AUTOMATIC DOOR ASSEMBLY HAVING A SENSOR DEVICE, AND METHOD FOR OPERATING AN AUTOMATIC DOOR ASSEMBLY OF THIS KIND

Abstract

An automatic door system (1) comprises at least one door leaf (2a, 2b, 2c, 2d) which can be moved by a drive apparatus (6). A control device (7) is designed to control the drive apparatus (6) in such a way that the latter moves the at least one door leaf (2a, 2b, 2c, 2d). A sensor device (8) comprises a first area scan camera (9a) which comprises an image sensor, the first area scan camera (9a) being designed to generate first image data from a detection area (11) within which the automatic door system (1) can be monitored. The control device (7) is designed to determine whether the at least one door leaf (2a, 2b, 2c, 2d) can be moved safely by means of a detailed analysis based on at least a portion of the first image data from the first area scan camera (9a) and at least one additional piece of information (12). The sensor device (8) comprises an information-generating device (13) which is separate from the first area scan camera (9a) and contributes to the generation of the at least one piece of additional information (12).

Claims

1. An automatic door system (1) with a sensor device for use in buildings, with the following features: the automatic door system (1) comprises at least one door leaf (2a, 2b, 2c, 2d); a drive apparatus (6) is provided for moving the at least one door leaf (2a, 2b, 2c, 2d); a control device (7) is provided and designed to control the drive apparatus (6) in such a way that it moves the at least one door leaf (2a, 2b, 2c, 2d); characterized by the following features: the sensor device (8) comprises a first area scan camera (9a) which comprises an image sensor, the first area scan camera (9a) being designed to generate first image data from a detection area (11) within which the automatic door system (1) can be monitored; the control device (7) is designed to determine whether the at least one door leaf (2a, 2b, 2c , 2d) can be moved safely based on a detailed analysis of at least a portion of the first image data from the first area scan camera (9a) and at least one additional piece of information (12); the sensor device (8) comprises an information-generating device (13) which is separate from the first area scan camera (9a) and contributes to the generation of the at least one additional piece of information (12).

2. The automatic door system (1) as set forth in claim 1, characterized by the following feature: the control device (7) is designed, using the detailed analysis, to examine an area to be secured (16) which is a portion of the detection area (11) of the first area scan camera (9a) for the presence of an object (17) based on the at least one additional piece of information (12) with a greater level of accuracy than would be possible only with the first image data.

3. The automatic door system (1) as set forth in claim 2, characterized by the following feature: the control device (7) is designed to carry out a rough analysis in which only the first image data from the first area scan camera (9a) are analyzed in order to determine whether there is an object (17) in the detection area (11).

4. The automatic door system (1) as set forth in claim 3, characterized by the following features: the control device (7) is designed to carry out a rough analysis of the first image data from the first area scan camera (9a) at regular time intervals; the control device (7) is also designed to carry out the detailed analysis in the event that the rough analysis of the first image data from the first area scan camera (9a) indicates that an object (17) is located in the area to be secured (16) with a probability that is greater than a first threshold value and is preferably less than a second threshold value.

5. The automatic door system (1) as set forth in claim 3, characterized by the following features: the control device (7) is designed to carry out the rough analysis and the detailed analysis a) at the same time; or b) at different times.

6. The automatic door system (1) as set forth in claim 5, characterized by the following features: the control device (7) is designed to examine the area to be secured (16) or a portion of the area to be secured (16) for an object (17) only in the detailed analysis when the rough analysis and the detailed analysis are carried out at the same time; or the control device (7) is designed: a) to use the same first image data from the first area scan camera (9a) for the rough analysis and the detailed analysis; and/or b) to use the most current first image data from the first area scan camera (9a) for the rough analysis and the detailed analysis.

7. The automatic door system (1) as set forth in claim 2, characterized by the following feature: the control device (7) is designed to control the drive apparatus (6) as a function of the detection of an object (17) in the area to be secured (16) in such a way that the door leaf (2a, 2b, 2c, 2d) is moved in such a way that a minimum distance from the object (17) is maintained.

8. The automatic door system (1) as set forth in claim 2, characterized by the following features: in the case of sliding doors, the area to be secured (16) extends on both sides (18, 19) of the sliding door approximately following a travel path of the door leaf (2a, 2b); and/or in the case of swing doors, the area to be secured (16) extends in front of the respective swing door (2a, 2b) in the direction of movement; and/or in the case of revolving doors, the area to be secured (16) extends in the direction of movement in front of the respective door leaf (2a, 2b, 2c, 2d) and in front of the respective fixed secondary closing edge (5); and/or in the case of folding doors, the area to be secured (16) extends on at least one side (18, 19) of the folding door.

9. The automatic door system (1) as set forth in claim 1, characterized by the following features: the control device (7) is designed to carry out the detailed analysis a) before the door leaf (2a, 2b, 2c, 2d) is moved; and/or b) while the door leaf (2a, 2b, 2c, 2d) is moving.

10. The automatic door system (1) as set forth in claim 1, characterized by the following feature: the first area scan camera (9a) is designed to only capture 2D images.

