DE102018104202A1 - Method for operating a gate system and gate system - Google Patents

Abstract

The present invention relates to a method for operating a gate system having at least one actuatable gate element, at least one door drive for opening and closing the gate element and a control unit for controlling the door drive, wherein by means of at least one stereoscopic camera system is located in front of the gate element monitoring area, an object detection the control unit recognizes objects in the monitoring area by evaluating the camera recordings and controls the gate element taking into account a detected object in the monitoring area.

Description

The invention relates to a method for operating a gate system with at least one actuatable gate element, at least one door drive for opening and closing the gate element and a control unit for controlling the door drive.

Door systems should only be able to close when the area of the door opening is free of obstacles. This is even more true for industrial doors. Here, photoelectric grids are usually installed for optical monitoring of the gate gangway area. The interruption of a light beam by an obstacle triggers an immediate emergency shutdown of the door drive, in order to avoid damage to the object and the gate element.

However, the simple monitoring technology using the light barrier grid leaves little room for further control options in addition to the emergency shutdown. It is therefore looking for an alternative solution with better technical possibilities, which in addition to a pure emergency shutdown of the door drive to leave even more complex control functions.

This object is achieved by a method for operating a gate system according to the features of claim 1. Advantageous embodiments of the method are the subject of the dependent claims.

According to the invention, it is proposed that the gate system be supplemented by at least one stereoscopic camera system. With the help of the installed camera system, a surveillance area located in front of the gate element as well as in the passage area can be recorded. A control unit evaluates the provided image information and performs an object recognition to detect objects in the surveillance area, ideally to capture multi-dimensionally. Depending on the object detection, the door drive or the gate element is activated.

In contrast to conventional gate systems with built-in light barrier grid, the gate passage area is not only detected one-dimensionally, but instead additionally a definable area in front of and / or behind the gate passage area. This allows for early detection of approaching or removing objects, which makes a comprehensive intelligent gate control, which goes far beyond a simple emergency shutdown, technically possible.

With the help of the stereoscopic camera system, it is not only possible to detect objects in a wide-ranging monitoring area, but it is also possible to record and evaluate physical properties of the objects. In particular, the camera system allows multi-dimensional detection of objects. This not only different types of objects can be distinguished from each other, but it can also determine a behavior of a detected object. This lays the foundation for an object-dependent and / or object behavior-dependent control of the door drive.

A corresponding stereoscopic camera system provides at least two cameras mounted parallel to the axis, wherein by comparing the images taken almost simultaneously, corresponding measurements can be made on the detected objects in order to detect them in a multi-dimensional manner.

It is particularly preferred if the control unit determines the position of the detected object relative to the goal element, in particular the distance to the gate passage area, by means of the object recognition. It is conceivable to define a coordinate system for the surveillance area in order to be able to uniquely determine the position of the object by means of coordinates.

The definition of the surveillance area could be done by means of one or more reference marks installed in the surveillance area. Necessary information for unambiguous identification of these reference marks are stored, for example, within the control unit or can be retrieved by them from an external database. The object recognition of the control unit can therefore unambiguously identify the reference marks in the provided image data of the camera system and thereby independently recognize the defined monitoring space. Ideally, the reference marks are arranged at edge points of the monitoring area, so that they span a two or even three-dimensional space as corner or edge points.

For example, only lying within the monitoring area objects or object movements are detected by the control unit and taken into account for the control of the door drive. Operations outside the surveillance area are ignored.

The use of one or more reference marks also allows the implementation of a plausibility check of the system in order to check its proper functionality from time to time. During a plausibility check, for example, all known or at least a predetermined number of Reference marks can be identified in current camera recordings, otherwise an error is assumed. The execution of such a plausibility check can be carried out once, periodically or even randomly.

