Automatic Door Radar Sensor Fusion for Target Tracking
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Solution Overview
Problem
Conventional automatic door systems rely on limited sensing capabilities, such as bidirectional movement detection and presence sensing, which are not sufficient for advanced door control, particularly in varying environmental conditions.
Innovation Solution
The automatic door system incorporates a plurality of millimeter wave (mmW) radar sensors with inertial measurement units (IMUs), which generate and combine data to detect, classify, and track multiple targets in a door area, enhancing door control through improved sensing and tracking capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional sensors (activation sensor and presence sensor) are used to detect bidirectional movement and presence, then the door can open and close based on basic safety requirements, but the sensing capability is limited and insufficient for advanced door control in varying environmental conditions
Solution Approach 1:
The patent combines multiple radar sensors (first radar sensor and second radar sensor) into a unified door control system, merging their sensing capabilities to achieve comprehensive coverage of the door area. This combination allows the system to detect targets from multiple angles and maintain reliable door control across varying environmental conditions, resolving the contradiction between enhanced adaptability and maintained reliability.
Solution Approach 2:
The radar sensors are designed to perform multiple functions: detecting bidirectional movement (approaching/leaving), detecting presence in the doorway, and tracking stationary objects. This multi-functionality allows a single sensing system to handle diverse door control scenarios, improving adaptability while maintaining reliability through consistent radar-based detection across all functions.
2Area of stationary object
If a single radar sensor is used to detect the door area, then the device complexity is reduced, but the sensing coverage and tracking accuracy in the combined door area are insufficient
Solution Approach 1:
The door area is segmented into multiple zones, with the first radar sensor covering a first door area and the second radar sensor covering a second door area. Each sensor is responsible for a specific segment of the overall door area, allowing comprehensive coverage while maintaining manageable device complexity through distributed sensing responsibilities.
Solution Approach 2:
The patent extends the sensing coverage by adding another dimension to the door area monitoring through the second radar sensor. This creates a combined door area that encompasses both the first and second door areas, effectively expanding the monitored space without proportionally increasing device complexity through modular sensor addition.
3Measurement precision
If multiple radar sensors are deployed to enhance sensing coverage, then the door control is improved, but the device complexity increases due to data registration and combination requirements
Solution Approach 1:
The door control unit serves as an intermediary that receives radar data from multiple sensors, registers the data to a common coordinate system, and combines the information. This intermediary processing layer manages the complexity of multi-sensor data integration while maintaining high target detection accuracy through systematic data fusion.
Solution Approach 2:
The system implements feedback mechanisms where the door control unit continuously receives radar data, processes it through registration and combination, and uses the resulting target information to control door operations. This closed-loop feedback ensures accurate target detection is translated into reliable door control decisions.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system provides enhanced door control by accurately detecting and tracking targets, including stationary objects and people, regardless of environmental conditions, thereby improving safety and reliability.
Implementation Method 1
Each radar sensor includes a millimeter wave (mmW) radar configured to generate mmW radar data corresponding to a door area
Implementation Method 2
Each radar sensor further includes an inertial measurement unit (IMU) that is configured to generate IMU data corresponding to an orientation of the mmW radar with respect to a reference coordinate system
Data Source
AI summary
An automatic door can include a plurality of millimeter wave (mmW) sensors that are each configured to sense a door area. Each mmW sensor includes a mmW radar configured to capture mmW radar data and an inertial measurement unit (IMU) configured to measure an orientation of the mmW radar. Based on IMU data from the mmW sensors, the mmW radar data from the sensors can be combined so that the door areas can form a combined door area. Multiple targets can be detected and tracked through the combined door area at high resolutions and in a variety of environmental conditions. Control of the automatic door can be enhanced in a variety of ways by classifying the targets and predicting their movements in the combined door area. Further, the classification and prediction of targets can facilitate safe and reliable operation by filtering operation based on certain targets and/or motions.