EP3194241B1 - Door system with sensor unit and communication element - Google Patents
Door system with sensor unit and communication element Download PDFInfo
- Publication number
- EP3194241B1 EP3194241B1 EP15767461.5A EP15767461A EP3194241B1 EP 3194241 B1 EP3194241 B1 EP 3194241B1 EP 15767461 A EP15767461 A EP 15767461A EP 3194241 B1 EP3194241 B1 EP 3194241B1
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- door
- sensor unit
- passengers
- information
- passenger
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- 238000000034 method Methods 0.000 claims description 17
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0081—On-board diagnosis or maintenance
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D19/00—Door arrangements specially adapted for rail vehicles
- B61D19/02—Door arrangements specially adapted for rail vehicles for carriages
- B61D19/026—Safety devices for preventing passengers from being injured by movements of doors or variations in air pressure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D19/00—Door arrangements specially adapted for rail vehicles
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
- E05F15/42—Detection using safety edges
- E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/20—Individual registration on entry or exit involving the use of a pass
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
- E05F2015/765—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using optical sensors
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/40—Control units therefor
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/44—Sensors not directly associated with the wing movement
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/45—Control modes
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/52—Safety arrangements associated with the wing motor
- E05Y2400/53—Wing impact prevention or reduction
- E05Y2400/54—Obstruction or resistance detection
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/80—User interfaces
- E05Y2400/85—User input means
- E05Y2400/852—Sensors
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/80—User interfaces
- E05Y2400/85—User input means
- E05Y2400/856—Actuation thereof
- E05Y2400/858—Actuation thereof by body parts, e.g. by feet
- E05Y2400/86—Actuation thereof by body parts, e.g. by feet by hand
-
- 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
Definitions
- the present invention relates to a door system for a public transport vehicle with at least one door opening and a door closing the door opening. Furthermore, the application relates to a method for monitoring and controlling such a door system.
- Door systems are used particularly in rail and road vehicles, but also on boats and airplanes. Such door systems are monitored in many ways and controlled depending on a wide variety of conditions. On the one hand, the safety of passengers getting on and off must always be guaranteed, and on the other hand, doors or door leaves should open and close reliably and only under certain conditions. It must also be prevented that people or objects become trapped between two door leaves or a door leaf and a door frame.
- door systems also includes access aids, such as sliding steps or steps. Their function and use must also be monitored and controlled, as there are, for example, obstacles on them that pose a danger to passengers. It must also be ensured that no people or objects are trapped between the boarding aid and the platform and that the boarding aid does not collide with people.
- the sensors mentioned require numerous components, complex cabling and careful maintenance and repair.
- the implementation of complete and satisfactory monitoring and control of a door system is therefore complex and involves relatively high costs.
- a control device for a door system which monitors a door area with the help of sensors.
- information about the area adjacent to the door system is used, for example the height of the platform in relation to the door or the distance of the platform from the door.
- the US 2013/0125468 A1 also describes such a system in which dangerous situations are recognized with the help of current camera recordings of the door area and a comparison of the image data with stored image data.
- the object of the invention is, on the one hand, to provide a door system in which the above-mentioned monitoring and control tasks can be solved with as little effort as possible. Installation, maintenance and servicing should be simple and possible at low cost. In particular, the number of components required should be reduced. On the other hand, the door system should be suitable for optimizing boarding and alighting processes and averting dangers for passengers at an early stage.
- the object of the invention relates to providing a corresponding method for monitoring and controlling 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 passenger or entrance area is therefore detected or scanned three-dimensionally using a sensor unit inside and/or outside the vehicle.
- This three-dimensional scanning can be carried out on the basis of 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.
- tests can then be carried out for possible collisions of the door and step systems with the surroundings or passengers.
- Predefined points in the room can also be used as virtual buttons to control the door and step systems.
- An essential aspect of the invention is that, according to the invention, the context-based information is output directly to the user concerned. Information is therefore given out where it is needed, for example at a specific door to a specific passenger. This prevents the affected passenger from feeling unaddressed due to generally formulated information that is displayed at all doors.
- Context-based communication is particularly advantageous when certain potential dangers have been detected by the sensors. For example, if there is snow on a sliding step or there is a gap between the sliding step and the platform, according to the invention, exactly those passengers in the area of the corresponding door who are affected by the danger are informed. Communication can take the form of an announcement or an indication on a display on the corresponding door. The communication can be carried out by the driver himself, who has previously been made aware of the danger by the system, but according to the invention an automated announcement or display in the area of the corresponding door is also possible.
- the sensor unit therefore determines a specific relevant state or corresponding data, passes this on to a computer unit, which then outputs context-based, locally relevant information.
- context-based information means that it is not distributed automatically and across the board everywhere, but rather that it is based on the data determined by the sensor unit and is specifically adapted to the conditions on site.
- the context-based information according to the invention therefore includes, on the one hand, the factual information content, for example a specific danger at a specific place or location, and on the other hand, the context decides which passenger or passengers are affected and who the information should reach. The latter in turn contains information about which door or doors the information is relevant and is issued on. Communication does not take place across the board at all doors.
- the sensor unit is formed by a laser scanner unit which is arranged in the area of the door opening.
- the laser scanner unit creates a type of point cloud, which is used to scan the passenger compartment in all three dimensions, i.e. in the x-direction, y-direction and Z-direction.
- the laser scanner unit uses infrared light, which is not visible to the human eye.
- a distance measurement is carried out, which is based on the so-called Time-Of-Flight (ToF) principle. 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 distance measurement or monitoring of the passenger compartment is more precise the more scans are carried out per unit of time.
- the sensor unit contains an evaluation unit with a computer/processor and suitable software.
- the evaluation unit can 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 passenger compartment can be optimally scanned, i.e. no unwanted elements protrude into the beam paths. Although these can be ignored by the sensor unit, but 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 point cloud is radiated 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 to the side next to and above the door has proven to be particularly advantageous because, with the central arrangement, the support arms of the door would restrict the view of the laser scanner.
- 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.
- an object is held in the point cloud at the desired location where the virtual button is to be created. If the object is held still long enough and only this one object is recognizable to the laser scanner, the center of the object is determined, the position of which is then used as the center for the virtual button. Since the speed of elements is also measured during this calibration, objects that are too fast in this area are not accepted. In the next step, a radius is defined around this center, which allows the size of the virtual button to be determined. If this virtual button is activated, the distance of all scanned objects that are detected within the passenger compartment to the center of the virtual button is determined.
- the virtual button is considered activated.
- the area of the point cloud that is closest to the door opening is used for detection and activation. This ensures that only movements that are up to very close to the door or vehicle wall. Ideally, passengers have to touch the sticker or marking to activate the button.
- 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 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.
- the sensor unit is coupled to the control of the door or door leaf and is able to read out the current door or door leaf position.
- the information is used to monitor the space between the door leaves; the wider environment can be ignored for this application. If there is only one door, the area immediately inside the door frame or the gap between the main closing edge and the door frame is monitored.
- the essential aspect of the invention is that communication with passengers is always possible.
- the sensor unit uses the measurement results not only to control the doors, but according to the invention the measurement results can also be used for direct communication with the passengers. For example, passengers can be asked to change their position, find another car or vehicle or even take objects out of danger areas. Corresponding instructions or information to passengers can be issued automatically by the door system itself, but they can also be given by a driver of the vehicle or an external control center.
- information is automatically generated when certain measurement results are available. For example, if a person is in the closing or opening area of a door or a door leaf, according to the invention information can be provided automatically, for example in the form of an announcement via a loudspeaker, asking the person to leave the danger area.
- Loudspeakers, monitors or lamps are particularly suitable as communication elements. Only a single communication element can be provided, but alternatively different or several identical means of communication can also be used. In a particularly simple variant, for example, a light source can use the colors red and green to signal whether a door will be opened or not. For more extensive information, speakers or monitors are more suitable.
