EP2470407B1 - Monitoring device and method for monitoring an entry or exit area of an access opening of a vehicle to a building component - Google Patents

Description

The present invention relates to a monitoring device and a method according to the preamble of the respective main claims.

In the case of rail vehicles, it is often necessary to monitor the door areas in order to realize either injury to passengers or a special comfort function in the door control. Monitoring systems and, above all, non-contact systems are increasingly used in border areas in which monitoring by contact agents, for example due to weather conditions, presents difficulties. The simplest embodiment of such a monitoring unit is the light barrier, which is composed of a transmitting unit and a receiving unit. If the light path is blocked by a person or an object, no light signal is registered at the receiver and accordingly corresponds to a blockage of the area to be monitored. Light grid systems work on the principle of illuminating an object to be examined with a light grid pattern in order to derive spatial coordination for the object from reflections of the light grid pattern from the object. Ultrasonic sensors also work on a similar principle in which 3D coordinates are received from acoustic reflections of a radiated sound signal, evaluated and assigned to an object. However, the detection and evaluation of such acoustic signals is very complicated. So far, it has not been possible to realize the different monitoring function, such as the recognition of a person or object and the determination of the exact position in a unit or by a common physical measuring principle.

The WO 2004/078552 A1 shows a method and a device for monitoring an entry area of vehicles in order to detect and hide shadows.

The JP 2004 042777 A shows an obstacle detector, eg a stereo camera, for objects in a lane of a rail vehicle.

The JP 11 091567 A shows a security monitor for monitoring a platform.

It is the object of the present invention to provide an improved monitoring device and an improved method for monitoring an entry or exit area from an access opening of a vehicle to a building part.

This object is achieved by a monitoring device according to claim 1, as well as a method for monitoring an entry or exit area from an access opening of a vehicle to a building part according to claim 11.

• ein optisches Kamerasystem mit einer ersten Kamera zum Bereitstellen eines ersten Bildes und einer zweiten Kamera zum Bereitstellen eines zweiten Bildes, wobei das Kamerasystem ausgebildet ist, um aus dem ersten und zweiten Bild ein Stereobild zu erzeugen; und
• eine Auswerteeinheit, die ausgebildet ist, um zur Überwachung eines Ein- oder Ausstiegsbeiches aus dem Stereobild mindestens ein Objekt im Ein- oder Ausstiegsbereich zu erkennen und/oder aus dem Stereobild eine Position des Bauwerkteils relativ zu mindestens einem Teil des Fahrzeugs zu bestimmen.

The present invention provides a monitoring device for monitoring an entry or exit gate from an access opening of a vehicle to a building part, the monitoring device having the following features:

• an optical camera system having a first camera for providing a first image and a second camera for providing a second image, the camera system being configured to generate a stereo image from the first and second images; and
• an evaluation unit which is designed to detect at least one object in the entry or exit area for monitoring an entrance or exit ticket from the stereo image and / or to determine a position of the building part relative to at least one part of the vehicle from the stereo image.

• Bereitstellen eines optischen Kamerasystems mit einer ersten Kamera zum Bereitstellen eines ersten Bildes und einer zweiten Kamera zum Bereitstellen eines zweiten Bildes und Bereitstellen einer Auswerteeinheit.
• Erzeugen eines Stereobildes aus dem ersten und zweiten Bild;
• Überwachen des Ein- oder Ausstiegsbeiches unter Verwendung des Stereobildes, wobei beim Überwachen mindestens ein Objekt im Ein- oder Ausstiegsbereich erkannt wird und/oder eine Position des Bauwerkteils relativ zu mindestens einem Teil des Fahrzeugs bestimmt wird.

The present invention further provides a method for monitoring an entry or exit gate from an access opening of a vehicle to a building part, the method comprising the steps of:

• Providing an optical camera system having a first camera for providing a first image and a second camera for providing a second image and providing an evaluation unit.
• Generating a stereo image from the first and second images;
• Monitoring the entrance or exit using the stereo image, wherein at least one object in the entry or exit area is detected during monitoring and / or a position of the building part relative to at least a part of the vehicle is determined.

