Technology field

The present invention relates to a door operator system for opening and closing an opening and a method for operating a door operator system.

Background

A door operator system for a door typically comprises a door connected to a door frame and a drive unit arranged to move the door along the door frame between an open and closed position for opening and closing the opening. A door is typically used as garage doors or as an industrial door. The drive unit could comprise a motor or a mechanical unit such as a spring to move the door.

In order to achieve a more efficient door operator system with a reduced complexity, a door operator system with drive units mounted on the door has been developed. To ensure stable operation and durability, the drive units needs to be levelled. The levelling is often performed by means moving the motors of the drive unit by hand guided by a laser. This is a time consuming and cumbersome process. Furthermore, this only allows for a geometric aligning of the door and does not take into account mechanical wear and energy consumption of the entire system.

There is thus a need for a more efficient door operator system which is less susceptible for wear and consumes less energy.

Summary

An object of the present disclosure is to provide a door operator system which seeks to mitigate, alleviate, or eliminate one or more of the above-identified deficiencies in the art and disadvantages singly or in any combination.

An object of the present invention is to reduce the complexity of the door operator system.

An object of the present invention is to obtain a door operator system that is less sensitive to structural damage to the mechanical parts of the door system.

A further object is to improve the opening/closing process of the door panel of the door operator system to reduce or eliminate irregularities in the opening and closing operation. In this disclosure, a solution to the problem outlined above is proposed. In the proposed solution, a door operator system for opening and closing an opening is described.

In a first aspect, a door operator system for opening and closing an opening is provided. The door operator system comprises a door arranged to be moved between an open and closed position. The door comprises a single door panel or a plurality of horizontal and interconnected sections, a door frame comprising a first frame section at a first side of the opening and a second frame section at a second side of the opening, wherein the single door panel or the plurality of horizontal and interconnected sections are connected to the door frame, a drive unit system mounted on a horizontal and interconnected section of the plurality of sections, wherein the drive unit system is arranged to move the door from the closed position to the open position, wherein the drive unit system comprises at least a first drive unit comprising first motor and a second drive unit comprising a second motor and wherein the drive unit and the second drive unit are mounted at different vertical sides of the single door panel or the horizontal and interconnected section, at least one control unit being in operative communication with the drive unit system and configured to control the operation of the drive unit system, and at least a first sensing element and a second sensing element configured to provide energy consumption data of the first and second motor respectively to the at least one control unit.

The at least one control unit is configured to control the operation of the drive unit system based on said energy consumption data.

Benefits with the present invention comes from the realisation that the energy consumption data from the motors of the drive unit system allows for more precise input for the adjustment and operation of the door and drive unit system compared to positional sensors.

Yet another benefit of the present invention is that the “drawer effect” is prevented when the door is opened/closed. The “drawer effect” can be seen as the problem occurring when a person is opening or closing a chest of drawers and one of the drawers is not drawn out equally at each side. If there is an uneven force applied to the drawer it may get stuck and the friction against the walls of the chest of drawers increases, making it difficult to move. Using the control unit in the present invention together with the two motors, this phenomenon is prevented as it allows for sufficient alignment of the door mitigating the risk for the occurrence of such a “drawer effect”.

In one aspect, a method for operating a door operator system for opening and closing an opening. The door operator system comprises a door arranged to be moved between open and closed position. The door comprises a single door panel or a plurality of horizontal and interconnected sections, a door frame comprising a first frame section at a first side of the opening and a second frame section at a second side of the opening. The single door panel or the plurality of horizontal and interconnected sections are connected to the door frame, a drive unit system mounted on the single door panel or a section of the plurality of horizontal and interconnected sections. The drive unit system is arranged to move the door from the closed position to the open position. The drive unit system comprises at least a first drive unit comprising a first motor and a second drive unit comprising a second motor. The first drive unit and the second drive unit are mounted at different vertical sides of the single door panel or the horizontal and interconnected section. The door operator system further comprises at least one control unit. The at least one control unit is in operative communication with the drive unit system and configured to control the operation of the drive unit and at least a first sensing element and a second sensing element configured to provide energy consumption data of the first and second motor from the first and second motor, respectively, to at least one control unit.

The method comprises moving the door in one or more calibration movement, obtaining energy consumption data from the first and second sensing element associated with said one or more calibration movement, and controlling the operation of the drive unit system based on said energy consumption data.

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

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

Figure 1 is a schematic perspective view of a door operator system comprising a door in a closed position.

Figure 2 is a schematic perspective view of a door operator system comprising a door in a closed position.

Figures 3a-3b are schematic perspective views of different door operator systems comprising a door in a closed position.

Figure 4 is a schematic block diagram representing parts of a door operator system according to the present invention.

Figure 5 is a schematic flowchart illustration representing a method of controlling a door operator system according to an embodiment of the present invention.

Figure 6 is a schematic flowchart illustration representing a method of controlling a door operator system according to an embodiment of the present invention.

Figure 7 is a schematic flowchart illustration representing a method of controlling a door operator system according to an embodiment of the present invention.

Figure 8 is a schematic energy consumption curve for determining an adjustment of the door according to an embodiment of the present invention.

Detailed description

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.

Figures 1-3 illustrate different embodiments of a door operator system 1. However, as should be understood by a person skilled in the art, the inventive aspects of the present invention are also applicable to a door operator system that is a single blade door operator system.

Figures 1-3 are schematic views of different embodiments of a door operator system 1 in which the inventive aspects of the present invention may be applied. The door operator system 1 comprises a door frame 3, a door 8 and a drive unit system which will be described in further detail with reference to Figure 4.

In a preferred embodiment of the invention as illustrated by Figure 2, the drive unit system 100 comprises a first drive unit 10a and a second drive unit 10b. In an alternative embodiment, shown in Figure 3a, the drive unit system 100 comprises a third and a fourth drive unit lOc-d. The third drive unit 10c comprises a third motor 11c, and the fourth drive unit comprises a fourth motor lOd. Furthermore, as seen in Figure 3a, the third drive unit 10c further comprises a third sensing element 30c, and the fourth drive unit lOd further comprises a fourth sensing element 30d. In further alternative embodiments, shown in Figure 3b, the drive unit system 100 may comprise an arbitrary number of drive units lOa-f, wherein each drive unit 10a- f comprises a motor lOa-f.

In all embodiments, the drive units lOa-f are preferably separate units operating independently of each other.

The door operator system 1 is arranged to be installed in an opening 2 defined by a wall 50 and a floor 23. The door operator system 1 is arranged to open and close the opening 2 by moving the door 8 between an open position O and a closed position C, as disclosed in Figure 1. In this embodiment, the door 8 is a door 8 comprising a plurality of horizontal and interconnected sections 9a-e connected to the door frame 3. In one embodiment, the door is a garage door. In an alternative embodiment, the door is an industrial door. The door 8 is arranged to be moved along the door frame 3 between the closed position C and the open position O.

The door 8 may comprise a single door panel or a plurality of horizontal interconnected sections 9a-e.

In the preferred embodiment, the door 8 comprises a plurality of horizontal interconnected sections 9a-e, thus being a sectional door. The door operator system may thus be considered a sectional door operator system. The drive unit system may be mounted on a section 9e of the plurality of horizontal and interconnected sections 9a-e. The first drive unit 10a and the second drive unit 10b may be mounted at different vertical sides of the horizontal and interconnected section 9e.

