WO2023166137A1

WO2023166137A1 - Motor type detection for automatic door operator

Info

Publication number: WO2023166137A1
Application number: PCT/EP2023/055360
Authority: WO
Inventors: Stefan Paulsson
Original assignee: Assa Abloy Entrance Systems Ab
Priority date: 2022-03-03
Filing date: 2023-03-02
Publication date: 2023-09-07

Abstract

ASSA ABLOY Entrance Systems AB has developed an automatic door operator (30) that is presented for use in an entrance system (1) which comprises a movable door member (DM1…DMm). The automatic door operator (30) has an AC motor (36) capable of causing movement (50) of the door member (DM1…DMm). The automatic door operator (30) further has a motor type detection arrangement (210) configured for detecting a type (225) of the AC motor (36) by sending an electric signal (212; 356) through a first stator winding (36U) of the AC motor (36) and evaluating a resulting signal (214; 358, 360) returning through a second stator winding (36V) of the AC motor 0 (36). The automatic door operator (30) moreover has a motor drive arrangement (220) configured for controlling operation of the AC motor (36) in response to the type (225) of the AC motor (36) detected by the motor type detection arrangement (210).

Description

MOTOR TYPE DETECTION FOR AUTOMATIC DOOR OPERATOR

TECHNICAL FIELD

The present invention generally relates to entrance systems having a movable door member (or more than one movable door member) and an automatic door operator for the movable door member. More specifically, the present invention relates to an automatic door operator for use in such entrance systems, the automatic door operator having an AC motor capable of causing movement of the door member. The present invention also relates to an entrance system comprising such an automatic door operator, and to associated methods for detecting a type of an AC motor in an automatic door operator, and for operating an automatic door operator in response to the detected motor type.

BACKGROUND

Entrance systems having automatic door operators are frequently used for providing automatic opening and/or closing of movable door members in order to facilitate entrance and exit to buildings, rooms and other areas. To this end, an automatic door operator typically has an AC motor which is capable of causing the desired movement of a movable door member. The door member may, for instance, be a swing door, sliding door, revolving door or overhead sectional door.

Since entrance systems having automatic door operators are typically used in public areas, user convenience is of course important. The entrance systems have to remain long-term operational without malfunctions or need for unplanned maintenance, even during periods of heavy traffic by persons or objects passing through the entrance systems. At the same time, safety is crucial in order to avoid hazardous situations where a present, approaching or departing person or object (including but not limited to animals or articles brought by the person) may be hit or jammed by any of the movable door members.

Automatic door operators are programmed to perform their operations as defined by embedded software executable by at least one CPU, DSP, FPGA, etc. The operations need to take many environmental factors and internal conditions into consideration. One such consideration is the type of AC motor that the automatic door operator is equipped with. For reasons of safety as well as long-term operability, the control of the AC motor as performed by the software in the automatic door operator should be designed and suitable for the type of AC motor used.

However, an automatic door operator may be equipped with different types of AC motors, either as factory-built or as a result of a retrofit or replacement activity. One conventional way of making sure that the software in the automatic door operator is suitable for the actual type of motor would be to have different software versions for different motor types. However, there are clear drawbacks of such an approach, for instance in terms of logistics. Moreover, even if different software versions were made available for different motor types usable for a certain kind, model or branch of an automatic door operator, there would still remain problems with having to install the correct software version and to identify the actual motor type of the AC motor installed in the automatic door operator. The latter would typically require the provision of separate motor type detection hardware, which may be both costly and difficult to do in a motor retrofit or replacement situation.

The present inventor has realized that there is room for improvements in this regard.

SUMMARY

An object of the present invention is therefore to provide one or more improvements to the problems or drawbacks identified in the preceding section of this document.

Accordingly, a first aspect of the present invention is an automatic door operator for use in an entrance system which comprises a movable door member. The automatic door operator comprises an AC motor capable of causing movement of the door member. The automatic door operator further comprises a motor type detection arrangement configured for detecting a type of the AC motor by sending an electric signal through a first stator winding of the AC motor and evaluating a resulting signal returning through a second stator winding of the AC motor. The automatic door operator moreover comprises a motor drive arrangement configured for controlling operation of the AC motor in response to the type of the AC motor detected by the motor type detection arrangement. The provision of such an entrance system will solve or at least mitigate one or more of the problems or drawbacks identified above, as will be clear from the following detailed description section and the drawings. A novel and inventive may of detecting motor type and controlling AC motor operation of an automatic door operator in an entrance system has been made possible.

A second aspect of the present invention is an entrance system that comprises a movable door member and an automatic door operator according to the first aspect of the present invention.

A third aspect of the present invention is a method of detecting a type of an AC motor in an automatic door operator for use in an entrance system which comprises a door member being movable by actuation of the AC motor. The method involves sending an electric signal through a first stator winding of the AC motor, and determining the type of the AC motor by evaluating a resulting signal returning through a second stator winding of the AC motor.

A fourth aspect of the present invention is a method of operating an automatic door operator used in an entrance system which comprises a movable door member and an AC motor capable of causing movement of the door member. The method involves performing the method according to the third aspect of the present invention to detect a type of the AC motor, and controlling operation of the AC motor in response to the detected motor type.

