EP4265873A1 - Method for controlling a door system - Google Patents

Abstract

The subject of the invention is 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 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), with people (15) within the sensor detection area (14) being detected by means of the sensor unit (12) and their position and/or movement and/or contour are output as sensor data (13). According to the invention, a control system (16) is set up with which the sensor data (13) is received, the control system (16) having a first control module (16a) with which the movement of the at least one wing element (11) of the The door system (100) is continuously and dynamically regulated depending on the position, the movement and/or the contour of the at least one person (15) and - has a second control module (16b) with which the closing edge protection of the at least one wing element (11) the door system (100) is carried out based on the sensor data (13). The invention is further directed to a door system (100) with a control system (16) for carrying out the method.

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 , whereby people within the sensor detection area are detected by the sensor unit and their position and/or movement and/or contour are output as sensor data. The invention is further directed to a door system with a control system for carrying out the 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. When the person is detected, the door drive opens the door leaf of the door system. It is stated that radar sensors can be used as the sensor unit. Unfortunately, however, only one is usually used A simple opening impulse is generated by the control unit as soon as the sensor unit detects the presence of a person and transmits the detection to the control unit as 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.

From the DE 10 2019 126 718 A1 a device for the building-mounted installation of a door system with at least one wing element is known, which is automatically movable in a movement space, with monitoring means for monitoring the movement of the wing element in order to avoid a collision of the wing element with a person and / or an object, and all Monitoring means are formed from at least one or more cameras and at least one or more image evaluation units, the camera being set up to monitor the movement space.

The device is based on controlling all monitoring of the movement of the wing element in or through the movement space using monitoring means that are based exclusively on at least one camera and on at least one image evaluation unit. Camera images can be evaluated with high quality, so that, particularly with a redundant arrangement of monitoring means, i.e. at least two cameras, the electrified, in particular automated operation of the device with motor-driven wing elements can be carried out safely, in particular in order to avoid collisions with objects and especially with people .

The image evaluation with the image evaluation unit takes place before the start of the movement of the wing element into or through the movement space, and in particular a real-time evaluation of the camera image takes place with the image evaluation unit in order to also determine the behavior of a person while passing through the facility or the stay of a person in or to monitor adjacent to the movement space of the wing element of the device, and if necessary to immediately trigger a signal in order to stop or reverse the movement of the wing element, for example. The evaluation of the camera image with the image evaluation unit thus takes over the function of non-contact or tactile proximity sensors for securing the closing edge, with the at least one or preferably several cameras being attached in connection with the device in such a way that the movement space and in particular also adjacent areas of the movement space are monitored . This means that closing edge protection can also be set up with the sensor unit that is initially only used to detect the person in order to control the door drive. However, the closing edge protection cannot react sufficiently quickly with a simple control system if the control function of the door drives is to be carried out using the control system with extended functions.

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 a person. Another advantage is that the method can be operated with a minimum number of sensor units Operation and in conjunction with the control of the door drives can be equipped with additional functions.

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 10 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 system is set up with which the sensor data is received, the control system having a first control module with which the movement of the at least one wing element of the door system depending on the position, the movement and/or or the contour of the at least one person is continuously and dynamically regulated and a second control module is provided with which closing edge protection of the at least one wing element of the door system is set up based on the sensor data.

The core idea of the invention is the improved design of a control system with a first control module and with a second control module, the first control module controlling the movement of the wing element in direct dependence on the position, the movement and / or the contour of the at least one person, in particular in the form of a active control circuit that is maintained throughout the person's entire time passing through the door system. The method according to the invention listed above can therefore also be carried out with this improved control system. For this purpose, the control system also has a second control module, with which closing edge protection is ensured. The first control module and the second control module or at least its CPU cores can be housed in a common housing.

Both the control of the wing element and the closing edge protection should be based on the same sensor data from at least one sensor unit and preferably from two sensor units. The sensor data can be sent separately from the sensor units to both the first control module and the second control module.

