WO2024100112A1

WO2024100112A1 - Automatic floor alignment calibration for an entrance system (ii)

Info

Publication number: WO2024100112A1
Application number: PCT/EP2023/081139
Authority: WO
Inventors: Lars HALLING; Jesper GULLIN
Original assignee: Assa Abloy Entrance Systems Ab
Priority date: 2022-11-10
Filing date: 2023-11-08
Publication date: 2024-05-16

Abstract

ASSA ABLOY Entrance Systems AB has developed an entrance system (100) comprising a door member (110) and an automatic door operator system (10). The automatic door operator system (10) is adapted to cause a first and a second automatic door operator (10a, 10b) of the automatic door operator system (10) to drive the door member (110) to a closed position. During said drive of the door member (110), the automatic door operator system (10) is adapted to acquire torques generated by either one or both of the first automatic door operator (10a) and the second automatic door operator (10b), or a torque difference therebetween. The automatic door operator system (10) is further adapted to selectively cause the first and/or second automatic door operator (10a, 10b) to adjust its torques by driving the first and/or second automatic door operator (10a, 10b) differentially with respect to a travelling distance, a travelling speed, or a combination thereof.

Description

AUTOMATIC FLOOR ALIGNMENT CALIBRATION FOR AN ENTRANCE

SYSTEM (II)

TECHNICAL FIELD

The present invention relates to the technical field of entrance systems. The present invention also relates to a method and an automatic door operator system for an entrance system. The present invention also relates to a computer program product.

BACKGROUND

An entrance system typically comprises one or more movable door members, each door member being arranged in a door frame, and an automatic door operator being arranged to move the door members. Entrance systems may be used in a variety of different private or public locations, for instance in garages, logistic facilities, airports, shopping malls or stores, to name a few. The door members may be, for instance, industrial vertical-lifting doors, overhead sectional doors, folding doors, swing doors, sliding doors or revolving doors.

In a conventional overhead sectional door system, an automatic door operator system is mounted generally in the ceiling above the door member and adapted to pull the door member by means of an elongated transmission element, e.g. wires, chains or belts, being attached to the door member. Such an overhead sectional door system often implements balancing springs to reduce the force required to open the door.

Other, more sophisticated, automatic door operator systems known in the art involve arranging an automatic door operator unit in conjunction with a transmission system, wherein the automatic door operator unit is mounted directly to the door member, and more specifically to the door leaf thereof. The automatic door operator, comprising a motor, drives a drivable member of the transmission system into connection with an elongated member. The elongated member is accordingly adapted to interplay with the drivable member such that the drivable member is driven along the elongated member on at least one side of the associated door frame. The door member can thus be driven up and down, i.e. between an open and closed position, with respect to the door frame. Two (and sometimes even more) separate and individually operable automatic door operators having the above explained functionality are typically arranged at a respective lateral side of the door leaf of the door member. An example of this type of automatic door operation procedure is disclosed in detail in the PCT patent application no. WO 2021/260085, filed by the present applicant.

During operation, mechanical components of the automatic door operator system, such as rolls, tracks or motors suffer from e.g. wear and tear or weather conditions. This may potentially result in malfunctions causing the sectional door to misalign and becoming skewed or inoperable. Moreover, door members need to be aligned during the installation thereof such that they can function as intended. It is therefore important for door members of the entrance system to be properly levelled with respect to the prevailing conditions, such as the characteristics of the entrance system and the relation between the door and the floor. Unlevelled or misaligned doors results in energy losses and unwanted transmission of particles through leaks between the door and the floor. In some situations, the unlevelled doors may also be a safety hazard for people in the vicinity of the entrance system since the doors suffer a greater risk of malfunctioning.

The prior art suggests some solutions for handling misalignment problem. For instance, a technique that has been applied in prior art systems involves trim cutting the bottommost portion of the door leaf such that it can be aligned with the floor. This has obvious drawbacks in terms of costs, time, adaptability, and so forth. Another solution involves equipping each automatic door operator with sensor units, e.g. accelerometers or gyroscopes, and using data retrieved therefrom to balance the automatic door operators. However, this solution relies on very precise arrangement of the sensors and the automatic door operators, which has shown to be practically infeasible. Additionally, the sensor data obtained from such sensor units may be associated with various types of disturbances that negatively affect the data.

It is therefore desired to provide efficient and exact door member alignment in an entrance system. The present inventors have identified the problems and shortcomings associated with the prior art, and are in the present disclosure suggesting an improved solution to the problems discussed herein. SUMMARY

An object of the present invention is therefore to provide a solution to, or at least a mitigation of, one or more of the problems or drawbacks identified in the background section above.

