WO2023187169A1 - Dispositif barrière, et ensemble dans une zone d'accès traversant - Google Patents

Dispositif barrière, et ensemble dans une zone d'accès traversant Download PDF

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Publication number
WO2023187169A1
WO2023187169A1 PCT/EP2023/058487 EP2023058487W WO2023187169A1 WO 2023187169 A1 WO2023187169 A1 WO 2023187169A1 EP 2023058487 W EP2023058487 W EP 2023058487W WO 2023187169 A1 WO2023187169 A1 WO 2023187169A1
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WO
WIPO (PCT)
Prior art keywords
barrier
barrier device
movement
passage
objects
Prior art date
Application number
PCT/EP2023/058487
Other languages
German (de)
English (en)
Inventor
Burkhard Herbach
Original Assignee
Burkhard Herbach
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.)
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Publication date
Priority claimed from DE202022101749.2U external-priority patent/DE202022101749U1/de
Application filed by Burkhard Herbach filed Critical Burkhard Herbach
Publication of WO2023187169A1 publication Critical patent/WO2023187169A1/fr

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Classifications

    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit
    • G07C9/10—Movable barriers with registering means
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B11/00—Means for allowing passage through fences, barriers or the like, e.g. stiles
    • E06B11/08—Turnstiles; Gates for control of entry or exit of persons, e.g. in supermarkets
    • E06B11/085—Turnstiles; Gates for control of entry or exit of persons, e.g. in supermarkets non-rotary or with a limited angle of rotation, e.g. 90°

Definitions

  • the invention relates to a barrier device according to the features in the preamble of claim 1 and an arrangement in a passage space according to the features in the preamble of claim 19.
  • Entrances or exits of publicly accessible buildings or the like generally have barrier devices to enable regulated entry and exit.
  • the barrier devices are arranged in a passage space which can extend in front of and behind the barrier device and in which people or objects, hereinafter referred to collectively as objects, can be located.
  • Barrier devices also have adjustable locking means, such as doors, locking bars, barriers or the like.
  • Laser scanners are particularly popular as signal transmitters, which emit a large number of laser pulses aligned next to each other in a plane-like manner into a scanner environment for object recognition.
  • the boundaries within which the laser scanner scans the environment define a so-called detection field.
  • the laser beams are reflected by objects that are within the detection field and detected by a signal receiver.
  • the position of an object within the detection field can be determined by determining the transit time of the individual, reflected laser beams.
  • a sensor arrangement is known with a laser scanner arranged at a distance from a barrier.
  • the starting point for controlling a barrier device are several zones, which are delimited within a scanning area. As soon as an object is detected in a specific zone, the barrier device is regulated accordingly.
  • the known barrier devices share the problem of very imprecise control. In practice, this occurs, for example, in that barriers are opened without need. For example, if doors are opened unnecessarily, This causes heat loss in winter or heat input in summer.
  • passage locks are known with at least two doors, barriers or the like connected one behind the other in the direction of passage in order to be able to compensate for the imprecise control of the known devices.
  • lock systems significantly increase the required space and technical effort.
  • the present invention is based on the object of improving the known devices, in particular in such a way that incorrect control can be avoided, so that passage is only released when this is necessary. Furthermore, an economically advantageous solution should be proposed, in particular the expenditure on equipment should be minimized.
  • the invention proposes a barrier device that is regulated zone-independently with regard to the detection field.
  • a barrier device that is regulated zone-independently with regard to the detection field.
  • the detection field detects at least the area of the passage space which is in front of a barrier - that is, in the direction of passage, the area of the passage space in which the objects are located before they pass the barrier.
  • the invention is based on the idea that a distinction can be made between an object approaching the barrier and a stationary object directly from the calculated information about the direction of movement and speed of movement, derived from the transit times of the laser beams, with the control unit only making a change when an object is approaching the barrier into the release position. It is intended that an approach of an object only results in the passage being opened if, for example, the calculated direction of approach allows the conclusion that an object is actually moving towards the barrier. In the case of objects that merely move past a barrier without apparently wanting to pass through it, the control unit does not cause the locking means to change position.
