Radar-based sensor devices and methods for removing specific artifacts from elevator car data

Abstract

This invention relates to a radar-based sensor device (100) for removing elevator car-specific artifacts from radar data obtained from inside an elevator car (202). The radar-based sensor device (100) includes a sensor unit (110) and a processing unit (120). At least the sensor unit (110) is arranged inside the elevator car (202) and configured to transmit radar signals. The processing unit (120) is configured to: obtain radar data representing reflected radar signals from the sensor unit (110), and remove elevator car-specific artifacts from the obtained radar data based on predefined elevator car-specific data. The invention also relates to a method, a computer program (125), and a tangible non-volatile computer-readable medium for removing elevator car-specific artifacts from radar data obtained from inside an elevator car (202).

Description

Technical Field

[0001] This invention generally relates to the technical field of elevators. In particular, this invention relates to radar-based detection inside elevator cars. Background Technology

[0002] An elevator car may include at least one radar-based sensor device disposed inside the elevator car, i.e., at least one radar-based sensor device within the car. However, radar data obtained using at least one radar-based sensor device may include artifacts caused by one or more artifact sources within the elevator car. Some example artifact sources within the elevator car are discussed below.

[0003] Reflective wall or floor materials, such as steel or mirrors, can cause multipath reflections back to radar-based sensor equipment. An elevator car can be considered a reflection chamber for radar-based sensor equipment, where signals are reflected from one wall to another. This effect differs from typical office or home environments, where signals travel through walls at the conventional frequency bands used in radar-based sensor equipment. Different wall and floor materials mean that, in addition to the direct path, signals can return to the sensor-based radar equipment after one or more reflections. This can lead to ghosting detection.

[0004] Alternatively or additionally, the opening or closing motion of elevator doors may lead to false detection of moving passengers; that is, the opening or closing motion of elevator doors may be incorrectly detected as moving passengers. Movement of highly reflective surfaces (such as metal elevator doors) may cause unstable reflections or fringe reflections.

[0005] Alternatively or additionally, the flexible material of the elevator car walls may sway during elevator car movement, resulting in ghosting detection. For example, swaying walls of the elevator car may be incorrectly detected as passengers.

[0006] Therefore, solutions need to be developed to at least partially improve the detection accuracy of radar-based sensor devices inside the car. Summary of the Invention

[0007] The following is a simplified overview to provide a basic understanding of some aspects of various embodiments of the invention. This overview is not a broad summary of the invention. It is neither intended to identify key or essential elements of the invention nor to describe the scope of the invention. The following overview presents only some concepts of the invention in a simplified form as a prelude to a more detailed description of exemplary embodiments of the invention.

[0008] The purpose of this invention is to provide a radar-based sensor device, method, computer program, and tangible non-volatile computer-readable medium for removing elevator car-specific artifacts from radar data. Another purpose of this invention is to provide a radar-based sensor device, method, computer program, and tangible non-volatile computer-readable medium for removing elevator car-specific artifacts from radar data, thereby improving the detection accuracy of radar-based sensor devices.

[0009] The object of the present invention is achieved by radar-based sensor devices, methods, computer programs, and tangible non-volatile computer-readable media as defined by their respective independent claims.

[0010] According to a first aspect, a radar-based sensor device is provided for removing elevator car-specific artifacts from radar data obtained from inside an elevator car, wherein the radar-based sensor device includes a sensor unit and a processing unit, wherein at least the sensor unit is arranged inside the elevator car and configured to transmit radar signals, and the processing unit is configured to: obtain radar data representing reflected radar signals from the sensor unit, and remove elevator car-specific artifacts from the obtained radar data based on predefined elevator car-specific data.

[0011] Predefined elevator car-specific data may include 3D position data of the elevator car's inner surface relative to the sensor unit, 3D position data of the elevator door relative to the sensor unit, and / or elevator door movement data.

[0012] Removal of elevator car-specific artifacts may include a processing unit configured to: define a sensing space based on predefined elevator car-specific data, including 3D position data of the elevator car's inner surface relative to the sensor unit and 3D position data of the elevator door relative to the sensor unit, and remove radar signals reflected outside the sensing space from radar data.

[0013] Alternatively or additionally, the removal of elevator car-specific artifacts may include a processing unit configured to: determine an entry space based on predefined elevator car-specific data, including 3D position data of the elevator door relative to the sensor unit, and remove reflected radar signals from radar data that indicate at least one object entering and / or leaving the elevator car outside the entry space.

[0014] Alternatively or additionally, the removal of elevator car-specific artifacts may include a processing unit configured to remove reflected radar signals indicating the movement of the elevator doors from radar data based on predefined elevator car-specific data, including movement data of the elevator doors.

[0015] Elevator car-specific artifacts can be caused by at least one elevator car-specific artifact source, which includes the elevator door and / or at least one inner surface of the elevator car.

