EP0344404B1 - Method and device for controlling the position of an automatic door - Google Patents

Method and device for controlling the position of an automatic door Download PDF

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Publication number
EP0344404B1
EP0344404B1 EP89102434A EP89102434A EP0344404B1 EP 0344404 B1 EP0344404 B1 EP 0344404B1 EP 89102434 A EP89102434 A EP 89102434A EP 89102434 A EP89102434 A EP 89102434A EP 0344404 B1 EP0344404 B1 EP 0344404B1
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EP
European Patent Office
Prior art keywords
infra
door
image
persons
control
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.)
Expired - Lifetime
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EP89102434A
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German (de)
French (fr)
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EP0344404A1 (en
Inventor
Guntram Dipl.-Ing. Begle
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Inventio AG
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Inventio AG
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Priority to AT89102434T priority Critical patent/ATE89362T1/en
Publication of EP0344404A1 publication Critical patent/EP0344404A1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/24—Safety devices in passenger lifts, not otherwise provided for, for preventing trapping of passengers
    • B66B13/26—Safety devices in passenger lifts, not otherwise provided for, for preventing trapping of passengers between closing doors
    • 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
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • 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
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E05F2015/765—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using optical sensors
    • 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
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E05F2015/767—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using cameras
    • 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
    • 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
    • E05Y2900/104—Application of doors, windows, wings or fittings thereof for buildings or parts thereof for elevators

