DE102020107293A1 - Method for monitoring a pivoting range of a door during a pivoting process, computer program product, computer-readable storage medium and pivoting range monitoring system - Google Patents

Abstract

The invention relates to a method for monitoring a swivel area (2) of a door (3), in which the swivel area (2) is detected by means of an ultrasonic sensor device (4) arranged on the door (3), with an electronic computing device (5) being used Evaluating the transmitted ultrasonic signal (8) and the received ultrasonic signal (13), a swivel area map (14) of the swivel area (2) is generated, with at least one static object (15, 15, which is not relevant for the swiveling process (10)) in the swivel area map (2). 16) is recognized in the swivel area (2) and the swivel area map (14) in a future swiveling process (10) of the door (3) depending on a comparison on the basis of the stored swivel area map (14) with the non-relevant static object (15, 16) and an evaluation of the future swivel range (10), only further objects (17) in the swivel area (2) are recognized which are included in the swivel area map (14) the non-relevant static object (15, 16) are not taken into account. The invention also relates to a computer program product, a computer-readable storage medium and a swivel range monitoring system (1).

Description

The invention relates to a method for monitoring a pivoting range of a door by means of a pivoting range monitoring system, in which the pivoting range of the door is detected by means of an ultrasonic sensor device of the pivoting range monitoring system arranged on the door, wherein at least one ultrasonic signal is detected by means of a transmitting device of the ultrasonic sensor device for detecting the pivoting range by means of the ultrasonic sensor device a pivoting process of the door is transmitted and the at least one ultrasonic signal reflected in the pivoting range is received by means of a receiving device of the ultrasonic sensor device, a pivoting range map of the pivoting range being generated by means of an electronic computing device by evaluating the transmitted ultrasonic signal and the received ultrasonic signal. The invention also relates to a computer program product, a computer-readable storage medium and a pivoting range monitoring system.

It is already known that radar sensors are used nowadays to open doors automatically. In particular, Doppler radars are used to detect objects or people in the swivel range and to trigger the opening of the door accordingly. Furthermore, distance radars can also be used to detect objects during the opening process and, if necessary, to stop the door in order to prevent a collision, for example with a person or another object. Since radars are usually able to measure both distance and speed, the focus of object detection is placed on dynamic objects in order to avoid interference with the door by static surrounding objects. However, these radars are usually very expensive and the use of this technology is very complex.

the DE 10 2007 030 084 A1 describes a method for controlling a drive of a door, with an automatically movable wing and with a sensor for detecting data on the presence of people and objects in an area of the door environment, the data for triggering a change in the movement state of the wing with in one Memory stored reference data are compared, the data recorded by the sensor are then saved as new reference data if they remain unchanged over a specified period of time, and the leaf of the door after the specified period and after saving the new reference data at a greatly reduced speed in its closed position is moved.

Furthermore, the DE 10 2014 118 318 A1 a method for detecting an object in an opening area of a first door of a motor vehicle by means of at least one first distance sensor in and / or on which the first door is arranged and has a detection area in which a current opening angle of the first door is detected and the detection area as a function is adapted from the detected opening angle, wherein a state variable of at least one of the first door different components of the motor vehicle is determined, the state variable describing a position and / or an operational setting of the at least one component, and the detection range of the at least one first distance sensor additionally depending on is adapted to the specific state variable.

Furthermore, the DE 10 2012 014 939 A1 a collision avoidance device and a collision avoidance method, it being provided that one or more first environment sensors, the measurement data of which provide information about a distance from objects in the vicinity of the vehicle, and an evaluation and fusion device that uses the measurement data of the one or more first environment sensors to provide one or more first environment sensors Environment map of the vehicle is determined, based on which probability information for the existence of an object in this individual area can be derived for individual areas in the vehicle's environment, as well as a detection device which is designed to provide control and / or warning information for a collision-free, predicted movement of a vehicle component based on the To determine and provide a map of the surroundings, the freedom from collisions of the predicted movement being dependent on the probability of existence of an object in the at least one marked area, at least one second surroundings sensor with de The evaluation and fusion device is coupled, which is designed to detect a movement of the object relative to the vehicle when the vehicle is at a standstill, at least in an area of the surroundings of the vehicle that includes the at least one marked area, and the evaluation and fusion device is designed to change the environment map when a movement is detected in the one area in such a way that at least the probability that can be derived from the environment map for the at least one marked area is changed.

The object of the present invention is to create a method, a computer program, a computer-readable storage medium and a pivoting range monitoring system by means of which a pivoting movement of the door can be reliably monitored.

