CN103696652A - Electric folding door and protecting method and system thereof - Google Patents
Electric folding door and protecting method and system thereof Download PDFInfo
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- CN103696652A CN103696652A CN201310753853.8A CN201310753853A CN103696652A CN 103696652 A CN103696652 A CN 103696652A CN 201310753853 A CN201310753853 A CN 201310753853A CN 103696652 A CN103696652 A CN 103696652A
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Abstract
The invention discloses an electric folding door and a protecting method and system thereof. The method includes acquiring image frames of videos collected by at least two sets of video collection modules in a monitoring area in real time, determining track targets in current image frames which are acquired in real time, and judging whether the track targets are positioned within a preset alarming distance or not; if yes, whether the electric folding door is in a being-closed state or not; if the electric folding door is in a being-closed state, sending a braking instruction to a driving control system of the electric folding door through a communication module, wherein the braking instruction is used for indicating that the driving control system stops driving the electric folding door. By the scheme, the videos of the monitoring area are collected in real time, analysis results of the image frames collected on the basis of multiple modules are sent to the driving control system of the electric folding door, running of the electric folding door can be stopped when distance between an obstacle of the electric folding door is smaller than a preset threshold value, and person clamping or vehicle clamping accidents can be avoided.
Description
Technical field
The application relates to gate inhibition/channel management technical field, particularly relates to a kind of guard method, protection system and motor-driven folding door of motor-driven folding door.
Background technology
Along with the development of scientific and technological level, motor-driven folding door has been widely used in mall, the regions such as factory or government bodies access, the tracks of motor-driven folding door is generally more than 10 meters, have wider current scope, and the speed of service is slow, the discrepancy being convenient for people to.
At present; existing most of motor-driven folding door is all the function that the motor of dependence manual remote control motor-driven folding door drives to realize opening and closing; and in the process of closing in manual remote control electric door; to rely on artificial judgment; when having people or have car current, remote control stops the operation of motor-driven folding door, or utilizes infrared emission to realize the anti-pinch protection function of motor-driven folding door, when infrared emission is blocked; can make motor-driven folding door out of service, prevent from pressing from both sides the generation of car folder people phenomenon.
But; in prior art, at least there are the following problems: the infrared emission anti-pinch protection function of traditional motor-driven folding door; shield just one to ray; monitoring range is extremely limited; fault rate is higher; and its reliability is affected by environment larger, for example rainy day infrared emission is easily malfunctioning, and motor-driven folding door folder car folder people's accident happens occasionally.Therefore the anti-pinch protection measure of traditional motor-driven folding door cannot be broken away from artificial dependence.
Summary of the invention
In view of this, the application provides a kind of guard method, protection system and motor-driven folding door of motor-driven folding door, and to realize the automatic anti-pinch protection of motor-driven folding door, the anti-pinch protection measure that solves traditional motor-driven folding door cannot be broken away from the problem to artificial dependence.
To achieve these goals, the technical scheme that the embodiment of the present application provides is as follows:
A kind of guard method of motor-driven folding door; be applied in the protection system of motor-driven folding door; described protection system comprises video processing module, communication module and at least two group video acquisition module; described at least two group video acquisition module are arranged on described motor-driven folding door, and described guard method comprises:
The picture frame of the video that described in Real-time Obtaining, at least two group video acquisition module gather in guarded region, determines the tracking target in the current image frame of Real-time Obtaining, judges that described tracking target is whether in default alarm distance;
If described tracking target in default alarm distance, detects the whether state in closing of described motor-driven folding door;
If the state of described motor-driven folding door in closing, the driving control system transmission braking instruction by described communication module to described motor-driven folding door, described braking instruction is used to indicate described driving control system and stops driving described motor-driven folding door.
Preferably, describedly judge that described tracking target whether in default alarm distance, comprising:
The parallax of the picture frame of the video gathering in guarded region according to described at least two group video acquisition module, calculates described tracking target to the object distance of the central point of described at least two group video acquisition module;
Judge whether described object distance is less than or equal to default alarm distance;
If described object distance is less than or equal to default alarm distance, judge that described tracking target is in default alarm distance.
Preferably, also comprise:
When judging described tracking target, leave after default alarm distance, driving control system transmission enabled instruction by from described communication module to described motor-driven folding door, described enabled instruction is used to indicate described driving control system and continues to drive described motor-driven folding door.
