CN104234575A - Control system and control method for automatic door - Google Patents
Control system and control method for automatic door Download PDFInfo
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- CN104234575A CN104234575A CN201410481436.7A CN201410481436A CN104234575A CN 104234575 A CN104234575 A CN 104234575A CN 201410481436 A CN201410481436 A CN 201410481436A CN 104234575 A CN104234575 A CN 104234575A
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Abstract
The invention discloses a control system for an automatic door. The control system for the automatic door mainly comprises an induction system, a microprocessor, a controller and an emergency braking unit, wherein the induction system can be used for acquiring environmental information within a certain range of the entrance side and the exit side and environmental information within a certain range below the door; the microprocessor can be used for detecting working states of the induction system, the door and the controller, receiving video information transmitted by the induction system, analyzing the state of the automatic door and behavior states of pedestrians, and outputting a detection result or an analysis result; the controller can be used for controlling the automatic door to be opened and closed through an automatic door motor and the like; the induction system is provided with a network interface, and the network interface is used for communicating with the microprocessor; the microprocessor communicates with the controller, and a corresponding command is sent to the controller according to the analysis result for a signal from the induction system. The invention also provides a control method for the automatic door. According to the system and the method disclosed by the invention, the environmental information nearby the automatic door can be accurately obtained; the safe operation of the automatic door is ensured; the degree of automation is high, and the use is comfortable.
Description
Technical field
The present invention relates to automatic door, be specifically related to a kind of control system and control method of automatic door.
Background technology
According to use occasion and function, automatic door can be divided into automatic translation door usually, automatic revolving door, automatic folding door, automatic vertical hinged door etc., wherein the most extensively, therefore, usually said automatic door, induction door are commonly referred to as automatic translation door or automatic revolving door for automatic translation door and the automatic revolving door scope of application.
Automatic door is because easy to use, good looking appearance, be conducive to the advantages such as building energy conservation, be widely used in the access door in the places such as office block, enterprise, StoreFront, bank, factory building, the personnel being mainly used in architectural opening position pass through, and it is generally made up of stainless steel or aluminium extruded sections.Automatic door control method of the prior art and control system, normally adopt induction installation inside and outside controller, automatic door drive device and door, when people is close to automatic door time, this induction installation can sense the existence of people, induced signal is sent to controller by induction installation, door to be opened by drive unit according to induced signal or is made to rotate by controller, and when people is arrived outside induction range by door, door is closed or door stops the rotation.Induction installation adopts infrared inductor or microwave induced device usually, when infrared inductor, as long as induction installation is to having sensed that people or object are near just automatically opening, and can exist the situation of false triggering usually; When microwave induced device, can only inducing moving objects, the discrimination of the human body of or geo-stationary lower for speed is not bery desirable, and there is induction dead angle.Visible automatic control system of the prior art is perfect not.
Summary of the invention
The object of this invention is to provide automatic door control system and control method, based on the improvement to induction installation and controller function, provide and a kind ofly accurately can obtain environmental information near automatic door, guarantee automatic door safe operation, intelligence degree is high and uses comfortable automatic door.
In one aspect of the invention, provide a kind of automatic door control system, comprising: induction installation, microprocessor, controller, emergency braking apparatus, wherein:
Induction installation is for obtaining automatic door entrance side, environmental information under outlet side and door in certain limit, comprise environmental information two sensing devices for obtaining in automatic door entrance side and outlet side certain limit, it is arranged on the centre position of both sides inside and outside door beam above door leaf respectively, also comprise and to be arranged on door leaf appropriate location for the sensor of certain limit environment information under detecting gate, for responding to the distance between door leaf and people/thing, wherein, two sensing devices and be arranged on sensor on door leaf each comprises a sensor unit and a signal transmitting unit, two sensing devices adopt digital camera parts, what the sensor on door leaf adopted is ordinary sensors,
Microprocessor, comprises clock unit, memory cell, detecting unit, interface unit, interactive unit and data processing unit, and wherein clock unit is used for providing temporal information; Memory cell is for storing the predetermined characteristic of user; Detecting unit installs the rear operating parameters of automatic door for detecting, comprise the frictional resistance be subject in running between current time, present mode of operation, limber up period, the resistance that during commencement of commercial operation, door receives and/or power-assisted, induction installation operation conditions, controller operation conditions, and data processing unit detection data being sent to microprocessor; Interface unit comprise for generation of and the hop of transfer instruction signal and be coupled to the part able to programme of hop, between limber up period, part able to programme programmes to make hop obtain predetermined properties to this hop by debugging routine, thus when hop finds that the operation result that data processing unit sends has preset property, hop just produces and transmits command adapted thereto signal; Interactive unit is used for realizing man-machine interaction; Data processing unit comprises inductive signal processing unit and analytic operation unit, for processing the various information received and analytic operation, and the result of process and analytic operation is sent to interface unit;
Controller, comprising the driven wheel for driving door leaf translation/rotation, for driving the motor of above-mentioned driven wheel, between driven wheel and motor, having clutch, also comprises the data-interface for receiving the command signal from microprocessor;
Emergency braking apparatus is a kind of emergency stop switch.
