EP4355967A1 - Ensemble de porte automatique doté d'un dispositif de détection et procédé de fonctionnement d'un ensemble de porte automatique de ce type - Google Patents

Ensemble de porte automatique doté d'un dispositif de détection et procédé de fonctionnement d'un ensemble de porte automatique de ce type

Info

Publication number
EP4355967A1
EP4355967A1 EP22730868.1A EP22730868A EP4355967A1 EP 4355967 A1 EP4355967 A1 EP 4355967A1 EP 22730868 A EP22730868 A EP 22730868A EP 4355967 A1 EP4355967 A1 EP 4355967A1
Authority
EP
European Patent Office
Prior art keywords
area
area camera
automatic
camera
image data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP22730868.1A
Other languages
German (de)
English (en)
Inventor
Alexander Beck
Marco HAURI
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Assa Abloy Entrance Systems AB
Original Assignee
Assa Abloy Entrance Systems AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Assa Abloy Entrance Systems AB filed Critical Assa Abloy Entrance Systems AB
Publication of EP4355967A1 publication Critical patent/EP4355967A1/fr
Pending legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/42—Detection using safety edges
    • E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/42—Detection using safety edges
    • E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
    • E05F2015/434—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound with cameras or optical sensors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/44—Sensors not directly associated with the wing movement
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/52—Safety arrangements associated with the wing motor
    • E05Y2400/53—Wing impact prevention or reduction
    • E05Y2400/54—Obstruction or resistance detection
    • E05Y2400/58—Sensitivity setting or adjustment
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2800/00—Details, accessories and auxiliary operations not otherwise provided for
    • E05Y2800/20—Combinations of elements
    • E05Y2800/21—Combinations of elements of identical elements, e.g. of identical compression springs
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2800/00—Details, accessories and auxiliary operations not otherwise provided for
    • E05Y2800/20—Combinations of elements
    • E05Y2800/22—Combinations of elements of not identical elements of the same category, e.g. combinations of not identical springs
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
    • E05Y2900/13—Type of wing
    • E05Y2900/132—Doors

