EP3135846B1 - Drive system with sensor unit for drive control - Google Patents

Drive system with sensor unit for drive control Download PDF

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Publication number
EP3135846B1
EP3135846B1 EP16185701.6A EP16185701A EP3135846B1 EP 3135846 B1 EP3135846 B1 EP 3135846B1 EP 16185701 A EP16185701 A EP 16185701A EP 3135846 B1 EP3135846 B1 EP 3135846B1
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EP
European Patent Office
Prior art keywords
door
sensor unit
drive system
drive
component
Prior art date
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Active
Application number
EP16185701.6A
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German (de)
French (fr)
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EP3135846A1 (en
EP3135846C0 (en
EP3135846A8 (en
Inventor
Guido Bachmann
Benjamin SCHEFFER
Chawanakorn Dr. Mantala
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Bode Die Tuer GmbH
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Gebrueder Bode GmbH and Co KG
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—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
    • E05F15/74—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using photoelectric cells
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • 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
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/51—Application of doors, windows, wings or fittings thereof for vehicles for railway cars or mass transit vehicles

Definitions

  • the present invention relates to a drive system for a door component of a door system of a public transport vehicle. Furthermore, the application relates to a method for driving such a door component.
  • Door systems are used particularly in rail and road vehicles, but also on boats and airplanes. They are monitored in many ways and controlled depending on a wide variety of conditions.
  • the control of the drives or motors of the various components of the door systems, for example the door itself, as well as the position or movement detection is usually carried out by position sensors flanged to the drive.
  • a particular disadvantage of using such position sensors is that the position and movement of a component connected to the drive cannot be reliably determined if it is not firmly coupled to the drive. For example, if the torque is exceeded, toothed belts can break, slip or jump, which means that the drive movement is no longer transmitted precisely.
  • the WO 02/44505 A1 describes a method and a device in an anti-jamming system for doors and sliding steps interacting with them, which has a digital camera which is connected to a monitoring screen of a central computer to which the electronic means for opening and closing are also connected. Every camera transmits images to the monitoring screen at short intervals, the transmitted images being compared with a reference image and an alarm being triggered as soon as an image received from the camera deviates from the reference image of the monitoring screen.
  • the object of the invention is to provide a drive system with reliable and precise control of the drive.
  • the determination of at least the position of individual door components should be included.
  • the construction and maintenance of the door system with such a drive system should be simple and inexpensive.
  • the number of components required should also be reduced.
  • the object of the invention relates to providing a corresponding method for driving a door component of such a door system.
  • the object is achieved according to the invention by a door system with the features of the independent device claim and a method with the method steps of the independent method claim.
  • the position of the door component driven by the drive is recorded directly and directly by the sensor unit.
  • the drive is therefore controlled based on real position data, there is no control based on Data from additional components and sensors, such as resolvers, potentiometers, incremental encoders, etc., these components and sensors are no longer required.
  • the position determination relates directly to the driven door component, so that a possible source of error, namely errors in power transmission and/or position calculation (with sensorless position determinations, is excluded; they have no influence on the position and/or movement detection of the driven door component.
  • a specific position determination is used Aligned sensor is dispensed with and instead, for example, side effects of the motor are used to calculate or approximate the position of the drive
  • the evaluation unit calculates the edges of the driven door component from the location data obtained by the sensor unit, for example with the aid of card finding algorithms, and uses this to determine its exact position.
  • the sensor and/or evaluation unit is able to determine not only the position but also the direction of movement and/or speed of movement.
  • a significant advantage of the invention is that the sensor unit can also take on additional monitoring tasks in the area of the door opening, which means that additional elements can be saved.
  • the three-dimensional scanning or position determination by the sensor unit can be based on known optical systems such as infrared sensors, infrared laser scanners or suitable camera systems with optical image data evaluation; scanning with ultrasound is also conceivable.
  • the interior of the vehicle can also be scanned three-dimensionally.
  • these spaces will be referred to as the passenger compartment below.
  • tests can then be carried out in addition to the drive control for possible collisions of the door and step systems with the environment or passengers.
  • Predefined points in space preferably on an outer wall and/or inner wall of the vehicle, can also be used as virtual buttons for controlling the door and step systems.
  • the invention is described below essentially by way of example for the use of a laser scanner unit.
  • the alternative sensor units mentioned above can also be used.
  • the type of sensor unit is ultimately not important; rather, the term laser scanner unit is then to be understood as a synonym for all suitable sensors.
  • the sensor unit is formed by a laser scanner unit which is arranged in the area of the door opening and scans the passenger compartment in all three dimensions, i.e. in the x direction, y direction and z direction. After scanning, a three-dimensional point cloud is generated in the processing electronics.
  • the laser scanner unit uses infrared light, which is not visible to the human eye.
  • the measurement data here for example obtained through a measurement based on the ToF principle (Time-Of-Flight)
  • a point cloud is generated. This means that the laser scanner emits light pulses and measures the delay until the reflection of the corresponding light pulse arrives. The measured delay in reflection can be used to determine the distance between the scanned point and the sensor unit.
  • the monitoring of the door components and the passenger compartment is more precise the more scans are carried out per unit of time.
  • the evaluation unit has a computer/processor with suitable software.
  • the sensor and evaluation unit can be accommodated as integral elements in a common housing, but the evaluation unit can alternatively also be arranged externally to the sensor unit, for example in the driver's compartment on a train.
  • the sensor unit should be arranged in such a way that the door components are optimally scanned, i.e. no unwanted elements protrude into the beam paths. These can be ignored by the sensor unit, but they cast a shadow.
  • the central position above the two door leaves on the outside of the vehicle, i.e. in the area of the abutting main closing edges, has proven to be particularly advantageous.
  • the door bodies are scanned downwards from this upper position.
  • mounting the sensor unit in the middle above the door is particularly favorable, since the passenger compartment can then be optimally scanned.
  • an arrangement on the side next to and above the door has proven to be particularly advantageous in the interior, because with the central arrangement the support arms of the door can restrict the view of the laser scanner.
  • the sensor unit it is possible to generate virtual buttons using the sensor unit according to the invention.
  • an area can be defined at any point in which, for example, a passenger's hand movement can be evaluated as pressing a button. If a passenger's hand moves at the location of the virtual button in the direction of, for example, a sticker or a marking on or next to the door of a door wing, the sensor unit detects this and triggers an opening or closing signal for the doors.
  • the boarding aid can be controlled via the virtual button, for example retractable and extended.
  • buttons can be positioned and set up anywhere. No additional wiring is necessary and changes to the vehicle or position can be made at any time. It is still possible without any problems and involves only insignificant additional costs to provide several buttons in a door system. It is conceivable, for example, to additionally set up buttons for children or wheelchair users.
  • the entire environment visible to the laser unit or the laser scanner is scanned and saved taking tolerances into account.
  • the dimension of the door portal is integrated into the calibration in order to be able to hide relevant objects beyond the door. Calibration then makes it possible to adapt to different environments such as different platform heights or given obstacles.
  • the sensor unit easily detects additional objects or elements within the monitored passenger compartment.
  • boarding aid or opening doors or door leaves In order to avoid injury to passengers standing in front of the vehicle due to an extending boarding aid or opening doors or door leaves, it is provided according to the invention to also monitor the relevant area within the moving boarding aid or door and by the sensor unit. When objects are detected within this area, a signal is generated which can be used, for example, to stop or reverse the boarding aid or door.
  • a signal is generated which can be used, for example, to stop or reverse the boarding aid or door.
  • the drive system and method according to the invention can also be used to detect extremities and their position and speed. By analyzing the change in the measurement point cloud over time, a movement speed in the direction of the door opening or away from the door opening can be determined. From this data, immediate conclusions can be drawn about a passenger's intention, for example a request for opening or access.
  • even movement flows of passengers in the area of the doors can be determined and used to control the drive of the door component.
  • a door can be locked or opened to direct the flow of passengers in one direction. For example, if a passenger has passed the door in the permitted direction of movement and no other passenger is following behind, the door can be closed directly to make it more difficult to pass through the door in the opposite, wrong direction.
  • a passenger moves towards the door in the wrong direction, if no one is in the area of the moving door or wants to get out, it can be closed more quickly if necessary and advantageously depending on the distance and speed of the passenger in order to allow use in the wrong direction.
  • the boarding aid can then be retracted accordingly.
  • a space in front of the door opening is advantageously monitored, which can extend, for example, up to 10 m, preferably 2 to 5 m, from the door in the direction of the platform or the street. Passengers are therefore recognized early on and a timely reaction can be made.
  • the invention is also suitable for interaction between the drive system and the passenger, for example by using a loudspeaker and/or monitor in the area of the door. Scanning the passenger compartment makes it possible to provide the passenger with context-based information or to warn them of potentially dangerous situations. For example, if a passenger leans against the door or a door leaf from the inside while it is about to be opened, the passenger can be warned beforehand. The door can remain blocked from opening until the potential danger has been eliminated.
  • the use of three-dimensional scanning on the outside of the vehicle can be used to detect and report a blanket of snow that has formed, for example when you step on it.
  • FIGS. 1 and 2 show a greatly simplified schematic representation of a drive system 20 for a public transport vehicle 42. This points one into the Figures 1 and 2 unrecognizable door opening 44, which in the exemplary embodiment shown can be closed by a door formed from two door leaves 22.
  • An access aid 24 is arranged below the door and is intended to make it easier to get in and out of the vehicle 42. This access aid 24 can be designed, for example, as an extendable step or step plate.
  • Both figures also show a sensor unit 26. This is arranged centrally above the door leaves 22 on the outside of the vehicle 42. On the inside of the vehicle 42, however, the sensor unit 26 is positioned laterally above the two door leaves 22, since otherwise support arms not shown would possibly restrict the view of the sensor unit 26. In principle, the sensor unit 26 can be arranged at any suitable position depending on the type of sensor. It is important that the sensor unit can determine location data for the monitored door components.
  • the sensor unit 26 scans the passenger compartment to be monitored. A point cloud is then created from the measurement data.
  • the sensor unit 26 can, for example, have an optical sensor, preferably a laser, in particular an infrared laser. It is also conceivable to use a camera in conjunction with software for image data evaluation.
  • the sensor unit 26 also has an evaluation unit, not shown, for evaluating the measured or determined location data. This can be integrated into the sensor unit 26 or arranged externally.
  • Figures 1 and 2 symbolically different variants of communication means, namely a loudspeaker 50, a monitor 52 and a light source 54, all of which are arranged in the area of the door opening 44.
  • FIG. 3 illustrates an example of the combined use of the drive system 20 according to the invention for controlling the drive and another task.
  • An indicated vehicle 42 with a door opening 44 can be seen.
  • a first laser curtain monitors a space P1 between the two door leaves 22 and is limited to this; it ignores the wider surroundings.
  • a second laser curtain scans the room P2 immediately in front of the two door leaves 22 and is a little further stretched so that it overlaps in extent with the door leaves 22. If there is now an obstacle in the monitored or scanned rooms, it is reliably detected and closing or moving of the door can be interrupted; if necessary, the door is automatically reversed. By scanning the area P1, the space between the main closing edges 46 of the two door leaves 22 is monitored.
  • the same principle can be used for a single-leaf door; the space between the main closing edge 46 of the single door and the door frame is monitored.
  • the invention is not limited to the exemplary embodiments described and shown; rather, other possible uses of the drive system 20 according to the invention are also possible.
  • optical imaging monitoring can also be carried out, with corresponding evaluation software evaluating movements, shapes and speeds.
  • the invention is also suitable in conjunction with other sensor elements, for example ultrasonic sensors.
  • the sensor unit 26 can be designed and aligned in such a way that not only the passenger compartment is monitored directly in the area of the door opening, but, for example, a significantly larger space on the outside of the vehicle 42 is included in the monitoring. This makes it possible to recognize flows of people and their direction at an early stage and to react to them by opening or closing doors.
  • the passenger compartment can only be monitored outside, only inside and preferably on both sides of the door.
  • the invention leads to significant cost, space and weight savings.
  • the probability of failure is reduced compared to conventional position sensors.
  • the measurable speed range of the drive is larger compared to conventional systems. Since the speed of the motor is usually measured directly, the temporal measurement resolution and the amount of step-up/step-down of the drive are crucial for the resolvable speed range.
  • the solution described directly scans the driven object and is therefore independent of the drive design in terms of its accuracy. Operational safety is also improved because the actual position of the door component is used as the basis for the control.