In this disclosure, a solution to the problems outlined in the background section is proposed. In a first aspect of the proposed solution, an entrance system is provided. The entrance system comprises a movable door member having a door leaf, wherein the door member is arranged in a door frame and adapted to be moved between open and closed positions; and an automatic door operator system comprising a first automatic door operator arranged at a first lateral side of the door leaf and a second automatic door operator arranged at a second lateral side, opposite the first lateral side, of the door leaf, wherein the automatic door operators are independently of one another adapted to cause controlled movement of said door member; wherein the automatic door operator system is adapted to: cause the first and second automatic door operators to drive the door member to the closed position, during said drive of the door member, acquire torques generated by either one or both of the first automatic door operator and the second automatic door operator, or a torque difference therebetween, and selectively cause the first and/or second automatic door operator to adjust its torques by driving the first and/or second automatic door operator differentially with respect to a travelling distance, a travelling speed, or a combination thereof.

In one or more embodiments, the automatic door operator system is adapted to adjust the torques generated by the first and/or second automatic door operators upon the door member approaching or leaving the closed position.

In one or more embodiments, the generated torques of the first and/or second automatic door operator driving the door member to the closed position is changed upon engagement with a floor level.

In one or more embodiments, respective positions of the automatic door operators are stored upon said engagement with the floor level.

In one or more embodiments, said respective positions are acquired by detecting a respective torque transient over a predetermined time period. In one or more embodiments, said respective positions are acquired by determining whether the torques generated by the first and/or second automatic door operator, or the torque difference therebetween, satisfies a predetermined torque threshold value, the predetermined torque threshold value defining a minimum allowable torque during operation.

In one or more embodiments, the first and/or second automatic door operator are differentially driven with respect to the stored positions.

In one or more embodiments, the entrance system further comprises a compressible safety edge device being transversally arranged along the lower edge of the door member, the compressible safety edge device comprising a compressible material adapted to be compressed upon the door member engaging a floor level.

In one or more embodiments, the automatic door operator system is adapted to selectively cause the first and/or second automatic door operator to adjust its torques as a function of a compression of the compressible safety edge device with respect to torque(s) generated by the first and/or second automatic door operators.

In one or more embodiments, each one of the first and second automatic door operators is driven by an electric motor, the automatic door operators being configured to determine said torques from drive currents of the electric motor of said first and second automatic door operators, respectively.

In one or more embodiments, each one of the first and second automatic door operators comprises a respective transmission system having a drivable member and an elongated transmission member, the transmission members extending along opposing posts of the door frame and at least partially wrapping around the respective drivable members.

In one or more embodiments, the respective electric motors are connected to the respective transmission systems, wherein actuation of said electric motors causes transmission of torque to the respective drivable members such that they are driven into connection with the respective transmission members, the transmission members translating the motion of the drivable member into said movement of the door member.

In a second aspect, a method for an entrance system is provided. The method comprises a movable door member having a door leaf, wherein the door member is arranged in a door frame and adapted to be moved between open and closed positions; and an automatic door operator system comprising a first automatic door operator arranged at a first lateral side of the door leaf and a second automatic door operator arranged at a second lateral side, opposite the first lateral side, of the door leaf, wherein the automatic door operators are independently of one another adapted to cause controlled movement of said door member; wherein the method comprises: causing the first and second automatic door operators to drive the door member to the closed position, during said drive of the door member, acquiring torques generated by either one or both of the first automatic door operator and the second automatic door operator, or a torque difference therebetween, and selectively causing the first and/or second automatic door operator to adjust its torques by driving the first and/or second automatic door operator differentially with respect to a travelling distance, a travelling speed, or a combination thereof.

In a third aspect, an automatic door operator system for use in an entrance system is provided, the entrance system comprising a movable door member having a door leaf, wherein the door member is arranged in a door frame and adapted to be moved between open and closed positions; the automatic door operator system comprising a first automatic door operator arranged at a first lateral side of the door leaf and a second automatic door operator arranged at a second lateral side, opposite the first lateral side, of the door leaf, wherein the automatic door operators are independently of one another adapted to cause controlled movement of said door member; wherein the automatic door operator system is adapted to: cause the first and second automatic door operators to drive the door member to the closed position, during said drive of the door member, acquire torques generated by either one or both of the first automatic door operator and the second automatic door operator, or a torque difference therebetween, and selectively cause the first and/or second automatic door operator to adjust its torques by driving the first and/or second automatic door operator differentially with respect to a travelling distance, a travelling speed, or a combination thereof.

In a fourth aspect, a computer program product is provided, comprising computer program code for performing the method according to the second aspect when the computer program code is executed by a processing device. 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.

Fig. l is a perspective view of an entrance system comprising an automatic door operator system, represented as a schematic block diagram, according to one embodiment.

Figs. 2a-c are schematic illustrations of a predetermined calibration sequence for a movable door member according to one embodiment.

Fig. 3 is a schematic block diagram of a method for an entrance system according to one embodiment.

Fig. 4 is a schematic illustration of a computer-readable medium in one exemplary embodiment, capable of storing a computer program product.

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.