Definitions

  • the present invention relates to a method for controlling the door position of an automatic door, the door position being controlled as a function of the presence or non-presence and the direction of movement of people present, the people present being illuminated with infrared light on the entrance area of the entrance, the infrared light being transmitted as an area beam the infrared light reflections originating from an illuminated person are recorded by an infrared camera and the temporal changes in the reflex images are shaped in a control and processing unit into signals for controlling an automatic door.
  • the CH patent 607 187 describes an optical-electrical device for monitoring certain areas, consisting of an objective, a prismatic grid moved in one or two axes, receiver groups and evaluation circuit.
  • the prismatic grid is the moving spatial filter, which alternately directs the light of the object pixels onto the recipient groups. Objects or people entering this sensor-swept room change zero interference and produce a signal that is above the zero level.
  • the system has the disadvantages that expensive optical parts are required, that a mechanical drive must be present and that difficult adjustments have to be made. Interfering light influences can impair the function.
  • Patent application GB 2 093 986 describes a similar system in which various optical components and an electronic evaluation are available.
  • One of the optical components is a spatial filter, which is shown as a faceted hemisphere.
  • individual sensors are arranged on the upper edge of a motor-operated door leaf and are directed towards the pivoting range of the door leaf.
  • the presence or absence of people in the swivel range can be determined on the basis of the reflections of emitted infrared light and, consequently, the door drive can be stopped in the presence of a person in this area.
  • a more differentiated detection of the objects in the anteroom and an equally differentiated interpretation of the reflections in the receiving part is required, which is why normal infrared motion or presence detectors of the type described above can no longer meet the high demands of a universal door control .
  • the range of movement of a high-speed folding door is monitored by means of an infrared transmitter and receiver.
  • IR transmitters and receivers attached to the left and right of a door opening form a vertical, triangular surveillance zone. Since the transmitter diodes have a beam scattering angle of approx. 20 °, the transmitter and receiver assigned to each other must be operated in a coded, pulsed manner.
  • the device optimally fulfills the function of a protective curtain, but is not suitable for the vestibule monitoring of an elevator door.
  • the present invention has for its object to provide a method and an apparatus which clearly shows the presence, quantity and intentions of people in the vestibule of an entrance and delivers logical signals to a door control.
  • FIG. 1 shows an elevator front level 11 with an elevator entrance 4 and a car 23 present.
  • a shaft door leaf is designated 22 and a car door leaf 21.
  • An infrared camera 1 with a lens 1.1 is installed in the cabin door fighter.
  • an infrared radiator 3 is installed below, which emit an infrared light 3.1 in the direction of the anteroom parallel to an anteroom surface 5.
  • FIG. 2 Above the elevator entrance 4, the infrared camera 1 is located on a camera holder 2 with a control and evaluation unit 10. On the anteroom surface 5 there is a person 7 with feet 6 and legs 6.1, who is in the X direction to the elevator front level 11 moved there.
  • the anteroom area 5 is divided into Y zones 8.1 to 8.4. 9 denotes a camera axis line.
  • X zones are denoted by 12 and an image edge by 13.
  • 1.1 denotes a photo lens
  • 1.2 an LCD microshutter and 1.4 an infrared filter.
  • the LCD microshutter 1.2 has vertical sealing columns 1.8 and a likewise vertically arranged CCD line image sensor 1.5 has sensor cells 1.7.
  • FIG. 5 shows a distorted image 18 of the antechamber surface 5 as it is projected onto the LCD microshutter 1.2.
  • Reflex images 14 originate from the feet 6 and legs 6.1 of the person 7.
  • the projection plane 17 is divided into a used area 15 and an unused area 16.
  • the area 15 used corresponds to the usable projection area on the LCD microshutter 1.2.
  • the images of the X zones 8.1 to 8.4 on the projection plane 17 are designated 8.11, 8.21, 8.31 and 8.41.
  • the infrared light 3.1 emitted by the infrared surface radiator 3 strikes the feet 6 and legs 6.1 of the person 7 located on the vestibule surface and is partially deflected from there towards the infrared camera 1 by reflection.
  • the infrared filter 1.4 only allows this reflected infrared light 3.1 to pass through, and consequently only the reflex images 14 are projected onto the front plane of the LCD microshutter 1.2.
  • the LCD microshutter 1.2 has, for example, 50 individually controllable columns 1.8, which are activated in sequence in a certain cycle and thus produce a periodically horizontally translucent vertical slot opening.
  • the sampling rate can be chosen to be very low because a flicker-free image does not have to be generated for a viewer and is, for example, at most 10 images per second, an image being understood as an entire horizontal pass through the LCD microshutter 1.2. This results in very small amounts of data, which a special processor system or a processor system in the elevator control system can process in parallel.
  • the image columns scanned in this way are focused by means of the cylindrical lens 1.3 and all on the same line projected onto the CCD line image sensor 1.5.
  • the CCD line image sensor 1.5 is continuously read out for each projected image column and switched on for the next image column.
  • the read values are buffered and processed according to the later description.
  • the image resolution in the X direction is at least five times greater than in the Y direction. This results in the fact that objects moving in the X direction towards the elevator front level 11 are detected at least five times more sharply than those which move in the Y direction, that is to say parallel to the elevator front level 11.
  • the reflex images 14 of an object moving in the Y direction are always projected onto the same sensor cells 1.7 in the CCD line image sensor 1.5, from which it can be clearly concluded that this object is not approaching the entrance.
  • the corresponding binary image data combined with the position of the current column opening, can be interpreted as a person's movement parallel to the entrance level 11.
  • FIGS. 2 and 3 A grid with Y zones 8.1 to 8.4 and X zones 12 is shown in FIGS. 2 and 3. This grid does not really exist and is only used to explain the image distortion and the effects derived from it.
  • Y zones closer to the photo lens for example zone 8.1, are shown larger on the projection plane 17 than more distant Y zones such as Y zone 8.4.
  • the practical effect is that a person 7 moving at a constant speed in the X direction towards the elevator front plane 11 generates reflex images 14 which, due to the image distortion on the projection line 17 or on the CCD line image sensor 1.5, decrease in distance from Elevator front level 11 has a continuously increasing speed corresponding to the distortion function.
  • the detection system also has a distance-dependent sensitivity. To a lesser extent, this is also available for object movements in the Y direction.
  • an image resolution or sensitivity that increases progressively with decreasing distance from the elevator front plane 11 is achieved. This is desirable because the urgency of a quick door response increases progressively as the distance of a person approaching the entrance decreases.
  • the infrared light 3. 1 emitted by the infrared surface radiators 3 is directed in such a way that the floor of the anteroom surface 5 is not touched by the latter and so that there are no floor reflections due to unevenness, such as carpet edges, etc.
  • the horizontal radiation angle is preferably 120 ° each and the vertical radiation angle is 10 °, for example.
  • the floor call panel 24 shown can also have a numeric keypad for destination call control. With this device, the elevator control knows how many waiting people are on each floor. It is therefore not necessary to monitor the anteroom outside the cabin on every floor with appropriate facilities.
  • the infrared camera 1 above the elevator entrance 4 is inclined downward, for example, at an angle of 45 °, which also corresponds to the image recording angle.
  • the camera holder 2 is of great importance insofar as it is used to set a certain angle to the anteroom area 5, which is both directly determining the degree of distortion and has an influence on the size and position of the antechamber area 5 to be monitored. that no existing vertical surfaces, such as those of an opposite wall, come into the picture.
  • Objects located in infrared light 3.1 completely reflect infrared light 3.2 with correspondingly inclined surface parts and partly with all other more or less perpendicular surface parts facing infrared light 3.1.
  • a partial reflection of the infrared light 3.1 / 3.2 from more or less perpendicular surface parts of a person to the camera is possible because the smallest roughness of a surface causes scattering reflections and therefore the entire surface part of an object located in the infrared light 3.1 and facing it is clearly depicted in the camera becomes.
  • no other light hits the LCD microshutter 1.4, which means that only two image signals, infrared light or nothing, i.e. binary image data, are available right at the start of image processing.
  • the sensitivity to infrared light can therefore be set to a very small threshold value, the wavelength of the infrared area emitters 3 in particular emitted infrared light 3.1 or 3.2 is taken into account.
  • the control and evaluation can take place in a special control and evaluation unit 10 or be carried out by a processor system available for the elevator control.
  • a continuously operating learning algorithm stores object-typical contours and temporal changes in the taken reflex images 14 and supplies in the form of binary image data the basis for comparison for the generation of the logical command signals to the elevator control system.
  • the door control receives information about the intentions of the people 7 who are on the anteroom surface 5 at a certain moment on the basis of their number and behavior and reacts accordingly by holding them open for a long time, closing them prematurely or reversing. Most of the time, the door can be opened before an otherwise usual one Door hold-open times are closed prematurely, which means an increase in elevator capacity.
  • the device also works independently of the existing light sources in the area of the anteroom area 5 and its surroundings.
  • the antechamber can be illuminated by artificial light of any kind, daylight, sunlight or mixed light. Any reflections of infrared light in the sensitivity range of the camera 1 from artificial or natural light sources are at most perceived by the device, but are also recognized as such by the evaluation because they do not form object-typical reflex images 14 and are accordingly ignored. This is possible, among other things, because they come from light sources that send their light from a different direction than that from the infrared surface radiators 3.
  • two different images are taken in rotation, alternately one with infrared light 3.1 and one without infrared light 3.1.
  • those with infrared light 3.1 illumination are compared with those without infrared light 3.1 illumination and then the difference image data is passed on for further processing.
  • This procedure allows an even better distinction between desired and undesired picture elements and the pulsed operation of the infrared surface radiator 3 enables an increased intensity of the infrared light 3.1.
  • the device can also be installed on both sides of an entrance or passage gate, i.e. in a double version apply. In such an embodiment, it is possible to only let people in or just let them out through a corresponding influence on a door motor control. In this version, it can also be used for counting entering and / or leaving people.
  • the device described can also be installed in rail and road vehicles and also serves as an optimal door control. Another application relates to the registration of the behavior of people in a room or area to be monitored.
  • two or more systems of the type described can be installed next to one another, in addition to the side infrared surface radiators 3 and other infrared surface radiators 3 installed in a lower threshold or embedded in the floor.
  • the infrared surface heaters can be installed at any height.

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  • Power-Operated Mechanisms For Wings (AREA)
  • Elevator Door Apparatuses (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Geophysics And Detection Of Objects (AREA)

Abstract

Method and device for controlling the position of an automatic door, the door position being controlled in dependence on the presence and behaviour of persons (7) in the fore-space and the automatic door. Persons (7) present on the fore-space area (5) of an entrance are subjected to infra-red radiation (3.1) in strips and the infra-red light reflexes (3.2) coming from the irradiated person (7) are recorded by an infra-red camera (1). A control and processing unit (10) generates signals for the door stop, door reversing, door opening and door closing. The infra-red camera has a vertically arranged LCD microshutter (1.2) and a vertically arranged CCD linear-image sensor (1.5), and signals are generated in the control and processing unit (10) in response to typical object-related contours of the reflex images (14) and their variations in time. For a better detection of relevant image signals, images with and without infra-red light (3.1) are recorded in turn. <IMAGE>

Description

Die vorliegende Erfindung betrifft ein Verfahren zur Steuerung der Türstellung einer automatischen Tür, wobei die Türstellung abhängig von der Anwesenheit oder Nichtanwesenheit und von der Bewegungsrichtung anwesender Personen gesteuert wird, die anwesenden Personen auf der Vorraumfläche des Einganges mit Infrarotlicht angestrahlt werden, das Infrarotlicht als Flächenstrahl gesendet wird, die von einer angestrahlten Person stammenden Infrarotlicht-Reflexe von einer Infrarotkamera erfasst werden und die zeitlichen Veränderungen der Reflexbilder in einer Steuerungs- und Verarbeitungseinheit zu Signalen für die Steuerung einer automatischen Tür geformt werden.The present invention relates to a method for controlling the door position of an automatic door, the door position being controlled as a function of the presence or non-presence and the direction of movement of people present, the people present being illuminated with infrared light on the entrance area of the entrance, the infrared light being transmitted as an area beam the infrared light reflections originating from an illuminated person are recorded by an infrared camera and the temporal changes in the reflex images are shaped in a control and processing unit into signals for controlling an automatic door.

