BARRIER DEVICE AND ARRANGEMENT IN A PASSAGE ROOM

Abstract

The invention relates to a barrier system comprising a blocking means, wherein, using one or more LIDAR sensors and a computer unit, the position, movement direction and speed of objects, including people, are detected and calculated, and comprising a control unit which automatically prompts a change in position of the blocking means between the release position and blocking position thereof according to the determined object movement.

Description

[0001] "Barrier device and arrangement in a passageway"

[0002] Description:

[0003] The invention relates to a barrier device according to the features in the preamble of claim 1 and an arrangement in a passageway according to the features in the preamble of claim 19.

[0004] Entrances and exits to publicly accessible buildings or the like, hereinafter referred to collectively as passageways, generally have barrier devices to enable regulated entry and exit. For this purpose, the barrier devices are arranged in a passageway, which can extend in front of and behind the barrier device and in which people or objects, hereinafter referred to collectively as objects, can be located. Furthermore, barrier devices have adjustable blocking devices, such as doors, barrier bars, barriers, or the like. Before people enter shops, such as supermarkets, kiosks, drugstores, etc., or hotels, office buildings, or the like, access must be granted by moving the barrier from a closed, blocking position to a release position that opens the passage, allowing objects to pass through a barrier in the direction of passage. If the passage is an entrance, the passage direction is directed toward entry, whereas in the case of an exit, the passage direction is directed toward exit.

[0005] As a result of their steadily increasing popularity, automated barrier devices will become increasingly important, particularly for so-called self-check-out facilities, which are regularly operated without personnel.

[0006] Automated barrier devices with detection devices, which include signal transmitters and signal receivers, are known in practice. Laser scanners are particularly common as signal transmitters. These emit a multitude of adjacent, plane-like laser pulses into a scanner environment for object detection. The boundaries within which the laser scanner scans the environment define a so-called detection field. The laser beams are reflected by objects located within the detection field and detected by a signal receiver. The position of an object within the detection field can be determined by determining the travel time of the individual reflected laser beams.

[0007] EP 2 332 805 A1 discloses a sensor arrangement with a laser scanner arranged at a distance from a barrier. The starting point for controlling a barrier device is several zones defined within a scanning area. As soon as an object is detected in a specific zone, the barrier device is controlled accordingly.

[0008] Known barrier devices share the problem of very imprecise control. In practice, this manifests itself, for example, in barriers being opened unnecessarily. If doors are opened unnecessarily, for example, this can result in heat loss in winter or heat gain in summer. Furthermore, passage locks are known from practice, for example, with at least two doors, barriers, or the like connected in series in the direction of passage, to compensate for the imprecise control of the known devices. However, such lock systems significantly increase the space required and the technical complexity.

[0009] The present invention is based on the object of improving the known devices, in particular in such a way that incorrect control can be avoided, so that passage is only permitted when necessary. Furthermore, an economically advantageous solution is to be proposed, in particular, the equipment required is to be minimized.

[0010] The object is achieved by a barrier device according to the features of claim 1 and by an arrangement of a barrier device according to claim 19. Advantageous embodiments are described in the subclaims.

[0011] All features described or claimed below each have an independent inventive significance. They can be used together in any combination or individually and independently of one another.

[0012] In other words, the invention proposes a barrier device that is controlled independently of the detection field. By calculating the direction or speed of an object, an object's movement can be predicted in the form of a trajectory within the passageway. A distinction is essentially made as to whether an object is moving toward a barrier or not. This allows for a precise determination of whether and, if so, when a passageway should be opened, thus preventing incorrect control of the barrier device. The basis is a dynamic determination of the position of an object within the passageway, as opposed to a low-resolution, static determination of the position using zone delimitation within the detection field.

[0013] According to the proposal, the detection field covers at least the area of ​​the passage space which is in front of a barrier - i.e. in the direction of passage the area of ​​the passage space in which the objects are located before passing the barrier.

[0014] The invention is based on the idea that the calculated information on the direction of movement and the speed of movement, derived from the travel times of the laser beams, can be used to directly distinguish between an object approaching the barrier and a stationary object. The control unit only initiates a change to the release position when an object approaches the barrier. Furthermore, the approach of an object only results in the passage being released if, for example, the calculated direction of approach allows the conclusion that an object is actually moving toward the barrier. For objects that merely move past a barrier without apparently intending to pass through it, the control unit does not initiate a change in the position of the blocking means.

[0015] Particularly advantageous in terms of very high spatial resolution can be provided for the computing unit to derive the object movement in real time or almost in real time, so that the precision of the control can be increased and collisions of objects with a barrier can be avoided.

[0016] According to the proposal, the detection field is aligned substantially parallel to the horizontal plane, preferably at an angle between 0 and 10°, particularly preferably at an angle between 0 and 3°. Furthermore, only one detection plane is provided for the detection field, so that the design of the detection device is significantly simplified, which is economically advantageous.

[0017] The signaling device can be arranged in, on, or adjacent to the barrier. The smaller the distance between the object and the signaling device, especially between the object and a laser scanner, the more precise the time-of-flight measurement. Such an arrangement would therefore contribute to increasing the precision of the detected object movement, since objects intending to pass the barrier generally move toward the barrier and, accordingly, toward the signaling device.

