DE102010062673A1 - Gate, locking device and method for detecting a blockage - Google Patents

Abstract

The invention relates to a gate leaf (16) having an end region (52) and a further region (56), wherein the end region (52) is arranged in a forward direction in a closing direction (30) of the gate leaf (16), with a relative movement detection device (44) Detecting a relative movement between the end portion (52) and the wider portion (56). In addition, a method that can be carried out with it is described.

Description

The present invention relates to a gate leaf having an end region and a further region, wherein the end region is arranged in front in a closing direction of the gate leaf. Moreover, the present invention relates to a closing device for an opening, in particular a building opening, with a gate and a drive motor for moving the gate and a control device for controlling the drive motor. The invention also relates to a method for detecting a blockage of a gate which is moved by a drive motor and which is driven in a closing direction.

Gate leafs of the type mentioned are used in particular for closing building openings. Various variants of these leaves are known, the leaves depending on the application slats, rods, sections have or are constructed of an at least partially flexible material.

If such gate leaves are used in a closing device of the type mentioned above, they will, if the building opening is not to be closed, be stored essentially in two different ways. The first type of storage is to wind the gate on an axle, the second way is to store the gate substantially straight, the gate is running over a pulley and is brought to a storage position.

Vertically moving sectional doors may comprise a gate formed from horizontally arranged louvers, rods or sections, for example hinged together, which may either be moved around curves or rolled up like rolling gates or grids. High-speed doors, which are made of a flexible material, do not require any hinges.

If these leaves are driven by a motor, obstacles located in a closing path of the closing edge must be detected in order to avoid or minimize the dangers arising from crushing. In the case of weight-balanced doors, it is possible to detect these forces by monitoring the engine forces and to initiate a reversal movement when a limit value is exceeded.

This procedure is faulty for non-weighted or heavy gates and difficult to achieve. Therefore, in such gates a switching or contact strip on the closing edge is necessary to detect obstacles. Such switching or contact strips may consist of a flexible material which is deformed at a pressure resulting from an obstacle. This deformation can be detected and a deformation signal transmitted to a gate control. If the gate control detects an excessive deformation of the closing edge, the closing gate movement is stopped and a drive in the opposite direction started (reversing) to release the obstacle.

For these switching or contact strips so-called resistance switching strips are common in which mechanically a resistor is interrupted or shorted when pressure. In addition, optical systems are known in which the pressure occurring narrows the light path in the bar so far that the light can no longer penetrate from the transmitter to the receiver.

In certain situations, this switching or contact strips is not possible to reliably detect a blockage of the gate.

It is an object of the present invention to increase the reliability of the detection of a blockage of a gate of the type mentioned. In addition, a shooting device for an opening with a gate to be proposed, which meets increased safety requirements. The reliability of a method for detecting a blockage of a gate operated by a drive motor should also be increased.

This object is solved by the subject matters of the independent claims. Advantageous embodiments of the invention are the subject of the dependent claims.

The invention provides a gate leaf having an end region and a further region, wherein the end region is arranged in front in a closing direction of the gate leaf, with a relative movement detection device for detecting a relative movement between the end region and the further region.

Next, the invention provides a closing device for an opening, in particular a building opening, with a gate according to one of the preceding claims, a drive motor for moving the gate and a control device for controlling the drive motor.

• a) Antreiben des Torflügels in einer Schließrichtung;
• b) Erfassen einer Bewegung des Endbereiches relativ zu dem weiteren Bereich; und
• c) Anhalten und/oder Reversieren der Bewegung des Torflügels, falls die Bewegung des Endbereiches nicht in einem vorbestimmten Verhältnis zu der Bewegung des weiteren Bereiches steht.

Furthermore, the invention provides a method for detecting a blockage of a door leaf moved by a drive motor, which has an end area and a further area, with the steps:

• a) driving the gate in a closing direction;
• b) detecting a movement of the end portion relative to the wider portion; and
• c) stopping and / or reversing the movement of the gate, if the movement of the end portion is not in a predetermined relationship to the movement of the wider area.

According to the invention, it is proposed to equip the above-mentioned door leaf with a relative movement detection device for detecting a relative movement between the end region and the further region.

Next, a closing device is proposed with such a gate. In addition, a method is proposed in which movement of the end region relative to the further region is detected and the movement of the gate is stopped and / or reversed if the movement of the end region is not in a predetermined relationship to the movement of the further region.