[0016] Predefined elevator car-specific data can be defined during the learning phase prior to the actual operation of the radar-based sensor equipment, and / or repeatedly defined during the actual operation of the radar-based sensor equipment.

[0017] The processing unit can also be configured to: obtain elevator-related information from at least one other sensor device and / or elevator control system, and use the obtained elevator-related information to activate the transmission of radar signals, deactivate the transmission of radar signals, and / or as additional information for removing elevator-related artifacts.

[0018] Elevator-related information may include the movement status of the elevator car and / or the movement status of the elevator doors.

[0019] The sensor unit can be one of impulse radar, pulse radar, ultra-wideband (UWB) radar, stepped-frequency continuous wave (CW) radar, or frequency-modulated continuous wave (FMCW) radar.

[0020] According to a second aspect, a method is provided for removing elevator car-specific artifacts from radar data obtained from inside an elevator car using a radar-based sensor device, wherein the radar-based sensor device includes a sensor unit and a processing unit, wherein at least the sensor unit is arranged inside the elevator car and transmits radar signals, the method comprising: obtaining radar data representing reflected radar signals from the sensor unit by the processing unit; and removing elevator car-specific artifacts from the obtained radar data by the processing unit based on predefined elevator car-specific data.

[0021] Predefined elevator car-specific data may include 3D position data of the elevator car's inner surface relative to the sensor unit, 3D position data of the elevator door relative to the sensor unit, and / or movement data of the elevator car door.

[0022] Removal of elevator car-specific artifacts may include: defining a sensing space based on predefined elevator car-specific data, which includes 3D position data of the elevator car's inner surface relative to the sensor unit and 3D position data of the elevator door relative to the sensor unit, and removing radar signals reflected outside the sensing space from radar data.

[0023] Alternatively or additionally, removal of elevator car-specific artifacts may include: determining an entry space based on predefined elevator car-specific data, including 3D position data of the elevator door relative to the sensor unit, and removing reflected radar signals from radar data that indicate at least one object entering and / or leaving the elevator car outside the entry space.

[0024] Alternatively or additionally, removal of elevator car-specific artifacts may include removing reflected radar signals indicating the movement of the elevator doors from radar data based on predefined elevator car-specific data, including movement data of the elevator doors.

[0025] Elevator car-specific artifacts can be caused by at least one elevator car-specific artifact source, which includes the elevator door and / or at least one inner surface of the elevator car.

[0026] Predefined elevator car-specific data can be defined during the learning phase prior to the operation of the radar-based sensor device, and / or repeatedly defined during the operation of the radar-based sensor device.

[0027] The method may further include: obtaining elevator-related information from at least one other sensor device and / or elevator control system, and using the obtained elevator-related information to activate the transmission of radar signals, deactivate the transmission of radar signals, and / or as additional information for removing elevator-related artifacts.

[0028] Elevator-related information may include the movement status of the elevator car and / or the movement status of the elevator doors.

[0029] The sensor unit can be one of impulse radar, pulse radar, ultra-wideband (UWB) radar, stepped-frequency continuous wave (CW) radar, or frequency-modulated continuous wave (FMCW) radar.

[0030] According to a third aspect, a computer program is provided, wherein the computer program includes instructions that, when executed by a computer, cause the computer to perform the method as described above.

[0031] According to a fourth aspect, a tangible non-volatile computer-readable medium is provided, wherein the tangible non-volatile computer-readable medium includes the computer program as described above.

[0032] Various exemplary and non-limiting embodiments of the invention with respect to structure and operation methods, as well as their additional objects and advantages, will be best understood from the following description of specific exemplary and non-limiting embodiments when read in conjunction with the accompanying drawings.

[0033] The verbs “comprising” and “including” are used in this document as disclosure restrictions, neither excluding nor requiring the presence of any unlisted features. Unless otherwise expressly stated, the features listed in the dependent claims may be freely combined with each other. Furthermore, it should be understood that the use of “a” or “an” throughout this document, i.e., the singular form, does not exclude the plural. Attached Figure Description

[0034] Embodiments of the invention are shown in the accompanying drawings by way of example rather than limitation.

[0035] Figure 1A An example of a radar-based sensor device according to the present invention is illustrated schematically.

[0036] Figure 1B An example of a component of the processing unit according to the present invention is shown schematically.

[0037] Figure 2A-2C A non-limiting example of installing a radar-based sensor device or a sensor unit of a radar-based sensor device into an elevator car is shown.

[0038] Figure 3A An example of a sensing space inside an elevator car is illustrated schematically.

[0039] Figure 3B An example of entering the space is illustrated schematically.

[0040] Figure 4 An example of the method according to the invention is illustrated schematically.

