EP4288631A1

EP4288631A1 - Entrance system

Info

Publication number: EP4288631A1
Application number: EP22701612.8A
Authority: EP
Inventors: Stefan Paulsson
Original assignee: Assa Abloy Entrance Systems AB
Current assignee: Assa Abloy Entrance Systems AB
Priority date: 2021-02-02
Filing date: 2022-01-25
Publication date: 2023-12-13
Also published as: WO2022167253A1

Abstract

An entrance system (100) is disclosed herein. The entrance system (100) comprises one or more movable door members (110a…110n) and an automatic door operator (10) comprising an electric motor (20), a drive unit (30) adapted to actuate the electric motor (20), and a controller (40) being operatively connected to the drive unit (30). The entrance system (100) further comprises a safety sensor arrangement (50) being operatively connected to the controller (40) and configured to provide one or more dynamic safety signals (52) in response to having detected one or more objects (60) being in vicinity of at least one of the one or more movable door members (110a…110n). The controller (40) is configured to sample the one or more dynamic safety signals (52) with a variable sample frequency (fvar) to provide a control decision, and based on said control decision, causing controlled actuation of said at least one of the one or more movable door members (110a…110n).

Description

ENTRANCE SYSTEM

TECHNICAL FIELD

The present invention generally relates to entrance systems. More specifically, the present invention relates to automatic door operators for use in entrance systems. The present invention also relates to an associated controller, method and computer program product.

Background

Entrance systems are frequently used in both private and public areas, and are operating during long periods of time and under various conditions in terms of time of day, time of week, time of year, passage frequencies, etc. Automatic door operators are typically used for controlling an electrical motor to open and close door members of the entrance system. The opening and closing procedures are performed so that entrance and exit to buildings, rooms and other areas are facilitated.

Entrance systems are often equipped with safety measures so that accidents caused by movement of door members can be prevented, or at least mitigated. For instance, safety measures can involve sensors that are configured for detecting objects or persons being in the vicinity of the door members. Upon detection, the obtained signals are generally transmitted to the automatic door operator for control of the actuation of the door members accordingly. It is of significant importance that these signals are handled properly, so that the controlled actuation of the door members is as robust as possible in terms of operational standards, and so that safety standards can be complied with. In essence, the door members should not move when they are not supposed to, and, conversely, the door members should move when they are supposed to.

In the art of sensor technologies, some sensor configurations exist that are based on arranging a coupled pair of transmitter and receiver units so that the receiver unit controls the behavior of the transmitter unit. In such configurations, the receiver unit is configured to switch off the transmitter unit when an object has been detected. After some arbitrary time period during which the transmitter unit is switched off and a controlled actuation of a door member has been initiated, the receiver unit will then switch on the transmitter unit again. Because of these switches, a dynamic signal is outputted from the transmitter/receiver unit pair. Dynamic signals are advantageous to use in safety environments, since they are inherently capable of detecting faults on the signal.

However, dynamic signaling in safety arrangements introduces problems being related to signal aliasing, which negatively affects the robustness of the entire entrance system. This is a severe issue in situations where the entrance systems need to be longterm operational and functioning perfectly.

After insightful reasoning, the present inventor has identified a solution to the above presented problem. Accordingly, it is an object of the present invention to improve the safety and robustness of operations of automatic door operators.

SUMMARY

To be able to distinguish whether dynamic safety signals are correct or not, they must be sampled and analysed, typically by a controller of the associated automatic door operator. This is to determine whether the signals are ‘ON’ or ‘OFF’, and that they have a correct pattern (i.e. behaving as they should). If the sampling rate used within the controller is a multiple of the input frequency, aliasing may be introduced to the sampled signal. Moreover, if there is a disturbance with a higher frequency, the sampled signal can, in some cases, be interpreted as a correct signal due to the aliasing effect.

One common way of addressing the aliasing problem is adhering to the Nyquist- Shannon sampling theorem, i.e. sampling with a sampling rate that is more than double the rate of the desired frequency band. However, certain controllers do not support a sampling rate that is much higher than the frequency of the input signals. In such controllers, doubling the sampling rate is therefore an inadequate measure. Electronic low-pass filters can alternatively, or additionally, be arranged to the automatic door operators before the sampling stage in order to filter out the higher disturbance frequencies. This however adds one or several layers of complexity to the electronic design, which affects both performance and costs of the circuitry. An object of the present disclosure is to provide an entrance system, an automatic door operator, a method, a controller and a computer program product, which seek to mitigate, alleviate, or eliminate one or more of the above-identified deficiencies in the art and disadvantages singly or in any combination.