Wherein, automatic door is automatic revolving door, and wherein induction installation is also included in the sensor of revolving door curved wall upper outer edge, and this sensor is for detecting near the curved wall outward flange of revolving door entrance among a small circle whether there is obstruction.
Wherein, two sensing devices comprise a sensor unit and a signal transmitting unit all separately, sensor unit adopts digital camera parts, these digital camera parts comprise image sensor, imaging circuit and A/D converter, image sensor converts incident beam to the signal of telecommunication, imaging circuit using the signal of telecommunication from image sensor as analog signal output, A/D converter converts the analog signal from imaging circuit to data signal, and this data signal is sent to microprocessor by signal transmitting unit afterwards.
Wherein the induction range of two sensing devices comprises three parts, the lowest limit threshold range that distance door leaf is nearer and the monitoring threshold scope far away apart from door leaf, and the threshold range between lowest limit threshold range and monitoring threshold scope, the inductive signal processing unit of data processing unit processes the vision signal from above-mentioned two sensing devices, the picture frame of previous moment and the subsequent image frames of subsequent time are compared, carry out pixel comparison between two images, pixel value change in two images is counted, by multiple successive image frame analysis is drawn pedestrian etc. running orbit and and door leaf between distance, calculated by the running orbit of analytic operation unit to pedestrian etc. of data processing unit afterwards, judge this pedestrian waits whether want to pass through automatic door within the scope of monitoring threshold, this pedestrian of Distance Judgment etc. between door leaf is waited whether to enter threshold range according to pedestrian again, judged result is sent to interface unit by data processing unit afterwards, if twice judged result is be, then interface unit can send the instruction of opening/rotating to controller, if to judge that within the scope of monitoring threshold this pedestrian waits whether to want by the judged result of automatic door be no, if then this pedestrian etc. enter above-mentioned lowest limit threshold range, automatic door also can be opened/rotate.
The resistance be subject to during the automatic door being wherein set to by analytic operation unit detecting unit to be detected runs compares with the threshold resistor preset; and comparative result is sent to interface unit; if this resistance is greater than threshold resistor; then interface unit sends the command signal of the automatic door operation that suspends or slow down to controller, until detecting unit detects that this resistance disappears or is less than threshold resistor.
Present invention also offers a kind of automatic door control method, comprising:
After automatic door is installed, first debugging routine is performed, this debugging routine is stored in the memory cell of microprocessor, in debug process, user sets every preset value according to the testing result of detecting unit and comfort by interactive unit, the interface unit of microprocessor is programmed to hop by debugging routine by the part able to programme being coupled to hop, this hop is made to obtain predetermined properties, thus when hop finds that the operation result that the data processing unit of microprocessor sends has this preset property, hop just produces and transmits command adapted thereto signal, wherein set every preset value is stored in microprocessor,
After debugging, automatic door enters normal operating conditions, microprocessor according to the temporal information of clock unit judge the residing period whether preset by the period of induced signal On/Off automatic door, if not in this preset period of time, then this automatic door just can need be opened with the password preset, if in preset period of time, then automatic door is in automatic treatment state:
Wherein, by two sensing device induction automatic door entrance sides, environmental information in outlet side certain limit, this induction range comprises three parts, the lowest limit threshold range that distance door leaf is nearer and the monitoring threshold scope far away apart from door leaf, and the threshold range between lowest limit threshold range and monitoring threshold scope, under automatic treatment state, the inductive signal processing unit of microprocessor processes the vision signal from above-mentioned two sensing devices and the picture frame of previous moment and the subsequent image frames in next moment is compared, carry out pixel comparison between two images, pixel value change in two images is counted, by multiple successive image frame analysis is drawn pedestrian etc. running orbit and and door leaf between distance, calculated by the running orbit of analytic operation unit to pedestrian etc. of data processing unit afterwards, judge this pedestrian waits whether want to pass through automatic door within the scope of monitoring threshold, this pedestrian of Distance Judgment etc. between door leaf is waited whether to enter threshold range according to pedestrian again, judged result is sent to interface unit by data processing unit afterwards, if twice judged result is be, then interface unit can send the instruction of opening/rotating to controller, if to judge that within the scope of monitoring threshold this pedestrian waits whether to want by the judged result of automatic door be no, if then this pedestrian etc. enter above-mentioned lowest limit threshold range, automatic door also can be opened/rotate,
In automatic door translation door closedown/automatic revolving door rotary course, if detecting unit detects that door leaf is subject to drag effect, then this Detection Information is sent to microprocessor by detecting unit, this Resistance Pressure information and the threshold resistor preset compare by microprocessor, if comparative result is greater than threshold resistor for this resistance, then send pause instruction signal to controller.