Throughout the present disclosure, the terms “align/aligned”, “level/levelled”, etc., are used interchangeably. Generally, these terms refer to two surfaces being substantially parallel with one another. More specifically, the two surfaces are in this disclosure substantially parallel with one another as well as a horizontal plane.

With reference to Fig. 1, a schematic block diagram illustrating an entrance system 100 according to one embodiment is shown. 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 entrance system 100 comprises a movable door member 110 being a sectional door member 110.

The door member 110 comprises a door leaf 111 having a plurality of door panel sections 11 la-e. An opening movement of the door member 110 caused by an automatic door operator system 10 causes the door panel sections 11 la-e to move upwards, i.e. in opposite direction of a floor level 21, and vice versa for a closing movement. The floor level 21 may, for instance, be the floor or ground upon which the entrance system 100 is arranged. The door member 110 comprises an upper edge 113 at the end of the uppermost door panel section 11 le and the lower edge 112 at the end of the lowermost door panel section I l la. The door member 110 is arranged in a door frame 114, the door frame 114 defining the opening of the entrance system 110. The door frame 114 comprises two (essentially vertically aligned) opposing posts and an upper horizontal member that is interconnecting the two posts.

The automatic door operator system 10 is coupled to cause movement of the door member 110. The movement is typically caused between at least a closed position in which passage through said entrance system 100 is prevented, and an open position in which passage is admitted. Movement of the movable door member 110 between intermediate positions in between the closed and opened positions may also be caused. The automatic door operator system 10 comprises two separate automatic door operators lOa-b. In alternative embodiments, the automatic door operator system 10 may comprise more than two automatic door operators.

A first automatic door operator 10a is arranged at a first lateral side 115 of the door leaf 111. In this example, the first automatic door operator 10a is arranged at the lowermost door panel 11 la of the door leaf 111. The first automatic door operator 10a may alternatively be arranged at any one of the other door panel sections 11 Ib-e.

A second door operator 10b is arranged at a second lateral side 116 of the door leaf 111, which in this example is located oppositely from the first lateral side 115. The second automatic door operator 10b is arranged at the lowermost door panel 11 la or alternatively at any one of the other door panel sections 11 Ib-e.

The first and second automatic door operators lOa-b and associated transmission systems 30a-b comprise similar functional and structural features, i.e. units 12a-b, 13a-b, 14a-b, 16a-b (and memory Ma-b with program instructions 17a-b), 18a-b, 32a-b and 34a-b. The first and second automatic door operators lOa-b are arranged to cause controlled movement of the door member 110 independently of one another. To this end, the first automatic door operator 10a is capable of causing the movement of the door member 110, in particular the first lateral side 115, upon the actuation thereof. Correspondingly, the second automatic door operator 10b is capable of causing the movement of the door member 110, in particular the second lateral side 116, upon the actuation thereof. Accordingly, by causing a drive of the door member 110 by means of the first and/or second automatic door operators lOa-b, the door member 110 is adapted to be moved between the open and closed positions. If the first and second automatic door operators lOa-b are controlled with the same power throughput, the first and second lateral sides 115, 116 are ideally moved at the same velocity, thereby achieving a uniform upwards or downwards movement of the door member 110. Correspondingly, different power throughput of the first and second automatic door operators lOa-b will cause either one of the lateral sides 115, 116 to be moved at a different velocity than the other.

The skilled person will appreciate that the general principle as described above involves essentially ideal working conditions of the automatic door operator system 10. However, it is realized that the health of the mechanical components, and possibly some external factors (e.g. a person or object pulling either lateral side 115, 116 of the door member 110), may affect the drive of either one of the lateral sides 115, 116.

In the following description of the units of the automatic door operator system 10, it is assumed that the respective units of the first automatic door operator 30a and the first transmission system 30a are identical to those of the second automatic door operator 30b and the second transmission system 30b. Hence, only the first automatic door operator 10a will be described in detail below.

The automatic door operator 10a comprises a controller 16a having an associated memory Ma and program instructions 17a stored therein, a power supply 18a, a drive unit 14a, at least one motor 12a, typically an electric motor, and a current measurement device 13a. The electric motor 12a may be a BLDC (brushless DC) motor, a stepping motor, a DC motor or an AC motor. The automatic door operator 10a is however not restricted to having these particular components. Other arrangements may alternatively be realized.

Although not shown in Fig. 1, the automatic door operator 10a may comprise a revolution counter. The revolution counter may be an encoder or other angular sensor. The revolution counter may be provided at the motor 12a to monitor the revolution of a motor shaft of the motor 12a. The revolution counter may be connected to an input of the controller 16a. The controller 16a is configured to use one or more readings of the revolution counter, typically a number of pulses generated as the motor shaft rotates, for determining a current position of the movable door member 110 of the entrance system 100. Positional information of the automatic door operator 10a may thus be determined.