The advantage of the method according to the invention is that with the hardware and software structure produced in this way, comprising the at least one, preferably the two sensor units, as well as comprising the control system with the first and the second control module for evaluating, in particular, 3D camera data, approval according to the so-called Performance level “c” or “d” can be achieved. This means that a probability of a dangerous failure of the correct control of the wing elements can be specified from 1:333,333 to 1:1,000,000 (PI c) or up to 1:1,000, particularly with redundant use of sensor data from two sensor units and each associated sensor detection areas. 000 to 1:10,000,000 (PI d).

The first control module is characterized in particular by the fact that the sensor data are evaluated with this in particular independently and based on the position, the movement and / or the contour of the at least one person, a movement of the at least one wing element is determined by the first control module controlling the door drive of the wing element is continuously controlled at least over a detection period of the person in the sensor detection area by means of an active control loop.

The second control module is characterized in particular by the fact that the sensor data are also evaluated independently and certain movement movements of the at least one wing element are received by the first control module and checked in such a way that a collision of the wing element with the person is avoided, in particular closing edge protection is created becomes. Consequently, it is provided that the first control module first transmits control data for controlling the at least one door drive of the wing element to the second control module, the control data being evaluated by the second control module in correlation with the sensor data and finally being output to the door drives of the wing elements.

In other words, functional safety is first checked in the second control module, so that the second control module evaluates the sensor data of the sensor unit in parallel to the first control module and in particular independently of one another, the evaluation taking place in parallel to the evaluation by the first control module. The movement corridor, which is calculated with the first control module for the person to cross the door system, can thus be released by the second control module with the second control module.

In particular, the first control module does not fulfill the functional safety of the closing edge protection, but preferably only calculates the optimal travel path of the wing elements to create the ideal movement corridor for the person to cross the door system. As part of functional safety, the second control module finally queries a possible collision between the wing elements and the person, in particular during a closing movement of the wing elements of a sliding door system. If the second control module determines that a collision cannot occur, the first control module will do so certain access corridors are finally released and the door drives are controlled by the second control module.

In particular, sensor units are set up on both sides of the door system, the sensor units having or forming respective sensor detection areas which overlap in the plane of movement of the wing elements, adjoin one another or at least have a distance from one another that is smaller than the dimension of a particularly small person, so that the detection of the at least one object is carried out from a first sensor detection area to a second sensor detection area and, in particular, without interruption.

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. If there is a detection gap between the sensor detection areas on the opposite sides of the door, this can be filled by interpolation so that there is practically no need for a control interruption.

At least one image evaluation unit is provided for evaluating the sensor data from the sensor units, with each of the two control modules preferably being assigned its own image evaluation unit. In particular, it is provided that an image evaluation unit is set up in conjunction with or as a component of the first control module and the second control module, with the image evaluation unit continuously tracking the movement of the person over it The entire recording period is carried out and provided to the respective control module. The first control module evaluates the image data to create an optimal access corridor for the person for the door system, and the second control module evaluates possible collisions in the range of movement of the wing elements with its own assigned image evaluation unit, so that a collision of a wing element with a person walking through the door system is prevented. The image evaluation units, in particular for evaluating 3D image data, can each be part of the control modules, so that the first control module has a first image evaluation unit and the second control module has a second image evaluation unit set up separately from the first image evaluation unit. However, an image evaluation unit that is used equally by both control modules is also conceivable.

As a result, the architecture of the control system according to the invention means that control of the door drives of the wing elements is calculated by the first control module, but the control only takes place after the control data has passed through the second control module in order to prepare the calculated movement data of the wing elements for a possible collision examine and finally release it, provided there is no threat of collision.

For example, the first control module has a Linux computer, while the second control module is based on a microcontroller. For example, the first control module can be designed as a Raspberry Pi, while the microcontroller is designed to operate an RTOS operating system, which enables real-time capability. On the other hand, the Linux system to form the first control module can be designed to be IP-capable and integrated into a network so that communication between the Sensor units and the control modules are based, for example, on an Ethernet, while the communication between the second control module, in particular the microcontroller and the door drives is based on a CAN bus.

The control modules are set up in parallel so that they independently evaluate the data from the sensor units, while the door drives are only controlled by the second control module via the CAM bus. The control data for controlling the wing elements are transferred from the first control module to the second control module.