Wherein under automatic treatment state, environmental information in certain limit under door is sent to microprocessor as induced signal by induction installation, people/thing whether is had under microprocessor judges door, and judge further the distance of this people/between thing and door leaf, if judge, this distance is less than default setting value, then send the command signal of slow-down/time-out to controller.
Wherein automatic door is automatic revolving door, and wherein induction installation is also included in the sensor of revolving door curved wall upper outer edge, and this sensor is for detecting near the curved wall outward flange of revolving door entrance among a small circle whether there is obstruction.
Wherein when there is obstruction at the sensor sensing of revolving door curved wall upper outer edge in its induction range, microprocessor sends the command information suspending and rotate according to this induction information, and sends audio alert, and prompting entrance exists obstruction.
Wherein under generation emergency or other desired situation, control automatic door state by emergency braking apparatus.
Accompanying drawing explanation
Fig. 1 is the top view of automatic translation door of the present invention;
Fig. 2 is the top view of automatic revolving door of the present invention;
Fig. 3 is the structural representation of the automatic translation door according to the embodiment of the present invention;
Fig. 4 is the elevation of the automatic revolving door according to the embodiment of the present invention.
Detailed description of the invention
For enabling above-mentioned purpose of the present invention, feature and advantage become apparent more, hereafter will be described in detail to the specific embodiment of the present invention by reference to the accompanying drawings.In the following description, by a lot of for elaboration detail to fully understand the present invention.But it should be noted that the present invention can implement to be different from other modes multiple described herein, those skilled in the art can make multiple improvement when not departing from the present invention's spirit and essence, and the present invention is not by the restriction of following detailed description.
Unless specifically stated otherwise, technical term used herein is identical with the implication that those skilled in the art in the invention understand usually with scientific terminology, the term used in manual of the present invention is only for describing the object of specific embodiment, and not intended to be limiting the present invention.
First, automatic translation door 1 of the present invention comprises door leaf 1a and 1b, and as shown in fig. 1, automatic revolving door 2 can be four flap doors, comprises door leaf 2a, 2b, 2c and 2d, and as shown in Figure 2, or as shown in Figure 4, automatic revolving door can be two flap doors, comprises door leaf 2e and 2f.Hereafter will be specifically described automatic door control system of the present invention.
Automatic door control system of the present invention mainly comprises: induction installation, this induction installation can obtain the environmental information under automatic door entrance side, outlet side and door in certain limit, such as whether have people, thing close to this automatic door and obtain further this people, whether distance between thing and door reach default unlatching threshold value, this induction installation is such as sensor or stereo camera etc.; Microprocessor, the duty of induction installation, door, controller can be detected, the video information that induction installation transmits can be received, analyze automatic door state and pedestrian behavior state, and export different instructions to corresponding component according to testing result or analysis result, such as, if testing result display induction installation working state abnormal, then give the alarm, if analysis result show gate entrance pedestrian or object width are close to automatic door openings of sizes, then send the instruction stopping automatic door motor action, in case crush situation; Controller, controls automatic door by automatic door motor and opens and closes, if rotary automatic door, then can control automatic door and rotates or stop.Wherein induction installation has network interface, for microprocessor communication, this microprocessor and controller communication, send command adapted thereto according to the analysis result for the signal from induction installation to controller; Emergency braking apparatus, is preferably arranged in bus structures, is particularly preferably arranged in the CAN that is connected with controller.
The each parts of 1-4 to automatic door control system of the present invention are described in detail below with reference to the accompanying drawings.
Induction installation
In the present invention, induction installation can comprise Fig. 1, the sensing device 11,21 shown in 2,4, it is mainly used in obtaining the environmental information in automatic door entrance side, outlet side certain limit, and the degree of accuracy of this induction installation and susceptibility are the important indicators ensureing automatic door safety.
In the present invention, this sensing device 11,21 is preferably respective two, and for automatic translation door, this sensing device is preferably mounted at the centre position of both sides inside and outside door beam above door leaf, for automatic revolving door, the centre position of both sides inside and outside the curved cross member being arranged on revolving door top respectively.
Induction installation of the present invention also can comprise the sensor for certain limit environment information under induction door in addition, be preferred for the distance between the people/thing of induction door moving direction and the door leaf of just movement, for ensureing the safe distance between door leaf and people/thing, guaranteeing that people/thing is smooth and easy and cosily passing through automatic door.This sensor can select common infrared sensor.