The second, third and fourths aspects generally have the same advantages as the first aspect of the present invention.

In different embodiments, the movable 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. The entrance system may have just a single such door member, or two or more of them.

Embodiments of the invention are defined by the appended dependent claims and are further explained in the detailed description section as well as in the drawings.

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.

A reference to an entity being “designed for” doing something in this document is intended to mean the same as the entity being “configured for”, or “intentionally adapted for” doing this very something.

BRIEF DESCRIPTION OF THE DRAWINGS

Objects, features and advantages of embodiments of the invention will appear from the following detailed description, reference being made to the accompanying drawings.

Figure 1A is a schematic block diagram of an entrance system generally according to the present invention.

Figure IB is a schematic block diagram of an embodiment of an automatic door operator which may be included in the entrance system shown in Figure 1 A.

Figure 2A is a schematic illustration of a motor type detection arrangement for detecting a type of an AC motor in an automatic door operator generally according to the present invention.

Figure 2B is a schematic illustration of a motor drive arrangement for controlling operation of the AC motor in the automatic door operator in response to the detected motor type.

Figure 2C is a schematic illustration of an embodiment of the motor type detection arrangement.

Figure 2D is a schematic illustration of an embodiment of the motor type detection arrangement.

Figure 2E is a schematic illustration of an embodiment of the motor type detection arrangement. Figure 3A is a more detailed illustration of an embodiment of the motor drive arrangement.

Figure 3B is a more detailed illustration of an embodiment of the motor type detection arrangement.

Figure 4A is a flowchart diagram illustrating a method, generally according to the present invention, of detecting a type of an AC motor in an automatic door operator for use in an entrance system.

Figure 4B is a flowchart diagram illustrating a method, generally according to the present invention, of operating an automatic door operator in response to a motor type as detected by the method in Figure 4A.

Figure 5 is a schematic top view of an entrance system according to one exemplifying embodiment, in the form of a swing door system.

Figure 6 is a schematic top view of an entrance system according to another exemplifying embodiment, in the form of a revolving door system.

Figure 7 is a schematic top view of an entrance system according to another exemplifying embodiment, in the form of a sliding door system.

Figure 8 is a schematic perspective view of an entrance system according to another exemplifying embodiment, in the form of an overhead sectional door system.

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.

Figure 1A is a schematic block diagram illustrating an entrance system 1 in which the inventive aspects of the present invention may be applied. The entrance system 1 comprises one or more movable door members DM1...DMm, and an automatic door operator 30 for causing movements 50 of the door members DM1 .. DMm between different positions, typically between closed and open end positions. The movements 50 may be rotational or translational. A linkage mechanism 40 conveys mechanical power from the automatic door operator 30 to the movable door members DM1. . .DMm.

In the following description of Figures IB through 4B, reference will predominantly be made to a single door member only, in an exemplifying and nonlimiting sense The door member will be referred to as DM1, again in an exemplifying and non-limiting sense. It is to be understood that there is no particular limitation in the number of door members operated by the automatic door operator in the present invention. In some embodiments, the entrance system may comprise a plurality of automatic door operators, each being installed for operating a respective door member or, alternatively, a respective group of door members.

The entrance system 1 has a control arrangement 20 which comprises a controller 32. Typically, the controller 32 is physically contained within the automatic door operator 30, as can be seen in the embodiment of Figure IB to be described below. In alternative embodiments, the controller 32 may be a separate device operably connected to the automatic door operator 30 and in effect forming a functional part thereof. The control arrangement 20 also comprises a number n of external sensor units SI ... Sn, where n > 0. Each sensor unit may generally be connected to the controller 32 by a wired connection, a wireless connection, or a combination thereof.

As will be exemplified in the subsequent description of the different embodiments in Figures 5, 6 and 7, each sensor unit may be arranged to monitor a respective zone Z1 . ..Zn at the entrance system 1 for presence or activity of a person or object. The person may be an individual who is present at the entrance system 1, is approaching it or is departing from it. The object may, for instance, be an animal or an article in the vicinity of the entrance system 1, for instance brought by the aforementioned individual. Alternatively, the object may be a vehicle or a robot.

Figure IB illustrates an embodiment of the automatic door operator 30 in more detail. The automatic door operator 30 may, for instance, be arranged as a concealed overhead installation in conjunction with a frame or other structure which supports the movable door member DM1 to move between different (e g. closed and open) positions. In addition to the aforementioned controller 32, the automatic door operator 30 comprises an electric AC motor 36, being connected to an internal transmission (e.g. gearbox) 38. An output shaft of the transmission 38 rotates upon activation of the AC motor 36 and is connected to the external linkage mechanism 40. The external linkage mechanism 40 translates the motion of the output shaft of the transmission 38 into an opening or closing motion 50 of the door member DM1 with respect to the frame or support structure.

The controller 32 is arranged for performing different functions of the automatic door operator 30, possibly in different operational states of the entrance system 1. To this end, controller 32 may use sensor input data from the external sensor units SI . . . Sn. Hence, the controller 32 is operatively connected with the sensor units SI ... Sn in the disclosed embodiment. Furthermore, the controller 32 may use input data from internal detectors D1-D4 in the automatic door operator 30. For instance, there may be an internal detector DI at the input of the AC motor 36, an internal detector D2 at the output shaft of the AC motor 36, an internal detector D3 at the output shaft of the transmission 38, and an internal detector D4 to monitor an internal operating environment parameter of the automatic door operator 30, such as temperature.