By the relative movement detection device of the gate according to the invention, it is possible to detect a blockage even if no or insufficient pressure is exerted on the closing edge. Weathering and aging-related changes in the closing edge do not affect the reliability of the device.

The relative movement detecting means may preferably comprise a relative position picker arranged to detect a distance of a reference point at the end portion from a reference point at the wider portion.

Preferably, the relative position sensor is arranged in a gap between the end region and the further region.

Preferably, the relative position sensor comprises a switch disposed between a portion of the end portion and a portion of the wider portion so as to be compressed when the distance of the end portion from the wider portion falls below a threshold value.

The relative position sensor preferably has a piezoelectric sensor which is arranged between a section of the end region and a section of the further region such that it is compressed when the distance of the end region from the further region falls below a threshold value.

Preferably, the relative position sensor has a light barrier which is arranged such that it is interrupted by a section of the end region or a section of the further region if the distance of the end region from the further region falls below a threshold value.

The relative movement detection device preferably has a movement determination device, which is designed to determine the relative movement between end region and further region from distance values detected by the relative position sensor at a time interval from one another.

The relative movement detection device may have a force sensor which detects a force acting between the end region and the further region. Such a relative movement detection device can also be used in gate leaves whose elements are not separated by gaps which increase or decrease depending on the relative movement of the end region and the further region.

The force sensor may include a strain gauge attached to a measuring section. Preferably, the strain gauge is attached to the measuring section such that an extension of the measuring section can be measured.

The extent of the measuring section is preferably dependent on a force exerted thereon. This is particularly advantageous if the modulus of elasticity of the material used for the measuring section is known.

In a preferred embodiment, the relative movement detection device has an acceleration sensor arranged in or on the end region. Such an acceleration sensor can detect a braking process of the end region, for example when hitting an obstacle or when tilting the end region in a guide.

The relative movement detection device preferably has a test device with which the function of the relative movement detection device can be checked. In a particularly advantageous embodiment, a test procedure to be carried out by this test apparatus can be carried out automatically, ie without the assistance of an operator.

The locking device according to the invention has the advantage that no additional sensors are mounted outside of the gate for the integrated in the gate blocking detection have to. The gate can thus be completely pre-assembled by the manufacturer, reducing the installation time on site is reduced. In addition, the blocking detection in this locking device is able to detect a blockage of the gate even if the closing edge is not compressed sufficiently. As far as the sensors of the blocking detection are arranged inside the gate, environmental influences such as moisture or dirt are reduced, thus increasing the reliability and extends the maintenance interval.

In a preferred embodiment, the closing device has an interrupting device with a set of rules for triggering an interruption of the movement of the gate.

The set of rules preferably has rules for linking measured values or signals of the relative movement detection device to a desired movement state of the locking device. As a result, the closing device can distinguish a blocking of the closing edge by an obstacle from a stopping of the closing edge in an end position, for example in the fully closed position.

Preferably, the rule is adaptable to the conditions of the locking device.

Preferably, the closing device has a matching device, which is designed for automated adaptation of the set of rules. Such a matching device makes it possible to set the rules for the particular application of the locking device correctly, without having to fear a misuse by an operator.

The inventive method allows the recognition of a blockage of the gate even if the closing edge is not or only slightly loaded. Such a situation can occur if the end area in a guide is tilted and thereby blocked. Since the blocking of the end area is nevertheless detected, the operational safety of the gate leaf is increased.

To determine the movement of the further area, a manipulated variable of the drive motor can be used. In a preferred embodiment, the movement of the further range is estimated from this manipulated variable of the drive motor and the predetermined ratio is calculated from the estimated movement.

The estimation is preferably carried out using an algorithm that takes into account the characteristics of the door leaf used as well as the selected drive. As a result, the method can be used both for articulated high-speed doors and for roller shutters with links. It is also applicable regardless of whether the gate is rolled up on an axis or not.

Preferably, a synchronization of end range and further range is used as the predetermined ratio, wherein a threshold value can be predetermined for a permitted deviation from the synchronization.

The threshold value is preferably selected such that the measured movement speed of the end region deviates from the movement speed estimated from the manipulated variable of the drive motor by at most 25%. As a result, erroneous shutdowns of the drive due to usual wow and flutter and inaccuracies in the estimated speed of movement are avoided.

Preferably, the movement of the gate is stopped and / or reversed when an acceleration of the end portion opposite to the closing direction exceeds a threshold. In this case, it is possible to dispense with an estimate of the movement speed of the wider area.

