Patent Description:
Entrance systems having automatic door operators are frequently used for providing automatic opening and closing of one or more movable door members in order to facilitate entrance and exit to buildings, rooms and other areas. The door members are often swing doors. Other types of entrance systems have, for instance, sliding door or revolving doors.

In swing door-based entrance systems, there is at least one swing door member having a door leaf. The door leaf is pivotally hinged to a door frame to allow opening of the swing door member from a closed position to an open position, as well as for allowing closing of the swing door member from the open position to the closed position. A motorized automatic door operator is included in the entrance system and is capable of causing opening of the swing door member. A linkage in the form of a mechanical arm system connects the automatic door operator to the door leaf of the swing door member.

The purpose of automatic door operators in swing door-based entrance systems is to provide automatic opening of the swing door member in various possible applications. Such applications include, for instance, facilitating a disabled person's access to his or her private home, providing access through entrance ports or internal doors at healthcare buildings, office premises, industries or retail stores, providing comfort access to hotel rooms, etc..

Swing door-based entrance systems may also be used in fire door applications. In such applications, the swing door member has a fire proof door leaf having a fire resistant core made of suitable materials. Fire doors are arranged to stop or delay the transfer of thermal energy, i.e. heat, from one side of the door to another side. Moreover, the automatic door operator comprises a forced close arrangement which is adapted to provide mechanical energy from a loaded spring via a transfer mechanism to the linkage, so as to cause forced closing of the door leaf with respect to the door frame in the event of a fire alarm.

The automatic door operator causes opening of the swing door member by an electric motor which generates torque that is transferred to the swing door member via the linkage. The operation of the electric motor is controlled by a controller in the automatic door operator. Since an entrance system with an automatically operated swing door member is a potentially hazardous environment for people and objects that might be hit or jammed by the moving swing door member, an entrance system needs to satisfy various technical standard requirements, the purpose of which is to safeguard that the operation of the swing door member is performed in an accurately controlled manner.

In order for the controller of the automatic door operator to cause an accurately controlled movement of the swing door member all the way from a shut closed position to a swung open position, the controller needs various control input data. A revolution counter at the motor shaft of the electric motor provides one such type of control input data. The controller also needs other control input data, such as the inertia of the swing door member, the friction in the transmission (gear box) of the electric motor, and the spring force of the forced close arrangement when applicable. Such control input data may be established by manual settings or be obtained in a learn cycle, since they are either a constant value or generally linear in nature (i.e., are linearly dependent on the door leaf angle).

In addition to this, the controller of the automatic door operator also has to take into account the torque transfer characteristics of the linkage that connects the automatic door operator and its electric motor and transmission with the door leaf of the swing door member. The torque transfer characteristics of the linkage have a non-linear nature that makes the controller's task more complex. The torque transfer characteristics of the linkage will depend on many factors, such as for instance whether the swing door member is mounted for pull actuation or push actuation by the automatic door operator, the distance between an outgoing spindle of the automatic door operator and a hinge axis of the swing door member, the dimensions and mass of the door leaf, etc..

A prior art approach of defining these necessary factors has involved use of dip switches for selecting a certain setting of estimated torque transfer characteristics of the linkage among a limited number of available settings. For instance, if four dip switches are provided, then an installer or maintenance person may select between a maximum of <NUM> different settings for the estimated torque transfer characteristics of the linkage.

The present inventor has realized that the prior art approach has several disadvantages.

First, it is dependent on manual selection of the dip switch setting and is therefore subject to human errors.

Second, the number of available settings is limited and may not be enough to provide an accurate estimation of the estimated torque transfer characteristics of the linkage in a particular actual application.

Third, but not least, there is a risk that the critical parts of the entrance system (e.g. the automatic door operator, the linkage and the door leaf being hinged to the door frame) are mounted in a way that does not comply with the mounting requirements that were intended by a certain dip switch setting. This may be due to human errors or sloppiness in the installation procedure, or because the building in which the entrance system is installed will be subject to restrictions in terms of margins, dimensions, available space, etc..

Because of these shortcomings, the entrance system might fail to satisfy the technical standard requirements. In turn, this may increase the risk for accidents, malfunction and excessive wear of the components of the entrance system.

Accordingly, the present inventor has realized that there is room for improvements in the field of swing door-based entrance systems.

<CIT> and <CIT> disclose examples of entrance systems with door operators.