Preferably, for automatic translation door, comprise two these sensor (not shown)s, bottom two fan door leafs of automatic translation door of the present invention, appropriate location installs one separately, this sensor is used in door running, respond in the preset range between two fan door leafs whether there is obstruction, in automatic door close stage, when this sensor detects that the distance of door leaf edge and obstruction is less than a certain setting value, automatic translation door door leaf stops mobile, or moves to the direction of opening.
For automatic revolving door, comprise four these sensors 22 ', as shown in Fig. 2,4.Because automatic revolving door normally enters (direction of rotation is as shown in arrow R Fig. 2) from right side, therefore preferred with revolving door direction of rotation homonymy (namely, door leaf close side) revolving door door leaf top sensor 22 ' of the present invention is installed, to respond to the environmental information in preset range below this door leaf, this preset range is illustrated by the part E in Fig. 2, obstruction/snail is had close to this door leaf below this door leaf when sensor 22 ' detects, and when the distance between this door leaf is less than a certain setting value, this revolving door can slow-down, or suspend, with with guaranteeing the safety and comfort such as pedestrian by this revolving door.
More preferably, add shown in sensor installation S(Fig. 2 in the curved wall upper outer edge of revolving door import department and two sensor S have been installed, one of them is illustrate only) in Fig. 4, particular location as shown in the figure, so that detect all sidedly revolving door entrance curved wall adjacent edges among a small circle in whether there is obstruction, prevent folder people event from occurring.
Sensing device of the present invention and sensor all can comprise a sensor unit and a signal transmitting unit.Wherein, sensing device 11,21 preferably adopt the intelligent sensor that can obtain video information: this sensor unit can comprise a shooting part and a transparent outer cover.Wherein this shooting part is chosen as digital camera parts or infrared photography parts.Video data in preset range near automatic door is sent to microprocessor by this sensor unit in real time, this preset range such as can comprise three parts, for automatic translation door, can be as shown in bold portion A in Fig. 1 apart from shown in door close range and dotted portion B apart from door scope far away and the intermediate range between A and B, for automatic revolving door, can be as shown in bold portion C in Fig. 2 apart from shown in door close range and dotted portion D apart from door scope far away and the intermediate range between C and D (not shown intermediate range).Wherein preferably close range is lowest limit threshold range, that is, when automatic door control system finder/thing of the present invention enters into this bottom line threshold range, namely automatic door starts, and intermediate range is threshold range, and scope far away is monitoring threshold scope.
Preferably, the digital camera parts that the present invention is above-mentioned mainly comprise camera lens, autofocus mechanism, image sensor, imaging circuit and A/D converter.Image sensor converts incident beam to the signal of telecommunication, imaging circuit using the signal of telecommunication from image sensor as analog signal output, A/D converter converts the analog signal from imaging circuit the data signal of prescribed form to, by signal transmitting unit, this data signal is sent to microprocessor of the present invention afterwards.
Microprocessor
Microprocessor 12 of the present invention preferably includes clock unit, memory cell, detecting unit, interface unit, interactive unit and data processing unit.
Above-mentioned clock unit is used for providing temporal information in real time;
Memory cell is for storing the predetermined characteristic of user, and the information such as password, account preset, and store various program, comprise the relevant program of safety and debugging routine etc., certainly, memory cell of the present invention also can store the induced signal that induction installation transmits;
Detecting unit, for detecting, the rear operating parameters of automatic door is installed, such as current time, present mode of operation, the frictional force that between limber up period, door is subject in running, the resistance that during commencement of commercial operation, door is subject to or other external force, such as identical with door rotation direction power-assisted, induction installation operation conditions, controller operation conditions etc., and detection data are sent to data processing unit;
Interface unit, this interface unit can comprise for generation of and transfer instruction signal with moving door or the hop making to stop movement, with the part able to programme being coupled to hop, this part able to programme obtains predetermined properties to described hop programming to make this hop by debugging routine under debugging mode, thus when hop finds that the operation result that data processing unit sends has preset property, hop just produces and transmits command adapted thereto signal;
Interactive unit, can be arranged on the appropriate position etc. of master control room or automatic door side walls, for realizing man-machine interaction, can comprise input unit and a display unit.User is by the preset control information of this interactive unit input automatic door, such as, in the debug phase, the parameters situation of automatic door after the installation that user can detect according to detecting unit, the operational factor of manual input automatic door, comprise the dead time being in open mode after automatic door is opened, the normal running speed of automatic door opening/closing, door needs to slow down in running the resistance threshold value of the speed of service, performance is the threshold value of the spacing of people/thing and automatic door wing, lowest limit threshold value and monitoring threshold, width opened by door leaf, the time period of automatic door is started by induced signal, the time period of automatic door is not started by induced signal, open the account password etc. of automatic door.Certainly, can select for partial parameters user the Optimal Setting automatically being completed every operational factor by automatic door control system of the present invention;
Data processing unit, comprises an inductive signal processing unit and an analytic operation unit, for processing the various information received and analytic operation, and the result of process and analytic operation is sent to interface unit.Inductive signal processing unit processes the signal that induction installation sends.Wherein, this inductive signal processing unit can tell the door leaf in induction range, door leaf can not be judged as the people/thing in induction range, thus can not cause maloperation.When induction installation 11,21 comprises digital camera parts, described inductive signal processing unit is suitable for processing the induction information comprising video data signal, to judge whether there is people/thing in induction range.Inductive signal processing unit of the present invention to the mode of the video frequency signal processing that shooting part sends is, the picture frame of previous moment and the subsequent image frames in next moment are compared, carry out pixel comparison between two images, the pixel value change in two images is counted.If someone moves during two picture frames, then can record the change of a large amount of pixel value.