The acceleration of the end region can be calculated from a change in the movement of the end region. If the end region has a position sensor, this can be used by using an algorithm for measuring the acceleration. As a result, additional fittings are avoided.

When using a roller shutter with a hinged gate leaf, a force acting between the end area and the further area can preferably be measured, and the ratio of the movement of the end area to the movement of the further area can be estimated from these measured values.

In a preferred embodiment, the permitted ratio between the movement of the end region and the movement of the further region is determined in an upstream adaptation step. As a result, the method can be adapted to the gate used, which further increases the reliability of the blocking detection.

Preferably, the adjusting step may provide that the gate is reciprocated between an open and a closed position. Preferably, in the adaptation step, depending on the measuring method used force, speed and / or Acceleration measurements carried out by which a common functional state of the gate is defined.

The invention is explained in more detail below with reference to exemplary embodiments, which are shown schematically in the accompanying drawings. They show in detail:

1 a perspective view of a house wall with an opening and a shutter closing this opening;

2 a plan view of the roller door from the inside of the opening;

3 schematically the structure of a Rolltorsteuerung;

4 a view like in 2 ;

5 a view like in 2 ;

6 a section along the line AA through the Rollpanzer 2 ;

7 a cut like in 6 with the rolling stock hit on an obstacle;

8th a cut like in 7 ;

9 a cut like in 7 and

10 a cut like in 7 ,

In the 1 house wall shown from outside 10 has an opening 12 which is closed by a closing device according to the invention. The closing device has a gate leaf with at least two mutually relatively movable areas. The gate can z. B. have links or a lock edge strip and a flexible curtain.

For example, the lock edge strip as a roller door 14 educated.

The roller door 14 has a rolling armor as a gate 16 on.

The roller door 14 is in 2 overlooking an inside of the house wall 10 shown. The rolling armor 16 , which closes the opening 12 serves, is made up of individual links 18 here through slats 20 are formed, built. The slats 20 are z. B. by means of joints 54 so movably connected to each other that the rolling armor 16 in freely suspended state distances between areas of the door members, z. Eg column 22 between main bodies of the slats 20 , having.

The rolling armor 16 can on an axis 24 be wound up so that he has the opening 12 no longer closes. At the axis 24 is a drive motor 26 provided the axis 24 can drive in both directions.

To the rolling armor 16 To give stability are at sides of the opening 12 vertical guides 28 arranged in which edge portions of the slats 20 be guided. This will wind up on the axle 24 required pivotability of the slats 20 blocked to each other, as far as the slats 20 in the guides 28 are located. By this measure, the rolling armor 16 stabilized.

The Rollpanzer shown here 16 is about to open 12 to close and therefore moves down in a closing direction 30 , An edge 32 during a closing process of the rolling armor 16 in the closing direction 30 is located in front, is generally called the closing edge 32 designated.

The slats 20 of the rolling armor 16 are made of metal. Even if preferred light metals for the slats 20 the Rollpanzer has to be used 16 a not negligible mass. Objects in the downstairs rolling armor 16 can be trapped by the weight of the rolling armor 16 , which is distributed on a comparatively small area, damaged. This is especially dangerous when human body parts are in the travel of the roller shutter 16 are located. In this case can by the Rollpanzer 16 serious injuries, such as fractures, are caused.

To prevent this from happening, the roller shutter is pointing 14 Devices, in particular sensors, which recognize improper operating conditions and a stop of the drive motor 26 can trigger.

In 3 is shown schematically the structure of the present Rolltorsteuerung. A control panel 38 is intended that an operator of a control device 36 Instructions, in particular for opening and / or closing the roller shutter 14 gives. The control device 36 Controls the drive motor according to the instructions 26 and sets so the rolling armor 16 moving.

To automatically stop the rolling armor 16 be able to perform end position detection devices 40 provided to the control device 36 signal when the rolling armor 16 has arrived in an end position, ie a fully closed or fully open position. This allows the controller 36 a closing process of the rolling armor 16 automatically finish when the rolling armor 16 arrived in the closed end position. The same is the opening process of the rolling armor 16 automatically stops when the rolling armor 16 arrived in the open end position.

To avoid persons or objects by the closing rolling armor 16 are clamped, blockage detection devices are provided.