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  • Power-Operated Mechanisms For Wings (AREA)

Description

Die vorliegende Erfindung betrifft ein Antriebssystem für eine Türkomponente eines Türsystems eines Fahrzeugs des öffentlichen Personenverkehrs. Weiterhin betrifft die Anmeldung ein Verfahren zum Antrieb einer solchen Türkomponente.The present invention relates to a drive system for a door component of a door system of a public transport vehicle. Furthermore, the application relates to a method for driving such a door component.

Türsysteme werden insbesondere in Schienen- und Straßenfahrzeugen, aber auch auf Booten und in Flugzeugen eingesetzt. Sie werden in vieler Hinsicht überwacht und in Abhängigkeit unterschiedlichster Bedingungen gesteuert. Die Regelung der Antriebe bzw. Motoren der verschiedenen Komponenten der Türsysteme, beispielsweise der Tür selbst, sowie die Positions- bzw. Bewegungserkennung erfolgt dabei üblicherweise durch an den Antrieb angeflanschte Positionsgeber.Door systems are used particularly in rail and road vehicles, but also on boats and airplanes. They are monitored in many ways and controlled depending on a wide variety of conditions. The control of the drives or motors of the various components of the door systems, for example the door itself, as well as the position or movement detection is usually carried out by position sensors flanged to the drive.

Nachteilig bei der Verwendung solcher Positionsgeber ist insbesondere, dass die Position und Bewegung einer an den Antrieb angeschlossenen Komponente dann nicht zuverlässig bestimmbar ist, wenn diese nicht fest an den Antrieb gekoppelt ist. Beispielsweise können Zahnriemen bei Drehmomentüberschreitungen reißen, durchrutschen oder überspringen, wodurch die Antriebsbewegung nicht mehr exakt weitergegeben wird.A particular disadvantage of using such position sensors is that the position and movement of a component connected to the drive cannot be reliably determined if it is not firmly coupled to the drive. For example, if the torque is exceeded, toothed belts can break, slip or jump, which means that the drive movement is no longer transmitted precisely.

Ähnlich verhält es sich bei sensorlosen Antriebssystemen, welche bei einem Fehler bei der Positionsberechnung die Position der angetriebenen Komponente nicht mehr sicher bestimmen können.The situation is similar with sensorless drive systems, which can no longer reliably determine the position of the driven component if there is an error in the position calculation.

