System and method for operating an automatic door system using a radar sensor

Abstract

The present invention relates to a method for operating an automatic door system, to such a system and to a control unit being configured to perform the method. The automatic door system (1) comprises an actuated door (10) and a radar sensor (100). The method includes the steps of acquiring (1200) sensor data of the radar sensor, the sensor data including position and / or movement data of at least one object being in the sensing field (110, 120) of the sensor (100); determining (1300) based on the acquired sensor data of the radar sensor (100), whether the door (10) needs to be operated and whether the door (10) can be safely operated; generating (1400) a door operation command, and outputting (1500) the door operation command for operating the door (10).

Description

[0001] SYSTEM AND METHOD FOR OPERATING AN AUTOMATIC DOOR

[0002] SYSTEM USING A RADAR SENSOR

[0003] Field of the invention

[0004] The invention relates to a method for operating an automatic door system, to a control unit for said automatic door system, to an automatic door system and to a computer program (product) relating to said method.

[0005] Background

[0006] Automatic door systems including an actuated door are widely known. Those door systems / doors are configured to open and close automatically using an actuator (e.g. an electro motor), a sensor and / or a remote control. These systems / doors are commonly used in public buildings, such as shopping centers, hospitals, airports, and hotels, as well as in private residences and commercial settings. Automated doors provide convenience and accessibility for people with disabilities, and they can also help to improve security and energy efficiency.

[0007] For providing a convenient and safe operation of the door typically a trigger zone and a protection zone are monitored individually. If an object, such as a pedestrian, is detected in the trigger zone the door is opened. The protection zone is monitored to prevent collisions with objects passing the door and / or being in close proximity to the door.

[0008] The main closing edge of a door refers to the edge of a respective door leaf that comes into contact first with e.g. a door frame or a main closing edge of a further door leaf when the door is closing. The secondary closing edge of a door is typically the edge opposite to the main closing edge. In an actuated door, the main closing edge and the secondary closing edge may be surveilled with sensors or safety devices that detect obstructions or pressure and prevent the door from moving when an obstruction is detected. These sensors may e.g. be mounted to the closing edge(s), the secondary closing edge(s) or may be installed above the respective door. Due to the surveillance, the risk of trapping, damaging or injuring people / objects by the automatically moving door can be minimized.

[0009] Known automatic door systems provide individual sensors for monitoring the trigger zone and for monitoring the protection zone, including the monitoring of the main and / or secondary closing edges. For monitoring the trigger zone, typically Doppler radar sensors are used, wherein the protection zone is commonly monitored using a different sensing technology, namely IR-sensors. Particularly, active infrared sensors are common for monitoring the protection zone and safeguarding the secondary and main closing edge(s) of a door, which are based on the reflection of an actively emitted infrared signal.

[0010] For standard-compliant safeguarding (e.g. according to EN 16005), the reflected infrared signal of the environment, must first be taught in. Based on this taught reference, the safeguarding is performed by detecting a change in the reflected infrared signal caused by an object in a sensing field of the IR- sensor(s). In case an object is detected at the main closing edge, e.g. a door closing process can be stopped to prevent any harm for the object caused by the moving door. Likewise, if an object is detected at the secondary closing edge, an opening process may be stopped.

[0011] However, as the reflected infrared signal can change due to temporally varying remission, e.g. due to the influence of moisture, sunlight, snow or foliage, the reference needs to be adapted, if e.g. a change in the infrared signal is constantly present over a period of at least 30 seconds to provide for a reliable door operation.

[0012] A drawback of the reference adaption is that certain scenarios of changing reference remain undetected and can lead to unintentional collisions. For example, if a person remains unconscious in the door’s closing area, he or she will be approached by the door after a learning time of 30 seconds.

[0013] Hence, common solutions for monitoring and safeguarding an automated door (particularly its closing edge(s)) using active IR-sensors need to be improved to provide for a more reliable object detection and collision avoidance.

[0014] Further, those IR-sensor have a limited detection field (according to EN 16005 only about 20 cm around the closing edge(s)). Hence, objects or imminent collisions cannot be detected in due time, to allow for a timely stopping of the moving door, particularly in case of fast moving objects.

[0015] Further, sensors (such as Doppler radar sensors) used for monitoring the trigger zone detect moving objects only, as the Doppler effect as sensing principle requires moving objects. Those radar sensors typically react exclusively to moving objects with a speed of at least 5 cm per second (0.05 m / s). Hence, slow objects and static objects (such as standing persons or parked objects) cannot be detected.