[0018] Particularly for barriers in the form of barriers, barrier bars, or the like, the signal transmitter can be arranged at the same height as the barrier. This would ensure that the control unit preferentially clears the passage for objects that occupy a height that largely corresponds to the height of the barrier relative to the ground surface supporting the objects. Miscontrols, for example, caused by correspondingly small animals, could be avoided. A reduction in unnecessary miscontrols of the barrier device is generally accompanied by an economically advantageous extension of the service life. In initial tests, an installation height between 20 and 80 cm has proven advantageous.

[0019] In a further embodiment, the precision of the movement data can be further increased by having the barrier device have multiple signal transmitters that essentially detect the passageway. In particular, the arrangement of multiple signal transmitters would also make it possible to detect areas that, when using only one signal transmitter, are detectable in the detection shadow, i.e. on the side of an object facing away from a signal transmitter. Such shadowing, i.e. areas that lie outside the detection field, can be problematic, particularly with objects that are placed in the passageway and thus prevent unhindered object detection by the detection device. As long as a second object located behind the first does not protrude beyond a detection shadow into the detection field, the first object would not be detected.Advantageously, to prevent shadowing, a first signal transmitter can be arranged in, on or adjacent to the barrier and a second signal transmitter at a distance from it.

[0020] In a configuration with multiple signal transmitters, the respective detection fields of the signal transmitters can be aligned parallel to each other and offset vertically. This allows for targeted detection of objects of different sizes, especially of different heights, and minimizes shadowing areas.

[0021] In a particularly advantageous embodiment, the signal generator can be mounted for rotation about a substantially vertically oriented axis of rotation and designed to detect at least sections of a circular detection field around the signal generator. A correspondingly rotating signal generator could emit at least 10 laser pulses per second to create the most realistic image of the objects possible. Initial tests have shown that a detection radius of up to 5 m is particularly suitable for deriving sufficiently high precision of object movement, even at a distance from the signal generator.

[0022] An economically advantageous arrangement of a rotating signal generator, for example, in or on a support of a barrier, can be achieved. The support pivotally supports a barrier bar, a barrier, or the like in the manner of a holding element, so that the detection field can extend in the direction of passage from in front of to behind the barrier, even if the barrier device has only one signal generator. This would allow a large detection field to be realized with minimal equipment expenditure.

[0023] The invention is based on the idea of ​​both quantitatively detecting object movement and detecting a stationary, motionless object and initiating control of the barrier device with regard to the stationary object. If the direction of movement and the speed of movement of an object are essentially zero over a period of time, an object could be detected as a temporarily stationary object. On the one hand, control can consist in, for example, initially not allowing access to a stationary object. On the other hand, one embodiment can provide for the control to nevertheless release access to a stationary object in exceptional cases, namely when an object remains at a distance from the barrier for a certain period of time. This area is referred to herein as the trigger area.Initial tests have shown that an area up to 50 cm in the direction of passage in front of and behind the barrier and a residence time of at least 5 s are particularly suitable.

[0024] In a further embodiment, it can be provided that several travel times are determined for each object, so that several pieces of information on the direction of movement and the speed of movement can be derived. In principle, this presents the problem that peripheral body parts of people, such as arms swinging when walking, in particular, greatly increase the scatter of the movement data of an object. To make the derived object movement more precise, the computing unit can advantageously be designed for computational concretization. In other words, it can be provided that the computing unit derives from the movement data of an object which of the determined movement data depicts the core of an object, so that, for example, arms swinging when walking are recognized as such and the computing unit preferably uses the movement data of the object core to calculate the direction of movement and the speed of movement.This concretization of the derived object movement could result in a significant precision and thus a more accurate control of the barrier device.

[0025] In particular for horizontally displaceable locking devices with multiple locking device segments, for example a sliding door consisting of multiple doors or door segments or the like, which are held by a wall in the manner of a holding element, the opening width can advantageously be adapted to the object movement. For a further embodiment, it can therefore be provided that the object movement is first precisely determined in order to be able to derive which locking device segment needs to be sufficiently controlled to allow an object to pass through. In practice, for example, only the door segment towards which the object is moving in particular could be opened by the control unit, or the sliding door could only be opened up to a certain door segment, so that separate controllability of a locking device or locking device segment would not be necessary for this.Advantageously, with this design of the barrier device, the opening width of the passage for release could be significantly reduced, so that, for example, in winter, energy loss due to escaping heat from a shop would be minimized.

[0026] Separate control of multiple barriers or multiple barrier segments can be provided, for example, to allow multiple objects to pass through simultaneously. In practice, the barrier device could, for example, comprise two separately controllable, pivoting barrier bars, such as those found in many shops, which the control unit could open and close independently of each other depending on the extent to which an object is detected approaching the individual barrier bars.

[0027] Furthermore, the speed of change from a locked position closing the passage to a released position opening the passage can advantageously be adapted to the speed of movement of an object, for example, a horizontally oriented pivoting movement of a swing door or the retraction of a sliding door, or a vertically opening barrier or gate. In principle, a slower opening of a locking device, especially for heavy locking devices such as glass doors, is advantageous in order to protect drive units and braking systems and to extend service life economically.