Thus, data processing unit of the present invention can draw the movement locus of pedestrian etc. according to pixel value change curve analysis in multiple successive image frame, calculated by the running orbit of analytic operation unit to pedestrian etc. of data processing unit afterwards, judge this pedestrian waits whether want to pass through automatic door within the scope of monitoring threshold, this pedestrian of Distance Judgment etc. between door leaf is waited whether to enter threshold range according to pedestrian again, judged result is sent to interface unit by data processing unit afterwards, if twice judged result is be, then interface unit can send the instruction of opening/rotating to controller, if to judge that within the scope of monitoring threshold this pedestrian waits whether to want by the judged result of automatic door be no, if then this pedestrian etc. enter above-mentioned lowest limit threshold range, automatic door also can be opened/rotate.Like this, automatic door of the present invention, by namely judging whether pedestrian etc. is intended to by automatic door within the scope of the monitoring threshold outside threshold range, eliminates the situation just passed by automatic door and but cause automatic door to open, brings good Consumer's Experience.
For analytic operation unit of the present invention, particularly, this analytic operation unit can analyze the result of inductive signal processing unit and computing draws the information such as distance of reaction value, simultaneously, in running, this analytic operation unit can draw testing result according to the real-time detector data computing of detecting unit, and make automatic door control method of the present invention can according to presupposed information executable operations, such as, after induced signal is sent to microprocessor and processes this induced signal via inductive signal processing unit by induction installation, this computing unit is through calculating the actual range of now people/between thing and automatic door wing, and judge whether this actual range reaches default threshold value or lowest limit threshold value, if reach threshold value or lowest limit threshold value, perform opening door operation.Or, such as when detecting unit detects that automatic door operation is subject to a drag effect, just this Resistance Pressure information is sent to microprocessor, in microprocessor, this Resistance Pressure information and the threshold resistor preset compare by the computing unit of data processing unit, and comparative result is sent to interface unit, if this resistance is more than or equal to threshold resistor, then force to stop automatic door continuing to run, until detecting unit detects that this resistance disappears or is less than threshold resistor, the event in case generation folder people hurts sb.'s feelings.Or, for automatic revolving door, when detecting unit detects that door leaf is subject to the power-assisted effect identical with door leaf rotation direction, and when this Detection Information is sent to microprocessor, the data processing unit of microprocessor also by this power-assisted information compared with the threshold value preset, if be greater than threshold value, then suspend rotation, in case cause dangerous consequence.
Controller comprises: driven wheel 14, and this driven wheel can drive automatic translation door to carry out translational motion, or drives revolving door to be rotated; For driving the motor 13 of above-mentioned driven wheel; Clutch (not indicating in figure) between driven wheel and motor; With the data-interface (not shown) for receiving from microprocessor-based control signal or command signal.Command signal is sent to controller by a latch cicuit by the interface unit of microprocessor, can become the loss because short circuit or impacting with high pressure cause control system of the present invention, improves the stability of a system.
Emergency braking apparatus
Emergency braking apparatus of the present invention (attached not shown) can be such as emergency stop button, emergency stop switch etc.For automatic translation door, preferably this emergency braking apparatus is arranged to three gears, first gear represents that this emergency braking apparatus is invalid, now, and automatic door normal operating; Second gear represents urgent enabling, and the 3rd gear represents promptly closes the door, and when second gear and the 3rd gear, automatic door performs corresponding operating by force, ignores other factors every.User can select according to actual conditions, when such as, in door dangerous situation urgent need Evacuation occurs in space, can select second gear position, when generation special circumstances in space need space in shutter outdoors, can select the 3rd gear.For automatic revolving door, preferably emergency braking apparatus is arranged to two gears, first gear represents that this emergency braking apparatus is invalid, now, and automatic door normal operating; Second gear represents promptly closes the door, and now automatic door performs door-closing operation by force, the state making door leaf be in people/thing cannot to pass through, and ignores other factors every.