[0016] Hence, it is an object of the present invention to improve and facilitate the monitoring of automatically actuated doors. Particularly, the automated operation of those doors shall become more convenient, reliable and / or safe.

[0017] Summary

[0018] This object is achieved by a method for operating an automatic door system, by a control unit for said automatic door system, by an automatic door system and by a computer program (product), as specified in the independent claims. Further aspects of the invention are given in the dependent claims as well as in the following description.

[0019] Particularly, the object is achieved by a method for operating an automatic door system according to claim 1. The automatic door system comprises an actuated door, having a at least one movable door leaf Further, the system comprises a radar sensor, being assigned to a sensing field, and a control unit. The control unit may include software and / or hardware and is configured to control an operation of the door (e.g. opening, closing and / or stopping) based on sensor data acquired from the radar sensor. In a particular aspect, the control unit may be a distributed control unit.

[0020] The door may be a hinged door, a sliding door, a folding door, a pocket door, a revolving door and / or the like. The door may have a single door leaf, or multiple door leafs (at least two), such as a French door or a double sliding door. Further, the door may be actuated by an electric motor, a pneumatic actuator, a hydraulic actuator and / or the like, wherein the actuation may be directly or indirectly (i.e. using a gearing).

[0021] The control unit may be configured to control the operation of a single door or of multiple doors (at least two). For example, the control unit may be a centralized control unit, being configured to control the entrance (or internal) doors of a particular building, such as a shopping center, a hospital, and airport, and / or the like.

[0022] The method according to the present invention comprises the following steps:

[0023] - acquiring sensor data of the radar sensor, the sensor data including position and / or movement data of at least one object being in the sensing field of the sensor;

[0024] - determining based on the acquired sensor data of the radar sensor, whether the door needs to be operated and whether the door can be safely operated; generating a door operation command, and

[0025] - outputing the door operation command for operating the door.

[0026] Position data refers to information about the position and / or orientation of an object at a particular point in time. For example, it includes coordinates of the object, which could be described using a variety of systems. Movement data, on the other hand, refers to information about how an object changes position and / or orientation over time. It includes information such as speed, direction of movement, and / or acceleration, and can e.g. be used to track the movement of an object, such as a vehicle, people, or an animal.

[0027] Compared to known methods and / or systems for operating an automatic door / door system, only a single type of sensor, i.e. a radar sensor is used for triggering and safeguarding. Hence, based on the acquired sensor data of the radar sensor only, it can be determined whether the door needs to be operated (i.e. triggered) and whether the door can be safely operated (e.g. if there is an object in a potential collision zone of the door). This determination can be performed as the sensor data provides position and / or movement data of at least one object being in the sensing field of the sensor.

[0028] As the position of an object can be determined, unintended collisions can be prevented as it can e.g. be determined that the object is standing / lying or was parked in a collision zone of the door. The collision zone of a door is an area in which a person or any other object can be struck or injured by a moving part (e.g. a door leaf) of the door. Hence, the collision zone is a space surrounding the door's traveling path, where a person may inadvertently be in the way of the door (the door leaf(s)) as it is opening or closing. The collision zone of a door can be different depending on the type of door and its opening / closing direction.

[0029] Further, as movement data of the object is determined, the door can be operated so as to prevent a collision. A respective door operation command may cause the door to move faster, to stop immediately, and / or to open a very specific area, only. Thus, a convenient, reliable and safe automated door opening / closing can be achieved.

[0030] In a particular aspect, the sensor data of the radar sensor further includes actual position and / or movement data of the door, particularly of at least one door leaf of the door. Hence not only objects in proximity of the door (e.g. in the sensing field of the sensor) can be monitored but the moveable parts of the door as well. For avoiding collisions, trajectories of objects and the door / door leaf(s) can be calculated based on the acquired sensor data. Based on these trajectories imminent collisions can be detected and avoided by generating respective door operation commands. Further, the trajectories may be used to amend door opening / closing parameters, such as speed, position and acceleration and / or the like to provide for a more convenient and safe door operation.

[0031] Additionally or alternatively,, acquiring the actual position and / or movement data of the door (particularly of at least one door leaf) may be based on a door model. In this case, determining whether the door needs to be operated and whether the door can be safely operated may be based on the acquired sensor data and on the actual position and / or movement data of the door, according to the model.