Definitions

  • the invention relates to an automatic door arrangement with a sensor device and a method for operating such an automatic door arrangement.
  • Such an automatic door arrangement is used in particular in buildings in order to permit or restrict access to the building or within the building or to prevent the building from cooling down or heating up too much.
  • the automatic door arrangement could also be used in means of transport, such as trains or ships.
  • the automatic door arrangement includes various types of automatic doors, such as sliding doors, folding doors, swing doors or revolving doors. All of these doors have in common that the respective door leaf is motor-driven. Here it must be ensured that there are no objects or people in the area of movement of the respective door leaf, in particular to avoid injuries to people. For this reason, sensors are used to detect the presence of objects and people in the movement area of the door leaf.
  • US 10487 565 B2 describes an automatic door arrangement in the form of a sliding door, with a TOF camera being arranged on each side of the sliding door in order to monitor an area in front of the sliding door. Using these TOF cameras, a three-dimensional image can be created to identify objects and people.
  • the object is achieved with regard to the automatic door arrangement according to claim 1.
  • Claim 26 describes a building with such an automatic door system and claim 27 describes a method for operating such an automatic door system's.
  • the automatic door system according to the invention includes a sensor device and is used in particular for use in buildings.
  • the door system also includes at least one door leaf and a drive device (for example an electric motor) in order to move the at least one door leaf.
  • the drive device can also include at least one transmission.
  • a control device for example microcontroller 1er, FPGA is also provided and designed to control the drive device in such a way that it moves the door leaf.
  • the sensor device includes a first area camera which has an image sensor, the first area camera being designed to generate first image data from a detection area in which the automatic door system can be monitored.
  • the first area camera can also be referred to as a MONO camera.
  • the first area camera includes an image sensor and is only designed to record a 2D image and is therefore not a stereo camera, TOF camera or 3D camera.
  • the first area camera preferably includes exactly one optical axis.
  • the detection area preferably corresponds to the entire image that the first area camera can record. In principle, the detection area could also represent only part of the image that can be recorded by the first area camera.
  • the first area camera partially records a carrier structure of the door arrangement due to its mounting position and therefore these pixels of the first area camera do not count as part of the detection area.
  • the control device is designed to perform a detailed analysis based on at least least part of the first image data of the first area camera and at least one piece of additional information to determine whether the door leaf can be moved safely (without collision).
  • the sensor device comprises an information generation device, which is separate from the first area camera and contributes to the generation of the at least one piece of additional information. It is particularly advantageous that a simple and inexpensive area camera is used and that only part of the first image data from the first area camera is offset against additional information in order to achieve greater accuracy. As a result, a cheap camera, in the form of an area camera, can be used, with a separate information generation device being used in order to upgrade parts of the detection area of the area camera with regard to accuracy (if required).
  • control device is designed in the fine analysis to detect the presence of an object (object, person) with greater accuracy on the basis of the at least one piece of additional information towards investigating when this would only be possible with the first image data of the first area camera.
  • the additionally required computing power is only used for the more precise analysis of the protection area.
  • the remaining part of the detection area of the first area camera, which does not belong to the security area, is examined with less accuracy for the presence of an object.
  • the control device is designed to carry out a rough analysis in which only the first image data from the first area camera are analyzed to determine whether there is an object in the detection area.
  • the wording "only" means that in this case the at least one piece of additional information is not used for the analysis.
  • the entire detection area of the first area camera can be examined for the presence of an object without using the at least one piece of additional information, or only that part of the detection area that is not part of the protection area.
  • the information generating device can be put into stand-by mode or switched off completely (for example by the control device) if only a rough analysis is taking place. This further saves energy.
  • control device is designed to carry out a rough analysis of the first image data of the first area camera at regular time intervals.
  • a rough analysis is preferably carried out for each recorded image.
  • a rough analysis which is preferably accompanied by the recording of first image data, can be carried out at regular intervals.
  • a coarse analysis can be performed every 50ms, 100ms, 200ms, 400ms, 600ms, 800ms, 1000ms, 1200ms, 1400ms, 1600ms, 1800ms or 2000ms.
  • a rough analysis is carried out when the door leaf is to be moved. If the door leaf is to remain in its position (e.g. open position), then carrying out a Rough analysis not absolutely necessary.
  • control device is designed to carry out the detailed analysis in the event that the rough analysis of the first image data from the first area camera shows that the probability of an object being in the protection area is greater than a first threshold value. If there is a very high probability (e.g. > 90%) that there is no object in the protection area, the detailed analysis does not have to be carried out. If, on the other hand, there is an object with a very high probability (e.g. > 90%) in the protection area, the detailed analysis does not necessarily have to be carried out either. Rather, the detailed analysis must be carried out when the result of the rough analysis is not clear. So if the rough analysis shows that an object is located in the protection area with a probability that is greater than a first threshold value but preferably less than a second threshold value.
  • the first threshold value can be 10%, 20% or 30%, for example.
  • the second threshold value can be 70%, 80% or 90%, for example. This means that the detailed analysis is only carried out when required and not synchronously with the rough analysis, i.e. every time the rough analysis is also carried out. It is quite possible that the rough analysis is carried out 3 times, 8 times, 16 times, 32 times, 64 times, 128 times or 256 times more often than the detailed analysis.
  • the information generation device is preferably only activated when the fine analysis is to be carried out or the control device requires less energy because it receives the first image data from the first area camera during the rough analysis does not have to be offset against the at least one piece of additional information.
  • control device is designed to carry out the rough analysis and the detailed analysis at the same time or at different times.
  • “Simultaneously” means that the same first image data from the first area camera is used in the rough analysis and the fine analysis and/or that the rough analysis and the fine analysis are carried out at an interval of less than 50 ms.
  • “Time-separated” is to be understood as meaning that different first image data from the first area camera are used for the coarse analysis and the fine analysis and/or that the coarse analysis and the fine analysis are carried out one after the other at an interval of more than 50 ms.
  • control device is designed to only examine the safeguarded area or a sub-area of the safeguarded area for an object in the detailed analysis when the rough analysis and the detailed analysis are carried out at the same time.
  • the remaining detection area of the first area camera which does not belong to the safeguarding area or part of the safeguarding area, is examined for an object in the rough analysis, with the rough analysis explicitly excluding the safeguarding area or part of the safeguarding area .
  • This protection area or part of the protection area is only examined for an object in the detailed analysis.
  • no area is analyzed at the same time by the rough analysis and the detailed analysis.
  • the protection area is an area for which no clear statement could be made in a previous rough analysis as to whether an object is present or not. Only this sub-area is therefore analyzed again in more detail in a detailed analysis.
  • control device is designed to use the same first image data from the first area camera for the coarse analysis and the detailed analysis, or the most recent first image data from the first area camera for the coarse analysis and the detailed analysis.