According to the invention, the sensor detection areas for carrying out the method are divided into a person movement area far from the door and a security area near the door, with the first control module using the image evaluation unit to evaluate the person movement area far from the door and with the second module predominantly the security area near the door being evaluated via the image evaluation unit. In order to continuously track the movement and the contour of the person throughout the entire door system, the security area near the door can also be evaluated by the first control module, so that the evaluation of the security area near the door can be carried out by both control modules independently of one another. By evaluating the image data from the image evaluation unit with the second control module, closing edge protection or, for example, the provision of escape routes is created, so that the door corridor, which is determined for the leaf position with the first control module, is checked by the second control module.

The door system preferably has two wing elements, with the control system controlling the two wing elements independently of one another controlled and the wing elements are moved independently of each other. For example, if a person does not walk through the door system in the middle, one wing element can move further into the closed position to form an optimal door corridor, while the second wing element moves further into the open position. This creates an off-center door corridor through which the person can enter the door system.

The invention is further directed to a door system with a control system for carrying out the method described above. The control system, the at least one sensor unit and/or the at least one door drive form a control loop with which the movement of the at least one wing element or preferably the movement of two wing elements can be regulated. The control of the wing element takes place continuously and dynamically over the entire period of time the person passes through the door system.

The control system according to the invention has a first control module with which the sensor data can be evaluated and based on the position, the movement and / or the contour of the at least one person, control data for a movement of the at least one wing element can be determined.

The control system also has a second control module with which the sensor data can be evaluated and with which traversing movements of the at least one wing element determined by the first control module can be checked in the form of control data, so that a collision of the wing element with the person is avoided and closing edge protection is created.

The sensor unit of the door system has at least one and preferably two cameras, and it is in particular provided that the sensor unit has at least one light source with which a light grid can be projected into the sensor detection area. The sensor unit can be designed as a 3D camera, a stereo camera, a triangulation system, a ToF (Time of Flight) camera, a light field camera, an RGB camera and/or a LIDAR system.

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 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 to those to be captured Throw surfaces of objects. 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 schematisch perspektivische Ansicht einer Türanlage mit einem Steuerungssystem zur Ausführung des Verfahrens und

Figur 2

der Ausbau des Steuerungssystems mit einem ersten Steuermodul und mit einem zweiten Steuermodul.

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 perspective view of a door system with a control system for carrying out the method and

Figure 2

the expansion of the control system with a first control module and a second control module.

Figure 1 shows a schematic perspective view of a door system 100, which is designed as a sliding door system with two linearly movable wing elements 11. The wing elements 11 are each driven by a door drive 10, with the movements of the wing elements 11 being decoupled from one another via the separate door drives 10.

The illustration shows a sensor unit 12 on the front of the door system 100, which spans a sensor detection area 14 on the bottom side in front of the door system 100. The same sensor unit 12 with a similar sensor detection area 14 can also be present on the rear side of the door system 100 in a manner not shown.

The door system 100 also has a control system 16, which is connected to the two door drives 10 and also to the sensor unit 12 or to the sensor units 12. Also shown is a person 15 in the front sensor detection area 14, and in a lateral arrangement There is an authentication device 19 in the sensor detection area 14. The person 15 can authenticate themselves via the authentication device 19 in order to receive authorization to enter the door system 100. The authentication device 19 is shown in data connection with the control system 16.

Furthermore, the person 15 holds, for example, a means of communication 20 in his hand, and the means of communication 20 can be, for example, a mobile phone. This means that it is also possible, in a manner not described in detail, for the person 15 to authenticate themselves contactlessly and/or wirelessly with the communication means 20, the data communication being carried out, for example, with the authentication device 19 or also with a communication device (not shown in detail) as part of the control system 16 or the sensor unit 12 can communicate. The authorization is queried as to whether the person 15 who is carrying the means of communication 20 is authorized to enter the door system 100.