[0032] To keep the door model up to date (i.e. to ensure that it represents reality as best as possible), a door homing operation can be performed initially or at given times to match the door model with the actual status of the door.

[0033] Further, additionally or alternatively, the actual position and / or movement data of the door (particularly of at least one door leaf) can be acquired by the control unit, controlling the door (e.g. based on past and / or actual door operation command(s)). In this case, determining whether the door needs to be operated and whether the door can be safely operated may be based on the acquired sensor data and on the actual position and / or movement data of the door, as acquired by the control unit. It is to be noted that the position and / or movement data of the door may be acquired by the radar sensor, by the door model, by the control unit and / or any other suitable means. The position and / or movement data may be acquired redundantly so as to get a most accurate position and / or movement data of the door.

[0034] According to a particular aspect, the radar sensor is a frequency-modulated continuous wave, FMCW, sensor, or an FMCW sensor array of multiple radar units, which FMCW sensor array may include a phased array.

[0035] A FMCW sensor allows precise measurements of position and movement data of object(s) being in its sensing field. Particularly, position and movement data of different objects can be acquired and distinguished from each other. Thus, tracking of multiple objects becomes possible.

[0036] In FMCW radar, a radar signal is transmitted, which signal has a continuous waveform, such as a saw tooth, which results in a signal with a varying frequency over time. The signal (Tx-signal) is transmitted from a radar antenna / or antennas and directed towards a target (or object). When the signal reaches the target, it reflects back towards the radar anteima(s) and can be received (Rx-signal). The received signal is then compared with the transmitted signal to determine a difference in frequency. The frequency difference between the transmitted and received signals is proportional to the distance between the radar and the target. By repeating the measurement, not only a distance (i.e. position data) but also movement data of an object can be acquired.

[0037] In FMCW, different modulation patterns can be used to achieve different goals. For example, a saw tooth waveform can be used to achieve a linearly increasing frequency, which makes it easier to measure the distance to the target by measuring the frequency difference between the transmitted and received signals. A triangle waveform can be used to achieve a ramp-up and ramp-down frequency modulation pattern, which can improve the accuracy of the distance measurement. Other modulation patterns, such as sinusoidal or rectangular waveforms, can be used to achieve different frequency modulation characteristics, such as faster or slower modulation rates, or to mitigate the effects of interference or noise in the radar system.

[0038] Thus, by using FMCW-radar, position and movement data of an object or multiple objects can be acquired. This sensor data can then be considered for - determining whether the door needs to be operated and whether the door can be safely operated and for generating respective door operation commands.

[0039] Further, the FMCW sensor may include an array of multiple radar units, which FMCW sensor array may include a phased array.

[0040] With a phased array, the direction of the emitted Tx signal (radar beam) can be controlled. For controlling the radar beam direction, a phase shifter may be assigned to each radar unit of the array. By adjusting the phase of the signal that is fed to each radar unit of the phased array, the emitted radar beam can be steered to a particular angle or direction. This allows the radar to scan a specific part of the sensing field and / or track a moving target by continuously adjusting the beam direction with high accuracy. Even further, by combining signals from multiple elements of the phased array, the radar sensor can also reduce interference and noise, improving the signal-to-noise ratio and overall performance of the door system.

[0041] According to the present method, the step of determining whether the door needs to be operated and whether the door can be safely operated (i.e. both triggering and safeguarding) can exclusively be based on sensor data of the radar sensor. Thus, no further sensor technology, such as IR- sensors, are needed. Thereby, the method and door system are facilitated, while still achieving the requirements of standard EN 16005.

[0042] Further, the method may comprise the following steps: identifying an object of interest, based on the sensor data of the radar sensor, and assigning to position and / or movement data acquired by the radar sensor to the object of interest.

[0043] An object of interest may be a pedestrian or a vehicle that is willing to pass the door. Position and / or movement data includes - but is not limited thereto - attributes of the identified object of interest, such as a position, a velocity, an acceleration and / or a direction of movement.

[0044] In particular, the identification of an object of interest may include identifying objects being in proximity to the door. Those may be, but are not limited to, a pedestrian, a disabled person, a vehicle, an animal and / or the like.