Also conceivable is a physical subdivision of the monitoring area into one or more partial areas. The subdivision can be implemented by arranging further reference markings, referred to below as subregional markings. By dividing the monitoring area into two or more partial areas, an area-dependent control of the door drive can be implemented. For example, the door drive can be stopped immediately or reversed as soon as an object is detected within a first sub-range. This first subarea represents, for example, the critical area immediately before the door opening, which makes immediate action necessary. In contrast, the detection of an object in a second subarea can trigger alternative control specifications. For example, throttling of the door speed, i. the closing and / or opening movement of the gate element. The sections may be identical or different in size.

As already explained above, the detection of additional object properties of a recognized object can be helpful in addition to pure object recognition. Of particular interest may be the behavior of the object, in particular the determination of one or more motion parameters, ideally a motion vector of the detected object, is advantageous here.

The determination of the direction of movement of the object and / or the speed of movement of the object and their consideration for the door control allows optimization of the door running times and / or reducing the energy demand de Torantriebes. Concretely, an opening movement of the door drive can be automatically triggered by the control unit, if it is determined that the detected object moves towards the gate element within the surveillance area. Otherwise, in the case of an object entering the surveillance area but moving away from the gate element, an unnecessary gate opening can be prevented.

According to a further embodiment it can be provided that the control unit adjusts the opening speed of the gate element as a function of the detected movement speed of the object in the direction of the gate element. Ideally, the opening movement of the gate element is calculated and adjusted by the control unit so that the gate element is sufficiently opened in good time before the arrival of the object. In a further development, movement trajectories of the objects could also be determined in order to be able to better predict the arrival of the objects at the passage area.

Furthermore, it can be provided that instead of a movement of a detected object away from the goal element a closing movement of the gate is triggered, since in this case it is assumed that the already passed through the door opening object is now outside the Torschließkante and therefore a safe shooting the gate element can be done.

According to a particularly preferred embodiment of the method, it can be provided that, in addition to a mere object recognition, an additional object identification takes place. This is possible on the basis of one or more object-characteristic features. Conceivable here is an application of separate object-individual identifications on the object, which can be clearly identified and assigned by the control unit. As a possibility here the use of QR codes is called. In a database, individual control commands and / or authorization data can be assigned to the object-specific identifications. Such a database can be part of the gate system. Also conceivable is access to an external database by means of appropriate communication means of the control unit. In total, an individual, object-dependent control of the door drive is created.

The object identification thus allows automatic authentication of authorized objects, for which an automatic door opening is executed. Unknown objects, however, can be denied entry through the gate.

There is also the possibility for time-dependent authorization. For this purpose, additionally object-related door opening times are stored in the database, so that in the case of individual objects a door control, in particular a door opening, is executed only at specific times or time intervals. Additionally or alternatively, object movement directions may be associated with individual objects in the database. In this case, in the case of certain objects, a door control, in particular a door opening, can only be triggered if these move toward the door element with a predefined direction of movement. For example, if a corresponding object moves only parallel to the door element and thus enters the surveillance area, no door opening occurs.

Furthermore, it can be provided, further reference marks in the immediate gate area or to arrange the door opening, for example, to better capture the current position of the door and to include in the gate control can. It is conceivable, for example, that certain door positions are provided with suitable reference marks. It is possible to install one or more reference markings in a corresponding vertical height for marking a completely closed and / or fully opened and / or middle door position. A mounting of corresponding reference marks on the door frame and or other elements forming the door opening makes sense.

Furthermore, it can be provided to equip the door element itself with corresponding reference marks. It makes sense to use a reference mark on the lower edge of the gate in order to clearly identify the position of the edge on the image recordings.

The individual installed reference markings as well as partial area reference markings can be used to determine the physical dimension of a detected object. The position and the distance of the reference markings from each other can be used here as a reference measure for the determination of the physical size of the objects. Optionally, the control unit, the distances between the reference marks or the exact position of the reference marks are known. An arrangement of reference markings in the camera-near range has the advantage that it can be detected even in poor visibility conditions and used for the object measurement.

If the reference mark is distributed both horizontally and vertically, recorded objects can be measured three-dimensionally. In this case, the vertical height of an object is of particular interest, because in this case the control unit can set the degree of opening of the door element as a function of the respective object. Especially with high-building industrial doors, it can be energetically sensible to open the door only as far as necessary.