The present invention is based on the idea that an optical camera system for generating a stereo image can also be used to monitor a specific area (for example in front of a door of a rail vehicle). Such an optical camera system allows integration of the functionality of different sensors. In the prior art, however, several sensors would have to be installed to measure different physical quantities in order to to be able to carry out the monitoring of the entry and exit areas approximately equally. For example, the presence of an object in the surveillance area can be detected by the optical camera system on the one hand, which could be realized in the prior art by a light barrier. On the other hand, spatial coordinates of this object in the surveillance area can be determined from the spatial information of the stereo image by the identical camera system, which can be done in the prior art, however, by an ultrasonic sensor. Also, the camera system may further determine a distance or position of a part of a structure (such as a platform edge) to the vehicle. All of the mentioned functionalities can be obtained solely on the basis of an evaluation of the acquired stereo image or of the two images captured by those cameras of the optical camera system. Such an evaluation of the stereo image is technically easy to perform due to the available evaluation routines and the powerful processors already available today.

The present invention offers the advantage that it is no longer necessary to install many different sensors for the individual functionalities, but a single unit provides the desired information. Thus, a combination of different monitoring functions is realized in one unit. This inevitably results in a cost reduction in the production of the above-mentioned monitoring device.

In a favorable embodiment of the invention, the optical camera system can be fastened to the vehicle. Such an embodiment of the present invention offers the advantage that the camera system is always positioned directly in the surveillance area in front of an access opening. Since it can not be assumed that the access opening of the vehicle at a certain time is in the same position in front of the building part in the vicinity of which the camera system is positioned, it is better to fix the monitoring device completely to the vehicle. This achieves an unambiguous position determination of persons or objects in the entry or exit area.

According to a particular embodiment of the present invention, the attachment of the optical camera system in an area in the vicinity of the access opening within the vehicle, which may further comprise a deflection unit to a To direct the visual range of the camera system in the entry and exit area. Such an embodiment of the present invention offers the advantage that the monitoring device is protected against environmental influences and damage from outside the vehicle is excluded. Likewise, it can be dispensed with a water and dustproof construction.

According to another embodiment of the present invention, wherein the vehicle has a door closing off the access opening, the evaluation unit may be configured to control the door such that the door remains open when a person or object is in the entrance or exit area of the vehicle. Such an embodiment of the present invention has the advantage that now a central control unit can be provided, which also performs the door control in addition to the evaluation of the stereo image. This can lead to a reduction of the required electronic components and thus again to a cost reduction.

In an additional embodiment, the vehicle may have an extendable tread, wherein the tread is extendable into a tread area between the access opening of the vehicle and the building part and wherein the evaluation unit is adapted to detect an extended tread. Such an embodiment of the present invention has the advantage that the detection of an extended tread is a decision-making feature to release a departure of the vehicle, so that by the recognition of persons or objects on the tread an improvement in operational safety by a central evaluation unit very easily implemented can be. Furthermore, it can be determined at which access opening of the vehicle a problem occurs with a (for example occupied) tread and such an error can thus be corrected faster. A step that has not been properly retracted may cause damage to it and a risk of injury to persons in the area of the building part.

Furthermore, according to a further embodiment, the device may include an evaluation unit, which is designed to detect a position of the tread relative to the structural part and to control the tread such that when extending the tread a predetermined minimum distance of the tread is adhered to the building part. Such an embodiment of the present invention offers the advantage that an exact position can be determined from the structural part to the vehicle exact position of the building part to the vehicle can be determined in order to protect the tread before collision with the building part.

It is also advantageous if the device comprises an evaluation unit in order to deactivate an extension function of the step when a person or an object is recognizable in an area between the vehicle and the building part. Such an embodiment of the present invention has the advantage that accidentally trapped persons between the building part and the vehicle are not injured by an extending tread. Also, the step is protected when objects are in the space between the building part and the vehicle. The extension function is blocked.

According to a further embodiment of the present invention, the device comprises an evaluation unit which is designed to control a door movement if at least one person or an object is recognizable in a region of the tread. Such an embodiment of the present invention has the advantage that a warning is given to the corresponding person in the area of the tread before the door is closed or to open the door when a person climbs the tread. Both monitoring functions include a protective function of the person concerned.

It is also favorable if, in another embodiment, the device has an evaluation unit which is designed to issue a warning to a driver of the vehicle if at least one person or object can be recognized in a safety area of the building part. Such an embodiment of the present invention offers the advantage that a detection message can be automatically generated using the stereo image when persons or objects are in a danger zone of the building part and an exact position can be determined at which the detection of the corresponding persons or objects took place.