[0045] Further, the method may comprise the following steps

[0046] - classifying an object; tracking an object and / or rating a scene, the scene including at least one object; and

[0047] - based on the classification, tracking and / or rating, determining whether the door (10) needs to be operated and whether the door (10) can be safely operated.

[0048] The objects identified by the radar sensor may be classified. Based on the classification it may then be decided, whether the object is an object of interest or not. Further, the classification may be considered for generating the door operation command.

[0049] For example, based on the classification, a sensed object may be classified in predefined classes, such as “person”, “thing” and / or “vehicle”. These classes may have further sub-classes. E.g. the “person”-class may be subdivided in “persons with walking aids”, “wheelchair user”, “child”, “elderly”, “passenger with luggage”, and / or the like. Likewise, the “thing”-class can be subdivided in “animal”, “luggage”, “baby carriage”, “luggage cart”, “pet”, and / or the like. Also the “vehicle” class may be further subdivided in subclasses such as “cleaning trolley”, “conveyor vehicle”, “car”, and / or the like. Further objects identified by the radar sensor may be tracked. Thus, it can e.g. be determined, whether the object aims to pass the door, or whether it just walks / drives by.

[0050] For a scene rating a prediction of a likely behavior of one object or multiple objects may be made and rated. The door may then only be opened, if a predefined object is classified (e.g. an object of interest) or tracked and / or a predefined scene is rated and recognized.

[0051] A possible scene includes a recognition of a pedestrian and its willingness to pass the door. In case it is determined that the pedestrian is willing to pass the door, e.g. based on the pedestrian’s position, direction of movement and / or velocity, a respective door operation command can be generated and outputted so that the door is opened and closed again after the pedestrian has passed the door. In case it is determined that the pedestrian seeks to walk by, the door can remain closed. Cross-traffic detection is therefore possible.

[0052] In a further exemplary scene it can be determined that the object coming towards the door is no pedestrian but e.g. a free-ranging animal, the door can remain closed, even though the animal’s movement data indicate that the animal is willing to pass the door. Thus, generating the door opening command may be dependent on the type / class of object being recognized.

[0053] Further, different objects and assigned movement data can be considered for the scene rating and a subsequent generation of a door operation command. Hence, the door can e.g. be left open for a desired amount of time to allow all objects passing the door, without undesired or disturbing door movements while the objects passing the door.

[0054] In an even further example, the door may be closed again between two objects passing the door, as it was determined that the first object moves significantly faster than the second object. Thus, energy can be saved as the time the door being open is reduced. In case the door (e.g. movable parts of the door, such as door leaf(s)) are recognized as objects, the door, the door leaf(s) and / or the door’s main and / or secondary closing edges can be tracked. Hence, actual movement data of the door is available, such as position, velocity, acceleration and / or direction of movement and can also be considered for generating a door operation command.

[0055] Further, object tracking and / or scene rating increase safety of the door, as collisions can be effectively prevented as there is a better understanding of the door’s environment and the development over time of the door’s environment and / or of the door’s actual movement data.

[0056] The method may further include comparing sensor data with an environmental model for generating a door operation command. The environmental model may include predefined scenes and / or objects the sensor data can be compared with. The comparison of the sensor data with an environmental model may include a probability analysis on whether the sensor data matches a predefined scene and / or object. Depending on the outcome of the probability analysis the door operation command may be an opening command, a closing command and / or a stopping command.

[0057] Further, the model may be a self-learning model, which may be based on an artificial intelligence (Al) system that can learn and improve its performance without human intervention or explicit programming. Particularly, the selflearning model may be based on a deep learning and / or reinforcement learning technique, and may e.g. use large amounts of training data to iteratively improve the performance over time. The training data may be acquired from other doors being part of the automatic door system and / or from doors of other automatic door systems. Further, the training data may be based on historical data and / or may include newly acquired data.

[0058] In an aspect, the door operation command may include at least one of the following: an opening width of the door, an opening position of the door, an opening speed of the door, a closing speed of the door, an acceleration of the door, a keep-open time of the door, a not-opening command and / or a stopcommand.

[0059] In case a stop-command is generated, at least one of the following measures may be taken by the control unit:

[0060] - a warning is outputted at the door, in particular the warning being an acoustic warning and / or a visual warning,

[0061] - a notification is sent to a supervisor of the owner of the door system,

[0062] - a visual indication is displayed in a control interface for the automatic door system,

[0063] - a maintenance instruction is sent to a technician of the owner or the manufacturer of the door system, and / or

[0064] - a notification is sent to the manufacturer of the door system.

