Granted Patent B2

US 12,247,432 · App. 17/658,560 · Granted Mar 11, 2025

Inventors: Jorge I. Guevara Rosas (Farmington, CT); Jonathan M. Braverman (West Hartford, CT); Anthony R. Ranaudo (Charlestown, RI); Pedro I. Iñigo Santiago (South Windsor, CT); Ethan F. Traineanu (Enfield, CT); Kyle N. Carissimi (East Hampton, CT); Christopher Conroy (South Windsor, CT)

Assignee: ALLEGION ACCESS TECHNOLOGIES LLC

E05F15/73G01S13/04G01S17/04

Abstract

Claims (62)

1. An automatic door system comprising:

a door assembly including an automatic door;

a plurality of millimeter wave (mmW) radar sensors, each mmW radar sensor configured to capture mmW radar data; and

a door control unit (DCU) that is communicatively coupled to the plurality of mmW radar sensors and the door assembly, the DCU configured by software instructions to:

determine target information about a target based on combined mmW radar data from the plurality of mmW radar sensors;

process the target information to classify the target, the target classified as a nuisance when the target information includes a height that is below a threshold, the threshold depending on an open/close state of the automatic door;

filter the target from controlling the automatic door when the target is classified as the nuisance;

process the target information to estimate one or more parameters for door control; and

control the automatic door to open or close based on the one or more parameters for door control.

2. The automatic door system according to claim 1 , wherein the target information includes physical characteristics of the target, position information of the target, and motion information of the target.

3. The automatic door system according to claim 2 , wherein the position information of the target includes a zone of a combined door area that the target is in.

4. The automatic door system according to claim 1 , wherein:

the one or more parameters include an estimated crossing point where the target is expected to cross when passing through a door opening, the estimated crossing point based on a position change vector between a first position of the target at a first time and a second position of the target at a second time.

5. The automatic door system according to claim 1 , wherein:

the one or more parameters include an estimated time of arrival for the target to reach the automatic door, the estimated time of arrival being an earliest of a doppler time of arrival based on a projected doppler speed of the target and a mean time of arrival based on a mean speed of the target.

6. The automatic door system according to claim 1 , wherein:

the one or more parameters include an estimated door opening to accept a width of the target, the estimated door opening being less than a full door opening.

7. The automatic door system according to claim 1 , wherein the DCU is further configured to:

process the target information to classify the target as parallel traffic based on a motion of the target that is moving in a direction other than towards the automatic door; and

filter the target from controlling the automatic door when the target is classified as parallel traffic.

8. The automatic door system according to claim 1 , wherein the DCU is further configured to:

process the target information to classify the target as animate based on a motion of the target due to breathing.

9. The automatic door system according to claim 8 , wherein the DCU is further configured to:

determine that the target, classified as animate, has a position in a safe zone of a door area; and

prevent the automatic door from closing.

10. A method for controlling an automatic door, comprising:

capturing, by a plurality of millimeter wave (mmW) radar sensors, mmW radar data from a plurality of door areas in front of the automatic door;

combining the mmW radar data from the plurality of door areas to generate combined mmW radar data corresponding to a combined door area;

determining target information about a target based on the combined mmW radar data;

processing the target information to classify the target as a nuisance when the target information includes a height that is below a threshold, the threshold depending on an open/close state of the automatic door;

filtering the target from controlling the automatic door when the target is classified as the nuisance;

processing the target information to estimate one or more parameters for door control; and

controlling the automatic door to open or close based on the one or more parameters for door control.

11. The method for controlling an automatic door according to claim 10 , wherein processing the target information to estimate one or more parameters for door control includes:

determining, based on the combined mmW radar data, a first position of the target at a first time and a second position of the target at a second time;

computing a position change vector between the first position and the second position; and

projecting the position change vector to a plane of the automatic door to estimate a crossing point where the target is expected to cross when passing through a door opening of the automatic door.

12. The method for controlling an automatic door according to claim 10 , wherein processing the target information to estimate one or more parameters for door control includes:

determining, based on the combined mmW radar data, a speed of the target towards a center of the automatic door as a projected doppler speed of the target;

computing a doppler time of arrival based on the projected doppler speed of the target;

determining, based on the combined mmW radar data, a speed of the target towards a crossing point of the automatic door as a mean speed of the target;

computing a mean time of arrival based on the mean speed of the target; and

comparing the doppler time of arrival and the mean time of arrival to estimate a time of arrival for the target to reach the automatic door.

13. The method for controlling an automatic door according to claim 10 , wherein processing the target information to estimate one or more parameters for door control includes:

determining, based on the combined mmW radar data, a width of the target; and

computing an estimated door opening to accept the width of the target, the estimated door opening being less than a full door opening.

14. The method for controlling an automatic door according to claim 10 , wherein processing the target information to classify the target as the nuisance includes:

determining an open/close state of the automatic door;

setting a threshold based on the open/close state;

determining, based on the combined mmW radar data, a height of the target; and

comparing the height of the target to the threshold.

15. A method for controlling an automatic door, comprising:

capturing, by a plurality of millimeter wave (mmW) radar sensors, mmW radar data from a plurality of door areas in front of the automatic door;

combining the mmW radar data from the plurality of door areas to generate combined mmW radar data corresponding to a combined door area;

determining target information about a target based on the combined mmW radar data;

processing the target information to classify the target as a parallel traffic when (i) a crossing point of the target is not in a safe zone of the combined door area, (ii) a position of the target is not in the safe zone, and (iii) a speed of the target is above a threshold speed;

filtering the target from controlling the automatic door when the target is classified as the parallel traffic;

processing the target information to estimate one or more parameters for door control; and

controlling the automatic door to open or close based on the one or more parameters for door control.

16. The method for controlling the automatic door according to claim 15 , further comprising:

computing, based on a door model, a time to open the automatic door, the computing including:

applying a pulse width modulation (PWM) signal and a torque signal to the door model in order to determine the time to open the automatic door.

Assignments (3)

Continuity (1)

References Cited (27)