At least some of the different functions performable by the controller 32 have the purpose of causing desired movements 50 of the door member DM1. To this end, in the disclosed embodiment, the controller 32 has at least one control output connected to a drive unit 34 for the AC motor 36. An exemplary embodiment of the drive unit 34 will be described in more detail later in this document, particularly with reference to Figure 3A.

The controller 32 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 controller 32 also has an associated memory 33. The memory 33 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 33 or parts of it may be integrated with or internal to the controller 32. The memory 33 may store software 35a comprising computer program instructions for loading into the controller 32 (as seen at 35b) and execution by the controller 32, as well as temporary and permanent data used by the controller 32. In some embodiments, the software 35b may be firmware, i.e. embedded software stored on-chip of the controller 32. The drive unit 34 may also have embedded software/firmware, as seen at 35c in Figure IB. Generally, when reference is made to “software” in this document, it may relate to such software 35a, 35b, 35c. Generally, when reference is made to “an arrangement configured for [doing something]” in this document, it may be implemented by such software 35a, 35b, 35c executed by the relevant hardware in the automatic door operator 30.

In the embodiment shown in Figure IB, the entrance system 1 has a communication bus 37. Some or all of the plurality of external sensor units SI ... Sn are connected to the communication bus 37, and so is the controller 32 and the memory 33 of the automatic door operator 30. In other embodiments, other devices or components of the automatic door operator 30 may be connected to the communication bus 37. In still other embodiments, the outputs of the sensor units SI . . . Sn may be directly connected to respective data inputs of the controller 32.

It is recalled from previous sections of this document that it is desired to be able to detect a type of the AC motor 36 to allow control of the operation of the AC motor 36 without having to install separate software or use separate motor type detection hardware. Reference is therefore made to Figure 2A which illustrates a motor type detection arrangement 210 for detecting a type of the AC motor 36 in the automatic door operator 30. Reference is also made to Figure 2B which illustrates a motor drive arrangement 220 for controlling operation of the AC motor 36 in the automatic door operator 30 in response to the detected motor type. By virtue of the solutions shown in Figures 2A and 2B, a novel and inventive way of detecting motor type and controlling AC motor operation of an automatic door operator in an entrance system has been made possible. This will now be explained.

In Figures 2A and 2B, only relevant parts of the automatic door operator 30 are shown for reasons of brevity. It is recalled from the foregoing description that the automatic door operator 30 is for use in an entrance system 1 which comprises a movable door member DM1 (or a plurality of movable door members DM1 .. DMm). The AC motor 36 of the automatic door operator 30 is capable of causing movement 50 of the door member DM1.

In typical embodiments, the AC motor 36 is a three-phase electric induction motor. As is well known per se, the AC motor 36 therefore comprises three stator windings (these stator windings are seen as 36u, 36v and 36w in Figures 3A and 3B). It is conceived that in alternative embodiments, the AC motor 36 may be a three-phase electric synchronous motor.

A motor type detection arrangement 210 in the automatic door operator 30 is configured for detecting a type 225 of the AC motor 36 by sending an electric signal 212 through a first stator winding of the AC motor 36 and evaluating a resulting signal 214 returning through a second stator winding of the AC motor 36. This can be seen in Figure 2A. Notably (as will be explained in more detail with reference to the exemplary embodiment in Figure 3B), only two of the three stator windings of the AC motor 36 are used for the sending of the electric signal 212 and the receiving of the return signal 214; the third stator winding is not involved in the motor type detection.

A motor drive arrangement 220 in the automatic door operator 30 is configured for controlling operation of the electric AC motor 36 in response to the type 225 of the AC motor 36 as detected by the motor type detection arrangement 210. This can be seen in Figure 2B. Notably (as will be explained in more detail with reference to the exemplary embodiment in Figure 3A), the control of the motor operation involves generation of AC signals 222 through all three stator windings of the AC motor 36, as is commonplace per se. One typical use case of the motor drive arrangement 220 controlling the operation of the AC motor 36 is to cause movement 50 of the door member DM1 at a speed of movement which depends on the detected motor type 225. This may be beneficial for instance because a certain detected motor type 225 of the AC motor 36 is indicative of a certain operating environment which is different in some aspects from the typical operating environment when another motor type is used. As one example, a heavy duty motor is indicative of a heavy door member, which for safety and long-term operational stability reasons may call for a slower opening or closing speed than for less heavy door members.

An exemplary embodiment of the motor drive arrangement 220 will now be described with reference to Figure 3A. The motor drive 34 (cf. Figure IB) is a variable- frequency drive, VFD, of conventional design as such. The VFD 34 comprises a rectifier block 310 coupled to receive power at 302 from AC mains or another source of one-phase or three-phase alternating current. In the former case, the rectifier block 310 will have a phase input and a second input connected to ground. In the latter case, the rectifier block 310 will have first, second and third phase inputs. The rectifier block 310 contains power electronics designed to convert the one-phase or three-phase AC input to a rectified output. As is well known to a skilled person, the power electronics of the rectifier block 310 typically includes a number of diodes in a bridge rectifier configuration.