  • the computing unit derives the object movement in real time or almost in real time, so that the precision of the control can be increased and collisions of objects with a barrier can be avoided.
  • the detection field is aligned essentially parallel to the horizontal plane, preferably at an angle between 0 and 10°, particularly preferably at an angle between 0 and 3°. Furthermore, only one is required for the detection field ne detection level is provided, so that the construction of the detection device is significantly simplified in an economically advantageous manner.
  • the signal transmitter is arranged in, on or adjacent to the barrier.
  • Such an arrangement would therefore help to increase the precision of the determined object movement, since the objects that intend to pass the barrier basically move towards the barrier and accordingly towards the signal generator.
  • the signal generator is arranged at the level of the blocking means.
  • the control unit preferably releases the passage for objects that occupy a height that largely corresponds to the arrangement height of the blocking means, based on the floor surface supporting the objects. Incorrect control, for example caused by small animals, could be avoided. A reduction in unnecessary incorrect control of the barrier device is generally accompanied by an economically advantageous extension of the service life. In initial tests, an arrangement height of between 20 and 80 cm has proven to be advantageous.
  • the arrangement of several signal transmitters would also make it possible to detect those areas which, when using only one signal transmitter, are detectable in the detection shadow, i.e. on the side of an object facing away from a signal transmitter.
  • Such shading Genes i.e. areas that lie outside the detection field, can be problematic, particularly for objects that are placed in the passageway and thus prevent unhindered object detection by the detection device.
  • a first signal transmitter can advantageously be arranged in, on or adjacent to the barrier and a second signal transmitter at a distance from it.
  • the respective detection fields of the signal generators are aligned parallel to one another and shifted in the vertical direction relative to one another. This would enable targeted detection of objects of different sizes, in particular of different heights, and minimize shadowing areas.
  • the signal generator can be mounted so that it can rotate about a substantially vertically aligned axis of rotation and can be designed to detect at least sections of a circular ring-like detection field around the signal generator.
  • a correspondingly rotating signal generator could emit at least 10 laser pulses per second in order to create an image of the objects that is as realistic as possible.
  • An arrangement of a rotating signal transmitter can be economically advantageous, for example in or on a support of a barrier, with the support holding a locking bracket, a barrier or the like in a pivotable manner in the manner of a holding element, so that the detection field is in the direction of passage from the front can extend behind the barrier, even if the barrier device only has one signal generator. As a result, a large detection field could be achieved with minimal equipment expenditure.
  • the invention is based on the idea of both quantitatively detecting an object movement and recognizing a stationary, motionless object and initiating control of the barrier device with regard to the stationary object. If the direction and speed of movement of an object are essentially zero over a period of time, an object could be recognized as a temporarily stationary object.
  • a control can consist of initially not releasing the passage for a stationary object, for example.
  • the control still causes a release for a stationary object in exceptional cases, namely when an object remains at a distance from the barrier for a certain period of time. This area is referred to herein as the trigger area.
  • Initial tests have shown that an area at a distance of up to 50 cm in the direction of passage in front of and behind the barrier and a dwell time of at least 5 s are particularly suitable.
  • the computing unit can advantageously be designed for computational specification.
  • the computing unit derives from the movement data of an object which of the determined movement data contains the core of an object, so that, for example, the arms that swing when walking are recognized as such and the computing unit for calculating the direction of movement and the speed of movement preferably uses the movement data of the object core.
  • This specification of the derived object movement could require significant precision and thus more precise control of the barrier device.
  • the opening width can advantageously be adapted to the object movement.
  • the object movement is first precisely determined in order to be able to derive which blocking means segment needs to be controlled sufficiently to allow an object to pass through.
  • the opening width of the passage for release could be significantly reduced, so that, for example in winter, energy loss due to heat escaping from a shop would be minimized.