The controller 16a is adapted to cause controlled actuation of the drive unit 14a by means of electrical power from the power supply 18a. The drive unit 14a is configured to feed electricity into the motor 12a in varying amounts and at varying frequencies, thereby indirectly controlling the speed and torque of the motor 12a. The motor 12a is connected to the transmission system 30a, and more specifically to a drivable member 32a of the transmission system 30a. Upon actuation of the motor 12a, torque is transmitted to the drivable member 32a of the transmission system 30a such that it is rotated. A gearbox may be arranged between the motor 12a and the drivable member 32a. The drivable member 32a is driven into connection with an elongated transmission member 34a. The connection of the drivable member 32a and the transmission member 34a may be obtained in that the transmission member 34a at least partially wraps around the drivable member 32a. The drivable member 32a may engage with the transmission member 34a when the transmission member 34a at least partially wraps around the drivable member 32a. The transmission member 34a translates the motion of the drivable member 32a into a movement of the movable door member 110.

The drive procedure can be seen as the automatic door operator 10a “climbing” along the transmission member 34a by means of the transmission system 30a. One end of the transmission member 34a may thus be generally arranged at the lower edge 112 of the door member 110, i.e. nearby the automatic door operator 10a. The other end of the transmission member 34a may be generally arranged near the upper edge 113 of the door member 110. The transmission member 34a thus extends along a post of the door frame 114.

In some embodiments, the transmission system 30a may alternatively be in the form of an endless-loop transmission system wherein the transmission member 34a is an elongated endless-loop transmission member being adapted to endlessly rotate around at least one side of the door member 110.

The transmission member 34a may be in the form of a suspended bendable member. The transmission member 34a may be a substantially straight member. In one embodiment, the transmission member 34a is a belt. The belt may be a timing belt. The belt may be provided with teeth. The drivable member 32a may be a toothed pulley configured to transmit a large amount of torque and force to the belt. The belt and the toothed pulley thus have a movable connection such that they interplay with one another. The toothed pulley and belt may together transmit high speeds. Such transmission is reliable and requires a small amount of maintenance. Such transmission is also compact and requires little space.

In one embodiment, the transmission member 34a is a drive chain. The drivable member 32a may be a sprocket configured to transmit a large amount of torque and force to the drive chain. The drive chain and the sprocket thus have a movable connection such that they interplay with one another. The sprocket and drive chain may together transmit high speeds. Such transmission is reliable and requires a small amount of maintenance. Such transmission is also compact and requires little space.

The current measurement device 13a is configured to measure currents of the electric motor 12a. The controller 16a is configured to use one or more measurements of the current measurement device 13a for determining torques from drive currents of the electric motor 12a. The torque generated by the automatic door operator 10a may thus be determined. The current measurement device 13a may be configured according to current sensing techniques based on different physical effects, including but not limited to Faraday’s induction law, Ohm’s law, Lorentz force law, the magneto-resistance effect and magnetic saturation. The current measurement device 13a may comprise one or more sensing resistors in an output path of the electric motor 12a. The current measurement device 13a may additionally be configured with self-tuning and/or selfcalibration techniques.

The controller 16a is configured for performing different functions of the automatic door operator 10a. The controller 16a may be implemented using instructions that enable hardware functionality, for example, by using computer program instructions executable in a general-purpose or special-purpose processor that may be stored on a computer-readable storage medium (disk, memory, etc.) to be executed by such a processor. The controller 16a is configured to read the instructions 17a stored in the memory Ma and execute these instructions 17a to control the operation of the automatic door operator 10a. The controller 16a 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 Ma 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 Ma may be integrated with or internal to the controller 16a.

The entrance system 100 may further comprise a compressible safety edge device 20. The compressible safety edge device 20 is transversally arranged along the lower edge 112 of the door member 110. The compressible safety edge device 20 may be mounted to the lower edge 112 using any fastening means known in the art, for instance screws, bolts, adhesives, etc. Alternatively, the compressible safety edge device 20 may form an integrated edge portion of the door member 110.

The compressible safety edge device 20 may comprise a compressible material adapted to be deformed upon engagement with the floor level 21. For instance, the compressible safety edge device 20 may be based on a rubber profile with a cast-in contact strip being fitted on an aluminum profile. The rubber profile may comprise thermoplastic elastomer, for maintaining the shape of the compressible safety edge device 20 after contact with the floor level 21 has occurred. The length of the compressible safety edge device 20 may be adjustable to fit the dimensions of the door member 110. The compressible safety edge device 20 may be a passive safety edge device, mechanical safety edge device, resistive safety edge device or conductive safety edge device.

The compressible safety edge device 20 may comprise one or more pneumatic sensor units. The pneumatic sensor units may comprise an airflow valve that is adapted to determine an amount of exhaust air passing through said valve. To this end, whenever the lower edge 112 engages the floor level 21 such that the compressible safety edge device 20 is compressed, an amount of air passes the valve such that it can be determined whether there are any airflow leaks between the lower edge 112 and the floor level 21, i.e. whether a hermetic seal is provided.