[0065] Dependent on the event having caused the stop-command, the door can immediately be operated again or may need inspection.

[0066] Dependent on the sensor data (e.g. an object tracking and / or a scene rating) the opening position of the door can be chosen and a respective door operation command including the opening position of the door can be generated. For example, a sliding door with multiple door leafs may be operated in way that the door leafs do not open symmetrically but in a way that the door opens at a desired position, only. For example, only one door leaf is moved, or the multiple door leafs are moved independently from one another.

[0067] Further the opening or closing speed can be chosen, dependent on the radar sensor data, including e.g. type of object, distance to the door and velocity of the object, so that a reliable opening, without collision can be achieved. As already outlined above, the time the door is kept open (keep-open time) can be determined, depending on the scene as well as the decision not to open the door (not-opening command). Further, in case radar sensor data predict a collision, a stop-command can be generated in order to prevent the predicted collision.

[0068] According to a further aspect, the sensing field of the radar sensor may include a high accuracy area. The high accuracy area may be in close proximity to the door (e.g. about 20 cm around the door leaf or its main and / or secondary closing edge). In this high accuracy area the resolution of the radar sensor may be chosen higher than in remaining parts of the sensing field.

[0069] Particularly spatial and / or time resolution may be higher in the high accuracy area. Here, spatial resolution refers to the ability of the radar sensor to distinguish between objects that are located close together in space. In other words, it is a measure of the smallest discernible distance or size that can be detected or resolved by the radar sensor.

[0070] Time resolution, on the other hand, refers to the ability of the radar sensor to distinguish between events or changes that occur close together in time. It is a measure of the smallest discernible time interval that can be detected or resolved by the radar sensor. With increasing the time resolution (e.g. by adapting a scanning rate of the sensor) velocity and acceleration can be determined with higher precision.

[0071] Further, the door may separate the sensing filed in an internal area and external area. The internal area and the external area may be monitored by the same radar unit(s) of the radar sensor, or the internal area and the external area may be monitored by different radar units of the radar sensor. Accordingly, objects may be tracked and scenes of both sides of the door may be rated for operating the door of the automatic door system.

[0072] The object is further achieved by a control unit for an automatic door system, wherein the control unit is configured to carry out the method described above. The control unit may include software and / or hardware and is configured to control an operation of the door. Further, the control unit may be located in a single spot (e.g. in a housing) or may be a distributed control unit, i.e. the control unit may be distributed over several spots (at least two). For example, sensor data acquired by the radar sensor may be processed by a first part of the control unit and may then be sent to a second part, which is located at a different spot. The second part of the control unit may then carry out the determining step and / or the generation of a door operation command. Further, the generation of the door operation command can also be performed at the first or a third part of the control unit. In a particular example, the control unit (or at least some part(s)) thereof are housed in a housing of the at least one radar sensor.

[0073] In a particular aspect, the control unit may be configured to control the operation of multiple doors. In this case, e.g. a model may be trained with data acquired by all doors of the automatic door system being controlled by the control unit.

[0074] The control unit may be arranged remotely from the at least one door to be operated. In a particular example, the control unit is part of a server connected to the door(s) to be operated. The connection may be wired and / or wireless.

[0075] The object is further achieved by an automatic door system, comprising at least one door, a radar sensor, particularly a FMCW radar sensor, and a control unit. The control unit being configured to control the operation of the at least one door. Further, the system is configured to carry out the method outlined above.

[0076] Further, the object is achieved by a computer program, comprising instructions, which when carried out by a processor cause the processor to perform operations of the above method. The processor may be part of the control unit.

[0077] The object is also achieved by a computer program product, embodied on a computer readable storage medium and configured so as when executed on a processor to perform operations of the above method. Brief description of the figures

[0078] The present disclosure will be more readily appreciated by reference to the following detailed description when being considered in connection with the accompanying drawings in which:

[0079] Fig. 1A shows a schematic view of an automatic door system (a sliding door being closed);

[0080] Fig. IB shows a schematic view of the automatic door system (the sliding door being opened);

[0081] Fig. 2 A shows a schematic view of an automatic door system, including a sliding door;

[0082] Fig. 2B shows a schematic view of an automatic door system, including a revolving door;

[0083] Fig. 2C shows a schematic view of an automatic door system, including a hinged door;

[0084] Fig. 3 shows a schematic illustration of a method for operating an automatic door system, and

[0085] Fig. 4 shows differently modulated radar signals.