  • a separate controllability of several blocking means or several blocking means segments can be provided in order, for example, to be able to allow passage for several objects at the same time.
  • the barrier device could, for example, have two separately controllable, pivoting locking bars, as can be found in many shops. before the control unit could open and close independently of each other, depending on the extent to which objects approaching the individual locking bars would be detected.
  • the changing speed from a blocking position that closes the passage to a release position that opens the passage can be advantageously adapted to the speed of movement of an object, for example a horizontally oriented pivoting movement of a swinging door or the retraction of a sliding door, or a barrier that opens in the vertical direction or a vertical gate .
  • a slower opening of a locking device especially with heavy locking devices such as glass doors, is advantageous in order to protect drive units and braking systems and to be able to extend the service life in an economically advantageous manner.
  • a blocking means can represent a source of danger for an object in the passage space, insofar as the object can collide with the movable blocking means, particularly when changing position from a release to a blocking of the passage.
  • This section of the passage space is referred to herein as the collision space.
  • the control unit is advantageously suitable for taking into account the current position and the expected position of an object in the collision space, derived from the direction of movement and speed of movement, in order to prevent a collision.
  • a movement of a locking means or a segment of a locking means does not take place in the event of a risk of collision and/or the movement of the locking means is accelerated and/or the expression of the locking means movement, for example the opening width of a door, the pivoting height of a barrier or the like, is adjusted to avoid a collision. For example, if a shopping cart is parked in the collision area of a barrier, It can be provided that when another object approaches, the passage is only opened to the extent that the blocking means does not collide with the shopping cart.
  • the barrier device has a counting unit which derives the number of objects that have passed the barrier from the object movement data.
  • it can be tracked, for example, how many objects have used a passage within a period of time.
  • it can be determined, advantageously in real time, how many objects are in a shop or the like at a certain time.
  • an intercommunicating system of several barrier devices could be provided, each of which is arranged in an entrance or exit.
  • a barrier device which is both an entrance and an exit and which keeps track of the number of objects in the shop, in particular depending on the direction of movement of the objects as they have passed the barrier device. since every passing direction can be assigned to entering or leaving the store. If a capacity limit with regard to a maximum number of objects in a shop, building or the like is reached, the control unit, in feedback with the counting unit, can only initiate a release again after a corresponding number of objects have left the shop. It is known from practice to track the number of objects in a store, for example using shopping baskets or shopping carts that are given out to customers for shopping. If all baskets or shopping carts are taken, this can signal that a capacity limit has been reached. However, this requires that every customer, i.e. every object, has to carry either a shopping basket or a shopping cart, which is particularly necessary during pandemic times additional staff had to be secured and is therefore economically disadvantageous.
  • the barrier device detects objects that pass through a barrier in the opposite direction to the direction of passage.
  • the passage can be an entrance and the detection field can detect areas of the passage space that lie in front of and behind the barrier in the entrance direction or, in general, the detection field covers areas of the passage space that lie in front of and behind the barrier in the passage direction.
  • an alarm device can advantageously be provided which generates an optical and/or acoustic signal, for example when a customer leaves a shop or the like without having previously passed a checkout area.
  • the control unit does not release the passage in the event of a corresponding object movement. This configuration is particularly advantageous because it is possible to dispense with structurally complex double barrier devices in the form of a lock.
  • a method for opening a passage in a passage space in which objects move at least temporarily can, in particular, include the following steps:
  • a laser scanner can emit laser pulses which generate a plane-like detection field that is essentially parallel to the horizontal plane and at least partially aligned with the passage space.
  • the transit time of the laser beams is determined after they have been reflected from objects in the passage space.
  • An object movement is calculated from the transit time, namely a direction of movement and a speed of movement of the objects in the passage space.
  • the barrier is controlled in such a way that a release occurs, if necessary individually adapted to an object, or the passage is blocked.
  • LIDAR sensors abbreviation for Light detection and ranging or Light imaging, detection and ranging
  • a barrier-free barrier device can, for example, have an imaginary line as a blocking means in the sense of the present invention, and the holding device in this case is the device in which the imaginary line is defined.