In one embodiment, the compressible safety edge device 20 is adapted to be compressed during driving of the door member 110 to the closed position. Hence, the more compressed the compressible safety edge device 20 is, the closer to the closed position the door member 110 is.

Due to the different automatic door operators lOa-b possibly causing movement of the respective lateral sides 115, 116 differently, it has, in the prior art, been proven difficult to handle undesirable transmission of particles occurring through leaks between the door member 110 and the floor level 21. This was discussed in the background section. Moreover, the problem also emerges whenever installation or maintenance of the entrance system 110 is due; particularly when unevenness between the floor level 21 and the door frame 114 defining the attitude of the door member 110 exists. The present inventors have thus realized a way of providing efficient and exact alignment of the door member 110 with respect to the floor level 21.

The solution involves, during a drive of the door member 110 to the closed position, acquiring torques generated by either one or both of the first automatic door operator and the second automatic door operator, or a torque difference therebetween. The acquired torques or torque difference is/are adjusted by driving the automatic door operators 10a, 10b differentially with respect to a travelling distance, a travelling speed, or a combination thereof. By adjusting the torque, the automatic door operators 10a, 10b will accordingly be levelled with respect to their respective positions.

Since the automatic door operators lOa-b are adapted to operate independently of one another, each one of them is generating a respective torque. These independently generated torques are acquired during operation and assessed for performing the levelling procedure. They can either be assessed one by one, both of them at the same time (but individually), or by acquiring the difference therebetween and assessing said difference in torque.

During the drive of the door member 110 to the closed position, drive currents generated by the respective electric motors 12a-b vary over time due to different reasons.

The primary reason for drive current variations is related to the engagement between the door member 110 and the floor level 21 during a closing movement of the door member 110. Some other reasons for drive current variations may also be realized, for instance external factors (e.g. environmental factors, someone pulling one of the sides 115, 116 of the door member 110 downwards), machine component health, and so forth. Generally, the torque may be adjusted in response to drive current variations.

In one embodiment, the respective torques are acquired by detecting a respective torque transient over a predetermined time period. Additionally or alternatively, the torque transients may be further processed by means of one or more filters, for instance a Kalman filter or other suitable filters known in the art.

In one embodiment, the respective torques are acquired by determining whether the torques generated by the first and/or second automatic door operator 10a, 10b, or the torque difference therebetween, satisfies a predetermined torque threshold

D 142200092 value. The predetermined torque threshold value defines a minimum allowable torque during operation.

For a closing movement, the following scenario can be realized. Upon either one of the automatic door operators lOa-b driving the door member 110 into engagement with the floor level 21, the floor level 21 generates a counter-force on the door member 110 such that a lower amount of torque is required for a continued closing operation of the door member 110. For entrance systems having a misaligned door member 110, one of the lateral sides 115, 116 where the automatic door operator lOa-b is arranged will typically reach the floor level 21 before the other, thereby requiring a lower amount of torque for continuing the drive of the door member 110. Adjustments in torque is therefore necessary. Torque adjustments are being performed for correcting said misalignment such that the door member 110, upon finishing its closing movement, is hermetically sealed with respect to the floor level 21.

Adjusting the respective torques comprises driving the first and/or second automatic door operator lOa-b differentially with respect to a travelling distance, a travelling speed, or a combination thereof. The travelling distance refers to a vertically upwards or downwards distance along the posts of the door member 110, i.e. along a travelling distance of the automatic door operators lOa-b. The distance and/or speed that the first and/or second automatic door operator lOa-b are differentially driven may be determined by previously stored floor engagement positions of the respective automatic door operators lOa-b. To this end, respective positions of the first and/or second automatic door operator lOa-b may be stored upon engaging the floor level 21. These positions may be indicative of a levelling attitude of the door member 110 upon either one of the lateral sides 115, 116 engaging the floor level 21 a first time, and can then be utilized continuously during further operation of the entrance system 100. Hence, the calibration is not necessarily performed anew each time the door member 110 is closed.

Preferably, the torque adjustment is caused upon the door member 110 approaching the closed position and upon leaving the closed position. Upon approaching or upon leaving may, for instance, correspond to 1 to 10 centimeters from triggering an output switch of the compressible safety edge device 20 (transitioning from closed to non-closed state, or vice versa). The effect is that the door member 110 is driven along the posts without causing wear and tear on said structures. Then, once approaching the closed position of the door member 110, tilting of the door member 110 is caused such that the alignment thereof corresponds to the tilt of the floor level 21. The last thing that happens before the door member 110 reaches the closed position, i.e. the floor level 21, is thus a tilt of the door member 110 with respect to the floor level 21. Correspondingly, the first thing that happens upon the door member 110 leaving the closed position is thus an “un-tilt” of the door member 110 with respect to the floor level 21. This embodiment is particularly useful for entrance systems being arranged on floor surfaces being relatively uneven.