This object is achieved by a method, a computer program product, a computer-readable storage medium and a swivel range monitoring system according to the independent patent claims. Advantageous embodiments are specified in the subclaims.

One aspect of the invention relates to a method for monitoring a pivoting range of a door by means of a pivoting range monitoring system, in which the pivoting range of the door is detected by means of an ultrasonic sensor device of the pivoting range monitoring system arranged on the door, wherein at least one ultrasonic signal is detected by means of a transmitting device of the Ultrasonic sensor device is sent out during a pivoting process of the door and the at least one ultrasonic signal reflected in the pivoting range is received by means of a receiving device of the ultrasonic sensor device, a pivoting range map of the pivoting range being generated by means of an electronic computing device by evaluating the transmitted ultrasonic signal and the received ultrasonic signal.

It is provided that at least one static object that is not relevant for the pivoting process is recognized in the pivoting area in the pivoting range map and the pivoting range map with the non-relevant static object is stored in a storage device of the pivoting range monitoring system and, in the event of a future pivoting process of the door, depending on a Comparison based on the stored swivel range map with the non-relevant static object and an evaluation of the future swivel range by means of the electronic computing device only other objects are recognized in the swivel range, which are not taken into account in the swivel range map with the non-relevant static object.

This makes it possible for the pivoting range to be reliably monitored when the door is pivoted. In particular, new objects that correspond to the further object can be reliably detected and, for example, a pivoting process of the door can be interrupted.

In particular, it is made possible that cost-efficient ultrasound systems can be used on the door in order to monitor the pivoting range. In particular, so-called interfering objects can be specifically detected and recognized. Static objects that are permanently present in the area of the door, in particular in the swivel area, such as a carpet, whereby the carpet does not impair the swiveling of the door and thus represents a non-relevant static object, can be suppressed so that a door can open is also possible when echoes are reflected from the irrelevant object in the opening area of the door.

In other words, static objects, in particular the non-relevant static object, which do not hinder the opening or closing of the door and whose echoes, i.e. the reflected ultrasonic signals, have not already been suppressed by a threshold value curve, are displayed in a two-dimensional point cloud during the calibration of the door of the environment, with which the reflection points calculated during subsequent opening and closing processes can be compared in real time. The environment in which the door can open is provided for calibration. A manual or automated calibration of the threshold value curve takes place in the run-up to the generation of the map, so that small echoes, such as floor reflections, are suppressed. An automatic door opening process is now initiated. In particular, only the measurements from the sensors aligned in the opening directions on the outside of the door are of interest here. From the current opening angle of the door and the time stamps of the echoes of the ultrasonic sensors, a two-dimensional position, in particular a so-called pseudo position, of the reflection point is calculated and stored for each sensor pair consisting of an active and a passive ultrasonic sensor, assuming that the measurement is plausible. Once the opening process has been completed, the generated card is stored in the electronic computing device and processed further. The same procedure is then repeated with the rear ultrasonic sensors for a closing process. In this way, a swivel area map of the door swivel area and the immediate vicinity is generated for the front ultrasonic sensors and one for the rear ultrasonic sensors.

In the event of a later opening or closing process, the respective swivel area map can then be used to compare the reflection points calculated during the movement with the stored points and thus to distinguish additional objects or obstacles in the path of the door from unproblematic static objects and to stop the door in good time. should there be an obstacle.

In other words, it is proposed that a detected object be determined in such a way whether it is an unproblematic object or not. For this purpose, objects determined in the calibration phase during opening and closing are stored in the Pivoting area environment map, which in particular represents a two-dimensional map, entered. A probability map is then determined from this data, which indicates whether an object detected later was already present during the calibration and is therefore unproblematic.

According to an advantageous embodiment, the ultrasonic sensor device is provided with at least two separate and position-different ultrasonic sensors, the ultrasonic signal being transmitted by means of at least one first ultrasonic sensor of the at least two ultrasonic sensors and the transmitted and reflected ultrasonic signal being received by at least one second ultrasonic sensor of the at least two ultrasonic sensors. In particular, the two ultrasonic sensors then form a so-called ultrasonic sensor pair. The first ultrasonic sensor can be referred to as an active ultrasonic sensor and the second ultrasonic sensor can be referred to as a passive ultrasonic sensor. The two ultrasonic sensors are arranged in different positions, for example, along a longitudinal axis of the door. For example, the first ultrasonic sensor can be arranged in a front region of the door viewed in the longitudinal direction and the second ultrasonic sensor can be arranged in a rear region of the door viewed in the longitudinal direction. A central arrangement of at least one of the ultrasonic sensors can also be implemented. In the present case, the rear area is to be seen in particular in the area of the pivot point, while the front area has a greater radial distance. In particular, the transmitted ultrasonic signal can only be transmitted from the first ultrasonic sensor, but can both be received by the first ultrasonic sensor and received by the second ultrasonic sensor. In particular, a large number of reflection points can be generated in this way, so that a precise detection of the swivel range is made possible.