In a first aspect an entrance system is provided. The entrance system comprises one or more movable door members; an automatic door operator comprising an electric motor, a drive unit adapted to actuate the electric motor, and a controller being operatively connected to the drive unit. The entrance system further comprises a safety sensor arrangement being operatively connected to the controller and configured to provide one or more dynamic safety signals in response to having detected one or more objects being in vicinity of at least one of the one or more movable door members. The controller is configured to sample the one or more dynamic safety signals with a variable sample frequency to provide a control decision, and based on said control decision, causing controlled actuation of said at least one of the one or more movable door members.

A dynamic signal according to the first aspect may be a signal having an amplitude varying between low and high values, and wherein said signal further assumes a constant low or constant high output value for a predetermined time period. By sampling the dynamic safety signals with a variable frequency, aliasing can be prevented. As a correct dynamic safety signal will always toggle between low and high values, the aliasing effect is effectively avoided. By doing so, the controller of the automatic door operator will always detect if a signal is present or not.

In light of the inventor’s discoveries according to the first aspect, there is no need for a very high sampling rate. Moreover, there is no need to add electronic filters to the circuitry. Additionally, operational support for dynamic safety signals is provided for many controllers in automatic door operators.

According to one embodiment, the variable sample frequency ranges between a first frequency and a second frequency, wherein a frequency of the one or more dynamic safety signals is within said range of the first frequency and the second frequency. According to one embodiment, the controller is configured to provide the control decision by sweeping the variable sample frequency a predetermined number of times per second in frequencies ranging between the first frequency and the second frequency.

According to one embodiment, the control decision involves decreasing, stopping or reverting movement speed of said at least one of the one or more movable door members, or preventing or inhibiting future movement thereof.

According to one embodiment, the controller is configured to automatically determine the variable sample frequency depending on the frequency of the one or more dynamic safety signals.

According to one embodiment, the controller is configured to predetermine the variable sample frequency.

According to one embodiment, the safety sensor arrangement comprises a plurality of optical transmitter units and receiver units, wherein each optical transmitter unit is coupled with an associated receiver unit. Each pair of coupled transmitter and receiver units among the plurality of optical transmitter and receiver units may be arranged at an associated movable door member.

According to one embodiment, the safety sensor arrangement comprises one or more sensor units, said one or more sensor units being: ultrasonic sensors; inductive sensors; optical sensors; galvanic sensors; magnetic sensors; photoelectric sensors; capacitive sensors; pneumatic sensors; weight or pressure sensors; cameras; electromechanical switches; or any combination thereof.

In a second aspect, an automatic door operator in an entrance system comprising one or more movable door members is provided. The automatic door operator comprises an electric motor, a drive unit adapted to actuate the electric motor, and a controller being operatively connected to the drive unit. The controller is configured to sample one or more dynamic safety signals with a variable sample frequency to provide a control decision, and based on said control decision, causing controlled actuation of at least one of the one or more movable door members.

According to one embodiment, the automatic door operator further comprises the functionalities of the automatic door operator according to any of the preceding embodiments. In a third aspect, a controller for use in an automatic door operator to operate an entrance system comprising one or more movable door members is provided. The automatic door operator comprises an electric motor, and a drive unit adapted to actuate the electric motor. The controller is operatively connected to the drive unit, and configured to sample one or more dynamic safety signals with a variable sample frequency to provide a control decision, and based on said control decision, causing controlled actuation of at least one of one or more movable door members.

According to one embodiment, the controller is further configured to implement the functionalities of the controller according to any of the preceding embodiments.

In a fourth aspect, a method of operating an automatic door operator is provided. The method involves providing one or more dynamic safety signals in response to having detected one or more objects as being in vicinity of one or more movable door members. The method further involves sampling the one or more dynamic safety signals with a variable sample frequency to provide a control decision; and based on said control decision, causing controlled actuation of at least one of one or more movable door members.

In a fifth aspect, a computer program product is provided. The computer program product comprises computer code for performing the method according to the fourth aspect and/or any of the embodiments associated therewith when the computer program code is executed by a processing device. The processing device may, for instance, be a controller as referred to above for any of the first to third aspects.

