CN103696652B - A kind of guard method of motor-driven folding door, protection system and motor-driven folding door - Google Patents
A kind of guard method of motor-driven folding door, protection system and motor-driven folding door Download PDFInfo
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Abstract
This application discloses a kind of guard method of motor-driven folding door, protection system and motor-driven folding door, comprise: the picture frame of the video that Real-time Obtaining at least two group video acquisition module gathers in guarded region, determine the tracking target in the current image frame of Real-time Obtaining, judge whether tracking target is in default alarm distance; If tracking target is in default alarm distance, detects motor-driven folding door and whether be in the state of closing; If motor-driven folding door is in the state of closing, by the driving control system transmission braking instruction of communication module to motor-driven folding door, braking instruction is used to indicate driving control system to be stopped driving motor-driven folding door.The video of this programme Real-time Collection guarded region, and be sent to motor-driven folding door driving control system by the analysis result of the picture frame based on multiple module acquires, the operation of motor-driven folding door can be stopped when the distance of obstruction and motor-driven folding door is less than predetermined threshold value, avoid the generation of pressing from both sides people or folder car accident.
Description
Technical field
The application relates to gate inhibition/channel management technical field, particularly relates to a kind of guard method of motor-driven folding door, protection system and motor-driven folding door.
Background technology
Along with the development of scientific and technological level, motor-driven folding door is 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 range, and the speed of service is slow, the discrepancy be convenient for people to.
At present; existing most of motor-driven folding door is all that the motor relying on manual remote control motor-driven folding door drives the function realizing opening and closing; and in the process of manual remote control electric door closedown; rely on artificial judgment; when having people or have car to pass through, 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; motor-driven folding door can be made out of service, prevent the generation of pressing from both sides 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 comparatively large, such as rainy day infrared emission is easily malfunctioning, and the accident of motor-driven folding door folder car folder people happens occasionally.The anti-pinch protection measure of therefore 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 of motor-driven folding door, protection system and motor-driven folding door, and to realize the automatic anti-pinch protection of motor-driven folding door, the anti-pinch protection measure solving traditional motor-driven folding door cannot break away from the problem to artificial dependence.
To achieve these goals, the technical scheme that provides of the embodiment of the present application 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:
Described in Real-time Obtaining, the picture frame of the video that 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 whether described tracking target is in default alarm distance;
If described tracking target is in default alarm distance, detects described motor-driven folding door and whether be in the state of closing;
If described motor-driven folding door is in the state of closing, by the driving control system transmission braking instruction of described communication module to described motor-driven folding door, described braking instruction is used to indicate described driving control system to be stopped driving described motor-driven folding door.
Preferably, describedly judge whether described tracking target is in default alarm distance, comprising:
The parallax of the picture frame of the video gathered in guarded region according to described at least two group video acquisition module, calculates the object distance of described tracking target to 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, then judge that described tracking target is in default alarm distance.
Preferably, also comprise:
After judging that described tracking target leaves default alarm distance, by the driving control system transmission enabled instruction of 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 the picture frame of the guarded region according to 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 whether described tracking target is in default alarm distance; If described tracking target is in default alarm region, detects described motor-driven folding door and whether be in the state of closing; If described motor-driven folding door is in the state of closing, send braking instruction to described communication module;
Described communication module, for receiving the braking instruction of described video processing module, and forwards the driving control system of described braking instruction to described motor-driven folding door, and described braking instruction is used to indicate described driving control system to be stopped 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 video acquisition module described in two groups is towards same direction, then
Described video processing module, specifically for the parallax of the picture frame of video gathered in guarded region according to two groups of video acquisition module, calculates the object distance of described tracking target to 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, then judge that described tracking target is in default alarm distance.
Preferably, described video processing module, also for: after judging that described tracking target leaves default alarm distance, send enabled instruction to described communication module;
Then described communication module, also for the enabled instruction that receives described video processing module, and the driving control system of described enabled instruction to described motor-driven folding door is forwarded, 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 provided by above the application, the picture frame of the video that at least two group video acquisition module gather in guarded region described in Real-time Obtaining, determine the tracking target in the current image frame of Real-time Obtaining, judge whether described tracking target is in default alarm distance; If described tracking target is in default alarm distance, detects described motor-driven folding door and whether be in the state of closing; If described motor-driven folding door is in the state of closing, by the driving control system transmission braking instruction of described communication module to described motor-driven folding door, described braking instruction is used to indicate described driving control system to be stopped driving described motor-driven folding door.By the technical scheme that application the application provides, video acquisition and analyzing and processing is in real time carried out in motor-driven folding door closing direction certain area, and the analysis result of the picture frame gathered based on multiple video acquisition module will be 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 the operation of motor-driven folding door is stopped when the distance of obstruction and motor-driven folding door is less than predetermined threshold value, avoid folding door to press from both sides the generation of 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, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, the accompanying drawing that the following describes is only some embodiments recorded in the application, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The schematic flow sheet of the guard method of a kind of motor-driven folding door that Fig. 1 provides for the application;
What Fig. 2 provided for the application a kind ofly judges the schematic flow sheet whether tracking target is in the method in default alarm distance;
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.