  • This can be the automated control unit that is connected to the computing unit of the barrier device, so that e.g. B. a certain distance from the detection device is defined as a so-called limit distance, a virtual line.
  • Different limit distances can be set for different angles at which the light beams are emitted or detected by the detection device, so that the line does not necessarily have to run in a circular arc around the detection device at a constant distance, but also deviates from this, e.g. B. can be defined as a straight line.
  • a barrier-free barrier device can be arranged in the exit area of a market, downstream of the checkouts, so that the barrier device according to the invention serves as an outlet control.
  • the barrier device As an exit control, for example, the length of time a customer spends at the checkout can be registered, and if this length of stay falls below a certain minimum time and the customer then passes the imaginary line, an alarm can be triggered automatically, so that the imaginary line acts as a blocking means and is intended to prevent people from leaving the market without paying.
  • an alarm can be triggered automatically, so that the imaginary line acts as a blocking means and is intended to prevent people from leaving the market without paying.
  • self-pay or scanner checkouts where customers register the purchased items automatically - e.g. B. with the help of barcodes, RFID tags or the like - such an outlet control can be installed using a barrier device according to the invention.
  • the automated control unit can be connected not only to the computing unit of the barrier device, but also to the self-paying or scanner cash registers in such a way that - e.g. B. independent of or in addition to the length of stay at the checkout - the alarm is triggered automatically if no payment transaction has been carried out at a specific checkout and the person initially at the checkout then moves to the blocking means, namely the imaginary line mentioned.
  • a change in position between the release position and the blocking position of a locking means which position change is automatically initiated by the control unit, can be carried out in the case of a physically realized barrier, for example in the form of a horizontal pivoting movement of the barrier.
  • the position change can be achieved, for example, by switching a switching element, for example to trigger or suppress an alarm.
  • objects should be recognized in terms of position, distance and speed of movement.
  • objects refer to both inanimate and living objects, especially people.
  • a physically implemented blocking device When there is a movement in a direction that is predefined as permissible, a physically implemented blocking device should open the barrier, e.g. B. swing a barrier into a release or open position, provided the space behind the barrier is free in the direction of pivoting.
  • the movement of the locking means can be restricted: the movement of the locking means can take place over a reduced proportion of the movement range in order to avoid a collision with the object. Or the movement can take place at reduced speed - at least when approaching the object - in order to avoid damage or injury to the object. Or the movement can be suppressed completely.
  • a barrier-free camera device an alarm is not triggered if movement is detected in a direction that is predefined as permissible.
  • the blocking means can keep the barrier closed, e.g. B. the barrier mentioned can remain in a blocked or closed position.
  • This can be used for so-called counter-travelers, i.e. people who do not want to enter a market through the entrance, but rather leave it through the entrance and thus past the cash registers.
  • the Bamere device serves here as an entrance control. If the barrier is not already closed and remains in its closed position, the control of the barrier device can be designed such that the currently open barrier is moved into its closed position. If the entrance control is barrier-free, an alarm can be triggered in this case.
  • the barrier device can have one, two or even more blocking means, and the barriers can be arranged next to one another, e.g. B. opposite each other and working synchronously in opposite directions in the form of a double barrier in favor of a large opening width.
  • the barriers can be arranged one behind the other, as a “lock” with an alternating release of the individual barriers.
  • the barriers can be connected to each other via a radio system, so they can work together logically (via software) instead of physically (via cable).
  • the LIDAR sensors can be “added up” using software if they monitor an overlapping area. This has the advantage that shadows from objects located one behind the other are excluded because monitoring is carried out from different angles.
  • the LIDAR sensors can be located away from the barriers.
  • the swivel range of the barriers is therefore independent of the monitoring areas. In this way, paths “around the corner” can be monitored.
  • objects are recognized in at least two areas.
  • a monitored area A (the swing area of the barrier) must be free of objects, regardless of whether they are stationary or movable.