An object of the present invention is therefore to provide one or more improvements when it comes to accounting for the non-linear torque transfer characteristics of the linkage in a swing door-based entrance system, in consideration of the complexity explained in the background section of this document.

Accordingly, a first aspect of the present invention is an entrance system comprising a swing door member and an automatic door operator. The swing door member has a door leaf and a sensor unit mounted to the door leaf. The sensor unit comprises a door angle sensor, such as at least one of an accelerometer and a gyroscope.

The automatic door operator has a motor capable of causing movement of the door member, a controller for controlling operation of the motor, and a linkage connected to the automatic door operator and the door leaf for transferring torque generated by the motor to the door leaf.

The automatic door operator is operable in a learn mode and an operational mode. The controller is configured, in the learn mode, to automatically establish a linkage reduction curve by determining, for a movement of the door member between a shut closed position of the door leaf and a swung open position of the door leaf, the torque required by the motor to cause movement of the door leaf at different door leaf angles. The different door leaf angles are determined from measurement readings of the door angle sensor.

The controller is configured, in the operational mode, to compensate for a non-linear torque transfer characteristic of the linkage by applying the linkage reduction curve when controlling the motor to cause the door member to swing open.

The provision of such an entrance system will solve or at least mitigate one or more of the problems or drawbacks identified in the background section of this document, as will be clear from the following detailed description section and the drawings.

A second aspect of the present invention is a method of operating an entrance system which comprises a swing door member having a door leaf, and a sensor unit mounted to the door leaf, the sensor unit comprising a door angle sensor, and which furthermore comprises an automatic door operator having a motor capable of causing movement of the door member, a controller for controlling operation of the motor, and a linkage connected to the automatic door operator and the door leaf for transferring torque generated by the motor to the door leaf.

The method involves operating the automatic door operator in a learn mode. The learn mode involves:.

The method further involves operating the automatic door operator in an operational mode. The operational mode involves:
controlling the motor to cause movement of the door leaf to swing open while applying the linkage reduction curve to compensate for a non-linear torque transfer characteristic of the linkage.

The provision of such a method will solve or at least mitigate one or more of the problems or drawbacks identified in the background section of this document, as will be clear from the following detailed description section and the drawings.

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 "alan/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.

A reference to an entity being "designed for" doing something, or "capable of" doing something in this document is intended to mean the same as the entity being "arranged for", "configured for" or "adapted for" doing this very something, and vice versa.

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

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 invention being solely defined by the appended claims.

<FIG> is a schematic front view of a swing door-based entrance system. The entrance system <NUM> comprises a swing door member <NUM> having a door leaf <NUM>.

The swing door member <NUM> is pivotally supported at a vertical edge <NUM> by hinges <NUM> for allowing opening of the swing door member <NUM> from a closed position to an open position, as well as for allowing closing of the swing door member <NUM> from the open position to the closed position. The swing door member <NUM> is hence supported by a door frame <NUM> for pivotal motion around a rotational axis <NUM> which is coincident with the hinges <NUM>.

The entrance system <NUM> comprises a motorized automatic door operator <NUM> capable of causing opening of the swing door member <NUM>. A linkage (arm mechanism) <NUM> connects the automatic door operator <NUM> to the door leaf <NUM> of the swing door member <NUM>. The door operator <NUM> may be arranged in conjunction with the door frame <NUM> and is typically a concealed overhead installation in or at the door frame <NUM> (hence, the linkage mechanism <NUM> and automatic door operator <NUM> are normally not as visible to the naked eye as appears to be the case in <FIG>).

The automatic door operator <NUM> may be triggered by sensor equipment in the entrance system <NUM>. Such sensor equipment may include activity sensors (e.g. IR or radar based sensors) which are adapted to detect an approaching user and accordingly trigger the automatic door operator <NUM> to open the swing door member <NUM>. Alternatively, the automatic door operator <NUM> may be triggered by a user actuating a door-open push button <NUM>, or similar actuator. The entrance system <NUM> will typically also allow the user to open or close the swing door member <NUM> by pulling or pushing a door handle <NUM> by manual force, i.e. without using the motorized automatic door operator <NUM>.

The automatic door operator <NUM> may provide automatic opening of the swing door <NUM> in various possible applications. Such applications include, for instance, facilitating a disabled person's access to his or her private home, providing access through entrance ports or internal doors at healthcare buildings, office premises, industries or retail stores, providing comfort access to hotel rooms, etc. The automatic door operator <NUM> may also be used in fire door applications, as previously explained in the background section of this document.