  • fine analysis is carried out after the rough analysis (or vice versa)
  • the respective analysis is based on different first image data because the first image data has been updated in the meantime.
  • control device is designed to control the drive unit depending on the detection of an object in the security area in such a way that the door leaf is moved to the object while maintaining a minimum distance.
  • the minimum distance can be freely selected and can be at least 10 cm, 20 cm, 30 cm, 40 cm, 50 cm, 60 cm, 70 cm, 80 cm, 90 cm, 100 cm, 120 cm, 140 cm or at least 160 cm.
  • the minimum distance is also adjustable depending on the result of the detailed analysis. If, for example, it is detected that the object is an older person, the minimum distance is selected to be greater, for example, than if the person is a younger person or an animal (for example) acts. This ensures that the building heats up or cools down less.
  • the security area in the case of sliding doors runs on both sides of the sliding door, approximately following a travel path of the door leaf.
  • the security area runs in the direction of movement in front of the respective swing door.
  • the security area runs in the direction of movement in front of the respective door leaf and in front of the respective fixed secondary closing edge.
  • the security area runs on at least one side or on exactly one side of the folding door.
  • control device is designed to carry out the detailed analysis (e.g. immediately and/or only) before the movement of the door leaf and/or (e.g. only) during the movement of the door leaf.
  • the fine analysis would only be carried out when required, which in turn saves computing power in the control device.
  • the fine analysis could be carried out independently of the detection result of an object as part of the rough analysis. However, it could still be carried out as needed, depending on the detection result in the rough analysis.
  • the first area camera is designed to only take 2D images.
  • a very costly Inexpensive area cameras can be used which, for example, only have resolutions of, for example, less than 10 megapixels, 8 megapixels, 6 megapixels, 4 megapixels, 3 megapixels or less than 2 megapixels.
  • the at least one piece of additional information is a structured light pattern, which is contained in the first image data of the first area camera.
  • the information generating device comprises a projector which is designed to generate the structured light pattern and to emit it into the detection area of the first area camera. The use of such a structured light pattern has yielded surprising results in terms of detection accuracy and cost.
  • the at least one piece of additional information can also include second image data.
  • the information generation device is a second area camera, which also includes (precisely) an image sensor. This second area camera is preferably also designed to record only 2D images. The optical axis of the second area camera deviates (significantly) from the optical axis of the first area camera.
  • the first and second area cameras capture different areas and only overlap in a partial area that forms the security area.
  • An angle between the optical axis of the first area camera and the optical axis of the second area camera is preferably greater than 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, 60°, 65°, 70°, 75°, 80°, 85°, 90°, 95°, 100°, 105°, 110°, 115°, 120°, 125°, 130° or greater than 140°.
  • the angle is preferably smaller than 145°, 140°, 135°, 130°, 125°, 120°, 115°, 110°, 105°, 100°, 95°, 90°, 85°, 80°, 75°, 70°, 65°, 60°, 55°, 50° , 45°, 40°, 35°, 30°, 25°, 20 or less than 15°. If the angle is 0°, both optical axes would run parallel to one another.
  • the at least one piece of information can also be an illumination light, which stops the first image data of the first area camera.
  • the information-generating device comprises an illumination source.
  • the lighting source is designed to generate the illumination light only for a period of time and to emit it into the detection area of the first area camera, the duration of which corresponds approximately to the detailed analysis. This means that the illumination light is not switched on permanently, but is only switched on when required, namely when the at least one piece of additional information is to be generated. If the detailed analysis is not called up for a longer period of time (e.g. because the door leaf is permanently open), the illumination light remains switched off.
  • control device is designed to compare the structured light pattern in the first image data of the first area camera with a reference pattern.
  • the drive device is then controlled in such a way that it moves the at least one door leaf without a collision (in the direction of the object or away from the object) or does not move or stops.
  • the reference pattern can be saved (ex works) or recorded and saved in a training mode. In the event that longer If there is no change in the protection area over a period of time (eg several minutes), the current structured light pattern can be saved as a new reference pattern.
  • a comparison can be understood as a pure comparison of the pixels.
  • a reference pattern can therefore be understood to mean reference image data or also the result of such an algorithm that has been applied to reference image data.
  • control device is designed to calculate the first image data and the second image data in their overlapping area (preferably the overlapping area corresponds to the protection area) with one another in order to increase or spatially increase the resolution compared to the first image data alone to generate che information.
  • the drive device is controlled in such a way that it moves the at least one door leaf without collision (in the direction of the object or away from the object) or does not move or stops.
  • control device is designed to compare the first image data, which is brightened by the illumination light, with reference image data.
  • the drive device is controlled in such a way that it moves the at least one door leaf (in the direction of the object or away from the object) without a collision or does not move or stops.
  • the reference image data can be stored (ex works) or recorded and stored in a training mode. In the event that there is no change in the protection area for a longer period of time (eg several minutes), the first brightened image data from the first area camera can be stored as new reference image data.
  • the control device is designed to carry out the detailed analysis with two or three different pieces of additional information.
  • the information generating device would include, for example, the projector and the second area camera or the illumination source.
  • the first image data would include the structured light pattern and for further first image data to be recorded, which then contain the brightening but not the structured light pattern.
  • the first image data with the structured light pattern could also be included together with the second image data will be charged.
  • the second image data could also be offset against the first image data without the structured light pattern.
  • the control device is designed to explore the detailed analysis before the movement of the door leaf and/or during the movement of the door leaf.
  • the wording “before the door leaf is moved” preferably means that the detailed analysis is activated a few seconds ( ⁇ 2s, ⁇ 1s, ⁇ 0.5s, ⁇ 0.1s) before the movement, i.e. when a command for the movement has already been generated would.
  • the structured light pattern has a wavelength in the IR range.
  • the structured light pattern is formed by patterns with a different brightness distribution.
  • the structured light pattern preferably remains constant, at least until the projector is changed. This means that the structured light pattern preferably does not change during a door cycle (opening, closing).
  • the illumination light also has a wavelength in the IR range. Such a wavelength is not visible to the human eye.
  • the first and second area cameras work in this range of wavelengths.
  • the structured light pattern consists of or comprises lines, dashed lines, grids, dots and/or waves. In principle, any shapes and patterns are conceivable.
  • the lines or the dashed lines run parallel or at an angle to the door leaf. Additionally or alternatively, the lines or the dashed lines also run parallel to one another.
  • the distances between respectively adjacent structures of the structured light pattern are approximately the same or vary by less than 10%, 15%, 20%, 25% or by less than 30%. In a further preferred embodiment, the distance between two structures of the structured light pattern is less than 10 cm, 8 cm, 6 cm or less than 4 cm. Additionally or alternatively, however, the distance is more than 1 cm, 2 cm, 3 cm, 5 cm, 7 cm or more than 8 cm. In principle, the distance should be selected in such a way that the resolution of the first area camera can distinguish the different structures of the structured light pattern from one another. If the first area camera is mounted further away, the distance should be greater than if the first area camera is mounted closer to the structures.