It is also advantageous if the ultrasonic sensor device is provided with at least three separate and position-different ultrasonic sensors, the ultrasonic signal being transmitted by means of at least one first ultrasonic sensor of the at least three ultrasonic sensors and at least by means of a second ultrasonic sensor of the at least three ultrasonic sensors and at least by means of a third ultrasonic sensor of the at least three Ultrasonic sensors the transmitted and reflected ultrasonic signal is received. In particular, three ultrasonic sensors are thus arranged on the door. A first ultrasonic sensor can, for example, be arranged in the middle of the door, a second ultrasonic sensor can be arranged, for example, on or in the area of the pivot point of the door, and a third ultrasonic sensor can be arranged, for example, on the outside of the door viewed radially. In particular, the three ultrasonic sensors are thus arranged in different positions when viewed in the longitudinal direction of the door. In particular, it can be provided that, for example, the first ultrasonic sensor, in particular the middle ultrasonic sensor, transmits the ultrasonic signal and the two outer ultrasonic sensors can receive the ultrasonic signal. In particular, the middle ultrasonic sensor can also receive the transmitted ultrasonic signal. This enables a precise map of the surroundings, in particular a precise swivel range map, to be generated by means of the three ultrasonic sensors. The two outer ultrasonic sensors are in particular what are known as passive ultrasonic sensors, while the first ultrasonic sensor is in particular an active ultrasonic sensor.

The ultrasonic sensor device is preferably arranged on an underside of the door. In particular, the ultrasonic sensor device is located in a lower third of the door.

It is also advantageous if the swivel range monitoring system has at least one further ultrasonic sensor device, a swivel range being monitored by means of the ultrasonic sensor device during an opening swiveling process and a swiveling range being monitored by means of the further ultrasonic sensor device during a closing swiveling process. In particular, the first ultrasonic sensor device can be aligned in such a way that it monitors the front-side pivoting range during the opening process. The further ultrasonic sensor device can be arranged on the rear side of the door and monitor the rearward pivoting range. Thus, both the opening pivoting process and the closing pivoting process can be monitored in a simple manner and with fewer components.

In a further advantageous embodiment, an opening angle of the door is detected by means of an opening angle sensor of the swivel area monitoring system and the swivel area map is generated as a function of the detected opening angle. In particular, an ultrasonic signal can be transmitted at different opening angles and the reflected ultrasonic signal can be evaluated accordingly. This makes it possible for a reflection to be recorded at each of the different opening angles, the different reflections at the different opening angles then in turn being able to be combined to form the swivel range map. For example, with a total opening angle of 90 degrees of the door, an ultrasound signal can be transmitted and a degree by degree Ultrasonic signal can be recorded so that a detailed generation of the swivel range map can be realized.

Furthermore, it has proven to be advantageous if a threshold value curve stored in the memory device for detecting objects is taken into account when generating the swivel range map by means of the electronic computing device. In particular, an automatic calibration of the threshold value curve in the closed state can then be carried out in a first step. In the next step, an automatic calibration of the threshold value curve can also be carried out for different opening angles of the door. In the simplest case, it is later possible to interpolate between the defined angle steps during calibration. In this way, a separate threshold value curve is obtained for each opening angle. In principle, these curves can be stored in the electronic computing device and transferred to the ultrasonic sensor itself in accordance with the current opening angle. Any transmission and setting times to the ultrasonic sensor can already be taken into account when setting the threshold values due to the known profile of the opening angle. In this way, a suppression of irrelevant objects can be carried out for the complete opening process by adapting the thresholds. If the object is removed later, there are typically no functional disturbances, since in this case only echoes are removed and no new ones are added.

It is also advantageous if the door is pivoted by means of an actuating device on the door, so that the door is pivoted automatically. In other words, the door is in particular an automatic door. The door is designed in particular for use in buildings or on buildings. As an alternative or in addition, the door can also be arranged on a motor vehicle. The list presented is to be seen purely as an example and is by no means conclusive. This means that the door can be used in other ways.

