EP4321720A1 - Procédé de fonctionnement d'un actionneur de porte - Google Patents

Procédé de fonctionnement d'un actionneur de porte Download PDF

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Publication number
EP4321720A1
EP4321720A1 EP22190234.9A EP22190234A EP4321720A1 EP 4321720 A1 EP4321720 A1 EP 4321720A1 EP 22190234 A EP22190234 A EP 22190234A EP 4321720 A1 EP4321720 A1 EP 4321720A1
Authority
EP
European Patent Office
Prior art keywords
door
data
area
object data
door leaf
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP22190234.9A
Other languages
German (de)
English (en)
Inventor
Patrick Winkelmann
Alexey Kurkov
Dennis Meiering
Jonas Kirschner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dormakaba Deutschland GmbH
Original Assignee
Dormakaba Deutschland GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dormakaba Deutschland GmbH filed Critical Dormakaba Deutschland GmbH
Priority to EP22190234.9A priority Critical patent/EP4321720A1/fr
Priority to US18/365,010 priority patent/US20240229538A9/en
Publication of EP4321720A1 publication Critical patent/EP4321720A1/fr
Pending legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/40—Control units therefor
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/44—Sensors not directly associated with the wing movement
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
    • E05Y2900/13—Type of wing
    • E05Y2900/132—Doors