Die genannten Positionsgeber und Sensoriken erfordern weiterhin zahlreiche Bauteile, aufwendige Verkabelungen und eine sorgfältige Wartung und Instandhaltung. Somit ist die Installation sowie die Wartung und Instandhaltung derartiger Antriebssysteme aufwendig und mit relativ hohen Kosten verbunden.The position sensors and sensors mentioned still require numerous components, complex cabling and careful maintenance and repair. The installation, maintenance and repair of such drive systems is therefore complex and involves relatively high costs.

Die WO 02/44505 A1 beschreibt ein Verfahren und eine Vorrichtung in einem Einklemmschutzsystem für Türen und mit diesen zusammenwirkenden Schiebtritten, welches eine Digitalkamera aufweist die mit einem Überwachunqsbildschirm eines Zentralcomputers verbunden sind mit welchem auch die elektronischen Mittel zum Öffnen und Schließen verbunden sind. Jede Kamera übermittelt in kurzen Intervallen Bilder an den Überwachungsbildschirm, wobei die übermittelten Bilder mit einem Referenzbild verglichen werden und wobei ein Alarm ausgelöst wird, sobald ein von der Kamera erhaltenes Bild von dem Referenzbild des Überwachungsbildschirms abweicht.The WO 02/44505 A1 describes a method and a device in an anti-jamming system for doors and sliding steps interacting with them, which has a digital camera which is connected to a monitoring screen of a central computer to which the electronic means for opening and closing are also connected. Every camera transmits images to the monitoring screen at short intervals, the transmitted images being compared with a reference image and an alarm being triggered as soon as an image received from the camera deviates from the reference image of the monitoring screen.

Die Aufgabe der Erfindung besteht darin, ein Antriebsystem mit einer zuverlässigen und genauen Regelung des Antriebs bereitzustellen. Dabei soll die Bestimmung zumindest der Position einzelner Türkomponenten einbezogen werden. Insbesondere soll es möglich sein, auch Türkomponenten in die Regelung des Antriebs mit einzubeziehen, die nicht direkt und/oder fest mit diesem verbunden sind. Der Aufbau sowie die Wartung und Instandhaltung des Türsystems mit einem solchen Antriebssystem soll einfach und kostengünstig sein. Insbesondere soll auch die Anzahl der benötigten Bauteile reduziert werden. Weiterhin betrifft die Aufgabe der Erfindung die Bereitstellung eines entsprechenden Verfahrens zum Antrieb einer Türkomponente eines solchen Türsystems.The object of the invention is to provide a drive system with reliable and precise control of the drive. The determination of at least the position of individual door components should be included. In particular, it should be possible to also include door components in the control of the drive that are not directly and/or firmly connected to it. The construction and maintenance of the door system with such a drive system should be simple and inexpensive. In particular, the number of components required should also be reduced. Furthermore, the object of the invention relates to providing a corresponding method for driving a door component of such a door system.

Die Aufgabe wird erfindungsgemäß durch ein Türsystem mit den Merkmalen des unabhängigen Vorrichtungsanspruchs und ein Verfahren mit den Verfahrensschritten des unabhängigen Verfahrensanspruchs gelöst.The object is achieved according to the invention by a door system with the features of the independent device claim and a method with the method steps of the independent method claim.

Demnach weist das Antriebssystem auf

  • einen Antrieb für die Türkomponente,
  • eine Sensoreinheit, die die Türkomponente berührungslos dreidimensional abtastet und Ortsdaten bezüglich deren Bewegung und jeweiliger Position ermittelt, und
  • eine Auswerteeinheit, die aus den von der Sensoreinheit gewonnenen Ortsdaten die jeweilige Position der Türkomponente bestimmt und darauf aufbauend den Antrieb der Türkomponente regelt.
Accordingly, the drive system has
  • a drive for the door component,
  • a sensor unit that scans the door component three-dimensionally without contact and determines location data regarding its movement and respective position, and
  • an evaluation unit which determines the respective position of the door component from the location data obtained by the sensor unit and, based on this, controls the drive of the door component.

Das erfindungsgemäße Verfahren weist die folgenden Verfahrensschritte auf:

  • Berührungsloses dreidimensionales Abtasten der Türkomponente mit einer Sensoreinheit zur Ermittlung von Ortsdaten bezüglich der Bewegung und jeweiligen Position der Türkomponente,
  • Bestimmen der jeweiligen Position der Türkomponente auf Basis der von der Sensoreinheit gewonnenen Ortsdaten mit Hilfe einer Auswerteeinheit.
  • Regeln eines Antriebs der Türkomponente auf Basis der bestimmten Position der Türkomponente.
The method according to the invention has the following process steps:
  • Non-contact three-dimensional scanning of the door component with a sensor unit to determine location data regarding the movement and respective position of the door component,
  • Determining the respective position of the door component based on the location data obtained by the sensor unit using an evaluation unit.
  • Controlling a drive of the door component based on the specific position of the door component.

Erfindungsgemäß wird die Position der vom Antrieb angetriebenen Türkomponente durch die Sensoreinheit unmittelbar und direkt erfasst. Der Antrieb wird somit auf Basis realer Positionsdaten geregelt, es erfolgt keine Regelung auf Basis von Daten zusätzlicher Komponenten und Sensoren, wie Resolver, Potentiometer, Inkrementalgeber usw., diese Komponenten und Sensoren werden nicht mehr benötigt. Die Positionsbestimmung bezieht sich direkt auf die angetriebene Türkomponente, so dass eine mögliche Fehlerquelle, nämlich Fehler bei der Kraftübertragung und/oder Positionsberechnung (bei sensorlosen Positionsbestimmungen ausgeschlossen ist, sie haben keinen Einfluss auf die Positions- und oder Bewegungserkennung der angetriebenen Türkomponente. Bei der erfindunggemäßen Positionsberechnung für sensorlose Antriebe wird auf einen speziell zur Positionsbestimmung ausgerichteten Sensor verzichtet und stattdessen z.B. Seiteneffekte des Motors genutzt um die Position des Antriebs zu berechnen bzw. anzunähernAccording to the invention, the position of the door component driven by the drive is recorded directly and directly by the sensor unit. The drive is therefore controlled based on real position data, there is no control based on Data from additional components and sensors, such as resolvers, potentiometers, incremental encoders, etc., these components and sensors are no longer required. The position determination relates directly to the driven door component, so that a possible source of error, namely errors in power transmission and/or position calculation (with sensorless position determinations, is excluded; they have no influence on the position and/or movement detection of the driven door component. In the position calculation according to the invention for sensorless drives, a specific position determination is used Aligned sensor is dispensed with and instead, for example, side effects of the motor are used to calculate or approximate the position of the drive

Erfindungsgemäß errechnet die Auswerteeinheit beispielsweise mit Hilfe von Karε-tenfindungsalgorithmen aus den von der Sensoreinheit gewonnen Ortsdaten die Kanten der angetriebenen Türkomponente und bestimmt daraus deren exakte Position. Vorteilhafterweise sind die Sensor- und/oder Auswerteeinheit in der Lage, neben der Position auch die Bewegungsrichtung und/oder Bewegungsgeschwindigkeit zu bestimmen.According to the invention, the evaluation unit calculates the edges of the driven door component from the location data obtained by the sensor unit, for example with the aid of card finding algorithms, and uses this to determine its exact position. Advantageously, the sensor and/or evaluation unit is able to determine not only the position but also the direction of movement and/or speed of movement.