The rectified output from the rectifier block 310 is filtered by a DC link 320 which in turn is connected to an inverter block 330. The inverter block 330 comprises power electronics designed to synthesize three AC phase signals U, V and W to be fed into the respective stator windings 36u, 36v and 36w of the AC motor 36. As is well known to a skilled person, the power electronics of the inverter block 330 typically includes a number of electronic switches in a bridge inverter configuration (such as a three-phase, six-switch, full-wave bridge). The electronic switches are based on transistors, such as IGBTs or MOSFETs in pairs with anti-parallel diodes.

The VFD 34 further comprises PWM control circuitry 340 for controlling the electronic switches by PWM control signals 344. Fed by DC power from the DC link 320, the electronic switches are thus controlled by the PWM control circuitry 340 to vary the frequency and associated voltage or current (depending on inverter topology) of the synthesized AC signals U, V and W through the stator windings 36u, 36v and 36w, so as to control the speed and torque of the AC motor 36. In turn, the PWM control circuitry 340 may be controlled by control signals 342 from the controller 32 (not seen in Figure 3 A but in Figure IB) to command a desired movement 50 of the door member DM1 by actuating the AC motor 36 accordingly. As mentioned above, the controlling of the operation of the AC motor 36 (by the controller 32 through the control signals 342, or even by the PWM control circuitry 340 through the PWM control signals 344) will take the detected type of the AC motor 36 into account. In some embodiments, the PWM control circuitry 340 may be integrated with the controller 32.

An exemplary embodiment of the motor type detection arrangement 210 will now be described with reference to Figure 3B. In this embodiment, the motor type detection arrangement uses the controller 32 (cf. Figure IB) and the inverter block 330 with its PWM control circuitry 340 from Figure 3 A. Note that the other parts of the VFD 34 of Figure 3 A, i.e. the rectifier block 310 and DC link 320, are not replicated in Figure 3B for reasons of brevity.

Motor type detection in Figure 3B takes place as follows. As seen at 352, the controller 32 commands the PWM control circuitry 340 to control the inverter block 330 (by appropriate PWM control signals 354) to generate an electric signal 356 (corresponding to signal 212 in Figure 2A) The generated electric signal 356 is sent through the first stator winding 36u of the AC motor 36 and returns at 358 through the second stator winding 36v (corresponding to signal 214 in Figure 2A). The resulting return signal 358, 360 is then evaluated by the controller 32 to determine a type of the AC motor 36. As discussed above with reference to Figure 2B and Figure 3A, the motor drive arrangement may then control the operation of the AC motor 36 in response to the detected type 225 of the AC motor 36.

Generally, the motor type detection arrangement 210 may be configured for evaluating the resulting return signal 214; 358, 360 by determining a value of an electric property of the resulting return signal 214; 358, 360, and then setting the type 225 of the AC motor 36 depending on the determined electric property value. For instance, the motor type detection arrangement may be configured to cause the motor drive arrangement 220 to generate the electric signal 212; 356 by applying a DC voltage across the first and second stator windings 36u, 36v of the AC motor 36. Hence, in this case the signals 214, 216; 356-360 will constitute a DC signal, and the electric property of the resulting return signal 214; 358, 360 may conveniently be the current magnitude (amplitude). The current magnitude of the resulting return signal 214; 358, 360 will thus, according to Ohm’s law, depend on the resistance of the first and second stator windings 36u, 36v of the AC motor 36 and on the applied DC voltage. Since different motor types typically have differently dimensioned stator windings (a heavy duty motor rated for higher power will require thicker wires for the stator windings than a standard motor rated for a lower power).

Alternatively, the motor type detection arrangement 210 may be configured to cause the motor drive arrangement 220 to generate the electric signal 212; 356 as a pulsed voltage signal, wherein the electric property of the resulting return signal 214; 358, 360 may be current decay (i.e. the rate at which the amplitude or envelope of the resulting return signal decreases over time). Other alternatives of suitable electric properties are of course also possible, as the skilled person will readily understand after having been enlightened by the present disclosure. Suitable electric properties may be those that are derivable from the resulting return signal 214; 358, 360 and depend in a differentiable way on some property of the stator windings when being subjected to the generated electric signal 212; 356, for instance in terms of resistance, impedance or inductance.

As seen in the exemplary embodiment of the motor type detection arrangement in Figure 3B, the electric property (e.g. current magnitude or current decay) of the resulting return signal 214; 358, 360 may be detected by leading the resulting return signal 214; 358, 360 through a shunt resistor 350. The value of the current of the resulting return signal 214; 358, 360 may then be determined from a voltage 362 measured across the shunt resistor 350 together with a known resistance thereof. The measured voltage 362 is read by the controller 32, as seen in Figure 3B.

In some embodiments, exemplified by Figure 2C, the motor type detection arrangement 210 is configured for evaluating the resulting return signal 214; 358, 360 by setting the type 225 of the AC motor 36 to a first motor type if the determined value of the electric property (e.g. current magnitude or current decay) meets a threshold value 216, and otherwise to a second motor type. The second motor type may be a default motor type 217, as exemplified in Figure 2D.