The application also provides a kind of protection system of motor-driven folding door, comprising: video processing module, communication module and at least two group video acquisition module, wherein:
Described at least two group video acquisition module are arranged on described motor-driven folding door, for the picture frame of Real-time Collection guarded region;
Described video processing module, for according to the picture frame of the guarded region of described at least two group video acquisition module Real-time Collections, determines the tracking target in the current image frame of Real-time Obtaining, judges that described tracking target is whether in default alarm distance; If described tracking target in default alarm region, detects the whether state in closing of described motor-driven folding door; If the state of described motor-driven folding door in closing, sends braking instruction to described communication module;
Described communication module, for receiving the braking instruction of described video processing module, and the driving control system to described motor-driven folding door forwards by described braking instruction, and described braking instruction is used to indicate described driving control system and stops driving described motor-driven folding door.
Preferably, described video acquisition module is two groups, and two groups of video acquisition module fixed range of being separated by is arranged in parallel, and described in two groups video acquisition module towards same direction,
Described video processing module, the parallax specifically for the picture frame of the video that gathers in guarded region according to two groups of video acquisition module, calculates described tracking target to the object distance of the central point of two groups of video acquisition module;
Judge whether described object distance is less than or equal to default alarm distance;
If described object distance is less than or equal to default alarm distance, judge that described tracking target is in default alarm distance.
Preferably, described video processing module, also for: when judging described tracking target, leave after default alarm distance, to described communication module, send enabled instruction;
Described communication module, also for: receive the enabled instruction of described video processing module, and the driving control system to described motor-driven folding door forwards by described enabled instruction, described enabled instruction is used to indicate described driving control system and continues to drive described motor-driven folding door.
The application also provides a kind of motor-driven folding door, comprises the protection system as described in above-mentioned any one.
The technical scheme being provided by above the application, the picture frame of the video that described in Real-time Obtaining, at least two group video acquisition module gather in guarded region, determine the tracking target in the current image frame of Real-time Obtaining, judge that described tracking target is whether in default alarm distance; If described tracking target in default alarm distance, detects the whether state in closing of described motor-driven folding door; If the state of described motor-driven folding door in closing, the driving control system transmission braking instruction by described communication module to described motor-driven folding door, described braking instruction is used to indicate described driving control system and stops driving described motor-driven folding door.The technical scheme providing by application the application, in motor-driven folding door closing direction certain area, carry out video acquisition and analyzing and processing in real time, and the analysis result of the picture frame to based on a plurality of video acquisition module collections is sent to the driving control system of motor-driven folding door, the obstruction state on the closing direction of motor-driven folding door can be detected, and when the distance of obstruction and motor-driven folding door is less than predetermined threshold value, stop the operation of motor-driven folding door, avoid the generation of folding door folder people or folder car accident.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, the accompanying drawing the following describes is only some embodiment that record in the application, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
The schematic flow sheet of the guard method of a kind of motor-driven folding door that Fig. 1 provides for the application;
Fig. 2 a kind ofly judges the whether schematic flow sheet of the method in default alarm distance of tracking target for what the application provided;
The structural representation of the protection system of a kind of motor-driven folding door that Fig. 3 provides for the application;
The structural representation of a kind of motor-driven folding door that Fig. 4 provides for the application.
The specific embodiment
In order to make those skilled in the art person understand better the technical scheme in the application, below in conjunction with accompanying drawing, the application's technical scheme is clearly and completely described, obviously, described embodiment is only the application's part embodiment, rather than whole embodiment.Embodiment based in the application, those of ordinary skills are not making the every other embodiment obtaining under creative work prerequisite, all should belong to the scope of the application's protection.
Below in conjunction with accompanying drawing, the application's embodiment is described in detail.
The schematic flow sheet of the guard method of a kind of motor-driven folding door that Fig. 1 provides for the application.
Please refer to shown in Fig. 1; the embodiment of the present application provides a kind of guard method of motor-driven folding door; be applied in the protection system of motor-driven folding door; protection system comprises video processing module, communication module and at least two group video acquisition module; at least two group video acquisition module are arranged on motor-driven folding door, and guard method comprises:
S100: the picture frame of the video that Real-time Obtaining at least two group video acquisition module gather in guarded region, determine the tracking target in the current image frame of Real-time Obtaining, judge that tracking target is whether in default alarm distance;
In the embodiment of the present application, default alarm region can be the track scope of motor-driven folding door, also electric foldable door track scope can be included, and guarded region is included alarm region, when having people or car to enter guarded region, video acquisition module just can arrive the image of moving object by Real-time Collection, then adopt a plurality of video acquisition module to follow the tracks of moving object, according to the picture frame of Real-time Obtaining, judge that tracking target is whether in default alarm distance, and then carry out subsequent operation.