Detailed description of the invention
Technical scheme in the application is understood better in order to make those skilled in the art person, below in conjunction with accompanying drawing, the technical scheme of the application is clearly and completely described, obviously, described embodiment is only some embodiments of the present application, instead of whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all should belong to the scope of the application's protection.
Below in conjunction with accompanying drawing, the embodiment of the application 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 gathers in guarded region, determines the tracking target in the current image frame of Real-time Obtaining, judges whether tracking target is in default alarm distance;
In the embodiment of the present application, the alarm region preset can be the track-bound of motor-driven folding door, also motor-driven folding door track-bound can be included, and alarm region is included by guarded region, when having people or car enters guarded region, video acquisition module just can Real-time Collection to the image of moving object, then multiple video acquisition module is adopted to follow the tracks of moving object, according to the picture frame of Real-time Obtaining, judge whether tracking target is 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: frame difference is carried out to the current image frame of Real-time Obtaining and a upper picture frame, extract the profile of moving object; Using a moving object as a tracking target.
S200: if tracking target is in default alarm distance, detects motor-driven folding door and whether is in the state of closing;
In the embodiment of the present application, judge whether motor-driven folding door is in the state of closing, the direction of motion of the folding door head obtained can be monitored according to video acquisition module, also according to the running status of the drive system of the motor-driven folding door obtained, can repeat no more herein.
S300: if motor-driven folding door is in the state of closing, by the driving control system transmission braking instruction of communication module to motor-driven folding door, braking instruction is used to indicate driving control system to be stopped driving motor-driven folding door.
In the embodiment of the present application, if tracking target is in default alarm distance, and motor-driven folding door is in the state of closing, then video processing module is by the driving control system transmission braking instruction of communication module to motor-driven folding door, braking instruction is used to indicate driving control system to be stopped driving motor-driven folding door, to prevent the generation of pressing from both sides people or folder car phenomenon.
The technical scheme provided by above the application, the picture frame of the video that at least two group video acquisition module gather in guarded region described in Real-time Obtaining, determine the tracking target in the current image frame of Real-time Obtaining, judge whether described tracking target is in default alarm distance; If described tracking target is in default alarm distance, detects described motor-driven folding door and whether be in the state of closing; If described motor-driven folding door is in the state of closing, by the driving control system transmission braking instruction of described communication module to described motor-driven folding door, described braking instruction is used to indicate described driving control system to be stopped driving described motor-driven folding door.By the technical scheme that application the application provides, video acquisition and analyzing and processing is in real time carried out in motor-driven folding door closing direction certain area, and the analysis result of the picture frame gathered based on multiple video acquisition module will be 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 the operation of motor-driven folding door is stopped when the distance of obstruction and motor-driven folding door is less than predetermined threshold value, avoid folding door to press from both sides the generation of people or folder car accident.
Above mentioned embodiment provide a kind of guard method of motor-driven folding door, wherein, judge whether tracking target is in the method in default alarm distance, and the present embodiment will in conjunction with the accompanying drawings:
What Fig. 2 provided for the application a kind ofly judges the schematic flow sheet whether tracking target is in the method in default alarm distance.
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 gathered in guarded region according at least two group video acquisition module, calculates the object distance of tracking target to 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, then judge that tracking target is in default alarm distance.
In the embodiment of the present application, main guarded region is motor-driven folding door track interior and track two side areas, by multiple video acquisition module, the tracking target in guarded region is demarcated, two video acquisition module are such as utilized to carry out binocular calibration to tracking target, then video processing module can carry out three-dimensional imaging by the information of two video acquisition module collections, and obtains the three-dimensional information of object by three-dimensional imaging.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 there are other objects according to the picture frame of video acquisition module.If there is other objects, three-dimensional information can be obtained by three-dimensional imaging, calculate the distance of folding door head or video acquisition module and object.If distance is less than threshold value, then send braking instruction by communication module.