Furthermore, it has proven to be advantageous if a warning signal is generated by means of the electronic computing device and / or a control signal is generated by means of the electronic computing device when a further object is detected in the pivoting area, so that the pivoting process of the door is interrupted. For example, if there is a person in the swivel area as a further object, this person can be warned by means of the warning signal that the door is being opened or closed. Furthermore, a control signal for the door can be generated so that the pivoting process of the door is interrupted so that the object cannot be injured or impaired. Alternatively or in addition, the pivoting process can be slowed down so that the risk of injury is minimized.

In a further advantageous embodiment, an estimation function is generated on the basis of the swivel area map, whereby it is determined by comparing the estimation function with the evaluation of the future swiveling process whether another object is present in the swivel area. In particular, it is thus provided that the swivel range map can represent an estimation function whose value range corresponds, for example, from 0 to 1 to the estimated probability with which a reflection point located at this position originates from an unproblematic, static object that was already present during calibration. For the calibration, it is provided in particular that the door can be opened. In the run-up to the generation of the map, a threshold value curve can already have been taken into account so that small echoes, such as floor reflections, are suppressed. A two-dimensional point cloud is then generated for each opening and closing process. This estimation function can then in particular be stored within the memory device. The estimator estimates the probabilities with which a point belongs to a static object that was already present during the calibration. In the event of a later opening or closing process, the respective estimation function can be used to compare the reflection points calculated during the movement with this and thus to distinguish additional objects or obstacles in the path of the door from unproblematic static objects and to stop the door in good time if an obstacle is present. In particular, this embodiment can be used to suppress interfering objects that cannot be removed by adapting threshold value curves. The door can also be opened if strong echoes are reflected from non-relevant objects in the door swing area. By converting a point cloud into a two-dimensional estimation function, a simple and real-time check of reflection points for relevance to the movement of the door is provided. The proposed function is therefore the basis for the use of particularly inexpensive and easy to manufacture ultrasonic sensors in door opening systems.

Furthermore, it has proven to be advantageous if, in order to generate the estimation function from the swivel range map, reflection points of the swivel range map are entered in a histogram. In particular, are thus on Based on the swivel area map, the reflection points are entered in a two-dimensional histogram for further processing, with x and y position as class features. The histogram should in particular cover the door swivel range and the immediate vicinity of the door. This enables the estimation function to be generated in a simplified manner on the basis of the histogram.

It is also advantageous if neighboring reflection points are combined in the histogram. In particular, the number of classes in each direction should be selected so that neighboring reflection points are combined or clustered as far as possible without the resolution of the map becoming too low. As a result, the estimating function can be provided in a simplified manner, and precise generation of the estimating function can also be realized.

According to a further advantageous embodiment, the histogram is normalized and the normalized histogram is smoothed by means of a mathematical filter and processed into a two-dimensional estimation function. In particular, after combining the neighboring reflection points, the histogram is normalized and smoothed by applying a filter, in particular a mathematical filter, and processed by further steps to form the two-dimensional estimation function, which in particular has a value range between 0 and 1. The stored reflection points can be discarded and only the estimation function can be stored. This makes it possible for less data, in particular the reflection points, to have to be stored and still be able to provide a reliable estimation function by means of which the pivoting range can be monitored.

Another aspect of the invention relates to a computer program product with program code means which are stored in a computer-readable medium in order to carry out the method for monitoring a swivel range according to the preceding aspect when the computer program product is processed on a processor of an electronic computing device.

Yet another aspect of the invention relates to an electronic computing device with a computer program product according to the preceding aspect.

Yet another aspect of the invention relates to a swivel range monitoring system for monitoring a swivel range of a door, with at least one ultrasonic sensor device and with an electronic computing device, the swivel range monitoring system being designed to carry out a method according to the preceding aspect. In particular, the method is carried out by means of the swivel range monitoring system.

Advantageous embodiments of the method are to be regarded as advantageous embodiments of the computer program product, the computer-readable storage medium and the swivel range monitoring system. To this end, the swivel range monitoring system has objective features which enable the method or an advantageous embodiment thereof to be carried out.

Further features of the invention emerge from the claims, the figures and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the specified combination, but also in other combinations without falling within the scope of the invention leaving. There are thus also embodiments of the invention to be regarded as encompassed and disclosed, which are not explicitly shown and explained in the figures, but emerge and can be generated from the explained embodiments by means of separate combinations of features. Designs and combinations of features are also to be regarded as disclosed, which therefore do not have all the features of an originally formulated independent claim. In addition, designs and combinations of features, in particular through the statements set out above, are to be regarded as disclosed, which go beyond or differ from the combinations of features set forth in the back-references of the claims.