[0041] Figure 5 Another example of the method according to the invention is illustrated schematically. Detailed Implementation

[0042] Figure 1A An example of a radar-based sensor device 100 according to the present invention is schematically illustrated. This sensor device 100 is used to remove elevator car-specific artifacts from radar data obtained from inside an elevator car 202. The radar-based sensor device 100 includes a sensor unit 110 and a processing unit 120. The sensor unit 110 may include a radar unit 130 and an antenna unit 140. The radar unit 130 may include one or more known radar-related components, such as a transmitter unit, a receiver unit, a duplexer unit, etc. The antenna unit 140 may include one or more antennas.

[0043] The radar-based sensor device 100 can be implemented as a standalone entity or as a distributed environment among multiple standalone entities, i.e., a distributed system. In other words, the sensor unit 110 and processing unit 120 of the radar-based sensor device 100 can be physically implemented within a single entity (e.g., a device), or the sensor unit 110 and processing unit 120 can be implemented as physically separate entities that are communicatively connected to each other. Communication between the sensor unit 110 and processing unit 120 can be based on one or more known wired or wireless communication technologies.

[0044] Figure 1B An example of components of a processing unit 120 according to the present invention is illustrated schematically. The processing unit 120 may include a processor section 122 comprising one or more processors, a memory section 124 comprising one or more memories, a communication section 126 comprising one or more communication devices, and a possible user interface (UI) unit 128. The components may be communicatively coupled to each other, for example, via an internal bus. The memory section 124 may store and hold portions of a computer program (code) 125 and any other data. The computer program 125 may include instructions that, when executed by the processor section 122 of the processing unit 120, cause the processor section 122 and therefore the processing unit 120 to perform desired tasks, such as operations of the processing unit 120 and / or at least some method steps described later in this application. Therefore, the processor section 122 may be arranged to access the memory section 124 and retrieve and store any information from the memory section 124. For clarity, the term "processor" herein refers to any unit suitable for processing information and controlling the operation of the processing unit 120, as well as other tasks. Operation may also be implemented using a microcontroller solution with embedded software. Similarly, memory section 124 is not limited to a specific type of memory, but any type of memory suitable for storing the described information segments can be applied in the context of this invention. Communication section 126 provides an interface for communicating with any external unit, such as sensor unit 110, one or more databases, and / or any other external unit. Communication section 126 can be based on one or more known wired or wireless communication technologies for exchanging information segments. Communication section 126 may include one or more communication devices, such as at least one radio transceiver, at least one antenna, etc. User interface section 128 may include one or more input / output (I / O) devices, such as buttons, keyboards, touchscreens, microphones, speakers, displays, etc., for receiving user input and output information. Computer program 125 may be a computer program product, which may be included in a tangible, non-volatile (non-transitory) computer-readable medium carrying computer program code 125 contained therein for use with a computer, i.e., processing unit 120.

[0045] If the radar-based sensor device 100 is implemented as a standalone entity, the processor portion 122 of the processing unit 120 can also be configured to control the operation of the sensor unit 110. Alternatively or additionally, particularly if the radar-based sensor device 100 is implemented as a distributed system, the sensor unit 110 may include a processor unit comprising one or more processors, a memory unit comprising one or more memories, and a communication unit comprising one or more communication devices. The storage unit of the sensor unit 110 may store and maintain portions of a computer program (code) and any other data. The computer program may include instructions that, when executed by the processor unit of the sensor unit 110, cause the processor unit and thus the sensor unit 110 to perform desired tasks, such as the operation of the sensor unit 110.

[0046] At least the sensor unit 110 of the radar-based sensor device 100 is arranged (i.e., installed) inside the elevator car 202 to provide radar data from inside the elevator car 202. If the radar-based sensor device 100 is implemented as a standalone entity, the entire radar-based sensor device 100 is arranged inside the elevator car 202. Alternatively, if the radar-based sensor device 100 is implemented as a distributed system, at least the sensor unit 110 of the radar-based sensor device 100 is arranged inside the elevator car 202. In this case, the processing unit 120 may also be arranged inside the elevator car 202, but the processing unit 120 may also be located elsewhere, i.e., outside the elevator car 202. If the radar-based sensor device 100 is implemented as a distributed system, the processing unit 120 may be, for example, an elevator control unit, a cloud server, a remote server, or any other external processing unit.

[0047] The sensor unit 110 of the radar-based sensor device 100 according to the present invention can be, for example, one of impulse radar, pulse radar, ultra-wideband (UWB) radar, stepped-frequency continuous wave (CW) radar, or frequency-modulated continuous wave (FMCW) radar. The radar-based sensor device 100 according to the present invention can be used for various sensor applications within an elevator car 202. In other words, the radar data provided by the radar-based sensor device 100 according to the present invention can be used for various sensor applications. For example, but not limited to, the radar-based sensor device 100 according to the present invention can be used to detect the state of elevator doors 204, such as open, closed, opening, or closing; detect items between elevator doors 204; count the number of passengers entering, leaving, and / or residing in the elevator car 202; detect lingering conditions; and / or detect the fill level of the elevator car 202. Using the radar-based sensor device 100 according to the present invention for one or more sensor applications within an elevator car 202 can improve privacy, for example, compared to detection based on cameras or image recognition.

