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WO2022184967A1 - Dispositif capteur basé sur un radar et procédé de détection d'un article par rapport à une porte d'ascenseur - Google Patents

Dispositif capteur basé sur un radar et procédé de détection d'un article par rapport à une porte d'ascenseur Download PDF

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Publication number
WO2022184967A1
WO2022184967A1 PCT/FI2021/050149 FI2021050149W WO2022184967A1 WO 2022184967 A1 WO2022184967 A1 WO 2022184967A1 FI 2021050149 W FI2021050149 W FI 2021050149W WO 2022184967 A1 WO2022184967 A1 WO 2022184967A1
Authority
WO
WIPO (PCT)
Prior art keywords
radar
elevator door
elevator
data
reflection data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/FI2021/050149
Other languages
English (en)
Inventor
Mari Zakrzewski
Otto Pekander
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kone Corp
Original Assignee
Kone Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kone Corp filed Critical Kone Corp
Priority to PCT/FI2021/050149 priority Critical patent/WO2022184967A1/fr
Publication of WO2022184967A1 publication Critical patent/WO2022184967A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0006—Monitoring devices or performance analysers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/24—Safety devices in passenger lifts, not otherwise provided for, for preventing trapping of passengers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/04—Systems determining presence of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/56—Discriminating between fixed and moving objects or between objects moving at different speeds for presence detection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/411—Identification of targets based on measurements of radar reflectivity
    • G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/415—Identification of targets based on measurements of movement associated with the target

Definitions

  • the invention concerns in general the technical field of elevators. Especially the invention concerns elevator doors.
  • elevators that are monitored remotely comprise one or more sensors for obtaining operation data of one or more elevator doors (elevator car doors and/or landing doors) of the elevator.
  • additional sensors may be needed, if the operation data cannot be obtained directly from an elevator con trol bus, for example in a maintenance of third-party elevators.
  • the additional sensors may also be used as an additional feature, even if the oper ation data may be obtained directly from the elevator control bus.
  • the one or more sensors may comprise door sensors, such as accelerometer, strain gauge, and/or reed switch.
  • the obtained operation data of the one or more el evator doors may be used for example for identification of elevator doors that need maintenance.
  • a situation where an elevator door is blocked with an item or an object to intentionally maintain the elevator door open may be challeng ing to be detected based on the operation data obtained with the one or more door sensors.
  • Such cases may be rather common, e.g. a resident is moving and blocks the elevator door for example with a cardboard box or any other item, or someone is leaving a grocery bag between the elevator door to pick up more goods, etc.
  • it is im portant to separate the situations in which the elevator door is malfunctioning from the situations in which the elevator door is intentionally maintained open for an extended time. In the latter situations, there is no need to send a maintenance personnel to the elevator.
  • An objective of the invention is to present a radar-based sensor device and a method for detecting an item between an elevator door. Another objective of the invention is that the radar-based sensor device and the method for detect ing an item between an elevator door improve at least partly an identification of elevator doors that need maintenance.
  • the processing unit may be configured to detect that the elevator door is at least partly open before performing the comparison of the defined reflection data to the predefined reference reflection data of the elevator door, wherein the predefined reference reflection data may comprise reference reflection da ta of the elevator door in an open state.
  • the detection of the elevator door being at least partly open may be based on the obtained radar data and/or other data representing a state of the elevator door.
  • the detection of the elevator door being at least partly open based on the ob tained radar data may comprise analyzing static reflected radar signals and/or analyzing Doppler changes in the reflected radar signals.
  • the predefined reference reflection data may comprise first refer ence reflection data of the elevator door in an open state and second refer ence reflection data of the elevator door in a closed state, and wherein the in dication of the item between the elevator door may detected in response to de tecting that the reflection data differs from the first reference reflection data and from the second reference reflection data.
  • the predefined reference reflection data of the elevator door may represent re flected radar signals from the area of the elevator door defined during a learn ing period.
  • the processing unit may be configured to use elevator car specific data to de fine the reflection data from the obtained radar data, wherein the elevator car specific data may comprise a 3D location of the elevator door in relation to the sensor unit, a size of the elevator door, and/or a size of the elevator car.
  • the elevator car specific data may be defined during an installation of the ra dar-based sensor device, obtained during an installation of the radar-based sensor device, or learned after the installation of the radar-based sensor de vice.