- the communication elements are preferably arranged directly in the area of the door opening.
- the virtual button can be covered by larger objects, particularly at busy train stations, and therefore cannot be used.
- the sensor unit takes this case into account and, according to the invention, a warning is issued via the communication element. This warning can be sent to the directly affected passenger at the corresponding door, for example via loudspeakers, or initially to the train or vehicle driver, who then passes this information on to the passenger if necessary.
- the invention provides that the relevant area within the moving door is also monitored by the sensor unit.
- a signal is generated which can be used, for example, to stop or reverse the door or door leaf.
- the signal can only inform those passengers who are affected. For example, a loudspeaker announcement can be made at the door that is being stopped or reversed. There are no announcements or notices at the other doors.
- the door system and method according to the invention is also used according to the invention to detect extremities and their position and speed.
- 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.
- 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 prevent the door from passing in the opposite, wrong direction complicate. 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.
- 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.
- 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, this passenger can be warned in advance. The same applies to a disturbing object leaning against the door. The door can remain blocked from opening until the potential danger has been eliminated. Here too, specific information can be sent to passengers in the area of this door or object.
- a significant advantage for the applications mentioned is, in particular, that a passenger does not have to have contact with a moving door in order to interrupt the opening or closing process and/or initiate a reversing door.
- the main closing edge With conventional sensors that are arranged in the main closing edge, the main closing edge must be touched by the passenger, if necessary even pressed in, so that a signal is generated. Such contact is often perceived as unpleasant and can, in particular, dirty the passenger's clothing.
- the design of the door system according to the invention or the process according to the invention for monitoring the passenger compartment enable further advantageous monitoring and control options. For example, if a door is marked as "defective" and a passenger approaches such a door, he or she can be informed of the status of the door via the means of communication, for example the loudspeaker. This is advantageous because passengers are known to often overlook defect notices in the form of stickers or only notice them when the door does not work. Driving can also be accelerated and made easier if passengers who prevent a door from closing by standing too close to the door are asked to step back before the door is closed. In sensor systems according to the state of the art, the passengers are only prompted by the driver of the vehicle when he notices a malfunction in the door, for example if it cannot be closed. Such a failed attempt can be avoided by detecting the position of the passengers beforehand.
- the passenger can be informed about the result via the means of communication and, for example, receive an indication of which alternative boarding option he can choose.
- 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. Passengers can be made immediately aware of the impending danger via the communication elements.
- the distance between the door opening and a platform in order to optimally extend the step or boarding aid. This is particularly advantageous if the distances between the door opening and the platform differ from station to station. Corresponding sensors on the boarding aids themselves can therefore be dispensed with. 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.
- FIGs 1 and 2 show a greatly simplified schematic representation of a door system 20 for a vehicle 42 (see Figure 5) of public transport. This points one in 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. Basically The sensor unit 26 can be arranged at any suitable position depending on the type of sensor.
- the sensor unit 26 generates a point cloud within the passenger compartment to be monitored, via which the passenger compartment is scanned.
- the sensor unit 26 can, for example, have an optical sensor, preferably a laser, in particular an infrared laser.
- the sensor unit 26 also has an evaluation unit, not shown, for evaluating the measured data. This can be integrated into the sensor unit 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.
- Figure 3 illustrates the use of the door system 20 according to the invention to create a virtual button 36.
- a virtual button 36 simulates an otherwise wired, real button.
- a sticker or a corresponding symbol painting can be provided in the door area.
- an object is held in the point cloud at the desired position of the virtual button 36. If it is held still long enough, its position can be used as the center point 38 for the virtual button 36.
- a radius 40 is defined and stored in the associated evaluation software. For example, if a passenger's hand approaches the virtual button 36 through the point cloud within the defined radius 40, this movement is interpreted as the passenger's wish to trigger. As an alternative to the passenger's hand, any object in this area is recognized and taken into account.
- FIG. 4 illustrates another example of the use of the door system 20 according to the invention.
- An indicated vehicle 42 with a door opening 44 can be seen.
- a first Point cloud area P1 monitors a space between the two door leaves 22 and is limited to this; it ignores the wider environment.
- a second point cloud area P2 scans the space immediately in front of the two door leaves 22 and is spread out a little further 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.
- the point cloud area P1 thus monitors a space between the main closing edges 46 of the two door leaves 22.
- 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 door system 20 according to the invention are also possible. Communication with passengers can take place not only via loudspeakers, but also via monitors or other visual signals, such as warning lights. Instead of door openings 44, passages or windows can of course also be monitored using the method described.
- 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 sensor unit 26 or the associated evaluation unit is connected to an external display device.
- This can be provided, for example, by the driver or in a control center, preferably in the train station or near a stop. The results of the scanning by the sensor unit 26 can then be evaluated and further processed there.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- General Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Power-Operated Mechanisms For Wings (AREA)
- Lock And Its Accessories (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
Description
Die vorliegende Erfindung betrifft ein Türsystem für ein Fahrzeug des öffentlichen Personenverkehrs mit mindestens einer Türöffnung und einer die Türöffnung verschließenden Tür. Weiterhin betrifft die Anmeldung ein Verfahren zur Überwachung und Steuerung eines solchen Türsystems.The present invention relates to a door system for a public transport vehicle with at least one door opening and a door closing the door opening. Furthermore, the application relates to a method for monitoring and controlling such a door system.
Türsysteme werden insbesondere in Schienen- und Straßenfahrzeugen, aber auch auf Booten und in Flugzeugen eingesetzt. Derartige Türsysteme werden in vieler Hinsicht überwacht und in Abhängigkeit unterschiedlichster Bedingungen gesteuert. Zum einen muss die Sicherheit der ein- und aussteigenden Fahrgäste stets gewährleistet sein, zum anderen sollen Türen oder Türflügel zuverlässig und nur unter bestimmten Bedingungen öffnen und schließen. Auch muss verhindert werden, dass Personen oder Gegenstände zwischen zwei Türflügeln oder einem Türflügel und einem Türrahmen eingeklemmt werden.Door systems are used particularly in rail and road vehicles, but also on boats and airplanes. Such door systems are monitored in many ways and controlled depending on a wide variety of conditions. On the one hand, the safety of passengers getting on and off must always be guaranteed, and on the other hand, doors or door leaves should open and close reliably and only under certain conditions. It must also be prevented that people or objects become trapped between two door leaves or a door leaf and a door frame.
Hinzu kommt, dass Ein- und Aussteigevorgänge oftmals verzögert werden, weil Fahrgäste oder Gegenstände ein Öffnen oder Schließen der Türen verhindern.In addition, boarding and alighting processes are often delayed because passengers or objects prevent the doors from opening or closing.
Der Begriff Türsysteme umfasst im Sinne der Erfindung auch Zustiegshilfen, wie Schiebetritte oder Trittstufen. Auch deren Funktion und Benutzung muss überwacht und gesteuert werden, da sich zum Beispiel Hindernisse auf diesen befinden, die eine Gefahr für die Fahrgäste darstellen. Auch muss auch sichergestellt sein, dass zwischen der Zustiegshilfe und dem Bahnsteig keine Personen oder Gegenstände eingeklemmt werden und die Zustiegshilfe nicht gegen Personen stößt.For the purposes of the invention, the term door systems also includes access aids, such as sliding steps or steps. Their function and use must also be monitored and controlled, as there are, for example, obstacles on them that pose a danger to passengers. It must also be ensured that no people or objects are trapped between the boarding aid and the platform and that the boarding aid does not collide with people.
Für diese zahlreichen Überwachungs- und Steuerungsaufgaben sind verschiedene Sensoriken in Türsystemen im Einsatz. Diese sind u.a.:
- 1. Verschiedene Taster für die Bedienung der Tür.