Es ist bekannt, für diesen Zweck auch Ultraschall-, Radar-, oder Video-Systeme einzusetzen. Radar- und Video-Systeme gelten als aufwendig und kompliziert und sind deshalb für die Lösung der zugrunde gelegten Aufgabe nicht angemessen.It is known to use ultrasound, radar, or video systems for this purpose. Radar and video systems are considered complex and complex and are therefore not appropriate for the solution of the underlying task.

Die CH-Patentschrift 607 187 beschreibt eine optisch-elektrische Einrichtung zur Überwachung von bestimmten Raumbereichen, bestehend aus Objektiv, ein- oder zweiachsig bewegtes prismatisches Raster, Empfängergruppen und Auswerteschaltung. Das prismatische Raster ist das bewegte Ortsfilter, welches das Licht der Objektbildpunkte abwechselnd auf die Empfängergruppen lenkt. Objekte oder Personen, welche in diesen sensorüberstrichenen Raum hineintreten, verändern eine Nullinterferenz und rufen ein Signal hervor, welches über dem Null-Niveau liegt.The CH patent 607 187 describes an optical-electrical device for monitoring certain areas, consisting of an objective, a prismatic grid moved in one or two axes, receiver groups and evaluation circuit. The prismatic grid is the moving spatial filter, which alternately directs the light of the object pixels onto the recipient groups. Objects or people entering this sensor-swept room change zero interference and produce a signal that is above the zero level.

Das System hat den Nachteil, dass teure optische Teile benötigt werden, dass ein mechanischer Antrieb vorhanden sein muss und dass schwierige Justierungen vorzunehmen sind. Störende Lichteinflüsse können die Funktion beeinträchtigen.The system has the disadvantages that expensive optical parts are required, that a mechanical drive must be present and that difficult adjustments have to be made. Interfering light influences can impair the function.

Die Patentanmeldung GB 2 093 986 beschreibt ein ähnliches System, bei welchem verschiedene optische Komponenten und eine elektronische Auswertung vorhanden sind. Eine der optischen Komponenten ist ein Raumfilter, welches in einer Ausführung als facettierte Halbkugel dargestellt wird.Patent application GB 2 093 986 describes a similar system in which various optical components and an electronic evaluation are available. One of the optical components is a spatial filter, which is shown as a faceted hemisphere.

Das System arbeitet im normalen sichtbaren Lichtspektrum, weshalb störende Lichteinflüsse nicht auszuschliessen sind. Es sind ebenfalls teure optische Komponenten vorhanden und die Justierung kann infolge widersprüchlicher Forderungen nicht einfach sein.The system works in the normal visible light spectrum, which is why disturbing light effects cannot be ruled out. There are also expensive optical components and adjustment cannot be easy due to conflicting requirements.

Gemäss der Patentschrift DE-C-3 344 576 sind an der Oberkante eines motorisch betätigten Türflügels Einzelsensoren angeordnet, welche auf den Schwenkbereich des Türflügels gerichtet sind. An Hand der Reflexe von emittiertem Infrarotlicht kann die Anwesenheit oder Nichtanwesenheit von Personen im Schwenkbereich ermittelt und folgerichtig bei Anwesenheit einer Person in diesem Bereich der Türantrieb stillgesetzt werden.
Für die Ueberwachung des Vorraumes vor einer Aufzugstür ist eine differenziertere Erfassung der Objekte im Vorraum und eine ebenso differenziertere Interpretation der Reflexe im Empfangsteil gefordert, weshalb normale Infrarot-Bewegungs- bzw. -Anwesenheitsmelder der vorbeschriebenen Art den hohen Ansprüchen einer universellen Türsteuerung nicht mehr genügen können.According to patent specification DE-C-3 344 576, individual sensors are arranged on the upper edge of a motor-operated door leaf and are directed towards the pivoting range of the door leaf. The presence or absence of people in the swivel range can be determined on the basis of the reflections of emitted infrared light and, consequently, the door drive can be stopped in the presence of a person in this area.
For the monitoring of the anteroom in front of an elevator door, a more differentiated detection of the objects in the anteroom and an equally differentiated interpretation of the reflections in the receiving part is required, which is why normal infrared motion or presence detectors of the type described above can no longer meet the high demands of a universal door control .

Gemäss einem deutschen Gebrauchsmuster DE-U-86 03 304.2 wird der Bewegungsbereich eines Schnelllauf-Falttores mittels Infrarot-Sender und -Empfänger überwacht. Links und rechts an einer Türöffnung angebrachte IR-Sender und -Empfänger bilden eine vertikale, dreieckige Ueberwachungszone. Da die Sendedioden einen Abstrahl-Streuwinkel von ca 20° aufweisen, müssen einander zugeordnete Sender und Empfänger codiert gepulst betrieben werden. Die Einrichtung erfüllt optimal die Funktion eines Schutzvorhanges, eignet sich aber nicht für die Vorraumüberwachung bei einer Aufzugstür.According to a German utility model DE-U-86 03 304.2, the range of movement of a high-speed folding door is monitored by means of an infrared transmitter and receiver. IR transmitters and receivers attached to the left and right of a door opening form a vertical, triangular surveillance zone. Since the transmitter diodes have a beam scattering angle of approx. 20 °, the transmitter and receiver assigned to each other must be operated in a coded, pulsed manner. The device optimally fulfills the function of a protective curtain, but is not suitable for the vestibule monitoring of an elevator door.

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Verfahren und eine Vorrichtung zu schaffen, welche Vorhandensein, Menge und Absichten von Personen im Vorraum eines Einganges klar erkennen lässt und folgerichtige Signale an eine Türsteuerung liefert.The present invention has for its object to provide a method and an apparatus which clearly shows the presence, quantity and intentions of people in the vestibule of an entrance and delivers logical signals to a door control.