[0028] A blocking device can represent a source of danger for an object in the passageway, insofar as the object can collide with the movable blocking device, particularly when changing position from an open to a closed passageway. This section of the passageway is referred to herein as the collision zone. Advantageously, the control unit is suitable for controlling the blocking device, taking into account the current position and the expected position of an object in the collision zone (derived from the direction and speed of movement) in order to prevent a collision. It can be provided that a movement of a blocking device orA segment of a blocking device is not opened when there is a risk of collision, and / or the movement of the blocking device is accelerated, and / or the nature of the blocking device movement, for example, the opening width of a door, the swing height of a barrier, or the like, is adjusted to avoid a collision. For example, if a shopping cart is parked in the collision zone of a blocking device, it can be provided that the passage is only opened to the extent that the blocking device does not collide with the shopping cart when another object approaches.

[0029] For customer management purposes, a further embodiment can provide for the barrier device to have a counting unit that derives the number of objects that have passed through the barrier from the object movement data. This makes it possible, for example, to track how many objects have used a passage within a certain period of time in a cost-effective manner. Furthermore, it can be determined, advantageously in real time, how many objects are in a store or similar location at a given time. For this purpose, a system of several barrier devices communicating with each other could be provided, each of which is located at an entrance or exit.In order to take up as little installation space as possible and thus be economically advantageous, a barrier device can be used which serves as both an entrance and an exit and which keeps track of the number of objects in the store, particularly depending on the direction of movement of the objects as they have passed the barrier device, since each direction of passage can be assigned to an entry or exit of the store. If a capacity limit with regard to the maximum number of objects in a store, building or the like is reached, the control unit, in feedback from the counting unit, can only trigger release again once a corresponding number of objects have left the store. Tracking the number of objects in a store is known in practice, for example using shopping baskets or shopping trolleys which are issued to customers for a purchase.If all baskets or shopping carts are occupied, this may indicate that capacity has been reached. However, this requires that every customer, i.e., every item, must carry either a shopping basket or a shopping cart. This required additional staffing, especially during the pandemic, and is therefore economically disadvantageous.

[0030] In one embodiment, it can be provided that the barrier device detects objects that pass through a barrier in the opposite direction to the passage. For this purpose, the passage can be an entrance, for example, and the detection field can detect areas of the passageway that lie in front of and behind the barrier in the direction of entry, or generally the detection field covers areas of the passageway that lie in front of and behind the barrier in the direction of passage. If a corresponding object movement is detected, an alarm device can advantageously be provided that generates a visual and / or acoustic signal, for example if a customer leaves a store or the like without first passing through a checkout area. It can also be provided that if an object movement is detected, the control unit does not release the passage.This design is particularly advantageous because it eliminates the need for structurally complex double barrier devices such as a lock.

[0031] In accordance with the consideration underlying the invention, a method for releasing a passage in a passageway in which objects move at least temporarily may include, in particular, the following steps:

[0032] A laser scanner can emit laser pulses that create a plane-like detection field that is essentially parallel to the horizontal plane and, at least in part, aligned with the passageway. The time of flight of the laser beams is determined after they have been reflected by objects in the passageway. From the time of flight, an object's movement is calculated, namely a direction of movement and a speed of movement of the objects in the passageway. Depending on the calculated object movement, the barrier is controlled in such a way that it is opened, if necessary individually adapted to an object, or the passage is blocked.

[0033] A barrier device or arrangement as described above can advantageously be implemented using a single or multiple combined LIDAR sensors (= abbreviation for Light detection and ranging or Light imaging, detection and ranging) to detect objects, including moving objects such as persons.

[0034] Access and exit control is achieved either without barriers or by means of movable barriers that must not collide with objects or persons during their movement. As an example of physically implemented, movable barriers, pivoting barriers are mentioned below. These can pivot horizontally and are widely known from supermarkets; they must not collide with objects or persons during pivoting. A barrier-free barrier device can, for example, have an imaginary line as the barrier means within the meaning of the present invention, and the holding device in this case is the device in which the imaginary line is defined. This can be the automated control unit connected to the computing unit of the barrier device, so that, for example, a certain distance from the detection device defines a virtual line as the so-called limit distance.Different threshold distances can be defined for different angles at which the light beams are emitted or detected by the detection device, so that the line does not necessarily have to run at a constant distance around the detection device in a circular arc, but can also be defined differently, e.g., as a straight line. For example, a barrier device without barriers can be installed in the exit area of ​​a store, downstream of the cash registers, so that the barrier device according to the invention serves as an exit control.

[0035] When using the barrier device as an exit control, for example, the length of time a customer spends at the checkout can be recorded. If this length of time falls below a certain minimum and the customer subsequently passes the imaginary line, an alarm can be automatically triggered, so that the imaginary line acts as a barrier and is intended to prevent people from leaving the store without having paid. In particular, when it comes to so-called self-checkout or scanner checkouts, where customers register the purchased items automatically - e.g. with the help of barcodes, RFID tags or the like - such an exit control can be installed using a barrier device according to the invention. The automated control unit can be connected not only to the processing unit of the barrier device, but also to the self-checkout or scanner checkouts in such a way that - e.g.regardless of or in addition to the length of time spent at the cash register - the alarm is automatically triggered if no payment transaction has been carried out at a particular cash register and the person initially at the cash register then moves to the blocking device, namely the imaginary line mentioned.