- 2. Druckwellen/Schaltleisten zur Hinderniserkennung. Diese werden meist in einer Hauptschließkante, vereinzelt aber auch zusätzlich in Nebenschließkanten der Türen oder Türflügeln eingesetzt.
- 3. Lichtgitter im Fahrzeuginnenraum zur Offenhaltung gerade verwendeter Türen (zur Steuerung automatisch schließender Türen).
- 4. Trittsensoren (Schaltmatten, Dehnungsmessstreifen oder ähnliches) zur Erkennung von Lasten auf Trittsystem und Zustiegshilfen.
- 5. Schaltleisten an Trittsystemen zur Erkennung von Kollisionen beim Ausfahren mit dem Bahnsteig oder Fahrgästen.
- 6. Ultraschallsensoren in Trittsystemen zur Vermessung des Abstands zum Bahnsteig und dessen Höhe.
- 1. Various buttons for operating the door.
- 2. Pressure waves/safety edges for obstacle detection. These are usually used in a main closing edge, but occasionally also in secondary closing edges of the doors or door leaves.
- 3. Light grid in the vehicle interior to keep doors in use open (to control automatically closing doors).
- 4. Step sensors (safety mats, strain gauges or similar) to detect loads on the step system and access aids.
- 5. Safety strips on step systems to detect collisions when exiting the platform or passengers.
- 6. Ultrasonic sensors in step systems to measure the distance to the platform and its height.
Die genannten Sensoriken erfordern zahlreiche Bauteile, aufwendige Verkabelungen und eine sorgfältige Wartung und Instandhaltung. Somit ist die Realisierung einer vollständigen und zufriedenstellenden Überwachung und Steuerung eines Türsystems aufwendig und mit relativ hohen Kosten verbunden.The sensors mentioned require numerous components, complex cabling and careful maintenance and repair. The implementation of complete and satisfactory monitoring and control of a door system is therefore complex and involves relatively high costs.
Aus der
Die
Die Aufgabe der Erfindung besteht darin, einerseits ein Türsystem bereitzustellen, bei dem die oben genannten Überwachungs- und Steuerungsaufgaben mit möglichst geringem Aufwand gelöst werden können. Die Installation, Wartung und Instandhaltung soll einfach und zu geringen Kosten möglich sein. Insbesondere soll die Anzahl der benötigten Bauteile reduziert werden. Andererseits soll sich das Türsystem dazu eignen, Ein- und Aussteigevorgänge zu optimieren und Gefahren für Fahrgäste frühzeitig abzuwenden.The object of the invention is, on the one hand, to provide a door system in which the above-mentioned monitoring and control tasks can be solved with as little effort as possible. Installation, maintenance and servicing should be simple and possible at low cost. In particular, the number of components required should be reduced. On the other hand, the door system should be suitable for optimizing boarding and alighting processes and averting dangers for passengers at an early stage.
Weiterhin betrifft die Aufgabe der Erfindung die Bereitstellung eines entsprechenden Verfahrens zur Überwachung und Steuerung eines solchen Türsystems.Furthermore, the object of the invention relates to providing a corresponding method for monitoring and controlling 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 ein erfindungsgemäßes Türsystem zumindest ein Kommunikationselement für eine kontextbasierte Kommunikation in Form von Anweisungen oder Informationen an Fahrgäste auf Basis von Messergebnissen einer Sensoreinheit auf, wobei die Anweisungen oder Informationen vom Türsystem stammen und dann erzeugt werden, wenn bestimmte Messergebnisse vorliegen und die Kommunikation durch das Türsystem selbst automatisch erfolgt. Die Sensoreinheit ist derart ausgeführt und eingerichtet, dass sie einen Fahrgastraum im Bereich der Türöffnung zum Ermitteln von Abständen, Formen innerhalb des Fahrgastraums dreidimensional berührungslos abtastet. Die Sensoreinheit ist zur Ermittlung der
- Bewegungsgeschwindigkeit und Bewegungsrichtung von Fahrgästen,
- der Position und Geschwindigkeit von Extremitäten der Fahrgäste,
- der Bewegungsgeschwindigkeit und Bewegungsrichtung zusätzlicher Objekte,
- speed and direction of movement of passengers,
- the position and speed of passengers' extremities,
- the speed and direction of movement of additional objects,
Das erfindungsgemäße Verfahren weist die folgenden Verfahrensschritte aus:
- Berührungsloses dreidimensionales Abtasten eines Fahrgastraumes im Bereich einer Türöffnung (44) mit einer Sensoreinheit (26),
- Ermitteln
- von Abständen, Formen sowie Bewegungsgeschwindigkeit und Bewegungsrichtung von Fahrgästen,
- der Position und Geschwindigkeit von Extremitäten der Fahrgäste,
- der Bewegungsgeschwindigkeit und Bewegungsrichtung zusätzlicher Objekte
- Auslesen einer aktuellen Türposition oder Türflügelposition aus der Steuerung der Tür oder der Türflügel durch die die Sensoreinheit zur Überwachung eines Raums zwischen den Türflügeln oder des Bereichs unmittelbar innerhalb eines Türrahmens zwischen einer Hauptschließkante der Tür und dem Türrahmen,
- Ausgabe zumindest einer kontextbasierten Information aus der nachfolgenden Gruppe durch das Türsystem selbst in Form von Anweisungen oder Informationen an die Fahrgäste, wobei die Information auf Messergebnissen der Sensoreinheit und der aktuellen Türposition oder Türflügelposition basiert, und
- aus- und einsteigende Fahrgäste ermittelt und gezählt werden und eine Information an Fahrgäste erfolgt, die auf dem Füllungsgrad des Fahrzeugs basiert, oder
- die Sensoreinheit die Zustiegshilfe abtastet, wobei dann, wenn Hindernisse wie beispielsweise eine Schnee- oder Eisdecke ermittelt werden, eine entsprechende Information an die Fahrgäste erfolgt, oder
- die Sensoreinheit ermittelt, ob ein Objekt, insbesondere ein Fahrgast, an der Tür oder an einem Türflügel lehnt, während diese geöffnet werden soll und falls notwendig eine entsprechende Information an die Fahrgäste erfolgt, wobei die Tür solange für die Öffnung gesperrt bleibt, bis die potentielle Gefahr beseitigt ist, oder
- die Sensoreinheit ermittelt, ob sich ein Objekt, insbesondere ein Fahrgast von außen zu dicht an einer ausschwenkenden Tür steht ein Objekt, insbesondere ein Fahrgast, an der Tür oder an einem Türflügel lehnt, während diese geöffnet werden soll und falls notwendig eine entsprechende Information an die Fahrgäste erfolgt, wobei die Tür solange für die Öffnung gesperrt bleibt, bis die potentielle Gefahr beseitigt ist, oder
- die Sensoreinheit ermittelt, ob sich Fahrgäste auf eine Tür zubewegen, die als defekt markiert ist, und falls notwendig eine entsprechende Information an die Fahrgäste erfolgt, oder
- die Sensoreinheit ermittelt, ob Fahrgäste das Schließen einer Tür dadurch verhindern, dass sie zu nah an dieser Tür stehen, und falls notwendig eine entsprechende Information bereits vor dem Schließen der Tür an die Fahrgäste erfolgt, oder
- die Sensoreinheit ermittelt, ob Fahrgäste ein Fahrrad mitführen, ein Abgleich mit Informationen über das jeweilige Fahrzeug in Hinblick darauf erfolgt, ob in diesem Fahrzeug ein Fahrradstellplatz zur Verfügung steht, und falls dies nicht der Fall ist, eine entsprechende Information an die Fahrgäste erfolgt, oder
- die Sensoreinheit (26) die Position und Geschwindigkeit von Extremitäten ermittelt und daraus Rückschlüsse auf die Absicht eines Fahrgastes zieht.