  • the thickness of a structure of the structured light pattern is less than 8 mm, 6 mm, 4 mm or less than 3 mm. Additionally or alternatively, the thickness of a structure of the structured light pattern is more than 0.5 mm, 1 mm, 2 mm or more than 3 mm. The thickness of such a structure preferably had to be selected in such a way that it encompasses at least one pixel of the first image data from the first area camera.
  • the automatic door system is an automatic sliding door with one, two or more than two door leaves.
  • the first area camera is arranged on a first side of the automatic sliding door.
  • the detection area of the first area camera is predominantly or completely on the first side of the automatic sliding door.
  • the sensor device includes a third area camera, which includes an image sensor.
  • the third area camera preferably only records 2D images.
  • the third area camera also creates a detection area that monitors areas of the automatic door system.
  • the third area camera is arranged on a second side of the automatic sliding door.
  • the detection area of the third area camera is predominantly or completely on the second side of the automatic sliding door.
  • the detection areas of the first and third area cameras are preferably of the same size. More preferably, they are symmetrical to each other.
  • the projector of the information generation device is arranged in the passage area of the automatic sliding door. This projector is then designed to generate the structured light pattern and to emit it into the detection area of the first and the third area camera.
  • the information generation device could also include a further projector. This would also be designed to generate a structured light pattern and radiate it into the detection area of the third area camera.
  • the control device is then designed to compare the structured light pattern in the first image data of the first area camera and in the third image data of the third area camera with a respective reference pattern.
  • the drive device is controlled in such a way that it moves the at least one door leaf without a collision (in the direction of the object or away from the object) or does not move or stops.
  • both sides of an automatic sliding door can be monitored.
  • the automatic door system is an automatic one Sliding door with one, two or more than two door leaves.
  • the control device is designed to monitor a main closing edge of the automatic sliding door with the first area camera and the projector during the detailed analysis.
  • a secondary closing edge of the automatic sliding door can be monitored. This is possible with the first area camera and the projector or alternatively with an additional area camera and the projector or with the first area camera and an additional projector. Alternatively, this can be achieved with an additional area camera and an additional projector. It is quite possible that the monitoring area only runs parallel to the travel path of the door leaf and the actual path over which the secondary closing edge moves is not being monitored. In principle, however, the respective area camera and the respective projector could also monitor the path of movement of the secondary closing edge.
  • the second area camera is not identical to the first area camera.
  • the first and the second area camera can differ in the type of image sensor, in the resolution, in the size of the detection area, in the type of optics, in the alignment and/or in the place of attachment. In this case, automatic door systems can be easily retrofitted or defective cameras can be replaced very cheaply.
  • the automatic door system is an automatic sliding door with one, two or more than two door leaves.
  • the first area camera is on a first side of the arranged automatic sliding door and the second area camera is arranged on a second side of the automatic sliding door.
  • the first and second area cameras are arranged in the passage area of the automatic sliding door in such a way that, in a first alternative, a part of the detection area of the second area camera extends to the first side of the automatic sliding door when the sliding door is at least partially open and coincides with the detection area of the first area camera overlapped.
  • the control device is then designed to offset the first and second image data in the overlapping area (in particular the safeguarding area) on the first side of the automatic sliding door with one another in the detailed analysis.
  • the resolution can be increased or spatial information can be generated.
  • the drive device can be controlled in such a way that it moves the at least one door leaf without collision (in the direction of the object or away from the object) or does not move or stops.
  • the first and second area cameras are arranged in the passage area of the automatic sliding door in such a way that, in a second alternative, part of the detection area of the first area camera extends to the second side of the automatic sliding door when the sliding door is at least partially open and overlaps the detection range of the second area camera.
  • the control device is then designed to calculate the first and second image data in the overlapping area (in particular the safety area) on the second side of the automatic sliding door with one another in the detailed analysis. This can the resolution is increased or spatial information can be generated.
  • the drive device can be controlled in such a way that it moves the at least one door leaf without collision (in the direction of the object or away from the object) or does not move or stops.
  • the automatic door system is an automatic sliding door with one, two or more than two door leaves.
  • the control device is designed to monitor a main closing edge of the automatic sliding door with the first area camera and the second area camera in the fine analysis.
  • a secondary closing edge of the automatic sliding door can be monitored with the first area camera and the second area camera.
  • this secondary closing edge can also be monitored with an additional area camera and the second area camera.
  • this secondary closing edge can also be monitored with the first area camera and another area camera.
  • this secondary closing edge can also be monitored with two additional area cameras. It is quite possible that the monitored area only runs parallel to the travel path of the door leaf and the actual path over which the secondary closing edge moves is not monitored. In principle, however, the respective area camera could also monitor the path of movement of the secondary closing edge.
  • the illumination source is a flashlight or a pulsed light source.
  • This flash light fires in sync with the shot the first area scan camera. This means that the flashlight is triggered when the photo sensor of the first area camera picks up the incident light.
  • the lighting source is not permanently switched on and can also emit a high light output for short-term triggering without overheating. As a result, the detection rate of any objects in the first image data is particularly high.
  • a pulsed light source is used, many light pulses are generated one after the other. The duration of a light pulse is preferably shorter than the time in which the image is recorded.
  • the pulsed light source therefore does not have to be controlled in a synchronized manner for recording by the first area camera. It can be controlled asynchronously to the first area camera.
  • the first and/or second area camera or a further area camera preferably allows IR light to pass through in the wavelength of the additional illumination source.
  • An IR pattern and/or the image of an IR illumination can therefore preferably be recognized with the area camera.
  • the control device receives the additional information exclusively from (precisely) one area camera. IR photodiodes, which are not part of the area scan camera, are not used to monitor the security area.
  • a building is equipped with such an automatic door system.
  • the building comprises walls, with a passage being made in the walls.
  • the automatic door system is installed in this passage.
  • a method for operating this automatic door system is specified.
  • image data from the first area camera, which cover a first detection area are transmitted to the control device together with the at least one piece of additional information.
  • the door leaf is moved if there is no danger from objects.
  • Figures 1A and 1B a hedging area
  • Figures 2A, 2B, 2C, 2D different patterns of the structured light
  • Figures 3A and 3B an embodiment of a
  • Figures 4A and 4B an embodiment of a
  • Figures 5A and 5B an embodiment of a
  • Figures 6A, 6B and 6C an embodiment of a
  • Figures 8A and 8B an embodiment of a sliding door system, with a second
  • Figures 9A, 9B, 10A, 10B an embodiment of a
  • FIGS. 11A, 11B, 11C different types of automatic door system in the form of a swing door
  • FIG. 12 a method for operating the automatic door system.
  • FIG. 1A shows a door system 1 in the form of an automatic sliding door.
  • the automatic sliding door comprises a first and a second door leaf 2a, 2b which can be moved towards one another in order to close a passage area 3 in this case, or away from one another in order to release a passage area 3 in this case.
  • the first and the second door leaf 2a, 2b comprise a main closing edge 4, the main closing edges 4 of the first and second door leaf 2a, 2b adjoining one another in the closed state of the sliding door and preferably touching one another. Secondary closing edges 5 are arranged opposite the respective main closing edge 4 .