In an additional embodiment, the device may comprise an evaluation unit, which allows a count of people entering and / or exiting through the access opening of the vehicle. Such an embodiment of the present invention offers the advantage that, using the stereo image, the number of persons to be admitted or exited can be counted, which results in a number or descending persons can be counted, whereby a number of persons currently in the vehicle can be determined. This is very helpful in case of danger, to get a knowledge of the number of missing persons. Likewise, the data can be used by the number of people carried per day in the vehicle to create a usage statistic.

Fig. 1

eine Darstellung einer Anordnung von Komponenten in Seitenansicht, die zur Verwendung in einem Ausführungsbeispiel der vorliegenden Erfindung verwendbar sind;

Fig. 2

eine Darstellung von unterschiedlichen Bereichen in Seitenansicht, die gemäß einem Ausführungsbeispiel der vorliegenden Erfindung überwachbar sind; und

Fig. 3

ein Ablaufdiagramm eines Ausführungsbeispiels der vorliegenden Erfindung als Verfahren.

Preferred embodiments of the present invention will be explained in more detail below with reference to the accompanying drawings. Show it:

Fig. 1

an illustration of an assembly of components in side view, which are suitable for use in an embodiment of the present invention;

Fig. 2

an illustration of different areas in side view, which are monitorable according to an embodiment of the present invention; and

Fig. 3

a flowchart of an embodiment of the present invention as a method.

In the following description of the preferred embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the various drawings and similar, and a repeated description of these elements will be omitted. The embodiments described below are chosen only by way of example and can be combined with each other. If an embodiment comprises a "and / or" link between a first feature and a second feature, this can be read so that the embodiment according to one embodiment, both the first feature and the second feature and according to another embodiment, either only the first Feature or only the second feature.

In Fig. 1 an assembly of components is shown in side view, which are suitable for use in an embodiment of the present invention. In this case, a platform edge 1 is shown as a structural part (in an alternative height 2, for example at another station). Furthermore, a camera system 3 is attached to a rail vehicle, specifically above a door area of the rail vehicle, in order to move the entry and exit area into a predetermined solid angle of the scanning area 4 capture. The door area 5 forms, for example, the area near the access opening. Furthermore, the tread 6 is shown, which is extended at about the level of the platform edge on the vehicle.

One aspect of the invention relates to enabling an entry and exit area of the door 4, for example of a rail vehicle with automatic door systems. In the further course of the description, for the sake of simplicity, reference will only be made to a vehicle, wherein the vehicle is a rail vehicle, a truck with a monitorable loading opening or another vehicle. This monitoring system integrates the characteristics of different sensor systems in one unit, with a non-contact mode of operation and a determination of position information of the platform being to be emphasized as special features. In this case, the entire camera system 3 is conveniently mounted in the door area on the rail vehicle. The sensor system 3 mounted in the door region is capable of carrying out a monitoring function by evaluating the stereo image or the two individual images of the first and second camera. In the area of the door space 4, monitoring is carried out with the door open and closing, whereby, for example, an anti-trap protection of persons in this area can be supported. Monitoring the extension and retraction function of the tread 6 leads to a redundant query whether the tread is retracted or extended. In addition to the functions mentioned, it is also possible by the optical camera system to monitor whether interfering elements are present in the gauge 4 and their detection then activate an algorithm which causes a delay in the departure of the train. Furthermore, a presence monitoring of persons or objects on the step 6 is provided accessible with the same camera system.

In order to achieve detection of the platform edge 1 by the optical camera system 3 and to allow a return of the exact position coordinates, an extended scanning area 4 is required, which also allows detection of people or objects on a security area of the platform in front of a platform edge. For this purpose, for example, the surveillance area can be extended beyond an area of the platform edge (ie in a direction away from the vehicle). With the aid of the extended scanning range, recognition of persons in the vicinity of platform edges can be realized, wherein these data, which are obtained from the stereo image, are used in the security monitoring. Another property the monitoring system evaluating the stereo image is the application as a counting system for incoming and outgoing persons, which can also be referred to as passenger counting system. In summary, it should be noted that with the optical sensor system 3, a scanning 4 can be monitored, with different queries or evaluations of the stereo image of the camera system 3 different scanning areas such as platform edges 1 or 2 or the door area 5 and the tread area 6 monitored separately and from the relevant data can be evaluated. In the following section, different areas of the entry and exit area are presented in more detail, in which special monitoring functions are carried out.