It should be emphasized that the term “comprises/comprising” when used in this specification is taken to specify the presence of stated features, integers, steps, or components, but does not preclude the presence or addition of one or more other features, integers, steps, components, or groups thereof. All terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to "a/an/the [element, device, component, means, step, etc.]" are to be interpreted openly as referring to at least one instance of the element, device, component, means, step, etc., unless explicitly stated otherwise. The steps of any method disclosed herein do not have to be performed in the exact order disclosed, unless explicitly stated. BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing will be apparent from the following more particular description of the example embodiments, as illustrated in the accompanying drawings in which like reference characters refer to the same parts throughout the different views. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the example embodiments.

Figure l is a schematic illustration of an entrance system comprising an automatic door operator according to one embodiment.

Figure 2 is a schematic illustration of an entrance system comprising an automatic door operator according to one embodiment.

Figure 3 is a schematic illustration of an entrance system comprising an automatic door operator according to one embodiment.

Figures 4a-c illustrate variable frequency sampling according to one embodiment.

Figure 5 is a method of causing controlled actuation of one or more movable door members in an entrance system according to one embodiment.

DETAILED DESCRIPTION OF EMBODIMENTS

Embodiments of the invention will now be described with reference to the accompanying drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. The terminology used in the detailed description of the particular embodiments illustrated in the accompanying drawings is not intended to be limiting of the invention. In the drawings, like numbers refer to like elements.

With reference to Figure 1, a schematic block diagram illustrating an entrance system 100 is shown, in which the inventive aspects of the present invention may be applied. In this particular example, the entrance system 100 comprises an automatic door operator 10, a controller 40, a linkage 24 and one or more movable door members 110a. . . 1 lOn. The entrance system 100 may be designed for installation in a building to control access into the building from the outside of said building, or between different sections of the building. The automatic door operator 10 is coupled to cause movement of the one or more movable door member(s) 110a. . . 1 lOn from at least a closed position in which passage through said entrance system 100 is prevented, to an open position in which passage is admitted. The linkage 24 is coupled with the movable door member(s) 110a. . . 1 lOn to take part in their opening and closing movement. As can be seen in Figure 1, the door member(s) 110a. . . 1 lOn may be either one of a swing or sliding door member 120n, a revolving door member 13 On or a lifting door member 140n.

With reference to Figure 2, one embodiment is shown of an automatic door operator 10 in an entrance system 100 generally according to Figure 1. In this particular example, the automatic door operator 10 comprises a control arrangement 400 having a plurality of different components, a power supply 70, a drive unit 30, a revolution counter 21, an electric motor 20 and a transmission 22. The automatic door operator 10 is however not restricted to having these particular components, as other arrangements may be realized.

As shown in Figure 2, the electric motor 20 is connected to the transmission 22. An output shaft (not shown) of the transmission 22 rotates upon activation of the electric motor 20 and is connected to the linkage 24, which was described with reference to Figure 1. The linkage 24 translates the motion of the output shaft into a movement of one or more door movable members 110a. . . 1 lOn of the entrance system 100.

The power supply 70 of the automatic door operator 10 supplies power to the drive unit 30, and preferably also to the controller 40 and other components of the automatic door operator 10. Alternative embodiments are however possible in which the controller 40 and other components of the automatic door operator 10 are powered by separate arrangements, such as another power supply, a battery, etc.

The controller 40 of the control arrangement 400 in Figure 2 is configured for performing different functions of the automatic door operator 10. In a preferred embodiment, the control arrangement 400 comprises a memory 41 associated with the controller 40. In alternative embodiments, the controller 40 may be arranged within the automatic door operator 10, but separate from the control arrangement 400. The controller 40 may be implemented in any known controller technology, including but not limited to microcontroller, processor (e.g. PLC, CPU, DSP), FPGA, ASIC or any other suitable digital and/or analog circuitry capable of performing the intended functionality. The memory 41 associated with the controller 40 may be implemented in any known memory technology, including but not limited to E(E)PROM, S(D)RAM or flash memory. In some embodiments, the memory 41 may be integrated with or internal to the controller 40. As seen at 41a, the memory 41 may store program instructions 41a for execution by the controller 40, as well as temporary and permanent data used by the controller 40.