11. The automatic door system (1) as set forth in claim 1, characterized by the following features: the at least one additional piece of information (12) is a) a structured light pattern (14) which is contained in the first image data of the first area scan camera (9a), the information-generating device (13) comprising a projector (15) which is designed to generate the structured light pattern (14) and radiate it into the detection area (11) of the first area scan camera (9a); and/or b) second image data, in which case the information-generating device (13) comprises a second area scan camera (9b) with an image sensor which is designed to generate this second image data, with only a portion of the detection area (11) of the first area scan camera (9a) and the detection area (11) of the second area scan camera (9b) overlapping; and/or c) an illumination light (23) which brightens the first image data of the first area scan camera (9a), in which case the information-generating device (13) is embodied in the form of an illumination source (24) for generating the illumination light (23) only for a period of time and radiating it into the detection area (11) of the first area scan camera (9a), with the period of time corresponding approximately to the period of time of the detailed analysis.

12. The automatic door system (1) as set forth in claim 11, characterized by the following features: the control device (7) is designed: a) to compare the structured light pattern (14) in the first image data of the first area scan camera (9a) with a reference pattern in order to control the drive apparatus (6) as a function of the result in such a way that it moves the at least one door leaf (2a, 2b, 2c, 2d) in a collision-free manner or does not move it, or stops it; and/or b) to calculate the first image data and the second image data in their area of overlap in order to increase the resolution or to generate spatial information in order, as a function of the result, to control the drive apparatus (6) in such a way that it moves the at least one door leaf (2a, 2b, 2c, 2d) in a collision-free manner or does not move it, or stops it; and/or c) to compare the first image data that are brightened by the illumination light (23) with reference image data in order to control the drive apparatus (6) as a function of the result in such a way that it moves the at least one door leaf (2a, 2b, 2c, 2d) in a collision-free manner or does not move it, or stops it.

13. The automatic door system (1) as set forth in claim 11, characterized by the following feature: the control device (7) is designed to carry out the detailed analysis with two or three different additional pieces of information (12).

14. The automatic door system (1) as set forth in claim 11, characterized by the following features: the structured light pattern (14) has a wavelength in the IR range, the structured light pattern (14) being formed by patterns with a different brightness distribution; and/or the illumination light (23) has a wavelength in the IR range.

15. The automatic door system (1) as set forth in claim 11, characterized by the following features: the structured light pattern (14) consists of or comprises: a) lines; and/or b) dashed lines; and/or c) grids; and/or d) dots; and/or e) waves.

16. The automatic door system (1) as set forth in claim 11, characterized by the following feature: distances between adjacent structures of the structured light pattern (14) are approximately the same or vary by less than 10%, 15%, 20%, 25%, or less than 30%.

17. The automatic door system (1) as set forth in claim 11, characterized by the following features: a distance between two structures of the structured light pattern (14) is: a) less than 10 cm, 8 cm, 6 cm, or less than 4 cm; and/or b) greater than 1 cm, 2 cm, 3 cm, 5 cm, 7 cm, or greater than 9 cm.

18. The automatic door system (1) as set forth in claim 11, characterized by the following features: a thickness of a structure of the structured light pattern (14) is: a) less than 8 mm, 6 mm, 4 mm, or less than 3 mm; and/or b) greater than 0.5 mm, 1 mm, 2 mm, or greater than 3 mm.

19. The automatic door system (1) as set forth in claim 11, characterized by the following features: the automatic door system (1) is an automatic sliding door; the first area scan camera (9a) is arranged on a first side (18) of the automatic sliding door, the detection area (11) of the first area scan camera (9a) lying predominantly or completely on the first side (18) of the automatic sliding door; the sensor device (8) comprises a third area scan camera (20) which comprises an image sensor, the third area scan camera (20) generating third image data from a detection area (11) which monitors areas of the automatic door system; the third area scan camera (20) is arranged on a second side (19) of the automatic sliding door, the detection area (11) of the third area scan camera (20) lying predominantly or completely on the second side (19) of the automatic sliding door; the projector (15) of the information-generating device (13) is arranged in a passage area (3) and is designed to generate the structured light pattern (14) and radiate it into the detection area (11) of the first and third area scan cameras (9a, 20); or the information-generating device (13) comprises an additional projector (21) which is designed to generate a structured light pattern (14) and to radiate it into the detection area (11) of the third area scan camera (20); the control device (7) is designed to compare the structured light pattern (14) in the first image data of the first area scan camera (9a) and in the third image data of the third area scan camera (20) with a respective reference pattern in order, as a function of the result, to control the drive apparatus (6) in such a way that it moves the at least one door leaf (2a, 2b) in a collision-free manner or does not move it, or stops it.

20. The automatic door system (1) as set forth in claim 11, characterized by the following features: the automatic door system (1) is an automatic sliding door; the control device (7) is designed to monitor a main closing edge (4) of the automatic sliding door with the first area scan camera (9a) and the projector (15) during the detailed analysis and to monitor a secondary closing edge (5) of the automatic sliding door with:) a) the first area scan camera (9a) and the projector (15); or b) an additional area scan camera (22) and the projector (15); or c) the first area scan camera (9a) and an additional projector (21); or d) an additional area scan camera (22) and an additional projector (21).

21. The automatic door system (1) as set forth in claim 11, characterized by the following features: the second area scan camera (9b) differs from the first area scan camera (9a) in terms of a) the type of image sensor; and/or b) the resolution; and/or c) the size of the detection area; and/or d) the type of optics; and/or e) orientation.