In actual applications, the method of the embodiment of the present application can adopt following flow process: (1) carries out binocular calibration to two, 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 front video acquisition simultaneously; (2) distortion and polar curve correction are carried out to two two field pictures collected in step (1), and extract the characteristic point of image, characteristic vector expression is carried out to image characteristic point; (3) carry out Stereo matching according to the characteristic vector of step (2) and obtain preliminary matches point pair, and remove false matches point pair, set up correct match point corresponding relation; (4) correct according to step (3) matching double points calculates disparity map, and obtains the three-dimensional information of tracking target according to disparity map; (5) three-dimensional information of the tracking target obtained according to step (4) calculates the distance of the central point of object and motor-driven folding door head or multiple video acquisition module, if this distance is less than threshold value (in the present embodiment, threshold value can be 50 centimetres), there is obstruction in the track being then judged as motor-driven folding door, send braking instruction by communication module.
Such as, with the central point of the spacing of two groups of video acquisition module for scene coordinate system initial point, with the line right direction between two groups of video acquisition module for X-axis positive direction, crossing initial point and be upwards Y-axis positive direction perpendicular to horizontal plane, be parallel to the direction of horizontal plane directed towards object for Z axis positive direction with mistake initial point.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 the distance between two groups of video acquisition module, F is the focal length of two groups of video acquisition module, X (i), X (r) are respectively the picture point abscissa of characteristic point in the imaging coordinate system of two groups of video acquisition module in tracking target, Y (i), Y (r) are respectively the picture point ordinate of characteristic point in the imaging coordinate system of two groups of video acquisition module in tracking target, and X (i)-X (r) is the parallax with the imaging of clarification of objective o'clock in the imaging coordinate system of two groups of video acquisition module.
After drawing each characteristic point in tracking target coordinate value in scene coordinate system, its coordinate value just can be utilized to calculate the three-dimensional information of tracking target, also the distance of the central point of tracking target and motor-driven folding door head or multiple video acquisition module can be calculated, as object distance, relatively this distance and the size of the alarm distance preset, can judge whether this tracking target is in default alarm distance.
The scheme of the embodiment of the present application; multiple video acquisition module is utilized to demarcate tracking target; judge whether tracking target is in default alarm distance by parallax; can effectively avoid Changes in weather or environmental change on the impact of 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 that tracking target is in default alarm distance; motor-driven folding door can phase down immediately; and after judging that tracking target leaves default alarm distance; protection system in the embodiment of the present application can also by the driving control system transmission enabled instruction of communication module to motor-driven folding door, and enabled instruction is used to indicate driving control system and continues to drive motor-driven folding door.
The technical scheme provided by above the application, the picture frame of the video that at least two group video acquisition module gather in guarded region described in Real-time Obtaining, determine the tracking target in the current image frame of Real-time Obtaining, judge whether described tracking target is in default alarm distance; If described tracking target is in default alarm distance, detects described motor-driven folding door and whether be in the state of closing; If described motor-driven folding door is in the state of closing, by the driving control system transmission braking instruction of described communication module to described motor-driven folding door, described braking instruction is used to indicate described driving control system to be stopped driving described motor-driven folding door.By the technical scheme that application the application provides, video acquisition and analyzing and processing is in real time carried out in motor-driven folding door closing direction certain area, and the analysis result of the picture frame gathered based on multiple video acquisition module will be 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 the operation of motor-driven folding door is stopped when the distance of obstruction and motor-driven folding door is less than predetermined threshold value, avoid folding door to press from both sides the generation of 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, comprise 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;
Video processing module 2, for the picture frame of the guarded region according at least two group video acquisition module 1 Real-time Collections, determines the tracking target in the current image frame of Real-time Obtaining, judges whether tracking target is in default alarm distance; If tracking target is in default alarm region, detects motor-driven folding door and whether be in the state of closing; If motor-driven folding door is in the state of closing, send braking instruction to communication module 3;
Communication module 3, for receiving the braking instruction of video processing module 2, and forwards the driving control system of braking instruction to motor-driven folding door, and braking instruction is used to indicate driving control system to be stopped driving motor-driven folding door.
Corresponding to said method embodiment, the guard method of the protection system that native system embodiment provides and protection philosophy and said method embodiment 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, then video processing module 2, specifically for the parallax of the picture frame of video gathered in guarded region according to two groups of video acquisition module 1, calculate the object distance of tracking target to 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, then 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 used for: after judging that tracking target leaves default alarm distance, sends enabled instruction to communication module;
Then communication module 3, also for: receive the enabled instruction of video processing module, and is forwarded by the driving control system of enabled instruction to motor-driven folding door, enabled instruction is used to indicate driving control system and continues driving motor-driven folding door.
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 any embodiment.