In the embodiment of the present application, determine the process of the tracking target in the picture frame of Real-time Obtaining, can comprise: the current image frame of Real-time Obtaining and a upper picture frame are carried out to frame poor, extract the profile of moving object; Using a moving object as a tracking target.
S200: if tracking target in default alarm distance, detects the whether state in closing of motor-driven folding door;
In the embodiment of the present application, judge the whether state in closing of motor-driven folding door, the direction of motion of the folding door head that can obtain according to video acquisition module monitoring also can, according to the running status of the drive system of the motor-driven folding door obtaining, repeat no more herein.
S300: if the state of motor-driven folding door in closing, the driving control system transmission braking instruction by communication module to motor-driven folding door, braking instruction is used to indicate driving control system and stops driving motor-driven folding door.
In the embodiment of the present application, if tracking target is in default alarm distance, and the state of motor-driven folding door in closing, video processing module sends braking instruction by communication module to the driving control system of motor-driven folding door, braking instruction is used to indicate driving control system and stops driving motor-driven folding door, to prevent from pressing from both sides the generation of people or folder car phenomenon.
The technical scheme being provided by above the application, the picture frame of the video that described in Real-time Obtaining, at least two group video acquisition module gather in guarded region, determine the tracking target in the current image frame of Real-time Obtaining, judge that described tracking target is whether in default alarm distance; If described tracking target in default alarm distance, detects the whether state in closing of described motor-driven folding door; If the state of described motor-driven folding door in closing, the driving control system transmission braking instruction by described communication module to described motor-driven folding door, described braking instruction is used to indicate described driving control system and stops driving described motor-driven folding door.The technical scheme providing by application the application, in motor-driven folding door closing direction certain area, carry out video acquisition and analyzing and processing in real time, and the analysis result of the picture frame to based on a plurality of video acquisition module collections is sent to the driving control system of motor-driven folding door, the obstruction state on the closing direction of motor-driven folding door can be detected, and when the distance of obstruction and motor-driven folding door is less than predetermined threshold value, stop the operation of motor-driven folding door, avoid the generation of folding door folder people or folder car accident.
Above-described embodiment provides a kind of guard method of motor-driven folding door, wherein, judges the whether method in default alarm distance of tracking target, and the present embodiment describes in connection with accompanying drawing:
Fig. 2 a kind ofly judges the whether schematic flow sheet of the method in default alarm distance of tracking target for what the application provided.
Please refer to shown in Fig. 2, the method that the embodiment of the present application provides, comprising:
S101: the parallax of the picture frame of the video gathering in guarded region according at least two group video acquisition module, calculates tracking target to the object distance of the central point of at least two group video acquisition module;
S102: judge whether object distance is less than or equal to default alarm distance;
S103: if object distance is less than or equal to default alarm distance, judge that tracking target is in default alarm distance.
In the embodiment of the present application, main guarded region is electric foldable door track inside and track two side areas, by a plurality of video acquisition module, the tracking target in guarded region is demarcated, such as utilizing two video acquisition module, tracking target is carried out to binocular calibration, then video processing module can carry out three-dimensional imaging by the information of two video acquisition module collections, and by three-dimensional imaging, obtains the three-dimensional information of object.In folding door closing process, the monitoring image frame of video acquisition module Real-time Collection folding door track and track both sides, video processing module detects on track whether have other objects according to the picture frame of video acquisition module.If there is other objects, can obtain three-dimensional information by three-dimensional imaging, calculate the distance of folding door head or video acquisition module and object.If distance is less than threshold value, by communication module, send braking instruction.
In actual applications, the method of the embodiment of the present application can adopt following flow process: (1) carries out binocular calibration to two of left and right video acquisition module, obtain the relation of image coordinate system and scene coordinate system, and utilize two video acquisition module in left and right to carry out the place ahead video acquisition simultaneously; (2) two two field pictures that collect in step (1) are distorted and proofreaied and correct with polar curve, and extract the characteristic point of image, image characteristic point is carried out to characteristic vector and represent; (3) according to the characteristic vector of step (2), carry out Stereo matching and obtain preliminary matching double points, and remove false matching double points, set up the corresponding relation of correct match point; (4) according to the correct matching double points of step (3), calculate disparity map, and according to disparity map, obtain the three-dimensional information of tracking target; (5) three-dimensional information of the tracking target of obtaining according to step (4) calculates the distance of the central point of object and motor-driven folding door head or a plurality of video acquisition module, if this distance is less than threshold value (in the present embodiment, threshold value can be 50 centimetres), be judged as on the track of motor-driven folding door and have obstruction, by communication module, send braking instruction.