- Non-contact three-dimensional scanning of a passenger compartment in the area of a door opening (44) with a sensor unit (26),
- Determine
- distances, shapes as well as speed and direction of movement of passengers,
- the position and speed of passengers' extremities,
- the speed and direction of movement of additional objects
- Reading out a current door position or door leaf position from the control of the door or the door leaves through the sensor unit for monitoring a space between the door leaves or the area directly within a door frame between a main closing edge of the door and the door frame,
- Output of at least one context-based information from the following group by the door system itself in the form of instructions or information to the passengers, the information being based on measurement results of the sensor unit and the current door position or door leaf position, and
- Passengers getting off and on are determined and counted and information is provided to passengers based on the filling level of the vehicle, or
- the sensor unit scans the boarding aid, whereby if obstacles such as a layer of snow or ice are detected, corresponding information is sent to the passengers, or
- the sensor unit determines whether an object, in particular a passenger, is leaning against the door or a door leaf while it is to be opened and, if necessary, appropriate information is sent to the passengers, whereby the door remains blocked from opening until the potential Danger has been eliminated, or
- the sensor unit determines whether an object, in particular a passenger, is standing too close to a swinging door from the outside, an object, in particular a passenger, is leaning against the door or a door leaf while it is to be opened and, if necessary, sends corresponding information to the passengers, with the door remaining blocked from opening until the potential danger has been eliminated, or
- the sensor unit determines whether passengers are moving towards a door that is marked as defective and, if necessary, appropriate information is sent to the passengers, or
- the sensor unit determines whether passengers are preventing a door from closing by standing too close to this door and, if necessary, appropriate information is sent to the passengers before the door is closed, or
- the sensor unit determines whether passengers are carrying a bicycle, and a comparison is made with information about the respective vehicle with regard to whether there is a bicycle parking space in this vehicle is available, and if this is not the case, appropriate information is provided to the passengers, or
- the sensor unit (26) determines the position and speed of extremities and draws conclusions about the intention of a passenger.
Der Fahrgast- bzw. Einstiegsraum wird demnach mit Hilfe einer Sensoreinheit innerhalb und/oder außerhalb des Fahrzeugs dreidimensional erfasst bzw. abgetastet. Diese dreidimensionale Abtastung 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. Mit Hilfe der ermittelten Daten können dann Prüfungen auf mögliche Kollisionen der Tür- und Trittsysteme mit der Umgebung oder Fahrgästen durchgeführt werden. Auch können vorher definierte Punkte im Raum als virtuelle Taster für die Steuerung der Tür- und Trittsysteme verwendet werden.The passenger or entrance area is therefore detected or scanned three-dimensionally using a sensor unit inside and/or outside the vehicle. This three-dimensional scanning can be carried out on the basis of 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. With the help of the data determined, tests can then be carried out for possible collisions of the door and step systems with the surroundings or passengers. Predefined points in the room can also be used as virtual buttons to control the door and step systems.
Ein wesentlicher Aspekt der Erfindung besteht also darin, dass die kontextbasierten Informationen erfindungsgemäß unmittelbar an den betroffenen Benutzer ausgegeben werden. Informationen werden also dort ausgegeben, wo sie benötigt werden, beispielsweise an einer bestimmten Tür an einen bestimmten Fahrgast. Hierdurch wird vermieden, dass sich der betroffene Fahrgast aufgrund einer allgemein formulierten Information, die an allen Türen ausgegeben wird, nicht angesprochen fühlt. Insbesondere ist die kontextbasierte Kommunikation dann vorteilhaft, wenn bestimmtes Gefahrenpotenzial durch die Sensoren erkannt wurde. Befindet sich beispielsweise Schnee auf einem Schiebetritt oder ist ein Spalt zwischen Schiebetritt und Bahnsteig vorhanden, werden erfindungsgemäß genau diejenigen Fahrgäste im Bereich der entsprechenden Tür informiert, die durch die von der Gefahr betroffen sind. Die Kommunikation kann in Form einer Durchsage oder einer Anzeige auf einem Display an der entsprechenden Tür erfolgen. Dabei kann die Kommunikation durch den Fahrer selbst, der durch das System zuvor auf die Gefahr aufmerksam gemacht wurde, erfolgen, erfindungsgemäß ist aber auch eine automatisierte Ansage oder Anzeige im Bereich der entsprechenden Tür möglich.An essential aspect of the invention is that, according to the invention, the context-based information is output directly to the user concerned. Information is therefore given out where it is needed, for example at a specific door to a specific passenger. This prevents the affected passenger from feeling unaddressed due to generally formulated information that is displayed at all doors. Context-based communication is particularly advantageous when certain potential dangers have been detected by the sensors. For example, if there is snow on a sliding step or there is a gap between the sliding step and the platform, according to the invention, exactly those passengers in the area of the corresponding door who are affected by the danger are informed. Communication can take the form of an announcement or an indication on a display on the corresponding door. The communication can be carried out by the driver himself, who has previously been made aware of the danger by the system, but according to the invention an automated announcement or display in the area of the corresponding door is also possible.
Die Sensoreinheit ermittelt also einen bestimmten relevanten Zustand bzw. entsprechende Daten, gibt diese an eine Rechnereinheit weiter, die dann eine kontextbasierte, lokal relevante Information ausgibt.The sensor unit therefore determines a specific relevant state or corresponding data, passes this on to a computer unit, which then outputs context-based, locally relevant information.
Der Begriff "kontextbasierte Information" bedeutet, dass diese nicht automatisiert und pauschal überall ausgegeben wird, sondern das diese auf den durch die Sensoreinheit ermittelten Daten basiert und spezifisch an die Gegebenheiten vor Ort angepasst ist. Die erfindungsgemäße kontextbasierte Information beinhaltet also zum einen den sachlichen Informationsgehalt, beispielsweise eine spezifische Gefahr an einem spezifischen Ort oder einer spezifischen Stelle, zum anderen entscheidet der Kontext darüber, welcher Fahrgast oder welche Fahrgäste betroffen sind, wen die Information erreichen soll. Letzteres enthält wiederum darüber, an welcher Tür oder welchen Türen die Information relevant ist und ausgegeben wird. Die Kommunikation findet also nicht pauschal an allen Türen statt.The term “context-based information” means that it is not distributed automatically and across the board everywhere, but rather that it is based on the data determined by the sensor unit and is specifically adapted to the conditions on site. The context-based information according to the invention therefore includes, on the one hand, the factual information content, for example a specific danger at a specific place or location, and on the other hand, the context decides which passenger or passengers are affected and who the information should reach. The latter in turn contains information about which door or doors the information is relevant and is issued on. Communication does not take place across the board at all doors.
In einer besonders vorteilhaften Ausführungsvariante ist die Sensoreinheit durch eine Laserscannereinheit gebildet, die im Bereich der Türöffnung angeordnet ist. Die Laserscannereinheit erzeugt eine Art Punktwolke, über die eine Abtastung des Fahrgastraumes bezogen in allen drei Dimensionen erfolgt, also in x-Richtung, y-Richtung und Z-Richtung. Vorzugsweise verwendet die Laserscannereinheit Infrarotlicht, das für das menschliche Auge nicht sichtbar ist. Mit Hilfe der ausgesendeten Punktwolke wird eine Abstandsmessung durchgeführt, die auf dem sogenannten Time-Of-Flight (ToF) Prinzip basiert. 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 Abstandsmessung bzw. Überwachung 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. The laser scanner unit creates a type of point cloud, which is used to scan the passenger compartment in all three dimensions, i.e. in the x-direction, y-direction and Z-direction. Preferably, the laser scanner unit uses infrared light, which is not visible to the human eye. With the help of the emitted point cloud, a distance measurement is carried out, which is based on the so-called Time-Of-Flight (ToF) principle. 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 distance measurement or monitoring of the passenger compartment is more precise the more scans are carried out per unit of time.