[0048] Figure 2A-2C A non-limiting example of installing a radar-based sensor device 100 or a sensor unit of a radar-based sensor device 100 into an elevator car 202 is illustrated schematically. In other words, Figure 2A-2C A non-limiting example of an elevator car 202 is shown, in which sensor unit 110 or the entire radar-based sensor device 100 may be arranged. Figure 2A A perspective view of elevator car 202 is shown. Figure 2B and 2C A top view of elevator car 202 is shown. Figure 2A-2C In the example, elevator door 204 is a center-opening elevator door comprising two door panels (i.e., panels). However, the invention is not limited thereto, and elevator door 204 may also be a left-opening or right-opening elevator door comprising one door panel. Figure 2A The example illustrates an instance of arranging the sensor unit 110 or the entire radar-based sensor device 100 inside an elevator car 202. Figure 2A In the example, the sensor unit 110 or the entire radar-based sensor device 100 is arranged (i.e. installed) on the rear wall 206 of the elevator car 202.

[0049] If the radar-based sensor device 100 is implemented as a distributed system, the sensor units 110 of the radar-based sensor device 100 can be arranged at different locations inside the elevator car 202. For example, the sensor units 110 can be arranged on the ceiling or wall of the elevator car 202, such as the rear wall, i.e., the wall opposite the elevator door 204 of the elevator car 202, or on the rear corner of the elevator car 202. The sensor units 110 can preferably be arranged at least close to the ceiling of the elevator car 202. Alternatively or additionally, the sensor units 110 can preferably be arranged inside the elevator car 202 such that the sensor units 110 face the elevator door 204 of the elevator car 202. In other words, the sensor units 110 can preferably be arranged inside the elevator car 202 such that the sensor units 110 can transmit radar signals toward the elevator door 204. Figure 2B An example of sensor units 110 for arranging radar-based sensor devices 100 within an elevator car 202 is illustrated schematically when the radar-based sensor device 100 is implemented as a distributed system. Figure 2B In the example, the sensor unit 110 of the radar-based sensor device 100 is arranged on the rear wall 206 of the elevator car 202. Figure 2B In the example, sensor unit 110 is communicatively connected to processing unit 120 located outside elevator car 202, i.e., processing unit 120 located outside sensor unit 110. Similarly, if radar-based sensor device 100 is implemented as a standalone entity, the entire radar-based sensor device 100 can be arranged at different locations inside elevator car 202. For example, the entire radar-based sensor device 100 can be arranged on the ceiling or wall of elevator car 202, such as the rear wall, or on the rear corner of elevator car 202. The entire radar-based sensor device 100 can preferably be arranged at least close to the ceiling of elevator car 202. Alternatively or additionally, the entire radar-based sensor device 100 can preferably be arranged inside elevator car 202 such that sensor unit 110 faces elevator door 204 of elevator car 202. In other words, the entire radar-based sensor device 100 can preferably be arranged inside the elevator car 202, so that the sensor unit 110 can transmit radar signals to the elevator door 204. Figure 2C An example is schematically shown of a radar-based sensor device 100, including sensor unit 110 and processing unit 120, arranged within an elevator car 202 when the radar-based sensor device 100 is implemented as a standalone entity. Figure 2CIn the example, the radar-based sensor device 100 is positioned at the rear corner of the elevator car 202. The location of the sensor unit 110 and / or the entire radar-based sensor device 100 within the elevator car 202 can depend on the intended use of the radar-based sensor device 100. At least the sensor unit 110 or the entire radar-based sensor device 100 can be concealed behind the inner surface of the ceiling or wall material, so that the sensor unit 110 and / or the entire radar-based sensor device 100 does not affect the interior design of the elevator car. Furthermore, the radar-based sensor device 100 does not require cleaning, which reduces maintenance costs.

[0050] A sensor unit 110 disposed inside the elevator car 202 is configured to transmit radar signals. The sensor unit 110 is also configured to receive reflected radar signals. The reflected radar signals may include radar signals reflected from one or more objects inside the elevator car 202, such as the inner surface of the elevator car 202, the elevator door 204, or one or more passengers. Furthermore, if the elevator door 204 is open, the reflected radar signals may further include radar signals reflected from outside the elevator car 204, such as radar signals reflected from external surfaces of the elevator car 202, passengers, and / or any other objects.