Als Türkomponenten im Sinne der Erfindung kommen sämtliche mit dem Antrieb verbindbare Komponenten in Frage, beispielsweise die Tür selbst, Fenster bzw. Fensterflügel oder Zustiegshilfen, wie Schiebetritte oder Trittplatten.As door components in the sense of the invention, all components that can be connected to the drive come into question, for example the door itself, windows or window sashes or access aids, such as sliding steps or tread plates.

Ein wesentlicher Vorteil der Erfindung besteht darin, dass die Sensoreinheit auch weitere Überwachungsaufgaben im Bereich der Türöffnung übernehmen kann, wodurch weitere Elemente eingespart werden können.A significant advantage of the invention is that the sensor unit can also take on additional monitoring tasks in the area of the door opening, which means that additional elements can be saved.

Die dreidimensionale Abtastung bzw. Positionsermittlung durch die Sensoreinheit kann dabei auf Basis bekannter optischer Systeme wie Infrarotsensoren, Infrarot-Laserscannern oder geeigneter Kamerasysteme mit optischer Bilddatenauswertung erfolgen, denkbar ist auch eine Abtastung mit Ultraschall.The three-dimensional scanning or position determination by the sensor unit can be based on known optical systems such as infrared sensors, infrared laser scanners or suitable camera systems with optical image data evaluation; scanning with ultrasound is also conceivable.

Vorteilhafterweise wird nicht nur die Türkomponente, sondern auch der Außenraum vor der Türöffnung überwacht. In einer weiteren Ausführungsvariante kann auch der der Innenraum des Fahrzeugs dreidimensional abgetastet werden. Im Folgenden werden diese Räume der Einfachheit halber als Fahrgastraum bezeichnet.Advantageously, not only the door component but also the outside space in front of the door opening is monitored. In a further embodiment variant, the interior of the vehicle can also be scanned three-dimensionally. For the sake of simplicity, these spaces will be referred to as the passenger compartment below.

Mit Hilfe der ermittelten Daten können dann zusätzlich zur Antriebsregelung Prüfungen auf mögliche Kollisionen der Tür- und Trittsysteme mit der Umgebung oder Fahrgästen durchgeführt werden. Auch können vorher definierte Punkte im Raum, vorzugsweise an einer Außenwand und/oder Innenwand des Fahrzeugs als virtuelle Taster für die Steuerung der Tür- und Trittsysteme verwendet werden.With the help of the data determined, tests can then be carried out in addition to the drive control for possible collisions of the door and step systems with the environment or passengers. Predefined points in space, preferably on an outer wall and/or inner wall of the vehicle, can also be used as virtual buttons for controlling the door and step systems.

Im Folgenden wird die Erfindung im Wesentlichen beispielhaft für die Verwendung einer Laserscannereinheit beschrieben. Anstelle der Laserscannereinheit können aber auch die oben genannten alternativen Sensoreinheiten verwendet werden. Insbesondere bei Erläuterungen, die sich auf die räumlichen Gegebenheiten und Auswertung der Abtastergebnisse beziehen, kommt es letztendlich nicht auf die Art der Sensoreinheit an, vielmehr ist der Begriff Laserscannereinheit dann als Synonym für sämtliche geeigneten Sensoren zu verstehen.The invention is described below essentially by way of example for the use of a laser scanner unit. Instead of the laser scanner unit, the alternative sensor units mentioned above can also be used. Particularly in explanations that relate to the spatial conditions and evaluation of the scanning results, the type of sensor unit is ultimately not important; rather, the term laser scanner unit is then to be understood as a synonym for all suitable sensors.

In einer besonders vorteilhaften Ausführungsvariante ist die Sensoreinheit durch eine Laserscannereinheit gebildet, die im Bereich der Türöffnung angeordnet ist und den Fahrgastraum in allen drei Dimensionen, also in x-Richtung, y-Richtung und z-Richtung abtastet. Nach der Abtastung wird in der Verarbeitungselektronik eine dreidimensionale Punktwolke erzeugt. Vorzugsweise verwendet die Laserscannereinheit Infrarotlicht, das für das menschliche Auge nicht sichtbar ist. Mit Hilfe der Messdaten, hier beispielsweise gewonnen durch eine auf dem ToF-Prinzip (Time-Of-Flight) basierten Messung, wird eine Punktwolke generiert. Dies bedeutet, dass der Laserscanner Lichtimpulse abgibt und die Verzögerung bis zum Eingang der Reflektion des entsprechenden Lichtimpulses misst. Über die gemessene Verzögerung der Reflektion kann auf den Abstand des abgetasteten Punktes zur Sensoreinheit geschlossen werden. Die Überwachung der Türkomponenten und des Fahrgastraums ist je genauer, je mehr Abtastungen pro Zeiteinheit erfolgen.In a particularly advantageous embodiment variant, the sensor unit is formed by a laser scanner unit which is arranged in the area of the door opening and scans the passenger compartment in all three dimensions, i.e. in the x direction, y direction and z direction. After scanning, a three-dimensional point cloud is generated in the processing electronics. Preferably, the laser scanner unit uses infrared light, which is not visible to the human eye. With the help of the measurement data, here for example obtained through a measurement based on the ToF principle (Time-Of-Flight), a point cloud is generated. This means that the laser scanner emits light pulses and measures the delay until the reflection of the corresponding light pulse arrives. The measured delay in reflection can be used to determine the distance between the scanned point and the sensor unit. The monitoring of the door components and the passenger compartment is more precise the more scans are carried out per unit of time.

Für eine Auswertung der Ergebnisse weist Auswerteeinheit einen Rechner/Prozessor mit einer geeigneten Software auf. Die Sensor- und Auswerteeinheit können als integrale Elemente in einem gemeinsamen Gehäuse untergebracht sein, die Auswerteeinheit kann alternativ aber auch extern von der Sensoreinheit angeordnet sein, beispielsweise bei einem Zug im Fahrerraum.To evaluate the results, the evaluation unit has a computer/processor with suitable software. The sensor and evaluation unit can be accommodated as integral elements in a common housing, but the evaluation unit can alternatively also be arranged externally to the sensor unit, for example in the driver's compartment on a train.

Die Anordnung der Sensoreinheit sollte derart erfolgen, dass die Türkomponenten optimal abgetastet werden, also keine unerwünschten Elemente in die Strahlengänge hineinragen. Diese können zwar von der Sensoreinheit ignoriert werden, werfen aber einen Schatten. Bei zweiflügligen Türen hat sich auf der Außenseite des Fahrzeugs die mittige Position über den beiden Türflügeln, also im Bereich der aneinanderstoßenden Hauptschließkanten als besonders vorteilhaft erwiesen. Die Türkörper werden von dieser oberen Position nach unten abgetastet.The sensor unit should be arranged in such a way that the door components are optimally scanned, i.e. no unwanted elements protrude into the beam paths. These can be ignored by the sensor unit, but they cast a shadow. In the case of double-leaf doors, the central position above the two door leaves on the outside of the vehicle, i.e. in the area of the abutting main closing edges, has proven to be particularly advantageous. The door bodies are scanned downwards from this upper position.

Erfindungsgemäß ist die Montage der Sensoreinheit mittig oberhalb der Tür besonders günstig, da dann der Fahrgastraum optimal abgetastet werden kann. Bei zweiflügligen Türen hat sich im Innenraum eine Anordnung seitlich neben und oberhalb der Tür als besonders günstig erwiesen, weil bei der mittigen Anordnung die Tragarme der Tür die Sicht des Laserscanners einschränken können.According to the invention, mounting the sensor unit in the middle above the door is particularly favorable, since the passenger compartment can then be optimally scanned. In the case of double-leaf doors, an arrangement on the side next to and above the door has proven to be particularly advantageous in the interior, because with the central arrangement the support arms of the door can restrict the view of the laser scanner.