[0036] A position change between the release position and the blocking position of a barrier, which position change is automatically initiated by the control unit, can be implemented in a physical barrier, for example, in the form of a horizontal pivoting movement of the barrier. In a non-physical barrier, the position change can be implemented, for example, by switching a switching element, for example, to trigger or suppress an alarm. Upon entry and exit, the position, distance, and speed of movement of objects should be detected. In this context, "objects" refers to both inanimate and living objects, especially people.

[0037] In the event of movement in a direction predefined as permissible, a physical blocking device should open the barrier, e.g., swing a barrier into a release or open position, provided the space behind the barrier is clear in the swing direction. However, if an object is located within the movement range of the blocking device, the movement of the blocking device can be restricted: the movement of the blocking device can occur over a reduced portion of the movement range to avoid a collision with the object. Or the movement can occur at a reduced speed - at least when approaching the object - to avoid damage or injury to the object. Or the movement can be suppressed completely. With a barrier-free barrier device, an alarm is not triggered if movement is detected in a direction predefined as permissible.

[0038] Unlike the above-mentioned movement in a predefined direction as permitted, in the case of movement in a direction defined as prohibited the blocking device can keep the barrier closed, e.g. the aforementioned barrier can remain in a blocked or closed position. This can be used for so-called counter-runners, i.e. people who do not enter a store through the entrance, but want to leave through the entrance and thus past the cash registers. The barrier device serves as an entrance control. If the barrier is not already closed and remains in its closed position, the control of the barrier device can be designed so that the currently open barrier is moved into its closed position. If the entrance control is designed without barriers, an alarm can be triggered in this case.The barrier device may comprise one, two or more barriers, and the barriers may be arranged next to one another, e.g., opposite one another and operating synchronously in opposite directions in the form of a double barrier to allow for a large opening width.

[0039] Alternatively or additionally, the barriers can be arranged one behind the other, as a “lock” with alternating release of the individual barriers.

[0040] The barriers can be connected to each other via a radio system, so they can work together logically (via software) rather than physically (via cable).

[0041] The LIDAR sensors can be "combined" using software if they monitor an overlapping area. This has the advantage of eliminating shadows from objects located behind one another, as monitoring is performed from different angles.

[0042] The LIDAR sensors can be mounted remotely from the barriers. The barriers' pivoting range is thus independent of the monitoring areas. This allows for monitoring paths "around corners."

[0043] In one embodiment, objects are detected in at least two areas. A monitored area A (the pivoting area of ​​the barrier) must be free of objects, regardless of whether they are stationary or moving. In the other area B, the respective position, direction, and speed of objects are detected. The barrier is opened when area A is free of objects and an object in area B approaches the barrier at the correct angle and with sufficient speed. "Parallel runners" (objects moving parallel to the barrier or the monitoring boundary A / B) do not trigger opening.

[0044] "Returners" who pass through a randomly opened barrier are detected by their speed and direction of travel and, in one embodiment of the barrier device, trigger an alarm as soon as area B is entered from area A. This method of evaluating the detected movements can replace a physically implemented "lock" with two barriers arranged one behind the other in the direction of movement.

[0045] In one embodiment of the monitoring device, the detection of objects and their behavior is based on cluster analysis, which combines the LIDAR data points to determine the object's location. Of the various types of cluster analysis, cluster analysis appears to be advantageous and well-suited for practical use. Given the amount of data generated (number of data points), it is suitable for operation on a microcontroller with limited memory and processing speed. Based on these criteria, the preferred cluster analysis can be selected.

[0046] In one embodiment of the bamere device, the data exchange between the LIDAR sensors takes place via a radio system and is therefore wireless.

[0047] In one embodiment of the barrier device, mechanisms are present that can detect a failure of the system (e.g., rotation) or the laser based on the supplied data. The control unit can be configured such that, in such a case, an error message is automatically generated and transmitted to a control center so that maintenance work can be initiated. If a failure of the rotation or timing of a LIDAR sensor is detected, in one embodiment of the barrier device, the laser is automatically switched off for laser safety purposes in order to prevent any punctual disposition by the laser beam resulting from the standstill of movement (e.g., the eye, directly or after a reflection).

[0048] Since not only the rotary drive but also the laser itself is subject to an aging process, one design of the barrier device includes markers that help monitor the beam intensity as part of the operating modes. These markers can be special reflective elements that are specifically placed within the detection range of a detection device, or an element that is already located within the detection range of a detection device, e.g., a wall or pillar of a building, can be used as a marker. In this case, a calibration is first performed to store the reflected beam intensity as a target value. In the event of a predetermined deviation from the target values, an indication can be automatically triggered, which can be referred to as a wear indicator. The affected components can then be proactively replaced before a malfunction occurs.The affected components can be, for example, the markers, e.g. in case of damage, or it can be the laser itself, e.g. due to the aforementioned aging.

[0049] The further developments and improvements briefly described above can be implemented individually, or two or more of them can be implemented in any combination, provided they are not mutually exclusive, e.g., in the form of alternatives, as explained with the barriers arranged either side by side as a double barrier or one behind the other as a lock. The described further developments and improvements can be particularly advantageously implemented in an object such as that described in DE 20 2022 101 749 U1, but they can also be applied to differently designed access and exit control systems, provided this is not excluded due to technical impossibility.