Although the first and second automatic door operators lOa-b are independently operable to cause controlled movement of the door member 110, data may be transmitted therebetween. More specific, in order to acquire the torque difference between the automatic door operators lOa-b, respective torque measurements of each automatic door operator lOa-b is utilized.

In one embodiment, the entrance system 100 further comprises a central controller. The central controller may be configured to be in operable communication with the automatic door operators lOa-b for receiving respective torque measurements therefrom. Based on the received torque measurements, the central controller may be configured to calculate the torque difference. The central controller may be further configured to assess whether torque adjustments are necessary due to possible positional misalignment, and communicate the assessment results to each one of the automatic door operators lOa-b for subsequent control of the door member 110 while taking the torque difference into account. The automatic door operators lOa-b may be connected to the central controller by means of any wired or wireless communication standards known in the art. Wireless communication may be established by means of short-range or long-range communication interfaces based on IEEE 802.11, IEEE 802.15, ZigBee, WirelessHART, WiFi, Bluetooth®, BLE, RFID, WLAN, MQTT loT, CoAP, DDS, NFC, AMQP, LoRaWAN, Z-Wave, Sigfox, Thread, EnOcean, mesh communication, any other form of proximity-based device-to-device radio communication signal such as LTE Direct, W-CDMA/HSPA, GSM, UTRAN, or LTE. In another embodiment, the automatic door operators lOa-b are in a masterslave configuration. The first automatic door operator 10a may be the master operator, and the second automatic door operator 10b may be the slave operator. The master operator may receive torque measurements from the slave operator, and accordingly make an assessment whether torque adjustments are necessary, and cause subsequent control. Master-slave communication may be based on similar technologies as used for communication with the central controller as described in the embodiment above.

With reference to Figs. 2a-c, an embodiment of a torque adjustment for a closing movement of the door member 110 is shown. In the illustrated embodiment, the door member 110 comprises a compressible safety edge device 20 being transversally arranged along the lower edge 112 of the door member 110. The compressible safety edge device 20 is adapted to be compressed upon coming into contact with the floor level 21. The more compressed the compressible safety edge device 20 is, the more force is being generated onto the door member 110 such that a lower amount of torque is required for a continued driving of the door member towards the closed position. This relationship may be interpreted as a function of a compression ratio of the compressible safety edge device 20 with respect to a torque generated by the first and/or second automatic door operators lOa-b.

In Fig. 2a, the door member 110 is approaching the closed position, i.e. the position where a hermetic seal is formed between the lower edge 112 (more specifically the compressible safety edge device 20) of the door member 110 and the floor level 21. Before the door member 110 reaches the floor level 21, the compressible safety edge device 20 is assuming a maximally expanded state li. The closer the door member 110 gets to the floor level 21, the more the compressible safety edge device 20 is compressed. As seen in Fig. 2a, the door member 110 is misaligned by an angle cp with respect to a plane defined by the floor level 21. Due to this misalignment, one of the lateral sides 115, 116 will reach the floor level 21 before the other. This is seen in Fig. 2b.

In Fig. 2b, the first lateral side 115 is in contact with the floor level 21. The compressible safety edge device 20 is thus assuming a semi-compressed state h. The semi-compressed state h may vary depending on e.g. material properties of the compressible safety edge device 20. The semi-compressed state h is based on two different sub-states ha, hb. Each sub-state ha, hb is associated with a respective side of the door member 110 because the misaligned door member 110 will compress the compressible safety edge device 20 on the lateral side 115, 116 first coming into contact with the floor 21. In this example it is the first lateral side 115 doing so and the compressible safety edge device 20 is being compressed into sub-state ha nearby the first lateral side 115, and sub-state hb nearby the second lateral side 116.

The consequence of the driving behaviour as seen in Fig. 2b is that a greater counter-force is generated on the first lateral side 115 than on the second lateral side 116, thereby causing a decrease in torque generated by the first automatic door operator 10a. Torque adjustments are thus considered necessary to achieve the levelling between the first and second lateral sides 115, 116. As explained above, the positional difference may be acquired by detecting a respective torque transient over a predetermined time period (typically a short time period, for instance between 0 and 1000 ms). Alternatively, as also explained above, the positional difference may be acquired by comparison to the predetermined torque threshold value. The selective torque adjustment thus causes the second lateral side 116 to be aligned with the first side 115. This is seen in Fig. 2c.

In Fig. 2c, the compressible safety edge device 20 is in a maximally compressed state h. The door member 110 has been aligned by the selective torque adjustment of the second door operator 10b, and the door is hermetically sealed in its closed position. The angle cp is thus generally level with the floor level 21.