Definitions

  • the invention relates to a method for operating a door operator of a door system according to claim 1, in particular with at least one movable door leaf and with a control device which is designed to control a drive of the door leaf, and with a sensor unit with which data of at least one object in a detection area are detected in front of the door system and at least one piece of information about the object is transmitted to the control device.
  • the invention is further directed to a door operator of a door system with a control device for carrying out the method and a software program product for implementation in the control device.
  • the EP 3 613 933 A1 discloses a method for operating an automatic door system having a door operator connected to a door leaf. It is stated that radar motion detectors are used to control the door movement for automatic sliding doors. Radar sensors for detecting surveillance areas are not common for swing doors if the sensors ultimately detect people and transmit corresponding data to a control unit to control the door system.
  • a method for operating an automatic door system is known, and the door system has a door leaf that can be operated via a door actuator.
  • sensor units are proposed that interact with a control unit and the control unit can be controlled via sensor data so that the door system is operated optimally.
  • An optimum in the operation of the door system is seen in particular in adapting the opening behavior of the door system to the frequency of passing people. So if a larger number of people pass the door system, the opening behavior should be carried out differently than if only a single person passes the door system.
  • weather conditions, the time of day, the day of the week and, for example, a temperature difference between the inside and outside of a building should also be taken into account.
  • the object of the invention is therefore to further improve a method for operating a door system, as well as to create such a door system with which the method according to the invention can be carried out.
  • the improvement should consist in particular in creating improved control of the door leaves of the door system, even when people approach at right angles to the door system. There should be one Improved recognition of the desire of a person approaching crosswise can be achieved.
  • the core idea of the invention is a division of the detection area into a first sub-area and at least one second sub-area, whereby the division can also include further sub-areas and thus more than two sub-areas.
  • the method is preferably used in a door system comprising at least one door leaf.
  • door systems with only one door leaf have a hinge side and a locking side, and according to the invention, the subdivision of the detection area can be provided such that the first partial area of the detection area is on the hinge side and the second partial area of the detection area is present on the closing side .
  • step c the object data is evaluated differently depending on the sub-area in which it was recorded. This makes it possible to give preference to certain sub-areas of the detection area or to put them aside with regard to an inspection request.
  • objects moving in certain areas of the door system or the door wing usually also want to pass through the door system or the door wing.
  • the division into sub-areas it is possible to determine the desire to access the object depending on the actual access behavior based on the sub-area in which the object is detected. For example, it is possible to determine the desire to access an object from one sub-area at a greater distance from the door system or door leaf than at a smaller distance from an object from another sub-area, so that the object data is processed and/or evaluated asymmetrically.
  • the method according to the invention ensures that the door leaf does not open every time, for example, when a person approaches the door system from across the door, but the operating comfort of the door system should be so high that, if possible, the desire to enter is reliably recognized. In this way, the energy efficiency for operating the door system can be improved and/or the service life of the door drive can be extended.
  • the sensor unit is preferably set up spatially together or in close proximity to the drive unit.
  • the sensor unit can be arranged spatially away from the drive unit, in particular in order to provide a better detection range.
  • the sensor unit is integrated into the door drive, so that the control unit can give commands to the sensor unit, so that system integration takes place physically, for example, using a CAN bus connection.
  • the sensor unit can thus transmit the raw data from the detection element of the sensor unit to the control device unprocessed or unprocessed, and the processing and evaluation of the recorded object data takes place in the control unit or a computer unit the door control.
  • certain detection areas that should not influence the movement of the door leaf can be hidden.
  • a so-called door travel area or other areas of the environment that are not intended to influence the door movement can be hidden, for example if the door system for people is set up adjacent to a passage for industrial trucks, as is often provided in industrial buildings.
  • the object data in step a) is recorded as two-dimensional data of the object and/or that the object data in step b) is processed as or into two-dimensional data of the object.
  • the object data can preferably be designed as raw data, in particular consist of raw data, or include raw data.
  • 3-dimensional raw data it is also possible for 3-dimensional raw data to be recorded, but the data can be reduced to 2-dimensional raw data, which is determined by means of the sensor unit or by means of the control unit or by means of the computer unit, in particular before the object positions are determined.
  • the raw data can be assigned to a specific object using a computer unit of the sensor unit or the control unit. This is called clustering.
  • the clustering can be carried out using a method known from the prior art, for example DB SCAN (Density Based Spatial Clustering). This makes it possible to ensure that the subsequently determined object positions and/or the subsequently calculated object vector relate to a specific object.
  • the determined object positions can be assigned to a specific object, in particular provided with an object ID, so that the object vector calculated afterwards also relates to a specific object.
  • the first and/or the second object position can be determined from a maximum of 10 to 50, preferably from a maximum of 20 to 40, particularly preferably from 30 raw data, in particular points lying in a plane.
  • the first and/or the second object position can be determined from raw data, in particular points lying in a plane which have a lifespan from the time of reception of a maximum of 200 ms to 600 ms, preferably 300 ms to 500 ms, particularly preferably 400 ms. Older raw data can be deactivated or deleted. This enables efficient data reduction with sufficient security.
  • the object data may consist of two-dimensional data of the object.
  • Objects usually people, have a 3-dimensional extent, which extends in a height direction, often referred to as the z-direction.
  • the two-dimensional data constitutes data that is not spatially based but that extends only on a plane, the plane being defined with two directions, such as an x-direction and a y-direction.