Die Auflösung der Abtastung sollte groß genug sein um auch die kleinsten Objekte, die detektiert werden sollen, sicher zu erkennen. Für eine Auswertung der Ergebnisse beinhaltet die Sensoreinheit eine Auswerteeinheit mit einem Rechner/Prozessor und einer geeigneten Software. Die Auswerteeinheit kann alternativ auch extern von der Sensoreinheit angeordnet sein, beispielsweise bei einem Zug im Fahrerraum.The scanning resolution should be large enough to reliably detect even the smallest objects that are to be detected. To evaluate the results, the sensor unit contains an evaluation unit with a computer/processor and suitable software. Alternatively, the evaluation unit can 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 der Fahrgastraum optimal abgetastet werden kann, 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 Punktwolke wird von dieser oberen Position nach unten ausgestrahlt.The sensor unit should be arranged in such a way that the passenger compartment can be optimally scanned, i.e. no unwanted elements protrude into the beam paths. Although these can be ignored by the sensor unit, but 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 point cloud is radiated 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 im Innenraum hat sich 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 würden.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 in the interior, an arrangement to the side next to and above the door has proven to be particularly advantageous because, with the central arrangement, the support arms of the door would 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.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.
Bei einer Kalibrierung eines solchen virtuellen Tasters wird ein Gegenstand an die gewünschte Stelle, an der der virtuelle Taster entstehen soll, in die Punktwolke gehalten. Wird dieser lange genug ruhig gehalten und es ist nur dieser eine Gegenstand für den Laserscanner erkennbar, wird der Mittelpunkt des Gegenstands ermittelt, dessen Position dann als Mittelpunkt für den virtuellen Taster verwendet wird. Da bei dieser Kalibrierung auch die Geschwindigkeit von Elementen gemessen wird, werden zu schnelle Objekte in diesem Bereich nicht akzeptiert. In einem nächsten Schritt wird ein Radius um diesen Mittelpunkt definiert, wodurch die Größe des virtuellen Tasters bestimmbar ist. Ist dieser virtuelle Taster aktiviert, wird der Abstand sämtlicher abgetasteter Objekte, welche innerhalb des Fahrgastraums erkannt werden, zum Mittelpunkt des virtuellen Tasters bestimmt. Ist der Abstand eines Objekts, beispielsweise einer Hand eines Fahrgastes zum Mittelpunkt des virtuellen Tasters kleiner als der zuvor bestimmte Radius, so gilt der virtuelle Taster als aktiviert. Vorzugsweise wird für die Erkennung und Aktivierung insbesondere der Bereich der Punktwolke genutzt, der der Türöffnung am nächsten ist. Dadurch wird erreicht, dass nur Bewegungen berücksichtigt werden, die bis sehr nah an die Tür- oder Fahrzeugwand heranreichen. Idealerweise müssen die Fahrgäste den Aufkleber oder die Markierung berühren, um den Taster zu aktivieren.When calibrating such a virtual button, an object is held in the point cloud at the desired location where the virtual button is to be created. If the object is held still long enough and only this one object is recognizable to the laser scanner, the center of the object is determined, the position of which is then used as the center for the virtual button. Since the speed of elements is also measured during this calibration, objects that are too fast in this area are not accepted. In the next step, a radius is defined around this center, which allows the size of the virtual button to be determined. If this virtual button is activated, the distance of all scanned objects that are detected within the passenger compartment to the center of the virtual button is determined. If the distance of an object, for example a passenger's hand, to the center of the virtual button is smaller than the previously determined radius, the virtual button is considered activated. Preferably, the area of the point cloud that is closest to the door opening is used for detection and activation. This ensures that only movements that are up to very close to the door or vehicle wall. Ideally, passengers have to touch the sticker or marking to activate the button.
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 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 die Sensoreinheit an die Steuerung der Tür oder Türflügel gekoppelt und ist in der Lage, jeweils die aktuelle Tür oder Türflügelposition auszulesen. Die Information wird genutzt um den Raum zwischen den Türflügeln zu überwachen, das weitere Umfeld kann für diese Anwendung ignoriert werden. Bei nur einer Tür wird der Bereich unmittelbar innerhalb des Türrahmens bzw. der Spalt zwischen der Hauptschließkante und dem Türrahmen überwacht.According to the invention, the sensor unit is coupled to the control of the door or door leaf and is able to read out the current door or door leaf position. The information is used to monitor the space between the door leaves; the wider environment can be ignored for this application. If there is only one door, the area immediately inside the door frame or the gap between the main closing edge and the door frame is monitored.
Erfindungsgemäß ist es auch möglich, den Raum zwischen den Türflügeln unabhängig von der Steuerung der Tür oder Türflügel bzw. der daraus abgeleiteten Tür oder Türflügelposition ausschließlich mit Hilfe der Sensoreinheit zu überwachen.According to the invention, it is also possible to monitor the space between the door leaves, independently of the control of the door or door leaves or the door or door leaf position derived therefrom, exclusively with the aid of the sensor unit.
Es hat sich gezeigt, dass insbesondere dann, wenn auf die Daten der Steuerung der Tür oder Türflügel zurückgegriffen wird, erfindungsgemäß auch ein Bereich vor der Türöffnung abgetastet werden sollte. Dies ist deshalb notwendig, weil die Ermittlung der Tür oder Türflügel Position auf Basis der Türsteuerung oftmals ungenau und fehleranfällig ist, es kann von einer vom Encoder des Antriebsmotors der Tür ausgegebenen Position Abweichungen zur realen Position der Hauptschließkanten der Türflügel geben. Hinzu kommt, dass eine Verformung der Türgummis im Bereich der Hauptschließkante dann Spalte freigeben kann, die für schmale Gegenstände, wie Hundeleinen oder auch Finger ausreichend groß sind, aber nicht überwacht werden. Diese Spalte oder Öffnungen werden dann mit überwacht, wenn auch der Bereich unmittelbar davor, also vor der Tür oder den Türflügeln abgetastet wird. Diese Punktwolke vor der Türöffnung überlappt sich vorzugsweise mit den Türflügeln.It has been shown that, particularly when the data from the control of the door or door leaf is used, according to the invention an area in front of the door opening should also be scanned. This is necessary because the determination of the door or door leaf position is often based on the door control is inaccurate and prone to errors, there may be deviations from a position output by the encoder of the door drive motor to the real position of the main closing edges of the door leaves. In addition, a deformation of the door rubbers in the area of the main closing edge can then reveal gaps that are large enough for narrow objects such as dog leashes or fingers, but are not monitored. These gaps or openings are then monitored when the area immediately in front of them, i.e. in front of the door or the door leaves, is also scanned. This point cloud in front of the door opening preferably overlaps with the door leaves.
Der wesentliche Aspekt der Erfindung besteht aber auch darin, dass stets eine Kommunikation mit Fahrgästen möglich ist. Die Sensoreinheit nutzt die Messergebnisse nicht nur für die Steuerung der Türen, sondern die Messergebnisse können erfindungsgemäß auch für eine unmittelbare Kommunikation mit den Fahrgästen genutzt werden. Beispielsweise können Fahrgäste aufgefordert werden, ihre Position zu ändern, einen anderen Wagen bzw. ein anderes Fahrzeug aufzusuchen oder auch Gegenstände aus Gefahrenbereichen zu nehmen. Entsprechende Anweisungen oder Informationen an die Fahrgäste können automatisch vom Türsystem selbst ausgegeben werden, sie können aber auch von einem Fahrer des Fahrzeugs oder einer externen Leitstelle erfolgen. Im ersten Fall wird erfindungsgemäß automatisch eine Information erzeugt, wenn bestimmte Messergebnisse vorliegen. Befindet sich beispielsweise eine Person im Schließ- oder Öffnungsbereich einer Tür oder eines Türflügels, kann erfindungsgemäß automatisch eine Information, beispielsweise in Form einer Ansage über einen Lautsprecher, erfolgen, über die die Person aufgefordert wird, den Gefahrenbereich zu verlassen.The essential aspect of the invention is that communication with passengers is always possible. The sensor unit uses the measurement results not only to control the doors, but according to the invention the measurement results can also be used for direct communication with the passengers. For example, passengers can be asked to change their position, find another car or vehicle or even take objects out of danger areas. Corresponding instructions or information to passengers can be issued automatically by the door system itself, but they can also be given by a driver of the vehicle or an external control center. In the first case, according to the invention, information is automatically generated when certain measurement results are available. For example, if a person is in the closing or opening area of a door or a door leaf, according to the invention information can be provided automatically, for example in the form of an announcement via a loudspeaker, asking the person to leave the danger area.