Diese Aufgabe wird durch die in den Ansprüchen gekennzeichnete Erfindung gelöst.This object is achieved by the invention characterized in the claims.

Die durch die Erfindung erreichten Vorteile sind im wesentlichen darin zu sehen,

  • dass durch Kombination und spezielle Anordnung an sich bekannter Bauteile informationsreiche Ergebnisse erzielt werden,
  • dass üblicherweise unerwünschte Effekte, wie z.B. Bildverzerrung, für zweckmässige und überraschende Effekte ausgenützt werden,
  • dass kleine Datenmengen verarbeitet werden müssen und
  • dass nur gewisse Teile eines Objektes erfasst werden müssen, um daraus auf Art, Menge und Bewegungsverhalten schliessen zu können.
The advantages achieved by the invention are essentially to be seen in
  • that information-rich results are achieved by combining and special arrangement of known components,
  • that usually undesired effects, such as image distortion, are used for useful and surprising effects,
  • that small amounts of data have to be processed and
  • that only certain parts of an object have to be recorded in order to be able to draw conclusions about the type, quantity and movement behavior.

In den Zeichnungen ist ein Ausführungsbeispiel des Erfindungsgegenstandes an Hand eines Aufzugeinganges dargestellt, welches im folgenden näher erläutert wird. Es zeigen:

Fig. 1
eine Ansicht der Gesamt-Einrichtung bei einem Aufzugseingang,
Fig. 2
eine Seitenansicht der Einrichtung,
Fig. 3
eine Draufsicht der Einrichtung,
Fig. 4
die Bauteile und deren Anordnung in einer Infrarot-Kamera,
Fig. 5
die Vorraumbildprojektion in der Kamera und
Fig. 6
Einzelheiten der Projektionsmassstäbe.
In the drawings, an embodiment of the subject matter of the invention is shown using an elevator entrance, which is explained in more detail below. Show it:
Fig. 1
a view of the entire facility at an elevator entrance,
Fig. 2
a side view of the device,
Fig. 3
a top view of the facility,
Fig. 4
the components and their arrangement in an infrared camera,
Fig. 5
the anteroom image projection in the camera and
Fig. 6
Details of the projection scales.

Figur 1 zeigt eine Aufzugs-Frontebene 11 mit einem Aufzugseingang 4 und einer anwesenden Kabine 23. Ein Schachttürflügel ist mit 22 und ein Kabinentürflügel mit 21 bezeichnet. Auf halber Höhe seitlich des Einganges 4 ist ein Stockwerkruftableau 24 und über dem Eingang 4 eine Weiterfahrtsanzeigevorrichtung 25 angeordnet. Im Kabinentürkämpfer eingebaut ist eine Infrarotkamera 1 mit einem Objektiv 1.1. In den Vorderkanten der Kabinentürflügel 21 ist unten je ein Infrarotflächenstrahler 3 eingebaut, welche ein Infrarotlicht 3.1 in Richtung des Vorraumes parallel zu einer Vorraumfläche 5 aussenden.FIG. 1 shows an elevator front level 11 with an elevator entrance 4 and a car 23 present. A shaft door leaf is designated 22 and a car door leaf 21. Halfway up the side of the entrance 4 there is a floor call panel 24 and above the entrance 4 a continuation display device 25. An infrared camera 1 with a lens 1.1 is installed in the cabin door fighter. In the front edges of the cabin door wings 21, an infrared radiator 3 is installed below, which emit an infrared light 3.1 in the direction of the anteroom parallel to an anteroom surface 5.

Figur 2: Über dem Aufzugseingang 4 befindet sich die Infrarotkamera 1 an einer Kamerahalterung 2 mit einer Steuerungs- und Auswerteeinheit 10. Auf der Vorraumfläche 5 befindet sich eine Person 7 mit Füssen 6 und Beinen 6.1, welche sich in X-Richtung zur Aufzugs-Frontebene 11 hin bewegt. Die Vorraumfläche 5 ist in Y-Zonen 8.1 bis 8.4 unterteilt. Mit 9 ist eine Kameraachslinie bezeichnet.Figure 2: Above the elevator entrance 4, the infrared camera 1 is located on a camera holder 2 with a control and evaluation unit 10. On the anteroom surface 5 there is a person 7 with feet 6 and legs 6.1, who is in the X direction to the elevator front level 11 moved there. The anteroom area 5 is divided into Y zones 8.1 to 8.4. 9 denotes a camera axis line.

In der Figur 3 sind X-Zonen mit 12 bezeichnet und ein Bildrand mit 13.In FIG. 3, X zones are denoted by 12 and an image edge by 13.

In der Figur 4 ist mit 1.1 ein Foto-Objektiv, mit 1.2 ein LCD-Microshutter und mit 1.4 ein Infrarotfilter bezeichnet. Der LCD-Microshutter 1.2 hat vertikale Verschlusskolonnen 1.8 und ein ebenfalls vertikal angeordneter CCD-Linienbildsensor 1.5 hat Sensorzellen 1.7.In FIG. 4, 1.1 denotes a photo lens, 1.2 an LCD microshutter and 1.4 an infrared filter. The LCD microshutter 1.2 has vertical sealing columns 1.8 and a likewise vertically arranged CCD line image sensor 1.5 has sensor cells 1.7.

Fig. 5 zeigt ein verzerrtes Bild 18 der Vorraumfläche 5, wie es auf den LCD-Microshutter 1.2 projiziert wird. Reflexbilder 14 stammen von den Füssen 6 und Beinen 6.1 der Person 7.FIG. 5 shows a distorted image 18 of the antechamber surface 5 as it is projected onto the LCD microshutter 1.2. Reflex images 14 originate from the feet 6 and legs 6.1 of the person 7.

Fig. 6 veranschaulicht mit Kameraachse 9 und Strahlen 9.1 bis 9.4 die Ursache der Bildverzerrung auf einer Projektionsebene 17. Die Projektionsebene 17 ist in einen benutzten Bereich 15 und in einen unbenutzten Bereich 16 aufgeteilt. Der benutzte Bereich 15 entspricht der nutzbaren Projektionsfläche auf dem LCD-Microshutter 1.2. Die Abbildungen der X-Zonen 8.1 bis 8.4 auf der Projektionsebene 17 sind mit 8.11, 8.21, 8.31 und 8.41 bezeichnet.6 illustrates with camera axis 9 and rays 9.1 to 9.4 the cause of the image distortion on a projection plane 17. The projection plane 17 is divided into a used area 15 and an unused area 16. The area 15 used corresponds to the usable projection area on the LCD microshutter 1.2. The images of the X zones 8.1 to 8.4 on the projection plane 17 are designated 8.11, 8.21, 8.31 and 8.41.