[0051] Processing unit 120 is configured to acquire radar data representing reflected radar signals from sensor unit 110. In other words, sensor unit 110 is configured to provide processing unit 120 with radar data representing received reflected radar signals. Sensor unit 110 may provide radar data to processing unit 120 continuously, for example, in response to receiving a reflected signal. Alternatively, sensor unit 110 may provide radar data to processing unit 120 periodically, for example at regular or irregular intervals. In other words, sensor unit 110 may buffer, i.e., store received radar data, and immediately provide the stored received radar data, which includes reflected radar signals received over a period of time, for example, since the radar data was previously provided to processing unit 120. Sensor unit 110 may include a storage unit for storing radar data to be periodically provided to processing unit 120. Radar data may include the position of the reflection point in three-dimensional (3D) space at each moment. In other words, radar data can include a 3D matrix at each moment, which includes the values ​​of the reflected radar signal from each range, each elevation angle, and each azimuth angle, such as the amplitude and phase of the reflected radar signal.

[0052] The acquired radar data may include artifacts caused by at least one elevator car-specific artifact source. In other words, the radar data may include elevator-specific artifacts. At least one elevator car-specific artifact source may include at least one inner surface of elevator door 204 and / or elevator car 202. Next, some example artifact sources and different elevator-related artifacts within elevator car 202 are discussed. Reflective wall, ceiling, or floor materials, such as steel or mirrors, may cause multipath reflections back to sensor unit 110. Therefore, in addition to the direct path, the radar signal may return to sensor unit 110 after one or more reflections. This can be referred to as a multipath effect. The multipath effect may cause elevator-related artifacts in the radar data, which in turn may lead to, for example, ghosting detection. Alternatively or additionally, for example, the opening or closing movement of elevator door 204 may lead to false detection of a moving passenger. In other words, the opening or closing movement of elevator door 204 may cause elevator-related artifacts in the radar data, which in turn may lead to, for example, false detection as a moving passenger. Movement of highly reflective surfaces (e.g., metal elevator door 204) may cause, for example, unstable reflections or sideband reflections. Alternatively or additionally, the flexible material of the elevator car 204 walls may sway during the movement of the elevator car 202, causing multipath effects and resulting in elevator-related artifacts in radar data, which in turn may lead to, for example, ghosting detection. For instance, the swaying walls of the elevator car 202 may cause false detections of passengers.

[0053] The processing unit 120 is also configured to at least partially remove elevator car-specific artifacts from the acquired radar data based on predefined elevator car-specific data. Removing elevator car-specific artifacts from the acquired radar data improves the detection accuracy of the radar-based sensor device 100. The predefined elevator car-specific data may include 3D position data of the inner surface of the elevator car 202 relative to the sensor unit 110, 3D position data of the elevator door 204 relative to the sensor unit 110, and / or movement data of the elevator door 204. The inner surface of the elevator car 202 may include the inner surface of the walls of the elevator car 202, the inner surface of the ceiling of the elevator car 202, and / or the inner surface of the floor of the elevator car 202. The 3D position data of elevator car-related objects (e.g., the inner surface of the elevator car 202 or the elevator door 204) relative to the sensor unit 110 may include multiple points of the object and a set of distances and azimuths between the sensor unit 110.

[0054] Predefined elevator car-specific data can be defined during a learning phase prior to the actual operation of the radar-based sensor device 100. This learning phase can be performed, for example, after the radar-based sensor device 100 is installed. Alternatively, the predefined elevator car-specific data can be repeatedly defined during the actual operation of the radar-based sensor device 100. The term "actual operation of the radar-based sensor device 100" throughout this application refers to one or more operations of the radar-based sensor device 100, wherein the radar-based sensor device 100 according to the invention provides and / or uses the provided radar data in different sensor applications. It is necessary to perform the learning phase and / or the repeated definition of the predefined elevator car-specific data separately for each elevator car 202 because the size of the elevator car 202, the dimensions of the elevator car 202, and / or the installation location of the radar-based sensor device 100 may vary depending on the elevator car 202 to which the radar-based sensor device 100 is arranged.

[0055] Removing elevator car-specific artifacts may include a processing unit 120 configured to define a sensing space 302 based on predefined elevator car-specific data, including 3D position data of the inner surface of the elevator car 202 relative to the sensor unit 110 and 3D position data of the elevator door 204 relative to the sensor unit 110, as well as removing radar signals reflected outside the sensing space 302 from radar data. The sensing space 302 can be defined by defining the 3D position of the inner surface of the elevator car 202 and the 3D position of the elevator door 204 as observed from the sensor unit 110. In other words, the sensing space 302 can cover the space bounded by the inner surfaces of the elevator car 202 and the elevator door 204. As mentioned above, multipath effects can cause ghosting detection. However, most ghosting detection occurs outside the elevator car 202 because ghosting always occurs at a distance farther from the sensor unit 110 than the actual objects (e.g., one or more passengers and / or loads) located inside the elevator car 202. Therefore, radar signals reflected from outside the sensing space 302 (e.g., a vibrating wall) can be considered elevator car-specific artifacts and removed from the radar data. Figure 3A An example of a sensing space 302 inside an elevator car 202 is shown schematically. Figure 3A A top view of the sensing space 302 is shown.

