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DE102004044204A1 - Door opening device, for vehicles and trains, comprises video camera with picture recognition to monitor area around door to detect movements and allow doors to close if moving objects do not approach - Google Patents

Door opening device, for vehicles and trains, comprises video camera with picture recognition to monitor area around door to detect movements and allow doors to close if moving objects do not approach Download PDF

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Publication number
DE102004044204A1
DE102004044204A1 DE200410044204 DE102004044204A DE102004044204A1 DE 102004044204 A1 DE102004044204 A1 DE 102004044204A1 DE 200410044204 DE200410044204 DE 200410044204 DE 102004044204 A DE102004044204 A DE 102004044204A DE 102004044204 A1 DE102004044204 A1 DE 102004044204A1
Authority
DE
Germany
Prior art keywords
door
video camera
doors
approach
area around
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
DE200410044204
Other languages
German (de)
Inventor
Günther Fischer
Klaus-Jürgen Gotthardt
Walter Gunselmann
Andreas Kister
Manfred Kroll
Robert Krämer
Peter Lutz
Olaf Nouvortne
Joachim Tiedemann
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.)
Siemens Corp
Original Assignee
Siemens 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 Siemens Corp filed Critical Siemens Corp
Priority to DE200410044204 priority Critical patent/DE102004044204A1/en
Publication of DE102004044204A1 publication Critical patent/DE102004044204A1/en
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D19/00—Door arrangements specially adapted for rail vehicles
    • B61D19/02—Door arrangements specially adapted for rail vehicles for carriages
    • B61D19/026—Safety devices for preventing passengers from being injured by movements of doors or variations in air pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B1/00—General arrangement of stations, platforms, or sidings; Railway networks; Rail vehicle marshalling systems
    • B61B1/02—General arrangement of stations and platforms including protection devices for the passengers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/77—Power-operated mechanisms for wings with automatic actuation using wireless control
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/79—Power-operated mechanisms for wings with automatic actuation using time control
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/42—Detection using safety edges
    • E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
    • E05F2015/434—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound with cameras or optical sensors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2800/00—Details, accessories and auxiliary operations not otherwise provided for
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/51—Application of doors, windows, wings or fittings thereof for vehicles for railway cars or mass transit vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Power-Operated Mechanisms For Wings (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Train Traffic Observation, Control, And Security (AREA)

Abstract

A video camera surveys the area around the door in order to open the door automatically and to avoid having to operate the door visually or manually. The video camera has picture recognition means which detect movements in the area near the door and which produce a release signal for the doors to operate, in the shortest possible time frame, should the relevant movements not approach the door.

Description

Die Erfindung betrifft eine Vorrichtung zur Betätigung von Türen, insbesondere Fahrzeugtüren und Bahnsteigtüren.The The invention relates to a device for actuating doors, in particular Vehicle doors and Platform screen doors.

Die nachfolgende Beschreibung bezieht sich im Wesentlichen auf die Betätigung von Fahrzeugtüren und Bahnsteigtüren bei schienengebundenen Verkehrssystemen, ohne dass die Erfindung auf diese Anwendung beschränkt sein soll.The The following description refers essentially to the operation of vehicle doors and platform screen doors in rail-bound transport systems, without the invention limited to this application should be.

In heutigen mit ATC (Automatic Train Control) ausgestatteten Verkehrssystemen verbleibt als einzige Handlung, die der Zugführer für die Abfahrt des Zuges ausführen muss, das Verschließen der Fahrzeugtüren. Dazu öffnet der Zugführer ein Fenster und blickt für eine ihm angemessen erscheinende Zeit an der Seite des Zuges entlang. Gegebenenfalls wird er dabei durch Spiegel oder andere optische Systeme unterstützt. Ragt nichts über die Silhouette des Zuges hinaus, so initiiert der Zugführer den Türschließzyklus. Wenn alle Türen verriegelt sind, startet die ATC den Beschleunigungsvorgang. Problematisch dabei ist die sicherheitskritische Beurteilung des Ein-/Ausstiegsvorgangs, die allein der Erfahrung des Zugführers überlassen bleibt. Durch die visuelle/manuelle Mitwirkung des Zugführers kann ein gelegentliches Einklemmen von Personen oder Gegenständen nicht ausgeschlossen werden. Die Folgen sind unzufriedene oder gar verletzte Fahrgäste und eventuell auch Zeitverlust durch mehrfache Schließversuche einzelner Türen.In today's with ATC (Automatic Train Control) equipped transport systems remains as the only action that the platoon leader must carry out for the departure of the train, the closing the vehicle doors. This opens the platoon leader a window and looks for a time that seems appropriate to him along the side of the train. If necessary, he is doing it by mirrors or other optical systems supported. Does not stand over anything the silhouette of the train out, so the train leader initiated the Door closing cycle. If all doors are locked, the ATC starts the acceleration process. Problematic the safety-critical assessment of the entry / exit process, which is left to the experience of the train driver alone. By the visual / manual involvement of the train driver may be an occasional Pinching of persons or objects can not be excluded. The consequences are dissatisfied or even injured passengers and possibly also loss of time due to multiple closing attempts single doors.