For the execution of the process, the installation of at least one stereoscopic camera system is essential. To optimize the coverage, however, the arrangement of multiple camera pairs may be useful. In such a case, the control unit can compare the provided images of the at least two camera systems. For example. can be detected by a second camera pair and those objects that lie with respect to the first pair of cameras in a blind spot or disappear behind a featured element. Most effective is the arrangement of camera pairs on opposite areas of the surveillance area. In addition, the provision of multiple stereoscopic camera systems creates some redundancy or diversity.

For night operation or operation in low daylight, the use of suitable IR modules within the camera system makes sense.

In addition to the method according to the invention, a gate system is proposed, which is characterized by at least one actuatable gate element, at least one door drive for opening and closing the gate element and at least one control unit. According to the invention, it is provided that the door system comprises at least one stereoscopic camera system that provides image recordings of a defined monitoring area in front of the door element. A control unit of the door system comprises means for object recognition on the basis of the image recordings and provides for control of the door drive as a function of an executed object recognition.

The door system preferably comprises means for carrying out the method according to the invention. Accordingly, the gate system is distinguished by the same advantages and properties as have already been explained above with reference to the method according to the invention. A repetitive description is omitted for this reason.

• 1: eine Skizze des Torsystems zur Veranschaulichung der Grundidee der Erfindung,
• 2: eine Skizze zur Erläuterung der Referenzmarkierungen,
• 3: eine Skizze des in Teilbereiche unterteilten Überwachungsbereichs,
• 4: eine Skizze zur Erläuterung der Erfassung von Objektbewegungen,
• 5: eine Skizze zur Erläuterung der Objektidentifikation,
• 6: eine Skizze der Durchgangsöffnung mit zusätzlich angebrachten Referenzmarkierungen in einer Vertikalebene
• 7: eine Skizze zur Verdeutlichung der Objektvermessung, und
• 8: eine Skizze zur Erläuterung der Modifikation des Torsystems zur Vermeidung eines toten Winkels.

Further advantages and details of the invention will be explained below with reference to an embodiment shown in FIGS. Show it:

• 1 : a sketch of the door system to illustrate the basic idea of the invention,
• 2 : a sketch explaining the reference marks,
• 3 : a sketch of the subregions subdivided monitoring area,
• 4 : a sketch for explaining the detection of object movements,
• 5 : a sketch to explain the object identification,
• 6 a sketch of the passage opening with additional reference marks in a vertical plane
• 7 : a sketch to clarify the object measurement, and
• 8th : a sketch to explain the modification of the gate system to avoid a blind spot.

In the following, individual aspects of the method according to the invention will be explained with reference to sketched representations of the door system according to the invention. It goes without saying that the individual aspects of the 1 to 8th can be combined with each other in a gate system, but alternatively can also be implemented individually.

An essential core aspect of the gate system is the method of stereoscopy using at least two cameras mounted parallel to the axis. In this case, the size of an object in the detection area can be measured by offsetting the camera images taken almost simultaneously. The invention applies this method for monitoring the area before a gate passage.

The basic structure of the system and the basic prince of the method should be briefly explained on the basis of 1 be explained. Two cameras mounted parallel to the axis 52 . 54 are by data connection 51 . 53 with a computing unit 50 connected. The cameras are installed so that they are the surveillance area 7 in front of the gate 34 can capture. The arithmetic unit 50 compares those with the camera 52 and camera 54 almost simultaneously generated images with stereoscopic calculations. objects 44 that are in the surveillance level 7 can be recognized as such and set in relation to each other. Here, on the one hand, the height can be 40 of the object 44 determine as well as the exact position in the form of a X - and Y -Coordinate 42 . 43 within one for the surveillance area 7 defined Cartesian coordinate system relative to the gate. With the help of this information can be primarily the safe closing and as a functional extension also opening the passage 35 be performed.