In some embodiments, exemplified by Figure 2E, the motor type detection arrangement 210 comprises cross-reference data 218 which maps characteristic values of the aforesaid electric property to different motor types. The motor type detection arrangement 210 is configured for evaluating the resulting return signal 214; 358, 360 by detecting a value of the aforesaid electric property of the resulting return signal 214; 358, 360, searching the cross-reference data 218 for a match with the detected value, and, in case of a match, determining the type 225 of the AC motor 36 from the match in the cross-reference data 218. When there is no match in the cross-reference data 218 for the detected value, the motor type detection arrangement 210 may be configured for setting the type 225 of the AC motor 36 to a default motor type 217. Figure 4A is a flowchart diagram illustrating a method 400 of detecting a type of an AC motor (such as AC motor 36) in an automatic door operator (such as automatic door operator 30) for use in an entrance system (such as entrance system 1) which comprises a door member (such as door member DM1) being movable by actuation of the AC motor. With exemplary and non-limiting reference to Figures 2A and 3B, the method 400 involves sending 410 an electric signal 212; 356 through a first stator winding 36u of the AC motor 36, and determining 420 the type 225 of the AC motor 36 by evaluating a resulting signal 214; 358, 360 returning through a second stator winding 36v of the AC motor 36.

The method in Figure 4A may further comprise any of the functional features described above for the motor type detection arrangement 210 and its embodiments.

Figure 4B is a flowchart diagram illustrating a method 450 of operating an automatic door operator in response to a motor type as detected by the method in Figure 4A. The method 450 thus involves performing 460 the method 400 in Figure 4 A to detect a type 225 of the AC motor 36, and controlling 470 operation of the AC motor 36 in response to the detected motor type 225. Controlling 470 the operation of the AC motor 36 may advantageously involve causing movement 50 of the door member DM1 at a speed of movement which depends on the detected motor type 225.

With reference to Figures 5-8, some exemplary entrance systems will be described, in which the present invention may be used.

An embodiment of an entrance system in the form of a swing door system 510 is shown in a schematic top view in Figure 5. The swing door system 510 comprises a single swing door DM1 being located between a lateral edge of a first wall 560 and an inner surface of a second wall 562 which is perpendicular to the first wall 560. The swing door DM1 is supported for pivotal movement 550 around pivot points on or near the inner surface of the second wall 562. The first and second walls 560 and 562 are spaced apart; in between them an opening is formed which the swing door DM1 either blocks (when the swing door is in closed position), or makes accessible for passage (when the swing door is in open position). An automatic door operator (not seen in Figure 5 but referred to as 30 in the preceding figures and description) causes the movement 550 of the swing door DM1. The swing door system 510 comprises a plurality of sensor units, each monitoring a respective zone Z1-Z4. The sensor units themselves are not shown in Figure 5, but they are generally mounted at or near ceiling level and/or at positions which allow them to monitor their respective zones Z1-Z4. Again, each sensor unit will be referred to as Sx in the following, where x is the same number as in the zone Zx it monitors (Sx = S1-S4, Zx = Z1-Z4).

A first sensor unit SI is mounted at a first central positon in Figure 5 to monitor zone Zl. The first sensor unit SI is a door presence sensor, and the purpose is to detect when a person or object occupies a space near a first side of the (door leaf of the) swing door DM1 when the swing door DM1 is being moved towards the open position during an opening state of the swing door system 510. The provision of the door presence sensor SI will help avoiding a risk that the person or object will be hit by the first side of the swing door DM1 and/or be jammed between the first side of the swing door DM1 and the second wall 562; a sensor detection in this situation will trigger abort and preferably reversal of the ongoing opening movement of the swing door DI.

A second sensor unit S2 is mounted at a second central positon in Figure 5 to monitor zone Z2. The second sensor unit S2 is a door presence sensor, just like the first sensor SI, and has the corresponding purpose - i.e. to detect when a person or object occupies a space near a second side of the swing door DM1 (the opposite side of the door leaf of the swing door DM1) when the swing door DM1 is being moved towards the closed position during a closing state of the swing door system 510. Hence, the provision of the door presence sensor S2 will help avoiding a risk that the person or object will be hit by the second side of the swing door DM1 and/or be jammed between the second side of the swing door DI and the first wall 560; a sensor detection in this situation will trigger abort and preferably reversal of the ongoing closing movement of the swing door DM1.

A third sensor unit S3 is mounted at an inner central positon in Figure 5 to monitor zone Z3. The third sensor unit S3 is an inner activity sensor, and the purpose is to detect when a person or object approaches the swing door system 510 from the inside of the premises. The provision of the inner activity sensor S3 will trigger the sliding door system 510, when being in a closed state or a closing state, to automatically switch to an opening state for opening the swing door DM1, and then make another switch to an open state when the swing door DM1 has reached its fully open position.

A fourth sensor unit S4 is mounted at an outer central positon in Figure 5 to monitor zone Z4. The fourth sensor unit S4 is an outer activity sensor, and the purpose is to detect when a person or object approaches the swing door system 510 from the outside of the premises. Similar to the inner activity sensor S3, the provision of the outer activity sensor S4 will trigger the swing door system 510, when being in its closed state or its closing state, to automatically switch to the opening state for opening the swing door DM1, and then make another switch to an open state when the swing door DM1 has reached its fully open position.