Such as, the central point of distance between two groups of video acquisition module of take is scene coordinate origin, the line right of take between two groups of video acquisition module is X-axis positive direction, take and cross initial point and be upwards Y-axis positive direction perpendicular to horizontal plane, the direction of take initial point excessively and being parallel to horizontal plane directed towards object is Z axis positive direction.Set up the relation between scene coordinate system and image coordinate system, according to image-forming principle, can show that scene coordinate is: X=D[X (i)+X (r)]/2[X (i)-X (r)], Y=D[Y (i)+Y (r)]/2[X (i)-X (r)], Z=DF/[X (i)-X (r)].Wherein, D is two groups of distances between video acquisition module, F is the focal length of two groups of video acquisition module, X (i), X (r) are respectively characteristic point in the tracking target picture point abscissa in the imaging coordinate system of two groups of video acquisition module, Y (i), Y (r) are respectively characteristic point in the tracking target picture point ordinate in the imaging coordinate system of two groups of video acquisition module, and X (i)-X (r) is the parallax of the imaging o'clock in the imaging coordinate system of two groups of video acquisition module with clarification of objective.
Draw after each characteristic point in tracking target coordinate figure in scene coordinate system, just can utilize its coordinate figure to calculate the three-dimensional information of tracking target, also can calculate the distance of the central point of tracking target and motor-driven folding door head or a plurality of video acquisition module, as object distance, the size of this distance and default alarm distance relatively, can judge that this tracking target is whether in default alarm distance.
The scheme of the embodiment of the present application; utilize a plurality of video acquisition module to demarcate tracking target; by parallax, judge that tracking target is whether in default alarm distance; can effectively avoid Changes in weather or the impact of environmental change on protection system; make the accuracy of protection system higher, effectively prevent maloperation.
Be understandable that; in the above-described embodiments; the protection system of motor-driven folding door is when judging tracking target in default alarm distance; motor-driven folding door is phase down immediately; and leave after default alarm distance when judging tracking target; protection system in the embodiment of the present application can also send enabled instruction to the driving control system of motor-driven folding door by communication module, and enabled instruction is used to indicate driving control system and continues to drive motor-driven folding door.
The technical scheme being provided by above the application, the picture frame of the video that described in Real-time Obtaining, at least two group video acquisition module gather in guarded region, determine the tracking target in the current image frame of Real-time Obtaining, judge that described tracking target is whether in default alarm distance; If described tracking target in default alarm distance, detects the whether state in closing of described motor-driven folding door; If the state of described motor-driven folding door in closing, the driving control system transmission braking instruction by described communication module to described motor-driven folding door, described braking instruction is used to indicate described driving control system and stops driving described motor-driven folding door.The technical scheme providing by application the application, in motor-driven folding door closing direction certain area, carry out video acquisition and analyzing and processing in real time, and the analysis result of the picture frame to based on a plurality of video acquisition module collections is sent to the driving control system of motor-driven folding door, the obstruction state on the closing direction of motor-driven folding door can be detected, and when the distance of obstruction and motor-driven folding door is less than predetermined threshold value, stop the operation of motor-driven folding door, avoid the generation of folding door folder people or folder car accident.
The embodiment of the method that above-described embodiment provides for the application, corresponding said method embodiment, the application also provides a kind of protection system of motor-driven folding door.
The structural representation of the protection system of a kind of motor-driven folding door that Fig. 3 provides for the application.
Please refer to shown in Fig. 3, the protection system of the motor-driven folding door that the embodiment of the present application provides, comprises at least two group video acquisition module 1, video processing module 2 and communication module 3, wherein:
At least two group video acquisition module 1 are arranged on motor-driven folding door, for the picture frame of Real-time Collection guarded region;
Corresponding to said method embodiment, the guard method of the protection system that native system embodiment provides and protection philosophy and said method embodiment are similar, repeat no more herein.