22. The automatic door system (1) as set forth in claim 11, characterized by the following features: the automatic door system (1) is an automatic sliding door; the first area scan camera (9a) is arranged on a first side (18) of the automatic sliding door, and the second area scan camera (9b) is arranged on a second side (19) of the automatic sliding door; the first and second area scan cameras (9a, 9b) are arranged at a passage area (3) of the automatic sliding door in such a way that: a) a portion of the detection area (11) of the second area scan camera (9b) extends to the first side (18) of the automatic sliding door when the sliding door is at least partially open and overlaps with the detection area (11) of the first area scan camera (9a), the control device (7) being designed to calculate the first and second image data in the area of overlap on the first side (18) of the automatic sliding door in the detailed analysis in order to increase the resolution or generate spatial information in order, as a function of the result, to control the drive apparatus (6) in such a way that it moves the at least one door leaf (2a, 2b) in a collision-free manner or does not move it, or stops it; and/or b) a portion of the detection area (11) of the first area scan camera (9a) extends to the second side (19) of the automatic sliding door when the sliding door is at least partially open and overlaps with the detection area (11) of the second area scan camera (9b), the control device (7) being designed to calculate the first and second image data in the area of overlap on the second side (19) of the automatic sliding door in the detailed analysis in order to increase the resolution or generate spatial information in order, as a function of the result, to control the drive apparatus (6) in such a way that it moves the at least one door leaf (2a, 2b) in a collision-free manner or does not move it, or stops it.

23. The automatic door system (1) as set forth in claim 11, characterized by the following features: the automatic door system (1) is an automatic sliding door; the control device (7) is designed to monitor a main closing edge (4) of the automatic sliding door with the first area scan camera (9a) and the second area scan camera (9b) in the detailed analysis and to monitor a secondary closing edge (5) of the automatic sliding door with: a) the first area scan camera (9a) and the second area scan camera (9b); or b) an additional area scan camera (22) and a second area scan camera (9b); or c) the first area scan camera (9a) and an additional area scan camera (22); or d) two additional area scan cameras (22).

24. The automatic door system (1) as set forth in claim 11, characterized by the following features: the illumination source (24) is a flash light, the flash light being triggered synchronously with the image capture performed by the first area scan camera (9a); and/or the illumination source (24) is a pulsed light source, in which case only those first image data are used in which the light from the pulsed light source has, as additional information, a light intensity that is greater than a threshold value.

25. The automatic door system (1) as set forth in claim 1, characterized by the following feature: the control device (7) receives the additional information (12) exclusively from one area scan camera (9a, 9b, 20).

26. A building with an automatic door system (1) which is constructed as set forth in claim 1, characterized by the following features: the building comprises walls, with a passageway being provided in the walls; the automatic door system (1) is installed in this passage.

27. A method for operating an automatic door system (1) which is constructed as set forth in claim 1, characterized by the following method steps: transmitting (S.sub.1) first image data from the first area scan camera (9a), which covers the a detection area (11), together with the at least one additional piece of information (12) to the control device (7); determining (S.sub.2) whether the door leaf (2a, 2b, 2c, 2d) can be moved safely; moving (S.sub.3) the door leaf (2a, 2b, 2c, 2d) if no danger is posed by an object (17).

Description

[0044] Various embodiments of the invention are described below for the sake of example with reference to the drawings. Same or similar objects have the same reference symbols. Detailed description of the figures:

[0045] FIGS. 1A and 1B show an area to be secured of a sliding door which is monitored with a first area scan camera and a structured light in the form of lines;

[0046] FIGS. 2A, 2B, 2C, 2D show different patterns of structured light;

[0047] FIGS. 3A and 3B show an exemplary embodiment of a sliding door system with two area scan cameras and a projector for generating at least one piece of additional information;

[0048] FIGS. 4A and 4B show an exemplary embodiment of a sliding door system with two area scan cameras and two projectors for generating at least one piece of additional information;

[0049] FIGS. 5A and 5B show an exemplary embodiment of a sliding door system for monitoring a secondary closing edge with an area scan camera and a projector;

[0050] FIGS. 6A, 6B and 6C show an exemplary embodiment of a sliding door system with two area scan cameras, the additional information being generated with an area scan camera in order to monitor the passage area;

[0051] FIGS. 7A, 7B and 7C show an exemplary embodiment of a sliding door system with two area scan cameras and a projector for generating multiple additional pieces of information;

[0052] FIGS. 8A and 8B show an exemplary embodiment of a sliding door system, with the additional information being generated with a second area scan camera in order to monitor a secondary closing edge;

[0053] FIGS. 9A, 9B, 10A, 10B show an exemplary embodiment of a sliding door system in which the at least one additional piece of information is provided by a separate illumination source in the form of a flash light or a pulsed light source;

[0054] FIGS. 11A, 11B, 11C show different types of automatic door system in the form of a swing door, folding door, or revolving door; and

[0055] FIG. 12 shows a method for operating the automatic door system.

[0056] An automatic door system 1 according to the invention is described below. The automatic door system 1 can be used in buildings. The automatic door system comprises at least one door leaf 2a, 2b. This at least one door leaf 2a, 2b can be moved along a travel path. FIG. 1A shows a door system 1 in the form of an automatic sliding door. The automatic sliding door comprises a first and a second door leaf 2a, 2b which can be moved toward one another in order to close a passage area 3 in this case or away from one another in order to unblock a passage area 3 in this case. The first and second door leaves 2a, 2b comprise a main closing edge 4, with the main closing edges 4 of the first and second door leaves 2a, 2b adjoining one another and preferably touching one another when the sliding door is closed. Secondary closing edges 5 are arranged opposite the respective main closing edge 4. The first and second door leaves 2a, 2b comprise a frame which preferably holds a glass pane.