The inner activity sensor S3 and the outer activity sensor S4 may for instance be radar (microwave) sensors; however, one or both of them may alternatively be a sensor unit as previously described herein (thus implementing the sensor unit 300 according to the description above). Alternatively, they may be configured by way of a remote configuration instruction as described herein.

An embodiment of an entrance system in the form of a revolving door system 610 is shown in a schematic top view in Figure 6. The revolving door system 610 comprises a plurality of revolving doors or wings DM1-DM4 being located in a cross configuration in an essentially cylindrical space between first and second curved wall portions 662 and 666 which, in turn, are spaced apart and located between third and fourth wall portions 660 and 664. The revolving doors DM1-DM4 are supported for rotational movement 650 in the cylindrical space between the first and second curved wall portions 662 and 666. During the rotation of the revolving doors DM1 -DM4, they will altematingly prevent and allow passage through the cylindrical space. An automatic door operator (not seen in Figure 6 but referred to as 30 previously in this document) causes the rotational movement 650 of the revolving doors DM1 -DM4.

The revolving door system 610 comprises a plurality of sensor units, each monitoring a respective zone Z1-Z8. The sensor units themselves are not shown in Figure 6, but they are generally mounted at or near ceiling level and/or at positions which allow them to monitor their respective zones Z1-Z8. Again, each sensor unit will be referred to as Sx in the following, where x is the same number as in the zone Zx it monitors (Sx = S1-S8, Zx = Z1-Z8). First to fourth sensor units S1-S4 are mounted at respective first to fourth central positons in Figure 6 to monitor zones Z1-Z4. The first to fourth sensor units Sl- S4 are door presence sensors, and the purpose is to detect when a person or object occupies a respective space (sub-zone of Z1-Z4) near one side of the (door leaf of the) respective revolving door DM1 -DM4 as it is being rotationally moved during a rotation state or start rotation state of the revolving door system 610. The provision of the door presence sensors S1-S4 will help avoiding a risk that the person or object will be hit by the approaching side of the respective revolving door DM1-DM4 and/or be jammed between the approaching side of the respective revolving door DM1 -DM4 and end portions of the first or second curved wall portions 662 and 666. When any of the door presence sensors S1-S4 detects such a situation, it will trigger abort and possibly reversal of the ongoing rotational movement 650 of the revolving doors DM1 -DM4.

A fifth sensor unit S5 is mounted at an inner non-central positon in Figure 6 to monitor zone Z5. The fifth sensor unit S5 is an inner activity sensor, and the purpose is to detect when a person or object approaches the revolving door system 610 from the inside of the premises. The provision of the inner activity sensor S5 will trigger the revolving door system 610, when being in a no rotation state or an end rotation state, to automatically switch to a start rotation state to begin rotating the revolving doors DM1- DM4, and then make another switch to a rotation state when the revolving doors DM1- DM4 have reached full rotational speed.

A sixth sensor unit S6 is mounted at an outer non-central positon in Figure 6 to monitor zone Z6. The sixth sensor unit S6 is an outer activity sensor, and the purpose is to detect when a person or object approaches the revolving door system 610 from the outside of the premises. Similar to the inner activity sensor S5, the provision of the outer activity sensor S6 will trigger the revolving door system 610, when being in its no rotation state or end rotation state, to automatically switch to the start rotation state to begin rotating the revolving doors DM1 -DM4, and then make another switch to the rotation state when the revolving doors DM1 -DM4 have reached full rotational speed.

The inner activity sensor S5 and the outer activity sensor S6 may for instance be radar (microwave) sensors and may advantageously be configured by way of a remote configuration instruction as described herein. Seventh and eighth sensor units S7 and S8 are mounted near the ends of the first or second curved wall portions 662 and 666 to monitor zones Z7 and Z8. The seventh and eighth sensor units S7 and S8 are vertical presence sensors. The provision of these sensor units S7 and S8 will help avoiding a risk that the person or object will be jammed between the approaching side of the respective revolving door DM1-DM4 and an end portion of the first or second curved wall portions 662 and 666 during the start rotation state and the rotation state of the revolving door system 610. When any of the vertical presence sensors S7-S8 detects such a situation, it will trigger abort and possibly reversal of the ongoing rotational movement 650 of the revolving doors DM1- DM4.

The vertical presence sensors S7-S8 may for instance be active IR (infrared) sensors and may advantageously be configured by way of a remote configuration instruction as described herein.

An embodiment of an entrance system in the form of a sliding door system 710 is shown in a schematic top view in Figure 7. The sliding door system 710 comprises first and second sliding doors or wings DM1 and DM2, being supported for sliding movements 750i and 7502 in parallel with first and second wall portions 760 and 764. The first and second wall portions 760 and 764 are spaced apart; in between them there is formed an opening which the sliding doors DM1 and DM2 either blocks (when the sliding doors are in closed positions), or makes accessible for passage (when the sliding doors are in open positions). An automatic door operator (not seen in Figure 7 but referred to as 30 previously in this document) causes the sliding movements 750i and 7502 of the sliding doors DM1 and DM2.