  • the flatly extending detection area also lies in this plane defined with these two directions, in particular lying flat on a bed or parallel above a floor, while the z-direction is vertically above the plane spanned from the x-direction and the y-direction extends, thus forming a height direction.
  • step b) and/or step c) can be carried out in a computer unit, the computer unit being designed as part of the sensor unit or as part of the control unit.
  • the object data in step b), in particular before step c), can be assigned to a specific object, so that the object data of a first object can be distinguished from the object data of a second object, whereby this distinction can advantageously be carried out with the computer unit and not how usual, takes place in the sensor unit.
  • the sensor unit therefore particularly advantageously supplies the control unit with raw data, in this respect data from the lowest processing level, which is in particular the data that the recognition element of the Sensor unit outputs without these already being preprocessed in the sensor unit.
  • control device or the computer unit evaluate the data in a much more detailed and differentiated manner.
  • the entire data processing takes place in the control unit or the computer unit, starting from the raw data from the sensor detection element up to the control of the drive of the door leaf.
  • the raw data from the sensor detection element can include a large number of detected points of a specific position that trigger an object in the detection area, such as a person, in particular a point cloud.
  • the points therefore represent object positions of the objects.
  • the control unit or the computer unit is fed with the data comprising the large number of recorded points and the processing and evaluation of this object data is carried out using clustering, by means of which an object vector is created for the or for each existing object based on plausibility considerations.
  • the object data in step b), in particular before step c), can be processed into object vectors and the object data can be evaluated as object vectors in step c).
  • the object vectors are preferably determined with a position of the object in the detection area in front of the door system, with a direction of movement and with a speed of the object. The object vector therefore already includes all the information that is necessary to control the movement of the door leaf.
  • the sensory detected points of the object data of the object are used to determine the object vectors for each object, for example by determining the object vector from at least two object positions of the object data. This determination of the object vectors the object data can be carried out in particular using the computer unit.
  • the object positions can preferably be determined in step b and/or c. It is conceivable that the object vector is determined from more than two object positions, in particular from three or four object positions.
  • the desire to enter can also be recognized if the person approaches the door system more clearly in the direction of movement later in the process than at the beginning.
  • the aim is to predict as early as possible and thus recognize whether a person wants to pass through a door system or not.
  • the parameter sets can be stored over the operating time of the door system, so that the movement behavior of the people can provide information as early as possible about whether the person actually wants to pass through the door system or not.
  • the movement of the at least one door leaf, in particular the opening can be carried out by means of control parameters comprising an opening speed and/or an opening width and/or an opening time and/or a closing time after a hold-open time, these control parameters following the determination of whether the door is opened at all or should be reversed.
  • At least the first sub-area and the second sub-area are determined and/or adapted by means of an artificial intelligence system, the artificial intelligence system being connected to the computer unit and/or to the sensor unit or being part thereof is.
  • the artificial intelligence system in simple terms artificial intelligence, or AI for short, can be executed on the computer unit of the control unit or the sensor unit or on a separate computer unit.
  • the separate computer unit is preferably designed and set up for at least temporary or permanent, in particular wireless data connection with the control unit and/or the sensor unit of the door system.
  • the desired access can be determined from the actual, current access behavior. It is also possible to apply the AI permanently over the service life of the door system. This means that the sub-areas of the detection area can be continuously adjusted. Alternatively, the object data is collected and transferred to the AI, after which the newly determined subareas are made available to the door drive. This can take place, for example, at defined time intervals, especially in the form of an update. This means that the system is not operated constantly, so that the effort can be reduced. The update can take place remotely from the door drive using a wireless connection.
  • the artificial intelligence system is trained using training data, in particular at least partially in a training phase before step e). It is conceivable that the training phase is carried out completely before step e). Alternatively, it is also conceivable that training data is also used during operation of the door system, for example before, during and/or after a step e), in order to further train the artificial intelligence system. This also makes it possible to adapt and/or optimize the artificial intelligence system while the door drive is already in operation and/or while the access request has already been determined and/or is checked.
  • the training data can include the object data and in particular the object vectors.
  • the training data preferably includes the event, namely the determination of whether the object to which the object data was assigned has actually passed through the door system or the door leaf or not.
  • the artificial intelligence system forms or has a machine learning system, or has a deep learning system, a neural network and/or pattern recognition.
  • object data in particular object vectors and/or the event, whether the object to which the object data was assigned actually passed the door system or not and/or ambient conditions, in particular outside temperature and/or interior temperature and/or time and/or break time and/or season and/or location of the door system.
  • deactivation data for deactivating the detection of at least a defined area of the detection area is provided to the sensor unit by means of the control device and/or the control device filters out, deletes and/or hides the object data of the sensor unit in a defined area of the detection area.
  • the sensor unit is designed at least by means of a radar sensor or is provided as a radar sensor.
  • the method can further comprise the step or steps, in particular following step e), with the following distinction between cases: if the door leaf is in a closed position, the door leaf is moved into an open position only in the event of the determined desire for access and/or if If the door leaf is in an open position, the movement of the door leaf into the closed position is at least temporarily prevented or the movement is reversed into the closed position and the door leaf is moved into the open position only in the event of an established desire for access.
  • the invention is further directed to a door operator for a door system with at least one door leaf for carrying out the method.