[0050] In addition, the following is pointed out:

[0051] With the availability of "time-of-flight" (ToF) sensors, it is possible to obtain a direct distance measurement based on the travel time of an electromagnetic wave—that is, a time measurement and the constant of the propagation velocity. An even more precise method would be possible using an interferometric measurement, but this requires referencing, exact knowledge and stability of the wavelength, and further application requirements. Both are one-dimensional measurements.

[0052] Spatial measurements using the ToF method are possible with camera systems. A point pattern is projected into the room. The individual measurements of each point allow us to infer the spatiality of the contour. This is a matrix measurement, with each field corresponding to a distance. This 3D measurement requires a complex sensor design.

[0053] Two-dimensional distance determination is achieved using a rotating ToF sensor. Each angle then provides distance information perpendicular to the rotation axis. This process presents only a mechanical challenge due to the rotation. The actual ToF sensor continues to operate one-dimensionally. This allows for a very simple electronic design, which is reflected in the cost. "LIDAR" sensors are therefore widely used, e.g., in automotive, automotive, and other applications.

[0054] This is also the case in consumer products, such as autonomous vacuum cleaning robots, where the sensor is both permanently connected to the mobile device and also mounted on a mobile device. This allows the device to detect obstacles in its path. The rotational principle of LIDAR sensors provides angular information and distances relative to the direction of travel.

[0055] The present invention takes a different approach. Here, the LIDAR is permanently installed to detect moving objects. In contrast to light barriers, which only operate in one dimension and must be installed and adjusted in multiple locations for spatial monitoring, or simple radar sensors, which can only detect moving objects without directional detection, a fixed LIDAR sensor mounted parallel to the plane on which the objects are moving not only enables the monitoring of an entire two-dimensional area but also detects objects regardless of whether they are stationary or moving. Since the measurement is performed while rotating, moving objects provide information about their change in position within the rotational speed and thus, in addition to their speed, also about their direction of movement.

[0056] Based on a very inexpensive sensor, information is available that would otherwise only be obtainable with much more complex systems. These include, for example, camera systems that can locate or even track objects or people using image processing. However, image processing requires a lot of effort and therefore more energy. In addition, a camera is usually mounted "overhead." 1must be installed so that objects can be tracked. However, orthogonal installation to the surveillance plane is often not possible due to limited room height, especially if the camera is to be positioned at a height that is safe from vandalism and accidental damage. Under certain circumstances, cameras can be susceptible to failure due to lighting conditions (sunlight) and also depending on the time of year and / or day. The LIDAR-based barrier system according to the invention, on the other hand, works parallel to the movement plane. The detection height above the surveillance or movement plane can be individually adjusted. Because there is no need to mount it in a top view, this system is also easy to install and is also suitable for angled, e.g. L-shaped, areas. Due to the price advantage, several LIDAR sensors can be easily combined and thus optimize the localization or tracking of objects in the monitored area.Combining two or more LIDARs is easy. Since each system is mounted and thus fixed, their relative positions are also immutable. The data provided by a LIDAR sensor corresponds to polar coordinates, which can be automatically transformed into another coordinate system, e.g., Cartesian. This transformation is performed by taking into account the Cartesian position of each individual LIDAR sensor. This allows each individual measurement point from each LIDAR to be entered into the common coordinate system. It doesn't matter which LIDAR sensor provided which measurement point; the XY data can simply be aggregated.

[0057] It is assumed that the measurements are subject to errors, and that the objects to be located also have a certain extent. Therefore, identical positions can never be provided. Therefore, each object is represented by a point cloud with a specific extent. Ideally, one can assume that the center of this point cloud represents the object's position. Statistically speaking, the accuracy of this representation increases with the number of measurement points, regardless of which LIDAR sensor they originate from.

[0058] If one of the multiple LIDAR sensors is obscured or fails, the accuracy of the localization will decrease slightly because the point cloud will shift. However, a complete failure is not to be feared, so the barrier system's functionality can still be guaranteed.

[0059] When evaluating the point cloud(s), multiple point clouds are assumed, as various objects may be located in the monitored plane. These point clouds require differentiation, so that not all measurements are combined into a single point cloud, but rather each individual point cloud represents an object, and the evaluation provides a localized position of its object. A mathematical-numerical method for this is cluster analysis, which allows the number and density of the point clouds to be selected to obtain optimal positions that accurately represent the objects in the plane.

[0060] If localization occurs quickly enough, not only the speed of movement can be determined over time, but also the direction of movement of an object based on its change in location—or, if there is no change in location, its resting position. These two properties, in particular, are otherwise only provided by much more complex systems. Thus, with a barrier system designed according to the invention, information is available using technically simple and cost-effective means that enable a qualified statement about the detected objects.

[0061] As described above, a single sensor or multiple sensors provide the position of a stationary or moving object in a common coordinate system. It does not matter how many LIDARs are providing data, as long as at least one LIDAR is active. This plays a major role in the reliability and safety of the barrier system. If a sensor or a partial segment of a sensor is temporarily disabled, the impact on the object's position determination is minimal as long as the object is also detected by one or more other sensors or the shadowing only lasts a few seconds. This is relevant for areas subject to highly dynamic object movement, such as entrance or exit areas with people.