[0057] A (fully) open state of the sliding door is shown in FIG. 1A. The first and second door leaves 2a, 2b can be moved by motorized means. A drive apparatus 6 is available for this. This comprises at least one electric motor. There is preferably exactly one electric motor by means of which all door leaves 2a, 2b can be driven. However, there can also be one electric motor per door leaf 2a, 2b.

[0058] A control device 7 is also provided. This is designed to control the drive apparatus 6 in such a way that it moves the at least one door leaf 2a, 2b or, in the case of FIG. 1A, the first and second door leaves 2a, 2b.

[0059] Furthermore, the automatic door system 1 comprises a sensor device 8. The sensor device 8 comprises a first area scan camera 9a. The first area scan camera 9a is designed to only capture 2D images. The first area scan camera 9a therefore comprises, in particular, exactly one image sensor and more preferably exactly one optical axis.

[0060] The automatic door system 1 preferably also comprises an upper profile assembly 10awhich is arranged above the first and second door leaves 2a, 2b and is particularly fastened to a supporting structure of a building (for example a wall, ceiling). The drive apparatus 6 and the control device 7 are preferably also arranged in the upper profile assembly 10a. It is also preferred if the first area scan camera 9a is also arranged on or in this upper profile assembly 10a.

[0061] It is also preferred if there is also a lower profile assembly 10b which is arranged below the first and second door leaves 2a, 2b and is particularly fastened to or in the floor of a building. The lower profile assembly 10b preferably comprises a guide rail into which the first and second door leaves 2a, 2b engage with a guide arm or guide blade. Drainage via appropriate drainage channels can also take place via the lower profile assembly 10b.

[0062] The first area scan camera is designed to generate first image data from a detection area 11, with the automatic door system 1 being monitorable in this detection area 11. The control device 7 is designed to receive this first image data from the detection area 11 of the first area scan camera 9a and to evaluate it for the presence of an object (object, person, animal). If, for example, a person is recognized, the drive apparatus 6 is controlled in such a way that it moves the door leaves 2a, 2b into an open position, thereby unblocking the passage area 3. After a certain time has elapsed, the door leaves 2a, 2b are preferably moved back into a closed position if no object is detected. As will readily be understood, cross-traffic suppression is also possible, so that the door leaves 2a, 2b are not moved into an open position if it is detected that a person is merely walking past the door leaves 2a, 2b.

[0063] The analysis of this first image data takes place at regular time intervals, preferably several times per second. In that case, the detection area 11 extends on a first side of the sliding door, preferably over a width that corresponds to the length of a travel path of the first and second door leaves 2a, 2b.

[0064] The first area scan camera 9a preferably operates in the IR range (infrared). However, it could also operate in the wavelength range of light that is visible to humans.

[0065] The control device 7 is also designed to determine whether the first and/or second door leaves 2a, 2b can be moved safely (i.e., in a collision-free manner) by means of a detailed analysiswhich can also be referred to as a detailed analysis procedurebased on at least part or all of the first image data from the first area scan camera 9a and at least one additional piece of information 12. In this context, the sensor device 8 also comprises an information-generating device 13, which is separated (spatially, for example) from the first area scan camera 9a (spaced attachment to the upper profile assembly 10a, separate housing, etc.) and contributes to the generation of the at least one additional piece of information 12.

[0066] In FIG. 1A, the additional information 12 is a structured light pattern 14. In this case, the information-generating device 13 comprises a projector 15 which, in particular, comprises a laser for generating and radiating the structured light pattern 14. The projector preferably operates in the IR range and is also preferably integrated on or into the upper profile assembly 10a.

[0067] The control device 7 is designed to compare the structured light pattern 14 in the first image data of the first area scan camera 9a with a reference pattern in order to control the drive apparatus 6 as a function of the result in such a way that it moves the at least one door leaf 2a, 2b in a collision-free manner or does not move it, or stops it. In FIG. 1A, an enlarged section of the structured light pattern 14 is shown in the area to the left.

[0068] The structured light pattern 14 is preferably only radiated into a portion of the detection area 11 of the first area scan camera 9a. This portion is referred to as the area to be secured 16. It preferably extends 20 cm away from the respective door leaf 2a, 2b.

[0069] The control device 7 is designed to examine the area to be secured 16 for the presence of an object 17 with a greater level of accuracy. The remaining detection area 11 is examined for an object 17 with a lower resolution as part of a rough analysis, which can also be referred to as a rough analysis procedure. As part of the detailed analysis, it should be determined whether there is an immediate danger to an object 17 in the immediate vicinity of the movable door leaf 2a, 2b.

[0070] In principle, rough analysis and detailed analysis can be carried out at the same time. However, the detailed analysis is preferably only carried out when necessary, namely when the respective door leaf 2a, 2b is to be moved or is currently being moved. In principle, the rough analysis and the detailed analysis could also be carried out at different times. The detailed analysis can also only be carried out for a portion of the area to be secured 16.