  • the first and second door leaf 2a, 2b comprises a frame which preferably holds a pane of glass.
  • FIG. 1A A (fully) open state of the sliding door is shown in FIG. 1A.
  • the first and the second door panel 2a, 2b can be moved by a motor.
  • a drive device 6 is available for this purpose. This includes at least one electric motor. There is preferably exactly one electric motor, via which all door leaves 2a, 2b can be driven. However, there can also be one electric motor per door leaf 2a, 2b.
  • a control device 7 is provided. This is designed to control the drive device 6 in such a way that it moves the at least one door leaf 2a, 2b, in the case of FIG. 1A, the first and the second door leaf 2a, 2b.
  • the automatic door system 1 includes a sensor device 8.
  • the sensor device 8 includes a first area camera 9a.
  • the first area camera 9a is designed to only take 2D images.
  • the first area camera 9a therefore includes, in particular, precisely one image sensor and more preferably precisely one optical axis.
  • the automatic door system 1 preferably also comprises an upper profile arrangement 10a, which is arranged above the first and second door leaf 2a, 2b and, in particular, is fastened to a supporting structure of a building (e.g. wall, ceiling).
  • the drive device 6 and the control device 7 are preferably also arranged in the upper profile arrangement 10a.
  • the first area camera 9a is also arranged on or in this upper profile arrangement 10a.
  • a lower profile arrangement 10b which is arranged below the first and second door leaf 2a, 2b and, in particular, is fastened to or in the floor of a building.
  • the lower profile arrangement 10b preferably comprises a guide rail, in which the first and the second door leaf 2a, 2b engage with a guide arm or guide sword. Drainage via corresponding drainage channels can also take place via the lower profile arrangement 10b.
  • the first area camera is designed to generate first image data from a detection area 11, which can be monitored in the automatic door system 1 in this detection area 11.
  • the control device 7 is thereto designed to receive this first image data from the detection area 11 of the first area camera 9a and to evaluate the presence of an object (object, person, animal). If, for example, a person is detected, the drive device 6 is controlled in such a way that it moves the door leaves 2a, 2b into an open position, so that the passage area 3 is released. After a certain time has elapsed, the door leaves 2a, 2b are preferably moved back into a closed position if no object is detected. Cross-traffic masking is of course also possible, so that the door leaves 2a, 2b are not moved into an open position if it is recognized that a person is merely walking along the door leaves 2a, 2b.
  • first image data are analyzed at regular time intervals, preferably several times per second.
  • the detection area 11 extends on a first side of the sliding door, preferably over a width which corresponds to the length of a travel path of the first and second door leaf 2a, 2b.
  • the first area camera 9a preferably works in the IR range (infrared). However, it could also work in the wavelength range of light that is visible to humans.
  • Control device 7 is also designed to use a fine analysis, which can also be referred to as a fine analysis procedure, to determine whether the first and/or second door leaf 2a, 2b can be moved safely (without collision).
  • the sensor device 8 also includes an information generating device 13, which is (e.g. spatially) separated from the first area camera 9a (spaced attachment to the upper profile arrangement 10a, separate housing, etc.) and for generating the at least one additional information 12 contributes.
  • the additional information 12 is a structured light pattern 14.
  • the information generation device 13 comprises a projector 15, which in particular comprises a laser, in order to generate and emit the structured light pattern 14.
  • the projector preferably works in the IR range and is more preferably integrated on or in the upper profile arrangement 10a.
  • the control device 7 is designed to compare the structured light pattern 14 in the first image data of the first area camera 9a with a reference pattern in order to control the drive device 6 depending on the result in such a way that it moves the at least one door leaf 2a, 2b without a collision or does not move or stops.
  • FIG. 1A an enlarged section of the structured light pattern 14 is shown in the left area.
  • the structured light pattern 14 is preferably only emitted in a partial area of the detection area 11 of the first area camera 9a. This sub-area is referred to as the protection area 16 . It preferably extends 20 cm away from the respective door leaf 2a, 2b.
  • the control device 7 is designed to examine the security area 16 with greater accuracy for the presence of an object 17 .
  • the remaining detection area 11 is examined for an object 17 with a lower resolution as part of a rough analysis, which can also be called a rough analysis procedure. As part of the detailed analysis, it should be determined whether there is an immediate danger to an object 17 in the immediate vicinity of the movable door leaf 2a, 2b.
  • the rough analysis and the detailed analysis can be carried out at the same time.
  • the fine analysis is preferably only carried out when required, namely when the respective door leaf 2a, 2b is to be moved or is just being moved.
  • the rough analysis and the detailed analysis could also be carried out at different times.
  • the detailed analysis can also only be carried out for a sub-area of the protection area 16 .
  • the individual door leaves 2a, 2b can be moved independently of one another, specifically depending on the position of the object 17. If the control device 7, as part of the fine analysis, comes to the conclusion that there is only a probability of collision for one door leaf 2a, 2b, the other door leaf 2a, 2b can be moved normally.
  • FIG. 1B shows a change in the structured light pattern 14 when the structured light pattern 14 is on Object 17 hits.
  • the structured light pattern 14 comprises lines which preferably run perpendicularly to the first or second door leaf 2a, 2b. The distance between the individual lines changes due to the presence of an object 17.
  • This change can be detected in order to be able to deduce the presence of an object 17 from it.
  • the detection can take place by means of a pixel comparison, for example, or it can also be the result of an algorithm (eg FFT).
  • a three-dimensional shape of the object 17 can also be calculated by the control device 7 on the basis of the structured light pattern 14 and its change.
  • the structured light pattern 14 has a wavelength that is preferably in the IR range.
  • the structured light pattern 14 is formed by patterns (in this case lines) with a different brightness distribution. The lines can be formed by lighter sections than the rest (and vice versa).
  • the distances between adjacent structures are preferably approximately the same. They can also vary by less than 10%, 15%, 20%, 25% or less than 30% in the reference pattern. In principle, the arrangement of the structures can be arbitrary, as long as this arrangement does not change continuously during operation.
  • the reference pattern can be image data, so that a pixel comparison can be carried out, for example. But it can also be the reference pattern be a result of an algorithm applied to captured image data.
  • the distance between two structures of the structured light pattern 14 is preferably less than 10 cm, 8 cm, 6 cm or less than 4 cm. However, it is preferably more than 1 cm, 2 cm, 13 m, 5 cm, 7 cm or more than 9 cm.
  • the thickness of a corresponding structure (for example line) of the structured light pattern 14, which is preferably illuminated more brightly than the rest, is, for example, less than 8 mm, 6 mm, 4 mm or less than 3 mm. However, it is preferably more than 0.5 mm, 1 mm, 2 mm or more than 3 mm.
  • FIGS. 2A, 2B, 2C and 2D show different top views of the automatic door system 1 in the form of a sliding door, from which the shape of the structured light pattern 14 emerges.
  • the structured light pattern 14 has a lattice-like structure and comprises parallel lines and lines running perpendicular thereto. In hollow circles other positions are shown where the projector 15 of the information generating device 13 could be mounted. It can be seen that the first area camera 9a and the information generation device 13 are separate objects.
  • the structured light pattern comprises 14 points. These can be distributed as desired, but they must have a corresponding diameter that can still be resolved by the first area camera 9a. The distance between the points should not be too large, so that objects and people can be reliably detected.
  • the structured light pattern 14 is again lines, which in this case run parallel to the first and second door leaf 2a, 2b.
  • the structured light pattern 14 is again lines, which in this case run perpendicularly to the first and second door leaf 2a, 2b.
  • Structured light pattern 14 could also include dashed lines or waves, or any other shape.
  • FIGS. 3A and 3B show another exemplary embodiment of the automatic door system 1.
  • the first surface camera 9a is arranged on a first side 18 of the automatic sliding door.