[0062] Because individual people on the movement or surveillance level can be located and, in addition, their dynamics are recorded, not only can unusually fast movements or long periods of inactivity be recorded, but also their direction of movement and speed. Many conclusions can be drawn from this group, sub-group or individual analysis. If, for example, many objects / people move quickly and together in one direction, it can be assumed that they are attempting to escape. The control unit can automatically activate an emergency mode in the barrier system, in which all barriers are automatically opened and, if necessary, an additional alarm is triggered. If an individual object moves illegally in the opposite direction to a specified direction, this can be detected as a person "moving back" or "moving in the opposite direction".If individual persons remain stationary for a certain period of time on opposite sides of a border or dividing line, this situation could also be detected and lead to an automatic alarm, e.g. to counteract an attempt to effect an unauthorized handover through a barrier.

[0063] Furthermore, a balanced count of objects is possible to determine how many people are in a location at a given time. Even if the entry and exit areas are identical, direction detection enables simultaneous counting of entries and exits. The analysis of movement patterns can be performed using a K1 system that can distinguish "normal" dynamics from atypical ones. However, a simple count when virtual boundaries are crossed is also feasible.

[0064] If used in access systems that open or close an entrance or exit using barriers or doors, these functions can be easily triggered automatically based on movement dynamics. If a person moves toward the barrier system at a certain speed and in a certain direction, this movement pattern can be used to trigger an opening or closing process. If a person moves toward it very slowly or in a less direct direction, triggering is not yet necessary, and unnecessary operation can be avoided.

[0065] In the case of a rotating or pivoting barrier, it is possible to activate it incompletely, at a slower rate, or not at all to prevent a collision with people in the pivoting area, whether stationary or entering. Automatic collision monitoring can be designed to implement anticipatory monitoring. Based on the object's speed and direction, as well as the speed at which the barrier is moved, a possible collision is predicted, and the movement of the barrier is therefore aborted, delayed, or not started at all.

[0066] The described functions of the barrier system according to the invention are possible because each individual LIDAR sensor performs a rotational movement of several revolutions per second, scanning its radii and, upon reflection, providing the distance and angle. Both the conversion into Cartesian object positions and the cluster analysis are implemented in a barrier system design based on microcontrollers that filter out and condense all object properties. This occurs continuously at defined short intervals, so that the speed and direction of the objects are reliably determined automatically. Biometric analysis is therefore not possible. The movement profiles could in principle be saved. However, an assignment to individuals is not possible. Apart from recording the number of people, disturbances, or other cycles for service purposes, no data is collected.Despite the continuous calculations, no complex system is required, such as a computer system based on a PC architecture. Since all calculations and control processes are performed on microcontrollers, minimal energy consumption and a small installation space are required. The system, especially with regard to its own computing and control units, is very energy-efficient, and because it does not require a complex operating system, it is designed to be highly fail-safe and low-maintenance.

[0067] From lower geodesy, methods are known for determining locations in a plane through trilateration and / or triangulation. These locations are landmarks or similarly immutable points. This means that if geodetic measurements do not produce identical results, this is essentially due to measurement errors, since the locations have usually not changed. Therefore, geodesy uses methods of adjustment calculation, which ultimately originates from the "method of least squares." In this process, the determined positions are "shifted" until the error is minimized.

[0068] In the barrier system according to the invention, the measurements are also subject to errors; however, the measured – in this case, the scanned – positions are in most cases considered non-static. Geodetic methods could potentially be used, but would produce poorer results because "outliers" or other disturbances could hardly be filtered out. The automatic evaluation of the measurement data provided by the invention is based on the fact that the measurements form a cluster and the location represented by this cluster lies at the center of the cluster. As many measurements as possible are performed, and it is assumed that the vast majority of represented locations are located at the center of the respective cluster. The advantage here is that it does not matter which sensor contributed data points to the "cluster cloud" and how often. Accordingly, many measuring devices / LIDARs can provide data simultaneously.The only requirement is that the data be available in the same reference system, preferably a Cartesian one. This requirement can be met if the respective locations of the individual LIDARs and their relative positions to each other are also known.

[0069] A LIDAR provides a distance and an angle with each measurement. It therefore maps a polar coordinate system, which can be transformed into a Cartesian coordinate system. By shifting the center points with the offset, the centers of the multiple LIDARs can be transferred to a common center point for all LIDARs. In this system, all measurements from the multiple LIDARs are combined and subjected to cluster analysis. This is a fundamental difference from the geodetic methods of trilateration and triangulation and the regression calculation. In a geodetic regression calculation, each measurement point exists only once. In cluster analysis, it is even advantageous if each point is recorded multiple times, ideally by different LIDARs, i.e., from different directions. Cluster analysis, as used in many big data applications, directly maps the desired location.It can be assumed that errors caused by the large number of measurements of the identical object are largely averaged out due to statistics.

[0070] In one embodiment of the barrier system, it features an inexpensive (consumer) LIDAR with a measurement frequency of 4500 Hz, i.e., 4500 measurements over 360° per second. Since the LIDAR rotates at approximately 10 revolutions per second, the 360° rotation plane is recorded 10 times per second with approximately 450 measurements. Each reflection location within the rotation plane is thus recorded up to 10 times per second. Due to the short cycle time of 0.1 s and the expected maximum movement speed of people of approximately 2 m / s, a maximum deviation of 200 mm between consecutive positions can be expected. This value, which is smaller than the expected object extension, is acceptable, especially because consecutive measurements would exhibit almost identical deviations relative to one another, thus having little influence on the direction and speed measurements.