  • the reflection data may comprise amplitude and phase of the reflected radar signals from the area of the elevator door, a signal strength of the reflected radar signals from the area of the elevator door, a ra dar range profile image of the reflected radar signals from the area of the ele vator door, and/or a heatmap of the reflected radar signals from the area of the elevator door.
  • a method for detecting an item between eleva tor door with a radar-based sensor device comprises a sensor unit and a processing unit, wherein at least the sensor unit is arranged inside an elevator car and transmits radar signals towards the elevator door, the method comprises: obtaining, by the processing unit, from the sensor unit radar data representing reflected radar signals; defining, by the processing unit, from the obtained radar data reflec tion data representing reflected radar signals from an area of the elevator door; comparing, by the processing unit, the reflection data to predefined reference reflection data of the elevator door; and detecting, by the processing unit, an indication of the item between the elevator door in response to detecting that the reflection data differs at least partly from the predefined reference reflec tion data of the elevator door.
  • the detecting the elevator door being at least partly open may be based on the obtained radar data and/or other data representing a state of the elevator door.
  • the detecting the elevator door being at least partly open based on the ob tained radar data may comprise analyzing static reflected radar signals and/or analyzing Doppler changes in the reflected radar signals.
  • the defining the reflection data from the obtained radar data may comprise us ing elevator car specific data, wherein the elevator car specific data may com prise a 3D location of the elevator door in relation to the sensor unit, a size of the elevator door, and/or a size of the elevator car.
  • the elevator car specific data may be defined during an installation of the ra dar-based sensor device, obtained during an installation of the radar-based sensor device, or learned after the installation of the radar-based sensor de vice.
  • the reflection data may comprise amplitude and phase of the reflected radar signals from the area of the elevator door, a signal strength of the reflected radar signals from the area of the elevator door, a ra dar range profile image of the reflected radar signals from the area of the ele vator door, and/or a heatmap of the reflected radar signals from the area of the elevator door.
  • the sensor unit may be one of an impulse radar, a pulsed radar, an ultra-wide band (UWB) radar, a stepped frequency continuous wave (CW) radar, or a fre quency modulated continuous wave (FMCW) radar.
  • an impulse radar a pulsed radar
  • an ultra-wide band (UWB) radar a stepped frequency continuous wave (CW) radar
  • CW stepped frequency continuous wave
  • FMCW fre quency modulated continuous wave
  • the method may further comprise providing at least two-dimensional position information and/or size information of the detected item by using two- dimensional beamforming.
  • Figures 2A-2C illustrate non-limiting example installations of a radar-based sensor device or a sensor unit of a radar-based sensor device into an elevator car.
  • Figure 3 illustrates schematically an example situation, wherein an item s be tween an elevator door.
  • Figures 5A and 5B illustrate schematically another example of a method ac cording to the invention.
  • FIG. 1A illustrates schematically an example of a radar-based sensor de vice 100 according to the invention for detecting an item 300 between an ele vator door 204, i.e. an item 300 preventing closing of the elevator door 204.
  • the radar-based sensor device 100 comprises a sensor unit 110 and a pro cessing unit 120.
  • the sensor unit 110 may comprise a radar unit 130 and an antenna unit 140.
  • the radar unit 130 may comprise one or more known radar related components, e.g. transmitter unit, receiver unit, duplexer unit, etc.
  • the antenna unit 140 may comprise one or more antennas.
  • the implementation of the radar-based sensor device 100 may be done as a stand-alone entity or as a distributed environment between a plurality of stand alone entities, i.e. a distributed system.
  • the sensor unit 110 and the processing unit 120 of the radar-based sensor device 100 may be imple mented physically inside a single entity, e.g. device, or the sensor unit 110 and the processing unit 120 may be implemented as physically separate entities being communicatively coupled to each other.
  • the communication between the sensor unit 110 and the processing unit 120 may be based on one or more known communication technologies, either wired or wireless.
  • FIG. 1B schematically illustrates an example of components of the pro cessing unit 120 according to the invention.
  • the processing unit 120 may comprise a processor part 122 comprising one or more processors, a memory part 124 comprising one or more memories, a communication part 126 com prising one or more communication devices, and possibly a user interface (Ul) part 128.
  • the mentioned parts may be communicatively coupled to each other with e.g. an internal bus.
  • the memory part 124 may store and maintain por tions of a computer program (code) 125 and any other data.
  • the computer program 125 may comprise instructions which, when the computer program 125 is executed by the processor part 122 of the processing unit 120 may cause the processor part 122, and thus the processing unit 120 to carry out desired tasks, e.g.