[0071] When multiple door leaves 2a, 2b are used, for example in the context of a sliding door as shown in FIG. 1A, the individual door leaves 2a, 2b can be moved independently of one another as a function of the position of the object 17. If the control device 7 comes to the conclusion as part of the detailed analysis that a collision probability exists only for one door leaf 2a, 2b, the other door leaf 2a, 2b can be moved normally.

[0072] FIG. 1B shows a change in the structured light pattern 14 when the structured light pattern 14 strikes an object 17. The structured light pattern 14 which is contained in the captured first image data of the first area scan camera 9a no longer corresponds to a reference pattern (see FIG. 1A), because the positions of the individual structures are changed or distorted in position compared to the reference pattern. In this case, the structured light pattern 14 comprises lines that preferably extend perpendicular to the first or second door leaf 2a, 2b. The distance between the individual lines changes due to the presence of an object 17. This change can be detected in order to enable the presence of an object 17 to be deduced therefrom. The detection can be performed by means of a pixel comparison, for example, or it can also be the result of an algorithm (e.g., FFT). Based on the structured light pattern 14 and its change, a three-dimensional shape of the object 17 can also be calculated by the control device 7. The structured light pattern 14 has a wavelength that is preferably in the IR range. The structured light pattern 14 is formed by patterns (in this case, lines) with a different brightness distribution. The lines may be formed by lighter sections than the rest (and vice versa).

[0073] Preferably, the distances between adjacent structures (in this case, lines) are approximately the same. They can also vary in the reference pattern by less than 10%, 15%, 20%, 25%, or less than 30%. In principle, the assembly of the structures can be arbitrary as long as this assembly does not change continuously during operation. The reference pattern can be image data, enabling a pixel comparison to be carried out, for example. However, the reference pattern can also be a result of an algorithm that was applied to captured image data.

[0074] The distance between two structures of the structured light pattern 14 is preferably less than 10 cm, 8 cm, 6 cm, or less than 4 cm. However, it is preferably greater than 1 cm, 2 cm, 13 m, 5 cm, 7 cm, or greater than 9 cm.

[0075] The thickness of a corresponding structure (for example, line) of the structured light pattern 14 which is preferably illuminated more brightly than the rest is, for example, less than 8 mm, 6 mm, 4 mm or less than 3 mm. However, it is preferably greater than 0.5 mm, 1 mm, 2 mm, or greater than 3 mm.

[0076] FIGS. 2A, 2B, 2C and 2D show various plan views of the automatic door system 1 in the form of a sliding door from which the shape of the structured light pattern 14 emerges. In FIG. 2A, the structured light pattern 14 has a grid-shaped structure and comprises parallel lines and lines perpendicular thereto. Additional positions at which the projector 15 of the information-generating device 13 could be mounted are illustrated by hollow circles. It can be seen that the first area scan camera 9a and the information-generating device 13 are separate objects.

[0077] In FIG. 2B, the structured light pattern comprises 14 dots. These can be distributed as desired, although they must have an appropriate diameter that can still be resolved by the first area scan camera 9a. The distance between the dots should not be too large, so that objects and people can be reliably detected.

[0078] In FIG. 2C, the structured light pattern 14 is again lines which, in this case, extend parallel to the first and second door leaves 2a, 2b.

[0079] In FIG. 2D, the structured light pattern 14 is again lines, which, in this case, extend perpendicular to the first and second door leaves 2a, 2b.

[0080] The structured light pattern 14 could also comprise dashed lines or waves or another shape.

[0081] FIGS. 3A and 3B show another exemplary embodiment of the automatic door system 1. The first area scan camera 9a is arranged on a first side 18 of the automatic sliding door. The capture range of the first area scan camera 9a also extends on this first side 18. The sensor device 8 further comprises a third area scan camera 20 which generates third image data from a detection area, which also monitors areas of the automatic door system 1. The third area scan camera 20 is arranged on a second side 19 or monitors a second side 19.

[0082] In this case, the detection area 11 of the first area scan camera 9a lies entirely on the first side 18. In this case, the detection area 11 of the third area scan camera 20 lies entirely on the second side 19.

[0083] In this case, the projector 15 of the information-generating device 13 is arranged in the passage area 3 and is designed to generate the structured light pattern 14 and to radiate it into the detection area 11 of the first and third area scan cameras 9a, 20.

[0084] The control device 7 is designed to compare the structured light pattern 14 in the first image data of the first area scan camera 9a and in the third image data of the third area scan camera 20 with a respective reference pattern (reference pattern for the first area scan camera 9a and reference pattern for the third area scan camera 20) in order to control the drive apparatus 6 as a function of the result in such a way that it moves the at least one door leaf 2a, 2b in a collision-free manner or does not move it, or stops it.

[0085] The first and third area scan cameras 9a, 20 can be identical or different from each other. Differentiating features could, for example, lie in the type of image sensor, the resolution, the size of the detection area, the optics, and/or the orientation.

[0086] FIGS. 4A and 4B show another exemplary embodiment of the automatic door system 1. In contrast to FIGS. 3A, 3B, the information-generating device 13 comprises an additional projector 21. The projector 15 is preferably arranged on the first side 18 of the automatic sliding door, whereas the additional projector 21 is arranged on the second side 19 of the automatic sliding door. The structured light patterns 14 of both projectors 15, 21 preferably do not overlap. In principle, the structured light patterns 14 of both projectors 15, 21 can also partially overlap.