The sliding door system 710 comprises a plurality of sensor units, each monitoring a respective zone Z1-Z6. The sensor units themselves are not shown in Figure 7, but they are generally mounted at or near ceiling level and/or at positions which allow them to monitor their respective zones Z1-Z6. To facilitate the reading, each sensor unit will be referred to as Sx in the following, where x is the same number as in the zone Zx it monitors (Sx being selected from {SI ... S6}, Zx being selected from {Z1-Z6}.

A first sensor unit SI is mounted at a lateral positon to the far left in Figure 7 to monitor zone Zl. The first sensor unit SI is a side presence sensor, and the purpose is to detect when a person or object occupies a space between the outer lateral edge of the sliding door DM1 and an inner surface of a wall or other structure 762 when the sliding door DM1 is moved towards the left in Figure 7 during an opening state of the sliding door system 710. The provision of the side presence sensor SI will help avoiding a risk that the person or object will be hit by the outer lateral edge of the sliding door DM1, and/or jammed between the outer lateral edge of the sliding door DM1 and the inner surface of the wall 762, by triggering abort and preferably reversal of the ongoing opening movement of the sliding door DM1.

A second sensor unit S2 is mounted at a lateral positon to the far right in Figure 7 to monitor zone Z2. The second sensor unit S2 is a side presence sensor, just like the first sensor unit SI, and has the corresponding purpose - i.e. to detect when a person or object occupies a space between the outer lateral edge of the sliding door DM2 and an inner surface of a wall 466 when the sliding door DM2 is moved towards the right in Figure 7 during the opening state of the sliding door system 710.

A third sensor unit S3 is mounted at a first central positon in Figure 7 to monitor zone Z3. The third sensor unit S3 is a door presence sensor, and the purpose is to detect when a person or object occupies a space between or near the inner lateral edges of the sliding doors DM1 and DM2 when the sliding doors DM1 are moved towards each other in Figure 4 during a closing state of the sliding door system 710. The provision of the door presence sensor S3 will help avoiding a risk that the person or object will be hit by the inner lateral edge of the sliding door DM1 or DM2, and/or be jammed between the inner lateral edges of the sliding doors DM1 and DM2, by aborting and preferably reversing the ongoing closing movements of the sliding doors DM1 and DM2.

A fourth sensor unit S4 is mounted at a second central positon in Figure 7 to monitor zone Z4. The fourth sensor unit S4 is a door presence sensor, just like the third sensor unit S3, and has the corresponding purpose - i.e. to detect when a person or object occupies a space between or near the inner lateral edges of the sliding doors DM1 and DM2 when the sliding doors DM1 are moved towards each other in Figure 7 during a closing state of the sliding door system 710.

The side presence sensors SI and S2 and door presence sensors S3 and S4 may be image-based sensor units, active IR (infrared) sensor unit, etc. A fifth sensor unit S5 is mounted at an inner central positon in Figure 7 to monitor zone Z5. The fifth sensor unit S5 is an inner activity sensor, and the purpose is to detect when a person or object approaches the sliding door system 710 from the inside of the premises. The provision of the inner activity sensor S5 will trigger the sliding door system 710, when being in a closed state or a closing state, to automatically switch to an opening state for opening the sliding doors DM1 and DM2, and then make another switch to an open state when the sliding doors DM1 and DM2 have reached their fully open positions.

A sixth sensor unit S6 is mounted at an outer central positon in Figure 7 to monitor zone Z6. The sixth sensor unit S6 is an outer activity sensor, and the purpose is to detect when a person or object approaches the sliding door system 710 from the outside of the premises. Similar to the inner activity sensor S5, the provision of the outer activity sensor S6 will trigger the sliding door system 710, when being in its closed state or its closing state, to automatically switch to the opening state for opening the sliding doors DM1 and DM2, and then make another switch to an open state when the sliding doors DM1 and DM2 have reached their fully open positions.

The inner activity sensor S5 and the outer activity sensor S6 may, for instance, be radar (microwave) sensor units or image-based sensor units.

An embodiment of an entrance system in the form of an overhead sectional door system 810 is shown in Figure 8. The overhead sectional door system 810 is a vertical lifting door system which comprises a movable door member DM1 being a sectional door member that comprises five horizontal and interconnected door panel sections 812a-e. The door panel sections 812a-e are generally arranged on top of one another. The sectional door member DM1 may in alternative embodiments comprise a plurality of interconnected door panel sections 812. The sectional door member DM1 is arranged in a door frame 813 defined by two upper frame portions 814a-b being connected to two lower frame portions 816a-b, respectively. The entrance system 810 further comprises an automatic door operator 830 being mounted at a central ceiling position, as seen in Figure 8.

Alternatively, the automatic door operator may have two separate door operator modules 830a-b, each one being arranged at a bottommost door panel section 812a with respect to a ground level 806. More specifically, the door operator modules 810a-b may be arranged at an edge surface of the bottom-most door panel section 812a. The door operator modules 810a-b may alternatively, or additionally, be arranged at any of the other door panel sections 812b-e.