Die vorstehend beschriebene Einrichtung arbeitet wie folgt:
Das vom Infrarotflächenstrahler 3 ausgesendete Infrarotlicht 3.1 trifft im Beispiel auf die Füsse 6 und Beine 6.1 der sich auf der Vorraumfläche befindlichen Person 7 und wird von dort durch Reflexion teilweise in Richtung Infrarotkamera 1 abgelenkt. Das Infrarotfilter 1.4 lässt nur dieses reflektierte Infrarotlicht 3.1 durch und es werden demzufolge auf die vorderseitige Ebene des LCD-Microshutters 1.2 nur die Reflexbilder 14 projiziert. Der LCD-Microshutter 1.2 weist beispielsweise 50 einzeln ansteuerbare Kolonnen 1.8 auf, welche der Reihe nach in einem bestimmten Takt aktiviert werden und so eine periodisch horizontal durchlaufende lichtdurchlässige Vertikalschlitzöffnung erzeugen. Die Abtastrate kann sehr niedrig gewählt werden, weil kein flimmerfreies Bild für einen Betrachter erzeugt werden muss und beträgt beispielsweise höchstens 10 Bilder pro Sekunde, wobei als Bild ein ganzer horizontaler Durchlauf beim LCD-Microshutter 1.2 verstanden wird. Dadurch fallen sehr kleine Datenmengen an, welche ein spezielles oder ein in der Aufzugsteuerung vorhandenes Prozessorsystem nebenher verarbeiten kann. Die solchermassen abgetasteten Bildkolonnen werden mittels der Zylinderlinse 1.3 fokussiert und alle auf dieselbe Linie auf den CCD-Linienbildsensor 1.5 projiziert. Der CCD-Linienbildsensor 1.5 wird laufend bei jeder projizierten Bildkolonne ausgelesen und für die nächste Bildkolonne bereitgeschaltet. Die ausgelesenen Werte werden zwischengespeichert und gemäss späterem Beschrieb weiterverarbeitet. Da nun der vertikal angeordnete CCD-Linienbildsensor 1.5 mindestens 250 Sensorzellen 1.7 aufweist und der LCD-Microshutter 1.2 höchstens 50 Kolonnen 1.8 besitzt, so ist hier die Bildauflösung in X-Richtung mindestens fünfmal grösser als in Y-Richtung. Daraus ergibt sich der Umstand, dass in X-Richtung zur Aufzugs-Frontebene 11 hin sich bewegende Objekte mindestens fünfmal schärfer erfasst werden als jene, welche sich in Y-Richtung, also parallel zur Aufzugs-Frontebene 11 bewegen. Ausserdem werden die Reflexbilder 14 eines sich in Y-Richtung bewegenden Objektes beim CCD-Linienbildsensor 1.5 immer auf die gleichen Sensorzellen 1.7 projiziert, woraus sich eindeutig schliessen lässt, dass sich dieses Objekt nicht dem Eingang nähert. Die entsprechenden binären Bilddaten sind, kombiniert mit der Position der momentanen Kolonnenöffnung, als Bewegung einer Person parallel zur Eingangsebene 11 interpretierbar.The device described above works as follows:
In the example, the infrared light 3.1 emitted by the infrared surface radiator 3 strikes the feet 6 and legs 6.1 of the person 7 located on the vestibule surface and is partially deflected from there towards the infrared camera 1 by reflection. The infrared filter 1.4 only allows this reflected infrared light 3.1 to pass through, and consequently only the reflex images 14 are projected onto the front plane of the LCD microshutter 1.2. The LCD microshutter 1.2 has, for example, 50 individually controllable columns 1.8, which are activated in sequence in a certain cycle and thus produce a periodically horizontally translucent vertical slot opening. The sampling rate can be chosen to be very low because a flicker-free image does not have to be generated for a viewer and is, for example, at most 10 images per second, an image being understood as an entire horizontal pass through the LCD microshutter 1.2. This results in very small amounts of data, which a special processor system or a processor system in the elevator control system can process in parallel. The image columns scanned in this way are focused by means of the cylindrical lens 1.3 and all on the same line projected onto the CCD line image sensor 1.5. The CCD line image sensor 1.5 is continuously read out for each projected image column and switched on for the next image column. The read values are buffered and processed according to the later description. Since the vertically arranged CCD line image sensor 1.5 now has at least 250 sensor cells 1.7 and the LCD microshutter 1.2 has at most 50 columns 1.8, the image resolution in the X direction is at least five times greater than in the Y direction. This results in the fact that objects moving in the X direction towards the elevator front level 11 are detected at least five times more sharply than those which move in the Y direction, that is to say parallel to the elevator front level 11. In addition, the reflex images 14 of an object moving in the Y direction are always projected onto the same sensor cells 1.7 in the CCD line image sensor 1.5, from which it can be clearly concluded that this object is not approaching the entrance. The corresponding binary image data, combined with the position of the current column opening, can be interpreted as a person's movement parallel to the entrance level 11.

Auf den Figuren 2 und 3 ist ein Raster mit Y-Zonen 8.1 bis 8.4 und X-Zonen 12 abgebildet. Dieser Raster ist real nicht vorhanden und dient nur der Erläuterung der Bildverzerrung und der daraus gewonnenen Effekte.A grid with Y zones 8.1 to 8.4 and X zones 12 is shown in FIGS. 2 and 3. This grid does not really exist and is only used to explain the image distortion and the effects derived from it.

Gemäss der Zeichnung in der Figur 5 werden nach den Gesetzen der darstellenden Geometrie bzw. der Optik dem Fotoobjektiv näher gelegene Y-Zonen, beispielsweise Zone 8.1, auf der Projektionsebene 17 grösser abgebildet als weiter entfernte Y-Zonen wie beispielsweise Y-Zone 8.4. Das gleiche gilt auch für die X-Zonen 12; hat aber für diese weniger Bedeutung, weil in y-Richtung sich bewegende Personen offensichtlich nicht einen Aufzug betreten wollen.According to the drawing in FIG. 5, according to the laws of the representing geometry or the optics, Y zones closer to the photo lens, for example zone 8.1, are shown larger on the projection plane 17 than more distant Y zones such as Y zone 8.4. The same applies to the X zones 12; has less importance for them because people moving in the y direction obviously do not want to enter an elevator.