The invention will now be explained in more detail on the basis of preferred exemplary embodiments and with reference to the accompanying drawings.

• 1 eine schematische Draufsicht auf eine Ausführungsform eines Schwenkbereichsüberwachungssystems;
• 2 ein schematisches Diagramm von reflektierten Ultraschallsignalen;
• 3 ein weiteres schematisches Diagramm von reflektierten Ultraschallsignalen;
• 4 ein schematische Zeit-Amplitudendiagramm zur Erzeugung einer Schwellwertkurve;
• 5 ein schematisches Histogramm zur Erzeugung einer Schätzfunktion;
• 6 ein weiteres schematische Histogramm zur Erzeugung einer Schätzfunktion;
• 7 ein schematisches Diagramm einer Schätzfunktion; und
• 8 ein weiteres schematisches Diagramm einer Schätzfunktion.

Show:

• 1 a schematic plan view of an embodiment of a swivel range monitoring system;
• 2 a schematic diagram of reflected ultrasonic signals;
• 3 another schematic diagram of reflected ultrasonic signals;
• 4th a schematic time-amplitude diagram for generating a threshold value curve;
• 5 a schematic histogram for generating an estimator;
• 6th a further schematic histogram for generating an estimation function;
• 7th a schematic diagram of an estimator; and
• 8th another schematic diagram of an estimator.

Identical or functionally identical elements are provided with the same reference symbols in the figures.

1 shows in a schematic plan view an embodiment of a swivel range monitoring system 1 for monitoring a swivel range 2 a door 3 . The swivel range monitoring system 1 has an ultrasonic sensor device 4th and at least one electronic computing device 5 on. In particular, it can be provided that the electronic computing device 5 a storage device 6th having, on the storage device 6th for example a computer readable storage medium 7th can be formed.

In the method of monitoring the pan range 2 the door 3 by means of the swivel range monitoring system 1 is by means of the one on the door 3 arranged ultrasonic sensor device 4th of the swivel range monitoring system 1 the swivel range 2 the door 3 detected, wherein for detecting the swivel range 2 by means of the ultrasonic sensor device 4th at least one ultrasonic signal 8th by means of a transmitting device 9 the ultrasonic sensor device 4th during a panning process 10 the door 3 is sent out and by means of a receiving device 11 , 12th the ultrasonic sensor device 4th the at least one ultrasonic signal reflected in the swivel range 13th is received, by means of the electronic computing device 5 by evaluating the transmitted ultrasonic signal 8th and the received ultrasonic signal 13th a swivel range map 14th ( 2 ) of the swivel range 2 is produced.

It is provided that in the swivel range map 14th at least one for the panning process 10 non-relevant static object 15th , 16 in the swivel range 2 is recognized and the swivel range map 14th with the non-relevant static object 15th , 16 in the storage device 6th of the swivel range monitoring system 1 is saved and for a future pivoting process 10 the door 3 depending on a comparison based on the stored swivel range map 14th with the non-relevant static object 15th , 16 and an evaluation of the future swivel range 2 by means of the electronic computing device 5 only more objects 17th in the swivel range 2 can be recognized which in the swivel range map 14th with the non-relevant static object 15th , 16 are not taken into account.

The other object is here 17th in particular shown in dashed lines, since in particular in 1 a so-called calibration process is shown, in which the further object 17th not located.

In particular, shows the 1 that the ultrasonic sensor device 4th provides at least two separate and position-different ultrasonic sensors, whereby by means of at least one first ultrasonic sensor, which in the present case is the transmitting device 9 corresponds to the ultrasonic signal of the at least two ultrasonic sensors 8th is transmitted and at least by means of a second ultrasonic sensor, which in the present case is at least one of the receiving devices 11 , 12th corresponds to the at least one emitted and reflected ultrasonic signal 13th Will be received. Here, as in the 1 shown, has the ultrasonic sensor device 4th in particular at least three separate ultrasonic sensors in different positions, with at least the first ultrasonic sensor, which in the present case is the receiving device 9 corresponds to the ultrasonic signal of the at least three ultrasonic sensors 8th is transmitted and at least by means of the second ultrasonic sensor, which in the present case is a first receiving device 11 corresponds, and by means of at least one third ultrasonic sensor, which in the present case is a second receiving device 12th corresponds to the emitted and reflected ultrasonic signal 13th Will be received. In particular, at least one ultrasonic sensor pair can thus be provided. In particular, for example, the first ultrasonic sensor is designed as an active ultrasonic sensor, while the two further ultrasonic sensors are designed as so-called passive ultrasonic sensors. By means of the active ultrasonic sensor, both the ultrasonic signal 8th as well as a reflected ultrasonic signal 13th be received. Only a reflected ultrasonic signal can be transmitted by means of the passive ultrasonic sensors 13th be received.