The all right warning device of automatic door control system of the present invention, this warning device can be the warning circuit of sounding, in that case, this sounding alarm circuit can primarily of a current resistor, a switching tube and loudspeaker composition, microprocessor of the present invention is connected with this warning device, thus, when microprocessor judges go out its operation result belong to certain predetermined condition time, namely sounding with report to the police.
Certainly, automatic door control system of the present invention also can comprise with manual operational unit, is in password opening or automatic treatment state for manually specifying this automatic door.
Hereafter with reference to above-described automatic door control system of the present invention, automatic door control method of the present invention is described.
In automatic door control method of the present invention, after automatic door is installed, first debugging routine can be performed.This debugging routine can be stored in the memory cell of microprocessor.For automatic translation door, user can from the manual mobile door leaf of fastening position to open position, by this operation of mobile door leaf, detecting unit can obtain frictional resistance when door leaf normally runs after testing, user can arrange resistance threshold value accordingly, user also can be combined comfort level etc., obtain best door opens wide, and the reference value of other and this movement of opening of door leaf and location-dependent parameters be stored in microprocessor, now door leaf is moved to fastening position, detecting unit now obtains with the reference value of this location-dependent parameters and is stored in microprocessor, the displacement of detecting unit detecting gate etc. are also stored in microprocessor.This opening position can be the track terminal of automatic translation door.For automatic revolving door, user can manually from an initial position turning door leaf 360 degree, and detecting unit can automatically detection rotate relevant parameters to door and be stored in microprocessor.And, between this limber up period, also the dead time being in open mode after automatic door is opened can be set, the opening/closing speed of service of automatic door, width (above several is for automatic translation door) opened by door leaf, revolving door is once responding to the postrotational stop position of triggering, the induction range of the sensor 22 ' on revolving door door leaf and the setting value of people/thing and door leaf distance, the induction range (above several is for automatic revolving door) of the sensor S in revolving door edge sidewalls, performance is the threshold value of the spacing of people/thing and automatic door wing, lowest limit threshold value and monitoring threshold, started the time period of automatic door by induced signal in every day, time period of automatic door is started not by induced signal by password, open (above-mentioned several are generally suitable for automatic translation door and automatic revolving door) such as the account password of automatic door.
Pre-setting of above-mentioned parameters is undertaken by interactive unit.This interactive unit can be arranged on the appropriate position etc. of master control room or automatic door side walls, for realizing man-machine interaction, can comprise input unit and a display unit.User is by the preset control information of this interactive unit input automatic door, such as, in the debug phase, the parameters situation of automatic door after the installation that user can detect according to detecting unit, the operational factor of manual input automatic door, comprise the dead time being in open mode after automatic door is opened, the normal running speed of automatic door opening/closing, door needs to slow down in running the resistance threshold value of the speed of service, performance is the threshold value of the spacing of people/thing and automatic door wing, lowest limit threshold value and monitoring threshold, width opened by door leaf, by the time period of induced signal On/Off automatic door, not by the time period of induced signal opening/closing automatic door, open the account password etc. of automatic door.Certainly, for partial parameters, user can select the Optimal Setting automatically being completed every operational factor by automatic door control system of the present invention;
During debugging routine, the interface unit of microprocessor is programmed to hop by debugging routine by the part able to programme being coupled to hop, this hop is made to obtain predetermined properties, thus when hop finds that the operation result that the data processing unit of microprocessor sends has this preset property, hop just produces and transmits command adapted thereto signal.
After debugging, automatic door enters normal operating conditions.
Under automatic door normal operating conditions, can detect at detecting unit of the present invention and the rear operating parameters of automatic door is installed, such as current time, present mode of operation, the resistance that door is subject to, induction installation operation conditions, controller operation conditions etc., and detection data are sent to data processing unit.
Under normal operating conditions, microprocessor according to the temporal information of clock unit judge the residing period whether preset by the period of induced signal On/Off automatic door, if not in this preset period of time, then this automatic door just can need be opened with the password preset, if in preset period of time, then automatic door is in automatic treatment state:
Certainly, automatic door control method of the present invention also selects automatic door of the present invention to be in automatic treatment state or password opening by manual methods.
Under automatic treatment state, induction installation obtains induced signal by sensor unit and by signal transmitting unit, induced signal is sent to microprocessor.This sensor unit preferably adopts the intelligent sensor that can obtain video information: this sensor can comprise a shooting part and a transparent outer cover.Wherein this shooting part is chosen as digital camera parts or infrared photography parts.Video data in preset range near automatic door is sent to microprocessor by this sensor unit in real time, this preset range such as can comprise three parts, for automatic translation door, can be as shown in bold portion A in Fig. 1 apart from shown in door close range and dotted portion B apart from door scope far away and the intermediate range between A and B, for automatic revolving door, can be as shown in bold portion C in Fig. 2 apart from shown in door close range and dotted portion D apart from door scope far away and the intermediate range between C and D (not shown intermediate range).Wherein preferably close range is lowest limit threshold range, that is, when automatic door control system finder/thing of the present invention enters into this bottom line threshold range, namely automatic door starts, and intermediate range is threshold range, and scope far away is monitoring range.