Wären die Y-Zonen 8.1 bis 8.4 und X-Zonen 12 als entsprechender Raster auf der Vorraumfläche 5 aufgemalt und würde man das Infrarotfilter 1.4 vor dem LCD-Microshutter 1.4 weglassen, so hätte man auf der Vorderseite des LCD-Microshutters 1.4 eine Rasterbildprojektion gemäss Fig. 5, also eine Darstellung in Fluchtpunktperspektive. Entsprechend dieser Verzerrung werden auf der Projektionslinie 17 die Y-Zonen 8.1 bis 8.4 sehr unterschiedlich breit als verzerrte Y-Zonen 8.11, 8.21, 8.31 und 8.41 projiziert. Daraus sieht man, dass die nahe gelegene Y-Zone 8.1 ein Vielfaches von Sensorzellen 1.7 zugeordnet hat gegenüber der entfernten Y-Zone 8.4. Der praktische Effekt ist der, dass eine mit konstanter Geschwindigkeit sich in X-Richtung auf die Aufzugs-Frontebene 11 hinzu bewegende Person 7 Reflexbilder 14 erzeugt, welche infolge der Bildverzerrung auf der Projektionslinie 17 bzw. auf dem CCD-Linienbildsensor 1.5 mit abnehmender Distanz zur Aufzugs-Frontebene 11 eine der Verzerrfunktion entsprechende laufend zunehmende Geschwindigkeit aufweist. Das Detektionssystem weist also zusätzlich eine distanzabhängige Empfindlichkeit auf. In schwächerem Masse ist diese auch für Objektbewegungen in Y-Richtung vorhanden. Zusammengefasst kann man sagen, dass zusätzlich zur fünfmal grösseren Bildauflösung in X-Richtung gegenüber der Y-Richtung eine mit abnehmender Distanz zur Aufzugs-Frontebene 11 progressiv zunehmende Bildauflösung bzw. Empfindlichkeit erreicht wird. Das ist deshalb erwünscht, weil die Dringlichkeit einer schnellen Türreaktion mit abnehmender Distanz einer sich dem Eingang nähernden Person ebenfalls progressiv zunimmt.If the Y-zones 8.1 to 8.4 and X-zones 12 had been painted on the vestibule area 5 as a corresponding raster and the infrared filter 1.4 in front of the LCD microshutter 1.4 had been left out, a raster image projection according to Fig 5, ie a representation from a vanishing point perspective. Corresponding to this distortion, the Y zones 8.1 to 8.4 are projected on the projection line 17 in very different widths than the distorted Y zones 8.11, 8.21, 8.31 and 8.41. It can be seen from this that the nearby Y zone 8.1 has assigned a multiple of sensor cells 1.7 compared to the distant Y zone 8.4. The practical effect is that a person 7 moving at a constant speed in the X direction towards the elevator front plane 11 generates reflex images 14 which, due to the image distortion on the projection line 17 or on the CCD line image sensor 1.5, decrease in distance from Elevator front level 11 has a continuously increasing speed corresponding to the distortion function. The detection system also has a distance-dependent sensitivity. To a lesser extent, this is also available for object movements in the Y direction. In summary, one can say that in addition to the five times greater image resolution in the X direction compared to the Y direction, an image resolution or sensitivity that increases progressively with decreasing distance from the elevator front plane 11 is achieved. This is desirable because the urgency of a quick door response increases progressively as the distance of a person approaching the entrance decreases.

Das von den Infrarotflächenstrahlern 3 ausgesendete Infrarotlicht 3.1 ist so gerichtet, dass der Boden der Vorraumfläche 5 von diesem nicht berührt wird und so keine Bodenreflexe infolge Unebenheiten, wie Teppichkanten etc. auftreten. Der horizontale Abstrahlwinkel beträgt vorzugsweise je 120° und der vertikale Abstrahlwinkel beispielsweise 10°.The infrared light 3. 1 emitted by the infrared surface radiators 3 is directed in such a way that the floor of the anteroom surface 5 is not touched by the latter and so that there are no floor reflections due to unevenness, such as carpet edges, etc. The horizontal radiation angle is preferably 120 ° each and the vertical radiation angle is 10 °, for example.

Das gezeigte Stockwerkruftableau 24 kann auch eine Zehnertastatur für eine Zielrufsteuerung aufweisen. Mit dieser Einrichtung weiss die Aufzugssteuerung, wieviele wartende Personen sich auf jedem Stockwerk befinden. Deshalb ist es nicht nötig, die Vorraumüberwachung ausserhalb der Kabine auf jedem Stockwerk mit entsprechenden Einrichtungen vorzunehmen.The floor call panel 24 shown can also have a numeric keypad for destination call control. With this device, the elevator control knows how many waiting people are on each floor. It is therefore not necessary to monitor the anteroom outside the cabin on every floor with appropriate facilities.

Die Infrarotkamera 1 über dem Aufzugseingang 4 ist beispielsweise in einem Winkel von 45° nach unten geneigt, was auch dem Bildaufnahmewinkel entspricht. Die Kamerahalterung 2 ist insofern von grosser Wichtigkeit, als mit ihrer Hilfe ein bestimmter Winkel zur Vorraumfläche 5 eingestellt wird, welcher sowohl direkt für den Verzerrungsgrad bestimmend ist als auch Einfluss hat auf Grösse und Lage der zu überwachenden Vorraumfläche 5. Bei letzterem wird darauf geachtet, dass keine bestehenden senkrechten Flächen, wie z.B. solche einer gegenüberliegenden Wand, ins Bild kommen. Im Infrarotlicht 3.1 sich befindliche Objekte reflektieren das Infrarotlicht 3.2 mit entsprechend geneigten Oberflächenteilen ganz und mit allen anderen mehr oder weniger senkrechten dem Infrarotlicht 3.1 zugewandten Oberflächenteilen teilweise. Eine teilweise Reflexion des Infrarotlichtes 3.1/3.2 von mehr oder weniger senkrechten Oberflächenteilen einer Person zur Kamera ist möglich, weil die kleinste Rauhheit einer Oberfläche streuende Reflexionen bewirkt und deshalb der ganze im Infrarotlicht 3.1 sich befindliche und diesem zugewandte Oberflächenteil eines Objektes in der Kamera deutlich abgebildet wird. Ausser Infrarotlicht trifft kein anderes Licht auf den LCD-Microshutter 1.4, womit gleich zu Beginn der Bildverarbeitung nur zwei Bildsignale, Infrarotlicht oder nichts, also binäre Bilddaten vorhanden sind. Die Empfindlichkeit auf Infrarotlicht kann deshalb auf einen sehr kleinen Schwellwert fix eingestellt sein, wobei speziell die Wellenlänge des von den Infrarotflächenstrahlern 3 ausgestrahlten Infrarotlichtes 3.1 bzw. 3.2 berücksichtigt wird.The infrared camera 1 above the elevator entrance 4 is inclined downward, for example, at an angle of 45 °, which also corresponds to the image recording angle. The camera holder 2 is of great importance insofar as it is used to set a certain angle to the anteroom area 5, which is both directly determining the degree of distortion and has an influence on the size and position of the antechamber area 5 to be monitored. that no existing vertical surfaces, such as those of an opposite wall, come into the picture. Objects located in infrared light 3.1 completely reflect infrared light 3.2 with correspondingly inclined surface parts and partly with all other more or less perpendicular surface parts facing infrared light 3.1. A partial reflection of the infrared light 3.1 / 3.2 from more or less perpendicular surface parts of a person to the camera is possible because the smallest roughness of a surface causes scattering reflections and therefore the entire surface part of an object located in the infrared light 3.1 and facing it is clearly depicted in the camera becomes. Apart from infrared light, no other light hits the LCD microshutter 1.4, which means that only two image signals, infrared light or nothing, i.e. binary image data, are available right at the start of image processing. The sensitivity to infrared light can therefore be set to a very small threshold value, the wavelength of the infrared area emitters 3 in particular emitted infrared light 3.1 or 3.2 is taken into account.