[0056] Alternatively or additionally, the removal of elevator car-specific artifacts may include processing unit 120 being configured to determine entry space 304 based on predefined elevator car-specific data, wherein the predefined elevator car-specific data includes 3D position data of elevator door 204 relative to sensor unit 110, and to remove reflected radar signals from radar data indicating that at least one object (e.g., passenger and / or load) enters and / or exits elevator car 202 outside entry space 304. Entry space 304 may be substantially located near, i.e., adjacent to, elevator door 204. In other words, entry space 304 may at least cover the doorway of elevator door 204. Preferably, in the depth direction D... d The access space 304 may extend at least partially inside the elevator car 202 and at least partially outside the elevator car 202, for example, extending to the elevator lobby outside the elevator car 202. Preferably, in the horizontal direction D w Above, the entry space 304 can extend at least across the width of the elevator door 204. In other words, the width of the entry space 304 can at least correspond to the width of the elevator door 204. In the vertical direction ( Figure 3B (Not shown in the image), the entry space 304 can extend, for example, from the floor of the elevator car 202 to the ceiling of the elevator car 202. The entry space 304 is the only place where objects can enter and / or leave the elevator car 202, as objects can only enter and / or leave the elevator car 202 through doorways. Objects cannot enter and / or leave the elevator car 202 through the walls, floor, and / or ceiling of the elevator car 202. Furthermore, objects cannot disappear during elevator rides, i.e., during the movement of the elevator car 202. Figure 3B An example of entering space 304 is illustrated schematically. Figure 3B A top view of the entrance to space 304 is shown.

[0057] Alternatively or additionally, the removal of elevator car-specific artifacts may include processing unit 120 being configured to remove reflected radar signals indicating movement of elevator door 204 from radar data based on predefined elevator car-specific data, wherein the predefined elevator car-specific data includes movement data of elevator door 204. In other words, processing unit 120 may be configured to remove reflected radar signals caused by movement of elevator door 204 from radar data. Reflected radar signals caused by movement of elevator door 204 can be detected and separated from reflections caused by one or more objects (e.g., one or more passengers or loads) located within and / or moving within the elevator car 202, thereby removing them from the radar data.

[0058] According to the example, processing unit 120 can also be configured to acquire elevator-related information. Processing unit 120 can also be configured to use the acquired elevator-related information to activate and / or deactivate radar signal transmission. Alternatively or additionally, processing unit 120 can also be configured to use the acquired elevator-related information as additional information for removing elevator-related artifacts. The acquired elevator-related information may include, for example, the motion state of elevator car 202 and / or the motion state of elevator door 202. Using the acquired elevator-related information can improve the detection accuracy of radar-based sensor device 100. For example, when elevator-related information indicates that elevator car 202 is moving, door movement detection of radar-based sensor device 100 can be deactivated. Alternatively or additionally, when elevator-related information indicates that elevator car 202 is decelerating, and when elevator door 204 begins to open shortly after elevator car 202 decelerates, radar signal transmission can be activated to activate door movement detection. Alternatively or additionally, the movement data of elevator car 202 can be used to remove additional information indicating reflected radar signals from at least one object entering and / or leaving elevator car 202 during its movement, since the number of objects (e.g., passengers) within elevator car 202 does not change during its movement. According to another example, the movement data of elevator door 204 can be used to remove elevator-related artifacts caused by the movement of elevator door 204. Elevator-related information can be obtained from at least one other sensor device and / or the elevator control system. One or more other sensor devices can be arranged to elevator car 202. For example, sensor devices, such as accelerometers, can be arranged to elevator car 202 to obtain the motion state of elevator car 202. Alternatively or additionally, sensor devices, such as accelerometers, can be arranged to elevator door 204 to obtain the motion state of elevator door 204.

[0059] The present invention has been described above with reference to a radar-based sensor device 100. However, the present invention also relates to a method for removing elevator car-specific artifacts from radar data obtained from inside an elevator car 202 using the radar-based sensor device 100 as described above. Next, referring to... Figure 4 Examples of methods according to the present invention are described. Figure 4 The invention is illustrated schematically with a flowchart.

[0060] As described above, the sensor unit 110 arranged inside the elevator car 202 transmits radar signals and further receives reflected radar signals. The sensor unit 110 of the radar-based sensor device 100 may be, for example, one of impulse radar, pulse radar, ultra-wideband (UWB) radar, stepped-frequency continuous wave (CW) radar, or frequency-modulated continuous wave (FMCW) radar.

[0061] In step 410, processing unit 120 obtains radar data representing the reflected radar signal from sensor unit 110. In other words, sensor unit 110 provides radar data representing the received reflected radar signal to processing unit 120. As described above, sensor unit 110 may provide radar data to processing unit 120 continuously or periodically. The obtained radar data may include artifacts caused by at least one elevator car-specific artifact source. In other words, the radar data may include elevator-specific artifacts. As described above, at least one elevator car-specific artifact source may include elevator door 204 and / or at least one inner surface of elevator car 200.