Preferably, digital camera parts of the present invention mainly comprise camera lens, autofocus mechanism, image sensor, imaging circuit and A/D converter.Image sensor converts incident beam to the signal of telecommunication, imaging circuit using the signal of telecommunication from image sensor as analog signal output, A/D converter converts the analog signal from imaging circuit the data signal of prescribed form to, afterwards, by signal transmitting unit, this data signal is sent to microprocessor of the present invention.
Data processing unit in microprocessor is for the treatment of the various signals received.And the signal processing computing is by analysis sent to the interface unit of microprocessor, the hop of interface unit judges whether this signal received has its predetermined properties obtained under debugging mode, if have this predetermined properties, hop just produces command adapted thereto signal and this command signal is sent to control unit, thus control unit performs corresponding operating.
Should be noted, inductive signal processing unit of the present invention can tell the door leaf in induction range, door leaf can not be judged as the people/thing in induction range, thus can not cause maloperation.
When induction installation comprises digital camera parts, described inductive signal processing unit is suitable for processing the induction information comprising video data signal, judges whether there is people/thing in induction range.Inductive signal processing unit of the present invention to the mode of the video frequency signal processing that shooting part sends is, the picture frame of previous moment and the subsequent image frames in next moment are compared, carry out pixel comparison between two images, the pixel value change in two images is counted.If someone moves during two picture frames, then can record the change of a large amount of pixel value.Thus, data processing unit of the present invention can draw the movement locus of pedestrian etc. according to pixel value change curve analysis in multiple successive image frame.By multiple successive image frame analysis is drawn pedestrian etc. running orbit and and door leaf between distance, calculated by the running orbit of analytic operation unit to pedestrian etc. of data processing unit afterwards, judge whether this pedestrian etc. wants by automatic door (such as within the scope of monitoring threshold, when pedestrian waits within the scope of monitoring threshold, movement locus is straight towards the entrance of automatic door, then judge that this pedestrian etc. wants to pass through automatic door), this pedestrian of Distance Judgment etc. between door leaf is waited whether to enter threshold range according to pedestrian again, judged result is sent to interface unit by data processing unit afterwards, if twice judged result is be, then interface unit can send the instruction of opening/rotating to controller, if to judge that within the scope of monitoring threshold this pedestrian waits whether to want by the judged result of automatic door be no, if then this pedestrian etc. enter above-mentioned lowest limit threshold range, automatic door also can be opened/rotate.Like this, automatic door of the present invention, by judging outside threshold range whether pedestrian etc. is intended to by automatic door, eliminates the situation just passed by automatic door and but cause automatic door to open, brings good Consumer's Experience.
Simultaneously, its induction information also can be sent to microprocessor of the present invention by sensor in real time that be arranged on appropriate position on automatic door door leaf, and then, whether automatic door control method of the present invention can be responded near door leaf in real time has the spacing of people/thing and door leaf to be less than a setting value, if be less than this setting value, then automatic door execution prevents door leaf from thrusting into and presss from both sides the corresponding operating of people, such as, for automatic revolving door, door leaf slows down translational speed or stopping, for automatic translation door, door leaf stops or moving to door opening direction.
Particularly, for automatic revolving door, sensor 22 ' on revolving door door leaf can be have to there is people/thing under induction door, and sense the distance of this people/between thing and door leaf further, and this influence value is sent to microprocessor, the analytic operation unit of microprocessor by this influence value compared with the setting value preset, if be less than or equal to this setting value, microprocessor just sends to controller slow down velocity of rotation or tentative instruction of rotating, like this, automatic door control method of the present invention can conveniently move slowly the elderly etc. smoothly and cosily by this automatic door.Simultaneously, sensor S in revolving door edge sidewalls responds to its induction range and whether there is obstruction, and induction information is sent to microprocessor, and microprocessor sends the instruction suspending and rotate according to this induction information, and send voice alarm, there is obstruction in prompting entrance.
Equally, particularly, for automatic translation door, sensor on door leaf can sense the distance of people/between thing and door leaf, and this influence value is sent to microprocessor, the analytic operation unit of microprocessor is by this influence value compared with the setting value preset, if be less than or equal to this setting value, microprocessor just sends to controller slow down velocity of rotation or tentative instruction of rotating.