Simultaneously, on the basis of above-described embodiment, in the embodiment of the present application, video acquisition module 1 is two groups, two groups of video acquisition module 1 fixed range of being separated by is arranged in parallel, and two groups of video acquisition module 1 are towards same direction, and video processing module 2, parallax specifically for the picture frame of the video that gathers in guarded region according to two groups of video acquisition module 1, calculates tracking target to the object distance of the central point of two groups of video acquisition module 1; Judge whether object distance is less than or equal to default alarm distance; If object distance is less than or equal to default alarm distance, judge that tracking target is in default alarm distance.
Be understandable that, in the embodiment of the present application, video processing module 2, can also be for: when judging tracking target, leave after default alarm distance, to communication module, send enabled instruction;
The structural representation of a kind of motor-driven folding door that Fig. 4 provides for the application.
Please refer to shown in Fig. 4, a kind of motor-driven folding door that the application provides comprises the protection system of the motor-driven folding door in above-mentioned arbitrary embodiment.
The technical scheme being provided by above the application, the picture frame of the video that described in Real-time Obtaining, at least two group video acquisition module gather in guarded region, determine the tracking target in the current image frame of Real-time Obtaining, judge that described tracking target is whether in default alarm distance; If described tracking target in default alarm distance, detects the whether state in closing of described motor-driven folding door; If the state of described motor-driven folding door in closing, the driving control system transmission braking instruction by described communication module to described motor-driven folding door, described braking instruction is used to indicate described driving control system and stops driving described motor-driven folding door.The technical scheme providing by application the application, in motor-driven folding door closing direction certain area, carry out video acquisition and analyzing and processing in real time, and the analysis result of the picture frame to based on a plurality of video acquisition module collections is sent to the driving control system of motor-driven folding door, the obstruction state on the closing direction of motor-driven folding door can be detected, and when the distance of obstruction and motor-driven folding door is less than predetermined threshold value, stop the operation of motor-driven folding door, avoid the generation of folding door folder people or folder car accident.
It should be noted that, each embodiment in this manual all adopts the mode of going forward one by one to describe, and each embodiment stresses is the difference with other embodiment, between each embodiment identical similar part mutually referring to.For device class embodiment, because it is substantially similar to embodiment of the method, so description is fairly simple, relevant part is referring to the part explanation of embodiment of the method.
Finally, also it should be noted that, in this article, relational terms such as the first and second grades is only used for an entity or operation to separate with another entity or operating space, and not necessarily requires or imply and between these entities or operation, have the relation of any this reality or sequentially.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thereby the process, method, article or the equipment that make to comprise a series of key elements not only comprise those key elements, but also comprise other key elements of clearly not listing, or be also included as the intrinsic key element of this process, method, article or equipment.The in the situation that of more restrictions not, the key element being limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment that comprises described key element and also have other identical element.
Above the guard method of a kind of motor-driven folding door provided by the present invention, protection system and motor-driven folding door are described in detail, applied specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment is just for helping to understand method of the present invention and core concept thereof; , for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention meanwhile.
Claims (7)
1. the guard method of a motor-driven folding door; be applied in the protection system of motor-driven folding door; it is characterized in that; described protection system comprises video processing module, communication module and at least two group video acquisition module; described at least two group video acquisition module are arranged on described motor-driven folding door, and described guard method comprises:
The picture frame of the video that described in Real-time Obtaining, at least two group video acquisition module gather in guarded region, determines the tracking target in the current image frame of Real-time Obtaining, judges that described tracking target is whether in default alarm distance;
If described tracking target in default alarm distance, detects the whether state in closing of described motor-driven folding door;
If the state of described motor-driven folding door in closing, the driving control system transmission braking instruction by described communication module to described motor-driven folding door, described braking instruction is used to indicate described driving control system and stops driving described motor-driven folding door.
2. guard method according to claim 1, is characterized in that, describedly judges that described tracking target whether in default alarm distance, comprising:
The parallax of the picture frame of the video gathering in guarded region according to described at least two group video acquisition module, calculates described tracking target to the object distance of the central point of described at least two group video acquisition module;
Judge whether described object distance is less than or equal to default alarm distance;
If described object distance is less than or equal to default alarm distance, judge that described tracking target is in default alarm distance.
3. guard method according to claim 1, is characterized in that, also comprises:
When judging described tracking target, leave after default alarm distance, driving control system transmission enabled instruction by from described communication module to described motor-driven folding door, described enabled instruction is used to indicate described driving control system and continues to drive described motor-driven folding door.