  • the invention is directed to the use of a door operator for carrying out a method with the properties described above and/or according to claims 1 to 13 and/or in a door system which has at least one door leaf.
  • the invention is directed to a computer program product for carrying out the method and/or for operating the door operator.
  • Figure 1 shows the door system 100 with a door operator 1 and a movable door leaf 10, designed as a rotating leaf, which is operatively connected to the door operator 1 and can be pivoted with it.
  • the door system 100 also has a sensor unit 13, which is connected to a control device 11, the control device 11 For example, it is part of the door operator 1 or is designed to be structurally consistent with it.
  • the sensor unit 13 spans a detection area 16 in front of the door system 100 and, according to the invention, this has a first sub-area R and a second sub-area L and is therefore divided into two sub-areas R and L.
  • the sub-areas R and L are spanned symmetrically in front of the door system 100, so that the detection area 16 is divided, so to speak, bilaterally symmetrically into the left and a right sub-area L and R immediately in front of the door system 100.
  • the area in front of the door system 100 can be a proximity area, whereby in the sense of the present invention, the area in front of the door system can also be an opposite area, which forms, for example, an exit area.
  • Two objects A and B are shown within the detection area 16, which can represent people by way of example.
  • the sensor unit 13 records data from objects A and B, in particular those located within the detection area 16.
  • the captured object data is supplied by the sensor unit 13 as raw data to the control device 11, so that the captured object data is then processed in the control device 11 and the processed object data is subsequently evaluated. This is followed by either a static or dynamically adapted subdivision of the detection area 16 into the first sub-area R and the second sub-area L. Finally, it is then determined whether there is a desire to inspect the object A or B depending on the sub-area R or L in which the object is located A or B is present or not.
  • the object data which is determined in the first step of acquiring the object data of object A, B, is present as two-dimensional object data in an XY plane, so that the object data has a reduced data volume.
  • the Z direction which extends perpendicular to the drawing plane, is not taken into account, since two-dimensional data from the plane is sufficient to carry out the method, which is spanned from the two directions X and Y, which are perpendicular to one another.
  • the division of the detection area into the right sub-area R and the left sub-area L is preferably laterally symmetrical, although, deviating from the symmetry, it is also conceivable that a larger and a smaller sub-area R and L are determined.
  • the determination of the desire to access object A in the left sub-area L is carried out, for example, under different criteria or under different conditions than the determination of the desire to inspect object B in the right sub-area R.
  • the object data of the object A, B are based on points P1, P2 sensed with the sensor unit 13, with which object vectors are determined and the object vectors for each object A, B are determined from two object positions P1, P2 of the object data, in particular where the determination of Object vectors from the object data are carried out by means of a computer unit 14, the computer unit 14 being designed as part of the sensor unit 13 or as part of the control unit 11, or, as shown, it is also possible for the computer unit 14 to form an independent unit that is connected to the control unit 11 is connected.
  • the raw data from the sensor unit 13, which is fed to the control device 11 can even have point clouds that are provided by the Control device 11 can be processed using a cluster method, in particular in step b) or c) of the method, whereby it is sufficient to determine an object vector of the object A, B from only two object positions P1 and P2. This makes the process efficient, requires less processor capacity, and can speed up process times.
  • an artificial intelligence system 15 is shown by way of example, with which at least the first sub-area R and the second sub-area L are determined and/or adapted, the artificial intelligence system 15 being connected to the computer unit 14 and/or to the sensor unit 13 stands or is part of it, the artificial intelligence system 15 being shown separately for graphical representation and in operative connection with the control device 11.
  • FIG. 2 shows the door system 100 with a door operator 1 and a movable door leaf 10, also designed as a rotating leaf, which is operatively connected to the door operator 1 and can be pivoted with it.
  • the door system 100 has a sensor unit 13, which is connected to a control device 11, the control device 11 being, for example, part of the door actuator 1 or being constructed in a structural unit with it.
  • the artificial intelligence system 15 is shown connected to the control device 11, in which the computer unit 14 is also integrated, for example.
  • the sensor unit 13 spans a detection area 16 in front of the door system 100 and this has a different assignment Figure 1 a first, right sub-area R, a second, left sub-area L and a central sub-area M and is therefore divided into three sub-areas R, L and M.
  • the sub-areas R and L are spanned symmetrically in front of the door system 100 and surround the central sub-area M.
  • the method according to the invention can therefore also be carried out with more than two (2) partial areas of the detection area.
  • FIGS. 3a and 3b show further schematic views of the door system 100 with the door operator 1 for actuating the door leaf 10, which is designed, for example, as a rotating leaf.
  • the sensor unit 13 By means of the sensor unit 13 in operative connection with the control unit 11, blanking areas 17a 17b are created, the blanking area 17a being determined statically within the detection area 16 and the training area 17b being determined dynamically and moving with the door leaf 10.
  • Figure 4 represents the door system 100 with a door leaf 10, the door system 100 being designed as a sliding door system, with the other features as in connection with Figure 1 already described, can also be used for the sliding door system.
  • the method according to the invention can also be used in door systems 100 that are not designed as swing doors, but have door leaves 10 that execute a linear movement in front of the detection area 16 to open and close the door system 100.
  • the other features and associated advantages of the door system 100, which are related to Figure 1 are described, are also used for a door system 100, designed as a sliding door system as shown.
  • Figure 5 represents the method steps a) to f), which are carried out sequentially as follows: Acquiring 110 of object data of the object A, B, in particular an object A, B approaching the door system 100, processing 120 of the acquired object data, evaluating 130 of the processed ones Object data, dividing 140 of the detection area 16 into a first sub-area R and a second sub-area L, determining 150 a desire to access the object A, B depending on the sub-area R, L in which the object data was recorded and opening 160 of the door leaf 10 only in In the event of an established desire to commit the crime.
  • Figure 6 shows another exemplary representation. Object positions P1 and P2 are visible.