[0062] In step 420, processing unit 120 removes elevator car-specific artifacts from the acquired radar data based on predefined elevator car-specific data. As described above, the predefined elevator car-specific data may include 3D position data of the inner surface of elevator car 202 relative to sensor unit 110, 3D position data of elevator door 204 relative to sensor unit 110, and / or movement data of elevator door 204. The inner surface of elevator car 202 may include the inner surface of the walls of elevator car 202, the inner surface of the ceiling of elevator car 202, and / or the inner surface of the floor of elevator car 202. The predefined elevator car-specific data may be defined during a learning phase prior to actual operation of radar-based sensor device 100. As described above, the learning phase may be performed, for example, after installation of radar-based sensor device 100, or the predefined elevator car-specific data may be repeatedly defined during actual operation of radar-based sensor device 100.

[0063] Figure 5 It is illustrated in a more detailed manner. Figure 4 The flowchart. Specifically, step 420 from... Figure 4 The process becomes clearer. Removing elevator car-specific artifacts in step 420 may include processing unit 120 defining a sensing space 302 based on predefined elevator car-specific data 510, wherein the predefined elevator car-specific data includes 3D position data of the inner surface of elevator car 202 relative to sensor unit 110 and 3D position data of elevator door 204 relative to sensor unit 110, and removing radar signals reflected outside the sensing space 302 from the radar data 520. The sensing space 302 can be defined by defining the 3D position of the inner surface of elevator car 202 and the 3D position of elevator door 204 as observed from sensor unit 110. In other words, the sensing space 302 can cover the space limited by the inner surfaces of elevator car 202 and elevator door 204. As described above, radar signals reflected from outside the sensing space 302 (e.g., a vibrating wall) can be considered elevator car-specific artifacts and removed from the radar data.

[0064] Alternatively or additionally, step 420, removing elevator car-specific artifacts, may include processing unit 120 determining 530 an entry space 304 based on predefined elevator car-specific data, wherein the predefined elevator car-specific data includes 3D position data of elevator door 204 relative to sensor unit 110, and removing 540 radar signals from radar data indicating reflected radar signals from at least one object (e.g., a passenger and / or load) entering and / or leaving elevator car 202 outside of entry space 304. As described above, entry space 304 may be substantially located near, i.e., adjacent to, elevator door 204.

[0065] Alternatively or additionally, removing elevator car-specific artifacts in step 420 may include processing unit 120 removing reflected radar signals indicating movement of elevator door 204 from radar data based on predefined elevator car-specific data, wherein the predefined elevator car-specific data includes movement data of elevator door 204. In other words, processing unit 120 can remove reflected radar signals caused by movement of elevator door 204 from radar data. Reflected radar signals caused by movement of elevator door 204 can be detected and separated from reflections caused by one or more objects (e.g., one or more passengers or loads) located within and / or moving within the elevator car 202, thereby removing them from the radar data.

[0066] According to the example, the method may further include obtaining elevator-related information. As mentioned above, the method may further include using the obtained elevator-related information to activate and / or deactivate the transmission of radar signals. Alternatively or additionally, as mentioned above, the method may further include using the obtained elevator-related information as additional information for removing elevator-related artifacts. The obtained elevator-related information may include, for example, the motion state of the elevator car 202 and / or the motion state of the elevator door 202. Using the obtained elevator-related information can improve the detection accuracy of the radar-based sensor device 100.

[0067] The specific examples provided in the description above should not be construed as limiting the applicability and / or interpretation of the appended claims. Unless otherwise expressly stated, the list and groups of examples provided in the above description are not exhaustive.

Claims

1. A radar-based sensor device (100) for removing elevator car-specific artifacts from radar data obtained from inside an elevator car (202), the radar-based sensor device (100) comprising a sensor unit (110) and a processing unit (120), wherein, At least the sensor unit (110) is arranged inside the elevator car (202) and configured to transmit radar signals, and the processing unit (120) is configured to: Radar data representing the reflected radar signal is obtained from the sensor unit (110), and Based on predefined elevator car data, elevator car artifacts are removed from the acquired radar data. The predefined elevator car data includes one or more of the following: 3D position data of the inner surface of the elevator car (202) relative to the sensor unit (110), 3D position data of the elevator door (204) relative to the sensor unit (110), and movement data of the elevator door (204).

2. The radar-based sensor device (100) according to claim 1, wherein, The removal of elevator car artifacts includes the processing unit (120) being configured as follows: The sensing space (302) is defined based on predefined elevator car data, which includes 3D position data of the inner surface of the elevator car (202) relative to the sensor unit (110) and 3D position data of the elevator door (204) relative to the sensor unit (110), and Remove radar signals reflected outside the sensing space (302) from the radar data.