The skilled person will appreciate that the embodiment of Figs. 2a-c can be realized for door members not having a compressible safety edge device 20. For door members without a compressible safety edge device 20, the primary behavioural difference will be that the torque changes instead occur more abruptly when the door member reaches the floor. This is essentially due to the material properties of the compressible safety edge device 20 causing a gradual increase in counter-force on the door member during continued compression thereof between the floor level 21 and the door member. In the embodiment disclosed above with reference to Figs. 2a-c, essentially the only downward force of the door member 110 is the gravity and essentially the only upward forces are the lifting forces on each side 115, 116 of the door member 110 that is applied through the respective torques. Upon the door member 110 coming into contact with the floor, an additional upwards force is caused by means of the floor level 21 (or the compressible safety edge device 20). The skilled person will also appreciate that in one or more alternative embodiments, the lifting forces on each side 115, 116 are instead upwards forces. Hence, in these alternative embodiments, upon the door member 110 coming into contact with the floor level 21 (or the compressible safety edge device 20), an increase in torque is required for the respective automatic door operators lOa-b to cause the door member 110 to seal the door (for instance by fully compressing the compressible safety edge device 20). Generally, the generated torque of the first and/or second automatic door operator lOa-b driving the door member 110 to the closed position is thereby changed (i.e. not only decreased) upon engagement with the floor level 21. In these embodiments, it is realized that acquiring the positional difference with predetermined torque threshold value scheme instead involves defining a maximum allowable torque during operation.

The automatic door operator system 10 is adapted to selectively cause the first and/or second automatic door operator lOa-b to adjust its respective torque as a function of a compression ratio of the compressible safety edge device 20. Hence, the torque difference can be translated into a compression state of the compressible safety edge device 20, which can then be translated into torque adjustments for providing an aligned door member 110.

Fig. 3 illustrates a schematic flowchart diagram of a method 200 for an entrance system 100. The method 200 is for an entrance system generally comprising the components according to the present disclosure, for instance the entrance system 100 shown and explained with reference to Fig. 1.

The method 200 comprises causing 210 the first and/or second automatic door operators lOa-b to drive the door member 110 to the closed position. During said drive of the door member 110, the method 200 comprises acquiring 220 a torque generated by either one or both of the first automatic door operator 10a and the second automatic door operator 10b, or a torque difference therebetween. The method 200 further comprises selectively causing the first and/or second automatic door operator lOa-b to adjust its respective torque by driving the first and/or second automatic door operator 10a, 10b differentially with respect to a travelling distance, a travelling speed, or a combination thereof.

Fig. 4 is a schematic illustration of a computer-readable medium 300 in one exemplary embodiment, capable of storing a computer program product 310. The computer-readable medium 300 in the disclosed embodiment is a memory stick, such as a Universal Serial Bus (USB) stick. The USB stick 300 comprises a housing 330 having an interface, such as a connector 340, and a memory chip 320. In the disclosed embodiment, the memory chip 320 is a flash memory, i.e. a non-volatile data storage that can be electrically erased and re-programmed. The memory chip 320 stores the computer program product 310 which is programmed with computer program code (instructions) that when loaded into a processing device, will perform a method 200 according to the method 200 explained with reference to Fig. 3. The processing device may, for instance, be the controller 16a or 16b of the automatic door operators 10a or 10b, or the aforementioned central controller of the automatic door operator system 10. The USB stick 300 is arranged to be connected to and read by a reading device for loading the instructions into the processing device. It should be noted that a computer- readable medium can also be other mediums such as compact discs, digital video discs, hard drives or other memory technologies commonly used. The computer program code (instructions) can also be downloaded from the computer-readable medium via a wireless interface to be loaded into the processing device.

The invention has mainly been described above with reference to a few embodiments. However, as is readily appreciated by a person skilled in the art, other embodiments than the ones disclosed above are equally possible within the scope of the invention, as defined by the appended patent claims.

Claims

1. An entrance system (100), comprising: a movable door member (110) having a door leaf (111), wherein the door member (110) is arranged in a door frame (114) and adapted to be moved between open and closed positions; and an automatic door operator system (10) comprising a first automatic door operator (10a) arranged at a first lateral side (115) of the door leaf (111) and a second automatic door operator (10b) arranged at a second lateral side (116), opposite the first lateral side (115), of the door leaf (111), wherein the automatic door operators (10a, 10b) are independently of one another adapted to cause controlled movement of said door member (110); wherein the automatic door operator system (10) is adapted to: cause the first and second automatic door operators (10a, 10b) to drive the door member (110) to the closed position, during said drive of the door member (110), acquire torques generated by either one or both of the first automatic door operator (10a) and the second automatic door operator (10b), or a torque difference therebetween, and selectively cause the first and/or second automatic door operator (10a, 10b) to adjust its torques by driving the first and/or second automatic door operator (10a, 10b) differentially with respect to a travelling distance, a travelling speed, or a combination thereof.

2. The entrance system (100) according to claim 1, wherein the automatic door operator system (10) is adapted to adjust the torques generated by the first and/or second automatic door operators (10a, 10b) upon the door member (110) approaching or leaving the closed position.