  • the other area B the respective position, direction and speed of objects is detected.
  • the barrier opens when area A is free of objects and an object in area B approaches the barrier at the correct angle and with sufficient speed. “Parallel runners” (objects that are parallel to the Moving the barrier or the monitoring limit A/B) does not trigger an opening.
  • “Returns” that pass through a randomly opened barrier are recognized by their speed and direction of travel and, in one embodiment of the barrier device, trigger an alarm as soon as area B is entered from area A. This way of evaluating the recorded movements can replace a physically implemented “lock” with two barriers arranged one behind the other in the direction of movement.
  • the recognition of the objects and their behavior is based on a cluster analysis, which calculates the data points from the LIDAR into an object location.
  • cluster analysis which calculates the data points from the LIDAR into an object location.
  • the cluster analysis to be used can preferably be selected according to these criteria.
  • the data exchange between the LIDAR sensors takes place via a radio system and therefore wirelessly.
  • mechanisms are present which can detect a failure of the system (eg rotation) or the laser based on the data supplied.
  • the control unit can be designed in such a way that in such a case an error message is automatically generated and transmitted to a control center so that maintenance work can be triggered. If a failure of the rotation or clocking of a LIDAR sensor is detected, in one embodiment of the barrier device the laser is automatically switched off in the interests of laser safety in order to ensure that a punctual disposition by the laser beam following the standstill of movement (e.g. eye, directly or after a reflection) to prevent.
  • markers are present in one embodiment of the barrier device which help to monitor the beam intensity as part of the operating modes.
  • These markers can be special reflection elements that are specifically arranged in the detection area of a detection device, or an element that is already arranged in the detection area of a detection device can be used as a marker, e.g. B. a wall or column of a building, in which case a calibration is first carried out in order to store the reflected beam intensity as a target value. If there is a predetermined deviation from the target values, a display can be triggered automatically, which can be referred to as a wear display.
  • the affected components can then be proactively replaced before a malfunction occurs.
  • the affected components can be, for example, the markers, e.g. B. in the event of damage, or it can be the laser itself, e.g. B. due to the aging mentioned.
  • a two-dimensional distance determination is achieved using a rotating ToF sensor. Each angle then provides distance information perpendicular to the axis of rotation. This process is simply a mechanical challenge due to rotation. The actual ToF sensor continues to work one-dimensionally. This makes it possible to design the electronics very simply, which is reflected in the costs.
  • the “LIDAR” sensors are therefore widely used, e.g.
  • the present invention takes a different approach.
  • the LIDAR is permanently installed here to detect moving objects.
  • light barriers which only work one-dimensionally and have to be present and adjusted several times for spatial monitoring, or simple radar sensors, which can only detect moving objects without directional recognition, a fixed and parallel to the plane on which they are located allows As the objects move, the attached LIDAR sensor not only monitors a complete two-dimensional area, but also detects objects regardless of whether they are stationary or moving. Since the measurement is carried out rotating, moving objects provide their change in location within the rotation speed and thus, in addition to their speed information, also their direction of movement.
  • LIDAR-based barrier system Based on a very inexpensive sensor, information is available that would otherwise only be obtainable with much more complex systems. These include, for example, camera systems that can locate or even track objects or people using image processing. However, image processing requires a lot of effort and therefore more energy. In addition, a camera usually has to be installed overhead so that objects can be tracked. However, mounting orthogonally to the surveillance level is often not possible due to the limited room height, especially if the camera is to be arranged at a height that is safe from vandalism and accidental damage. Under certain circumstances, cameras can be susceptible to failure due to lighting conditions (sunlight) depending on the time of year and/or the time of day.
  • the LIDAR-based barrier system according to the invention works parallel to the plane of movement.
  • the detection height above the monitoring or movement level can be individually adjusted. Because there is no need for top-view installation, this system is also easy to install and is also suitable for angular, e.g. L-shaped, areas. Due to the price advantage, several LIDAR sensors can be easily combined and thus optimize the localization or tracking of objects in the monitored area.