Erfindungsgemäß ist es möglich, unter Nutzung der erfindungsgemäßen Sensoreinheit virtuelle Taster zu erzeugen. Dies bedeutet, dass an beliebiger Stelle ein Bereich definiert werden kann, in dem zum Beispiel eine Handbewegung eines Fahrgastes als Drücken eines Tasters ausgewertet werden kann. Bewegt sich die Hand eines Fahrgastes an der Stelle des virtuellen Tasters in Richtung beispielsweise eines Aufklebers oder einer Markierung auf oder neben der Tür eines Türflügels, erkennt die Sensoreinheit diese und löst ein Öffnungs- oder Schließsignal für die Türen aus. Erfindungsgemäß kann für besondere Anwendungsfälle auch vorgesehen sein, dass die Zustiegshilfe über den virtuellen Taster steuerbar, also beispielsweise ein- und ausfahrbar ist.According to the invention, it is possible to generate virtual buttons using the sensor unit according to the invention. This means that an area can be defined at any point in which, for example, a passenger's hand movement can be evaluated as pressing a button. If a passenger's hand moves at the location of the virtual button in the direction of, for example, a sticker or a marking on or next to the door of a door wing, the sensor unit detects this and triggers an opening or closing signal for the doors. According to the invention, for special applications it can also be provided that the boarding aid can be controlled via the virtual button, for example retractable and extended.

Der wesentliche Vorteil solcher virtuellen Taster besteht darin, dass diese an beliebiger Stelle positioniert und eingerichtet werden können. Es ist keine zusätzliche Verkabelung notwendig und es können jederzeit Änderungen am Fahrzeug bzw. an der Position vorgenommen werden. Es ist weiterhin problemlos möglich und mit nur unwesentlichen zusätzlichen Kosten verbunden, mehrere Taster in einem Türsystem vorzusehen. Denkbar ist beispielsweise die zusätzliche Einrichtung von Tastern für Kinder oder Rollstuhlfahrer.The main advantage of such virtual buttons is that they can be positioned and set up anywhere. No additional wiring is necessary and changes to the vehicle or position can be made at any time. It is still possible without any problems and involves only insignificant additional costs to provide several buttons in a door system. It is conceivable, for example, to additionally set up buttons for children or wheelchair users.

Bei der Kalibrierung der Sensoreinheit und des Sensorumfelds wird das gesamte für die Lasereinheit bzw. dem Laserscanner sichtbare Umfeld abgetastet und unter Berücksichtigung von Toleranzen gespeichert. Zusätzlich wird die Dimension des Türportals in die Kalibrierung integriert um relevante Objekte jenseits der Tür ausblenden zu können. Durch die Kalibrierung ist es dann möglich, sich an verschiedene Umgebungen wie verschiedene Plattformhöhen oder gegebene Hindernisse, anzupassen. Die Sensoreinheit erkennt problemlos zusätzliche Objekte oder Elemente innerhalb des überwachten Fahrgastraums.When calibrating the sensor unit and the sensor environment, the entire environment visible to the laser unit or the laser scanner is scanned and saved taking tolerances into account. In addition, the dimension of the door portal is integrated into the calibration in order to be able to hide relevant objects beyond the door. Calibration then makes it possible to adapt to different environments such as different platform heights or given obstacles. The sensor unit easily detects additional objects or elements within the monitored passenger compartment.

Erfindungsgemäß ist es auch möglich, den Raum zwischen den Türflügeln mit Hilfe der Sensoreinheit zu überwachen.According to the invention, it is also possible to monitor the space between the door leaves using the sensor unit.

Um die Verletzung von vor dem Fahrzeug stehenden Fahrgästen durch eine ausfahrende Zustiegshilfe oder sich öffnende Türen oder Türflügeln zu vermeiden, ist erfindungsgemäß vorgesehen, auch den relevanten Bereich innerhalb der sich bewegenden Zustiegshilfe oder Tür und durch die Sensoreinheit zu überwachen. Bei Erkennung von Objekten innerhalb dieses Bereichs wird ein Signal generiert, welches z.B. zum Stoppen oder Reversieren der Zustiegshilfe oder Tür verwendet werden kann. Vorteilhafterweise ist es auch möglich, bereits vor der Öffnung der Tür und/oder vor dem Ausfahren der Zustiegshilfe ein Signal zu generieren, welches zur Ausgabe einer Warnung an die Fahrgäste verwendet werden kann.In order to avoid injury to passengers standing in front of the vehicle due to an extending boarding aid or opening doors or door leaves, it is provided according to the invention to also monitor the relevant area within the moving boarding aid or door and by the sensor unit. When objects are detected within this area, a signal is generated which can be used, for example, to stop or reverse the boarding aid or door. Advantageously, it is also possible to generate a signal before the door is opened and/or before the boarding aid is extended, which can be used to issue a warning to the passengers.

Das erfindungsgemäße Antriebssystem und Verfahren kann auch zur Erkennung von Extremitäten und deren Position und Geschwindigkeit genutzt werden. Durch Analyse der Veränderung der Messpunktwolke über die Zeit ist eine Bewegungsgeschwindigkeit in Richtung der Türöffnung bzw. von der Türöffnung weg ermittelbar. Aus diesen Daten lassen sich unmittelbar Rückschlüsse auf die Absicht eines Fahrgastes ziehen, beispielsweise einen Öffnungs- oder Zugangswunsch.The drive system and method according to the invention can also be used to detect extremities and their position and speed. By analyzing the change in the measurement point cloud over time, a movement speed in the direction of the door opening or away from the door opening can be determined. From this data, immediate conclusions can be drawn about a passenger's intention, for example a request for opening or access.

Erfindungsgemäß können sogar Bewegungsflüsse von Fahrgästen im Bereich der Türen ermittelt und für die Regelung des Antriebs der Türkomponente genutzt werden. In der Praxis ist es häufig üblich, bestimmte Türen entweder nur zum Aussteigen oder nur zum Einsteigen zu verwenden. Durch Erkennung der Bewegungsrichtung eines Fahrgastes kann eine Tür gesperrt oder geöffnet werden, um so den Bewegungsfluss der Fahrgäste in eine Richtung zu leiten. Hat ein Fahrgast beispielsweise in der erlaubten Bewegungsrichtung die Tür passiert und kommt kein weiterer Fahrgast hinterher, kann die Tür direkt geschlossen werden, um ein Passieren der Tür in die umgekehrte, falsche Richtung zu erschweren. Bewegt sich ein Fahrgast in der falschen Richtung auf die Tür zu, kann diese, wenn sich niemand im Bereich der sich bewegenden Tür befindet oder aussteigen möchte, bei Bedarf und vorteilhafterweise abhängig von dem Abstand und der Geschwindigkeit des Fahrgastes schneller geschlossen werden, um eine Benutzung in der falschen Richtung zu verhindern. Entsprechend kann dann auch die Zustiegshilfe eingefahren werden. Für diese Anwendungsfälle wird vorteilhafterweise ein Raum vor der Türöffnung mit überwacht, der sich beispielsweise bis zu 10 m, vorzugsweise 2 bis 5 m ausgehend von der Tür in Richtung des Bahnsteigs oder der Straße erstrecken kann. Fahrgäste werden somit bereits früh erkannt und es kann rechtzeitig reagiert werden.According to the invention, even movement flows of passengers in the area of the doors can be determined and used to control the drive of the door component. In practice, it is often common practice to use certain doors either for exiting only or for entering only. By detecting the direction of movement of a passenger, a door can be locked or opened to direct the flow of passengers in one direction. For example, if a passenger has passed the door in the permitted direction of movement and no other passenger is following behind, the door can be closed directly to make it more difficult to pass through the door in the opposite, wrong direction. If a passenger moves towards the door in the wrong direction, if no one is in the area of the moving door or wants to get out, it can be closed more quickly if necessary and advantageously depending on the distance and speed of the passenger in order to allow use in the wrong direction. The boarding aid can then be retracted accordingly. For these applications, a space in front of the door opening is advantageously monitored, which can extend, for example, up to 10 m, preferably 2 to 5 m, from the door in the direction of the platform or the street. Passengers are therefore recognized early on and a timely reaction can be made.