3. The entrance system (100) according to claim 1 or 2, wherein the generated torques of the first and/or second automatic door operator (10a, 10b) driving the door member (110) to the closed position is changed upon engagement with a floor level (21).

4. The entrance system (100) according to claim 3, wherein respective positions of the automatic door operators (10a, 10b) are stored upon said engagement with the floor level (21).

5. The entrance system (100) according to claim 4, wherein said respective positions are acquired by detecting a respective torque transient over a predetermined time period.

6. The entrance system (100) according to claim 4 or 5, wherein said respective positions are acquired by determining whether the torques generated by the first and/or second automatic door operator (10a, 10b), or the torque difference therebetween, satisfies a predetermined torque threshold value, the predetermined torque threshold value defining a minimum allowable torque during operation.

7. The entrance system (100) according to any one of the claims 4 to 6, wherein the first and/or second automatic door operator (10a, 10b) are differentially driven with respect to the stored positions.

8. The entrance system (100) according to any preceding claim, further comprising a compressible safety edge device (20) being transversally arranged along the lower edge (112) of the door member (110), the compressible safety edge device (20) comprising a compressible material adapted to be compressed upon the door member (110) engaging a floor level (21).

9. The entrance system (100) according to claim 8, wherein the automatic door operator system (10) is adapted to selectively cause the first and/or second automatic door operator (10a, 10b) to adjust its torques as a function of a compression of the compressible safety edge device (20) with respect to torques generated by the first and/or second automatic door operators (10a, 10b).

10. The entrance system (100) according to any preceding claim, wherein each one of the first and second automatic door operators (10a, 10b) is driven by an electric motor (12a, 12b), the automatic door operators (10a, 10b) being configured to determine said torques from drive currents of the electric motor (12a, 12b) of said first and second automatic door operators (10a, 10b), respectively.

11. The entrance system (100) according to claim 10, wherein each one of the first and second automatic door operators (10a, 10b) comprises a respective transmission system (30a, 30b) having a drivable member (32a, 32b) and an elongated transmission member (34a, 34b), the transmission members (34a, 34b) extending along opposing posts of the door frame (114) and at least partially wrapping around the respective drivable members (32a, 32b).

12. The entrance system (100) according to claim 11, wherein the respective electric motors (12a, 12b) are connected to the respective transmission systems (30a, 30b), wherein actuation of said electric motors (12a, 12b) causes transmission of torque to the respective drivable members (32a, 32b) such that they are driven into connection with the respective transmission members (34a, 34b), the transmission members (34a, 34b) translating the motion of the drivable member (32a, 32b) into said movement of the door member (110).

13. A method (200) for an entrance system (100) comprising a movable door member (110) having a door leaf (111), wherein the door member (110) is arranged in a door frame (114) and adapted to be moved between open and closed positions; and an automatic door operator system (10) comprising a first automatic door operator (10a) arranged at a first lateral side (115) of the door leaf (111) and a second automatic door operator (10b) arranged at a second lateral side (116), opposite the first lateral side (115), of the door leaf (111), wherein the automatic door operators (10a, 10b) are independently of one another adapted to cause controlled movement of said door member (110); wherein the method (200) comprises: causing (210) the first and second automatic door operators (10a, 10b) to drive the door member (110) to the closed position, during said drive of the door member (110), acquiring (220) torques generated by either one or both of the first automatic door operator (10a) and the second automatic door operator (10b), or a torque difference therebetween, and selectively causing (230) the first and/or second automatic door operator (10a, 10b) to adjust its torques by driving the first and/or second automatic door operator (10a, 10b) differentially with respect to a travelling distance, a travelling speed, or a combination thereof.

14. An automatic door operator system (10) for use in an entrance system (100) comprising a movable door member (110) having a door leaf (111), wherein the door member (110) is arranged in a door frame (114) and adapted to be moved between open and closed positions; the automatic door operator system (10) comprising a first automatic door operator (10a) arranged at a first lateral side (115) of the door leaf (111) and a second automatic door operator (10b) arranged at a second lateral side (116), opposite the first lateral side (115), of the door leaf (111), wherein the automatic door operators (10a, 10b) are independently of one another adapted to cause controlled movement of said door member (110); wherein the automatic door operator system (10) is adapted to: cause the first and second automatic door operators (10a, 10b) to drive the door member (110) to the closed position, during said drive of the door member (110), acquire torques generated by either one or both of the first automatic door operator (10a) and the second automatic door operator (10b), or a torque difference therebetween, and selectively cause the first and/or second automatic door operator (10a, 10b) to adjust its torques by driving the first and/or second automatic door operator (10a, 10b) differentially with respect to a travelling distance, a travelling speed, or a combination thereof.

15. A computer program product (300) comprising computer program code for performing the method according to claim 13 when the computer program code is executed by a processing device.