In an alternative embodiment wherein the door 8 comprises a single door panel, the drive unit system may be mounted on the single door panel, whereby the first drive unit 10a and the second drive unit 10b may be mounted at different vertical sides of the single door panel.

In one embodiment, the door operator system 1 is an up and over door operator system. An up and over door operator system is a system in which the door in the closed position C is arranged substantially vertical and in the open position O is arranged substantially horizontal and inside of the opening.

In an alternative embodiment, the door operator system 1 is an up and up door operator system. An up and up door operator system is a system in which the door in the closed position C is arranged substantially vertical and in the open position O is arranged substantially vertical above the opening.

The door frame 3 comprises a first frame section 4 at a first side 7 of the opening 2 and a second frame section 6 at a second side 5 of the opening 2. The door frame 3 is connected to the wall 50 and to the floor 23. The first frame section 4 comprises a substantially vertical part 4a and a substantially horizontal part 4b. The second frame section 6 comprises a substantially vertical part 6a and a substantially horizontal part 6b. The vertical part 4a, 6a and the horizontal part 4b, 6b are connected to create a path for the door 8 to glide on and a track for the drive units lOa-b to interact with.

The door 8 is directly or indirectly connected to the door frame 3. The door 8 is at a first side moveably connected to the first frame section 4 and at a second side moveably connected to the second frame section 6. In one embodiment, one or more of the plurality of sections 9a-e is connected to the first frame section 4 at said first side 7 and to the second frame section 6 at said second side 5.

The first drive unit 10a comprises a first motor I la, and the second drive unit 10b comprises a second motor 1 lb. The drive units lOa-b may further comprise at least one battery. The at least one battery is arranged to power the respective motor 1 la-b of the drive unit lOa-b. In one embodiment, the at least two motors 1 la-b are connected to one battery. In an alternative embodiment, one or more batteries are connected to each motor 1 la-b. In yet one embodiment, the first motor 1 la is connected to a first battery and the second motor 1 lb is connected to a second battery.

The drive units lOa-b are connected and/or mounted to the door 8. In one embodiment, as will be described more in relation to Figure 2, the drive units lOa-b are mounted to a section 9e, i.e. one of said plurality of horizontal and interconnected sections, of the door 8. The first motor I la and the second motor 1 lb are arranged on the same section 9e. Preferably, the first motor I la and the second motor 1 lb are arranged at different vertical sides of the section 9e. Each motor 1 la-b is thus arranged in conjunction to the first frame section 4 and the second frame section 6, respectively.

The drive units lOa-b are further connected to the door frame 3. The drive units lOa-b are at a first side moveably connected to the first frame section 4 and at a second side moveably connected to the second frame section 6. Hence, the first motor 1 la is moveably connected to the first frame section 4 and the second motor 1 lb is moveably connected to the second frame section 6. The drive units lOa-b are arranged to interact with the door frame 3 to move the door 8 from the closed position C to the open position O and from the open position O to the closed position C.

In one embodiment, at least one motor 1 la-b of the first and second drive units lOa-b is configured to brake the movement of the door 8 when the door 8 is moved from the open position O to the closed position C. In one embodiment, both the first and second motor 1 la-b are configured to brake the movement of the door 8 when the door 8 is moved from the open position O to the closed position C.

In one embodiment the door operator system 1 further comprises, as an optional feature, at least one charging unit 13, 14. In one embodiment, as disclosed in Figure 1, the door operator system 1 comprises a first charging unit 13 and a second charging unit 14. The charging units 13, 14 are preferably connected to the door frame 3. The first charging unit 13 is mounted in a position that correlates with the position of the battery of the respective drive unit lOa-b when the door 8 is in the closed position C. The first charging unit 13 is arranged to be connected to and to charge the at least one battery in the closed position. The second charging unit 14 is mounted in a position that correlates with the position of the battery of the drive unit system 100 when the door 8 is in the open position C. The first charging unit 14 is arranged to be connected to and to charge the at least one battery in the open position. In one embodiment, charging may be provided continuously to the battery by means of an electric cable connecting the battery to a power source.

In one embodiment, at least one motor 1 la-b of the respective drive unit lOa-b is configured to act as a generator and to charge the at least one battery when the door 8 is moved from the open position O to the closed position C. In one embodiment, both the first and second motor 1 la-b of the drive units lOa-b are configured to act as a generator and to charge the at least one battery when the door 8 is moved from the open position O to the closed position C.

In one embodiment, the at least first and second motor 1 la-b of the drive units lOa-b are direct current DC motors. In a preferred embodiment, the at least first and second motor 1 la-b are brushless direct current (BLDC) motors.

In one embodiment, at least one motor 1 la-b of the drive units lOa-b further comprise a brake (not shown). In one embodiment, both the first and the second motor comprises the brake. In one embodiment, the brake is an electromagnetic brake. The brake may be arranged to control/reduce the speed of the door 8 when it is moved from the open position O to the closed position C. In one embodiment, the first and second motor is arranged to control/reduce the speed of the door 8 when it is moved from the open position O to the closed position C, this may be performed with or without the brakes.

Different connections between the drive unit and the door frame 3 are known in prior art, and will not be discussed further herein. For example, the drive unit may comprise one or more pinions (not shown) that rotates the motors when the weight of the door 8 moves the door 8. Additionally or alternatively, the drive units may further comprise a plurality of wheels (not shown) that are arranged to be rotated by the motors. Additionally or alternatively, the drive units may comprise one or more pinions (not shown) in driving connection with cogged chains comprised in the door frame.

Figure 4 illustrates different embodiments according to some inventive aspects of the solution.

The door operator system 1 comprises at least one control unit 20. The at least one control unit 20a-b is in operative communication with the drive unit system 100. In these embodiments shown in Figures 4-5, the door operator system comprises a first control unit 20a and a second control unit 20b. A control unit 20 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 control unit 20 may further 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 control unit 20 is configured to read instructions from a memory and execute these instructions to control the operation of the drive unit system 100. The memory of the control unit may be implemented in any known memory technology, including but not limited to ROM, RAM, SRAM, DRAM, CMOS, FLASH, DDR, SDRAM or some other memory technology. In some embodiments, the memory may be integrated with or internal to the control unit 20. The memory may store program instruction for execution by the control unit 20, as well as temporary and permanent data used by the control unit 20.

The at least one control units 20a-b is in operative communication with the drive unit system 100. The at least one control unit 20a-b may be in wired communication with the two drive units lOa-b or be in a wireless communication with said drive units. Further, the at least one control unit 20a-b is configured to communicate with the sensor devices 40a-b and/or the sensing elements 30a-b. The at least one control unit 20a-b is configured to control the operation of the at least first and second motors 1 la-b. In a preferred embodiment, the control units 20a-b are configured to control and adjust the operating speed of the motor 1 la-b of its associated drive unit lOa-b in response to control signals 34a-b received from the at least one control unit 20a-b.

The door operator system comprises at least a first sensing element 30a and a second sensing element 30b. Preferably, one sensing element 30a-f may be associated with each drive unit lOa-f and more specifically with each motor 1 la-f.

Each sensing element 30a-b is configured to sense operational data of the motors and transmit said data to the at least one control unit 20a-b. The operational data may comprise energy consumption data, whereby each sensing element 30a-30b is configured to sense energy consumption data of the motors and transmit said data to the at least one control unit 20a-b.