  • a combination of two or more LIDARs can be carried out in a simple manner. Since each system is mounted in a stationary manner and is therefore fixed, the positions in relation to each other cannot be changed.
  • the data provided by a LIDAR sensor corresponds to polar coordinates, which can be automatically transformed into another, for example Cartesian, coordinate system. This transformation is carried out in such a way that the Cartesian position of each individual LIDAR sensor is also taken into account. This means that every single measuring point of every single LIDAR can be entered in the common coordinate system. It doesn't matter which LIDAR sensor provided which measuring point; the XY data can be easily aggregated.
  • point clouds can be assumed, as different objects can be located in the monitored plane. These point clouds require differentiation so that not all measurements are combined into a single point cloud, but rather each individual point cloud represents an object and the evaluation provides a localized position of its object.
  • a mathematical-numerical method for this is cluster analysis, which allows the number and density of the point clouds to be selected so that optimal positions are obtained that correctly represent the objects in the plane.
  • a single sensor or multiple sensors provide positions of a stationary or moving object in a common coordinate system. It doesn't matter how many LIDARs provide data, as long as at least one LIDAR is active. This plays a major role in the failure safety and reliability of the barrier system. If a sensor or a partial segment of a sensor is temporarily moved, the influence on determining the position of the object is only slight, as long as the object is also controlled by one or is detected by several other sensors or the shading only lasts a few seconds. This is relevant for areas that are subject to high movement dynamics of objects, as is the case, for example, in entrance or exit areas with people.
  • a balancing count of the objects is possible in order to see how many people are in one place at a certain time. Even if the entrance and exit areas are identical, the direction detection enables simultaneous counting of entries and exits.
  • the evaluation of the movement patterns can be done using a Kl, which can distinguish “normal” dynamics from atypical ones. But A simple count when virtual limits are exceeded is also possible.
  • these functions can simply be triggered automatically based on the movement dynamics. If a person moves towards the barrier system at a certain speed and direction, this movement pattern can be used to trigger an opening or closing process. If a person moves towards it very slowly or in a less direct direction, triggering is not yet necessary and unnecessary operation can be avoided.
  • the automatic collision monitoring can be designed in such a way that anticipatory monitoring is implemented, in which a possible collision is calculated in advance based on the object speed and direction as well as the speed at which the locking means is moved and the movement of the locking means is therefore aborted, delayed or is not even started.
  • each individual LIDAR sensor carries out a rotational movement of several revolutions per second, scanning its radii and providing the distance and angle in the event of a reflection.
  • Both the conversion into Cartesian object positions and the cluster analysis are implemented in a design of the barrier system based on microcontrollers that filter out and condense all object properties. This happens continuously in defined short times, so that the speed and direction of the object can be reliably determined. objects are determined automatically. A biometric evaluation is therefore not possible. In principle, the movement profiles could be saved. However, an assignment to people is not possible. No data is collected other than registering the number of people, disruptions or other cycles for service purposes.
  • the measurements are also subject to errors, but the measured - namely here: the scanned - positions are in most cases not to be viewed as static.
  • the geodetic methods could possibly be applicable, but would produce poorer results because “outliers” or other disturbances could hardly be filtered out.
  • the automatic evaluation of the measurement data provided according to the invention is based on the measurements forming a cluster and the data represented by this cluster. ted location is in the center of the cluster. As many measurements as possible are carried out and it is assumed that the vast majority of represented locations are in the center of the cluster formed.
  • the advantage here is that it does not matter which sensor contributed data points to the “cluster cloud” and how often.
  • measuring devices / LIDARs can provide data at the same time.
  • the only requirement is that the data is present in the same, and advantageously in a Cartesian, reference system. This condition can be met if the respective location of the individual LIDARs and their relative position to one another are also known.