The swing door member <NUM> furthermore has a sensor unit mounted to the door leaf <NUM>. The sensor unit comprises a door angle sensor S1 capable of measuring a door leaf angle α of the door leaf <NUM>. In embodiments of the invention, the door angle sensor S1 comprises at least one of an accelerometer and a gyroscope.

<FIG> illustrates the opening of the swing door member <NUM> in one embodiment of the entrance system <NUM> from a shut closed position <NUM> to a swung open position <NUM>. The opening movement is indicated by an arrow <NUM>. As can be seen in <FIG>, during the opening <NUM> of the swing door member <NUM>, the door leaf angle α as measured by the door angle sensor S1 will span from about <NUM>° to about <NUM>°. In other embodiments, the swung open position may be at a door leaf angle α different from about <NUM>°, such as for instance about <NUM>°.

<FIG> correspondingly illustrates the closing of the swing door member <NUM> of the entrance system <NUM> from the swung open position <NUM> to the shut closed position <NUM>. The closing movement is indicated by an arrow <NUM>. As can be seen in <FIG>, during the closing <NUM> of the swing door member <NUM>, the door leaf angle α as measured by the door angle sensor S1 will span from about <NUM>° to about <NUM>°. In other embodiments where the swung open position is at a door leaf angle α different from about <NUM>°, such as for instance about <NUM>°, the door leaf angle α as measured by the door angle sensor S1 will of course start spanning from such other door leaf angle α.

The present invention makes novel and inventive use of the door angle sensor S1 to automatically establish a linkage reduction curve for the linkage <NUM> in a learn mode of the automatic door operator <NUM>. This will described in more detail later in this section.

To avoid dangerous situations where a present, approaching or departing person or object (including but not limited to pets or articles brought by the person) might be hit or jammed by the door leaf <NUM> of the swing door member <NUM>, a safety sensor may be provided. Hence, in some embodiments, in addition to the door angle sensor S1, the sensor unit mounted to the door leaf <NUM> comprises a safety sensor for monitoring a zone at or near the door leaf <NUM> for presence or activity of a person or object. This can be seen for sensor unit S in the entrance system <NUM> shown in <FIG>; the sensor unit S comprises the door angle sensor S1 as well as a safety sensor S2. Advantageously, the sensor unit S contains both the door angle sensor S1 and the safety sensor S2 within a common single device housing. The sensor unit S is mounted at an appropriate position on the surface of the door leaf <NUM>. As can be seen in <FIG>, such a position is often at an uppermost part of the door leaf <NUM>.

The purpose of the safety sensor S2 is to monitor a zone, or volume, at or near the door leaf <NUM> for presence or activity of a person or object. If a person or object is detected in the monitored zone, the automatic door operator <NUM> shall not be allowed to move the swing door member <NUM> in a direction in which the swing door member <NUM> may hit or jam that person or object. Accordingly, the automatic door operator <NUM> is configured to receive monitoring data from the safety sensor S2. If the monitoring data indicates presence or activity of a person or object in the monitored zone, the automatic door operator <NUM> is configured to refrain from driving a motor of the automatic door operator <NUM> to cause movement of the swing door member <NUM>, and/or force the motor to stop an ongoing movement of the swing door member <NUM>.

Reference is now made to <FIG> which illustrates an embodiment of the automatic door operator <NUM> in more detail. The automatic door operator <NUM> comprises a motor <NUM>, typically an electrical motor, being connected to a transmission <NUM>. An output shaft 35a of the transmission <NUM> rotates upon activation of the motor <NUM> and is connected to the linkage <NUM>. The linkage <NUM> translates the motion of the output shaft 35a into an opening motion of the door leaf <NUM> with respect to the door frame <NUM> (c. opening movement <NUM> in <FIG>).

The automatic door operator <NUM> also comprises a control arrangement <NUM> including a controller <NUM> which is configured for performing different functions of the automatic door operator <NUM>. One or more of these functions relates to opening of the door leaf <NUM> with respect to the door frame <NUM>. Accordingly, the controller <NUM> has a control output 31a connected to the motor <NUM> for controlling the actuation thereof.

In addition to the controller <NUM>, the control arrangement <NUM> comprises a number n of sensor functions, including or consisting of the aforementioned door angle sensor S1, safety sensor S2, activity sensor and door-open push button <NUM>. The sensor functions are operatively connected with the controller <NUM> to report detection results or measurement readings to the controller <NUM>.