[0087] The additional projector 21 generates a structured light pattern 14 and radiates this into the detection area 11 of the third area scan camera 20 on the second side 19 of the automatic sliding door.

[0088] FIGS. 5A, 5B show the automatic door system 1 in the form of an automatic sliding door. The control device 7 is designed to monitor a main closing edge 4 with the first area scan camera 9a and the projector 15 during the detailed analysis. In this case, the secondary closing edge 5 of the first or second door leaf 2a, 2b can be monitored with an additional area scan camera 22 and an additional projector 21. The structured light patterns 14 of the projector 15, which monitors the main closing edge 4, and of the additional projector 21, which monitors the secondary closing edge 5, are preferably arranged with no overlap or predominantly no overlap with one another. In this case, two areas to be secured 16 would be monitored in the detailed analysis. An area to be secured 16 (not shown) would target the main closing edge 4, and another area to be secured 16 would target the secondary closing edge 5. Depending on the travel path of the door leaf 2a, 2b (opening, closing), only one area to be secured 16 would preferably be monitored in the detailed analysis. If the door leaf 2a, 2b is to be opened, only the area to be secured 16 for the secondary closing edge 5 would preferably be monitored. If the door leaf 2a, 2b is to be closed, only the area to be secured 16 (not shown) for the main closing edge 4 would preferably be monitored. The area to be secured 16 for the secondary closing edge 5 preferably also covers the actual travel path of the respective door leaf 2a, 2b and preferably extends over the lower profile assembly 10b.

[0089] In this case, the additional area scan camera 22 comprises its own detection area 11. This detection area can be congruent with the detection area 11 of the first area scan camera 9a. In FIGS. 5A, 5B, the detection areas 11 of the first and additional area scan cameras 9a, 22 overlap only partially. They can also be arranged so as to be completely without overlap relative to one another.

[0090] In principle, it would also be conceivable for the secondary closing edge 5 to be monitored with the first area scan camera 9a and the projector 15. Monitoring with an additional area scan camera 22 and the known projector 15 would also be conceivable. Monitoring can also be performed with the first area scan camera 9a and an additional projector 21.

[0091] The first and the additional area scan cameras 9a, 22 can be identical or different from one another. Distinctive features can lie, for example, in the type of image sensor, the resolution, the size of the detection area, the optics, and/or the orientation.

[0092] Another exemplary embodiment of the automatic door system 1 is described in FIGS. 6A, 6B, 6C. In this case, the at least one additional piece of information 12 is second image data. In this case, the information-generating device 13 comprises a second area scan camera 9b. This preferably also comprises (precisely) one image sensor and thus more preferably (precisely) one optical axis. The second area scan camera 9b is designed to generate second image data. Only a portion of the detection area 11 of the first area scan camera 9a is overlapped by the detection area 11 of the second area scan camera 9b. The first area scan camera 9a is mounted on the first side 18 and the second area scan camera 9b on the second side 19 or is predominantly aligned with this side, with the detection area 11 of the first area scan camera 9a extending predominantly to the first side 18 and the detection area 11 of the second area scan camera 9b extending predominantly to the second side 19.

[0093] The detection area 11 of the second area scan camera 9b overlaps with a portion of the detection area 11 of the first area scan camera 9a on the first side 18. This area of overlap then forms the area to be secured 16. The control device 7 is designed to calculate the first and second image data in this area of overlap in order to increase the resolution or generate spatial information. As a function of this result, the drive apparatus 6 can be controlled in such a way that it moves the at least one door leaf in a collision-free manner or does not move it, or stops it.

[0094] Preferably, the detection area 11 of the first area scan camera 9a also overlaps with a portion of the detection area 11 of the second area scan camera 9b on the second side 19 of the sliding door. This area of overlap then forms the area to be secured 16 on the second side 19 of the sliding door. The control device 7 is designed to calculate the first image data and the second image data in this area of overlap in order to increase the resolution or generate spatial information. As a function of this result, the drive apparatus 6 can be controlled in such a way that it moves the at least one door leaf in a collision-free manner or does not move it, or stops it.

[0095] In principle, however, it would also be conceivable for an additional area scan camera 22 to be oriented toward the first or second side 18, 19, over whose detection area 11 the area to be secured 16 is formed. In this case, there would be two area scan cameras per side 18, 19.

[0096] FIGS. 7A, 7B and 7C show that it is also possible to use more than one additional piece of information 12 at the same time. In this case, the control device 7 is designed to carry out the detailed analysis with two or three different additional pieces of information 12. In this exemplary embodiment, second image data from the second area scan camera 9b is used and calculated with the first image data from the first area scan camera 9a in order to achieve greater accuracy as to whether there is an object 17 in the area to be secured 16 on the first side 18. Furthermore, a structured light pattern 14 can also be used via a projector 15 in order to further increase the accuracy in order to determine particularly reliably whether there is an object 17 in the area to be secured 16 on the first side 18. The projector 15 is arranged in the passage area 3 and radiates the structured light pattern 14 both on the first side 18 and on the second side 19. The exemplary embodiment of FIGS. 7A, 7B, 7C is therefore a mixture of the exemplary embodiment of FIGS. 3A, 3B and 6A, 6B, 6C.