Die Erfindung eignet sich weiterhin für eine Interaktion des Antriebssystems mit dem Fahrgast, beispielsweise durch Nutzung eines Lautsprechers und/oder Monitors im Bereich der Tür. Die Abtastung des Fahrgastraums ermöglicht es, den Fahrgast mit kontextbasierten Informationen zu versorgen oder ihn vor potentiellen Gefahrsituationen zu warnen. Lehnt ein Fahrgast beispielsweise von innen an der Tür oder an einem Türflügel, während diese geöffnet werden soll, kann der Fahrgast zuvor gewarnt werden. Die Tür kann solange für die Öffnung gesperrt bleiben, bis die potentielle Gefahr beseitigt ist.The invention is also suitable for interaction between the drive system and the passenger, for example by using a loudspeaker and/or monitor in the area of the door. Scanning the passenger compartment makes it possible to provide the passenger with context-based information or to warn them of potentially dangerous situations. For example, if a passenger leans against the door or a door leaf from the inside while it is about to be opened, the passenger can be warned beforehand. The door can remain blocked from opening until the potential danger has been eliminated.

Das Gleiche gilt für eine Person oder einen störenden Gegenstand, der sich auf der ausgefahrenen Zustiegshilfe befindet, bzw. wird die Zustiegshilfe so lange nicht eingefahren, bis der Gegenstand entfernt wurde oder die Person die Zustiegshilfe verlassen hat.The same applies to a person or a disruptive object that is on the extended access aid, or the access aid is not retracted until the object has been removed or the person has left the access aid.

Grundsätzlich ist es mit Hilfe des erfindungsgemäßen Antriebssystems und des erfindungsgemäßen Verfahrens möglich, den Fahrer des Fahrzeugs über die Bewegung und Nutzung von Türen zu informieren, um diese optimal regeln zu können. Insbesondere können nichtbenutzte Türen früher geschlossen werden oder Automatiktüren freigegeben werden, vor denen Fahrgäste zum Aussteigen warten. Das möglichst zügige Schließen von Türen ist insbesondere bei klimatisierten oder beheizten Wagen vorteilhaft. Die Kontrolle der Fahrgäste, beispielsweise auf einem Bahnsteig oder an einer Haltestelle erfolgt im Stand der Technik ausschließlich über den Rückspiegel des Fahrers und ist daher abhängig von dessen Konzentration und Aufmerksamkeit.In principle, with the help of the drive system according to the invention and the method according to the invention, it is possible to inform the driver of the vehicle about the movement and use of doors in order to be able to regulate them optimally. In particular, unused doors can be closed earlier or automatic doors can be released in front of which passengers are waiting to get out. Closing doors as quickly as possible is particularly advantageous for air-conditioned or heated cars. In the prior art, passengers are checked, for example on a platform or at a stop, exclusively via the driver's rear-view mirror and therefore depends on the driver's concentration and attention.

Die Nutzung der dreidimensionalen Abtastung auf der Außenseite des Fahrzeugs kann erfindungsgemäß dazu genutzt werden, eine entstandene Schneedecke beispielsweise auf einem Tritt zu erkennen und zu melden.According to the invention, the use of three-dimensional scanning on the outside of the vehicle can be used to detect and report a blanket of snow that has formed, for example when you step on it.

Sollte beispielsweise zwischen der Zustiegshilfe und dem Bahnsteig trotz vollständig ausgefahrenem Schiebetritt ein Spalt verbleiben, können die Fahrgäste über die Kommunikationselemente unmittelbar darauf hingewiesen werden. Auch diese Informationen kann automatisch vom System selbst ausgegeben werden, wenn entsprechende Messergebnisse vorliegen.For example, if a gap remains between the boarding aid and the platform despite the sliding step being fully extended, passengers can be informed of this immediately via the communication elements. This information can also be automatically output by the system itself if the corresponding measurement results are available.

Durch die Nutzung der dreidimensionalen Abtastung kann nicht nur die Geschwindigkeit, sondern auch die Anzahl passierender Fahrgäste ermittelt werden, eine Fahrgastzählung ist problemlos möglich.By using three-dimensional scanning, not only the speed but also the number of passing passengers can be determined; passenger counting is possible without any problems.

Weiterhin kann mit Hilfe geeigneter Algorithmen auch auf die Form und Bewegung von Fahrgästen und Objekten geschlossen werden. Somit können Gegenstände, wie z.B. Koffer von Fahrgästen, die sich beispielsweise auf einer Zustiegshilfe befinden, unterschieden werden, was ggfs. Einfluss auf die Regelung des Antriebs haben kann.Furthermore, with the help of suitable algorithms, conclusions can be drawn about the shape and movement of passengers and objects. This means that objects such as passengers' suitcases that are on a boarding aid, for example, can be distinguished, which may have an influence on the control of the drive.

Das erfindungsgemäße Türsystem wird in den nachfolgenden Figuren näher erläutert. Diese sind lediglich als erste Ausführungsbeispiele zu verstehen und sollen die Erfindung nicht auf diese beschränken. Die Zeichnungen sind nicht maßstabsgetreu. Es zeigen:

Fig. 1:
Ein erfindungsgemäßes Türsystem von außen in vereinfachter Prinzipdarstellung,
Fig. 2:
ein erfindungsgemäßes Türsystem von innen in vereinfachter Prinzipdarstellung,
Fig. 3:
eine Prinzipskizze zur Hindernisüberwachung zwischen zwei Türflü-geln.
The door system according to the invention is explained in more detail in the following figures. These are only to be understood as first exemplary embodiments and are not intended to limit the invention to these. The drawings are not to scale. Show it:
Fig. 1:
A door system according to the invention from the outside in a simplified schematic representation,
Fig. 2:
a door system according to the invention from the inside in a simplified schematic representation,
Fig. 3:
a schematic sketch for obstacle monitoring between two door leaves.

Die Figuren 1 und 2 zeigen in einer stark vereinfachten Prinzipdarstellung ein Antriebsssystem 20 für ein Fahrzeug 42 des öffentlichen Personenverkehrs. Dieses weist eine in den Figuren 1 und 2 nicht erkennbare Türöffnung 44 auf, die im gezeigten Ausführungsbeispiel durch eine Tür, gebildet aus zwei Türflügeln 22 verschließbar ist. Unterhalb der Tür ist eine Zustiegshilfe 24 angeordnet, die das Ein- und Aussteigen aus dem Fahrzeug 42 erleichtern soll. Diese Zustiegshilfe 24 kann beispielsweise als ausfahrbare Trittstufe oder Trittplatte ausgebildet sein.The Figures 1 and 2 show a greatly simplified schematic representation of a drive system 20 for a public transport vehicle 42. This points one into the Figures 1 and 2 unrecognizable door opening 44, which in the exemplary embodiment shown can be closed by a door formed from two door leaves 22. An access aid 24 is arranged below the door and is intended to make it easier to get in and out of the vehicle 42. This access aid 24 can be designed, for example, as an extendable step or step plate.

