EP4265875A1 - Method for controlling a door system - Google Patents

Abstract

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 wing element (11) of the door system (100) is carried out, and wherein at least one sensor unit ( 12) is set up to provide sensor data (13), which has a sensor detection area (14), wherein at least one object, in particular several objects (15), within the sensor detection area (14) are detected by means of the sensor unit (12) during a detection period and whose position and/or movement and/or contour are output as sensor data (13), in particular continuously, with a control unit (16) being set up which determines the position of the wing element (11) based on the sensor data (13) depending on the position and/or or the movement and/or the contour of at least one object (15) is continuously and dynamically controlled.

Description

The present invention relates to a method for controlling a door system, in particular a sliding door system, wherein the door system has a door drive with which a movement of at least one wing element of the door system is carried out, and wherein at least one sensor unit is set up to provide sensor data, which has a sensor detection area , wherein at least one object, in particular several objects, within the sensor detection area are detected by the sensor unit during a detection period and their position and / or movement and / or contour are output as sensor data, in particular continuously. Furthermore, the invention is directed to a door system with a control unit for carrying out such a method.

STATE OF THE ART

For the control of automatic door systems, in particular sliding door systems, door drives are known that are connected to sensor units that are designed to detect people. Such door systems are controlled by control units that record the sensor data from the sensor units and output corresponding control pulses to the door drive.

For example, this shows DE 203 20 497 U1 a door system with a door drive and with a sensor unit, 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 control the door system and open a door leaf in the presence of a person, so that when the person is detected the door drive opens the door leaf Door system is triggered. It is stated that radar sensors can be used as a presence sensor, with radar sensors being preferably used to detect objects and in particular people in the long range and to output corresponding presence information to the controller. Unfortunately, however, only a simple opening pulse is then generally 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 it often starts too early or too late or is otherwise inappropriate, for example if the opening movement of the door leaf is too slow or the opening hold time is too short or too long.

An optimum in the control of door systems lies in particular in making it possible for people to pass through the door system in such a way that the movement of the at least one wing element does not influence the person's walking movement. On the other hand, however, the door leaf should not be open for too long, in order to minimize heat loss indoors, for example when the outside temperature is low. In this respect, the wing element should not be moved out of the closed position for longer than necessary in order to avoid energy losses. If the wing elements move too quickly, the wear on the door system increases unnecessarily, and it often happens that a person moves into the sensor detection area 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 arise from the sensors in the sensor units not always functioning reliably. It can happen, for example, that a person approaching a door system must stop moving if the wing element opens late after the unit has detected the person too late. Once the person has passed the door system, it should also be avoided that the wing element closes prematurely in the event of a further malfunction of the second sensor unit. Controlling the leaf elements becomes more complex when there are several people, as 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 operator 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 analysis. The decision that a signal for door operation, in particular to initiate an opening process, is sent is made by the sensor unit and every signal from the sensor unit results in an immediate opening of the door leaf of the automatic door system. Although it is possible with modern control units to adapt the control signal to the wing element depending on the movement pattern of at least one person, this adaptation is usually carried out through a presetting or at least through algorithms pre-programmed in the control unit.

DISCLOSURE OF INVENTION

The object of the invention is to further improve a method for operating a door system, in which the reaction 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. With Another advantage is that the method can be operated with a minimum number of sensor units, which can be equipped with additional functions during operation and in cooperation with the control of the door drives.

This object is achieved based on a method according to the preamble of claim 1 and further based on a door system according to claim 12 with the respective characterizing features. Advantageous developments of the invention are specified in the respective dependent claims.

The method according to the invention for controlling a door system provides that a control unit is set up which continuously and dynamically regulates the position of the wing element based on the sensor data depending on 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 predetermined control commands to the door drives, but rather a control unit is set up that determines the position of the leaf element in direct dependence on the movement and/or the contour of the object, whereby the object is usually formed by a person. This control takes place, in particular in a closed control loop, over the entire period of time over which the object is in the sensor detection range of the at least one sensor unit. This means that the person's movement towards the door triggers a continuous opening movement of the leaf element. However, if the person moves away from the wing element of the door system again, the wing element closes again. In the same way, the object can change position across the front of the door system and the leaf element opens according to the transverse movement of the object. In the same way, the speed of movement of the object can also influence the opening speed of the wing element. If the object approaches the door unit slowly, the wing element only carries out a slow opening movement or the opening movement occurs later, and if the object approaches the door system very quickly, the wing element also carries out a correspondingly fast opening movement or the opening movement occurs earlier. The triggering distance as the distance of the person and/or the object to the wing element, in particular as the current distance of the person and/or the object to the wing 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 to the wing element or the minimum distance of a center of gravity of the contour to the wing element can be used as the distance of the person and/or the object to the wing element be used. In particular, with two wing elements of the door system, these can be continuously and dynamically controlled or readjusted independently of one another, so that, for example, an access hose is released through the door system between the two door elements. For example, if two objects next to each other access the door system, the control is carried out in a way that enables access to the door system for two objects at the same time.