  • the detection range of the first area camera 9a also extends on this first side 18 .
  • the sensor device 8 also includes a third area camera 20 that generates third image data from a detection area that also monitors areas of the automatic door system 1 .
  • the third area camera 20 is arranged on a second side 19 and monitors a second side 19.
  • the detection area 11 of the first area camera 9a lies entirely on the first side 18.
  • the detection area 11 of the third area camera 20 lies entirely on the second side 19.
  • the projector 15 of the information generation device 13 is arranged in the passage area 3 and designed to generate the structured light pattern 14 and to radiate it into the detection area 11 of the first and the third area camera 9a, 20.
  • the control device 7 is designed to assign the structured light pattern 14 in the first image data from the first area camera 9a and in the third image data from the third area camera 20 to a respective reference pattern (reference pattern for the first area camera 9a and reference pattern for the third area camera 20). compare in order to control the drive device 6 depending on the result in such a way that it moves the at least one door leaf 2a, 2b without collision or does not move or stops.
  • the first and the third area camera 9a, 20 can be identical or different from each other. Distinguishing features could be, for example, the type of image sensor, the resolution, the size of the detection area, the optics and/or the orientation.
  • Figures 4A and 4B show another exemplary embodiment of the automatic door system 1.
  • the information generating device 13 includes a further projector 21.
  • the projector 15 is preferably arranged on the first side 18 of the automatic sliding door, whereas the another projector 21 is arranged on the second page 19 of the automatic sliding door.
  • the structured light patterns 14 of both projectors 15, 21 preferably do not overlap. In principle, the structured light patterns 14 of both projectors 15, 21 can also partially overlap.
  • the other projector 21 generates a structured light pattern 14 and outputs it into the detection area 11 of the third area camera 20 on the second side 19 of the automatic sliding door.
  • Figures 5A, 5B show the automatic door system 1 in the form of an automatic sliding door.
  • the control device 7 is designed to monitor a main closing edge 4 with the first area camera 9a and the projector 15 during the detailed analysis.
  • the secondary closing edge 5 of the first or second door leaf 2a, 2b can be monitored with a further area camera 22 and a further projector 21 .
  • the structured light pattern 14 of the projector 15, which monitors the main closing edge 4, and the other projector 21, which monitors the secondary closing edge 5, are preferably free of overlap or mostly free of overlap to each other.
  • two security areas 16 would be monitored in the detailed analysis.
  • a protection area 16 (not shown) would aim at the main closing edge 4 and another protection area 16 at the secondary closing edge 5 .
  • protection area 16 Depending on the travel path of the door leaf 2a, 2b (opening, closing), preferably only one protection area 16 would be monitored in the fine analysis. If the door leaf 2a, 2b is to be opened, only the safety area 16 for the adjacent closing edge 5 would preferably be monitored. If the door leaf 2a, 2b is to be closed, then preferably only the protection area 16 (not shown) for the main closing edge 4 would be monitored.
  • the protection area 16 for the secondary closing edge 5 preferably also covers the actual travel path of the respective door leaf 2a, 2b and more preferably extends across the lower profile assembly 10b.
  • the additional area camera 22 has its own detection area 11. This area of detection can be congruent with the area of detection 11 of the first area camera 9a.
  • the detection areas 11 of the first and the further area cameras 9a, 22 only partially overlap. They can also be arranged completely without overlapping one another.
  • the secondary closing edge 5 would be monitored with the first area camera 9a and the projector 15. Monitoring with a direct area camera 22 and the known projector 15 would also be conceivable. The monitoring can also take place with the first area camera 9a and a further projector 21 .
  • the first and the additional area cameras 9a, 22 can be identical or different from one another. Distinguishing features can be, for example, the type of image sensor, the resolution, the size of the detection area, the optics and/or the orientation.
  • the at least one piece of additional information 12 is second image data.
  • the information generating device 13 comprises a second area camera 9b. This preferably also includes (precisely) an image sensor and thus further preferential point (precisely) an optical axis.
  • the second surface camera 9b is designed to generate second image data. Only part of the detection area 11 of the first area camera 9a is overlapped by the detection area 11 of the second area camera 9b.
  • the first area camera 9a is mounted on the first side 18 and the second area camera 9b on the second side 19 or is predominantly aligned with this side, with the detection area 11 of the first area camera 9a extending predominantly on the first side 18 and with the detection area 11 of the second area camera 9b extends predominantly to the second side 19.
  • the detection area 11 of the second area camera 9b overlaps with part of the detection area 11 of the first area camera 9a on the first side 18. This overlapping area then forms the protection area 16.
  • the control device 7 is designed to record the first and second image data in this overlapping area area with each other in order to increase the resolution or to generate spatial information. Depending on this result, the drive device 6 can be controlled in such a way that it moves the at least one door leaf without a collision or does not move or stops it.
  • the detection area 11 of the first area camera 9a preferably also overlaps with part of the detection area 11 of the second area camera 9b on the second side 19 of the sliding door. This area of overlap then forms the protection area 16 on the second side 19 of the sliding door.
  • the control device 7 is designed to process the first image data and the second To calculate image data in this overlapping area with each other in order to increase the resolution or to generate spatial information. Depending on this result, the drive device 6 can be controlled in such a way that it moves the at least one door leaf without colliding or does not move or stops it.
  • FIGS. 7A, 7B and 7C show that it is also possible to use more than one piece of additional information 12 at the same time.
  • the control device 7 is designed to carry out the detailed analysis with two or three different pieces of additional information 12 .
  • second image data from the second area camera 9b is used and offset against the first image data from the first area camera 9a in order to obtain greater accuracy as to whether an object 17 is located in the protection area 16 on the first side 18 .
  • a structured light pattern 14 can also be used via a projector 15 in order to further increase the accuracy in order to determine with particular certainty whether there is an object 17 in the protection area 16 on the first side 18 .
  • the projector 15 is arranged in the passage area 3 and emits the structured light pattern 14 both on the first side 18 and on the second side 19 .
  • the embodiment of FIGS. 7A, 7B, 7C is therefore a mixture of the embodiment of FIGS. 3A, 3B and 6A, 6B, 6C.
  • FIGS. 8A and 8B describe that the secondary closing edge 5 can also be monitored using two area cameras. In principle, it is possible for the secondary closing edge 5 to be monitored with the first area camera 9a and the second area camera 9b.
  • the main closing edge 4 is preferably also monitored with these two area cameras 9a, 9b.
  • the overlapping area of the two detection areas 11 of the first and second area cameras 9a, 9b is preferably the security area 16.
  • the secondary closing edge 5 could be monitored with the first area camera 9a and with another area camera 22.
  • the secondary closing edge 5 could also be monitored with the second area camera 9b and another area camera 22 .
  • 2 additional area cameras 22 could also be used.
  • FIGS. 9A, 9B show a further exemplary embodiment of the automatic door system 1.
  • the at least one piece of additional information 12 is an illumination light 23, which brightens the first image data from the first area camera 9a.
  • the information generating device 13 comprises an illumination source 24.
  • This illumination source is designed to generate the illumination light 23 for only a period of time and to radiate it into the detection area 11 of the first area camera 9a, which is approximately the period for the fine analysis is equivalent to.
  • the illumination source 24 is preferably also located on the upper profile assembly 10a.
  • the control device 7 is designed to compare the first image data, which is brightened by the illumination light 23, with reference image data in order to control the drive device 6 depending on the result in such a way that it moves the at least one door leaf 2a, 2b without a collision or does not move or stops.