Als Kommunikationselemente eignen sich insbesondere Lautsprecher, Monitore oder Leuchtmittel. Es kann nur ein einziges Kommunikationselement vorgesehen sein, alternativ können aber auch unterschiedliche oder mehrere gleiche Kommunikationsmittel genutzt werden. In einer besonders einfachen Variante kann beispielsweise ein Leuchtmittel über die Farben rot und grün signalisieren, ob eine Tür geöffnet werden wird oder nicht. Bei umfangreicheren Informationen eignen sich eher Lautsprecher oder Monitore. Die Kommunikationselemente sind vorzugsweise unmittelbar im Bereich der Türöffnung angeordnet.Loudspeakers, monitors or lamps are particularly suitable as communication elements. Only a single communication element can be provided, but alternatively different or several identical means of communication can also be used. In a particularly simple variant, for example, a light source can use the colors red and green to signal whether a door will be opened or not. For more extensive information, speakers or monitors are more suitable. The communication elements are preferably arranged directly in the area of the door opening.
In einer erfindungsgemäßen Weiterentwicklung wird berücksichtigt, dass der virtuelle Taster insbesondere auf stark frequentierten Bahnhöfen von größeren Objekten verdeckt sein, und deshalb nicht verwendet werden kann. Die Sensoreinheit berücksichtigt diesen Fall und es wird erfindungsgemäß eine Warnung über das Kommunikationselement ausgegeben. Diese Warnung kann an den unmittelbar betroffenen Fahrgast an der entsprechenden Tür erfolgen, beispielsweise über Lautsprecher, oder zunächst an den Zug- oder Fahrzeugführer, der diese Information dann ggf. an den Fahrgast weitergibt.In a further development according to the invention, it is taken into account that the virtual button can be covered by larger objects, particularly at busy train stations, and therefore cannot be used. The sensor unit takes this case into account and, according to the invention, a warning is issued via the communication element. This warning can be sent to the directly affected passenger at the corresponding door, for example via loudspeakers, or initially to the train or vehicle driver, who then passes this information on to the passenger if necessary.
Um die Verletzung von vor dem Fahrzeug stehenden Fahrgästen durch sich öffnende Türen oder Türflügeln zu vermeiden, ist erfindungsgemäß vorgesehen, auch den relevanten Bereich innerhalb der sich bewegenden Tür durch die Sensoreinheit zu überwachen. Bei Erkennung von Objekten innerhalb dieses Bereichs wird ein Signal generiert, welches z.B. zum Stoppen oder Reversieren der Tür oder Türflügel verwendet werden kann. Vorteilhafterweise ist es auch möglich, bereits vor der Öffnung der Tür ein Signal zu generieren, welches zur Ausgabe einer Warnung an die Fahrgäste verwendet werden kann. Insbesondere kann das Signal nur diejenigen Fahrgäste informieren, die auch betroffen sind. Beispielsweise kann eine Lautsprecherdurchsage an derjenigen Tür erfolgen, die gestoppt oder reversiert wird. An den anderen Türen erfolgen keine Durchsagen oder Hinweise.In order to avoid injury to passengers standing in front of the vehicle due to opening doors or door leaves, the invention provides that the relevant area within the moving door is also monitored 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 door or door leaf. Advantageously, it is also possible to generate a signal before the door is opened, which can be used to issue a warning to the passengers. In particular, the signal can only inform those passengers who are affected. For example, a loudspeaker announcement can be made at the door that is being stopped or reversed. There are no announcements or notices at the other doors.
Das erfindungsgemäße Türsystem und Verfahren wird erfindungsgemäß auch zur Erkennung von Extremitäten und deren Position und Geschwindigkeit genutzt. Durch die Verwendung einer oder mehrerer Punktwolken 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 door system and method according to the invention is also used according to the invention to detect extremities and their position and speed. By using one or more point clouds, 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 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. Für diese Anwendungsfälle wird vorteilhafterweise eine 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. 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 prevent the door from passing in the opposite, wrong direction complicate. 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. 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.
Es ist möglich, vordem Schließen einzelner Türen Fahrgäste, die sich im Einstiegsbereich genau dieser Tür befinden, darüber zu informieren, dass sich diese schließen wird. Diese Information wird nur an denjenigen Türen ausgegeben, vor denen sich Fahrgäste befinden.Before closing individual doors, it is possible to inform passengers who are in the boarding area of exactly that door that it will close. This information is only displayed at the doors in front of which passengers are located.
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 dieser Fahrgast zuvor gewarnt werden. Das Gleiche gilt für einen störenden Gegenstand, der gegen die Tür gelehnt ist. Die Tür kann solange für die Öffnung gesperrt bleiben, bis die potentielle Gefahr beseitigt ist. Auch hier kann eine spezifische Information an die Fahrgäste im Bereich dieser Tür bzw. dieses Gegenstandes erfolgen.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, this passenger can be warned in advance. The same applies to a disturbing object leaning against the door. The door can remain blocked from opening until the potential danger has been eliminated. Here too, specific information can be sent to passengers in the area of this door or object.
Ähnliches gilt für den Fall, dass ein Fahrgast einen virtuellen Taster verdeckt. In diesem Fall kann er über den Lautsprecher oder Monitor oder alternative Signale angehalten werden, seine Position zu ändern, damit der Taster wieder benutzbar ist. Diese Information wird ebenfalls nur an diesem Fahrgast gerichtet, an den übrigen Türen erfolgt kein Hinweis.The same applies if a passenger covers a virtual button. In this case, the speaker or monitor or alternative signals can be used to stop it from changing its position so that the button can be used again. This information is also only addressed to this passenger; no information is sent to the other doors.
Auch wenn sich ein Fahrgast oder ein Objekt von außen zu dicht an einer ausschwenkenden Tür befindet, kann vor der Gefahr gewarnt werden und mit der Türöffnung gewartet werden, bis der Ausschwenkbereich frei von Hindernissen ist. Vorteilhafterweise können Personen ermittelt werden, die sich auf einer Zustiegshilfe befinden, so dass ein Einfahrvorgang verhindert oder gestoppt werden kann. Entsprechend werden genau diese Fahrgäste gebeten, ihre Position zu ändern.Even if a passenger or an external object is too close to a door that swings out, you can be warned of the danger and wait before opening the door until the swing-out area is free of obstacles. Advantageously, people can be identified who are on an boarding aid, so that an entry process can be prevented or stopped. Accordingly, exactly these passengers are asked to change their position.
Ein wesentlicher Vorteil besteht für die genannten Anwendungsfälle insbesondere darin, dass ein Fahrgast keinen Kontakt mit einer sich bewegenden Tür haben muss, um den Öffnungs- oder Schließvorgang zu unterbrechen und/oder eine reversierende Tür einzuleiten. Bei üblichen Sensoren, die in der Hauptschließkante angeordnet sind, muss die Hauptschließkante vom Fahrgast berührt, ggf. sogar eingedrückt werden, damit ein Signal erzeugt wird. Eine solche Berührung wird oftmals als unangenehm empfunden und kann insbesondere auch die Kleidung des Fahrgastes verschmutzen. Durch die erfindungsgemäße berührungslose Abtastung des relevanten Fahrgastraums können diese Nachteile wirksam vermeiden werden.A significant advantage for the applications mentioned is, in particular, that a passenger does not have to have contact with a moving door in order to interrupt the opening or closing process and/or initiate a reversing door. With conventional sensors that are arranged in the main closing edge, the main closing edge must be touched by the passenger, if necessary even pressed in, so that a signal is generated. Such contact is often perceived as unpleasant and can, in particular, dirty the passenger's clothing. These disadvantages can be effectively avoided through the non-contact scanning of the relevant passenger compartment according to the invention.