The technical scheme provided by above the application, the picture frame of the video that at least two group video acquisition module gather in guarded region described in Real-time Obtaining, determine the tracking target in the current image frame of Real-time Obtaining, judge whether described tracking target is in default alarm distance; If described tracking target is in default alarm distance, detects described motor-driven folding door and whether be in the state of closing; If described motor-driven folding door is in the state of closing, by the driving control system transmission braking instruction of described communication module to described motor-driven folding door, described braking instruction is used to indicate described driving control system to be stopped driving described motor-driven folding door.By the technical scheme that application the application provides, video acquisition and analyzing and processing is in real time carried out in motor-driven folding door closing direction certain area, and the analysis result of the picture frame gathered based on multiple video acquisition module will be 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 the operation of motor-driven folding door is stopped when the distance of obstruction and motor-driven folding door is less than predetermined threshold value, avoid folding door to press from both sides the generation of 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 what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar part mutually see.For device class embodiment, due to itself and embodiment of the method basic simlarity, so description is fairly simple, relevant part illustrates see the part of embodiment of the method.
Finally, also it should be noted that, in this article, the such as relational terms of first and second grades and so on is only used for an entity or operation to separate with another entity or operating space, and not necessarily requires or imply the relation that there is any this reality between these entities or operation or sequentially.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment comprising described key element and also there is 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, apply specific case herein to set forth principle of the present invention and embodiment, the explanation of above embodiment just understands method of the present invention and core concept thereof for helping; Meanwhile, 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.
Claims (5)
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:
Described in Real-time Obtaining, the picture frame of the video that 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 whether described tracking target is in default alarm distance;
If described tracking target is in default alarm distance, detects described motor-driven folding door and whether be in the state of closing;
If described motor-driven folding door is in the state of closing, by the driving control system transmission braking instruction of described communication module to described motor-driven folding door, described braking instruction is used to indicate described driving control system to be stopped driving described motor-driven folding door;
Wherein, describedly judge whether described tracking target is in default alarm distance, comprising:
The parallax of the picture frame of the video gathered in guarded region according to described at least two group video acquisition module, calculates the object distance of described tracking target to 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, then judge that described tracking target is in default alarm distance.
2. guard method according to claim 1, is characterized in that, also comprises:
After judging that described tracking target leaves default alarm distance, by the driving control system transmission enabled instruction of 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.
3. 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 the picture frame of the guarded region according to 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 whether described tracking target is in default alarm distance; If described tracking target is in default alarm region, detects described motor-driven folding door and whether be in the state of closing; If described motor-driven folding door is in the state of closing, send braking instruction to described communication module;
Described communication module, for receiving the braking instruction of described video processing module, and forwards the driving control system of described braking instruction to described motor-driven folding door, and described braking instruction is used to indicate described driving control system to be stopped driving described motor-driven folding door;
Wherein, 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 video acquisition module described in two groups is towards same direction, then
Described video processing module, specifically for the parallax of the picture frame of video gathered in guarded region according to two groups of video acquisition module, calculates the object distance of described tracking target to 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, then judge that described tracking target is in default alarm distance.
4. protection system according to claim 3, is characterized in that,
Described video processing module, also for: after judging that described tracking target leaves default alarm distance, send enabled instruction to described communication module;
Then described communication module, also for the enabled instruction that receives described video processing module, and the driving control system of described enabled instruction to described motor-driven folding door is forwarded, described enabled instruction is used to indicate described driving control system and continues to drive described motor-driven folding door.
5. a motor-driven folding door, is characterized in that, comprises as the protection system in claim 3-4 as described in any one.
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| Application Number | Priority Date | Filing Date | Title |
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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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| 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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| CN103696652A CN103696652A (en) | 2014-04-02 |
| CN103696652B true CN103696652B (en) | 2016-02-17 |
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| CN111946384B (en) * | 2020-08-21 | 2022-09-27 | 精英数智科技股份有限公司 | Air door control method, device, equipment and system |
| CN113464009B (en) * | 2021-08-06 | 2023-03-31 | 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 |
| CN114320074B (en) * | 2022-01-11 | 2023-07-18 | 东屋世安物联科技(江苏)股份有限公司 | Turning door switch detection and control device, control system and control method |
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| DE202005016087U1 (en) * | 2005-10-13 | 2007-02-22 | Marantec Antriebs- Und Steuerungstechnik Gmbh & Co. Kg | Building or yard completion device |
| CN101975009A (en) * | 2010-10-29 | 2011-02-16 | 无锡中星微电子有限公司 | Automatic door control device and method |
| CN102454334A (en) * | 2010-10-29 | 2012-05-16 | 鸿富锦精密工业（深圳）有限公司 | Mistaken clipping/trapping prevention system and method and electrically operated gate with prevention system |
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