Hence, each motor 11 a-b may be associated with one sensing element 30a-b configured to sense energy consumption data 32 of the motors 1 la-b and to transmit said data to the at least one control unit 20a-b. This is illustrated in Figure 4, showing that the first sensing element 30a transmits energy consumption data 32a of the first motor 1 la to the first control unit 20a. The second sensing element 30b transmits energy consumption data 32b of the second motor 1 lb to the second control unit 20b.

The data gathered from the sensing elements 30a-b are used to determine the operation of the motors 1 la-b. The sensing element may further be a part of any of the control units 20a-b. The at least one control unit 20a-b may further be in operative communication with the sensing elements 30a-b, the communication may either be wired or wireless. In a preferred embodiment, the at least one control unit 20a-b is configured to control and adjust the operating speed of one or all of the motors 1 la-b in response to operational data gathered by the sensing elements 30a-b.

In one embodiment, the at least one control unit 20a-b is configured to evaluate the operational data from the first and second motor 1 la-b, and depending on the evaluation, transmit a control signal 34a-b to the first motor I la and/or the second motor 11b.

As shown in Figure 4, the door operator system 1 further comprises a door 8 and a drive unit system 100 comprising two drive units lOa-b with its associated motor 1 la-b. Furthermore, two control units 20a-b are operating individually, and are receiving and transmitting signals individually. The control signals 34a-b transmitted from the control units 20a-b to the drive units lOa-b of the drive unit system 100 are thus generated independently of each other. Hence, there is no master-slave relationship between the motors, since each motor 1 la-b can be controlled individually. For example, the speed of the first motor may be reduced while the speed of the second motors is maintained or vice versa. It is thus possible to alter the position/ speed of one of the motors to achieve the preferred situation where the motors are arranged on the same position, i.e. synchronized with each other.

In alternative embodiments, means for communicating between two or more control units 20 may be provided in the form of a communication interface.

The sensing element 30a-f is configured to provide energy consumption data of the motor 1 la-f. Accordingly, the first and second sensing element 30a-b are configured to provide energy consumption data of the first and second moto 1 la-b, respectively. Each sensing element 30a-b is configured to provide energy consumption data of the first and second motor 1 la-b respectively to the at least one control unit 20.

Preferably, the first sensing element 30a is configured to provide energy consumption data of the first motor 1 la to the first control unit 20a. Similarly, the second sensing element 30b may be configured to provide energy consumption data of the second motor 1 lb to the second control unit 20b.

Prior to presenting details of the embodiments shown in Figure 4, an exposition is provided regarding what type of deficiencies the implementation of the sensor elements may be able to mitigate, alleviate or eliminate according to some inventive aspects of the solution.

As briefly touched upon in the background section of the invention, a door 8 of a door operator system 1 is susceptible to various types of disturbances during normal operation. Disturbances include, but are not limited to, vehicles or objects affecting the door 8 by force, vibrations generated by the door 8 while moving between positions, mechanical components being worn down, or environmental parameters such as wind load, temperature changes, etc. These disturbances may lead to components of the door operator system 1 malfunctioning. Specifically, a door 8 or any interconnected section 9a-e of the door 8 may become skewed or misaligned in relation to a true horizontal plane of the door operator system 1. In an ideal operation of the door operator system 1, the door 8 and all its interconnected sections 9a-e may be completely horizontal to a floor level of the door operator system 1. However, this is not always the case as this depends on the mechanical properties and variations of the door operator system such as the arranging of the door frame and guiding arrangements interfacing with the frame sections. In the case of the door frame or guiding arrangements not being entirely in exact alignment, having the door slightly inclined relative the floor level may reduce the energy consumption compared to having it perfectly straight. Additionally, during the installation and setting up of the door operator system 1, the door 8 needs calibration in order to avoid the door 8 being misaligned. An incorrectly set up door operator system may cause a risk for the door to be misaligned. A misaligned door further causes a reduced life span for the components of the door as well as an increased energy consumption for the door operator system.

Hence, present invention relates to a system implementing energy consumption data of the motors of the system in order to detect and correct misalignment of the door.

Accordingly, the at least first and second sensing element 30a-b are configured to provide energy consumption data of the first and second motor 1 la-b respectively to the at least one control unit 20a-b. The at least one control unit 20a-b is configured to control the operation of the drive unit system 100 based on said energy consumption data.

Compared to the use of position sensors, the monitoring of the energy consumption data provides a more precise manner of detecting the misalignment. Notably, position sensors directly detecting the inclination of the door have been shown to not being as precise for this purpose due to the misalignment being relatively small compared to the position and distances detected by the position sensors. In addition, the individual monitoring of each of the motors compared to directly attempting to monitor the position and/or angle of the door further allows for a more precise identification of the misalignment of the door.

The aforementioned advantages allow for a more precise control of the door and in particular of the alignment of the door.

The alignment of the door may be associated with an angle (p of the door 8 in relation to a true horizontal plane of the door operator system. Consequently, the angle (p of the door 8 may thus also be a corresponding angle of any interconnected section 9a-e in relation to a true horizontal plane of the door operator system 1.

The sensing elements device 30a-b may be configured to continuously monitor the motors 1 la-b and transmit the information to at least one control unit 20a-b. The door operator system 1 may in this regard also be self-learning in order to intelligently detect misalignment of the door 8 based on historical energy consumption data.

In one embodiment, the sensing elements 30a-b may be configured to enable continuous monitoring and adjustment of alignment and horizontal levelling by continuously transmitting energy consumption data 32a-b to the at least one control unit 20a-b. The energy consumption data 32a-b relate indicates whether an adjustment of the angle (p of the door 8 in relation to a true horizontal plane of the door operator system 1 is required. In Figure 4, the first sensing element 30a is configured to communicate operational data comprising energy consumption data to a first control unit 20a, and the second sensing element 30b is configured to communicate operational data comprising energy consumption data to the second control unit 20b. In one embodiment, the first control unit 20a and the second control unit 20b may be configured to communicate with each other. In one embodiment, the first control unit 20a is configured to communicate operational data to the second control unit 20b. In one embodiment, the second control unit 20b is configured to communicate operational data to the first control unit 20a.

Although the depicted embodiment shows two control units 20a-b, it is noted that a single control unit may be utilised to control the operation of the drive unit system and the individual control of the first and second drive unit lOa-b. Further, the single control unit may be in operative communication with the sensing elements 30a-b.

In one embodiment, the sensing elements 30a-b are configured to communicate operational data to a first and a second control unit 20a-b. Further, the first control unit 20a and the second control unit 20b may be configured to communicate with each other. In one embodiment, the first control unit 20a is configured to communicate operational data to the second control unit 20b. In one embodiment, the second control unit 20b is configured to communicate operational data to the first control unit 20a.

In one embodiment, the sensing elements 30a-b are arranged as separate devices. If this is the case, means for communicating energy consumption data from the sensing elements 30a-b to the at least one control unit 20a-b are provided. For instance, a communication interface configured as a transceiver may be provided. The communication interface may be based on known transceiver standards such as for instance GBIC, SFP, SFP+, QSFP, XFP, XAUI, CXP or CFP.