A revolution counter <NUM>, such as an encoder or other angular sensor, is provided at the motor <NUM> to monitor the revolution of a motor shaft of the motor <NUM>. The revolution counter <NUM> is connected to an input 31b of the controller <NUM>. The controller <NUM> is configured to use one or more readings of the revolution counter <NUM>, typically a number of pulses generated as the motor shaft rotates, for determining a current angular position, e.g. door leaf angle α, of the door leaf <NUM> of the swing door member <NUM>.

The controller <NUM> 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 <NUM> has an associated memory <NUM>. The memory <NUM> 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 <NUM> may be integrated with or internal to the controller <NUM>. As seen at 32a, the memory <NUM> may store program instructions for execution by the controller <NUM>, as well as temporary and permanent data used by the controller <NUM>.

The embodiment of the automatic door operator <NUM> shown in <FIG> is intended for fire door usage and therefore includes a forced close arrangement <NUM>. (It is to be noticed that while the present invention is believed to be advantageous in fire door applications, the invention may alternatively be used in applications which do not relate to fire door usage.

The forced close arrangement <NUM> is adapted to provide mechanical energy via a transfer mechanism to the linkage <NUM>, so as to cause forced closing of the door leaf <NUM> with respect to the door frame <NUM> in the event of a fire alarm. In the disclosed embodiment, the forced close arrangement <NUM> comprises a helical compression spring.

During opening of the swing door member <NUM> by the torque generated by the motor <NUM>, the compression spring is tensioned by the rotation of the output shaft 35a, as can be seen at 36a. During the forced closing cycle, the accumulated spring force of the compression spring is transferred to the output shaft <NUM> at 36a by means of the transfer mechanism, which in the disclosed embodiment includes a pressure roller that acts on a cam curve being connected to the output shaft 35a. In other embodiments, the forced close arrangement <NUM> may comprise a different kind of spring, and its transfer mechanism may comprise a different kind of mechanism.

The controller <NUM> may receive an external fire alarm signal via a control input and generate a control signal 31c to the forced close arrangement <NUM>, so as to cause release of the accumulated spring force.

As will now be described with reference to <FIG> and <FIG>, the automatic door operator <NUM> is operable in a learn mode <NUM> and in an operational mode <NUM>.

In the learn mode <NUM>, the controller <NUM> of the automatic door operator <NUM> is configured to establish information required as control input data for subsequent use by the controller <NUM> during normal operation. The established information may include the inertia <NUM> of the swing door member <NUM> (being a constant value), the friction <NUM> in the transmission (gear box) of the electric motor <NUM> (being linearly dependent on the door leaf angle), and - when a forced close arrangement <NUM> is provided - the spring force <NUM> thereof (being linearly dependent on the door leaf angle).

In addition to the above, in the learn mode <NUM> the controller <NUM> of the automatic door operator <NUM> is configured to automatically establish a linkage reduction curve <NUM> by determining, for a movement of the swing door member <NUM> between the shut closed position <NUM> and the swung open position <NUM> of the door leaf <NUM>, the torque required by the motor <NUM> to cause movement of the door leaf <NUM> at different door leaf angles α. The different door leaf angles are determined from measurement readings of the door angle sensor S1. The torque may be determined by counting the number of pulses reported from the revolution counter <NUM> during movement of the swing door member <NUM> by a certain angular amount, i.e. an increase in the door leaf angle α by a certain angular amount m. The certain angular amount m may, for instance, be <NUM>°, or more or less than <NUM>° depending on the desired angular resolution of the linkage reduction curve <NUM> to be established.

A first example of a linkage reduction curve <NUM>' is shown in <FIG>. The linkage reduction curve <NUM>' in <FIG> has been automatically established as described above for a configuration of a swing door member <NUM> mounted for pull actuation by the automatic door operator <NUM>.

A second example of a linkage reduction curve <NUM>" is shown in <FIG>. The linkage reduction curve <NUM>" in <FIG> has been automatically established as described above for a configuration of a swing door member mounted for push actuation by the automatic door operator.

The automatically established linkage reduction curve <NUM> (<NUM>', <NUM>") may be stored in the memory <NUM> for subsequent usage by the controller <NUM> in the operational mode <NUM>.

