements 11 now release an entry path, within which the object 15 can easily pass through the door system 100, with the opening movement of the leaf elements 11 being regulated dynamically on an ongoing basis as the object 15 approaches the door system 100. Figure 2c represents the object 15 in the sensor detection region 14 on the exit side of the door system 100, and the object 15 is detected by the second sensor unit 12. The object 15 has reached a distance from the leaf elements 11 which causes the leaf elements 11 to close again via the regulating unit, not represented. If the sequence of the position of the object 15 when passing through the door system 100 is considered, it becomes clear that the leaf elements 11 are regulated continuously and dynamically on an ongoing basis in direct response to the current position of the object 15. If, for example, the object 15 were to approach the leaf elements 11 from the position in Figure 2a towards the position in Figure 2b, but then turn around, the leaf elements 11 would immediately close again after initially opening without the leaf elements 11 moving into a predefined open position. The same applies to the transition from Figure 2b to Figure 2c, and if the object 15 were to turn around again after passing through the door system 100, the leaf elements 11 would be moved from the closed position back to the open position. Figures 3a, 3b and 3c show the direct response of the leaf elements 11 of the door system 100 in a further exemplary movement of the object 15. Figure 3a represents the object 15 approximately in the middle of the sensor detection region 14, with the drives of the leaf elements 11 being regulated accordingly so that they move from the closed position to the open position. The further the object 15 approaches, the further the opening movement of the leaf elements 11 advances into the open position, as indicated by the arrows. In Figure 3b, however, the object 15 does not move directly through the door system 100, but moves to the lower side of the sensor detection region 14 such that the lower leaf element 11 opens further than the upper leaf element. In this way, an entry path for the object 15 is created off-center through the door system 100, which is made possible by regulating the leaf elements 11 by means of the door drives 10, in that the position of the object 15 within the sensor detection region 14 is detected by the sensor unit 12 on the approach side of the door system 100. In the transition to Figure 3c, it is now shown that the object 15 moves into the upper part of the sensor detection region 14 such that both leaf elements 11 track the entry path for the object 15 such that the object 15 can always pass through the door system 100 approximately orthogonally to its plane of extension. As a result, the continuous, dynamically ongoing regulation of the position of the leaf elements 11 as a function of the behavior of the object 15 makes it possible to create a consistently optimally adapted entry path for the object 15 through the door system 100, without the object 15 colliding with the leaf elements 11. Figures 4a, 4b and 4c show in a further illustration the subsequent behavior of the leaf elements 11 of the door system 100 when the object 15 moves back and forth in the movement plane of the leaf elements 11. Figure 4a represents the object 15 centered between the two leaf elements 11, Figure 4b represents the object 15 in a position in which the object 15 has moved in the direction of the upper leaf element 11, and in Figure 4c the object 15 has moved in the direction of the lower leaf element 11. The sensor detection region of the sensor unit 12 also extends into the movement region of the leaf elements 11, but this is not implemented graphically, since the sensor detection region 14 is only represented schematically. Figure 5 shows the door system 100 with an object 15 between the two leaf elements 11, with a safety envelope 18 being placed around the object 15 via the regulating unit 16 (see Figure 1). The safety envelope 18 can additionally include a comfort zone such that, as represented with the shaded safety envelope 18 between the leaf elements 11, there can remain a sufficient distance between the closing edges of the leaf elements 11 and the object 15. The diagram also schematically shows an authentication device 19, for example in the form of a card reader, and the object 15 in the form of a person can authenticate themselves at the authentication device 19. The door system 100 with the regulating unit 16 can be controlled such that only authenticated objects 15 can pass through the door system. The authenticated object 15 is recognized at the moment of authentication at the authentication device 19 and provided with a type of tag. If the authenticated object 15 moves further within the sensor detection region 14 without passing directly through the door system 100, the access permission of the door system 100 remains attached to the object 15, and the door system 100 would not open the leaf elements 11, for example, if another object 15 overtakes the authenticated object 15. It is thus ensured that only authenticated objects 15 actually pass through the door system 100 as a result of the movement tracking of the object 15. The design of the invention is not restricted to the preferred exemplary embodiment indicated above. In fact, a number of variants is conceivable which make use of the represented solution even in the case of fundamentally different designs. All features and/or advantages emerging from the claims, the description or the drawings, including constructive details or spatial arrangements, may be essential to the invention even in the most varied combinations. Throughout this specification and the claims which follow, unless the context requires otherwise, the word "comprise", and variations such as "comprises" and "comprising", will be understood to imply the inclusion of a stated integer or step or group of integers or steps but not the exclusion of any other integer or step or group of integers or steps. The reference in this specification to any prior publication (or information derived from it), or to any matter which is known, is not, and should not be taken as an acknowledgment or admission or any form of suggestion that that prior publication (or information derived from it) or known matter forms part of the common general knowledge in the field of endeavor to which this specification relates. The reference numerals in the following claims do not in any way limit the scope of the respective claims. List of reference numerals:

100 Door system 10 Door drive 11 Leaf element 12 Sensor unit 13 Sensor data 14 Sensor detection region 15 Object 16 Regulating unit 17 Image evaluation unit 18 Safety envelope 19 Authentication device

Claims (14)

THE CLAIMS DEFINING THE INVENTION ARE AS FOLLOWS:

1. A method for controlling a door system (100), in particular a sliding door system, wherein the door system (100) has a door drive (10), with which a movement of at least one leaf element (11) of the door system (100) is carried out, and wherein at least one sensor unit (12) is configured to provide sensor data (13) and has a sensor detection region (14), wherein at least one object, in particular a plurality of objects (15), is detected within the sensor detection region (14) by means of the sensor unit (12) during a detection period and their position and/or movement and/or contour are output, in particular continuously, as sensor data (13), characterized in that a regulating unit (16) is configured, which regulates continuously and dynamically on an ongoing basis the position of the leaf element (11) based on the sensor data (13) as a function of the position and/or the movement and/or the contour of the at least one object (15).

2. The method for controlling a door system (100) according to claim 1, characterized in that with the regulating unit (16), the door drive (10) is actuated continuously on an ongoing basis at least over the detection period of the object (15) in the sensor detection region (14).

3. The method for controlling a door system (100) according to claim 1 or 2, characterized in that the regulating unit (16) increases an opening width of the leaf element (11) when the object (15) continuously approaches the leaf element (11) and reduces it when the object (15) continuously moves away from the leaf element (11), and/or wherein the change of the opening width of the leaf element (11) continuously and dynamically follows the movement, the approach and the distance of the object (15) from the door system (100) and/or the contour of the object (15).

4. The method for controlling a door system (100) according to one of the preceding claims, characterized in that the sensor unit (12) is configured such that the sensor detection region (14) extends into a passage region of the door system (100) and the at least one object (15) is also detected in the passage region.

5. The method for controlling a door system (100) according to one of the preceding claims, characterized in that a sensor unit (12) is configured on an entrance side and an exit side of the door system (100) in each case, preferably wherein the sensor detection regions (14) of both sensor units (12) overlap, adjoin one another or at least have a distance from one another that is smaller than the dimensions of a person forming the object (15), in particular a child, such that the detection of the at least one object (15) is carried out passing from a first sensor detection region (14) to a second sensor detection region (14), in particular without interruption.

6. The method for controlling a door system (100) according to one of the preceding claims, characterized in that at least one image evaluation unit (17) is configured in connection with the at least one sensor unit (12), wherein the continuous tracking of the movement of the object (15) and/or its contour over its entire detection period and/or over the entire detection region is carried out at least in a supportive manner by means of the image evaluation unit (17) and made available to the regulating unit (16).

7. The method for controlling a door system (100) according to one of the preceding claims, characterized in that the door system (100) has at least two leaf elements (11), wherein the movements of the leaf elements (11) are regulated continuously and dynamically on an ongoing basis independently of one another by means of the regulating unit (16) via the respective door drives (10), in particular by means of a closed control loop.

8. The method for controlling a door system (100) according to one of the preceding claims, characterized in that with the at least one sensor unit (12) and with the associated sensor detection region (14), protection of the closing edges of the at least one leaf element (11) is carried out by evaluating the sensor data (13) of the sensor unit (12) via the regulating unit (16).

9. The method for controlling a door system (100) according to one of the preceding claims, characterized in that a virtual safety envelope (18) is placed around the detected contour of the object (15) by means of the image evaluation unit (17) and/or the regulating unit (16) such that a safety distance is maintained between the object (15) and the leaf element (11), preferably wherein the regulating unit readjusts the at least one door drive (10) in such manner as if the object (15) had the dimensions according to the safety envelope (18).

10. The method for controlling a door system (100) according to one of the preceding claims, characterized in that an authentication device (19) is provided with which an authentication of the object (15) and/or a person forming the object (15) is carried out, wherein the door system (100) with the regulating unit (16) is controlled such that only successfully authenticated objects (15) can pass through the door system (100).

11. A door system (100) with a regulating unit (16) for carrying out a method according to one of claims 1 to 10.

12. The door system (100) according to claim 11, characterized in that the regulating unit (16), the at least one sensor unit (12) and/or the at least one door drive (10) form an in particular closed control loop, with which the movement of the at least one leaf element (11) can be regulated.

13. The door system (100) according to claim 11 or 12, characterized in that the regulating unit (16) is at least part of a control module or in that the regulating unit (16) has a control module, with which the movement of the at least one leaf element (11) can be triggered and/or monitored at least indirectly or directly via one or a plurality of door drives (10).

14. The door system (100) according to one of claims 11 to 13, characterized in that the sensor unit (12) has at least one, preferably two cameras, and/or in that the sensor unit (12) has at least one light source, with which a light grid can be projected into the sensor detection region (14), and/or wherein the sensor unit (12) has a LiDAR sensor.