It can also be provided that the swivel range monitoring system 1 at least one further ultrasonic sensor device 18th may have, wherein by means of the ultrasonic sensor device 4th a swivel range 2 is monitored during an opening pivoting process and by means of the further ultrasonic sensor device 18th a swivel range 2 is monitored during a closing pivoting process. The present is the further ultrasonic sensor device 18th shown only schematically as an arrow, and for the sake of clarity not designed with individual ultrasonic sensors.

Furthermore, it can be provided that by means of an opening angle sensor 19th of the swivel range monitoring system 1 an opening angle α of the door 3 is detected and the swivel range map 14th is generated as a function of the detected opening angle α. It can also be provided that the pivoting process 10 the door 3 by means of an adjusting device 20th at the door 3 is carried out so that an automatic panning process 10 the door is carried out.

Furthermore, it can be provided that when a further object is recognized 17th in the swivel range 2 a warning signal by means of the electronic computing device 5 is generated and / or a control signal by means of the electronic computing device 5 is generated so that the panning process 10 the door 3 is interrupted. If, for example, the door is to be provided as an automatic door, a control signal can be sent to the actuating device, for example 20th be transmitted so that the panning process 10 is interrupted or at least slowed down.

2 shows a schematic view of a diagram for the pivoting process 10 . Before creating the swivel range map 14th a manual or automatic threshold value setting is carried out in particular. However, it is the echo, i.e. the reflected ultrasonic signal 13th , of the objects higher than the threshold value setting, objects remain visible to the ultrasonic sensor device 4th . Typically, however, a carpet calls for example 15th an echo of lower amplitude emerges, so that this can be suppressed by the threshold value setting. For a wall 16 this does not apply. Therefore, the swivel range map now becomes during an opening process 14th generated. With each measurement, a two-dimensional position, in particular a so-called pseudo position, of a reflection point is obtained for each sensor pair of active and passive ultrasonic sensors from the arrival time of the respective first echo in both sensors 21 calculated if there is at least one echo each and the combination of both echoes passes a plausibility test. To get this position from the local coordinate system of the sensors, which is especially in 2 is shown to be converted into a global coordinate system, which is in particular in 3 is shown, the position is now the opening angle α of the door 3 rotated at the time of measurement. The position of the echoes is then stored and the other pair of sensors, for example three sensors, results in two pairs, or the next measurement is analyzed. the 2 particularly shows the swivel range map 14th with the wall 16 in the local coordinate system. the 3 particularly shows the wall 16 in the global coordinate system. For the door 3 is in the closed state at x, for example, 0 centimeters parallel to the y-axis from 0 centimeters to y equal to 100 centimeters. In the present case, this is to be regarded as purely exemplary.

Is the opening process complete and all reflection points 21 is entered, the point cloud is stored in the storage device 6th the electronic computing device 5 deposited. To the rear sensors in the door 3 To generate a point cloud, the measurements of this during a closing process are now analyzed in the same way. The two point clouds obtained in this way can then be stored or further processed in order to be able to compare them with newly calculated reflection points during a later opening / closing process 21 to be used. This enables the door to be stopped 3 upon detection of the further object 17th in the door swing area.

4th shows a schematic time-amplitude diagram. In particular, the time t in microseconds is plotted on the abscissa and, in particular, the amplitude A is plotted on the ordinate. This is to be regarded purely as an example and serves only to illustrate the invention. In particular, shows the 4th that in the storage device 6th a threshold curve 22nd can be saved, whereby the threshold value curve 22nd for capturing objects when generating the swivel range map 14th by means of the electronic computing device 5 is taken into account.