One of these devices is one in the closing edge 32 integrated pressure-sensitive contact strip 34 , The contact strip 34 is with a final lamella 35 connected, hollow and formed of a flexible plastic, which deformed comparatively easily with pressure exerted thereon. At opposite sides in the closing direction inner sides of the contact strip 34 are arranged electrically conductive surfaces that touch when the contact strip 34 is compressed sufficiently. The contact closes the electrical contact and provides an emergency stop signal 42 generated to the control device 36 is transmitted.

Upon receipt of the emergency stop signal 42 controls the controller 36 the drive motor 26 so on, that this the Rollpanzer 16 stops as soon as possible. Subsequently, the control device controls 36 the drive motor 26 so on, that this the Rollpanzer 16 slowly opens.

The roller door 14 has a relative movement detection device 44 on, in case of blockage of the rolling armor 16 another emergency signal 46 can generate. The relative movement detection device 44 will be described in detail later.

In 4 the case is shown that the contact strip 34 on an obstacle 48 hit, that is the rolling armor 16 in the closing direction 30 blocked. By the weight of the rolling armor 16 becomes the contact strip 34 compressed so that they the emergency signal 42 can trigger.

There on the contact strip 34 a minimum pressure must be exerted, so that triggers, loads in the moment in which the rolling armor 16 comes to a halt, a significant pressure on the obstacle 48 , One reason is that the slats 20 that attach to the end plate 35 connect, be pushed together, leaving the column 22 disappear. This will be part of the slats 20 no longer hanging from the rolling armor 16 self-supported but lies on the obstacle 48 on.

Only when the movement of the drive motor 26 is reversed and the slats 20 . 35 again over the rolling armor 16 on the axis 24 hang, the obstacle becomes 48 relieved.

In 5 There is a major obstacle in the form of a truck 50 in the travel path of the rolling armor 16 , The truck 50 is much higher than the obstacle 48 , Therefore, at the time of the rolling stock 16 on the truck 50 meets, only a very small part of the slats 20 unrolled. The weight of the slats 20 on the closing edge 32 loads, is not enough to the contact strip 34 deform so far that the inner contact is closed. The contact strip 34 thus generates no emergency signal in this case 42 through which the control device 36 for stopping the drive motor 26 would be prompted.

In 6 is a first embodiment of the relative movement detection device 44 shown a relative movement between an end region. 52 and another area 56 detected. The end area 52 , here through the end lamella 35 and the contact strip 34 is formed, as already indicated by means of a hinge or joint 54 with that through the rest of the rolling armor 16 formed further area 56 connected.

To the joint 54 to form, point the slats 20 a groove 58 on, in each of which a projecting flange 60 another lamella 20 is inserted. To prevent the flange section 60 by itself back out of the groove 58 slides out, the flange section 60 a blocking section 62 on, which is thicker than an opening 64 the groove 58 ,

At a bottom of the groove 58 is a relative position sensor of the relative movement detection device 44 a force sensor 66 arranged. Moves the end area 52 on the wider area 56 to, so presses the blocking section 62 on the force sensor 66 as it is in 7 is shown. The force exerted on it by the force sensor 66 detected. As soon as the detected force exceeds a threshold value, the force sensor is used 66 an emergency stop signal 46 generated. The emergency signal 46 causes the controller 36 to the drive motor 26 to stop and reverse his movement.

The force sensor 66 is designed in this embodiment as a simple pressure switch. Once the pressure point of the pressure switch is reached, the electrical. Contacts inside the pressure switch connected to each other, creating the emergency stop signal 46 is produced. The pressure point of the pressure switch is chosen so that the switch triggers when the end area 52 essential to the wider area 56 has moved to. This matches with a threshold for the allowed distance between end regions 52 and further area 56 ,

If a more accurate estimate of the applied force as a measure of the relative position of the end 52 and further area 56 is desired, the force sensor 66 be configured as a continuous force sensor, for example as a piezoelectric element. In this case, it is usually necessary to provide an evaluation device for evaluating the values delivered by the piezoelectric element.

In 8th is a further embodiment of the gate according to the invention 16 shown. Again, the end area 52 the end lamella 35 and the contact strip 34 on. The further area 56 is from the remaining slats 20 of the rolling armor 16 educated.

Will the wider area 56 through the drive motor 26 During a closing process moves evenly, it is expected that the movement of the end 52 also done equally. However, this is not the case when the travel path of the rolling armor 16 through an obstacle 48 is blocked.