Beide Figuren zeigen weiterhin eine Sensoreinheit 26. Diese ist auf der Außenseite des Fahrzeugs 42 zentral mittig oberhalb der Türflügel 22 angeordnet. Auf der Innenseite des Fahrzeugs 42 ist die Sensoreinheit 26 dagegen seitlich oberhalb der beiden Türflügel 22 positioniert, da ansonsten nicht gezeigte Tragarme möglicherweise die Sicht der Sensoreinheit 26 einschränken würden. Grundsätzlich kann die Sensoreinheit 26 je nach Art des Sensors an jeder geeigneten Position angeordnet sein. Wesentlich ist, dass die Sensoreinheit Ortsdaten zu den überwachten Türkomponenten ermitteln kann.Both figures also show a sensor unit 26. This is arranged centrally above the door leaves 22 on the outside of the vehicle 42. On the inside of the vehicle 42, however, the sensor unit 26 is positioned laterally above the two door leaves 22, since otherwise support arms not shown would possibly restrict the view of the sensor unit 26. In principle, the sensor unit 26 can be arranged at any suitable position depending on the type of sensor. It is important that the sensor unit can determine location data for the monitored door components.

Die Sensoreinheit 26 tastet den zu überwachenden Fahrgastraum ab. Aus den Messdaten wird dann eine Punktwolke erzeugt. Die Sensoreinheit 26 kann hierfür beispielsweise einen optischen Sensor, vorzugsweise einen Laser, insbesondere einen Infrarotlaser aufweisen. Denkbar ist auch die Verwendung einer Kamera in Verbindung mit einer Software zur Bilddatenauswertung.The sensor unit 26 scans the passenger compartment to be monitored. A point cloud is then created from the measurement data. For this purpose, the sensor unit 26 can, for example, have an optical sensor, preferably a laser, in particular an infrared laser. It is also conceivable to use a camera in conjunction with software for image data evaluation.

Die Sensoreinheit 26 weist weiterhin eine nicht gezeigte Auswerteeinheit zur Auswertung der gemessenen bzw. ermittelten Ortsdaten auf. Diese kann in die Sensoreinheit 26 integriert oder extern angeordnet sein.The sensor unit 26 also has an evaluation unit, not shown, for evaluating the measured or determined location data. This can be integrated into the sensor unit 26 or arranged externally.

Weiterhin zeigen die Figuren 1 und 2 symbolisch verschiedene Varianten von Kommunikationsmitteln, nämlich einen Lautsprecher 50, einen Monitor 52 und ein Leuchtmittel 54, die alle im Bereich der Türöffnung 44 angeordnet sind.Furthermore, they show Figures 1 and 2 symbolically different variants of communication means, namely a loudspeaker 50, a monitor 52 and a light source 54, all of which are arranged in the area of the door opening 44.

Figur 3 verdeutlicht ein Beispiel zur kombinierten Nutzung des erfindungsgemäßen Antriebssystems 20 für die Regelung des Antriebs und eine weitere Aufgabe. Erkennbar ist ein angedeutetes Fahrzeug 42 mit einer Türöffnung 44. Davor befinden sich zwei Türflügel 22 in leicht geöffneter Position. Ein erster Laservorhang überwacht einen Raum P1 zwischen den beiden Türflügeln 22 und ist auf diesen begrenzt, er ignoriert das weitere Umfeld. Ein zweiter Laservorhang tastet dagegen den Raum P2 unmittelbar vor den beiden Türflügeln 22 ab und ist etwas weiter aufgespannt, so dass er sich mit den Türflügeln 22 in der Ausdehnung überlappt. Befindet sich nun ein Hindernis in den überwachten bzw. abgetasteten Räumen, wird dieses sicher erkannt und ein Schließen bzw. Bewegen der Tür kann unterbrochen werden, ggf. wird die Tür automatisch reversiert. Über die Abtastung des Bereichs P1 wird somit der Raum zwischen Hauptschließkanten 46 der beiden Türflügel 22 überwacht. Bei einer einflügligen Tür kann das gleiche Prinzip verwendet werden, es wird der Raum zwischen der Hauptschließkante 46 der einzigen Tür und dem Türrahmen überwacht. Figure 3 illustrates an example of the combined use of the drive system 20 according to the invention for controlling the drive and another task. An indicated vehicle 42 with a door opening 44 can be seen. In front of it there are two door leaves 22 in a slightly open position. A first laser curtain monitors a space P1 between the two door leaves 22 and is limited to this; it ignores the wider surroundings. A second laser curtain, on the other hand, scans the room P2 immediately in front of the two door leaves 22 and is a little further stretched so that it overlaps in extent with the door leaves 22. If there is now an obstacle in the monitored or scanned rooms, it is reliably detected and closing or moving of the door can be interrupted; if necessary, the door is automatically reversed. By scanning the area P1, the space between the main closing edges 46 of the two door leaves 22 is monitored. The same principle can be used for a single-leaf door; the space between the main closing edge 46 of the single door and the door frame is monitored.

Die Erfindung ist nicht auf die beschriebenen und gezeigten Ausführungsbeispiele beschränkt, vielmehr sind auch weitere Nutzungsmöglichkeiten des erfindungsgemäßen Antriebssystems 20 möglich. Beispielsweise kann anstelle eines Laserscanners auch eine bildgebende optische Überwachung erfolgen, wobei eine entsprechend zugehörige Auswertesoftware Bewegungen, Formen und Geschwindigkeiten auswertet. Denkbar ist beispielsweise der Einsatz einer Videokamera mit einem entsprechenden Auswerteprogramm. Die Erfindung eignet sich auch in Verbindung mit weiteren Sensorelementen, beispielsweise Ultraschallsensoren. Weiterhin kann die Sensoreinheit 26 derart ausgeführt und ausgerichtet sein, dass nicht nur der Fahrgastraum unmittelbar im Bereich der Türöffnung überwacht wird, sondern beispielsweise auf der Außenseite des Fahrzeugs 42 ein deutlich größerer Raum in die Überwachung einbezogen wird. Hierdurch ist es möglich, Menschenströme und deren Richtung frühzeitig zu erkennen und durch Türöffnung oder -schließung darauf zu reagieren. Die Überwachung des Fahrgastraums kann nur außen, nur innen und vorzugsweise beidseitig der Tür erfolgen.The invention is not limited to the exemplary embodiments described and shown; rather, other possible uses of the drive system 20 according to the invention are also possible. For example, instead of a laser scanner, optical imaging monitoring can also be carried out, with corresponding evaluation software evaluating movements, shapes and speeds. It is conceivable, for example, to use a video camera with a corresponding evaluation program. The invention is also suitable in conjunction with other sensor elements, for example ultrasonic sensors. Furthermore, the sensor unit 26 can be designed and aligned in such a way that not only the passenger compartment is monitored directly in the area of the door opening, but, for example, a significantly larger space on the outside of the vehicle 42 is included in the monitoring. This makes it possible to recognize flows of people and their direction at an early stage and to react to them by opening or closing doors. The passenger compartment can only be monitored outside, only inside and preferably on both sides of the door.