In particular, when generating the threshold value curve 22nd both the carpet 15th as well as the wall 16 cause appropriate reflections. Both the carpet 15th as well as the wall 16 are objects necessary for opening the door 3 however are not relevant. The wall 16 may due to the end stop of the door 3 simply be taken into account. Over the carpet 15th can open the door 3 actually drive over it. To now both the carpet 15th as well as the wall 16 for the ultrasonic object detection, the calibration of the threshold value curve is ignored in the state shown 22nd the ultrasonic sensor device 4th carried out. In particular, a closed state is shown. The carpet 15th as well as the wall 16 are therefore already in the field of view of the ultrasonic sensor device during the calibration 4th . This sets the thresholds so high that the non-relevant objects 15th , 16 be ignored. The calibration of the ultrasonic sensor device 4th becomes at different opening angles α of the door 3 repeated to a full set of thresholds for opening the door 3 to obtain. Since, depending on the opening angle α of the door 3 the objects 15th , 16 are located in other positions relative to the individual ultrasonic sensors. This example signal for the calibration measurement is in the 4th shown. An object is located at the high amplitude value at around 11 Microseconds and the further object 15th , 16 at the amplitude value at, for example, 20 to 25 milliseconds. The threshold values are in this figure by the graph 23 shown. These were automatically adapted to the signal, as was the case during the calibration of the door 3 would take place.

5 shows a schematic view of a histogram. In particular, the histogram shown 23 from the global map as shown in the 3 shown is generated. In particular, there is the door 3 in the closed state at x equal to 0 centimeters parallel to the y-axis from y equal to 0 centimeters to y equal to 100 centimeters and opens to the wall 16 there. Are the reflection points 21 entered in the point cloud, this must be processed, for this purpose the points are in the two-dimensional histogram 23 entered, with x and y positions as class features.

In particular, shows the 5 that based on the swivel range map 14th an estimator 24 ( 7th ) is generated, whereby by comparing the estimator 24 with the evaluation of the future pivoting process 10 it is determined whether the further object 17th in the swivel range 2 is available. In particular, this can be used to generate the estimator 24 from the swivel range map 14th Reflection points 21 the swivel range map 14th into the histogram 23 be entered.

The histogram 23 should cover the door swing area and the surrounding area. The class number is, for example, 60 in both the x and y directions, which results in square bins with sides of, for example, 5 centimeters. This is a sufficient resolution for this application. In particular, in the 5 this histogram 23 for the example according to the 2 shown. This is followed by the histogram 23 , like in the 6th shown on a binary card 25th reduced, classes that are contained in one or more receive the value 1 attributed to empty classes the value 0 . This happens in particular, since otherwise individual, heavily filled classes would affect the swivel area map 14th would dominate. The binary histogram 25th is therefore in particular in 6th shown. the 6th thus shows that neighboring reflection points in the histogram 23 be summarized.

However, because of random measurement errors during later opening / closing processes, the reflection points 21 static objects 15th , 16 can also deviate from the positions already measured, the map must be enlarged and smoothed by applying a mathematical filter, for example. In this example, this is done with a two-dimensional Gaussian filter, as is particularly the case in FIG 7th is shown. In other words, it is provided that the histogram 23 is normalized and the normalized histogram is smoothed by means of the mathematical filter and becomes a two-dimensional estimator 24 is processed.

the 8th shows in particular the estimator 24 , in particular the estimator 24 is shown here as two-dimensional. In particular, according to the mathematical filter 7th the range of values of the estimator 24 adjusted to be between 0 and 1. For example, a hyperbolic tangent can be applied to the estimator scaled with a factor 24 be applied. This is intended to achieve the sharpest possible edge from the area with high probability for a static object to the area with low probability. In addition, the covered area is enlarged again. the 8th shows in particular the final estimator 24 . The points can then be discarded and only the estimator 24 can be saved. This estimator 24 is supposed to estimate the probability with which a point becomes a static object 15th , 16 that was already present during calibration. For this purpose, a reflection point is calculated during a later opening / closing process 21 the value of the estimator 24 then assigned to this point. Is the value of the estimator 24 close to 1, so is the reflection point 21 very likely part of a known static object 15th , 16 , the value is rather close 0 , it is probably a new object, especially the additional object 17th , or around an obstacle which, if it is in the door swing area, requires the door to be slowed down or the opening / closing movement to be stopped completely, depending on the distance.

Overall, the invention shows a threshold value calibration for hiding objects 15th , 16 in the ultrasonic signal when opening the door 3 .