Zukünftig werden fahrerlose Systeme, insbesondere UTO (Unattended Train Operation)-Systeme, die herkömmliche personalin tensive Technik zunehmend ersetzen. Die übliche Verfahrensweise mittels visueller/manueller Eingriffe eines Zugführers in den laufenden Betrieb sind dann nicht mehr möglich. Auch Stationspersonal steht für diese Aufgabe meistens nicht zur Verfügung.In the future will be Driverless systems, in particular UTO (Unattended Train Operation) systems, the conventional one personnel increasingly replace tensive technology. The usual procedure by means of visual / manual interventions of a train driver into ongoing operation are then no longer possible. Also Station staff stands for this task is mostly not available.

Der Erfindung liegt die Aufgabe zugrunde, eine Vorrichtung der gattungsgemäßen Art anzugeben, die ein automatisches Betätigen von Türen unter Berücksichtung von Sicherheitsaspekten gestattet.Of the Invention is based on the object, a device of the generic type to specify the automatic operation of doors under consideration from safety aspects.

Erfindungsgemäß wird die Aufgabe mit den kennzeichnenden Merkmalen des Anspruchs 1 gelöst. Durch die Videokameraüberwachung mit spezifischen Bildbearbeitungsmitteln wird in dem Moment ein Auslösesignal für die Betätigung der Tür generiert, in dem offensichtlich das Ein- bzw. Aussteigen der Passagiere beendet ist und die Abfahrt des Zuges kurz bevor steht. Die Türen schließen automatisch, ohne Mitwirkung des Zugführers oder von Bahnhofspersonal. Auf diese Weise ist auch ein UTO-Betrieb möglich.According to the invention Task solved with the characterizing features of claim 1. By the video camera monitoring with specific image processing means is in the moment trigger signal for the activity the door generated, in which obviously the getting in and out of the passengers is finished and the departure of the train is imminent. The doors close automatically, without the participation of the train driver or by station staff. This is also a UTO operation possible.

Üblicherweise werden die Fahrgäste kurz vor Abfahrt des Zuges aufgefordert, den Türbereich freizuhalten. Das kann beispielsweise mittels Lautsprecherdurchsagen, aber auch durch audio-visuelle Warnungen an den Türen erfolgen.Usually become the passengers promptly before departure of the train asked to keep the door area free. The For example, by means of loudspeaker announcements, but also by audio-visual warnings are made on the doors.

Durch die Bildbearbeitungsmittel kann das Bild gegebenenfalls entsprechend den gegebenen optischen Verhältnissen entzerrt werden. Diese Notwendigkeit kann sich zum Beispiel beim Einsatz von zusätzlichen Spiegeln ergeben. Darüber hinaus kann der Bildausschnitt mittels Bildbearbeitung gegebenenfalls an den Türöffnungsbereich, das heißt den Gefahrraum vor den Türen, angepasst werden. Fahrgäste oder Objekte, die die Grenze dieses Gefahrraumes überdecken oder im Gefahrraum „fußen" werden als gefährdet detektiert. Durch die Bildbearbeitungsmittel werden Bewegungsvorgänge über die Analyse des horizontalen Bildflusses erkannt. Findet für eine definierte Zeit kein relevanter Bildfluss innerhalb des Gefahrraumes oder über dessen Grenzen hinweg statt, kann davon ausgegangen werden, dass kein Fahrgast bzw. kein Objekt gefährdet ist. Die Bildbearbeitungsmittel generieren dann ein Auslösesignal, das zur Betätigung der Türen verwendet wird.By if necessary, the image processing means can appropriately match the image the given optical conditions be equalized. For example, this need may arise Use of additional Mirroring revealed. About that In addition, the image section by means of image processing, if necessary to the door opening area, this means the danger room in front of the doors, be adjusted. passengers or objects that cover the boundary of this danger area or "footing" in the danger area are detected as being at risk. By the image processing means are moving operations on the analysis detected by the horizontal image flow. Does not find for a defined time relevant image flow within or above the danger area Instead of borders, it can be assumed that no passenger or no object at risk is. The image processing means then generate a trigger signal, that for the operation the doors is used.