Preferably, the sensing elements 30a-b may be arranged in conjunction with the motors 30a-b. Accordingly, the sensing element may be arranged in conjunction with the motor which it monitors. Thus, the first sensing element 30a is arranged in conjunction with the first motor I la and the second sensing element 30b is arranged in conjunction with the second motor 1 lb. Hence, the aforementioned separate devices may be arranged in conjunctions with the motors.

In alternative embodiments, the sensing elements 30a-b may be arranged directly on a PCB of the control units 20a-b. This may simplify the process of communicating operational data to the control units 20a-b, as internal means for communication within the control units 20a-b may apply. The energy consumption data may be any type of data suitable for identifying a relative or absolute energy consumption for the motor. Hence, the energy consumption data may comprise any one of torque data, current data and power data.

In one embodiment, the energy consumption data comprises any one of torque data, current data and power data of the first motor I la and second motor 11, respectively. In other words, the first sensing element 30a is configured to provide energy consumption data comprising any one of torque data, current data and power data of the first motor I la and the second sensing element 30b is configured to provide energy consumption data comprising any one of torque data, current data and power data of the second motor 11b.

In Figure 4, the door operator system 1 may further comprise an operator control unit 60 (optional feature). The operator control unit 60 is configured to receive control data from the at least one control unit 20a-b. Control data may include for instance operational status, health of individual mechanical components and/or a current of a motor in the door operator system 1. The at least one control unit 20a-b may be configured to generate a report of any bugs or errors detected by the at least one sensor device 40a-b, and subsequently report the findings to the operator control unit 60. For instance, if a current of a motor is above a predetermined error threshold value, this may be reported. The information relating to the current of a motor is beneficial in order to identify if the motor is exposed to a higher load than normal. This may for example be the case if something is stuck in the door operator system 1.

The report may be transmitted via a communication interface operating between the at least one control units 20a-b and the operator control unit 60. Moreover, the report may also be transferred by loT-services (Internet of Things). In different embodiments of the invention, different loT-protocols may be utilized. For instance, protocols include, but are not limited to Bluetooth, WiFi, ZigBee, MQTT loT, CoAP, DDS, NFC, AMQP, LoRaWAN, RFID, Z- Wave, Sigfox, Thread, EnOcean, celluarly based communication protocols, or any combination thereof. The error report can for instance include a report of door misalignments and/or any operational inconsistencies.

If an error report has been generated, the operator control unit 60 may further be configured to generate an alarm if one or more limits are above a predetermined error threshold value. This alarm may be visualised by an audible signal, a visual signal, or by transmitting the information to external devices. Further, if a safety hazard has been discovered, the operator control unit 60 may respond by terminating the operation of the system 1.

The operator control unit 60 may further be configured to be controllable by an operator of the system 1. The door operator system may comprise a visual interface. Hence, the operator control unit 60 may comprise the visual interface. The visual interface may comprise one or more displays for visualizing information of the system 1. Further, the one or more displays may comprise touch-screen functionalities and/or one or more buttons for manual operation of the system 1. Hence, the operator control unit 60 may serve as a backup controller in case of automation errors of the system 1.

The control units 20a-b are arranged to receive input regarding if the door 8 should be opened or closed. In one embodiment, the at least one control unit 20a-b is arranged to receive the input from one or more of a user interface, a mechanical button or a remote control of the operator control unit 60.

In a preferred embodiment, the control units 20a-b are configured to control and adjust the operating speed of one or all of the motors 1 la-b in response to operational data gathered by the sensing elements 30a-b. The operational data are collected from both sensing elements 30a- b, and the motors are then individually controlled by the control units 20a-b based on said sensing element 30a-b. Hence, no master-slave relationship is required between the motors, since each motor 1 la-b can be controlled individually. For example, the speed of the first motor may be reduced while the speed of the second motors is maintained or vice versa. It is thus possible to alter the position/ speed of one of the motors to achieve the preferred situation where the motors are arranged on the same position, i.e. synchronized with each other. Hence, as shown in the embodiment in Figures 4, the first control unit 20a is in operative communication with the first drive unit 10a of the drive unit system 100. Further, the second control unit 20b is in operative communication with the second drive unit 10b of the drive unit system 100.

It is further noted that even though depicted, a single control unit may be utilised to control both the first and second drive unit of the drive unit system. Hence, in one embodiment, a single control unit may be configured to obtain the data from the first and second sensors and control the first and second drive unit based on said data in accordance with what is described above. Although not required, notably, above described embodiment would be functional even if there is a master-slave relationship between the motors.

According to one embodiment of the present invention, the at least one control unit 20a-b may be configured to cause an adjustment of the angle (p of the door 8 in relation to the true horizontal plane of the door operator system 1 based on the energy consumption data. This may be performed by means of adjustment of the drive unit system 100. Hence, a more accurate manner of aligning the door is achieved. As a result, the door operator system may allow for automatic aligning of the door thereby increasing the lifespan of the components of the door operator system and well as energy consumption of the door operator system. The adjustment may be performed by means of moving of the first and/or second drive unit lOa-b along the first and second frame section, respectively. To achieve the adjustment of the angle, said first and/or second drive unit lOa-b is moved relative said first and second frame section according to a first and second distance, respectively, whereby the first and second distance are different. Thereby, the inclination of the door relative the true horizontal plane is adjusted.

The adjustment may be based on positional data indicating the position of the door 8. The door operator system may accordingly comprise one or more sensor devices 40a-b configured to detect the position of the door 8.

The adjustment is performed by the at least one control unit 20a-b issuing a control signal 34a-b to the drive unit system 100 urging movement of the door 8. The drive units lOa-b of the drive unit system 100 are independently operable to achieve said adjustment of the angle (p. As the skilled person realizes, the adjustment may be achieved by operating each drive unit lOa-b or only the drive units arranged on one vertical side of the door to achieve the adjustment. Preferably, the adjustment is performed relative an initial closed position of the door 8. An adjustment may herein refer to a change in the offset as seen in a plane of the door between the drive unit(s) on a first vertical side of the door and the drive unit(s) on a second vertical side of the door. The offset is in the form of a distance in said plane of the door.

The adjustment of the door 8 to a desired alignment may be performed by means of the implementation of self-teaching calibration procedure that will be described with reference to Figure 5 and 6.

To achieve a desirable calibration of the door and consequent adjustment of the angle cp, the at least one control unit 20a-b may be configured to cause movement of the door 8 according to one or more calibration movement. The calibration movement is a predefined movement sequence to be performed by the door 8 relative the frame 3.

According to an embodiment, calibration movement, the door 8 is moved from the closed position to the open position and back to the closed position in each calibration movement.

According to an embodiment, the door 8 is moved from the closed position to the open position in each calibration movement.

According to an embodiment, the door 8 is moved in an incremental distance between the open position and the closed position in each calibration movement.

Preferably, the door is only moved from the closed position to the open position in each calibration movement due to the motors not providing as much effect during the lowering of the door during the movement from the open position to the closed position making sensor readings from said movement more unreliable.

Preferably, each calibration movement is identical to allow for easy comparison of the energy consumption data between calibration movements.

The at least one control unit is configured to obtain energy consumption data from the sensing elements 30a-b, e.g. the first and second sensing element, associated with said one more calibration movement. This allows for a manner of identifying whether the door needs aligning on the basis of the energy consumption data obtained. Preferably, multiple calibration movements may be utilised in order to achieve data that are more precise and enable incremental adjustment of the door between each calibration movement and follow up.