Die erfindungsgemäße Ausführung des Türsystems bzw. die erfindungsgemäße Verfahrung zur Überwachung des Fahrgastraums ermöglichen weitere vorteilhafte Überwachungs- und Steuerungsmöglichkeiten. Ist beispielsweise eine Tür als "defekt" markiert und ein Fahrgast nähert sich einer solchen Tür, kann er auf den Status der Tür über das Kommunikationsmittel, beispielsweise dem Lautsprecher, hingewiesen werden. Dies ist deshalb vorteilhaft, weil Fahrgäste bekanntermaßen Defekthinweise in Form von Aufklebern oftmals übersehen bzw. diese erst dann bemerken, wenn die Tür nicht funktioniert. Auch kann der Fahrbetrieb dadurch beschleunigt und erleichtert werden, dass Fahrgäste, die das Schließen einer Tür dadurch verhindern, dass sie zu nah an dieser Tür stehen bereits vor dem Schlie-ßen der Tür zum Zurücktreten aufgefordert werden. Bei Sensoriksystemen nach dem Stand der Technik werden die Fahrgäste erst dann vom Fahrer des Fahrzeugs aufgefordert, wenn dieser eine Fehlfunktion der Tür, also wenn sich diese beispielsweise nicht schließen lässt, bemerkt. Ein solcher Fehlversuch kann durch zuvoriges Erkennen der Position der Fahrgäste eingespart werden.The design of the door system according to the invention or the process according to the invention for monitoring the passenger compartment enable further advantageous monitoring and control options. For example, if a door is marked as "defective" and a passenger approaches such a door, he or she can be informed of the status of the door via the means of communication, for example the loudspeaker. This is advantageous because passengers are known to often overlook defect notices in the form of stickers or only notice them when the door does not work. Driving can also be accelerated and made easier if passengers who prevent a door from closing by standing too close to the door are asked to step back before the door is closed. In sensor systems according to the state of the art, the passengers are only prompted by the driver of the vehicle when he notices a malfunction in the door, for example if it cannot be closed. Such a failed attempt can be avoided by detecting the position of the passengers beforehand.
Erfindungsgemäß ist es sogar möglich, ein Fahrrad an einer Seite eines Fahrgastes zu erkennen und unmittelbar zu prüfen, ob an den vom Fahrgast gewählten Einstieg ein Stellplatz für Fahrräder zur Verfügung steht. Der Fahrgast kann über das Kommunikationsmittel über das Ergebnis unterrichtet werden und z.B. einen Hinweis erhalten, welchen Einstieg er alternativ wählen kann.According to the invention, it is even possible to recognize a bicycle on one side of a passenger and to immediately check whether there is a parking space for bicycles at the entrance chosen by the passenger. The passenger can be informed about the result via the means of communication and, for example, receive an indication of which alternative boarding option he can choose.
Weiterhin ist es möglich, einsteigende Fahrgäste über den Füllungsgrad, insbesondere über Sitzauslastungen eines bestimmten Wagens zu informieren und ihnen über die Kommunikationselemente mitzuteilen, in welchem Wagen noch freie Sitzplätze zur Verfügung stehen.Furthermore, it is possible to inform boarding passengers about the degree of filling, in particular about the seat occupancy, of a specific car and to inform them communicate via the communication elements in which carriage there are still free seats available.
Grundsätzlich ist es mit Hilfe des erfindungsgemäßen Türsystems und des erfindungsgemäßen Verfahrens möglich, den Fahrer des Fahrzeugs über die Bewegung und Nutzung von Türen zu informieren, um diese optimal steuern 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 door 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 control 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. Fahrgäste können über die Kommunikationselemente unmittelbar auf die drohende Gefahr aufmerksam gemacht werden.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. Passengers can be made immediately aware of the impending danger via the communication elements.
Erfindungsgemäß ist es auch möglich, den Abstand der Türöffnung zu einem Bahnsteig zu ermitteln, um somit die Trittstufe oder Zustiegshilfe optimal auszufahren. Diese ist insbesondere dann von Vorteil, wenn sich die Abstände zwischen der Türöffnung und dem Bahnsteig von Bahnhof zu Bahnhof unterscheiden. Auf entsprechende Sensoren an den Zustiegshilfen selbst kann somit verzichtet werden. 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.According to the invention, it is also possible to determine the distance between the door opening and a platform in order to optimally extend the step or boarding aid. This is particularly advantageous if the distances between the door opening and the platform differ from station to station. Corresponding sensors on the boarding aids themselves can therefore be dispensed with. 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 unterschieden werden. Diese Information kann für eine exakte und leicht verständliche Information an die Fahrgäste Kommunikationsmittel genutzt werden.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 suitcases can be distinguished from passengers. This information can be used to provide precise and easy-to-understand information to passengers via communication means.
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 Funktion eines virtuellen Tasters,
- Fig. 4:
- eine Prinzipskizze zur Hindernisüberwachung zwischen zwei Türflügeln.
- 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 of the function of a virtual button,
- Fig. 4:
- a schematic sketch for obstacle monitoring between two door leaves.
Die
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.Both figures also show a
Die Sensoreinheit 26 erzeugt eine Punktwolke innerhalb des zu überwachenden Fahrgastraumes, über die der Fahrgastraum abgetastet wird. Die Sensoreinheit 26 kann hierfür beispielsweise einen optischen Sensor, vorzugsweise einen Laser, insbesondere einen Infrarotlaser aufweisen.The
Die Sensoreinheit 26 weist weiterhin eine nicht gezeigte Auswerteeinheit zur Auswertung der gemessenen Daten auf. Diese kann in die Sensoreinheit integriert oder extern angeordnet sein.The
Weiterhin zeigen die
Bei der Kalibrierung bzw. Einrichtung eines solchen virtuellen Tasters 36 wird ein Gegenstand an der gewünschten Position des virtuellen Tasters 36 in die Punktwolke gehalten. Wird dieser lange genug ruhig gehalten, kann dessen Position als Mittelpunkt 38 für den virtuellen Taster 36 verwendet werden. Zusätzlich wird ein Radius 40 festgelegt und in der zugehörigen Auswertesoftware hinterlegt. Nähert sich nun beispielsweise eine Hand eines Fahrgastes durch die Punktwolke dem virtuellen Taster 36 innerhalb des definierten Radiusses 40, wird diese Bewegung als Auslösewunsch des Fahrgastes interpretiert. Alternativ zur Hand des Fahrgastes wird jedes beliebige Objekt in diesem Bereich entsprechend erkannt und berücksichtigt.When calibrating or setting up such a virtual button 36, an object is held in the point cloud at the desired position of the virtual button 36. If it is held still long enough, its position can be used as the
Die Erfindung ist nicht auf die beschriebenen und gezeigten Ausführungsbeispiele beschränkt, vielmehr sind auch weitere Nutzungsmöglichkeiten des erfindungsgemäßen Türsystems 20 möglich. Die Kommunikation mit den Fahrgästen kann nicht nur über Lautsprecher, sondern auch über Monitore oder andere optischen Signale, wie beispielsweise Warnleuchten erfolgen. Anstelle von Türöffnungen 44 können selbstverständlich auch Durchgänge oder Fenster mit Hilfe des beschriebenen Verfahrens überwacht werden. 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
Erfindungsgemäß kann auch vorgesehen sein, dass die Sensoreinheit 26 bzw. die zugeordnete Auswerteeinheit mit einem externen Anzeigegerät in Verbindung steht. Dieses kann beispielsweise beim Fahrer oder in einer Leitstelle, vorzugsweise im Bahnhof oder in der Nähe einer Haltestelle vorgesehen sein. Die Ergebnisse der Abtastung durch die Sensoreinheit 26 können dann dort ausgewertet und weiterverarbeitet werden.According to the invention, it can also be provided that the
Claims (12)
- A door system (20) for a public transport vehicle (42) with a sensor unit (26), at least one door opening (44) and a door closing the door opening (44) and at least one communication element for a context-based communication in the form of instructions or information to passengers on the basis of measurement results of the sensor unit (26), wherein the instructions or information originate from the door system and are generated when specific measurement results are present, wherein the communication automatically takes place by the door system (20) itself, and the sensor unit (26) is constituted and designed such that it scans a passenger compartment in the region of the door opening (44) a three-dimensional non-contact manner to determine distances and shapes inside the passenger compartment,
characterised in that the sensor unit (26) is constituted and designed to determine- movement speed and movement direction of passengers,- the position and speed of extremities of the passengers,- the movement speed and movement direction of additional objects,wherein the sensor unit (26) is coupled to the control of the door or the door leaves (22) in order to monitor a space between the door leaves (22) or the region directly inside a door frame between the main closing edge of the door and the door frame, and is constituted and designed such that it can read out respectively the current door position or the current door leaf position. - The door system (20) according to claim 1, characterised in that the sensor unit (26) performs distance measurements on the basis of an emitted point cloud in which the delay of a reflection of a pulse is evaluated.