3. The radar-based sensor device (100) according to claim 1 or 2, wherein, The removal of elevator car artifacts includes the processing unit (120) being configured as follows: The entry space (304) is determined based on predefined elevator car data, including 3D position data of the elevator door (204) relative to the sensor unit (110), and Remove radar signals reflected from radar data that indicate at least one object entering and / or leaving the elevator car (202) outside the access space (304).

4. The radar-based sensor device (100) according to claim 1 or 2, wherein, The removal of elevator car artifacts includes the processing unit being configured as follows: Based on predefined elevator car data including movement data of elevator doors (204), reflected radar signals indicating the movement of elevator doors (204) are removed from radar data.

5. The radar-based sensor device (100) according to claim 1 or 2, wherein, The elevator car artifact is caused by at least one elevator car artifact source, which includes at least one inner surface of the elevator door (204) and / or the elevator car (202).

6. The radar-based sensor device (100) according to claim 1 or 2, wherein, The predefined elevator car data is defined during the learning phase prior to the actual operation of the radar-based sensor device (100) and / or repeatedly defined during the actual operation of the radar-based sensor device (100).

7. The radar-based sensor device (100) according to claim 1 or 2, wherein, The processing unit (120) is further configured to: Elevator-related information is obtained from at least one other sensor device and / or the elevator control system, and The obtained elevator-related information is used to activate or deactivate radar signal transmission, and / or as additional information to remove elevator-related artifacts.

8. The radar-based sensor device (100) according to claim 7, wherein, The elevator-related information includes the motion status of the elevator car (202) and / or the motion status of the elevator door (204).

9. The radar-based sensor device (100) according to claim 1 or 2, wherein, The sensor unit (110) is one of impulse radar, pulse radar, ultra-wideband (UWB) radar, stepped-frequency continuous wave (CW) radar or frequency-modulated continuous wave (FMCW) radar.

10. A method for removing elevator car artifacts from radar data obtained from inside an elevator car (202) using a radar-based sensor device (100), wherein, The radar-based sensor device (100) includes a sensor unit (110) and a processing unit (120), wherein at least the sensor unit (110) is arranged inside the elevator car (202) and transmits radar signals, and the method includes: The processing unit (120) obtains radar data (410) representing the reflected radar signal from the sensor unit (110), and The processing unit (120) removes elevator car artifacts from the acquired radar data based on predefined elevator car data. The predefined elevator car data includes one or more of the following: 3D position data of the inner surface of the elevator car (202) relative to the sensor unit (110), 3D position data of the elevator door (204) relative to the sensor unit (110), and movement data of the elevator door (204).

11. The method according to claim 10, wherein, Removing elevator car artifacts includes: Based on a predefined elevator car data definition (510), a sensing space (302) is defined, wherein the predefined elevator car data includes 3D position data of the inner surface of the elevator car (202) relative to the sensor unit (110) and 3D position data of the elevator door (204) relative to the sensor unit (110), and Remove (520) radar signals reflected outside the sensing space (302) from the radar data.

12. The method according to claim 10 or 11, wherein, Removing elevator car artifacts includes: Based on predefined elevator car data including 3D position data of the elevator door (204) relative to the sensor unit (110), the entry space (304) is determined (530), and Remove (540) the radar data reflecting radar signals indicating that at least one object enters and / or leaves the elevator car (202) outside the access space (304).

13. The method according to claim 10 or 11, wherein, The removal of elevator car artifacts includes removing (550) reflected radar signals indicating the movement of the elevator door (204) from the radar data based on predefined elevator car data including movement data of the elevator door (204).

14. The method according to claim 10 or 11, wherein, The elevator car artifact is caused by at least one elevator car artifact source, which includes at least one inner surface of the elevator door (204) and / or the elevator car (202).

15. The method according to claim 10 or 11, wherein, The predefined elevator car data is defined during a learning phase prior to the operation of the radar-based sensor device (100) and / or repeatedly defined during the operation of the radar-based sensor device (100).

16. The method according to claim 10 or 11, further comprising: Elevator-related information is obtained from at least one other sensor device and / or the elevator control system, and The obtained elevator-related information is used to activate or deactivate radar signal transmission, and / or as additional information to remove elevator-related artifacts.

17. The method according to claim 16, wherein, The elevator-related information includes the motion status of the elevator car (202) and / or the motion status of the elevator door (204).

18. The method according to claim 10 or 11, wherein, The sensor unit (110) is one of impulse radar, pulse radar, ultra-wideband (UWB) radar, stepped-frequency continuous wave (CW) radar or frequency-modulated continuous wave (FMCW) radar.

19. A tangible, non-volatile, computer-readable medium storing a computer program product including instructions that, when executed by a computer, cause the computer to perform the method according to any one of claims 10 to 18.

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