  • the processing unit 120 may for example be an elevator control unit, a cloud server, a remote server, or any other exter nal processing unit.
  • Figures 2A-2C illustrate schematically non-limiting example installations of the radar-based sensor device 100 or the sensor unit of a radar-based sensor de vice 100 into the elevator car 202.
  • Figures 2A-2C illustrate non limiting examples of the elevator car 202 into which the sensor unit 110 of the radar-based sensor device 100 or the whole radar-based sensor device 100 may be arranged.
  • Figure 2A illustrates a perspective view of the elevator car 202.
  • Figures 2B and 2C illustrate a top view of the elevator car 202.
  • the elevator door 204 is a center opening elevator door comprising two door leaves, i.e. panels. Flowever, the invention is not lim ited to that and the elevator door 204 may also be a left or right opening eleva tor door comprising one door leaf.
  • the example of Figure 2A illustrates one example for arranging the sensor unit 110 of the radar-based sensor device 100 or the whole radar-based sensor device 100 inside the elevator car 202. In the example of Figure 2A the sensor unit 110 of the radar-based sensor device 100 or the whole radar-based sensor device 100 is arranged, i.e. installed, on the back wall 206 of the elevator car 202.
  • the sensor unit 110 of the radar-based sensor device 100 may be arranged in side the elevator car 202 at different locations.
  • the sensor unit 110 may be arranged on a ceiling of the elevator car 202 or on a wall of the el evator car 202, e.g. the back wall, i.e. the wall being opposite to the elevator door 204 of the elevator car 202, or to a back corner of the elevator car 202.
  • the sensor unit 110 may preferably be arranged at least close to the ceiling of the elevator car 202.
  • the sensor unit 110 is communicatively coupled to the processing unit 120 residing outside the elevator car 202, i.e. being exter nal to the sensor unit 110.
  • the radar-based sensor device 100 may be implemented as the stand-alone entity, the whole radar-based sensor device 100 may be arranged inside the elevator car 202 at different locations.
  • the whole radar-based sensor device 100 may be arranged on the ceil ing of the elevator car 202 or on a wall of the elevator car 202, e.g. the back wall, or to a back corner of the elevator car 202.
  • the whole radar-based sen sor device 100 may preferably be arranged at least close to the ceiling of the elevator car 202.
  • the whole radar-based sensor de vice 100 may preferably be arranged inside the elevator car 202 so that the sensor unit 110 is facing towards the elevator door 204 of the elevator car 202.
  • the whole radar-based sensor device 100 may preferably be arranged inside the elevator car 202 so that the sensor unit 110 is able to transmit radar signals towards the elevator door 204.
  • Figure 2C illustrates schematically an example for arranging the (whole) radar-based sensor device 100 comprising the sensor unit 110 and the processing unit 120 inside the ele vator car 202, when the radar-based sensor device 100 is implemented as the stand-alone entity.
  • the radar-based sensor device 100 is arranged on the back corner of the elevator car 202.
  • the processing unit 120 is configured to obtain from the sensor unit 110 radar data representing the reflected radar signals.
  • the sensor unit 110 is configured to provide radar data representing the received reflected ra dar signals to the processing unit 120.
  • the sensor unit 110 may provide the radar data to the processing unit 120 continuously, e.g. in response to receiv ing the reflected radar signals.
  • the sensor unit 110 may provide the radar data to the processing unit 120 periodically, e.g. at regular or irregu lar intervals.
  • the sensor unit 110 may buffer, i.e. store, the re ceived radar data and provide at once the stored received radar data compris ing reflected radar signals received over a period of time, e.g. since the radar data was previously provided to the processing unit 120.
  • the sensor unit 110 may comprise the memory unit for storing the radar data to be provided period ically to the processing unit 120.
  • the radar data may comprise locations of re flection points in a three-dimensional (3D) space for each time instant.
  • the radar data may comprise a 3D-matrix for each time instant compris ing values of the reflected radar signal, e.g. an amplitude and a phase of the reflected radar signal, from each distance, each elevation angle value, and each azimuth angle value.
  • the processing unit 120 is further configured to define from the obtained radar data reflection data representing reflected radar signals from an area of the el evator door 204, i.e. at the specific 3D location of the elevator door 204 in rela tion to the sensor unit 110.
  • the processing unit 120 may be configured to use elevator car specific data to define the reflection data from the obtained radar data.