The control arrangement 400 shown further comprises a safety sensor arrangement 50 being operatively connected to the controller 40. Although not explicitly shown in Figure 2, the safety sensor arrangement 50 in a preferred embodiment comprises a plurality of optical sensors being arranged on or near any one of the movable door members 110a. . . 1 lOn. For instance, the safety sensor arrangement 50 may be arranged at either surface, at an edge or at an upper or lower mounting structure of each individual door member 110a. . . 1 lOn. In an alternative embodiment, the safety sensor arrangement 50 is arranged at a distance from the movable door members 110a...11 On, provided that its core functionality may still be enabled.

The automatic door operator 10 may furthermore comprise one or more additional sensor functions MPF; AS configured for detecting an emergency situation. The controller 40 is further responsive to the additional sensor functions MPF; AS to enter an evacuation mode. In the evacuation mode, the controller 40 is configured for controlling actuation of the electric motor 20 to generate torque for causing the movable door members 110a. . . 1 lOn in the entrance system 100 to move from closed position to open position and maintain in the open position even when there is a power failure in the power supply 70. Such power failure may e.g. involve an interruption in the power provided as e.g. AC mains (not shown). In this case, the electric motor 20 may be power supplied by a battery.

In these or other embodiments, the additional sensor function AS may comprise means for receiving an external incoming alarm signal, such as a signal from a smoke detector, fire heat detector, remote alarm center, etc. To this end, the automatic door operator 10 may have a wired or wireless communication interface 44 for receiving the external incoming alarm signal AS. The interface 44 may, for instance, be compliant with GSM, UMTS, LTE, D-AMPS, CDMA2000, FOMA, TD-SCDMA, TCP/IP, Ethernet, Bluetooth, WiFi (e.g. IEEE 802.11, wireless LAN), Near Field Communication (NFC), RF-ID (Radio Frequency Identification), Infrared Data Association (IrDA), without limitation and in any combination. Similar communication techniques may be used for delivering remote communication between the safety sensor arrangement 50 and the controller 40.

In the embodiment disclosed in Figure 2, the revolution counter 21, such as an encoder or other angular sensor, is provided at the electric motor 20 to monitor the revolution of a motor shaft of the electric motor 20. The revolution counter 21 is connected to an input of the controller 40. The controller 40 is configured to use one or more readings of the revolution counter 21, typically a number of pulses generated as the motor shaft rotates, for determining a current angular position, e.g. angles of the movable door members 110a. . . 1 lOn of the entrance system 100.

Figure 3 illustrates one embodiment of how a safety sensor arrangement 50 may be arranged in an entrance system 100. Herein, the safety sensor arrangement 50 has been arranged in accordance with a plurality of transmitter units 501a. . .501n coupled with associated receiver units 502a. . .502n at respective movable door members 110a. . . 1 lOn. The transmitter and receiver units 501, 502 may each comprise an array of light emitting diodes.

Each transmitter unit 501 may be configured to communicate a light signal 51 to its associated receiver unit 502. The light signal 51 may be based on known technologies such as infrared light or similar. Each pair of transmitter and receiver units 501, 502 is arranged independently of one another, and is configured to detect one or more objects 60 as being in vicinity of an associated movable door member 110a. . . 1 lOn. Figure 3 also shows one or more objects 60 being depicted as persons, but they can potentially be any type of object 60 being in vicinity of the door members 110a. . . 1 lOn, such as vehicles, logistics arrangements, freight goods, animals, and so on. In one embodiment, the safety sensor arrangement 50 is arranged as a mounting structure which is mounted to at least one of the one or more movable door members 110a. . . 1 lOn. The mounting structure may be fastened using any known fastening means such as e.g. screws, bolts, or adhesive materials. The one or more pairs of transmitter/receiver units 501a. . .501n, 502a. . .501n are thus fastened to the one or more movable door members 110a. . . 1 lOn.

In one embodiment, the safety sensor arrangement 50 is in a wired connection with the controller 40. Alternatively, the safety sensor arrangement 50 is wirelessly coupled with the controller 40 using any known interface standards such as GSM, UMTS, LTE, D-AMPS, CDMA2000, FOMA, TD-SCDMA, TCP/IP, Ethernet, Bluetooth, WiFi (e.g. IEEE 802.11, wireless LAN), Near Field Communication (NFC), RF-ID (Radio Frequency Identification) or Infrared Data Association (IrDA), without limitation and in any combination.