The marking of the surveillance area 7 (Apron) can by suitable reference marks 2 . 6 respectively. Please refer 2 , This allows automatic training of the monitoring area 7 , Furthermore, this can be done a plausibility check of the system in the form that all brands 2 . 6 must be recognized so that the system can issue a lock release.

With the help of further reference markers, subregional reference marks below, the monitoring area can be defined 7 also split into different sections. In 3 is determined by these subregion reference marks 4 the surveillance area 7 divided into two areas namely a Sperrbereich 3 and a warning area 5 , Is a disturbing object in the gate 1 directed blocking area 3 recognized, holds the gate 1 when approaching immediately or opens it again (depending on the setting). One in the rear warning area 5 Detected object slows down the closing movement of the gate 1 only. Through this separation, the user can decide by purely intuitive action, whether he is the gate by crossing the boundary line between the blocking and warning area 3 . 5 wants to close or whether he opens it by further advancing in Torrichtung.

Based 4 the possibility of motion detection for objects should be clarified. By evaluating the images under temporal aspects, it is possible to deduce the direction and speed of an object. If the calculation of the past camera data 10 suggests that an object 11 on the gate 1 in the direction of the arrow 12 moved, becomes the gate 1 at an estimated future time so open that the object 11 without stopping can happen. As a result, the gate is opened as optimally as possible to save through short gate openings, among other energy costs.

Further optimization results when calculating the past camera data 15 suggests that an object 14 from the gate 1 in the direction of the arrow 13 moved away and the gate is not opened even after falling below the minimum distance. Again, the advantage is the avoidance of heat exchange by avoiding the door opening.

Another aspect of the invention is the recognition of identification features of an object and a subsequent object-dependent door control, as shown in the sketch of 5 was illustrated. By linking an object with a unique identification certain properties can be assigned to the object for gate control. The computer unit 50 recognizes an object 26 assigned identification feature 25 and calls for this the associated data from a database in the computer unit 50 from. It is conceivable for identification of the known QR codes, which are, for example, glued to the roof of a forklift.

In the database is deposited, for example, that this QR code the gate 1 on working days between 7: 00h is open 15: 00h, provided that the object 26 in the past 27 on the gate 1 has moved. The gate 1 will match the predicted time 24 open. It is different when an object 21 no identification 22 has: Here is the gate 1 also not open if the object 21 in the past 20 on the gate 1 has moved.

With this extension, opening and closing properties for an object can be stored. Conceivable is the control of opening times or the combination of identification and movement direction or motion vectors: certain objects open, for example, the gate 1 even if they are from the side of the surveillance field 7 drive, other objects, such as a forklift, instead, at almost right angles to the gate 1 drive to initiate an opening process. Furthermore, objects without identification feature 25 open only certain goals or none at all. This feature brings great benefits in optimizing internal goods traffic. For example. Forklift trucks can drive in front of a row of doors without opening them. Other objects can be the gate 1 only open during working hours when they are at almost the right angle the gate 1 approach.

With reference to 2 the installation and use of reference mark in horizontal plane was explained. In addition, however, further reference markings may be arranged in vertical planes, which in 6 is shown. More specifically, the specific proposal of the 6 an extension of the above application around a vertical plane 35 , which is approximately at right angles to the monitored area 7 will be added. By separate marking of the open 30 and the closed position 36 of the gate 31 with reference marks can objects in the surveillance area 7 even with non-visible reference marks 6 of the surveillance area 7 be measured, as may occur in adverse weather or lighting conditions.

In addition, this enhancement provides the opportunity for continuity monitoring. Through the introduction of another reference brand 32 at the gate underneath (see 7 ) can the gate opening 35 be made available in the system as a size. This allows the gate to fit the height 40 a recognized object 44 be opened so that the degree of opening achieved 34 slightly above the height of the object 40 is to optimize the opening and closing times. Furthermore, it can be seen that the monitored object 44 the threshold 37 has happened and the gate can be closed because the camera system can also look behind the threshold. In conjunction with the motion detection can be made here a very reliable statement.