Preferably, the at least one control unit 20a-b is configured to cause adjustment of the angle (p based on the energy consumption data associated with the calibration movement. Preferably the at least one control unit 20a-b is configured to cause adjustment of the angle (p after each calibration movement based on the energy consumption data associated with said calibration movement.

In one embodiment, the at least one control unit 20a, 20b is configured to selectively obtain energy consumption data from the sensing elements 30a-b, e.g. the first sensing element 30a and the second sensing element 30b. Towards the end and beginning of the calibration movement, the energy consumption data is more unreliable due to the door accelerating and deaccelerating. Thus, it is beneficial to exclude energy consumption data from these parts of the calibration movement as it allows for more precise data.

In one embodiment, the positional data obtained from the one or more sensor devices 40a- b serves basis for selectively obtaining energy consumption data. Accordingly, the at least one control unit 20a-b may be configured to selectively obtain energy consumption data based on positional data obtained from the one or more sensor devices 40a-b.

In one embodiment, the at least one control unit 20a-b is configured to issue an indicating signal to the visual interface for providing an alert to a user based on the energy consumption data associated with the one or more calibration movement. Hence, the user may be alerted when the energy consumption data indicates misalignment of the door.

In one embodiment, the at least one control unit 20a-b is configured to operate in a calibration mode. In the calibration mode the at least one control unit 20a-b is configured to cause movement of the door 8 according the one or more calibration movements. Hence, the control unit 20a-b is configured to operate in a calibration mode distinguished from a normal operation mode. Preferably, the at least one control unit 20a-b is configured to receive a calibration instruction and in response to said calibration instruction enter said calibration mode. The issuing of the calibration signal may be performed by the operator control unit 60.

Referencing Figure 5 and 6, the aligning of the door may be achieved by means of an automatic and self-teaching procedure which now will be described in further detail.

With reference to Figure 5, in order to set a reference point for the door operator system, the at least one control unit 20a-b may be configured to cause movement of the door 8 according to a calibration movement. The calibration movement is an initial calibration movement or a reference calibration movement. The at least one control unit 20a-b is further configured to obtain energy consumption data from the motors 1 la-b, e.g. the first motor I la and the second motor 1 lb associated with the initial calibration movement or reference calibration movement. The energy consumption data obtained thus forms reference or initial energy consumption data.

Based on the reference point set up by the initial adjustment, a repeatable calibration procedure may be performed by means of the at least one control unit 20a-b operating the drive unit system.

Thus, the at least one control unit 20a-b is configured to cause movement of the door 8 according to one or more calibration movement after the adjustment of the angle (p based on the obtained energy consumption data associated with the initial calibration movement. The at least one control unit 20a-b is further configured to obtain energy consumption data from the motors 1 la-b, e.g. first motor I la and the second motor 1 lb, associated with each of said one or more calibration movement.

The at least one control unit 20a-b may be configured to cause adjustment of the angle (p in an angular adjustment direction adjustment direction by means of the drive unit system after each calibration movement. Hence, the alignment of the door may be continuously adjusted until the energy consumption data indicates a sufficient alignment of the door or a sufficient amount of calibration movements have been performed. For example, the energy consumption data may be compared to reference values for the first and second motor, whereby sufficient alignment may be achieved when the energy consumption value is within an interval of said reference value.

Preferably, the adjustment of the angle (p is performed by means of moving the first and/or second drive unit relative the first and second frame section respectively between 0 and 10 mm to achieve said adjustment after each calibration movement.

Preferably, the at least one control unit 20a-b is further configured to compare the energy consumption data from the motors 1 la-b, e.g. the first motor I la and the second motor 1 lb associated with a preceding calibration movement to the energy consumption data associated with a current calibration movement. The preceding calibration movement precedes the current calibration movement. A current calibration movement herein refers to a most recent calibration movement. The at least one control unit 20a-b is further configured to cause adjustment of the angle (p in an angular adjustment direction by means of the drive unit system 100 based on said comparison after each calibration movement.

In one embodiment, the size of the adjustment of the angle (p is incrementally decreased for every adjustment. Accordingly, the angle (p is adjusted by an adjustment angle value each adjustment, whereby the adjustment angle value is gradually decreased for each adjustment. Accordingly, the relative moved distance between the first and/or second drive unit relative the first and second frame section is gradually reduced for every adjustment. Thereby, the precision in the detection of a desirable angle (p is increased. In one embodiment, the calibration is terminated when the adjustment angle value is below a predefined value.

For safety purposes, the angle (p may only be adjusted within a predefined interval. Hence, the angle (p is only adjusted within a predefined angular interval or predefined distances relative the first and second frame section. In order to avoid angular sensors, the predefined interval may be calculated based on the width of the door 8 and a total adjusted distance of the first and second motor moved relative the first and second frame section and more particularly a maximum total offset of the moved distance between the first and second motor. Such a predefined interval is particularly useful if the door is narrow, in such a situation there is a risk for only one motor being capable of moving the door making the calibration less reliable due to a too large angle (p resulting in one of the motors not operating the door.

The initial calibration movement may be considered a first calibration movement, the preceding calibration movement may be considered a second calibration movement and the current calibration movement may be considered a third calibration movement.

Thus, the energy consumption data associated with during the first calibration movement is compared to the energy consumption data associated with the second calibration movement and the angle (p is adjusted based on said comparison. Similarly, the energy consumption data associated with the second calibration movement is compared with the energy consumption data is compared with the energy consumption data associated with the third calibration movement and the angle (p is adjusted based on said comparison. This may be repeated for an arbitrary number of cycles.

Turning to Figure 6, the conditions for the adjustment of the angle (p based on the comparison between the energy consumption data are described in further detail. As depicted, the at least one control unit 20a-b is configured to determine if the energy consumption has increased or decreased between two calibration movements and adjust the angle (p accordingly.

Thus, the step of comparing the energy consumption data associated with two calibration movements may comprise comparing an energy consumption value obtained from the energy consumption data associated with each calibration movement. Such an energy consumption value may be an average or median value. In one embodiment, the energy consumption value may be an integrated sum of the energy consumption data of the calibration movement. The energy consumption data may be a torque value, current value or a power or energy value.

As the skilled person is aware, the current supplied to the motor is proportional to the torque provided by the motor. Thus, in a preferred embodiment, the energy consumption data comprises torque or current data, whereby the at least one control unit is configured to determine an integrated sum of said current or torque data over time to obtain an energy value associated with the calibration movement. Such an energy value may thus be compared between calibration movements to form basis for the adjustment of the angle (p.

The at least one control unit 20a-b may be configured to cause adjustment of the angle (p in the same angular adjustment direction as the adjustment after the preceding calibration movement in response to the energy consumption data associated with the current calibration movement indicating a lower energy consumption the first motor I la and the second motor 1 lb than the energy consumption associated with the preceding calibration movement. The energy consumption data indicating that the energy consumption has decreased between two calibration movements indicates that the angle (p was adjusted in a correct angular adjustment direction, whereby a continued adjustment of the angle (p allows for identification of a more optimal alignment which requires further adjustment in the same angular adjustment direction.