  • the elevator car specific data may comprise for example a 3D location of the elevator door 204 in relation to the sensor unit 110, a size of the elevator door 204, and/or a size of the elevator car 202.
  • the 3D location data of the el evator door 204 in relation to the sensor unit 110 may comprise a group of dis tances and aspect angles between multiple points of the elevator door 204 and the sensor unit 110.
  • the elevator car specific data may be defined during an installation of the radar-based sensor device 100, obtained during an installa tion of the radar-based sensor device 100, or learned after the installation of the radar-based sensor device 100.
  • the elevator car specific data need to be defined, obtained, or learned for each elevator car 202 separately as the sizes of the elevator cars 202, the dimensions of the elevator cars 202, and/or instal- lation placements of the radar-based sensor device 100 may vary depending on the elevator car 202 to which the radar-based sensor device 100 is ar ranged.
  • the term “ac tual operation of the radar-based sensor device 100” is meant throughout this application one or more operations of the radar-based sensor device 100 in which the radar-based sensor device 100 according to the invention provides the radar data and/or uses the provided radar data for detecting the item 300 between the elevator door 204.
  • the processing unit 120 is further configured to detect an indication of the item 300 between the elevator door 204, i.e. an indication of the item 300 prevent ing closing of the elevator door 204, in response to detecting that the defined reflection data differs at least partly from the predefined reference reflection data of the elevator door 204. In other words, if the comparison of the defined reflection data to the predefined reference reflection data results to at least partial difference between the defined reflection data and the predefined refer ence reflection data, the processing unit 120 is further configured to detect an indication of the item 300 between the elevator door 204.
  • the pro cessing unit 120 may be configured to provide at least two-dimensional (2D) position information and/or size information of the detected item 300 by using two-dimensional beamforming.
  • the provided at least 2D position information and/or size information of the detected item 300 may be used for example to define a position the item 300 and/or a shape of the item 300.
  • the provided at least 2D position information and/or size infor mation of the detected item 300 may be used for example to detect whether the detected item 300 is moving and/or whether the shape of the detected item 300 is changing, which enables for example detecting whether the item 300 is a passenger or a static object, e.g. a suitcase or a box.
  • Figure 3 illustrates schematically an example situation, wherein the item 300 is between the elevator door 204.
  • the radar-based sensor device 100 is implemented as the distributed system, but the radar- based sensor device 100 may also be implemented as the stand-alone entity as described above.
  • the item 300 may be for example, but not limited to, a box, a bag, suitcase, or any other item that may prevent closing of the elevator door 204.
  • the detection of the indication of the item 300 between the elevator door 204 may indicate that the item 300 may be used to intentionally main tained open for an extended time.
  • the processing unit 120 may provide to a remote monitoring unit 302 information comprising indication that the item 300 is detected between the elevator door 204.
  • the remote monitoring unit 302 may utilize this information in an identification whether the elevator door 204 needs maintenance.
  • the remote monitoring unit 302 may for example use the information obtained from the processing unit 120 of the radar-based sensor device 100 to separate situations in which the elevator door 204 is malfunc tioning from the situations in which the elevator door 204 is intentionally main tained open for an extended time, e.g. by leaving the item 300 between the el evator door 204. In the latter situation, the elevator door 204 does not need maintenance.
  • the detection of the indication of the item 300 between the elevator door 204 by the radar-based sensor device 100 according to the in vention may improve at least partly the identification of the elevator doors that need maintenance.
  • the remote monitoring unit 302 may be e.g. a cloud server, a service center, a maintenance center, or a data center.
  • the processing unit 120 of the radar-based sensor device 100 and the remote monitoring unit may be communicatively coupled to each oth er.
  • the communication between the processing unit 120 and the remote moni toring unit 302 may be based on one or more known communication technolo gies, either wired or wireless.
  • the processing unit 120 may de tect that the elevator door 204 is at least partly open based on the power of the reflected radar signals in the area of the elevator door 204.
  • the elevator door 204 moves, e.g. opens or closes, the fre quency of the radar signal reflected from the elevator door is changed depend ing on a velocity of the movement of the elevator door 204. Doppler changes refer to the frequency (or phase) change in the reflected radar signals.
  • the detection of the elevator door 204 being at least partly open may be based on other data representing a state of the elevator door 204.
  • the other data may be obtained for example, but not limited to, from an elevator control system or from one or more other sensor device.
  • the one or more other sensor devices may be arranged for example to the elevator car 202.