Fig. 2 shows a representation of different areas in side view, which are monitorable according to an embodiment of the present invention. In this case, the monitoring field 11 is provided for monitoring the door space. Furthermore, the monitoring field 12 is used to control the extension and retraction function of the tread. To check whether there are interfering elements in the tread, data are evaluated, which relate to the monitoring field 13. If persons or objects are located in the monitoring field 14, this is registered as an entry into the tread area. In addition to the recognition of the platform edge, the exact position of the platform edge relative to the vehicle in the monitoring field 15 is determined at the same time. An evaluation of the data from the monitoring field 16 makes it possible to detect persons or objects in the danger zone of the platform. A count of persons entering and / or exiting is possible through the joint evaluation of the data from the monitoring fields 11 and 17.

According to one embodiment of the present invention, the monitoring device consists of a sensor system 3, which can be fixedly mounted on the vehicle in the vicinity of the door area (above or to the side). The sensor system 3 consists essentially of two optical cameras, each individual camera can take a picture. These two images are then combined to form a stereo image, or the information from the two images is evaluated jointly in order to obtain distance information from objects in the monitored area, and from this, for example, to calculate distance information per pixel. Sophisticated software, which is integrated in the evaluation unit, can then be used to filter out different scanning regions within the visible surface of the sensor system 4 and to evaluate these scanning regions for the presence of objects. The sensor system 3 itself can in Presence of objects are evaluated. The sensor system 3 itself may be mounted in a special housing directly on the outside of the vehicle or inside the vehicle, optionally using a deflection unit for deflecting the field of view in the entry and exit area. The camera system 3 can be activated at a certain (residual) speed when the vehicle is stopped or only when the vehicle is at a standstill, depending on the function to be performed. From the moment of activation, images of the environment or of the area to be monitored are recorded at regular intervals (for example with a frequency of up to 20 images / second) and evaluated accordingly. Thus, the functions described below can be realized.

If a monitoring field 11 of the sensor system 3 is defined so that it lies close to a door leaf outside or even can protrude into the door area, then the evaluation unit is able to detect persons and / or objects. By means of this type of monitoring, it is possible to assist or achieve an anti-pinch protection of persons when the door is open and then closing, if it is prevented that a door leaf can close when there is still a person in this area. In order to be able to keep this monitoring active even when the door closes, the monitoring field can be dynamically reduced in accordance with the position of the door leaf in the closing area, for example.

By evaluating the monitoring field 12, the presence or absence of the tread can be detected. This monitoring may be necessary to determine the status of the step. Such recognition of the status of the tread can be used, for example, to release the vehicle in case of a retracted tread the vehicle for departure.

In order to detect any jammed objects which protrude into the clearance space 4 and thus exceed a maximum permitted outside dimension of the vehicle, a monitoring field 13 is defined. Also persons or objects located in this area can be detected so as not to endanger persons via an extending step.

Furthermore, an evaluation of data from the monitoring field 14 allows persons and objects which are located on the running board to be recognized. A corresponding Door function can be triggered depending on the result of the footstep monitoring. For example, the opening of the door can be initiated if a passenger wants to enter the rail vehicle or if the door is already closed a warning can be given to the person concerned when the door is just closed.

By monitoring a monitoring field 15 and the evaluation of the data obtained from this monitoring field 15, the exact coordinates of the platform edge can be determined. This information can be used by the evaluation unit to control the running board auszufahrende so that it is positioned as close to the platform with a small residual gap. By a very small size of the residual gap, a risk to persons can be avoided by slipping into the residual gap.

By monitoring objects in a surveillance field 16, it is possible to detect people in the danger area of the platform and to generate corresponding warnings to the driver or departure blocks of the train, if there are people or other objects in this monitoring area 16. This ensures that an automated security monitoring takes place, so that correspondingly fast and reliable measures to prevent personal injury can be initiated.

A counting system for incoming and outgoing persons can be realized by the possible detection of the direction of movement of objects or persons, which are realized by the evaluation of data from two different defined monitoring areas or monitoring fields 11 and 17. Thus, in addition to the different sensor systems, a passenger counting device can be implemented very simply by evaluating the stereo image of the camera system.

It is also not necessary that in all embodiments of the present invention to use the functions defined above simultaneously. Due to the universality of the sensor system, only individual monitoring functions can be realized by the pixel evaluation. There are still other monitoring options feasible, which were not listed separately. Depending on the application, the sensor system can be installed over permanently laid lines or via any bus systems (such as: CAN bus, Ethernet, etc.) can be connected to the door control. Depending on the selected monitoring function, the corresponding information is transmitted to the door control and evaluated there accordingly or triggered the corresponding function, for example, the positioning of the footboard 6 by defining the extension or reservation of the door 5 for persons in the door area.