The term “in vicinity of’ is in this case generally to be interpreted as close enough for the one or more objects 60 to break the light signal 51 between at least one transmitter unit 501 and its associated receiver unit 502. For instance, in Figure 3 it is illustrated that a person is approaching a specific movable door member 110b being a sliding door member 120b. The automatic door operator 10 is currently operating a closing movement of said sliding door member 120b. When the person is passing the sliding door member 120b, the light signal 51 between a pair of transmitter/receiver units 501, 502 will preferably be broken by the person physically breaking the light signal 51. In response thereto, the safety sensor arrangement 50 will generate a dynamic safety signal 52 and transmit it to the controller 40 of the automatic door operator 10.

The term “dynamic” is in this sense referring to the dynamic nature of how the safety signals 52 are generated. The receiver unit 502 is configured to switch off the transmitter unit 501 once e.g. an object 60 has broken the light signal 51, so that the receiver unit 502 cannot receive any of the light signal 51 readings for a predetermined time. During the time when the transmitter unit 501 is switched off, the safety sensor arrangement 50 will, for that specific transmitter/receiver units pair 501, 502, therefore not identify any further objects breaking the light signal 51 until the receiver unit 502 once again turns on the transmitter unit 501. The time between switching off and on the transmitter unit 501 may vary in different configurations. Consequently, the dynamic safety signal 52 as provided will, during some time intervals, always be either short-to- ground (low) or short-to-power (high). These time intervals typically correspond to the period during which an operation of a specific movable door member 110 is ongoing. Hence, the safety signal can be seen as “dynamic”, in the sense that it does not always comprise a static signal pattern due to how the transmitter unit 501 and the receiver unit 502 are coupled. Because of the switches, a dynamic signal is outputted from the pair of transmitter 501 and receiver 502 units. The pair of transmitter and receiver units 501, 502 is based on techniques known in the art for producing such dynamic safety signals 52. For instance, the pair of transmitter and receiver units 501, 502 may be an Optical Safety Edge (OSE), having a square wave of frequencies ranging between 200 Hz to 2 kHz. Alternatively, the pair of transmitter and receiver units 501, 502 may be based on a technology that is generating a so-called FSS-signal, which is also known in the art. Such FSS-signals are square waves having a frequency generally around 1 kHz. In alternative embodiments, any other dynamic safety signal 52 with an appropriate frequency range for controllers 40 in automatic door operators 10 may be used.

Each transmitter/receiver unit pair 501, 502 is configured to, individually or collectively, provide one or more dynamic safety signals 52 in response to having detected said one or more objects 60. In the example shown, the safety sensor arrangement 50 is arranged as having several pairs of optical transmitter/receiver units 501a. . .501n, 502a. . .502n. Hence, a detection of one or more objects 60, and thereby a generation of a dynamic safety signal 52, occur in response to said object 60 breaking the light signal 51 between one transmitter unit 501 and its associated receiver unit 502 near an associated movable door member 110. The dynamic safety signals 52 may be transmitted to the controller 40 of the automatic door operator 10 for causing controlled actuation of the one or more movable door members 110a. . . 1 lOn, typically to cause stopping, decreasing or reverting of a speed of an ongoing movement thereof, or to prevent an upcoming movement thereof.

In alternative embodiments, the safety sensor arrangement 50 may comprise one or more sensor units, wherein the one or more sensor units are ultrasonic sensors, inductive sensors, optical sensors, galvanic sensors, magnetic sensors, photoelectric sensors, capacitive sensors, pneumatic sensors, weight or pressure sensors, cameras, electromechanical switches, or any combination thereof. In each one of these alternative embodiments, the safety sensor arrangement 50 is configured to function similarly as described with reference to Figure 4 by replacing the plurality of optical transmitter units 501a. . .501n and receiver units 502a. . .502n with any of the above mentioned sensor units.

With reference to Figures 4a-c, an illustration of sampling of a dynamic safety signal 52 is shown according to one embodiment. The sampling as presented in the example may be performed on any number of subsequent dynamic safety signals 52. The dynamic safety signal 52 is in this embodiment a square signal, although other type of signals, such as sine waves or random waves, may potentially be sampled as well using a similar methodology.

Instructions 41a for controlling the variable sample frequency fvar are preferably being stored within a memory 41 associated with the controller 40. Such instructions 41a may, for instance, involve decisions relating to how the variable sample frequency fvar is varied, and how often this occurs. Any type of similar decisions may be realized by the skilled person. The instructions 41a may in preferred embodiments be fine-tuned depending on different markets and windings of the electric motor 20. For instance, instructions 41a may differ for different motor load requirements, regulatory or compliance needs, external influences such as e.g. traffic and/or weather, and so forth. Hence, the instructions 41a for providing the variable sample frequency fvar may be updated, continuously or at a predetermined schedule, for different embodiments as realized by the person skilled in the arts of automatic door operators and controller technologies.