[0086] Detailed description of the figures

[0087] Figs. 1A and IB show a schematic view of an automatic door system 1 including a sliding door 10, having two door leafs 12, 14. The sliding door 10 is provided in a door opening 22 in a wall 20, e.g. of a building. In Fig. 1A, the door 10 is closed and the main closing edges 12m, 14m of the door leafs 12, 14 are in contact. Opposite to the main closing edges 12m, 14m, respective secondary closing edges 12s, 14s are provided. In Fig. IB, the door is opened. The opening and closing of the door 10 may be performed via the inventive method. The door leafs 12, 14 are supported in a door leaf support 16, here including a guide rail. For actuating the door, the door leafs may be driven e.g. by an electric motor.

[0088] The automatic door system 1 further comprising a radar sensor 100, particularly a FMCW sensor. The radar sensor may include multiple radar units arranged in an array, which array may be a phased array. The radar sensor is assigned to a sensing field 120, wherein the sensor is adapted for position and / or movement data of at least one object being in the sensing field 120 of the sensor 100.

[0089] Further, the door 10 may separate the sensing filed 120 in an internal area 120a and external area 120b (cf. e.g. Figs. 2A to 2C). The internal area and the external area may be monitored by the same radar unit(s) of the radar sensor 100, or the internal area and the external area may be monitored by different radar units of the radar sensor.

[0090] Further, the sensing field 120 of the radar sensor 100 may include a high accuracy area 110, which may likewise be separated in an internal area 110a and an external area 110b, separated by the door 10. The high accuracy area 110, 110a, 110b is arranged here in close proximity to the door (e.g. about 20 cm around the door leafs 12, 14 and its main and / or secondary closing edges 12m, 14m, 12s, 14s). In this high accuracy area 110 the resolution of the radar sensor 100 may be chosen higher than in remaining parts of the sensing field 120.

[0091] This high accuracy area 110 allows for safeguarding the closing edges of the door 10 and surveilling the larger sensing field 120 for object identification, object tracking and scene rating. Hence, triggering and safeguarding the door 10 can be performed using the radar sensor 100 only.

[0092] Further, a control unit 200 is configured to control an operation of the door 10 (such as opening, closing, stopping the door) based on sensor data acquired from the radar sensor 100. The control unit 200 is configured to perform the method 1000, a schematic flow diagram thereof being depicted in Fig. 3. The method 1000 comprises the steps of

[0093] - acquiring 1200 sensor data of the radar sensor, the sensor data including position and / or movement data of at least one object being in the sensing field (i.e. the high accuracy area 110 and / or the remaining sensing field 120) of the sensor 100. The object may be a movable part of the door 10, i.e. a door leaf and / or an object in the environment of the door, such as a pedestrian;

[0094] - determining 1300 based on the acquired sensor data of the radar sensor 100, whether the door 10 needs to be operated (triggering) and whether the door 10 can be safely operated (safeguarding);

[0095] - generating 1400 a door operation command, and

[0096] - outputting 1500 the door operation command for operating the door 10.

[0097] The door operation command is then transferred in a respective movement of the door (opening, closing, stopping, accelerating, not-moving, ...). Accordingly, the door 10 can be operated automatically, using the radar sensor data.

[0098] Prior to generating the door operation command, an object of interest may be identified and / or classified. Further such an object may be tracked or a scene rating maybe performed. The scene rating, object tracking, object classification and / or object identification may be considered for generating the door operation command. This command may include an opening width of the door, an opening position of the door, an opening speed of the door, a keep-open time of the door, a not-opening command, and / or a stop-command.

[0099] Different scenes and types of doors that can be operated are depicted in Figs. 2A to 2C. Fig. 2 A shows a schematic view of an automatic door system 1, including a sliding door 10a. Fig. 2B shows a schematic view of an automatic door system 1, including a revolving door 10b having a revolving door leaf 17, and Fig. 2C shows a schematic view of an automatic door system 1, including a hinged door 10c having a hinged door leaf 19. The door leafs 12, 14, 17 and 19 (and / or main and / or secondary closing edges thereof) may be recognized as objects and position and / or movement data acquired by the radar sensor may be assigned with the respective door leaf and / or the door’s main and / or secondary closing edge(s).