This proposes a method in which the control of the door system is set up based on a control unit, with a real-time-like reaction of the wing element to the movement or the contour of the object immediately following. The movement and the contour of the object also includes, for example, an arm or leg movement. For example, if a person moves a hand between the wing elements, this movement is detected by the sensor unit equally detected, and the at least one wing element releases an opening area for the person's hand or leg. The same applies, for example, to walkers, strollers, hospital beds, children accompanied by parents, 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, provide sensor data in a way that provides the control unit with a movement pattern of the at least one wing element that is always adapted to the current position, speed and/or, preferably with a closed control loop Allow movement of the object and/or the contour of the object.

In particular, the control unit continuously controls the door drive at least over the detection period of the object in the sensor detection area. As soon as a sensor unit detects an object in the sensor detection area, the control unit is activated accordingly and the door drives are continuously controlled, in particular without using predetermined opening and movement patterns of the wing element.

According to an advantageous development of the method, it is conceivable that the control unit increases an opening width of the door leaf as the object continuously approaches the wing element and again or reduces it again as the object continuously moves away from the wing element. This immediately following movement behavior of the wing element following the behavior of the object is made possible by the control unit through a control loop, the control loop comprising the sensor unit with the sensor data, the control unit and the door drive. In particular, the opening width can be the width be meant, which is released by the wing element for passage through the door system. When arranging several wing elements in a door system, an opening width of the door system can accordingly be composed of the individual opening widths of the several wing elements.

Alternatively or cumulatively, the change in the opening width of the wing element can follow the movement, the approach and the distance of the object from the door system and / or the contour of the object. The contour can change particularly when a person pushes or pulls an object in front of them, extends their arm, extends their leg or makes another movement. Due to the change in the contour of the object, the position of the at least one wing element also changes, even if the object itself remains in a fixed position.

Of course, the door drive can also transmit an actual position of the wing element to the control unit, so that based on the actual position of the wing element, the control unit can further control the door drive in such a way that the position of the wing element can immediately follow the change in the position of the object.

With further advantage, the sensor unit is set up in such a way that the sensor detection area can extend into a passage area of the door system, and the at least one object can also be detected in the movement area of the wing element. A passage area of the door system can be understood as a plane and/or an immediate surroundings of the plane, which is covered by the at least one wing element in the closed position and/or wherein the plane is formed between an entrance side and an exit side of the door system.

It is particularly advantageous if a sensor unit is set up on an input side and an output side of the door system. The sensor detection areas of both sensor units are preferably designed so that they overlap, in particular in the passage area, adjoin one another or at least have a distance from one another that is smaller than the dimension of a person forming the object, in particular a child, so that the detection of at least one Object is carried out from a first sensor detection area to a second sensor detection area, in particular without interruption. This enables the control unit to track objects as they pass through the door system from the approach area to the exit area without interruption and at the same time to create closing edge protection based only on the sensor units. If there is a detection gap between the sensor detection areas on the input side and the output side, this can be filled by interpolation so that there is practically no need for a control interruption.

With further advantage, at least one image evaluation unit is set up in conjunction with the at least one sensor unit, with the image evaluation unit being used to at least support the continuous tracking of the movement of the object and/or its contour over its entire detection period and/or over the entire detection area and provided to the control unit becomes. If several 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 set up as a component or in direct association with the control unit, so that the sensor data from the several sensor units are fed to the centrally set up image evaluation unit, which is particularly structural Unit or at least in direct data connection with the control unit outputs the corresponding image data. The sensor data can be the data that is already output by the image evaluation unit to the control unit.