4. a protection system for motor-driven folding door, is characterized in that, comprising: video processing module, communication module and at least two group video acquisition module, wherein:
Described at least two group video acquisition module are arranged on described motor-driven folding door, for the picture frame of Real-time Collection guarded region;
Described video processing module, for according to the picture frame of the guarded region of described at least two group video acquisition module Real-time Collections, determines the tracking target in the current image frame of Real-time Obtaining, judges that described tracking target is whether in default alarm distance; If described tracking target in default alarm region, detects the whether state in closing of described motor-driven folding door; If the state of described motor-driven folding door in closing, sends braking instruction to described communication module;
Described communication module, for receiving the braking instruction of described video processing module, and the driving control system to described motor-driven folding door forwards by described braking instruction, and described braking instruction is used to indicate described driving control system and stops driving described motor-driven folding door.
5. protection system according to claim 4, is characterized in that, described video acquisition module is two groups, and two groups of video acquisition module fixed range of being separated by is arranged in parallel, and described in two groups video acquisition module towards same direction,
Described video processing module, the parallax specifically for the picture frame of the video that gathers in guarded region according to two groups of video acquisition module, calculates described tracking target to the object distance of the central point of two groups of video acquisition module;
Judge whether described object distance is less than or equal to default alarm distance;
If described object distance is less than or equal to default alarm distance, judge that described tracking target is in default alarm distance.
6. protection system according to claim 4, is characterized in that,
Described video processing module, also for: when judging described tracking target, leave after default alarm distance, to described communication module, send enabled instruction;
Described communication module, also for: receive the enabled instruction of described video processing module, and the driving control system to described motor-driven folding door forwards by described enabled instruction, described enabled instruction is used to indicate described driving control system and continues to drive described motor-driven folding door.
7. a motor-driven folding door, is characterized in that, comprises the protection system as described in any one in claim 4-6.
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| CN201310753853.8A CN103696652B (en) | 2013-12-31 | 2013-12-31 | A kind of guard method of motor-driven folding door, protection system and motor-driven folding door |
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| CN104691559A (en) * | 2015-03-24 | 2015-06-10 | 江苏科技大学 | Auxiliary system for monitoring safety of region between platform safety door and vehicle door and realization method of auxiliary system |
| CN104918017A (en) * | 2015-06-08 | 2015-09-16 | 福建星网锐捷通讯股份有限公司 | Monitoring method and system based on door motion state |
| CN104918017B (en) * | 2015-06-08 | 2018-04-27 | 福建星网锐捷通讯股份有限公司 | Monitoring method and system based on door motion state |
| CN110249105A (en) * | 2017-02-03 | 2019-09-17 | 纳博特斯克有限公司 | The control method of automatic door sensor, automatic door unit and automatic door unit |
| CN107038776A (en) * | 2017-03-24 | 2017-08-11 | 新疆习美人工智能科技有限公司 | A kind of gate control system and access control method |
| CN108089202A (en) * | 2017-12-12 | 2018-05-29 | 徐薇 | Subway shield door gauge area intelligent anti-clip detection warning device and method |
| CN108001460A (en) * | 2017-12-12 | 2018-05-08 | 徐薇 | Subway shield door gauge area intelligent anti-clip detection warning device and method |
| CN108870631A (en) * | 2018-03-30 | 2018-11-23 | 广东美的制冷设备有限公司 | Door-plate control method, air conditioner and the computer readable storage medium of air conditioner |
| CN108870631B (en) * | 2018-03-30 | 2021-03-19 | 广东美的制冷设备有限公司 | Door panel control method of air conditioner, air conditioner and computer readable storage medium |
| CN110807343A (en) * | 2018-08-01 | 2020-02-18 | 浙江宇视科技有限公司 | Access control system and control method |
| CN108825048A (en) * | 2018-08-08 | 2018-11-16 | 江苏金秋竹集团有限公司 | Automatic folding door with safety guard |
| CN111946384A (en) * | 2020-08-21 | 2020-11-17 | 精英数智科技股份有限公司 | Air door control method, device, equipment and system |
| CN113464009A (en) * | 2021-08-06 | 2021-10-01 | 佛山市博顿光电科技有限公司 | Film coating machine door opening and closing device and system, door opening and closing control method and film coating machine |
| CN114320074A (en) * | 2022-01-11 | 2022-04-12 | 东屋世安物联科技(江苏)股份有限公司 | Turnover door switch detection and control device, control system and control method |
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