  • the processing unit 120 may be configured to perform the com parison of the defined reflection data to the predefined reference reflection da ta of the elevator door 204 comprising first reference reflection data of the ele vator door in an open state and second reference reflection data of the eleva tor door 204 in a closed state.
  • the indication of the item between the elevator door 204 may be detected in response to detecting that the de- tected reflection data differs from the first reference reflection data and from the second reference reflection data.
  • the defined reflection data is compared to the first reference reflection data of the elevator door 204 in the open state (i.e.
  • the processing unit 120 may detect the indication of the item 300 between the elevator door 204.
  • the processing unit 120 may further be configured to obtain elevator related information.
  • the processing unit 120 may further be configured to use the obtained elevator related information to activate the transmission of the radar signals and/or inactivate the transmission of the radar signals.
  • the obtained elevator related information may comprise for example a movement status of the elevator car 202 and/or a movement status of the ele vator door 202.
  • Use of the obtained elevator related information may improve the detection accuracy with the radar-based sensor device 100. For example, when the elevator related information indicates that the elevator car 202 is moving, the transmission of the radar signals may be inactivated, because when the elevator car 202 is moving the elevator door 204 must be closed and thus there cannot be any items between the elevator door 204, when the ele vator car 202 is moving.
  • the transmission of the radar signals may be activated as the opening the elevator door 204 starts shortly after the deceleration of the elevator car 202.
  • the transmission of the radar signals may be activated.
  • the eleva tor related information may be obtained from at least one other sensor device and/or an elevator control system.
  • the one or more other sensor devices may be arranged to the elevator car 202.
  • a sensor device e.g. an ac celeration sensor
  • a sensor de vice e.g. an acceleration sensor
  • the invention is described above referring to the radar-based sensor device 100. Flowever, the invention relates also to a method for detecting an item 300 between the elevator door 204 with the radar-based sensor device 100 as de scribed above. Next an example of a method according to the invention is de scribed by referring to Figure 4.
  • Figure 4 schematically illustrates the invention as a flow chart.
  • the processing unit 120 defines from the obtained radar data re flection data representing reflected radar signals from an area of the elevator door 204, i.e. at the specific 3D location of the elevator door 204 in relation to the sensor unit 110.
  • the processing unit 120 may use elevator car specific da ta to define the reflection data from the obtained radar data.
  • the elevator car specific data may comprise for example a 3D location of the elevator door 204 in relation to the sensor unit 110, a size of the elevator door 204, and/or a size of the elevator car 202 as discussed above.
  • the elevator car specific data may be defined during an installation of the radar-based sensor device 100, ob tained during an installation of the radar-based sensor device 100, or learned after the installation of the radar-based sensor device 100 as discussed above.
  • the defined reflection data may comprise amplitude and phase of the reflected radar signals from the area of the elevator door 204, a signal strength of the reflected radar signals from the area of the elevator door 204, a radar range profile image of the reflected radar signals from the area of the elevator door 204, and/or a heatmap of the reflected radar signals from the area of the ele vator door 204.
  • the processing unit 120 compares the defined reflection data to predefined reference reflection data of the elevator door 204 as described above.
  • the predefined reference reflection data of the elevator door 202 may represent reflected radar signals from the area of the elevator door 204 re ceived during a learning period.
  • the predefined reference reflection data of the elevator door 204 may comprise amplitude and phase of the reflected radar signals from the area of the elevator door 204 received during the learning pe riod, a signal strength of the reflected radar signals from the area of the eleva tor door 204 received during the learning period, a radar range profile image of the reflected radar signals from the area of the elevator door 204 received dur ing the learning period, and/or a heatmap of the reflected radar signals from the area of the elevator door 204 received during the learning period.
  • the learning period may be performed before an actual operation of the radar- based sensor device 100. For example, the learning period may be performed after the installation of the radar-based sensor device 100.
  • the processing unit 120 detects an indication of the item 300 be tween the elevator door 204, i.e. an indication of the item 300 preventing clos ing of the elevator door 204, in response to detecting that the defined reflection data differs at least partly from the predefined reference reflection data of the elevator door 204 at a step 440.
  • the processing unit 120 detect an indication of the item 300 between the elevator door 204 at the step 450.
  • the processing unit 120 may provide at least two-dimensional (2D) position information and/or size information of the detected item 300 by using two-dimensional beamforming.
  • Figure 5A illustrates schematically another example of the method according to the invention.