[0097] FIGS. 8A and 8B describe that the secondary closing edge 5 can also be monitored using two area scan cameras. In principle, it is possible for the secondary closing edge 5 to be monitored with the first area scan camera 9a and the second area scan camera 9b. The main closing edge 4 is preferably also monitored with these two area scan cameras 9a, 9b. The area of overlap of the two detection areas 11 of the first and second area scan cameras 9a, 9b is preferably the area to be secured 16. It would also be possible for the secondary closing edge 5 to be monitored with the first area scan camera 9a and with an additional area scan camera 22. In principle, the secondary closing edge 5 could also be monitored with the second area scan camera 9b and an additional area scan camera 22. In general, two additional area scan cameras 22 could also be used.

[0098] FIGS. 9A, 9B show another exemplary embodiment of the automatic door system 1. The at least one additional piece of information 12 is an illumination light 23 which brightens the first image data from the first area scan camera 9a. In this case, the information-generating device 13 comprises an illumination source 24. This illumination source is designed to generate the illumination light 23 only for a period of time and to radiate it into the detection area 11 of the first area scan camera 9a, which corresponds approximately to the period of time for the detailed analysis. The illumination source 24 is preferably also arranged on the upper profile assembly 10a.

[0099] The control device 7 is designed to compare the first image data, which are brightened by the illumination light 23, with reference image data in order to control the drive apparatus 6 as a function of the result in such a way that it moves the at least one door leaf 2a, 2b in a collision-free manner or does not move it, or stops it.

[0100] In FIG. 9A, the object 17 is not in the detection area 11. Howeverdue to the position of the sun, for examplethe object 17 casts a shadow 25 that falls into the detection area 11 of the first area scan camera 9a. If only the first image data from the first area scan camera 9a were evaluated, the control device 7 would tend to have an object 17 in the detection area 11 due to the shadow cast. The control device 7 would then open one or both door leaves 2a, 2b or cancel a closing process and, if necessary, initiate an opening process.

[0101] In FIG. 9B, the result obtained in FIG. 9A as part of the rough analysis is checked. This check is carried out as part of the detailed analysis. In this case, the detection area 11 of the first area scan camera 9a is brightened. Due to the additional illumination with the illumination light 23, the shadow cast is no longer present, or it is reduced to such an extent that the control device 7, when comparing the first image data now obtained from the first area scan camera 9a with reference image data, comes to the conclusion that there is no object 17 in the detection area 11 or in the area to be secured 16 (not shown).

[0102] Another scenario is illustrated in FIGS. 10A, 10B. In this case, an object 17 is located directly in front of the main closing edge 4 of the respective door leaves 2a, 2b. As a result of direct sunlight, for example, the object 17 is not discovered when evaluated only as part of the rough analysis of the first image data captured by the first area scan camera 9a. In particular, before initiation of a movement of the first or second door leaf 2a, 2b or during a movement phase of the first or second door leaf 2a, 2b, a detailed analysis is carried out and the illumination source 24, which radiates the illumination light 23, is activated. The illumination light 23 casts a shadow on the object 17, which is located in the area to be secured 16, for example. This shadow is detected during evaluation of the first image data, which contain the at least one additional piece of information 12 in the form of brightening by the illumination light 23. The control device 7 then controls the first and/or second door leaf 2a, 2b in such a way that there is no collision with the object 17.

[0103] The illumination light 23 has a wavelength that is preferably in the IR range. The illumination source 24 is preferably a flash light, in which case the illumination source 24 is also preferably designed to activate the illumination light 23 for only less than 1000 ms, 700 ms, 500 ms, 300 ms, or less than 100 ms. The illumination source 24 is also preferably designed to activate the illumination light 23 synchronously with the image capture of the first image data of the first area scan camera 9a. The illumination source 24 can also be a pulsed light source. The pulsed light source is activated particularly when the area to be secured 16 or a portion of the area to be secured 16 is to be examined in greater detail. Those of the first image data (e.g., images) in which light from the pulsed light source is present are then used for the detailed analysis. The light pulse has a duration that is preferably shorter than the period of time in which the light is captured on the photosensor or the photosensor of the first area scan camera 9a. It may well be that a plurality of images have to be captured, with only that image being selected in order to determine whether an object is in the area to be secured or not on whose capture the product of the additional illumination source is visible by means of light pulses.

[0104] Additional information can be used in the event that the ground is wet and causes additional reflection.

[0105] The detailed analysis can preferably only be carried out over certain pixels of the first image data from the first area scan camera 9a. These specific pixels then define the area to be secured 16. This can also save computing power.

[0106] FIGS. 11A, 11B and 11C show other embodiments of the automatic door system 1. FIG. 11A shows a revolving door assembly which comprises two door leaves 2a, 2b which are moved through a rotary motion. The area to be secured 16 is located in front of the door leaf 2a, 2b in the direction of movement of the door leaf 2a, 2b. The information-generating device 13, like the first area scan camera 9a, can be arranged stationarily (for example on the upper profile assembly 1?a). However, the information-generating device 13, like the first area scan camera 9a, can be arranged so as to move along on the corresponding door leaf 2a, 2b. A plurality of area scan cameras can also be used, with one area scan camera capture areas in the opening direction in front of the door leaf 2a, 2b and an additional area scan camera capture areas in the closing direction in front of the door leaf 2a, 2b. The same can also apply to the information-generating device 13 in the form of the projector 15, for example. Here, too, there can be two projectors. It is irrelevant if the structured light pattern 14 strikes the door leaf 2a, 2b, for example, because this issue can be resolved by a corresponding reference pattern. The portions of the structured light pattern 14 that strike the corresponding door leaf 2a, 2b can be omitted when evaluating whether an object 17 is in the range of motion of the door leaf 2a, 2b.