Gemäß Anspruch 2 ist die Videokamera an einer Türenseite eines Zuges angebracht. Dieser Anbringungsort ist vorzugsweise die Position, die bisher der Kopf des Fahrers für die gleiche Aufgabe inne hatte. Alternativ oder zusätzlich kann mindestens eine Videokamera auf dem Bahnsteig in geeigneter Position vorgesehen sein. Die Videokamera blickt an der Seite des Zuges und/oder einer Bahnsteigschutzwand entlang, so dass überstehende Objekte erfasst werden. Bei Bahnsteigen mit Gleiskrümmung kann unter Umständen der Einsatz mehrerer Videokameras erforderlich sein.According to claim 2 is the video camera on one side of the door a train attached. This mounting location is preferably the Position that previously held the head of the driver for the same task. Alternatively or in addition Can at least one video camera on the platform in a suitable position be provided. The video camera looks at the side of the train and / or a platform protection wall along, so that protruding objects are detected. At platforms with track curvature may possibly the use of multiple video cameras may be required.

Eine weitere geeignete Kameraposition ist gemäß Anspruch 3 mittig oberhalb der Tür, wobei der Blickwinkel der Videokamera nach unten gerichtet ist. In diesem Fall muss für den Öffnungsbereich jeder Tür ein Kamerasystem vorgesehen sein.A Another suitable camera position is centered according to claim 3 above the door, the viewing angle of the video camera is directed downwards. In this case must be for the opening area every door a camera system may be provided.

Die Erfindung wird nachfolgend anhand eines figürlich dargestellten Ausführungsbeispiels näher erläutert.The Invention will be described below with reference to an embodiment shown in FIG explained in more detail.

Die einzige Figur zeigt schematisch eine Bahnhofsituation. Ein Zug 1 befindet sich haltend an einem Bahnsteig 2. Am vorderen Zugteil ist eine Montageposition 3 für eine Videokamera derart vorgesehen, dass Türbereiche 4 und 5 von dem Blickwin kel der Videokamera erfasst werden. Mittels Bildbearbeitung wird der jeweils zu dem Türereich 4 bzw. 5 zugehörige Gefahrraum 6 bzw. 7 ausgewertet. Dabei werden Fahrgäste und Objekte, die die quasi kastenförmigen Konturen des Gefahrraumes 6 bzw. 7 überdecken, als gefährdet erkannt, wodurch das Schließen der Tür zumindest für eine definierte Zeit verhindert wird. Die Bildbearbeitung analysiert dazu einen optischen Fluss 8 im Gefahrraum 6 bzw. 7. Kurz vor der Abfahrt des Zuges 1 werden die Türen automatisch geschlossen, wenn während einer Mindestzeitspanne kein optischer Fluss 8 festgestellt wurde.The single figure shows schematically a station situation. A train 1 is located at a platform 2 , At the front tension part is a mounting position 3 provided for a video camera such that door areas 4 and 5 from the view win the video camera camera. By means of image processing is the respectively to the door area 4 respectively. 5 associated danger space 6 respectively. 7 evaluated. In the process, passengers and objects become the quasi box-shaped contours of the danger area 6 respectively. 7 Cover, recognized as vulnerable, whereby the closing of the door is prevented for at least a defined time. The image processing analyzes an optical flow 8th in the danger room 6 respectively. 7 , Just before the train leaves 1 the doors are automatically closed when there is no optical flow for a minimum period of time 8th was determined.