The at least one control unit 20a-b may be configured to cause adjustment of the angle (p in an angular adjustment direction opposite relative the adjustment after the preceding calibration movement in response to the energy consumption data associated with the current calibration movement indicating a higher energy consumption for the first motor I la and the second motor 1 lb than the energy consumption data associated with the preceding calibration movement. The energy consumption data indicating that the energy consumption has increased between the two calibration movements indicates that the angle (p was adjusted in an incorrect angular adjustment direction, whereby an adjustment of the angle (p in an opposite direction allows for identification of a more optimal alignment which requires adjustment in the opposite angular adjustment direction. The at least one control unit 20a-b may be configured to cause an adjustment of the angle (p in an angular adjustment after the preceding calibration movement by means of adjusting the first drive unit 10a in response to the energy consumption data associated with the current calibration movement indicating a higher energy consumption for the first motor 1 la than in the energy consumption data associated with the preceding calibration movement and a lower energy consumption for the second motor 1 lb than in the energy consumption data associated with the calibration movement. It is noted that this does not exclude adjustment by means of the second drive unit. In a less preferred embodiment, it is noted that said adjustment may be achieved by means of the second drive unit.

The at least one control unit 20a-b may be configured to cause adjustment of the angle (p in an angular adjustment after the preceding calibration movement by means of adjusting the second drive unit 10b in response to the energy consumption data indicating a lower energy consumption data for the first motor I la than in the energy consumption data associated with the preceding calibration movement and a higher energy consumption for the second motor 1 lb than in the energy consumption data associated with the preceding calibration movement. It is noted that this does not exclude adjustment by means of the first drive unit. In a less preferred embodiment, it is noted that said adjustment may be achieved by means of the first drive unit.

The energy consumption data indicating that the energy consumption has increased between the calibration movements for one motor and decreased for the other motor indicates that the previous adjustment of the angle (p has caused a “drawer-effect” making one of motors facing a large resistance due to having to overcome the door jamming against the frame and the other little resistance due to not being in proper connection to the frame. The adjustment of the angle (p in an opposite angular adjustment direction compared to the previous adjustment by means of the drive unit showing the increased energy consumption allows for the offset between the drive units to decrease and thereby mitigating the “drawer effect”.

In the embodiments shown in Figures 4 and 5, each control unit 20 is implementing a method to control the operation of the drive units lOa-b of the drive unit system 100. According to an aspect said method is provided. The method may be performed in a door operator system according to any one of the aforementioned embodiments.

The method comprises to move the door 8 according to one or more calibration movement, obtaining energy consumption data from the first and second sensing element 30a-b associated with said one or more calibration movement and controlling the operation of the drive unit system 100 based on said energy consumption data. Hence, the energy consumption data of the first motor associated with the one or more calibration movement and the energy consumption data of the second motor associated with the one or more calibration movement are obtained, whereby the operation of the drive unit system 100 is controlled based on said energy consumption data of the first and second motor.

In an additional step, the angle (p of the door in relation to the true horizontal plane of the door operator system 1 may be adjusted. This is performed by means of adjustment of the drive unit system 100, i.e. adjustment of the first and second drive unit lOa-b and more particularly the first and second motor 1 la-b.

To set a reference point, the door 8 may be moved according to a calibration movement in the form of an initial calibration movement. The method may thus comprise obtaining energy consumption data from the first and second sensing element 30a-b associated with said initial calibration movement. The angle (p may be adjusted in an initial angular adjustment direction after the initial calibration movement.

In one embodiment, the door 8 is moved according to one or more calibration movements after the adjustment of the angle (p based on the obtained energy consumption data associated with the initial calibration movement. In such an embodiment, the method may further comprise obtaining energy consumption data from the first and second sensing elements 30a-b associated with each of said one or more calibration movements and adjusting the angle (p in an angular adjustment direction by means of the drive unit system 100 based on said energy consumption data after each calibration movement.

In one embodiment, the method may further comprise comparing the energy consumption data from the first and second motor 1 la-b associated with a preceding calibration movement to the energy consumption data associated with a current calibration movement and adjusting the angle (p in an angular adjustment direction by means of the drive unit system 100 based on said comparison after each calibration movement.

Figure 4 schematically illustrates such an embodiment of the method.

In a first step 810, the door is moved according to the initial calibration movement. The initial calibration movement may be considered a first calibration movement.

In a second step 820, the energy consumption data of the first and second motor 1 la-b is obtained. The energy consumption data is associated with the initial calibration movement.

In a third step 830, the angle (p is adjusted in the initial angular adjustment direction. This is performed by means of operation of the drive unit system 100.

In a fourth step 840, the door 8 is moved according to a calibration movement. The calibration movement may be considered a second calibration movement. In a fifth step 850, the energy consumption data of the first and second motor 1 la-b associated with the preceding calibration movement is compared with the energy consumption data of the first and second motor 1 la-b associated with the current calibration movement. Thus, in such a step, the energy consumption data associated with the first calibration movement may be compared with the second calibration movement.

In a sixth step 860, the angle (p is adjusted in an angular adjustment direction by means of the drive unit 100 based on the comparison performed in the fifth step 850.

The fourth to sixth step may then be repeated for an arbitrary number of times, wherein the fifth step involves comparing the energy consumption data associated with the current calibration movement and the energy consumption data associated with the preceding calibration movement.

Figure 6 depicts an embodiment of the comparing operation in further detail.

According to said embodiment, the method may comprise adjusting the angle (p in the same angular adjustment direction as the adjustment after the preceding calibration movement in response to the energy consumption data associated with the current calibration movement indicating a lower energy consumption for the first and second motor 1 la-b than the energy consumption data associated with the preceding calibration movement.

The method may comprise adjusting the angle (p in an angular adjustment direction opposite relative the adjustment after the preceding calibration movement in response to the energy consumption data associated with the current calibration movement indicating a higher energy consumption for the first and second motor 1 la-b than the energy consumption data associated with the preceding calibration movement.

The method may comprise adjusting the angle (p in an angular adjustment direction opposite relative the adjustment after the preceding calibration movement in response to the energy consumption data associated with the current calibration movement indicating a higher energy consumption for the first motor I la than in the energy consumption data associated with the preceding calibration movement and a lower energy consumption for the second motor 1 lb than in the energy consumption data associated with the preceding calibration movement. The adjustment may be performed by means of adjusting the first drive unit 10a.

Additionally or alternatively, the method may comprise adjusting the angle (p in an angular adjustment direction opposite relative the adjustment after the preceding calibration movement in response to the energy consumption data associated with the current calibration movement indicating a lower energy consumption data for the first motor 1 la than in the energy consumption data associated with the preceding calibration movement and a higher energy consumption for the second motor 1 lb than in the energy consumption data associated with the preceding calibration movement. The adjustment may be performed by means of adjusting the second drive unit 10b.

With reference to Figure 6, the step of comparing the energy consumption data comprises determining if the energy consumption has increased or decreased for the first and second motor between the current calibration movement and the preceding calibration movement.

If it is determined that the energy consumption has increased for the first motor as well as the second motor between the current calibration movement and the preceding calibration movement, the angle (p is adjusted in a direction opposite to the previous adjustment (performed subsequent to the preceding calibration movement).

If it is determined that the energy consumption has decreased for the first motor as well as the second motor between the current calibration movement and the preceding calibration movement, the angle (p is adjusted in the same angular adjustment direction as the previous adjustment (performed subsequent to the preceding calibration movement).

If it is determined that the energy consumption has decreased for the first motor and increased for the second motor between the current calibration movement and the preceding calibration movement, the angle (p is adjusted by means of the second drive unit. The angle is adjusted in an opposite angular adjustment direction compared to the previous adjustment.