  • a LIDAR provides a distance and an angle with each measurement. It therefore represents a polar coordinate system, which can be transformed into a Cartesian one, and by shifting with the offset, the centers of the several LIDARs can be converted into a center common to all LIDARs.
  • all measurements from multiple LIDARs are combined and subjected to cluster analysis. This is a fundamental difference to the geodetic methods of trilateration and triangulation and the compensation calculation. In a geodetic adjustment calculation, each measuring point is only present once. In cluster analysis, it is even advantageous if each point is recorded multiple times and, ideally, by different LIDARs, i.e. from different directions. Cluster analysis, as used in many big data applications, directly maps the location you are looking for. It can be assumed that errors caused by the large number of measurements of the identical object are largely averaged out based on the statistics.
  • the barrier system has an inexpensive (consumer) LIDAR with a measurement frequency of 4500Hz, i.e. 4500 measurements over 360° per second. Since the LIDAR rotates at approximately 10 revolutions per second, the 360° rotation plane recorded 10 times per second with approx. 450 measurements. Each reflection location within the plane of rotation is recorded up to 10 times per second. Due to the short cycle time of 0.1s and the expected maximum movement speed of people of approx. 2m/s, a maximum deviation of successive positions of 200mm can be expected. This value, which is smaller than the expected object extent, is acceptable, especially because successive measurements would have an almost identical deviation relative to one another, i.e. have little influence on the direction and speed measurement.
  • Successive location measurements and their time interval provide an object speed. Since several measurements are taken per second, the object speed can also be determined with good accuracy. Furthermore, the locations of an object derived successively from the cluster analysis also provide information about its direction of movement. It is expected that the number of clusters found corresponds to the number of objects within the scan area. If the objects pass a predetermined limit (crossing), the incrementation or decrementation (in the opposite direction) allows, for example, a counting. If you now add the extent of a cluster to the evaluation, objects and their behavior can be differentiated with sufficient precision (human or commodity).
  • the LIDAR scanner is available comparatively inexpensively, and the described evaluation of the shared LIDAR data is possible using embedded electronics, i.e. without the use of a PC, so that the barrier system is designed to be as economical as possible.
  • Commercially available methods can be used to store data and/or transmit data and accordingly inexpensive components are used, which may have PC technology.
  • the use of as little PC technology as possible in a barrier system according to the invention is advantageous because a larger, more complex operating system can be viewed as a universal tool, which offers many opportunities for misuse in the event of external attacks.
  • Embedded electronics on the other hand, are very specialized for their intended purpose and therefore offer little additional functionality and therefore hardly any room for harmful things.
  • FIG. 3 and 4 each show the point curves of the detected object, transformed into Cartesian coordinate systems
  • FIG. 5 shows the two point curves, transformed into a common Cartesian coordinate system
  • FIG Fig. 5 shows the two point curves, transformed into a common Cartesian coordinate system
  • Fig. 1 and 2 show the same object, but detected by two different LIDAR sensors, which is in the detection range of a barrier system. Since the LIDARs are installed in different locations, they capture the identical object from different angles and from different distances.
  • Fig. 1 shows the object as a curved point curve located in the lower right quadrant and at a distance between 600 and 800 from a first LIDAR sensor.
  • Fig. 2 shows the same object as a point curve in the upper right quadrant and at a distance between 400 and 500 from a second LIDAR sensor.
  • the unit for the distance is mm in both cases, purely as an example.
  • Both LIDAR sensors deliver their measurement results in a polar coordinate system in which the respective LIDAR sensor is located at the coordinate origin.
  • 3 and 4 show the same object from the two polar coordinate systems of FIGS. 1 and 2 after a transformation into Cartesian coordinate systems.
  • 3 represents the measured values of the first LIDAR sensor and represents the transformation of FIG. 1 into Cartesian coordinates
  • FIG. 3 represents the measured values of the second LIDAR sensor according to FIG. 2 as a transformation into Cartesian coordinates.
  • the pole of the polar coordinate system is the origin of the Cartesian system.
  • the LIDAR sensors are also located at the coordinate origin, where the zero lines intersect.