- The door system (20) according to claim 1 or claim 2, characterised in that the sensor unit (26) contains an optical sensor.
- The door system (20) according to claim 1 or claim 2, characterised in that the sensor unit (26) comprises an evaluation unit.
- The door system (20) according to any one of claims 2 to 4, characterised in that the sensor unit (26) comprises a laser scanner unit.
- The door system (20) according to any one of claims 1 to 5, characterised in that the passenger compartment comprises an interior space of the vehicle (42) and/or an exterior space outside the vehicle (42).
- The door system (20) according to any one of claims 1 to 6, characterised in that the sensor unit (26) is constituted and designed such that a space outside the vehicle is also scanned, which extends from the door opening (44) up to 5 m, preferably 2 m from the latter.
- The door system (20) according to any one of claims 1 to 7, characterised in that a space, through which the door or the door leaves (22) move, is monitored by the sensor unit (26) for the prevention of injury, wherein opening of the door or the door leaves (22) is interrupted if an obstruction is present in this area.
- The door system (20) according to any one of claims 1 to 8, characterised in that the communication element is constituted as a loudspeaker (50) in the region of the door.
- The door system (20) according to any one of claims 1 to 9, characterised in that the communication element is constituted as a monitor (52) in the region of the door.
- The door system (20) according to any one of claims 1 to 10, characterised in that the communication element is constituted as a light source (54) in the region of the door.
- A method for the monitoring and control of a door system (20) of the public transport vehicle (42) with the method steps:- contactless three-dimensional scanning of a passenger compartment in the region of a door opening (44) with a sensor unit (26),- determining- the distances, shapes and movement speed and movement direction of passengers,- the position and speed of extremities of passengers,- the movement speed and movement direction of additional objects by evaluation of the results of the contactless three-dimensional scanning,- reading out of a current door position or current door leaf position from the control of the door or the door leaf (22) by the sensor unit (26) for monitoring a space between the door leaves (22) or the region immediately inside a door frame between a main closing edge of the door and the door frame,- outputting of the at least one context-based piece of information from the following group by the door system itself in the form of instructions or information to the passengers, wherein the information is based on measurement results of the sensor unit (26) and the current door position or current door leaf position, and- alighting and boarding passengers are determined and counted and information is communicated to the passengers, which is based on the level of occupancy of the vehicle, or- the sensor unit (26) scans the boarding aid (24), wherein when obstacles such as a snow or an ice covering for example is determined, corresponding information is communicated to the passengers, or- the sensor unit (26) determines whether an object, in particular a passenger, is leaning against the door or against a door leaf when the latter is to be opened and if need be corresponding information is communicated to the passengers, wherein the door remains blocked for opening until the potential hazard is removed, or- the sensor unit (26) determines whether an object, in particular a passenger from outside is standing too close to an outswinging door, an object, in particular a passenger, is leaning against the door or against the door leaf, whereas the latter should be opened and if need be corresponding information is communicated to the passengers, wherein the door remains blocked from opening until the potential hazard is removed, or- the sensor unit (26) determines whether passengers are moving towards a door which is marked as defective, and if need be corresponding information is communicated to the passengers, or- the sensor unit (26) determines whether passengers are preventing the closing of a door due to the fact that they are standing too close to the door, and if need be corresponding information is communicated to the passengers before the closing of the door, or- the sensor unit (26) determines whether passengers are carrying along a bicycle, a comparison takes place with information concerning the vehicle in question with regard to whether a bicycle parking place is available in this vehicle, and if this is not the case, corresponding information is communicated to the passengers, or- the sensor unit (26) determines the position and speed of extremities and draws conclusions therefrom regarding the passenger's intention.
Applications Claiming Priority (2)
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DE102014113569.5A DE102014113569B4 (en) | 2014-09-19 | 2014-09-19 | Door system with sensor unit and communication element |
PCT/EP2015/071581 WO2016042168A1 (en) | 2014-09-19 | 2015-09-21 | Door system with sensor unit and communication element |
Publications (3)
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EP3194241A1 EP3194241A1 (en) | 2017-07-26 |
EP3194241B1 true EP3194241B1 (en) | 2024-03-27 |
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EP15767461.5A Active EP3194241B1 (en) | 2014-09-19 | 2015-09-21 | Door system with sensor unit and communication element |
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EP (1) | EP3194241B1 (en) |
JP (1) | JP2017536277A (en) |
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CN (1) | CN107000772A (en) |
BR (1) | BR112017005309A2 (en) |
DE (1) | DE102014113569B4 (en) |
EA (1) | EA033380B1 (en) |
MX (1) | MX2017003400A (en) |
WO (1) | WO2016042168A1 (en) |
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-
2014
- 2014-09-19 DE DE102014113569.5A patent/DE102014113569B4/en not_active Revoked
-
2015
- 2015-09-21 JP JP2017515043A patent/JP2017536277A/en active Pending
- 2015-09-21 EP EP15767461.5A patent/EP3194241B1/en active Active
- 2015-09-21 EA EA201700148A patent/EA033380B1/en unknown
- 2015-09-21 CN CN201580061364.3A patent/CN107000772A/en active Pending
- 2015-09-21 WO PCT/EP2015/071581 patent/WO2016042168A1/en active Application Filing
- 2015-09-21 BR BR112017005309A patent/BR112017005309A2/en not_active Application Discontinuation
- 2015-09-21 KR KR1020177009497A patent/KR20170069215A/en unknown
- 2015-09-21 MX MX2017003400A patent/MX2017003400A/en unknown
- 2015-09-21 US US15/512,665 patent/US10370888B2/en active Active
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WO2016042168A1 (en) | 2016-03-24 |
EA201700148A1 (en) | 2017-08-31 |
EP3194241A1 (en) | 2017-07-26 |
JP2017536277A (en) | 2017-12-07 |
CN107000772A (en) | 2017-08-01 |
US20170306685A1 (en) | 2017-10-26 |
KR20170069215A (en) | 2017-06-20 |
DE102014113569A1 (en) | 2016-03-24 |
DE102014113569B4 (en) | 2018-05-03 |
BR112017005309A2 (en) | 2017-12-19 |
US10370888B2 (en) | 2019-08-06 |
EP3194241C0 (en) | 2024-03-27 |
MX2017003400A (en) | 2017-08-28 |
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