It would also be conceivable to use the approach proposed here, for example for monitoring the access or loading of a truck at a loading dock (i.e., the building part). The door opening would then be, for example, the rear opening of the truck, over which a warehouse worker or the driver of the truck loading or unloading the truck. However, the mentioned functionalities can be used equally advantageously.

Fig. 3 FIG. 12 shows a flow chart of a method 30 for monitoring an entry or exit gate from an access opening of a vehicle to a building part. The method comprises a step of providing 31 an optical camera system with a first camera for providing a first image and a second camera for providing a second image and providing an evaluation unit. Furthermore, the method comprises a step of generating 32 a stereo image from the first and second images. In a further step of monitoring 33, an entry or exit gate is monitored using the stereo image, wherein at least one object in the entry or exit area can be detected during monitoring and / or a position of the building part relative to at least one part of the vehicle can be determined.

LIST OF REFERENCE NUMBERS

1

platform

2

Platform (alternative height)

3

camera system

4

Solid angle, scanning range

5

door area

6

tread

11

Monitoring field of the door room

12

Monitoring field of the step function

13

Monitoring field for interfering elements in the clearance gauge

14

Monitoring field of the tread area

15

Monitoring field of the platform edge

16

Monitoring field for persons near the platform edge

17

Counting system (together with 11)

30

Procedure for monitoring

31

Step of providing

32

Step of creating a stereo image

33

Step of monitoring an entry or exit area

Claims (10)

1. Monitoring device for monitoring an entry or exit area (4) of an access opening (5) of a vehicle to a building component (1, 2), the vehicle having an extendable step (6) which can be extended in a stepping region between the access opening of the vehicle and the building component (1, 2), the monitoring device having the following features:

   - an optical camera system (3) with a first camera for providing a first image, and a second camera for providing a second image, the camera system (3) being designed to generate a stereo image from the first and second images; and

   - an evaluation unit that, in order to monitor an entry or exit area (4), is designed to detect from the stereo image at least one object in the entry or exit area (4), and/or to determine from the stereo image a position of the building component (1, 2) relative to at least one part of the vehicle,

   characterised in that
   the evaluation unit is designed to detect an extended step (6).
2. Device according to claim 1, characterised in that the optical camera system (3) is secured to the vehicle.
3. Device according to claim 1 or 2, characterised in that the optical camera system (3) is secured inside the vehicle in an area in the vicinity of the access opening (5).
4. Device according to any of the preceding claims, the vehicle having a door closing the access opening, characterised in that the evaluation unit is designed to control the door in such a way that the door remains open when a person or an object is located in the entry or exit area (4) of the vehicle.
5. Device according to any of the preceding claims 1 to 4, characterised in that the evaluation unit is designed to detect a position of the step relative to the building component (1, 2) and to control the step (6) in such a way as to maintain a predetermined minimum distance of the step (6) from the building component (1, 2).
6. Device according to any of the preceding claims, characterised in that the evaluation unit is designed to deactivate an extension function of the step (6) whenever at least one person or an object can be detected in an area between the vehicle and the building component (1, 2).
7. Device according to any of the preceding claims, characterised in that the evaluation unit is designed to initiate a door movement when at least one person or an object can be detected in an area of the step (6).
8. Device according to any of the preceding claims, characterised in that the evaluation unit is designed to output a warning to a driver of the vehicle when at least one person or an object can be detected in a safety zone (16) of the building component (1, 2).
9. Device according to any of the preceding claims, characterised in that the evaluation unit is designed to carry out a count of persons entering or exiting through the access opening (5) of the vehicle.
10. Method (30) for monitoring an entry or exit area (4) of an access opening (5) of a vehicle to a building component (1, 2), the vehicle having an extendable step (6) which can be extended in a stepping region between the access opening of the vehicle and the building component (1, 2), the method (30) comprising the following steps:

    - the provision (31) of an optical camera system (3) with a first camera for providing a first image, and a second camera for providing a second image, and providing an evaluation unit;

    - the generation (32) a stereo image from the first and second images;

    - the monitoring (33) the entry or exit area by using the stereo image, it being possible during the monitoring process to detect at least one object in the entry or exit area (4), and/or to determine a position of the building component (1, 2) relative to at least one part of the vehicle,

    characterised in that
    an extended step (6) is detected in the monitoring step.

Images