  • Figures 3 and 4 also show the LIDAR sensors themselves, each represented by a point in the coordinate origin represents.
  • the locations of the stationary LIDAR systems in relation to each other are known. Therefore, starting from the representations in FIGS. 3 and 4, the individual, different Cartesian LIDAR coordinate systems can be converted into a common coordinate system, which is shown in FIG. 5, using an offset transformation.
  • the position of the first LIDAR sensor is at the top shown as a point on the left in this coordinate system and the point curve assigned to this first LIDAR sensor runs in an arc from the bottom left upwards to the top right.
  • the second LIDAR sensor is shown as a point at the bottom left of this coordinate system, the point curve assigned to it runs in an arc from the top left down to the bottom right and crosses the point curve of the first LIDAR sensor.
  • the information content of the recorded points lies in their extent. Since this was recorded from different angles, the “core” of the dimensions can be automatically determined with sufficient accuracy using a cluster analysis. This “core” or center of gravity corresponds to the most likely or typical location of the object and can be viewed as the object localization to a very good approximation.
  • Fig. 6 shows the representation of Fig. 5, although the calculated “core” or center of gravity is also shown as the most likely location of the object as a result of the cluster analysis. For the example shown, this location is approximately at the intersection of the two point curves.
  • Cluster analysis is able to capture multiple clusters at the same time. Therefore, when using multiple LIDAR sensors, the multiple point curves resulting from the detection of the same object can be processed and multiple objects can also be detected at the same time. It is irrelevant how many LIDAR sensors are involved. Every coordinate point transmitted is included in the cluster analysis.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un système barrière comprenant un moyen de blocage, à l'aide d'un ou plusieurs capteurs LIDAR et d'une unité informatique, la position, la direction de mouvement et la vitesse d'objets, y compris des personnes, étant détectées et calculées, et comprenant une unité de commande qui amorce automatiquement un changement de position du moyen de blocage entre la position de libération et la position de blocage de celui-ci selon le mouvement d'objet déterminé.
PCT/EP2023/058487 2022-03-31 2023-03-31 Dispositif barrière, et ensemble dans une zone d'accès traversant WO2023187169A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE202022101749.2 2022-03-31
DE202022101749.2U DE202022101749U1 (de) 2022-03-31 2022-03-31 Barrierevorrichtung, und Anordnung in einem Durchgangsraum
DE102022133538 2022-12-15
DE102022133538.0 2022-12-15

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WO2023187169A1 true WO2023187169A1 (fr) 2023-10-05

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050224700A1 (en) * 2002-01-28 2005-10-13 Rejc Petra Device for automatically actuating a door, in particular a vertical door
EP2332805A1 (fr) 2009-12-11 2011-06-15 Bea S.A. Agencement de scanner
US20120274466A1 (en) * 2011-04-28 2012-11-01 Sick Ag Theft protection device and method for the detection of unauthorized intrusion or entrance
DE102020106825A1 (de) * 2020-03-12 2021-09-16 Wanzl GmbH & Co. KGaA Steuerung Zutrittsanlagen
DE202022101749U1 (de) 2022-03-31 2022-06-27 Burkhard Herbach Barrierevorrichtung, und Anordnung in einem Durchgangsraum

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050224700A1 (en) * 2002-01-28 2005-10-13 Rejc Petra Device for automatically actuating a door, in particular a vertical door
EP2332805A1 (fr) 2009-12-11 2011-06-15 Bea S.A. Agencement de scanner
US20120274466A1 (en) * 2011-04-28 2012-11-01 Sick Ag Theft protection device and method for the detection of unauthorized intrusion or entrance
DE102020106825A1 (de) * 2020-03-12 2021-09-16 Wanzl GmbH & Co. KGaA Steuerung Zutrittsanlagen
DE202022101749U1 (de) 2022-03-31 2022-06-27 Burkhard Herbach Barrierevorrichtung, und Anordnung in einem Durchgangsraum

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