The door system preferably has at least two wing elements, the movements of the wing elements being controlled independently of each other continuously and dynamically via the respective door drives, in particular by means of a closed control loop, by means of the control unit. For example, if the door system has two wing elements, the movements of the two wing elements can be continuously and dynamically regulated independently of one another by means of the control unit. For this purpose, in particular, each wing element is assigned its own door drive, so that, for example, in a sliding door system, two wing elements running against each other are not driven via a common belt. The method according to the invention works particularly advantageously if each wing element is assigned its own door drive, so that each wing element can be controlled separately by the control unit, independently of other wing elements.

With further advantage, the method is carried out in such a way that with the at least one sensor unit and with the associated sensor detection area, closing edge protection of the at least one wing element is carried out by means of an evaluation of the sensor data of the sensor unit, in particular without further sensors, and/or in particular only via the control unit. The door unit can therefore be set up without additional sensors, which would otherwise serve separately to secure the closing edge. The closing edge protection is carried out via the sensor units, in particular 3D cameras, with the sensor detection areas being in the danger zone of the closing edges in particular, can also cover or these can also not overlap but expand a viewing area, so that the closing edge monitoring takes place simultaneously via at least two sensor units, in particular comprising 3D cameras, in order to create redundant data that can be correlated using the control. In this way, the plausibility of the received camera data can be checked via the image evaluation unit and closing edge protection can be created with a high level of operational reliability.

The sensor detection areas 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 extent. The distance between the sensor detection areas of both sensor units on the opposite sides of the door should be at least small enough to prevent a small person, such as a child, from remaining undetected between the sensor detection areas.

A further advantage is created if a virtual security envelope is placed around the detected contour of the object by means of the image evaluation unit and/or the control unit, so that a safety distance is maintained between the object and the wing element, preferably with the control unit readjusting the at least one door drive in this way , as if the object had the dimensions according to the security envelope. A comfort cover can also be superimposed on the safety cover, which makes it possible, in addition to the safety cover to avoid collisions, to control the wing elements at a distance from the object in such a way that the object, in particular in the form of a person, does not have to change its movement due to the presence of a wing element. This results in improved access comfort for the door system.

Another advantage is that an authentication device is provided with which the object and/or a person forming the object is authenticated, the door system being controlled with the control unit in such a way that only successfully authenticated objects can pass through the door system.

The authentication device can be set up, for example, in the form of a card reader, and if an object authenticates itself on the card reader, the sensor unit can identify the person who has just been authenticated and continue to track it during further movement. For example, if the authenticated person increases the distance to the door system again and another, unauthenticated person comes close to the door system, the control unit does not open the door leaves for the other person because the person is not authorized to pass through the door system. Only through the continuous, dynamic tracking of objects in the sensor detection area according to the invention and through the direct control of the movement of the leaf elements based on the movement of the person is such safety-relevant control of the door leaves possible, so that only authenticated people can actually pass through the door system. If no card reading unit is set up and the authentication takes place, for example, via a digital signal, a corresponding receiving device, for example a cell phone, can be located within the sensor detection area, and the person carrying the receiving device can be assigned as an object according to the authentication. Using the control unit, authenticated people receive a digital marking such as a tag, who are ultimately allowed to move through the door system regardless of their further movement within the sensor detection area, while people who do not wear such a tag cannot pass through the door system.

The invention is further directed to a door system with a control unit for carrying out the method described above.

The door system preferably has a control unit which has at least one sensor unit and/or a door drive, and forms a particularly closed control loop with which the movement of at least one leaf element can be regulated.

The control unit can be at least part of a control module or it is provided that the control unit has or forms a control module with which the movement of the at least one wing 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 area 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 area and/or the sensor unit has a LIDAR sensor.

In this respect, within the scope of the invention, several image-processing or at least optically functioning sensor principles are conceivable, including stereo cameras, LIDAR sensors and/or the like. Distance measuring sensors that provide distances for several points in the detection area are therefore also conceivable within the scope of the invention.

Sensor units are preferably or exclusively used which are suitable for measuring distances between the sensor and surfaces, 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 transit 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, the triangulation method uses a wave-sensitive sensor, in particular a camera, and a point-shaped reference light source, e.g. a point grid light source.

1. 1. Mithilfe von Fremdlicht, z.B. Sonne oder Raumbeleuchtung und zwei oder mehr wellen-empfindlichen Sensoren erfolgt die Winkel- und/oder Abstandsberechnung
2. 2. Mithilfe von systemeigenen Lichtquellen, vorzugweise Punktförmig z.B. Punkteraster, und zumindest einem wellen-empfindlichen Sensor erfolgt die Winkel- und/oder Abstandsberechnung
3. 3. Kombination aus 1 und 2, wodurch erreicht wird, dass das Sensorsystem geeignet ist sowohl bei Dunkelheit und/oder schwachem Licht als auch bei sehr starkem Fremdlicht zumindest die Abstandsberechnung durchzuführen.