[0100] The sliding door shown in Fig. 2 A may be the sliding door already shown in Figs. 1A and IB. According to Figs. 2A to 2C there is provided a high accuracy area 110 (divided by door 10 in an internal and an external area 110a, 110b). This high accuracy area 110 as well as the remaining areas of the sensing field 120a, 120b are monitored by the radar sensor. This allows triggering and safeguarding the door, using the radar sensor only.

[0101] For an automated operation of the door 10, objects, such as the door leafs 12, 14, 17 or 19 and / or persons 30, 32 may be recognized and position and movement data may be assigned to the respective objects.

[0102] For example, persons 30, 32 being in proximity to the door 10 (i.e. in the sensing field 120) may be identified, classified and / or tracked. For example, it may be recognized that object 30 is pedestrian pushing a baby carriage, wherein object 32 is a pedestrian. The sensor data of the radar sensor may include movement data of the respective objects such as a velocity, an acceleration, a position, a distance to the door and / or a direction of movement. By tracking the objects, it can be determined, whether the objects are likely to passing the door or to walking by. Further, a scene rating may be performed. For example, if it is determined that object 30 moves slow, wherein object 32 is moving fast, the door can be operated (by generating and outputting a respective command) only once in order to allow both persons to pass the door conveniently. In the example shown in Fig. 2A, the revolving speed of door 10b can be adapted so as to allow person 30, pushing a baby carriage safely pass the door. Further, the opening speed and point in time for opening a door, such as door 10c, can be adapted so the pedestrian can pass the door without adopting his own walking speed.

[0103] Fig. 3 shows a schematic illustration of a method 1000 for operating an automatic door system. As outlined above, the method comprises the steps of

[0104] - acquiring 1200 sensor data of the radar sensor, the sensor data including position and / or movement data of at least one object being in the sensing field 120;

[0105] - determining 1300 based on the acquired sensor data of the radar sensor 100, whether the door 10 needs to be operated (triggering) and whether the door 10 can be safely operated (safeguarding);

[0106] - generating 1400 a door operation command, and

[0107] - outputting 1500 the door operation command for operating the door 10.

[0108] In case it is determined in step 1300 that no action is required, step 1450 can be performed and no door operation command is generated or outputted.

[0109] Fig. 4 shows differently modulated radar signals (modulation patterns) over time. Radar signal A is a saw tooth modulation. This modulation pattern allows for a relatively large range (high sensing distance) combined with a negligible influence of Doppler frequency. This may be used for doors being typically passed by fast moving objects. Radar signal B is a triangular modulation. This modulation allows easy separation of the difference frequency of the Doppler frequency. Radar signal C is a square-wave modulation (simple frequency-shift keying, FSK). This modulation is used for a very precise distance measurement at close range by phase comparison of the two echo signal frequencies. Further stepped modulation (staircase modulation) may be used. Stepped modulation is used for interferometric measurements and expands the unambiguous measuring range. As shown (radar signal D), different patterns may be combined or adjusted to achieve desired measurement characteristics, such as a high sensing distance, a high resolution in velocity measurement and / or a high resolution in distance measurements.

[0110] The present invention may, of course, be carried out in other ways than those specifically set forth herein without departing from essential characteristics of the invention. The present embodiments are to be considered in all respects as illustrative and not restrictive, and all changes coming within the meaning and equivalency range of the appended claims are intended to be embraced therein.

[0111] List of reference signs

[0112] 1 automatic door system

[0113] 10 actuated door

[0114] 10a sliding door

[0115] 10b revolving door

[0116] 10c hinged door

[0117] 12 door leaf (sliding door)

[0118] 12m main closing edge

[0119] 12s secondary closing edge

[0120] 14 door leaf (sliding door)

[0121] 14m main closing edge

[0122] 14s secondary closing edge

[0123] 16 door leaf support

[0124] 17 door leaf (revolving door)

[0125] 19 door leaf (hinged door)

[0126] 20 wall

[0127] 22 wall opening

[0128] 30 object

[0129] 32 object 100 radar sensor

[0130] 110 high accuracy area

[0131] 110a high accuracy area (internal)

[0132] 110b high accuracy area (external) 120 sensing field

[0133] 120a sensing field (internal)