If it is determined that the energy consumption has increased for the first motor and decreased for the second motor between the current calibration movement and the preceding calibration movement, the angle (p is adjusted by means of the first drive unit. The angle is adjusted in an opposite angular adjustment direction compared to the previous adjustment.

Referencing Figure 7, an alternative method and embodiment of the door operator system for controlling the adjustment of the angle (p. The method referenced in Figure 7 is particularly advantageous as it does not require an accurate calibration of the sensing elements relative each other, i.e. the first sensing element and second sensing element does not have to be calibrated in relation to each other. Instead, the method may be utilised during installation before the sensing elements have been properly calibrated. In addition, said method allows for a more precise calibration due to not being reliant on potentially non-calibrated sensing elements.

In contrast to the above described embodiments, the at least one control unit 20a-b is configured to cause adjustment of the angle (p in a first angular adjustment direction by means of the drive unit system 100 after each calibration movement for a first set of calibration movements. Further, the at least one control unit 20a-b is configured to cause adjustment of the angle (p in a second angular adjustment direction by means of the drive unit system 100 after each calibration movement for a second set of calibration movements. The second angular adjustment direction is opposite to the first angular adjustment direction.

Hence, instead of continuously altering the angle cp, the angle (p is gradually increased in a first direction for a first number of calibration movements and gradually increased in an opposite direction for a second number of calibration movements. For each calibration movement, energy consumption data is obtained from the sensing elements 30a-b.

Further, the at least one control unit 20a-b may be configured to cause adjustment of the angle (p in the first angular adjustment direction after each calibration movement in the first angular adjustment direction after each calibration movement for the first set of calibration movements until the energy consumption data for the first and second motor lOa-b associated with a current calibration movement indicates a higher energy consumption than the energy consumption data associated with the initial calibration movement.

In addition, the at least one control unit 20a-b may be further configured to cause adjustment of the angle (p in the second angular adjustment direction after each calibration movement for the second set of calibration movements until the energy consumption data for the first and second motor lOa-b associated with a current calibration movement indicates a higher energy consumption than the energy consumption data associated with the initial calibration movement.

Thus, the at least one control unit 20a-b is configured to cause adjustment continuously for each calibration movement in the first angular adjustment direction until the energy consumption data indicates a higher energy consumption for both the first motor 10a and the second motor 10b compared to the initial calibration movement. The at least one control unit 20a-b is further configured to cause adjustment continuously for each calibration movement in the second angular adjustment direction until the energy consumption data indicates a higher energy consumption for both the first motor 10a and the second motor 10b compared to the initial calibration movement.

In one embodiment, the at least one control unit 20a-b is configured to determine a final calibrated adjustment of the angle (p based on the energy consumption data associated with the first and second set of calibration movements. Thus, the at least one control unit 20a-b is configured to determine an adjustment, i.e. a final calibrated adjustment or optimised adjustment, chosen for the operation of the door in a normal operation mode. The at least one control unit 20a-b may be further configured to cause adjustment of the angle (p based on the final calibrated adjustment. As will be described further with reference to Figure 8, the final calibrated adjustment of the angle (p may be based on an energy consumption model in turn based on the first and second set of calibration movements.

Hence, the final calibrated adjustment of the angle (p may be determined based on an energy consumption model for the first motor 10a and an energy consumption model for the second motor 10b. The energy consumption model for the first motor 10a is based on the energy consumption data of the first motor 10a and associated adjustments of the angle (p for the first and second set of calibration movements. Similarly, the energy consumption model for the second motor 10b is based on the energy consumption data of the second motor 10b and associated adjustments of the angle (p for the first and second set of calibration movements.

The associated adjustment of the angle (p may be considered an offset angle relative an initial angle of the door relative a true horizontal plane. The initial angle may be the angle of the door relative the horizontal plane after an initial adjustment of the angle cp, e.g. after the initial calibration movement.

Preferably, the energy consumption model for the first motor 10a is an estimation of the energy consumption of said first motor 10a based on a function of the associated adjustments of the angle cp, i.e. the associated adjustments of the angle (p for the first and second set of calibration movements. Similarly, the energy consumption model for the second motor 10b is an estimation of the energy consumption of said second motor 10b based on a function of the associated adjustments of the angle cp, i.e. the associated adjustments of the angle (p for the first and second set of calibration movements.

The final calibrated adjustment of the angle (p may be determined by selection of a value of an associated adjustment of the angle (p between an upper and lower threshold value. The upper and lower threshold value may be determined as an upper and lower value in which the derivate for the function for both the first motor 10a and the second motor 10b reaches a positive value and a negative value, respectively. Hence, the upper value is determined as a position in which the derivate for the function for both the first motor and the second motor reaches a positive value. The lower value is determined as a position in which the derivate for the function for both the first motor and the second motor reaches a negative value.

Referencing Figure 7, a schematic flow chart of an associated method is depicted.

The method comprises adjusting the angle (p in a first angular adjustment direction by means of the drive unit 100 after each calibration movement for a first set of calibration movements. The method further comprises adjusting the angle (p in a second angular adjustment direction opposite to the first angular adjustment direction by means of the drive unit system 100 after each calibration movement for a second set of calibration movements.

In one embodiment, the method comprises adjusting the angle (p in the first angular adjustment direction after each calibration movement for the first set of calibration movements until the energy consumption data for the first and second motor lOa-b associated with a current calibration movement indicates a higher energy consumption than the energy consumption data associated with the initial calibration movement.

In one embodiment, the method comprises adjusting the angle (p in the second angular adjustment direction after each calibration movement for the second set of calibration movements until the energy consumption data for the first and second motor lOa-b associated with a current calibration movement indicates a higher energy consumption associated with the initial calibration movement.

Hence, the method may comprise to after the calibration movement compare the energy consumption data associated with the current calibration movement to the energy consumption data associated with the initial calibration movement. If the energy consumption data indicates that the energy consumption is higher for both the first and second motor lOa-b, the angular adjustment direction is changed to the second angular adjustment direction. In other case, the adjustment in the first angular adjustment direction is maintained, e.g. the angle is adjusted in the first angular adjustment direction.

In one embodiment, the method comprises determining a final calibrated adjustment of the angle (p based on the energy consumption data associated with the first and second set of calibration movements and adjusting the angle (p based on said determined final calibrated adjustment. This step may be performed after the first and second set of calibration movements and associated adjustment of the angle (p have been performed.

In one embodiment, the final calibrated adjustment of the angle (p is determined based on the energy consumption data associated with the first and second set of calibration movements, The energy consumption model is based on the energy consumption data and associated adjustments of the angle (p for the first and second set of calibration movements. As aforementioned, the associated adjustment of the angle (p may be considered an offset angle relative an initial angle of the door relative a true horizontal plane. The initial angle may be the angle of the door relative the horizontal plane after an initial adjustment of the angle cp, e.g. after the initial calibration movement.

In one embodiment, the final calibrated adjustment of the angle (p is determined by selection of a value of the associated adjustment of the angle (p between an upper and lower threshold value. The upper and lower threshold value are determined as an upper and lower value in which the derivate for the function for both the first and second motor lOa-b reaches a positive value and a negative value, respectively.

Figure 7 schematically illustrates such an embodiment of the method.