Preferred combinations for the triangulation process are:

1. 1. The angle and/or distance calculation is carried out using external light, e.g. sun or room lighting, and two or more wave-sensitive sensors
2. 2. The angle and/or distance calculation is carried out using the system's own light sources, preferably point-shaped, for example a point grid, and at least one wave-sensitive sensor
3. 3. Combination of 1 and 2, which ensures that the sensor system is suitable for at least calculating the distance in darkness and/or weak light as well as in very strong external light.

When measuring the transit time of radiation, one or more transmission sources belonging to the sensor unit are used, which generate the radiation in the form of electromagnetic waves, in particular light, radar, radio, X-rays, microwaves and/or and/or sound waves , send out and throw onto the surfaces of the objects to be detected. A receiving system in the sensor unit, which is sensitive to the respective type of radiation, collects the rays reflected from the surfaces. Together with a calculation unit of the control unit or the sensor unit, the transit time is determined directly in the form of time measurement and/or indirectly, in particular in the form of measurement of interference, phase shifts and/or frequency shifts, in particular in relation to the emitted radiation, which determines the radiation from the point in time required from transmission to reception in the receiving system. The one or more transmission source(s) can emit diffuse, i.e. scattered radiation, in particular in conjunction with TOF camera, FMCW radar (FMCW=Frequency-Modulated Continuous Wave Radar Systems) and/or radiation focused on one or more points, in particular in Connection with LiDAR (LIDAR stands for Light Detection and Ranging), laser array and/or laser scanner. Furthermore, the different areas of a sensor detection area can be illuminated with the radiation simultaneously and/or sequentially, i.e. one after the other, or combinations.

In particular, a method can be used which combines both the triangulation method and the measurement of the transit 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 particular complete sensor detection area from several individual distance measurement points.

A LIDAR sensor is particularly preferably used in conjunction with a method based on distance measurement. This combination, in particular as well as the others mentioned, represents a particularly efficient option, especially with regard to security and/or complexity.

PREFERRED EMBODIMENT OF THE INVENTION

Figur 1

eine schematische Draufsicht auf eine Türanlage mit einer erfindungsgemäßen Regeleinheit zur Ausführung des Verfahrens,

Figur 2a-2b

das Bewegungsverhalten der Flügelelemente der Türanlage in Abhängigkeit des Bewegungsverhaltens eines Objektes,

Figur 3a-3c

ein weiteres Beispiel der Bewegung der Flügelelemente in Abhängigkeit des Bewegungsverhaltens des Objektes,

Figur 4a-4c

ein noch weiteres Ausführungsbeispiel des Bewegungsverhaltens der Flügelelemente in Abhängigkeit der Bewegung des Objektes und

Figur 5

eine Darstellung der Türanlage mit einem Objekt aufweisend eine Sicherheitshülle.

Further measures improving the invention are shown 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 schematic top view of a door system with a control unit according to the invention for carrying out the method,

Figure 2a-2b

the movement behavior of the wing elements of the door system depending on the movement behavior of an object,

Figures 3a-3c

another example of the movement of the wing elements depending on the movement behavior of the object,

Figures 4a-4c

yet another embodiment of the movement behavior of the wing elements depending on the movement of the object and

Figure 5

a representation of the door system with an object having a security cover.

In Figure 1 a view of the door system 100 is shown with the essential components of the invention. The door system 100 has two wing elements 11, which can be moved independently of one another between an open position and a closed position using associated door drives 10. The door system 100 is designed as a sliding door system, so that the wing elements 11 can be moved in their plane of extension.

An object 15 is shown 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 on both the approach side and the exit side. The sensor unit 12 spans a sensor detection area 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; furthermore, the sensor unit 12 can have a light source with which, for example, a light grid can be generated within the sensor detection area 14.

The sensor units 12 are connected to a control unit 16 via an image evaluation unit 17. The sensor units 12 deliver sensor data 13 to the image evaluation unit 17, which ultimately delivers corresponding data to the control unit 16. This data includes in particular the position, the speed of movement and the direction of movement as well as the contour of the at least one object 15 within the sensor detection area 14.