The sensor unit 12 has, for example, a stereo camera, in particular a 3D camera, with which depth images can be recorded. As soon as the person 15 has entered the sensor detection area 14, the sensor unit 12 can detect the position, the speed, as well as the direction of movement and even the contour of the person 15, and transmit it to the control system 16. This makes it possible for the sensor unit 12 to continuously track the movement of the person 15, and the sensor data 13, which are transmitted to the control system 16 via the data connection shown, enable the door drives 10 to be directly controlled to move the wing elements 11 depending on the current Position, speed and direction of movement as well as the contour of the person 15. This creates an active control loop with the control system 16, via which one immediate, continuous and dynamically following reaction of the wing elements 11 to the behavior of the person 15 can take place.

The sensor unit 12 is designed in such a way that the sensor detection area 14 is divided into a people movement area 14a away from the door and into a security area 14b. In the person movement area 14a, the sensor unit 12 can detect the presence and movement of the person 15, with this detection of the person 15 also being retained in the security area 14b. In addition, however, the sensor unit 12 is set up to additionally provide closing edge protection for the wing elements 11 in the security area 14b. The image evaluation of the sensor data provided by the sensor unit 12 is oriented towards securing the range of movement of the wing elements 11, so that it is avoided that the wing elements 11 can collide with foreign bodies and in particular with the person 15, in particular in a movement in the closing direction. If the sensor unit 12 detects a person 15 or another object in the security area 14b, the movement of the wing element 11 can be prevented accordingly, in particular ultimately by the control system 16.

Figure 2 shows a schematic view of the structure of the control system 16 for controlling the door system 100 according to Figure 1 .

The control system 16 has a first control module 16a and a second control module 16b, which can preferably be operated independently of one another and/or each independently. On the left side, two sensor units 12 are shown as examples, which transmit sensor data 13 to the control system 16 via a network, for example Ethernet. The control system 16 has a first control module 16a and a second control module 16b, with the sensor data 13 in the same Way to be transmitted to both the first and second control modules 16a and 16b.

On the right side of the control system 16, door drives 10 for moving the wing elements 11 are exemplary Figure 1 shown. The connection between the second control module 16b and the door drives 10 takes place, for example, via a CAN bus.

The first control module 16a has an image evaluation unit 18 which receives the sensor data 13 from the sensor unit 12. The image evaluation unit 18 enables an evaluation of the recorded image of the sensor unit 12, for example having a stereo camera. The first control module 16a serves to generate control data 17, which is transmitted to the second control module 16b. An optimal wing position 21 is first determined, which is finally transferred to the second control module 16b in the form of the control data 17. A processor 22 of the first control module 16a can be formed by a Raspberry Pi, for example, and the operating system can be formed by Linux. The first control module 16a is therefore particularly IP-capable and can be integrated into a network.

The second control module 16b also has an image evaluation unit 18, which in particular or predominantly corresponds to the security area 14b Figure 1 evaluated. This ensures that there are no people or foreign bodies in the movement range of the wing elements 11. The second control module 16b has a further processor 23, and this can be used to evaluate the optimal wing position 21 by examining whether a collision with the person 15 or with another object can take place. If the evaluation is negative and the wing element 11 can be moved freely, the position of the or the positions of the Wing elements 11 form a permitted door corridor 24. So if the door corridor 24 is transferred to the second control module 16b via the control data 17 in accordance with the optimal leaf position 21, which is determined by the first control module 16a, and the optimal leaf position 21 results in a door corridor, the release can take place and the door drives 10 are activated . The second control module 16b receives the control data 17 of the first control module 16a, and after a comparison of the sensor data 13 using the image evaluation unit 18, the door drives 10 can finally be activated by the second control module 16b.

As a result, a control system 16 is created that enables the performance level "c" or "d", so that the door system 100 can track the person 15 without further sensors for closing edge protection based on at least one or preferably based on two sensor units 12, an optimal one Wing position 11 can be created for accessing the door system 100, and at the same time closing edge protection is made possible.