In a preferred embodiment, the dynamic safety signal 52 appears at frequencies around approximately 1 kHz. “Approximately” in this sense can be interpreted as 1 kHz ± 100 Hz. In alternative embodiments, the dynamic safety signal 52 appears at frequencies ranging between 100 Hz and 5 kHz, and more preferably between 200 Hz and 2 kHz. In the provided example, the frequency of the dynamic safety signal 52 is 1 kHz. The dynamic safety signal 52 shown furthermore features a low period Ti_ow wherein the signal 52 adopts a short-to-ground, which is likely caused due to object detection.

In Figures 4a-c, a plurality of crosses (“X”) has been depicted. Each cross is to be interpreted as a sample of the dynamic safety signal 52. The frequency at which the crosses appear is based on a variable sample frequency fvar. The controller 40 of the automatic door operator 10 is configured to control the variable sample frequency fvar.

In one embodiment, the controller 40 is configured to predetermine the variable sample frequency fvar. The predetermination of variable sample frequency fvar may be based on a variety of different factors, such as controller 40 configurations, electric motor 20 windings, type of safety sensor arrangement 50, dynamic safety signal 52 inputs, type of automatic door operator 10, and so on. The predetermined variable sample frequency fvar may be set in a different location, e.g. during manufacturing of the controller 40, and later have the controller delivered to a site. Alternatively, the variable sample frequency fvar is set during installation of the controller 40 within the automatic door operator.

In some embodiments, the variable sample frequency fvar may be adjusted during operation, by e.g. adding new instruction 41a to the memory 41 associated with the controller 40.

In one embodiment, the controller 40 is configured to automatically determine the variable sample frequency fvar depending on the frequency fin of the one or more dynamic safety signals 52. Any frequency detection means known in the art may be used to determine the frequency fin of the inputted dynamic safety signal 52, so that the controller 40 may configure the variable sample frequency fvar accordingly.

For instance, if it is determined that the inputted frequency fin of the dynamic safety signal 52 is 1 kHz, the controller 40 may in response thereto be configured to sweep (or vary, range, alternate, etc.) the variable sample frequency fvar between 500 Hz and 1,5 kHz. In another example, the controller 40 may be configured to always sweep the variable sample frequency fvar between frequencies that are e.g. ±200 Hz of the frequency fin of the dynamic safety signal 52, regardless of knowledge of said frequency fin. The variable sample frequency fvarmay range between a first frequency fi and a second frequency fi, wherein the frequency fin of the dynamic safety signal 52 is within said range of the first frequency fi and the second frequency fi. Preferably, the frequency fin of the dynamic safety signal 52 is generally fin = (f2 + fi) / 2, but variations may occur.

In one embodiment, the controller 40 is configured to sweep the variable sample frequency fvara predetermined number of times per second. The sweeping is typically performed between the first frequency fi and the second frequency fi. This may be done according to the instructions 41a stored in the memory 41 associated with the controller 40. The frequency at which the sweeping is performed may vary depending on electric motor 20 windings, type of safety sensor arrangement 50, dynamic safety signal 52 inputs, type of automatic door operator 10, and so forth.

In this specific example, the variable sample frequency fvar is swept from 1,5 kHz in Figure 4a to 0,5 kHz in Figure 4c. This is also indicated by how many crosses, representing samples, are being depicted in the respective images (7 crosses in Figure 4a, 5 crosses in Figure 4b, and 2 crosses in Figure 4c). The skilled person will understand that as the variable sample frequency fvar is swept between the first frequency fi and the second frequency fi, the variable sample frequency fvar will increase from just above fi to just below fi and therefore sequentially take on a large number of frequency values, and not just 1,0 kHz according to Figure 2b. Rather, the variable sample frequency fvar will have the value 1,0 kHz only half ways through the sweeping period.

In response to having sampled the dynamic safety signal 52, a control decision is thereby provided. The control decision is an indication that one or more objects 60 have broken the light signal 51 and are thereby in the vicinity of the one or more movable door members 110a. . . 1 lOn. The control decision therefore implicates that a controlled actuation of the one or more movable door members 110a. . . 1 lOn is about to occur. Such controlled actuation involves decreasing, stopping or reverting movement speed of the effective door member 110 whereat the safety sensor arrangement 50 has detected one or more objects 60, or preventing or inhibiting future movement thereof. In some embodiments, the control decision may also involve adjusting the angles or rotations of door leafs of the one or more movable door member 110a. . . 1 lOn.