Furthermore, the control unit 16 is connected to the respective door drives 10, so that the door drives 10 can be controlled with the control unit 16. Likewise, the door drives provide 10 position data about the current position of the wing elements 11 between the closing position and the opening position to the control unit 16.

A control circuit is set up with the control unit 16, in which the sensor units 12 and the door drives 10 are also involved. With the control loop, the control unit enables continuous, dynamically ongoing control of the position of the wing elements 11 between the opening and closing positions, which are continuously controlled depending on the sensor data 13, which determine the current position, the speed of movement, the direction of movement and in particular the contour of the Object 15 include.

They show how the movement of the wing elements 11 can take place in response to the movement of the object 15 Figures 2a to 2c. Figure 2a represents the object 15 within the sensor detection area 14, so that the object 15 is detected by the sensor unit 12 on the approach side of the door system 100. However, the object 15 has a distance from the wing elements 11 that is still too large for the wing elements 11 to be moved from the closed position to 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 wing elements 11, so that the wing elements 11 now release an access hose within which the object 15 can pass the door system 100 in a simple manner, the opening movement of the wing elements 11 being dynamically continuously regulated with the increasing approach of the object 15 to the door system 100.

Figure 2c represents the object 15 in the sensor detection area 14 on the exit side of the door system 100, and the object 15 is from the second sensor unit 12 detected. The object 15 has reached a distance from the wing elements 11, which causes the wing elements 11 to close again via the control unit, not shown.

If one looks at the sequence of the position of the object 15 as it passes through the door system 100, it becomes clear that the wing elements 11 are continuously and dynamically regulated in direct response to the current position of the object 15. For example, from the position of Figure 2a towards the position in the Figure 2b If the object 15 approaches the wing elements 11 but then turns around, the wing elements 11 would immediately close again after an initial opening without the wing elements 11 moving into a predetermined opening position. The same applies to the transition from the Figure 2b to Figure 2c , and if the object 15 were to turn around again after passing through the door system 100, the wing elements 11 would move from the closed position back to the open position.

The Figures 3a, 3b and 3c show the immediate reaction of the wing 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 area 14, with drives of the wing elements 11 being controlled accordingly to move from the closed position to the open position. The further the object 15 approaches, the further the opening movement of the wing elements 11 advances into the opening 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 area 14, so that the lower wing element 11 opens further than the upper wing element. This is how a walk-in hose becomes for that Object 15 is created off-center through the door system 100, which is made possible by the control of the wing elements 11 by means of the door drives 10, in that the position of the object 15 within the sensor detection area 14 is made possible by the sensor unit 12 on the approach side of the door system 100.

In transition to Figure 3c It is now shown that the object 15 moves into the upper part of the sensor detection area 14, so that both wing elements 11 track the access hose for the object 15 in such a way that the object 15 can pass the door system 100 approximately orthogonally to its plane of extension at any time. As a result, the continuous, dynamically ongoing control of the position of the wing elements 11 depending on the behavior of the object 15 makes it possible to always create an optimally adapted access hose for the object 15 through the door system 100 without the object 15 colliding with it the wing elements 11 can come.

The Figures 4a, 4b and 4c show in a further illustration the subsequent behavior of the wing elements 11 of the door system 100 when the object 15 moves back and forth in the plane of movement of the wing elements 11. Figure 4a represents the object 15 in the middle between the two wing elements 11, Figure 4b represents the object 15 in a position in which the object 15 has been moved towards the upper wing element 11, and in Figure 4c the object 15 was moved towards the lower wing element 11. The sensor detection area of the sensor unit 12 also extends into the movement range of the wing elements 11, but this is not implemented graphically since the sensor detection area 14 is only shown schematically.

Figure 5 shows the door system 100 with an object 15 between the two wing elements 11, via the control unit 16 (see Figure 1 ) about that A security cover 18 is placed on object 15. The security cover 18 can additionally include a comfort zone, so that, as shown with the shaded security cover 18 between the wing elements 11, sufficient distance can remain between the closing edges of the wing elements 11 and the object 15.

The illustration also shows schematically 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 itself at the authentication device 19. The door system 100 with the control unit 16 can be controlled in such a way that only authenticated objects 15 can pass through the door system. At the moment of authentication at the authentication device 19, the authenticated object 15 is recognized and provided with a type of tag. If the authenticated object 15 moves further within the sensor detection area 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, for example, not open the wing elements 11 if another object 15 the authenticated object 15 is overtaken. This ensures that only authenticated objects 15 actually pass through the door system 100 by tracking the movement of the object 15.