[0071] Consecutive location measurements and their temporal separation provide an object's speed. Since multiple measurements are taken per second, the object's speed can also be determined with good accuracy. Furthermore, the locations of an object derived consecutively from the cluster analysis also provide information about its direction of movement. It is to be expected that the number of clusters found corresponds to the number of objects within the scan area. If the objects cross a predetermined boundary (pass through it), incrementing or decrementing (in the opposite direction) allows, for example, a count. If the extent of a cluster is also included in the evaluation, objects and their behavior can be differentiated with sufficient precision (human or goods).

[0072] All determined parameters, such as extent, speed, direction, or position, together allow a behavioral analysis / assessment of the LIDAR-scanned object. The LIDAR scanner is comparatively inexpensive, and the described evaluation of the combined LIDAR data is possible using embedded electronics, i.e., without the use of a PC, thus supporting the most economical design of the barrier system. Commercially available and correspondingly inexpensive components, which may include PC technology, can be used to store and / or transmit data. The use of as little PC technology as possible in a barrier system according to the invention is advantageous because a larger, more complex operating system can be considered a universal tool, which offers many opportunities for misuse in the event of external attacks.An embedded electronic device, on the other hand, is highly specialized for its intended use, therefore offering little additional functionality and thus little scope for malicious activity.

[0073] The present invention will be explained in more detail below with reference to purely schematic drawings.

[0074] Fig. 1 and 2 point curves of the same object detected by two LIDAR sensors of a barrier system in two different polar coordinate systems,

[0075] Fig. 3 and 4 each show the point curves of the detected object, transformed into Cartesian coordinate systems, Fig. 5 shows the two point curves, transformed into a common Cartesian coordinate system, and Fig. 6 shows the representation of the position of an object calculated from the two point curves in the coordinate system of Fig. 5.

[0076] Fig. 1 and 2 show the same object, but detected by two different LIDAR sensors, which is located within the detection range of a barrier system. Because the LIDARs are mounted at different locations, they detect the identical object from different angles and from different distances. Fig. 1 shows the object as a curved point curve located in the lower right quadrant and at a distance of between 600 and 800 from a first LIDAR sensor. Fig. 2 shows the same object as a point curve in the upper right quadrant and at a distance of between 400 and 500 from a second LIDAR sensor. The unit for distance is mm in both cases, purely as an example. Both LIDAR sensors deliver their measurement results in a polar coordinate system in which the respective LIDAR sensor is located at the coordinate origin.

[0077] The representation of the measurements is not 100% accurate, but is purely illustrative and schematic. Unlike the depicted point curves, which are concave toward the coordinate origin, the point curves for people detected by the sensor would be curved in exactly the opposite direction, i.e., convex with respect to the coordinate origin. However, this is irrelevant for the description of the method by which the measured values ​​are evaluated.

[0078] Fig. 3 and 4 show the same object from the two polar coordinate systems of Fig. 1 and 2 after a transformation into Cartesian coordinate systems. Fig. 3 represents the measured values ​​of the first LIDAR sensor and illustrates the transformation of Fig. 1 into Cartesian coordinates, while Fig. 3 illustrates the measured values ​​of the second LIDAR sensor according to Fig. 2 as a transformation into Cartesian coordinates. The pole of the polar coordinate system is the origin of the Cartesian system. In the Cartesian coordinate systems of Fig. 3 and 4, the LIDAR sensors are also located at the coordinate origin, where the zero lines intersect. Apart from the respective point curves, which are in the lower right quadrant for the first LIDAR sensor and in the upper right quadrant for the second LIDAR sensor, Fig. 3 and 4 also show the LIDAR sensors themselves, each represented by a point at the coordinate origin.

[0079] The relative positions of the stationary LIDAR systems are known. Therefore, starting from the representations in Figs. 3 and 4, the individual, different Cartesian LIDAR coordinate systems can be converted into a common coordinate system using an offset transformation, which is shown in Fig. 5. The position of the first LIDAR sensor is shown as a point in the top left of this coordinate system, and the point curve assigned to this first LIDAR sensor runs in an arc from the bottom left upwards to the top right. The second LIDAR sensor is shown as a point in the bottom left of this coordinate system; the point curve assigned to it runs in an arc from the top left downwards to the bottom right and crosses the point curve of the first LIDAR sensor.

[0080] The transfer to a common coordinate system simplifies the merging of the various LIDAR data.

[0081] Because detected objects always have an extension that exceeds the beam thickness of the LIDAR laser beam, and because the LIDAR scans object surfaces very quickly and at different angles, a point pattern is quickly created that maps the detected surface and, in the example shown, is represented as an arc or curve. The point pattern reflected from the surface—the displayed point curve—corresponds to the surface structure of the object and, because it was captured from different angles, can vary significantly. Interpolating surface lines, such as the displayed point curve, therefore only inadequately determines the object's position.

[0082] However, the information content of the recorded points lies in their extent. Since these were recorded from different angles, cluster analysis can be used to automatically determine the "core" of the extents with sufficient accuracy. This "core" or center of gravity corresponds to the most probable or typical location of the object and can be considered, to a very good approximation, the object's location.