In a first step 810, the door is moved according to the initial calibration movement. The initial calibration movement may be considered a first calibration movement.

In a second step 820, the energy consumption data of the first and second motor 1 la-b is obtained. The energy consumption data is associated with the initial calibration movement.

In a third step 830, the angle (p is adjusted in the initial angular adjustment direction. This is performed by means of operation of the drive unit system 100. The initial angular adjustment direction may be the first angular adjustment direction, whereby the initial angular adjustment direction may form a part of the first set of calibration movements.

In a fourth step 840, the door 8 is moved according to a calibration movement.

In a fifth step 881, the angle (p is adjusted in the first angular adjustment direction. The fifth step 881 is performed if energy consumption data associated with the current calibration movement indicates a lower energy consumption for the first and/or second motor lOa-b than the initial calibration movement.

The fourth step 840 and the fifth step 881 is repeated until the energy consumption for both the first and second motor lOa-b associated with a current calibration movement indicates a higher energy consumption compared to the initial calibration movement. If this is the case, a sixth step 882 is performed.

In the sixth step 882, the angle (p is adjusted in the second angular adjustment direction. The sixth step 882 is performed if energy consumption data associated with the current calibration movement indicates a lower energy consumption for the first and/or second motor lOa-b than the initial calibration movement.

The fourth step 840 and the sixth step 882 is repeated until the energy consumption for the first and second motor lOa-b associated with a current calibration movement indicates a higher energy consumption compared to the initial calibration movement. If this is the case, a seventh step 883 is performed.

In the seventh step 883, the adjustment or the final calibrated adjustment of the angle (p is determined. The adjustment is determined based on the energy consumption data of the calibration movements of the first and second set of calibration movements.

In an eighth step 884, the angle (p is adjusted based on the determined final calibrated adjustment. The method may then be terminated. Turning to Figure 8, an example of how the final calibrated adjustment is determined is depicted.

The final calibrated adjustment of the angle is determined based on an energy consumption model. The model may be an estimation of the energy consumption (e.g. energy) as a function of the adjustments of the angle (p made for the first and second set of calibration movements. Hence, the energy consumption is a function of an offset angle Acp relative an initial reference angle of the door relative the true horizontal plane. As depicted, the model may result in energy consumption curves Cl and C2 for the first and second motor, respectively.

The offset angle Acp may constitute the x-axis. An energy value obtained from the energy consumption data may constitute the y-axis. As previously described the energy consumption data may also be current or torque measurements, whereby the y-axis may be constituted by torque or current values.

A first curve Cl is obtained from the energy consumption data for the first motor, such as the energy consumption values, obtained from the first and second set of calibration movements. A second curve C2 is obtained from the energy consumption data for the second motor, such as the energy consumption values, obtained from the first and second set of calibration movements.

A negative adjusted angle threshold value PA and a positive adjusted angle threshold value PB may be determined based on the offset angles Acp where an increase of energy consumption is identified in comparison to the initial calibration movement.

Accordingly, the negative adjusted angle threshold value may be a lower value in which the derivate for the function for the first and second motor reaches a negative value. Correspondingly, the positive adjusted angle threshold value may be an upper value in which the derivate for the function reaches a positive value both for the first and second motor.

Preferably, the adjustment is selected between said negative adjusted angle threshold value PA and said positive adjusted angle threshold value PB, e.g. the upper and lower threshold value. Most preferably, the adjustment is determined as a centre point CA between said positive and negative adjusted angle threshold value, e.g. a centre point between said threshold values along the x-axis. The adjustment may be determined as an offset angle value.

Notably, although described as an adjusted or an offset angle Acp, this should not exclude the use of a determined offset distance in the plane of the door between the first and second motor constituting a representation of said adjusted angle or offset angle Acp. In one embodiment, the at least one control unit may be configured to issue an alert signal in response to not being able to find an upper and lower threshold value. Thereby, a user may be alerted that there is an issue with the door operator system.

Although described mainly with reference to a first and second drive unit it is herein noted that above method and system may include multiple drive units. Accordingly, such drive units may be independently controlled in accordance with the above method and calibration functionality. In one embodiment as illustrated by Figures 3a-b, the drive unit system 100 comprises a third and a fourth drive unit lOc-d mounted on a second horizontal section 9 of the horizontal sections and arranged to assist the first and second drive units lOa-b when moving the door 8 from the closed position C to the open position O. The third and fourth drive units lOc-d are connected to a third and fourth control unit 20c-d respectively, and arranged to be controlled by the control units 20c-d in the same way as described above in relation to the first and second drive unit lOa-b. In this embodiment, the door operator system 1 comprises four drive units lOa-d, four sensing elements 30a-d, at least one sensor device 40, and four control units 20a-d. The first and second drive unit lOa-b are arranged on one section 9e and the third and fourth drive unit lOc-d are arranged on another section 9c. Each sensing element 30a-d is arranged in conjunction to a respective drive unit lOa-d. Hence, the first and second sensing elements 30a-b are arranged in conjunction to the first and second drive units lOa-b and the third and fourth sensing elements 30c-d are arranged in conjunction to the third and fourth drive unit lOc-d. In one embodiment, the at least one sensor device 40 may be arranged at any of the plurality of horizontal or interconnected sections 9a-e. In another embodiment, the at least one sensor device may be mounted directly on a PCB of any of the control units 20a-d.

In one embodiment, the first and second drive units lOa-b and the first and second sensing elements 30a-b are arranged on a section 9e that is located on the section 9 of the door being closest to the floor 23 in the closed position C. However, it should be noted that the section 9e could for example also be the section 9d which is the section being arranged next to the section being closest to the floor 23 in the closed position C.

In one embodiment, the drive unit system 100 comprises a fifth and a sixth drive unit lOe- f mounted on a third horizontal section 9 of the horizontal sections 9 and arranged to assist the other drive units lOe-f when moving the door 8 from the closed position C to the open position O. The fifth and sixth drive units lOe-f are connected to a fifth and sixth control unit 20e-f and arranged to be controlled by the control units 20e-f in the same way as described above in relation to the first and second drive unit lOa-b. In an embodiment, the door operator system 1 comprises six drive units lOa-f, six sensing elements 30a-f, at least one sensor device 40, and six control units 20a-f. The first and second drive units lOa-b are arranged on one section 9e, the third and fourth drive units lOc-d are arranged on another section 9c, and the fifth and sixth drive units lOe-f are arranged on another section 9d. Each sensing element 30a-f is arranged in conjunction to a respective drive unit 1 la-f. Hence, the first and second sensing elements 30a-b are arranged in conjunction to the first and second drive units lOa-b, the third and fourth sensing elements 30c-d are arranged in conjunction to the third and fourth drive units lOc-d and the fifth and sixth sensing elements 30e-f are arranged in conjunction to the fifth and sixth drive units lOe-f. In one embodiment, the at least one sensor device 40 may be arranged at any of the plurality of horizontal or interconnected sections 9a-e. In another embodiment, the at least one sensor device may be mounted directly on a PCB of any of the control units 20a-f.

In the embodiments where additional sections 9a-e are arranged with sensing elements 30, sensor devices 40 and drive units 10, these may be arranged on every other section, every section or at one section being arranged above the section 9e.

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. Such door member(s) may, for instance, be a swing door member, a revolving door member, a sliding door member, an overhead door member, a horizontal folding door member or a pull-up (vertical lifting) door member.