Die Erfindung beschränkt sich nicht auf das vorstehend angegebene Ausführungsbeispiel. Vielmehr ist eine Anzahl von Varianten denkbar, welche auch bei grundsätzlich anders gearteter Ausführung von den Merkmalen der Erfindung Gebrauch machen. Insbesondere ist die Erfindung nicht auf die Betätigung von Fahrzeugtüren beschränkt. Die automatische Türenbetätigung kann beispielsweise auch bei Türen in Gebäuden oder Türen sowie Klappen, auch fensterartigen Klappen, aller Art für Produktionszwecke angewendet werden.The Restricted invention not on the above embodiment. Rather, it is a number of variants conceivable, which is also fundamentally different kind of execution of make use of the features of the invention. In particular, the Invention not on the operation of vehicle doors limited. The automatic door operation can for example, in doors in buildings or doors as well as flaps, also window-like flaps of all kinds for production purposes be applied.

Claims (3)

Vorrichtung zur Betätigung von Türen, insbesondere Fahrzeugtüren und Bahnsteigtüren, dadurch gekennzeichnet, dass mindestens eine Videokamera zur Beobachtung des Türbereiches vorgesehen ist, wobei die Videokamera Bildbearbeitungsmittel aufweist, die Bewegungsvorgänge im Türbereich detektieren und die bei Nichtauftreten von relevanten Bewegungsvorgängen während eines Mindestzeitraumes ein Auslösesignal für die Betätigung der Tür(en) erzeugen.Device for actuating doors, in particular vehicle doors and platform screen doors, characterized in that at least one video camera is provided for observation of the door area, wherein the video camera has image processing means which detect movement processes in the door area and the non-occurrence of relevant movement processes during a minimum period, a trigger signal for the Actuate the door (s). Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Videokamera an einer Türenseite eines Zuges angebracht ist.Device according to claim 1, characterized in that that the video camera is on one side of the door a train is attached. Vorrichtung nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass die Videokamera mittig oberhalb der Tür mit nach unten gerichtetem Blickwinkel angeordnet ist.Device according to one of the preceding claims, characterized in that the video camera is centered above the door with arranged below the viewing angle.
DE200410044204 2004-09-06 2004-09-06 Door opening device, for vehicles and trains, comprises video camera with picture recognition to monitor area around door to detect movements and allow doors to close if moving objects do not approach Ceased DE102004044204A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE200410044204 DE102004044204A1 (en) 2004-09-06 2004-09-06 Door opening device, for vehicles and trains, comprises video camera with picture recognition to monitor area around door to detect movements and allow doors to close if moving objects do not approach

Applications Claiming Priority (1)

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DE200410044204 DE102004044204A1 (en) 2004-09-06 2004-09-06 Door opening device, for vehicles and trains, comprises video camera with picture recognition to monitor area around door to detect movements and allow doors to close if moving objects do not approach

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DE200410044204 Ceased DE102004044204A1 (en) 2004-09-06 2004-09-06 Door opening device, for vehicles and trains, comprises video camera with picture recognition to monitor area around door to detect movements and allow doors to close if moving objects do not approach

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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006072617A3 (en) * 2005-01-10 2007-11-08 Siemens Ag System for monitoring the area between a train and the platform edge
DE102006050420B3 (en) * 2006-10-20 2008-03-06 Mitsubishi Hitec Paper Flensburg Gmbh Heat-sensitive recording material, useful for printing tickets, has recording layer containing fluoran derivative color former and sulfonyl-urea and diphenyl sulfone derivative dye acceptors
EP2071537A1 (en) 2007-11-05 2009-06-17 Robert Bosch GmbH Method and device for identifying and reporting a person exiting a vehicle
GB2507384A (en) * 2012-09-07 2014-04-30 Hitachi Ltd Door opening/closing control system of a carriage based on congestion data
EP2765007A1 (en) 2013-02-08 2014-08-13 Mitsubishi HiTec Paper Europe GmbH Heat-sensitive recording material
CN105317310A (en) * 2014-07-14 2016-02-10 广州天赋人财光电科技有限公司 Platform screen door and train door anti-pinch ultralimit monitoring system and method based on machine vision
DE102014113569A1 (en) * 2014-09-19 2016-03-24 Gebr. Bode Gmbh & Co. Kg Door system with sensor unit and communication element
DE102014113567A1 (en) * 2014-09-19 2016-03-24 Gebr. Bode Gmbh & Co. Kg Door system with sensor unit for non-contact passenger compartment monitoring
DE102014113572A1 (en) * 2014-09-19 2016-03-24 Gebr. Bode Gmbh & Co. Kg Door system with sensor unit for access control
EP3305538A1 (en) 2016-10-07 2018-04-11 Mitsubishi HiTec Paper Europe GmbH Heat sensitive recording material
DE102016219567A1 (en) 2016-10-07 2018-04-12 Mitsubishi Hitec Paper Europe Gmbh Heat-sensitive recording material
DE102016219569A1 (en) 2016-10-07 2018-04-12 Mitsubishi Hitec Paper Europe Gmbh Heat-sensitive recording material
CN109441281A (en) * 2018-12-12 2019-03-08 中国重汽集团济南动力有限公司 Unmanned car intelligent switch door system and control method