  • the object 17 is not in the detection area 11. However, the object 17 casts a shadow 25, for example due to the position of the sun, which falls in the detection area 11 of the first area camera 9a. If only the first image data from the first area camera 9a were evaluated, the control device 7 would tend to an object 17 being located in the detection area 11 due to the shadow cast. The Steuervor device 7 would then open one or both door leaves 2a, 2b or cancel a closing process and possibly initiate an opening process.
  • FIG. 9B the result obtained in FIG. 9A as part of the rough analysis is checked.
  • This check is carried out as part of the detailed analysis.
  • the detection area 11 of the first area camera 9a is brightened. Due to the additional illumination with the illumination light 23, the shadows are no longer present or are reduced to such an extent that the control device 7, when comparing the first image data now obtained from the first area camera 9a with reference image data, comes to the conclusion that there is no object 17 in the Detection area 11 or in (not shown) From security area 16 is located.
  • Figures 10A, 10B Another scenario is shown in Figures 10A, 10B. In this case, there is an object 17 immediately in front of the main closing edge 4 of the respective door leaf 2a, 2b.
  • the object 17 is not discovered in a sole evaluation as part of the rough analysis of the first image data recorded by the first area camera 9a.
  • a fine analysis is carried out and the lighting source 24 is activated, which emits the illumination light 23 .
  • the illumination light 23 casts a shadow. This shadow is cast upon evaluation of the first image data, which contains the at least one piece of additional information 12 in the form of brightening by the illumination light 23.
  • the control device 7 then controls the first and/or second door leaf 2a, 2b in such a way that there is no collision with the object 17.
  • the illumination light 23 has a wavelength which is preferably in the IR range.
  • the illumination source 24 is preferably a flashlight, the illumination source 24 more preferably being designed to activate the illumination light 23 only for less than 1000 ms, 700 ms, 500 ms, 300 ms or less than 100 ms.
  • the illumination source 24 is further preferably designed to illuminate the illumination light
  • the light source 23 to activate synchronously with the image recording of the first image data of the first area camera 9a.
  • the 24 can also be a pulsed light source.
  • the Pulsed The light source is activated in particular when the safeguarding area 16 or a sub-area of the safeguarding area 16 is to be examined more closely.
  • those of the first image data (eg images) in which light from the pulsed light source is present are then used for the fine analysis.
  • the light pulse has a duration that is preferably shorter than the duration in which the light is recorded on the photo sensor or the photo sensor of the first area camera 9a. It may well be that several images have to be taken, with only that image being selected to determine whether an object is located in the protection area or not, in the image of which the product of the additional lighting source is visible by means of light pulses.
  • Additional information can be used in case the ground is wet and triggers an additional reflection.
  • the detailed analysis can preferably only be carried out using certain pixels of the first image data from the first area camera 9a. These specific pixels then define the protection area 16. Computing power can also be saved as a result.
  • FIGS. 11A, 11B and 11C show other embodiments of the automatic door system 1.
  • FIG. 11A shows a swing door arrangement which comprises two door leaves 2a, 2b, which are moved by a rotary movement.
  • the security area 16 is located in front of the door leaf 2a, 2b in the direction of movement of the door leaf 2a, 2b.
  • the information generation device 13, like the first area camera 9a, can be stationary (e.g be arranged on the upper profile arrangement 10a). However, like the first area camera 9a, the information-generating device 13 can be arranged to move along on the corresponding door leaf 2a, 2b.
  • Figure 11B shows a folding door assembly which includes a first and second folding door panel 2a, 2b.
  • the security area 16 preferably only extends on one side of the folding door arrangement.
  • the safety area extends to the side where there is a risk of pinching, i.e. where the opening between two segments of a folding door is closed during an opening movement.
  • the use of exactly one first area camera 9a and one information generation device 13 can be sufficient.
  • Figure 11C shows a revolving door assembly. This includes a first, second, third and fourth door panel 2a, 2b, 2c, 2d, which rotate around an axis of rotation.
  • the security area 16 runs in the direction of movement in front of the respective door leaf 2a, 2b, 2c, 2d and in front of the respective fixed secondary closing edge 5.
  • the first area camera 9a can be attached in the area of the ceiling arrangement.
  • the information generating device 13 for example with a projector 15, a second area camera 9b and/or an illumination source 24.
  • a projector 15 partially projects the structured light pattern 14 onto the corresponding door leaf 2a, 2b, 2c, 2d.
  • a corresponding reference pattern can be used to identify which parts of the structured light pattern 14 hit the object 17 . These parts can then be left out in the determination of whether an object 17 is in the area 16 that is to be secured.
  • FIG. 12 shows another method for operating the automatic door system 1.
  • first image data from a first area camera 9a which covers a detection area 11, is transmitted to the control device 7 together with the at least one piece of additional information 12.
  • the control device 7 determines whether there is an object 17 in the security area 16 and whether the door leaf 2a, 2b can be moved safely or not.
  • the door leaf 2a, 2b is moved if there is no danger from an object 17.
  • the first image data is preferably an image that includes a specific number of pixels in the horizontal direction and a specific number of pixels in the vertical direction.
  • the use of the third area camera 20 does not necessarily require the use of the second area camera 9b.
  • the detection areas 11 of the first and third area cameras 9a, 20 preferably do not overlap, whereas the detection area 11 of the second area cameras 9b mostly or always overlaps with another detection area 11 of the first and third area cameras 9a, 20.
  • a sliding door arrangement can be designed in such a way that the first area camera 9a predominantly or completely monitors the first side 18 , whereas the third area camera 20 predominantly or completely monitors the second side 19 .
  • the second area camera 9b can also monitor the first side 18, whereas the detection area 11 of the second area camera 9b partially or completely overlaps the detection area 11 of the first area camera 9a.
  • a projector 15 can also be arranged, which emits a structured light pattern 14 both in the detection area 11 of the first and/or second area camera 9a, 9b and in the detection area 11 of the third area camera 20 . This means that two pieces of additional information 12 are available for determining an object 17 on the first page 18 , whereas only one piece of additional information 12 is available for determining an object 17 on the second page 19 .
  • two projectors 15, 21 can also be used, with each projector 15, 21 emitting the structured light pattern 14 onto one side 18, 19.
  • the illumination source 24 can also be used.
  • another area camera 22 can also be arranged in such a way that the detection area 11 of the additional area camera 22 partially or completely overlaps with the detection area 11 of the third area camera 20 .
  • the above structure can be used to monitor the main closing edge 4 and/or to monitor the secondary closing edge 5 . If the structure is used to monitor the main closing edge 4, the same structure can also be used to monitor the secondary closing edge 5.
  • the first page 18 can be monitored with one, two or three pieces of additional information 12 .
  • the second side 19 can be monitored with one, two or three pieces of additional information 12 .
  • the secondary closing edge 5 can be monitored with one, two or three pieces of additional information 12 . In particular when the secondary closing edge 5 is not monitored with the same sensor device 8 with which the main closing edge 4 is monitored.
  • the first and second area cameras 9a, 9b are preferably arranged at a distance of more than 20 cm, 30 cm, 40 cm, 50 cm, 70 cm, 90 cm, 110 cm, 130 cm or more than 150 cm from one another. The same can also apply to the first area camera 9a and the third area camera 20 or to the second area camera 9b and the third area camera 20 .
  • the first, second and/or third area camera 9a, 9b, 20 can have a fisheye lens.
  • the sensor device 8 is preferably free of photo diodes. The additional information comes only from the image data of the first area camera 9a (eg if this illuminates the structured light pattern 14 and/or the off-light 23) or from the image data of the second area camera 9b. An additional IR photo sensor is not used. As a result, the costs can be further reduced.
  • the only receivers in the sensor device 8 are area cameras 9a, 9b, 20.