[0083] Fig. 6 shows the representation of Fig. 5, but additionally shows the calculated "core" or center of gravity as the result of the cluster analysis and the most probable location of the object. In the example shown, this location lies approximately at the intersection point of the two point curves. Cluster analysis is capable of detecting multiple clusters simultaneously. Therefore, when using multiple LIDAR sensors, the multiple point curves resulting from the detection of the same object can be processed and multiple objects can also be detected simultaneously. The number of LIDAR sensors involved is irrelevant. Each transmitted coordinate point is included in the cluster analysis. Furthermore, it is irrelevant whether individual LIDARs are acquired or individual LIDAR measurements are lost, since the large number of individual measured values ​​or measuring points, based on the rotational speed and measuring frequency of the LIDAR sensors, results in a high error tolerance of the barrier system.The impact on localization is very minimal, as the measurements follow one another very quickly. Even the simultaneous movement of an object has no significant impact, as the measurement frequency is high compared to the speed of movement and also scales with the number of LIDARs. The latter is even sufficient for the rapidly repeated localization of an object to be used for simultaneous speed and direction determination. From this data, movement and standstill patterns can be automatically calculated. This allows, for example, the control unit of a barrier system to react automatically in a targeted manner or trigger alarms.

Claims

Claims:

1. Barrier device for a passage in a passageway in which objects are located at least temporarily, • comprising a barrier, a locking means and a holding element, wherein the locking means is movable relative to the holding element between a release position opening the passage and a locking position closing the passage, • and comprising a detection device comprising a signal transmitter and a signal receiver, wherein the signal transmitter emits laser pulses generating a plane-like detection field which at least partially detects the passage space, and wherein the signal receiver detects the laser beams reflected by objects located in the passage space, • and with an evaluation unit that determines the travel time of the reflected laser beams, • wherein the detection field is essentially aligned parallel to the horizontal plane, characterized in that the barrier device has a computing unit which derives an object movement from the runtime, namely in the form of a direction of movement and a speed of movement of the detected objects in the passage space, and that the barrier device has an automated control unit which is effectively connected to the computing unit and to the barrier via signal transmission, and which, depending on the determined object movement, initiates a change of position between the release position and the blocking position. A barrier device according to claim 1, wherein the signal transmitter is arranged in, on, or adjacent to the barrier. A barrier device according to claim 1 or 2, wherein the signal transmitter is arranged at a distance from a ground surface that supports the objects, at the level of the barrier means.

4. Barrier device according to claim 3, wherein the signal transmitter is arranged at a height between 20 and 80 above the ground surface.

5. Barrier device according to one of the preceding claims, wherein the barrier device has multiple signal transmitters.

6. Barrier device according to claim 5, wherein the signal transmitters generate detection fields which are arranged parallel to each other and are shifted vertically relative to each other.

7. Barrier device according to one of the preceding claims, wherein the signal transmitter is mounted so as to be rotatably movable about a substantially vertically oriented axis of rotation and is configured to detect an annular detection field around the signal transmitter, at least partially. Barrier device according to one of the preceding claims, wherein the detection field in the passageway has a trigger area in which the barrier is arranged. is and within which an object that remains stationary at least temporarily triggers a release by the control unit.

9. Barrier device according to one of the preceding claims, wherein the evaluation unit is designed to determine a plurality of travel times for each position of an object and the computing unit is designed to derive a specific direction and speed of movement from several travel times when calculating the object movement.

10. Barrier device according to claims 5 and 9, wherein the respective multiples of runtimes determined by several detection devices result in a respective multiple of individual points of the same object, designated as a point curve, and the computing unit is designed in such a manner as • that this point curve exists in a polar coordinate system, • the point curve is then automatically transformed into a Cartesian coordinate system, • the point curves of the multiple detection devices are then automatically converted into a common Cartesian coordinate system, and • then the probable position of the object is automatically calculated from the multiple point curves that represent the same object in the common coordinate system.

11. Barrier device according to claim 10, wherein the computing unit is configured in such a way that the probable position of the object is automatically calculated by means of a cluster analysis.

2. Barrier device according to any one of the preceding claims, wherein the detection field is aligned at an angle of 0 to 10° to the horizontal plane.

3. Barrier device according to any one of the preceding claims, wherein the control unit initiates an object-dependent movement such that, based on the detected object movement, the barrier device moves only to the extent necessary to release the passage.

14. Barrier device according to one of the preceding claims, wherein the control unit sets the opening or closing speed of a locking device depending on the object movement speed.

15. Barrier device according to one of the preceding claims, wherein the movement of the locking means in the passage space creates a collision space, and wherein the computing unit derives an instantaneous and / or a position of an object in the collision space derived from the direction and speed of movement, and the control unit controls the movement of the locking means in a manner that prevents a collision.

16. Barrier device according to one of the preceding claims, wherein the barrier device has multiple locking means and / or segmented locking means which are separately controllable.

17. Barrier device according to one of the preceding claims, wherein a counting unit is arranged which is designed to count the objects that pass through the passage. Barrier device according to one of the preceding claims, wherein the passage is an entrance and the detection field detects areas of the passageway that lie in front of and behind the barrier in the direction of entry, and wherein the barrier device has an alarm device which is triggered when an object passes through the barrier in the opposite direction to the direction of entry, in the manner of an exit. Arrangement of a barrier device for regulating a passageway in a passageway of a shop, hotel, office building or the like, in which objects are located at least temporarily, characterized in that the barrier device is configured according to one of the preceding claims.