[0107] FIG. 11B shows a folding door assembly showing first and second folding door leaves 2a, 2b. Preferably, the area to be secured 16 extends only on one side of the folding door assembly. The area to be secured extends on the side where there is a risk of entrapment, i.e., where the opening between two segments of a folding door is closed during an opening movement. In this case, it may be sufficient to use exactly one first area scan camera 9a and one information-generating device 13 (for example with a projector 15, a second area scan camera 9b, and/or an illumination source 24).

[0108] FIG. 11C shows a revolving door assembly. This comprises a first, second, third, and fourth door leaf 2a, 2b, 2c, 2d which rotate about an axis of rotation. The area to be secured 16 extends in the direction of movement in front of the respective door leaf 2a, 2b, 2c, 2d and in front of the respective fixed secondary closing edge 5. The first area scan camera 9a can be mounted in the area of the ceiling assembly. The same also applies to the information-generating device 13 (for example with a projector 15, a second area scan camera 9b, and/or an illumination source 24). Even when a revolving door is used, it is not a problem if a projector 15 projects the structured light pattern 14 partially onto the corresponding door leaf 2a, 2b, 2c, 2d. A corresponding reference pattern can be used to identify which parts of the structured light pattern 14 are striking the object 17. These parts can then be left out when determining whether an object 17 is located in the area to be secured 16.

[0109] FIG. 12 shows another method for operating the automatic door system 1. In a first method step S, first image data are transmitted from a first area scan camera 9a, which covers a detection area 11, together with the at least one additional piece of information 12 to the control device 7. In a second method step Sa, the control device 7 determines whether an object 17 is located in the area to be secured 16 and whether the door leaf 2a, 2b can be moved safely or not. In a third method step Sa, the door leaf 2a, 2b is moved if no danger is posed by an object 17.

[0110] The first image data are preferably an image which comprises a certain number of pixels in the horizontal direction and a certain number of pixels in the vertical direction.

[0111] The use of the third area scan camera 20 does not inevitably necessitate the use of the second area scan camera 9b. The detection areas 11 of the first and third area scan cameras 9a, 20 preferably do not overlap, whereas the detection area 11 of the second area scan camera 9b usually or always overlaps with another detection area 11 of the first or third area scan cameras 9a, 20.

[0112] A sliding door assembly can be designed such that the first area scan camera 9a predominantly or completely monitors the first side 18, whereas the third area scan camera 20 predominantly or completely monitors the second side 19. The second area scan camera 9b can also monitor the first side 18, whereas the detection area 11 of the second area scan camera 9b overlaps partially or completely with the detection area 11 of the first area scan camera 9a. A projector 15 can also be provide which radiates a structured light pattern 14 both into the detection area 11 of the first and/or second area scan camera 9a, 9b and into the detection area 11 of the third area scan camera 20. This means that two different pieces of additional information 12 are available to determine an object 17 on the first side 18, whereas only one piece of additional information 12 is available to determine an object 17 on the second side 19.

[0113] In principle, two projectors 15, 21 can also be used, with each projector 15, 21 radiating the structured light pattern 14 onto one side 18, 19. The illumination source 24 can also be used instead of the projector 15 or projectors 15, 21 or in addition to the projector 15 or projectors 15, 21. In principle, an additional area scan camera 22 can also be arranged in such a way that the detection area 11 of the additional area scan camera 22 overlaps partially or completely with the detection area 11 of the third area scan camera 20. The aforementioned structure can be used to monitor the main closing edge 4 and/or to monitor the secondary closing edge 5. If the structure is used to monitor the main closing edge 4, the same structure can also be used to monitor the secondary closing edge 5. In principle, the first side 18 can be monitored with one, two, or three additional pieces of information 12. In addition or as an alternative, the second side 19 can be monitored with one, two, or three additional pieces of information 12. In addition or as an alternative, the secondary closing edge 5 can be monitored with one, two, or three additional pieces of information 12particularly if the secondary closing edge 5 is not monitored with the same sensor device 8 with which the main closing edge 4 is monitored.

[0114] The first and second area scan cameras 9a, 9b are preferably arranged greater than 20 cm, 30 cm, 40 cm, 50 cm, 70 cm, 90 cm, 110 cm, 130 cm, or greater than 150 cm apart from each other. The same can also apply to the first area scan camera 9a and the third area scan camera 20 or to the second area scan camera 9b and the third area scan camera 20.

[0115] The first, second and/or third area scan cameras 9a, 9b, 20 can have a fisheye lens.

[0116] The sensor device 8 is preferably free of photodiodes. The additional information comes only from the image data of the first area scan camera 9a (e.g., if this has the structured light pattern 14 and/or the illuminated light 23) or from the image data of the second area scan camera 9b. An additional IR photosensor is not used. This makes it possible to further reduce costs.

[0117] In particular, the only receivers in the sensor device 8 are area scan cameras 9a, 9b, 20.

[0118] The invention is not limited to the exemplary embodiments that are described. Within the scope of the invention, all of the features described and/or drawn can be combined with one another in any desired manner.