[0134] 120b sensing field (external) 00 control unit

[0135] 1000 method 1200 acquiring sensor data

[0136] 1300 determining step

[0137] 1400 generating a door operation command

[0138] 1450 generating no door operation command

[0139] 1500 outputting the door operation command

Claims

Claims1. A method (1000) for operating an automatic door system (1), the automatic door system (1) comprising an actuated door (10), having a at least one movable door leaf (12, 14, 17, 19); a radar sensor (100) being assigned to a sensing field (110, 120), and a control unit (200) configured to control an operation of the door (10) based on sensor data acquired from the radar sensor (100), wherein the method comprises the following steps: acquiring (1200) sensor data of the radar sensor, the sensor data including position and / or movement data of at least one object being in the sensing field (110, 120) of the sensor (100); determining (1300) based on the acquired sensor data of the radar sensor (100), whether the door (10) needs to be operated and whether the door (10) can be safely operated; generating (1400) a door operation command, and outputting (1500) the door operation command for operating the door.

2. The method (1000) according to claim 1, wherein the sensor data of the radar sensor (100) further includes actual position and / or movement data of the door (10), particularly of at least one door leaf (12, 14, 17, 19) of the door (10).

3. The method (1000) according to any preceding claim, further comprising the steps of acquiring based on a door model the actual position and / or movement data of the door (10), particularly of at least one door leaf (12, 14, 17, 19) of the door ( 10), and / or acquiring the actual position and / or movement data of the door (10) by the control unit, controlling the door particularly based on past and / or actual door operation commands,and determining (1300) based on the acquired sensor data and on the actual position and / or movement data of the door (10), whether the door (10) needs to be operated and whether the door (10) can be safely operated.

4. The method (1000) according to any preceding claim, wherein the radar sensor is a frequency-modulated continuous wave, FMCW, sensor, or an FMCW sensor array of multiple radar units, which FMCW sensor array may include a phased array.

5. The method (1000) according to any preceding claim, wherein the step of determining (1300) whether the door (10) needs to be operated and whether the door (10) can be safely operated is exclusively based on sensor data of the radar sensor (100).

6. The method (1000) according to any preceding claim, further comprising the steps of identifying an object of interest, based on the sensor data of the radar sensor (100), and assigning to position and / or movement data acquired by the radar sensor to the object of interest.

7. The method (1000) according to any preceding claim, further comprising classifying an object; tracking an object and / or rating a scene, the scene including at least one object; and based on the classification, tracking and / or rating, determining whether the door (10) needs to be operated and whether the door (10) can be safely operated.

8. The method according to any preceding claim, wherein the door operation command includes at least one of the following: an opening width of the door (10); an opening position of the door (10); an opening speed of the door (10); a closing speed of the door (10); an acceleration of the door (10); a keep-open time of the door (10); a not-opening command, and / or a stop-command.

9. The method (1000) according to any preceding claim, wherein the sensing field includes a high accuracy area (110), the high accuracy area (110) being in close proximity to the door ( 10), and wherein the resolution of the radar sensor is higher in the high accuracy area (110) than in remaining parts of the sensing field (120).

10. The method (1000) according to any preceding claim, wherein the door (10) separates the sensing field in an internal area (120a) and an external area (120b), wherein the internal area (120a) and the external area (120b) are monitored by the same radar unit(s) of the radar sensor, or wherein the internal area (120a) and the external area (120b) are monitored by different radar units of the radar sensor.

11. A control unit (200) for an automatic door system (1), wherein the control unit (200) is configured to carry out a method according to any of the preceding claims, wherein the control unit may be a distributed control unit.

12. The control unit (200) according to claim 11, wherein the control unit is configured to control the operation of multiple doors.

13. The control unit (200) according to any one of claims 11 or 12, wherein the control unit is arranged remotely from the at least one door (10) to be operated.

14. An automatic door system (1) comprising at least one door (10), a radar sensor (100), particularly a FMCW radar sensor, and a control unit (200) configured to control the operation of the at least one door (10) in particular according to any one of claims 11 to 13, wherein the system is configured to carry out a method according to any of the claims 1 to 10.

15. A computer program, comprising instructions, which when carried out by a processor cause the processor to perform operations of the method according to any of the claims 1 to 10.

16. A computer program product, embodied on a computer readable storage medium and configured so as when executed on a processor to perform operations of the method according to any of the claims 1 to 10.

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