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  • Power-Operated Mechanisms For Wings (AREA)
EP22190234.9A 2022-08-12 2022-08-12 Procédé de fonctionnement d'un actionneur de porte Pending EP4321720A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP22190234.9A EP4321720A1 (fr) 2022-08-12 2022-08-12 Procédé de fonctionnement d'un actionneur de porte
US18/365,010 US20240229538A9 (en) 2022-08-12 2023-08-03 Method for operating a door actuator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP22190234.9A EP4321720A1 (fr) 2022-08-12 2022-08-12 Procédé de fonctionnement d'un actionneur de porte

Publications (1)

Publication Number Publication Date
EP4321720A1 true EP4321720A1 (fr) 2024-02-14

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EP22190234.9A Pending EP4321720A1 (fr) 2022-08-12 2022-08-12 Procédé de fonctionnement d'un actionneur de porte

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US (1) US20240229538A9 (fr)
EP (1) EP4321720A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3618692A1 (de) * 1985-06-12 1986-12-18 Yoshida Kogyo K.K., Tokio/Tokyo Steuereinrichtung fuer automatische tueren
DE19613178A1 (de) 1996-04-02 1997-10-09 Heinrich Landert Verfahren zum Betrieb einer Türanlage und eine nach dem Verfahren arbeitende Türanlage
DE19804574C1 (de) * 1998-02-05 1999-08-26 Agta Record Ag Verfahren und Vorrichtung zur Ansteuerung und/oder Überwachung eines motorisch angetriebenen Flügels
US20060187037A1 (en) * 2005-01-21 2006-08-24 Bea S.A., Parc Scientifique Du Sart-Tilman Sensor for use with automatic doors
DE102008008142A1 (de) * 2008-02-08 2009-08-13 Agtatec Ag Verfahren sowie Vorrichtung zur Ansteuerung und/oder Überwachung eines verfahrbaren Flügels, insbesondere einer Tür, eines Fensters oder dergleichen
US20190360256A1 (en) * 2017-02-03 2019-11-28 Nabtesco Corporation Automatic door sensor, automatic door system, and method of controlling automatic door system
EP3613933A1 (fr) 2018-08-22 2020-02-26 GEZE GmbH Dispositif de surveillance de portes, fenêtres ou analogues

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3618692A1 (de) * 1985-06-12 1986-12-18 Yoshida Kogyo K.K., Tokio/Tokyo Steuereinrichtung fuer automatische tueren
DE19613178A1 (de) 1996-04-02 1997-10-09 Heinrich Landert Verfahren zum Betrieb einer Türanlage und eine nach dem Verfahren arbeitende Türanlage
DE19804574C1 (de) * 1998-02-05 1999-08-26 Agta Record Ag Verfahren und Vorrichtung zur Ansteuerung und/oder Überwachung eines motorisch angetriebenen Flügels
US20060187037A1 (en) * 2005-01-21 2006-08-24 Bea S.A., Parc Scientifique Du Sart-Tilman Sensor for use with automatic doors
DE102008008142A1 (de) * 2008-02-08 2009-08-13 Agtatec Ag Verfahren sowie Vorrichtung zur Ansteuerung und/oder Überwachung eines verfahrbaren Flügels, insbesondere einer Tür, eines Fensters oder dergleichen
US20190360256A1 (en) * 2017-02-03 2019-11-28 Nabtesco Corporation Automatic door sensor, automatic door system, and method of controlling automatic door system
EP3613933A1 (fr) 2018-08-22 2020-02-26 GEZE GmbH Dispositif de surveillance de portes, fenêtres ou analogues

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US20240133226A1 (en) 2024-04-25
US20240229538A9 (en) 2024-07-11

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