When the control decision has been provided, controlled actuation of a door member 110 is caused based on this control decision. In preferred embodiments, one or more control signals are generated once the control decision has been provided. The control signals may be transmitted to the drive unit 30 of the automatic door operator 10, or alternatively to any external drive units. Movement of the one or more movable door members 110a. . . 1 lOn as was explained with reference to Figures 1 and 2 will be performed accordingly.

Figure 5 shows an embodiment of a method 200 of operating an automatic door operator 10. The automatic door operator 10 will comprise an electric motor 20, a drive unit 30 adapted to actuate the electric motor 20, and a controller 40 being operatively connected to the drive unit 30, as has been described for the previous drawings.

The method 200 involves a step of providing 210 one or more dynamic safety signals 52 in response to having detected one or more objects 60 as being in vicinity of one or more movable door members 110a. . . 1 lOn.

The method 200 further involves a step of sampling 220 the one or more dynamic safety signals 52 with a variable sample frequency fvar to provide a control decision.

The method 200 further involves a step of, based on said control decision, causing 230 controlled actuation of at least one of the one or more movable door members 110a... 11 On.

Controlled actuation of the electric motor 20 may be performed using power provided by e.g. a power supply 70. Such operation is typically performed by providing the controller 40 with programmable instructions in an associated memory (such as, for instance, the elements 41 and 41a as described for the preceding drawings). Hence, long-term operation of the automatic door operator 10 is effective without necessarily requiring operator maintenance.

In one embodiment, the controller 40 may be self-learning in order to intelligently handle sweeping of the variable sample frequency fvar. The intelligent sweeping of frequency may be based on bearing fault diagnostics and machine health attributes, as retrieved from any of the sensor units and/or revolution counter 21. For instance, when either one of the safety sensor arrangement 50, the additional sensor functions MPF; AS or the revolution counter 21 provide the controller 40 with data, the controller 40 attempts to recognize patterns by itself. The controller 40 thus generates autonomous decisions to adjust its operation. As an example, the controller 40 may learn that the electric motor 20 is operating at a reduced capacity, and thus sweep the variable sample frequency fvar accordingly. In another example, it may be detected that one or more of the plurality of optical transmitter or receiver units 501a. . .501n, 502a. . .502n are defective, which may incur some delays, or less accurate signal generation. In one embodiment, the controller 40 may then adjust the range of the variable sample frequency fvar. In another embodiment, the controller 40 may issue an alarm signal. Both supervised and unsupervised learning algorithms may be implemented and/or applied, such as for example regression algorithms, decision trees, K-means, K-nearest neighbours, neural networks, support vector machines or principal component analysis. An intelligent system as described may learn from continuously receiving accurate sensor readings from the different sensors. Bearing fault diagnostics and/or machine health attributes generated autonomously may be stored in the memory 41 associated with the controller 40 for use in controlling actuation of the electric motor 20 of the automatic door operator 10.

In embodiments of the invention according to any of the figures disclosed herein, a computer program product comprising computer code for performing the method 200 when the computer program code is executed by a processing device may be provided. The processing device may in preferred embodiments of the invention be the controller 40 as disclosed herein. Alternatively, the processing unit may be provided separately and be implemented using any similar controller technology as described in association with the controller 40.

The invention has been described above in detail with reference to embodiments thereof. However, as is readily understood by those skilled in the art, other embodiments are equally possible within the scope of the present invention, as defined by the appended claims. It is recalled that the invention may generally be applied in or to an entrance system 100 having one or more movable door member not limited to any specific type. The or each such door member may, for instance, be a swing door member, a revolving door member, a sliding door member, an overhead sectional door member, a horizontal folding door member or a pull-up (vertical lifting) door member.

Claims

CLAIMS Independent entrance system claim

1. An entrance system (100), comprising: one or more movable door members (110a. . . 1 lOn); an automatic door operator (10) comprising an electric motor (20), a drive unit (30) adapted to actuate the electric motor (20), and a controller (40) being operatively connected to the drive unit (30); and a safety sensor arrangement (50) being operatively connected to the controller (40) and configured to provide one or more dynamic safety signals (52) in response to having detected one or more objects (60) being in vicinity of at least one of the one or more movable door members (110a. . . 1 lOn), wherein the controller (40) is configured to sample the one or more dynamic safety signals (52) with a variable sample frequency (fvar) to provide a control decision, and based on said control decision, causing controlled actuation of said at least one of the one or more movable door members (110a. . . 1 lOn).