To change the relative position between end region 52 and further area 56 to recognize, has the end plate 35 an acceleration sensor 68 on. If during the procedure of the Rollpanzers 16 an acceleration against the closing direction 30 at the end area 52 is measurable, then move the end 52 and the wider area 56 towards each other. In this case, it is assumed that the end area 52 on a further movement in the closing direction 30 is hindered, for example by an obstacle 48 or a truck 50 ,

The acceleration sensor 68 is connected to an evaluation device which measures the measured. Acceleration values with estimated values compared, starting from the known control of the drive motor 26 by the control device 36 be calculated.

Due to the characteristics of the motors and the shape of the individual links, in particular sectional gates do not have a completely uniform movement. The evaluation device must therefore include the usual speed variations in its evaluation. Therefore, the evaluation device becomes a predetermined ratio between the measured movement of the end portion 52 and the estimated movement of the wider area 56 specified.

The evaluation device integrates the measured acceleration values and thus calculates a movement speed of the end zone 52 , As a predetermined ratio, it is indicated in this embodiment that the moving speed of the end portion 52 from the movement speed of the wider area 56 by no more than 25%, based on the movement speed of the wider area 56 , should distinguish. Once the speed of the end 52 by more than 25% of the speed of the wider range 56 deviates the emergency signal 46 triggered.

In a further embodiment of the evaluation device, a predetermined value is a threshold value for the acceleration of the end region 52 predetermined against the direction of movement. If this threshold is exceeded, then the emergency stop signal 46 triggered.

The evaluation device may also have as a predetermined ratio a combination of these two embodiments.

In the further embodiment, the in 9 is shown as a relative movement detecting means 44 a photocell 70 intended. The blocking section 62 the end lamella 35 interrupts the light barrier 70 when the end area 52 not moving as fast as the wider area 56 ,

The threshold for triggering the emergency stop signal 46 is determined by the position of the light barrier 70 Are defined. Will the photocell 70 closer to the opening 64 positioned, the relative movement detection device releases 44 earlier than when the photocell 70 a greater distance to the opening 64 having. The photocell 70 has no mechanical wear and thus contributes to an extended maintenance interval of the roller shutter 14 at.

In 10 is another embodiment of the rolling armor 16 shown. To a relative movement between the end 52 and the wider area 56 to detect the relative movement detecting means 44 a strain gauge 72 on. The strain gauge 72 is with the surface of a sensor holder 74 connected. The sensor holder 74 is with one end at the end 52 and at the wider area 56 attached.

When the end area 52 from the wider area 56 removed, then the sensor holder 74 and thus also the attached strain gauges 72 stretched. The on the strain gauge 72 measurable strain is thus a measure of the distance of the end region 52 from the wider area 56 , Move the end area 52 and the wider area 56 on each other to that one threshold for the removal of the two areas 52 . 56 is fallen below one another, then an evaluation solves the emergency signal 46 out.

The relative movement detection devices shown here 44 are not just in a gate with a rolling stock made of individual links 16 usable. The same sensors and methods can also be used in high-speed doors, whose leaves 16 is constructed, for example, of several interconnected plastic tarpaulins used. There is also an end area there 52 in the closing direction 30 lies at the front, and its distance from the wider area 56 depending on the relative movement of the areas 52 . 56 changed.

Becomes a force sensor 66 or a strain gauge 72 used, these can be attached to expandable elements of the gate leaf 16 be attached. An acceleration sensor 68 in the end area 52 is arranged, is also easy to use.

If the relative movement detection device 44 an evaluation device is required, the threshold values and rules according to which the evaluation device decides whether a blocking of the closing edge 32 present or not, to be determined by an adjustment run largely automated.

For this purpose, the rolling armor 16 at least once from a full open position to the complete closure of the opening 12 Method. While the rolling armor 16 the evaluation device determines the movement of the respective sensor of the relative movement detection device 44 measured sensor values. From this sensor calculates the evaluation, which deviations from a synchronization of the end 52 and the wider area 56 occur with correct function. These deviations are defined as threshold values with an additional safety margin.

In such an adjustment run beyond the end position detection device 40 learned.

The maintenance is simplified by the sensors of the relative movement detection device 44 if they have an evaluation device, this evaluation device can be tested for their function. Sensors that have no evaluation, can directly from the controller 36 being checked.

Such automatic testing includes, for example, starting and stopping the drive motor 26 while the sensors are being read. Provided the relative movement between end region 52 and further area 56 , which is known for these changes in the states of motion, is recognized correctly, it can be assumed that the sensors function properly.