Die Steuerung und Auswertung kann in einer speziellen Steuerungs- und Auswerteeinheit 10 erfolgen oder von einem für die Aufzugssteuerung vorhandenen Prozessorsystem übernommen werden.The control and evaluation can take place in a special control and evaluation unit 10 or be carried out by a processor system available for the elevator control.

Programmierte, an sich bekannte Algorithmen lösen bei Objektdetektionen in Zusammenwirkung mit der Aufzugssteuerung differenzierte logische Türbewegungen aus. Die Objektdetektionen können nach ihrer Auswertung folgende Informationen geben:

  • Eine Person bewegt sich in X-Richtung;
  • Zwei oder mehrere Personen bewegen sich in X-Richutng;
  • Eine Person bewegt sich entgegen der X-Richtung;
  • Zwei oder mehrere Personen bewegen sich entgegen der X-Richtung;
  • Eine Person steht mit einem bestimmten Abstand vor der Aufzugstür;
  • Zwei oder mehrere Personen stehen mit bestimmten Abständen vor der Aufzugstür;
  • Eine Person bewegt sich in Y-Richtung;
  • Zwei oder mehrere Personen bewegen sich in Y-Richtung.
Programmed algorithms, known per se, trigger differentiated logical door movements during object detections in cooperation with the elevator control. After their evaluation, the object detections can provide the following information:
  • A person is moving in the X direction;
  • Two or more people are moving in X direction;
  • A person moves against the X direction;
  • Two or more people are moving against the X direction;
  • A person stands at a certain distance in front of the elevator door;
  • Two or more people stand in front of the elevator door at certain intervals;
  • A person is moving in the Y direction;
  • Two or more people are moving in the Y direction.

Ein kontinuierlich arbeitender Lernalgorithmus speichert objekt-typische Konturen und zeitliche Veränderungen der aufgenommenen Reflexbilder 14 und liefert in Form binärer Bilddaten die Vergleichsbasis für die Erzeugung der folgerichtigen Befehlssignale an die Aufzugssteuerung.A continuously operating learning algorithm stores object-typical contours and temporal changes in the taken reflex images 14 and supplies in the form of binary image data the basis for comparison for the generation of the logical command signals to the elevator control system.

Zusammenfassend erhält die Türsteuerung Informationen über die Absichten der in einem bestimmten Moment sich auf der Vorraumfläche 5 befindlichen Personen 7 aufgrund deren Anzahl und Verhalten und reagiert entsprechend durch längeres Offenhalten, vorzeitiges Schliessen oder Reversieren. Meistens kann die Tür vor Ablauf einer sonst üblichen Türoffenhaltezeit vorzeitig geschlossen werden, was eine Steigerung der Aufzugförderkapazität bedeutet.In summary, the door control receives information about the intentions of the people 7 who are on the anteroom surface 5 at a certain moment on the basis of their number and behavior and reacts accordingly by holding them open for a long time, closing them prematurely or reversing. Most of the time, the door can be opened before an otherwise usual one Door hold-open times are closed prematurely, which means an increase in elevator capacity.

Bei Feuerausbruch auf einem Stockwerk im Bereich des Vorraumes wird in der Infrarotkamera grossflächig ein vom Brand erzeugtes Infrarotlicht abgebildet und das Ereignis als Feuer erkannt, wobei die Aufzugstüren sofort in die Geschlossenstellung reversieren nach einem teilweisen Öffnen.If a fire breaks out on a floor in the area of the anteroom, an infrared light generated by the fire is imaged over a large area in the infrared camera and the event is recognized as fire, with the elevator doors immediately reversing into the closed position after being partially opened.

Die Einrichtung arbeitet ferner unabhängig von den vorhandenen Lichtquellen im Bereich der Vorraumfläche 5 und deren Umgebung. Die Beleuchtung des Vorraumes kann durch Kunstlicht jeglicher Art, Tageslicht, Sonnenlicht oder Mischlicht erfolgen. Allfällige Reflexe von Infrarotlicht im Empfindlichkeitsbereich der Kamera 1 künstlicher oder natürlicher Lichtquellen werden allenfalls von der Einrichtung wahrgenommen aber von der Auswertung auch als solche erkannt, weil sie nicht objekt-typische Reflexbilder 14 bilden und werden entsprechend ignoriert. Das ist unter anderem deshalb möglich, weil sie von Lichtquellen stammen, welche ihr Licht aus einer anderen Richtung senden als das von den Infrarot-Flächenstrahlern 3.The device also works independently of the existing light sources in the area of the anteroom area 5 and its surroundings. The antechamber can be illuminated by artificial light of any kind, daylight, sunlight or mixed light. Any reflections of infrared light in the sensitivity range of the camera 1 from artificial or natural light sources are at most perceived by the device, but are also recognized as such by the evaluation because they do not form object-typical reflex images 14 and are accordingly ignored. This is possible, among other things, because they come from light sources that send their light from a different direction than that from the infrared surface radiators 3.