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 102007030084 A1 [0003]
• DE 102014118318 A1 [0004]
• DE 102012014939 A1 [0005]

Claims (15)

Method for monitoring a swivel area (2) of a door (3) by means of a swivel area monitoring system (1) in which the swivel area (2) of the door (3) is determined by means of an ultrasonic sensor device (4) of the swivel area monitoring system (1) arranged on the door (3) is detected, wherein for detecting the pivoting range (2) by means of the ultrasonic sensor device (4) at least one ultrasonic signal (8) is transmitted by means of a transmitting device (9) of the ultrasonic sensor device (4) during a pivoting process (10) of the door (3) and by means of a Receiving device (11, 12) of the ultrasonic sensor device (4) which receives at least one ultrasonic signal (13) reflected in the pivoting range (10), with the aid of an electronic computing device (5) by evaluating the transmitted ultrasonic signal (8) and the received ultrasonic signal (13) a swivel area map (14) of the swivel area (2) is generated, characterized in that in the Pivoting area map (2) at least one static object (15, 16) that is not relevant for the swiveling process (10) is detected in the swiveling area (2) and the swiveling area map (14) with the irrelevant static object (15, 16) is stored in a storage device (6) of the pivoting range monitoring system (1) is stored and in a future pivoting process (10) of the door (3) depending on a comparison on the basis of the stored pivoting range map (14) with the non-relevant static object (15, 16) and a Evaluation of the future swivel range (10) by means of the electronic computing device (5) only other objects (17) are recognized in the swivel area (2) which are not taken into account in the swivel area map (14) with the non-relevant static object (15, 16). Procedure according to Claim 1 , characterized in that the ultrasonic sensor device (4) is provided with at least two separate and position-different ultrasonic sensors, wherein the ultrasonic signal (8) is transmitted by means of at least one first ultrasonic sensor of the at least two ultrasonic sensors and the transmitted and transmitted at least by means of a second ultrasonic sensor of the at least two ultrasonic sensors reflected ultrasonic signal (13) is received. Procedure according to Claim 1 or 2 , characterized in that the ultrasonic sensor device (4) is provided with at least three separate and position-different ultrasonic sensors, the ultrasonic signal (8) being transmitted by means of at least one first ultrasonic sensor of the at least three ultrasonic sensors and at least by means of a second ultrasonic sensor of the at least three ultrasonic sensors and at least by means of a third ultrasonic sensor of the at least three ultrasonic sensors, the transmitted and reflected ultrasonic signal (13) is received. Method according to one of the preceding claims, characterized in that the swivel range monitoring system (1) has at least one further ultrasonic sensor device (18), wherein a swivel range (2) is monitored during an opening swiveling process by means of the ultrasonic sensor device (4) and by means of the further ultrasonic sensor device (18) a pivoting range (2) is monitored during a closing pivoting process. Method according to one of the preceding claims, characterized in that an opening angle (α) of the door (3) is recorded by means of an opening angle sensor (19) of the swivel area monitoring system (1) and the swivel area map (14) is generated as a function of the detected opening angle (α) will. Method according to one of the preceding claims, characterized in that a threshold value curve (23) stored in the memory device (6) for detecting objects (15, 16, 18) is taken into account when generating the swivel range map (14) by means of the electronic computing device (5) will. Method according to one of the preceding claims, characterized in that the pivoting process (10) of the door (3) is carried out by means of an adjusting device (20) on the door (3), so that an automatic pivoting process (10) of the door (3) is carried out will. Method according to one of the preceding claims, characterized in that when a further object (17) is detected in the pivoting range (10), a warning signal is generated by means of the electronic computing device (5) and / or a control signal is generated by means of the electronic computing device (5), so that the pivoting process (10) of the door (3) is interrupted. Method according to one of the preceding claims, characterized in that an estimation function (24) is generated on the basis of the swivel range map (14), whereby by comparing the estimation function (24) with the evaluation of the future swiveling process (10) it is determined whether there is another object (17) is present in the swivel area (10). Procedure according to Claim 9 , characterized in that to generate the estimation function (24) from the swivel range map (14) Reflection points (21) of the swivel area map (14) are entered in a histogram (26). Procedure according to Claim 10 , characterized in that adjacent reflection points (21) are summarized in the histogram (26). Procedure according to Claim 11 , characterized in that the histogram (26) is normalized and the normalized histogram (26) is smoothed by means of a mathematical filter and processed into a two-dimensional estimator (24). Computer program product with program code means with program code means, which are stored in a computer-readable medium, to the method according to one of the preceding Claims 1 until 12th to be carried out when the computer program product is processed on a processor of an electronic computing device (5). Computer-readable storage medium (7) with a computer program product according to Claim 13 . Pivoting range monitoring system (1) for monitoring a pivoting range (2) of a door (3), with at least one ultrasonic sensor device (4) and with an electronic computing device (5), the pivoting range monitoring system (1) for performing a method according to one of the Claims 1 until 12th is trained.

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