  • the method may comprise detecting 510 that the elevator door 204 is at least partly open before the comparing the reflection data to the predefined reference reflection data of the elevator door at the step 430.
  • the predefined refer- ence reflection data comprises reference reflection data of the elevator door 204 in an open state.
  • the comparing at the step 430 may com prise comparing the defined reflection data to the predefined reference reflec tion data of the elevator door in an open state in response to a detection of the elevator door 204 being at least partly open at the step 510.
  • the detection of the elevator door 204 being at least partly open before the comparison enables that the defined reflection data may be compared to the predefined reference reflection data comprising only reference reflection data of the elevator door 204 in the open state.
  • the indication of the item between the ele vator door 204 at the step 450 may be detected in response to detecting at the step 440 that the defined reflection data differs at least partly from the prede fined reference reflection data of the elevator door 204 in the open state.
  • the detection of the elevator door 204 being at least partly open at the step 510 may be based on the obtained radar data.
  • the detection of the elevator door 204 being at least partly open based on the obtained radar data may comprise for example analyzing static reflected radar signals in the area of the elevator door 204 and/or analyzing Doppler changes in the reflected radar signals as discussed above.
  • the detection of the elevator door 204 being at least partly open at the step 510 may be based on other data rep resenting a state of the elevator door 204 as discussed above.
  • the other data may be obtained for example, but not limited to, from an elevator control sys tem or from one or more other sensor devices arranged for example to the ele vator car 202.
  • the processing unit 120 may detect the indica tion of the item 300 between the elevator door 204 at the step 450.
  • the indication of the item 300 between the elevator door 204 at the step 450 may be detected in response to detecting at the step 440 that the detected reflection data differs from the first reference reflection data and from the second reference reflection data as discussed above.
  • Figure 5B illustrates schematically another example of the method according to the invention.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un dispositif capteur basé sur un radar (100) pour la détection d'un article (300) par rapport à une porte d'ascenseur (204). Le dispositif capteur basé sur un radar (100) comprend une unité de capteur (110) et une unité de traitement (120). Au moins l'unité de capteur (110) est disposée à l'intérieur d'une cabine d'ascenseur (202) et configurée pour émettre des signaux radar vers la porte d'ascenseur (204). L'unité de traitement (120) est configurée pour : obtenir à partir de l'unité de capteur (110) des données radar représentant des signaux radar réfléchis, définir, à partir des données de radar obtenues, des données de réflexion représentant des signaux radar réfléchis à partir d'une zone de la porte d'ascenseur (204), comparer les données de réflexion définies à des données de réflexion de référence prédéfinies de la porte d'ascenseur (204) et détecter une indication de l'article (300) par rapport à la porte d'ascenseur (204) en réponse à la détection du fait que les données de réflexion définies diffèrent au moins partiellement des données de réflexion de référence prédéfinies de la porte d'ascenseur (204). L'invention concerne également un procédé de détection d'un article (300) par rapport à une porte d'ascenseur (204).
PCT/FI2021/050149 2021-03-02 2021-03-02 Dispositif capteur basé sur un radar et procédé de détection d'un article par rapport à une porte d'ascenseur Ceased WO2022184967A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/FI2021/050149 WO2022184967A1 (fr) 2021-03-02 2021-03-02 Dispositif capteur basé sur un radar et procédé de détection d'un article par rapport à une porte d'ascenseur

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/FI2021/050149 WO2022184967A1 (fr) 2021-03-02 2021-03-02 Dispositif capteur basé sur un radar et procédé de détection d'un article par rapport à une porte d'ascenseur

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008013515A2 (fr) * 2005-05-13 2008-01-31 Thyssen Elevator Capital Corp. Système d'ascenseur comprenant un dispositif ultralarge bande
EP3495300A1 (fr) * 2017-12-07 2019-06-12 Inventio AG Système de porte d'ascenseur et procédé d'appel d'une cabine d'ascenseur
CN110475736A (zh) * 2017-03-28 2019-11-19 因温特奥股份公司 用于人员运送设备的传感器网络

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008013515A2 (fr) * 2005-05-13 2008-01-31 Thyssen Elevator Capital Corp. Système d'ascenseur comprenant un dispositif ultralarge bande
CN110475736A (zh) * 2017-03-28 2019-11-19 因温特奥股份公司 用于人员运送设备的传感器网络
EP3495300A1 (fr) * 2017-12-07 2019-06-12 Inventio AG Système de porte d'ascenseur et procédé d'appel d'une cabine d'ascenseur

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