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

List of reference symbols:

100

Door system

10

Door drive

11

Wing element

12

Sensor unit

13

Sensor data

14

Sensor detection range

15

object

16

Control unit

17

Image evaluation unit

18

Security cover

19

Authentication facility

Claims (14)

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 wing element (11) of the door system (100) is carried out, and wherein at least one sensor unit ( 12) is set up to provide sensor data (13), which has a sensor detection area (14), wherein at least one object, in particular several objects (15), within the sensor detection area (14) are detected by means of the sensor unit (12) during a detection period and whose position and/or movement and/or contour are output as sensor data (13), in particular continuously,
characterized,
in that a control unit (16) is set up which continuously and dynamically regulates the position of the wing element (11) based on the sensor data (13) depending on the position and/or the movement and/or the contour of the at least one object (15). . Method for controlling a door system (100) according to claim 1,
characterized,
that the door drive (10) is continuously controlled with the control unit (16) at least over the detection period of the object (15) in the sensor detection area (14). Method for controlling a door system (100) according to claim 1 or 2,
characterized,
that the control unit (16) increases an opening width of the wing element (11) as the object (15) continually approaches the wing element (11) and reduces it as the object (15) continually moves away from the wing element (11), and /or the change in the opening width of the wing 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). Method for controlling a door system (100) according to one of the preceding claims,
characterized,
in that the sensor unit (12) is set up so that the sensor detection area (14) extends into a passage area of the door system (100) and the at least one object (15) can also be detected in the passage area. Method for controlling a door system (100) according to one of the preceding claims,
characterized,
in that a sensor unit (12) is set up on an entrance side and an exit side of the door system (100), preferably the sensor detection areas (14) of both sensor units (12) overlap, adjoin one another or at least have a distance from one another that is smaller than that Dimension of a person forming the object (15), in particular a child, so that the detection of the at least one object (15) is carried out from a first sensor detection area (14) to a second sensor detection area (14), in particular without interruption. 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 set up in conjunction with the at least one sensor unit (12), the image evaluation unit (17) being used to continuously track the movement of the object (15) and/or its contour over its entire detection period and/or over the entire detection area is at least supported and provided to the control unit (16). Method for controlling a door system (100) according to one of the preceding claims,
characterized,
that the door system (100) has at least two wing elements (11), the movements of the wing elements (11) being controlled independently of one another continuously and dynamically via the respective door drives (10), in particular by means of a closed control loop, by means of the control unit (16). Method for controlling a door system (100) according to one of the preceding claims,
characterized,
in that the closing edge protection of the at least one wing element (11) is carried out with the at least one sensor unit (12) and with the associated sensor detection area (14) by means of an evaluation of the sensor data (13) of the sensor unit (12) via the control unit (16). Method for controlling a door system (100) according to one of the preceding claims,
characterized,
in that a virtual security cover (18) is placed around the detected contour of the object (15) by means of the image evaluation unit (17) and/or the control unit (16), so that a safety distance is maintained between the object (15) and the wing element (11). is, preferably wherein the control unit readjusts the at least one door drive (10) as if the object (15) had the dimensions according to the security cover (18). Method for controlling a door system (100) according to one of the preceding claims,
characterized,
that an authentication device (19) is provided with which the object (15) and/or a person forming the object (15) is authenticated, the door system (100) being controlled with the control unit (16) in such a way that only successfully authenticated objects (15) can pass through the door system (100). Door system (100) with a control unit (16) for carrying out a method according to one of claims 1 to 10. Door system (100) according to claim 11,
characterized,
that the control unit (16), the at least one sensor unit (12) and/or the at least one door drive (10) form a particularly closed control loop with which the movement of the at least one wing element (11) can be regulated. Door system (100) according to claim 11 or 12,
characterized,
that the control unit (16) is at least part of a control module or that the control unit (16) has a control module with which the movement of the at least one wing element (11) can be triggered at least indirectly or directly via one or more door drives (10) and/or is monitorable. Door system (100) according to one of claims 11 to 13,
characterized,
that the sensor unit (12) has at least one, preferably two cameras, and/or that the sensor unit (12) has at least one light source with which a light grid can be projected into the sensor detection area (14), and/or wherein the sensor unit (12) has a LIDAR sensor.

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