Variable frequency range

2. The entrance system (100) according to claim 1, wherein the variable sample frequency (fvar) ranges between a first frequency (fi) and a second frequency (f?), wherein a frequency (fin) of the one or more dynamic safety signals (52) is within said range of the first frequency (fi) and the second frequency (f2).

Main embodiment

3. The entrance system (100) according to claim 2, wherein the controller (40) is configured to provide the control decision by sweeping the variable sample frequency (fvar) a predetermined number of times per second in frequencies ranging between the first frequency (fi) and the second frequency (f?). Control embodiments

4. The entrance system (100) according to any of the preceding claims, wherein the control decision involves decreasing, stopping or reverting movement speed of said at least one of the one or more movable door members (110a. . . 1 lOn), or preventing or inhibiting future movement thereof.

Variable sample frequency determination

5. The entrance system (100) according to any one of the claims 2 to 4, wherein the controller (40) is configured to automatically determine the variable sample frequency (fvar) depending on the frequency (fin) of the one or more dynamic safety signals (52).

6. The entrance system (100) according to any of the preceding claims, wherein the controller (40) is configured to predetermine the variable sample frequency (fvar).

Sensors

7. The entrance system (100) according to any of the preceding claims, wherein the safety sensor arrangement (50) comprises a plurality of optical transmitter units (501a. . .50 In) and receiver units (502a. . .502n), wherein each optical transmitter unit (501) is coupled with an associated receiver unit (502).

8. The entrance system (100) according to claim 7, wherein each pair of coupled transmitter and receiver units (501, 502) among the plurality of optical transmitter and receiver units (501a. . .501n, 502a. . .502n) is arranged at an associated movable door member (110).

9. The entrance system (100) according to any one of the claims 1 to 6, wherein the safety sensor arrangement (50) comprises one or more sensor units, said one or more sensor units being: ultrasonic sensors; inductive sensors; optical sensors; galvanic sensors; magnetic sensors; photoelectric sensors; capacitive sensors; pneumatic sensors; weight or pressure sensors; cameras; electromechanical switches; or any combination thereof.

Independent automatic door operator claim

10. An automatic door operator (10) in an entrance system (100) comprising one or more movable door members (110a. . . 1 lOn), wherein the automatic door operator (10) comprises an electric motor (20), a drive unit (30) adapted to actuate the electric motor (20), and a controller (40) being operatively connected to the drive unit (30), wherein the controller (40) is configured to sample one or more dynamic safety signals (52) with a variable sample frequency (fvar) to provide a control decision, and based on said control decision, causing controlled actuation of at least one of the one or more movable door members (110a. . . 1 lOn).

11. The automatic door operator (10) according to claim 10, further comprising the functionalities according to any of the claims 2 to 6.

Independent controller claim

12. A controller (40) for use in an automatic door operator (10) to operate an entrance system (100) comprising one or more movable door members (110a. . . 1 lOn), the automatic door operator (10) comprising an electric motor (20), and a drive unit (30) adapted to actuate the electric motor (20), the controller (40) being operatively connected to the drive unit (30), wherein the controller (40) is configured to 21 sample one or more dynamic safety signals (52) with a variable sample frequency (fvar) to provide a control decision, and based on said control decision, causing controlled actuation of at least one of one or more movable door members (110a. . . 1 lOn).

Controller embodiments

13. The controller (40) according to claim 12, further configured to implement the functionalities according to any one of the claims 2 to 6.

Independent method claim

14. A method (200) of operating an automatic door operator (10), wherein the method (200) involves: providing (210) one or more dynamic safety signals (52) in response to having detected one or more objects (60) as being in vicinity of one or more movable door members (110a. . . 1 lOn); sampling (220) the one or more dynamic safety signals (52) with a variable sample frequency (fvar) to provide a control decision; and based on said control decision, causing (230) controlled actuation of at least one of one or more movable door members (110a. . . 1 lOn).

Computer program product

15. A computer program product comprising computer code for performing the method (200) according to claim 14 when the computer program code is executed by a processing device.