By identifying the gate undetected 32 This can be used for an automated Einrichtbetrieb because the camera system of the gate control can notify the absolute position of Torunterkante, whereby they can match the relative position with their own investigations. It is also conceivable that certain position sensors can be omitted.

In the event that night vision is desired, the camera system can be equipped with a suitable IR camera module and the scene illuminated by IR headlights. Thus, the system can be functional even in the absence of lighting.

By unfortunate situations ( 8th ) it can happen that an object 62 another object 64 obscured because this is in the blind spot 63 the stereo camera 60 lies. This could be the stereo camera 60 Send a closing command to the gate, which would trigger an emergency stop. One such scenario would be through the use of at least one additional stereo camera 65 be prevented, the blind spot 63 can see and the objects 64 sees who the stereo camera 60 can not see anymore. In an extension, it is conceivable that the stereo camera 60 the object data with the stereo camera 65 compares and thereby makes much more safe decisions for the opening and closing of the gates.

Claims (15)

Method for operating a gate system with at least one actuatable gate element, at least one door drive for opening and closing the gate element and a control unit for controlling the door drive, wherein by means of at least one stereoscopic camera system is located in front of the gate element monitoring area, an object detection of the control unit by evaluating the Camera recording detects objects in the surveillance area and controls the gate element, taking into account a detected object in the surveillance area. Method according to Claim 1 , characterized in that the control unit determines the position of the detected object relative to the gate element by means of the object recognition. Method according to one of the preceding claims, characterized in that the monitoring area is characterized by one or more installed in the monitoring area and identifiable by the control unit reference marks, preferably a plausibility check is performed once, periodically or randomly during the door operation, while all or at least one defined number of reference marks must be successfully identified. Method according to one of the preceding claims, characterized in that the monitoring area is subdivided into two or more partial areas, preferably by means of one or more partial area reference markings, wherein one In the case of an object recognized in a first subarea, the door drive is immediately stopped or vice versa, while in the case of an object detected in a second subarea the speed of a closing or opening movement is changed, in particular reduced. Method according to one of the preceding claims, characterized in that a movement of the detected object is detected by means of the object recognition, in particular its direction of movement and / or movement speed, and is taken into account for the control of the door drive. Method according to Claim 5 , characterized in that the control unit triggers an opening movement of the door drive when a detected object moves towards the door element, in particular the opening speed of the door element is adapted to the speed of movement of the object to ensure timely opening of the door element with continuous movement of the object , Method according to one of the preceding claims, characterized in that the object recognition identified objects detected, in particular identified by one or more individual object identifiers, retrieves control data from a database to the identified object and performs an individual, object-dependent control of the door drive. Method according to Claim 7 , characterized in that in the database gate opening times and / or object movement directions are associated with object identification features and different control functions such as a gate opening in identified objects within the surveillance area according to the associated gate opening times and / or object movement directions are triggered. Method according to one of the preceding claims, characterized in that one or more reference marks are arranged in the region of the door opening, preferably for marking different gate element positions, such as the fully closed, fully open and a middle position of the gate element. Method according to one of the preceding claims, characterized in that the door element, in particular the lower door edge, is provided with at least one reference mark. Method according to one of the preceding claims, characterized in that the object recognition measures recognized objects with regard to their physical dimension, ideally three-dimensional dimension, in particular using the reference markings for the identification of the surveillance area and / or the door opening. Method according to Claim 11 , characterized in that the degree of opening of the door is adjusted taking into account the measured object. Method according to one of the preceding claims, characterized in that at least two stereoscopic camera systems are provided, whose recordings are compared by the control unit. Gate system having at least one actuatable gate element, at least one door drive for opening and closing the gate element and at least one control unit, characterized in that at least one stereoscopic camera system for receiving a lying in front of the gate element monitoring area is provided, the control unit comprises means for object recognition based on the image recordings and controls the gate element taking into account the executed object detection. Gate system after Claim 14 , characterized in that the control unit means for carrying out the method according to one of the preceding Claims 1 to 13 includes.

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