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

14a

People movement area

14b

security area

15

person

16

Control system

16a

first control module

16b

second control module

17

Tax data

18

Image evaluation unit

19

Authentication facility

20

means of communication

Claims (15)

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), with people (15) within the sensor detection area (14) being detected by means of the sensor unit (12) and their position and / or movement and / or contour as Sensor data (13) are output,
characterized,
that a control system (16) is set up with which the sensor data (13) is received, the control system (16) - has a first control module (16a) with which the movement of the at least one wing element (11) of the door system (100) is continuously and dynamically regulated depending on the position, the movement and / or the contour of the at least one person (15). and - Has a second control module (16b), with which closing edge protection of the at least one wing element (11) of the door system (100) is set up based on the sensor data (13). Method for controlling a door system (100) according to claim 1,
characterized,
in that the first control module (16a) evaluates the sensor data (13) and determines a movement of the at least one wing element (11) based on the position, the movement and / or the contour of the at least one person (15), in that the first control module (16a ) the door drive (10) of the wing element (11) is continuously controlled by means of an active control loop at least over a detection period of the person (15) in the sensor detection area (14). Method for controlling a door system (100) according to claim 1 or 2,
characterized,
in that the sensor data (13) is evaluated with the second control module (16b) and traversing movements of the at least one wing element (11) determined by the first control module (16a) are checked in such a way that a collision of the wing element (11) with the person (15) is avoided , in particular a closing edge protection is created. Method for controlling a door system (100) according to one of the preceding claims,
characterized,
that the first control module (16a) transmits control data (17) for controlling the at least one door drive (10) of the leaf element (11) to the second control module (16), the control data (17) from the second control module (16) being correlated with the Sensor data (13) are evaluated. 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 both sides of the door system (100) and/or wherein 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 the dimension of one in particular small person, so that the detection of the at least one object (15) is carried out from a first sensor detection area (14) to the second sensor detection area (14) and, in particular, without interruption. Method for controlling a door system (100) according to one of the preceding claims,
characterized,
that an image evaluation unit (18) is set up in conjunction with or as a component of the first control module (16a) and the second control module (16a), the image evaluation unit (18) being used to continuously track the movement of the person (15) over the entire detection period and the respective control module (16a, 16b). Method for controlling a door system (100) according to one of the preceding claims,
characterized,
that the door drives (10) of the leaf elements (11) are controlled by the first control module (16a) only after the control data (17) has passed through the second control module (16b). Method for controlling a door system (100) according to one of the preceding claims,
characterized,
in that the sensor detection area (14) has a person movement area (14a) far from the door and a security area (14b) near the door, the person movement area (14a) far from the door being evaluated with the first control module (16a) via the image evaluation unit (18) and with the second control module (16b ) the security area (14b) near the door is evaluated via the image evaluation unit (18). Method for controlling a door system (100) according to one of the preceding claims,
characterized,
that the evaluation of the person movement area (14a) of the sensor detection area (14) far from the door is carried out in real time with the second control module (16b). Method for controlling a door system (100) according to one of the preceding claims,
characterized,
that the door system (100) has two wing elements (11), the control system (16) controlling the two wing elements (11) independently of one another and the wing elements (11) being moved independently of one another. Door system (100) with a control system (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 system (16), the at least one sensor unit (12) and / or the at least one door drive (10) have a control circuit form, with which the movement of at least one wing element (11) can be regulated. Door system (100) according to claim 11 or 12,
characterized,
in that the control system (16) has a first control module (16a) with which the sensor data (13) can be evaluated and, based on the position, the movement and / or the contour of the at least one person (15), control data (17) for a traversing movement of the at least one wing element (11) can be determined. Door system (100) according to one of claims 11 to 13,
characterized,
in that the control system (16) has a second control module (16b) with which the sensor data (13) can be evaluated and with which traversing movements of the at least one wing element (11) determined by the first control module (16a) can be checked in the form of control data (17). , so that a collision of the wing element (11) with the person (15) is avoided and closing edge protection is created. Door system (100) according to one of claims 12 to 14,
characterized,
that the sensor unit (12) has at least one and 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 that the sensor unit (12) has a 3D -Camera and/or a stereo camera and/or a triangulation system and/or a ToF (Time of Flight) camera and/or a light field camera and/or an RGB camera and/or a lidar system.

Images