In the operational mode <NUM>, the controller <NUM> of the automatic door operator <NUM> is configured to compensate for a non-linear torque transfer characteristic of the linkage <NUM> by applying the established linkage reduction curve <NUM> when controlling the motor <NUM> to cause the door member <NUM> to swing open. The controller <NUM> will also use the other control input data established in the learn mode <NUM>, e.g. the inertia <NUM>, friction <NUM> and spring force <NUM>, as well as the number of pulses reported from the revolution counter <NUM> during movement of the swing door member <NUM>, to repeatedly calculate set values of the drive current of the motor <NUM> from this information during the movement of the door member <NUM> to cause it to swing open. In some embodiments, the controller <NUM> may use measurement readings from the door angle sensor S1 also in the operational mode <NUM>, to improve the angular accuracy of the control of the movement of the swing door member <NUM>.

The reader is invited to notice the considerable difference between the linkage reduction curves <NUM>' and <NUM>" in <FIG> and <FIG>. The present invention offers a substantial improvement since it offers precise and automatic recognition of the linkage reduction curve <NUM> of the linkage <NUM>, thereby making it possible to accurately compensate for the non-linear torque transfer characteristic of the linkage <NUM> - which may differ considerably from installation to installation, as evidenced by <FIG> and <FIG>.

The functionality performed in accordance with the present invention as described herein is illustrated as a method <NUM> in the flowchart diagram shown in <FIG>. The method <NUM> first involves operating <NUM> the automatic door operator <NUM> in the learn mode <NUM>. The learn mode <NUM> involves controlling <NUM> the motor <NUM> to cause movement of the door leaf <NUM> between the shut closed position <NUM> and the swung open position <NUM> of the door leaf <NUM>. The learn mode <NUM> further involves obtaining <NUM> measurement readings of the door angle sensor S1 during this movement, and determining <NUM> different door leaf angles α from the obtained measurement readings. The learn mode <NUM> automatically establishes <NUM> a linkage reduction curve <NUM> by determining the torque required by the motor <NUM> to cause the movement of the door leaf <NUM> at the different door leaf angles α.

The method <NUM> in <FIG> then involves operating <NUM> the automatic door operator <NUM> in the operational mode <NUM>. The operational mode <NUM> involves controlling <NUM> the motor <NUM> to cause movement of the door leaf <NUM> to swing open while applying the linkage reduction curve <NUM> to compensate for the non-linear torque transfer characteristic of the linkage <NUM>.

In a refined embodiment, the method <NUM> involves analyzing the established linkage reduction curve <NUM>, detecting an anomaly thereof, and causing an action in response to the detected anomaly.

The anomaly of the established linkage reduction curve <NUM> may be detected by comparing the established linkage reduction curve <NUM> to predetermined reference data which may include one or more of the following information:.

The action caused in response to the detected anomaly may involve generating an audible, visible or tactile alert to inform a human user of the detected anomaly. Alternatively or additionally, the action caused in response to the detected anomaly may involve preventing operation of the motor <NUM> of the automatic door operator <NUM>.

The controller <NUM> of the automatic door operator <NUM> in the entrance system <NUM> may be configured to perform the aforementioned functionality for analyzing the established linkage reduction curve <NUM>, detecting an anomaly thereof, and causing an action in response to the detected anomaly.

Claim 1:
An entrance system (<NUM>) comprising:
a swing door member (<NUM>) having
a door leaf (<NUM>), and
a sensor unit (S1; S) mounted to the door leaf (<NUM>), the sensor unit comprising a door angle sensor (S1); and
an automatic door operator (<NUM>) having
a motor (<NUM>) capable of causing movement of the door member (<NUM>),
a controller (<NUM>) for controlling operation of the motor (<NUM>), and
a linkage (<NUM>) connected to the automatic door operator (<NUM>) and the door leaf (<NUM>) for transferring torque generated by the motor (<NUM>) to the door leaf (<NUM>),
the automatic door operator (<NUM>) being operable in a learn mode (<NUM>) and an operational mode (<NUM>),
wherein the controller (<NUM>) is configured, in the learn mode (<NUM>), to:
automatically establish a linkage reduction curve (<NUM>) by determining, for a movement of said door member (<NUM>) between a shut closed position (<NUM>) of said door leaf and a swung open position (<NUM>) of said door leaf, the torque required by said motor (<NUM>) to cause movement of said door leaf (<NUM>) at different door leaf angles (α), the different door leaf angles being determined from measurement readings of said door angle sensor (S1);
and wherein the controller (<NUM>) is configured, in the operational mode (<NUM>), to:
compensate for a non-linear torque transfer characteristic of said linkage (<NUM>) by applying the linkage reduction curve (<NUM>) when controlling said motor (<NUM>) to cause the door member (<NUM>) to swing open.