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  • Power-Operated Mechanisms For Wings (AREA)

Abstract

L'invention concerne un système de porte automatique (1) comprenant au moins un battant de porte (2a, 2b, 2c, 2d) qui est mobile au moyen d'un dispositif d'entraînement (6). Un dispositif de commande (7) est conçu pour commander l'appareil d'entraînement (6) de telle sorte que ce dernier déplace l'au moins un battant de porte (2a, 2b, 2c, 2d). L'invention concerne également un dispositif capteur (8) comprenant une première caméra de balayage de zone (9a) qui comprend un capteur d'image, la première caméra de balayage de zone (9a) est configurée pour produire des premières données d'image d'une plage de détection (11) à l'intérieur de laquelle le système de porte automatique (1) peut être surveillé. Le dispositif de commande (7) est configuré pour déterminer, dans une analyse détaillée sur la base d'au moins une partie des premières données d'image provenant de la première caméra de balayage de zone (9a) et sur au moins une information supplémentaire (12), si l'au moins un battant de porte (2a, 2b, 2c, 2d) peut être déplacé en toute sécurité. Le dispositif de détection (8) comprend un appareil de génération d'informations (13) qui est séparé de la première caméra de balayage de zone (9a) et qui contribue à la génération de l'au moins une information supplémentaire (12).
EP22730868.1A 2021-06-14 2022-05-27 Ensemble de porte automatique doté d'un dispositif de détection et procédé de fonctionnement d'un ensemble de porte automatique de ce type Pending EP4355967A1 (fr)

Applications Claiming Priority (2)

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DE102021115280.1A DE102021115280A1 (de) 2021-06-14 2021-06-14 Automatische Türanordnung mit Sensorvorrichtung und Verfahren zum Betreiben einer solchen automatischen Türanordnung
PCT/EP2022/064459 WO2022263147A1 (fr) 2021-06-14 2022-05-27 Ensemble de porte automatique doté d'un dispositif de détection et procédé de fonctionnement d'un ensemble de porte automatique de ce type

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EP4355967A1 true EP4355967A1 (fr) 2024-04-24

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EP22730868.1A Pending EP4355967A1 (fr) 2021-06-14 2022-05-27 Ensemble de porte automatique doté d'un dispositif de détection et procédé de fonctionnement d'un ensemble de porte automatique de ce type

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US (1) US20240263505A1 (fr)
EP (1) EP4355967A1 (fr)
CA (1) CA3221289A1 (fr)
DE (1) DE102021115280A1 (fr)
WO (1) WO2022263147A1 (fr)

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Publication number Priority date Publication date Assignee Title
EP0344404B1 (fr) * 1988-06-03 1993-05-12 Inventio Ag Procédé et dispositif pour commander la position d'une porte automatique
EP1169255A4 (fr) 1999-02-11 2005-07-20 Tl Jones Ltd Systeme de detection d'obstruction
FR2800895B1 (fr) * 1999-11-09 2001-12-28 Renault Vehicules Ind Systeme et procede de comptage de passagers pour bus
US6841780B2 (en) * 2001-01-19 2005-01-11 Honeywell International Inc. Method and apparatus for detecting objects
DE102006008513A1 (de) * 2006-02-23 2007-09-06 Agtatec Ag Sensor-Überwachungseinrichtung
EP2466560A1 (fr) * 2010-12-20 2012-06-20 Axis AB Procédé et système de surveillance de l'accessibilité d'une sortie d'urgence
DE102014205282B4 (de) 2014-03-21 2017-06-08 Volkswagen Aktiengesellschaft Vorrichtung zum Öffnen oder Schließen einer Öffnung eines Fahrzeugs
CA3037395A1 (fr) 2016-10-03 2018-04-12 Sensotech Inc. Systeme de detection base sur le temps de vol (tof) pour une porte automatique
WO2018178054A1 (fr) * 2017-03-30 2018-10-04 Assa Abloy Entrance Systems Ab Actionneur de porte
DE102019112338A1 (de) 2019-05-10 2020-11-12 Bircher Reglomat Ag 3D Sensorsystem, betreibbar in verschiedenen Betriebsmodi in Abhängigkeit eines Betriebszustandes eines Verschließkörpers

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DE102021115280A1 (de) 2022-12-15
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US20240263505A1 (en) 2024-08-08

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