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19522760C2 (en) * 1995-06-27 1999-12-16 Dorma Gmbh & Co Kg Automatic door and method for operating an automatic door
DE69813052T2 (en) * 1997-01-22 2004-03-04 Hitachi, Ltd. Automatic control system for opening / closing a door of a train

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19522760C2 (en) * 1995-06-27 1999-12-16 Dorma Gmbh & Co Kg Automatic door and method for operating an automatic door
DE69813052T2 (en) * 1997-01-22 2004-03-04 Hitachi, Ltd. Automatic control system for opening / closing a door of a train

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006072617A3 (en) * 2005-01-10 2007-11-08 Siemens Ag System for monitoring the area between a train and the platform edge
DE102006050420B3 (en) * 2006-10-20 2008-03-06 Mitsubishi Hitec Paper Flensburg Gmbh Heat-sensitive recording material, useful for printing tickets, has recording layer containing fluoran derivative color former and sulfonyl-urea and diphenyl sulfone derivative dye acceptors
EP2071537A1 (en) 2007-11-05 2009-06-17 Robert Bosch GmbH Method and device for identifying and reporting a person exiting a vehicle
GB2507384A (en) * 2012-09-07 2014-04-30 Hitachi Ltd Door opening/closing control system of a carriage based on congestion data
EP2765007A1 (en) 2013-02-08 2014-08-13 Mitsubishi HiTec Paper Europe GmbH Heat-sensitive recording material
CN105317310A (en) * 2014-07-14 2016-02-10 广州天赋人财光电科技有限公司 Platform screen door and train door anti-pinch ultralimit monitoring system and method based on machine vision
DE102014113572A1 (en) * 2014-09-19 2016-03-24 Gebr. Bode Gmbh & Co. Kg Door system with sensor unit for access control
DE102014113567A1 (en) * 2014-09-19 2016-03-24 Gebr. Bode Gmbh & Co. Kg Door system with sensor unit for non-contact passenger compartment monitoring
DE102014113569A1 (en) * 2014-09-19 2016-03-24 Gebr. Bode Gmbh & Co. Kg Door system with sensor unit and communication element
DE102014113569B4 (en) 2014-09-19 2018-05-03 Gebr. Bode Gmbh & Co. Kg Door system with sensor unit and communication element
US10494853B2 (en) 2014-09-19 2019-12-03 Gebr. Bode Gmbh & Co. Kg Door system with sensor unit for contactless passenger compartment monitoring
DE102014113572B4 (en) 2014-09-19 2023-01-12 Bode - Die Tür Gmbh Door system with sensor unit for boarding aid monitoring
DE102014113567B4 (en) 2014-09-19 2023-01-12 Bode - Die Tür Gmbh Door system with sensor unit for contactless passenger compartment monitoring
EP3305538A1 (en) 2016-10-07 2018-04-11 Mitsubishi HiTec Paper Europe GmbH Heat sensitive recording material
DE102016219567A1 (en) 2016-10-07 2018-04-12 Mitsubishi Hitec Paper Europe Gmbh Heat-sensitive recording material
DE102016219569A1 (en) 2016-10-07 2018-04-12 Mitsubishi Hitec Paper Europe Gmbh Heat-sensitive recording material
CN109441281A (en) * 2018-12-12 2019-03-08 中国重汽集团济南动力有限公司 Unmanned car intelligent switch door system and control method

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