Die Erfindung führt zu einer deutlichen Kosten-, und Platz- und Gewichtsersparnis. Die Ausfallwahrscheinlichkeit ist im Vergleich zu konventionellen Positionsgebern verringert. Hinzu kommt, dass der messbare Geschwindigkeitsbereich des Antriebs im Vergleich zu konventionellen Systemen größer ist. Da gewöhnlichereise direkt am Motor dessen Geschwindigkeit gemessen wird, sind die zeitliche Messauflösung und die Höhe der Über-/Untersetzung des Antriebs ausschlaggebend für den auflösbaren Geschwindigkeitsbereich. Die beschriebene Lösung tastet direkt das angetriebene Objekt ab und ist damit in seiner Genauigkeit unabhängig von der Antriebsauslegung. Die Betriebssicherheit ist ebenfalls verbessert, da die tatsächliche Position der Türkomponente als Basis für die Regelung genutzt wird.The invention leads to significant cost, space and weight savings. The probability of failure is reduced compared to conventional position sensors. In addition, the measurable speed range of the drive is larger compared to conventional systems. Since the speed of the motor is usually measured directly, the temporal measurement resolution and the amount of step-up/step-down of the drive are crucial for the resolvable speed range. The solution described directly scans the driven object and is therefore independent of the drive design in terms of its accuracy. Operational safety is also improved because the actual position of the door component is used as the basis for the control.

Claims (20)

  1. A drive system (20) for a door component of a door system (20) of a public passenger transport vehicle (42), comprising
    - a drive for the door component,
    - a sensor unit (26) that scans the door component three-dimensionally in a contactless manner and determines location data regarding its movement and respective position, and
    - an evaluation unit that determines the respective position of the door component from the location data obtained by the sensor unit (26) and controls the drive of the door component based on the determined position thereof.
  2. The drive system (20) according to claim 1, characterized in that the evaluation unit determines edges of the door component from the location data acquired by the sensor unit (26) with the aid of edge detection algorithms, and in that the position of said edges is determined based thereon.
  3. The drive system (20) according to claim 1 or claim 2, characterized in that the evaluation unit also determines the moving speed of the door component and uses said moving speed for the control of the drive.
  4. The drive system (20) according to one of claims 1 to 3, characterized in that the door component is a component of the group comprising door, window and/or accessibility aid (24).
  5. The drive system (20) according to one of claims 1 to 4, characterized in that the sensor unit (26) is arranged in the region of a door opening (44).
  6. The drive system (20) according to one of claims 1 to 5, characterized in that a proximity sensor for monitoring an entrance area of the door opening (44), namely at least an exterior space in front of the door opening (44) of the vehicle (42), is used as sensor unit (26).
  7. The drive system (20) according to one of claims 4 to 6, characterized in that the sensor unit (26) determines a distance between the door opening (44) and a platform, and in that the measuring result is used for controlling an extension movement of the accessibility aid (24).
  8. The drive system (20) according to one of claims 1 to 7, characterized in that the sensor unit (26) includes an optical sensor.
  9. The drive system (20) according to claim 8, characterized in that the sensor unit (26) has a camera and the evaluation unit has software for image data evaluation.
  10. The drive system (20) according to claim 8, characterized in that the sensor unit (26) has a laser scanner unit.
  11. The drive system (20) according to one of claims 1 to 10, characterized in that the sensor unit (26) also scans an interior space of the vehicle (42) three-dimensionally in a contactless manner.
  12. The drive system (20) according to one of claims 1 to 11, characterized in that two door wings (22) are provided and the sensor unit (26) monitors a space between main closing edges (46) of the two door wings (22) for obstacle detection.
  13. The drive system (20) according to one of claims 1 to 12, characterized in that the sensor unit (26) is configured and aligned in such a way that a space outside the vehicle, which extends from the door opening (44) over a distance of up to 5 m, preferably 2 m, is additionally scanned.
  14. The drive system (20) according to one of claims 1 to 13, characterized in that a space, through which the door or the door wings (22) move, is monitored by the sensor unit (26) for injury prevention, wherein opening of the door or the door wings (22) is interrupted when an obstacle is located in this space.
  15. A method for driving a door component of a door system (20) of a public passenger transport vehicle (42), comprising the steps of:
    - scanning the door component three-dimensionally in a contactless manner with a sensor unit (26) in order to determine location data regarding the movement and the respective position of the door component,
    - determining the respective position of the door component based on the location data obtained by the sensor unit (26) with the aid of an evaluation unit, and
    - controlling a drive of the door component based on the determined position of the door component.
  16. The method according to claim 15, characterized in that the evaluation unit determines edges of the door component from the location data acquired by the sensor unit (26) with the aid of edge detection algorithms, and in that the position of said edges is determined based thereon.
  17. The method according to claim 15 or claim 16, characterized in that the moving speed of the door component is also determined and used for the control of the drive.
  18. The method according to one of claims 15 to 17, characterized in that the door component is a component of the group comprising door, window and/or accessibility aid (24).
  19. The method according to one of claims 15 to 18, characterized in that the sensor unit (26) determines a distance between the door opening (44) and a platform, and in that the measuring result is used for controlling an extension movement of the accessibility aid (24).
  20. The method according to one of claims 15 to 19, characterized in that entering and exiting passengers are determined and counted.
EP16185701.6A 2015-08-28 2016-08-25 Drive system with sensor unit for drive control Active EP3135846B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE202015104582.4U DE202015104582U1 (en) 2015-08-28 2015-08-28 Drive system with sensor unit for drive control

Publications (4)

Publication Number Publication Date
EP3135846A1 EP3135846A1 (en) 2017-03-01
EP3135846A8 EP3135846A8 (en) 2017-04-26
EP3135846B1 true EP3135846B1 (en) 2023-09-27
EP3135846C0 EP3135846C0 (en) 2023-09-27

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Application Number Title Priority Date Filing Date
EP16185701.6A Active EP3135846B1 (en) 2015-08-28 2016-08-25 Drive system with sensor unit for drive control

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EP (1) EP3135846B1 (en)
DE (1) DE202015104582U1 (en)
PL (1) PL3135846T3 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3388863A1 (en) * 2017-04-10 2018-10-17 Bea S.A. Sensor for controlling an automatic door
FR3118477A1 (en) 2020-12-24 2022-07-01 Faiveley Transport Tours Access door to a transport vehicle comprising means for monitoring the movement of its opening, vehicle and corresponding control method

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016042168A1 (en) * 2014-09-19 2016-03-24 Gebr. Bode Gmbh & Co. Kg Door system with sensor unit and communication element

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE520075C2 (en) * 2000-12-01 2003-05-20 Safenet I Harads Ab Procedure for clamp protection devices and apparatus for carrying out the method
JP4639293B2 (en) * 2001-02-27 2011-02-23 オプテックス株式会社 Automatic door sensor
DE102014113572B4 (en) * 2014-09-19 2023-01-12 Bode - Die Tür Gmbh Door system with sensor unit for boarding aid monitoring

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016042168A1 (en) * 2014-09-19 2016-03-24 Gebr. Bode Gmbh & Co. Kg Door system with sensor unit and communication element

Also Published As

Publication number Publication date
EP3135846A1 (en) 2017-03-01
PL3135846T3 (en) 2024-03-25
DE202015104582U1 (en) 2016-12-01
EP3135846C0 (en) 2023-09-27
EP3135846A8 (en) 2017-04-26

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