In einer weitergebildeten Form des Verfahrens werden im Turnus 2 verschiedene Bilder aufgenommen, abwechslungsweise je eines mit Infrarotlicht 3.1 und eines ohne Infrarotlicht 3.1. Bei der Verarbeitung der binären Bilddaten werden diejenigen mit Infrarotlicht 3.1-Beleuchtung mit jenen ohne Infrarotlicht 3.1-Beleuchtung verglichen und dann die Differenz-Bilddaten der Weiterverarbeitung zugeführt. Dieses Vorgehen erlaubt eine noch bessere Unterscheidung zwischen erwünschten und unerwünschten Bildelementen und der gepulste Betrieb des Infrarotflächenstrahlers 3 ermöglicht eine erhöhte intensität des Infrarotlichtes 3.1.In a further developed form of the method, two different images are taken in rotation, alternately one with infrared light 3.1 and one without infrared light 3.1. When processing the binary image data, those with infrared light 3.1 illumination are compared with those without infrared light 3.1 illumination and then the difference image data is passed on for further processing. This procedure allows an even better distinction between desired and undesired picture elements and the pulsed operation of the infrared surface radiator 3 enables an increased intensity of the infrared light 3.1.

Die Einrichtung lässt sich auch beidseitig bei einer Eingangs- oder Durchgangspforte, also in doppelter Ausführung anwenden. In einer solchen Ausführung ist es möglich, Personen durch entsprechenden Einfluss auf eine Türmotorsteuerung nur eintreten oder nur austreten zu lassen. Sie ist in dieser Ausführung auch zum Zählen eintretender oder/und austretender Personen verwendbar. Die beschriebene Einrichtung lässt sich auch bei Schienen- und Strassenfahrzeugen einbauen und dient auch da einer optimalen Türsteuerung. Eine weitere Anwendung betrifft die Registrierung des Verhaltens von Personen in einem zu überwachenden Raum bzw. auf einer zu überwachenden Fläche.The device can also be installed on both sides of an entrance or passage gate, i.e. in a double version apply. In such an embodiment, it is possible to only let people in or just let them out through a corresponding influence on a door motor control. In this version, it can also be used for counting entering and / or leaving people. The device described can also be installed in rail and road vehicles and also serves as an optimal door control. Another application relates to the registration of the behavior of people in a room or area to be monitored.

Für sehr grosse Eingangs- oder Durchgangsbreiten können zwei und mehr Systeme der beschriebenen Art nebeneinander eingebaut werden, wobei nebst den seitlichen Infrarotflächenstrahlern 3 noch weitere in einer niederen Schwelle eingebaute oder im Boden eingelassene Infrarotflächenstrahler 3 zum Einsatz kommen.For very large entrance or passage widths, two or more systems of the type described can be installed next to one another, in addition to the side infrared surface radiators 3 and other infrared surface radiators 3 installed in a lower threshold or embedded in the floor.

Die Infrarotflächenstrahler können in beliebiger Höhe angebracht werden.The infrared surface heaters can be installed at any height.

Claims (8)

  1. Method for the control of the door setting of an automatic door, wherein
    - the door setting is controlled in dependence on the presence or absence or on the direction of movement of persons present,
    - the persons present on the lobby surface of the entrance are irradiated by infrared light,
    - the infra-red light is emitted as areal beam,
    - the infra-red light reflections originating from an irradiated person are detected by an infrared camera and
    - the temporal changes in the reflected images are formed in a control and processing unit into signals for the control of an automatic door,
    characterised thereby, that a combined recording method with and without infrared light (3.1) is used for the detection of persons (7) in the lobby (5) of a lift entrance and for ascertaining the direction of their movement in this lobby (5) in that two different images, one with infra-red light (3.1) and one without infra-red light, are recorded in turn by the infrared camera (1) and that the image data of the image recording without infrared light (3.1) are subtracted from the image data of the image recording with infra-red light (3.1) and binary image difference data are produced and that the number and the direction of movement of persons (7) present is ascertained from the reflected images (14), which are received from the irradiated persons (7) and represent outline fragments.
  2. Method according to claim 1, characterised thereby, that the height of the areal beam of the infra-red light (3.1) is focussed onto a fraction of the height of a person.
  3. Method according to claim 1, characterised thereby, that the image projected in the infrared camera (1) is scanned column by column, that the columns are circuited parallelly to the x-direction and that each scanned image column is projected onto a charge-coupled device image line sensor (1.5) and this is read out and switched ready for the next image column during each image column projection.
  4. Method according to claim 1 and 3, characterised thereby, that a greater image resolution is produced in the x-direction than in the y-direction.
  5. Method according to claim 1, characterised thereby, that the outlines typical for the solution of the problem and the temporal changes in the reflected images (14) are stored as binary image data, in case of need stored anew in a continuous learning process and used as a basis for comparison in the ascertaining of the presence of persons (7) on the lobby surface (5).
  6. Device for the performance of the method according to claim 1 for the control of the door setting of an automatic door, the device consisting of
    - an infra-red camera installed in the door frame or on the cage and picking up the lobby,
    - infrared light sources and
    - a control and processing unit
    characterised thereby, that the infra-red camera (1) comprises a vertically arranged microshutter (1.2) and a likewise vertically arranged charge-coupled device image line sensor (1.5) and that the infrared light sources (3.1) are formed as horizontal areal radiators installed in the front edges of door leaves (21) and moving together with these.
  7. Device according to claim 6, characterised thereby, that the number of sensor cells (1.7) in the charge-coupled device image line sensor (1.5) of the infra-red camera (1) is greater than the number of vertical shutter columns (1.8) in the liquid crystal display microshutter (1.2).
  8. Device according to claim 1, characterised thereby, that the control and processing unit (10) comprises storage devices containing programmed method steps and switching circuits executing these method steps.
EP89102434A 1988-06-03 1989-02-13 Method and device for controlling the position of an automatic door Expired - Lifetime EP0344404B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT89102434T ATE89362T1 (en) 1988-06-03 1989-02-13 METHOD AND DEVICE FOR CONTROLLING THE DOOR POSITION OF AN AUTOMATIC DOOR.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH210888 1988-06-03
CH2108/88 1988-06-03

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EP0344404A1 EP0344404A1 (en) 1989-12-06
EP0344404B1 true EP0344404B1 (en) 1993-05-12

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EP (1) EP0344404B1 (en)
JP (1) JPH0243195A (en)
AT (1) ATE89362T1 (en)
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ATE89362T1 (en) 1993-05-15
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DE58904310D1 (en) 1993-06-17
EP0344404A1 (en) 1989-12-06
ES2041850T3 (en) 1993-12-01

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