In Figure 8, the sectional door member 810 is shown in an open position. The automatic door operator 880 (830a-b) is coupled to cause movement of the sectional door member 810 between the open position, wherein access through the entrance system 810 is permitted, and a closed position, wherein access is prevented, via any number of intermediate positions.

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 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

1. An automatic door operator (30) for use in an entrance system (1) which comprises a movable door member (DM1 . ..DMm), the automatic door operator (30) comprising: an AC motor (36) capable of causing movement (50) of the door member (DM1. DMm); a motor type detection arrangement (210) configured for detecting a type (225) of the AC motor (36) by sending an electric signal (212; 356) through a first stator winding (36u) of the AC motor (36) and evaluating a resulting signal (214; 358, 360) returning through a second stator winding (36v) of the AC motor (36); and a motor drive arrangement (220) configured for controlling operation of the AC motor (36) in response to the type (225) of the AC motor (36) detected by the motor type detection arrangement (210).

2. The automatic door operator (30) as defined in claim 1, wherein the motor type detection arrangement (210) is configured for evaluating the resulting return signal (214; 358, 360) by: determining a value of an electric property of the resulting return signal (214; 358, 360); and setting the type (225) of the AC motor (36) depending on the determined electric property value.

3. The automatic door operator (30) as defined in claim 2, wherein the motor type detection arrangement (210) is configured to cause the motor drive arrangement (220) to generate the electric signal (212; 356) by applying a DC voltage across the first and second stator windings (36u, 36v) of the AC motor (36), and wherein the electric property of the resulting return signal (214; 358, 360) is current magnitude.

4. The automatic door operator (30) as defined in claim 2, wherein the motor type detection arrangement (210) is configured to cause the motor drive arrangement (220) to generate the electric signal (212; 356) as a pulsed voltage signal and wherein the electric property of the resulting return signal (214; 358, 360) is current decay.

5. The automatic door operator (30) as defined in any of claims 2-4, wherein the motor type detection arrangement (210) is configured for evaluating the resulting return signal (214; 358, 360) by: setting the type (225) of the AC motor (36) to a first motor type if the determined value of the electric property value meets a threshold value (216), and otherwise to a second motor type.

6. The automatic door operator (30) as defined in any of claims 3-5, wherein the motor type detection arrangement (210) further comprises a shunt resistor (350) through which the resulting return signal (358, 360) from the second stator winding (36v) of the AC motor (36) is led, and wherein the value of the current of the resulting return signal (358, 360) is determined from a voltage measured across the shunt resistor (350) together with a known resistance thereof.

7. The automatic door operator (30) as defined in claim 1, wherein the motor type detection arrangement (210) comprises cross-reference data (218) which maps characteristic values of an electric property to different motor types, and wherein the motor type detection arrangement (210) is configured for evaluating the resulting return signal (214; 358, 360) by: detecting a value of an electric property of the resulting return signal (214; 358, 360); searching the cross-reference data (218) for a match with the detected value; and in case of a match, determining the type (225) of the AC motor (36) from the match in the cross-reference data (218).

8. The automatic door operator (30) as defined in claim 7, wherein the motor type detection arrangement (210) is configured, when there is no match in the cross- reference data (218) for the detected value, to set the type (225) of the AC motor (36) to a default motor type (217).

9. The automatic door operator (30) as defined in any preceding claim, wherein the motor drive arrangement (220) is configured for controlling the operation of the AC motor (36) by causing movement (50) of the door member (DM1.. .DMm) at a speed of movement which depends on the detected motor type.

10. The automatic door operator (30) as defined in any preceding claim, wherein a first motor type detectable by the motor drive arrangement (220) is a standard AC motor type and a second motor type detectable by the motor drive arrangement (220) is a heavy duty AC motor type having a higher power rating than the standard AC motor type.

11. The automatic door operator (30) as defined in any preceding claim, wherein the AC motor (36) is a three-phase electric induction motor.

12. The automatic door operator (30) as defined in any of claims 1-10, wherein the AC motor (36) is a three-phase electric synchronous motor.

13. An entrance system (1) comprising: a movable door member (DM1 . . DMm); and an automatic door operator (30) as defined in any of claims 1-12.

14. A method (400) of detecting a type (225) of an AC motor (36) in an automatic door operator (30) for use in an entrance system (1) which comprises a door member (DM1 . ..DMm) being movable by actuation of the AC motor (36), the method involving: sending (410) an electric signal (212; 356) through a first stator winding (36U) of the AC motor (36); and determining (420) the type (225) of the AC motor (36) by evaluating a resulting signal (214; 358, 360) returning through a second stator winding (36V) of the AC motor (36).

15. A method (450) of operating an automatic door operator (30) used in an entrance system (1) which comprises a movable door member (DM1 . . DMm) and an AC motor (36) capable of causing movement (50) of the door member (DM1. . DMm), the method involving: performing (460) the method as defined in claim 14 to detect a type (225) of the AC motor (36); and controlling (470) operation of the AC motor (36) in response to the detected motor type (225).

16. The method (450) as defined in claim 15, wherein controlling (470) the operation of the AC motor (36) involves causing movement (50) of the door member (DM1. . .DMm) at a speed of movement which depends on the detected motor type (225).