Of course, the relative movement detection device 44 also have any combination of the explained in the individual embodiments sensors, ie z. B. one or more of the force sensors 66 , one or more of the acceleration sensors 68 and / or one or more of the light barriers.

The here presented door leaf, the locking device presented here and the method presented here allow blocking of the closing edge 32 even if you recognize the contact strip 34 is not or not sufficiently compressed to ensure detection of the blockage. Unlike with the contact strip 34 is with the relative movement detection devices 44 for example, a tilted closing edge 32 recognizable.

In addition, the leaf and the closing device are insensitive to weathering and aging.

LIST OF REFERENCE NUMBERS

10

housewall

12

opening

14

Roller door (closing device)

16

Rolling armor (gate wing)

18

element

20

slats

22

gap

24

axis

26

drive motor

28

guide

30

closing device

32

closing edge

34

contact strip

35

end disk

36

control device

38

Control panel

40

Endlagenerfassungseinrichtung

41 42

emergency stop signal

44

Relative motion detector

46

emergency stop signal

48

obstacle

50

truck

52

end

54

joint

56

another area

58

groove

60

flange

62

blocking portion

64

opening

66

force sensor

68

accelerometer

70

photocell

72

Strain gauges

74

sensor holder

Claims (13)

Gate wing ( 16 ) with an end region ( 52 ) and another area ( 56 ), the end region ( 52 ) in a closing direction ( 30 ) of the gate ( 16 ) is arranged on the front, with a relative movement detection device ( 44 ) for detecting a relative movement between the end region ( 52 ) and the wider area ( 56 ). Gate leaf according to claim 1, characterized in that the relative movement detection device ( 44 ) has a relative position sensor arranged to move the end portion (Fig. 52 ) and the wider area ( 56 ) to each other. Door leaf according to claim 2, characterized in that the relative position sensor comprises a pressure-sensitive switch which is arranged so as to extend from the end region ( 52 ) and the wider area ( 56 ) and that it triggers when the distance of a reference point at the end region ( 52 ) from a reference point on the wider area ( 56 ) falls below a threshold value. Door leaf according to one of the preceding claims, characterized in that the relative movement detection device ( 44 ) a force sensor ( 66 ), one between the end region ( 52 ) and the wider area ( 56 ) acting force detected. Door leaf according to one of the preceding claims, characterized in that the relative movement detection device ( 44 ) a strain gauge ( 72 ). Door leaf according to one of the preceding claims, characterized in that the relative movement detection device ( 44 ) one in or at the end region ( 52 ) arranged acceleration sensor ( 68 ). Locking device ( 14 ) for an opening ( 12 ), in particular a building opening, with a gate wing ( 16 ) according to one of the preceding claims, a drive motor ( 26 ) for moving the gate ( 16 ) and a control device ( 36 ) for controlling the drive motor ( 26 ). Locking device according to claim 7, characterized in that the locking device ( 14 ) has an interruption device which has a set of rules for triggering an interruption of the movement of the gate leaf (FIG. 16 ) having. Method for detecting a blockage of a drive motor ( 26 ) moving gate ( 16 ), which has an end region ( 52 ) and another area ( 56 ), comprising the steps of: a) driving the gate leaf ( 16 ) in a closing direction ( 30 ); b) detecting a movement of the end region ( 52 ) relative to the wider area ( 56 ); and. c) stopping and / or reversing the movement of the gate ( 16 ), if the movement of the end region ( 52 ) not in a predetermined relationship to the movement of the wider area ( 56 ) stands. Method according to claim 9, characterized in that the movement of the further area ( 56 ) from a manipulated variable of the drive motor ( 26 ) and the estimated ratio is calculated from the estimated movement. A method according to claim 9 or 10, characterized in that as a predetermined ratio a synchronization of end region ( 52 ) and further area ( 56 ) is used, wherein for a permitted deviation from the synchronization a threshold value can be specified. Method according to one of claims 9 to 11, characterized in that the movement of the gate ( 16 ) is stopped and / or reversed when an acceleration of the end region ( 52 ) against the closing direction ( 30 ) exceeds a threshold. Method according to one of claims 9 to 12, characterized in that the predetermined ratio is determined in an upstream adaptation step in which the ratio of the movement of the end region ( 52 ) to the movement of the wider area ( 56 ) is determined in a test run.

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