The analytic operation unit of data processing unit, can to analyze the result of inductive signal processing unit and computing draws the information such as distance of reaction value, testing result can be drawn according to the detection data operation of detecting unit, and can according to presupposed information executable operations, such as, after induced signal is sent to microprocessor and processes this induced signal via inductive signal processing unit by induction installation, this computing unit is through calculating the actual range of now people/between thing and automatic door wing, and judge whether this actual range reaches default threshold value or lowest limit threshold value, if reach threshold value or lowest limit threshold value, perform opening door operation.Or, such as when detecting unit detects that automatic door operation is subject to a drag effect, just this Resistance Pressure information is sent to microprocessor, this Resistance Pressure information and the threshold resistor preset compare by the computing unit of microprocessor data processing unit, if judge, actual resistance is more than or equal to threshold resistor, then pressure stops automatic door continuing to run until resistance disappears or is less than threshold resistor, the event in case generation folder people hurts sb.'s feelings.
After command signal is sent to controller by interface unit, controller carries out driving operation by motor and driven wheel, drives automatic translation door translation, or drives automatic revolving door to rotate.
Under generation emergency or other desired situation, control automatic door state by emergency braking apparatus.For automatic translation door, emergency braking apparatus has three gears, and first gear represents that this emergency braking apparatus is invalid, now, and automatic door normal operating; Second gear represents urgent enabling, and the 3rd gear represents promptly closes the door, and when second gear and the 3rd gear, automatic door performs corresponding operating by force, ignores other factors every.For automatic revolving door, emergency braking apparatus can have two gears, and first gear represents that this emergency braking apparatus is invalid, now, and automatic door normal operating; Second gear represents promptly closes the door, and now automatic door performs door-closing operation by force, the state making door leaf be in people/thing cannot to pass through, and ignores other factors every.
Describe several embodiment of the present invention by means of example above, describe comparatively concrete and detailed, it should be noted that and do not think that description forms limiting the scope of the invention above.It should be pointed out that to those skilled in the art, when not departing from the present invention's design, multiple changes and improvements can be made to above-mentioned embodiment, thinking that this changes and improvements all belong to protection scope of the present invention.Protection scope of the present invention is only defined by the following claims.
Claims (10)
1. an automatic door control system, comprising: induction installation, microprocessor, controller, emergency braking apparatus, wherein:
Induction installation is for obtaining automatic door entrance side, environmental information under outlet side and door in certain limit, comprise environmental information two sensing devices for obtaining in automatic door entrance side and outlet side certain limit, it is arranged on the centre position of both sides inside and outside door beam above door leaf respectively, also comprise and to be arranged on door leaf appropriate location for the sensor of certain limit environment information under detecting gate, for responding to the distance between door leaf and people/thing, wherein, two sensing devices and be arranged on sensor on door leaf each comprises a sensor unit and a signal transmitting unit, two sensing devices adopt digital camera parts, what the sensor on door leaf adopted is ordinary sensors,
Microprocessor, comprises clock unit, memory cell, detecting unit, interface unit, interactive unit and data processing unit, and wherein clock unit is used for providing temporal information; Memory cell is for storing the predetermined characteristic of user; Detecting unit installs the rear operating parameters of automatic door for detecting, comprise the frictional resistance be subject in running between current time, present mode of operation, limber up period, the resistance that during commencement of commercial operation, door receives and/or power-assisted, induction installation operation conditions, controller operation conditions, and data processing unit detection data being sent to microprocessor; Interface unit comprise for generation of and the hop of transfer instruction signal and be coupled to the part able to programme of hop, between limber up period, part able to programme programmes to make hop obtain predetermined properties to this hop by debugging routine, thus when hop finds that the operation result that data processing unit sends has preset property, hop just produces and transmits command adapted thereto signal; Interactive unit is used for realizing man-machine interaction; Data processing unit comprises inductive signal processing unit and analytic operation unit, for processing the various information received and analytic operation, and the result of process and analytic operation is sent to interface unit;
Controller, comprising the driven wheel for driving door leaf translation/rotation, for driving the motor of above-mentioned driven wheel, between driven wheel and motor, having clutch, also comprises the data-interface for receiving the command signal from microprocessor;
Emergency braking apparatus is a kind of emergency stop switch.
2. automatic door control system as claimed in claim 1, wherein, automatic door is automatic revolving door, wherein induction installation is also included in the sensor of revolving door curved wall upper outer edge, and this sensor is for detecting near the curved wall outward flange of revolving door entrance among a small circle whether there is obstruction.
3. automatic door control system as claimed in claim 1, wherein, two sensing devices comprise a sensor unit and a signal transmitting unit all separately, sensor unit adopts digital camera parts, these digital camera parts comprise image sensor, imaging circuit and A/D converter, image sensor converts incident beam to the signal of telecommunication, imaging circuit using the signal of telecommunication from image sensor as analog signal output, A/D converter converts the analog signal from imaging circuit to data signal, and this data signal is sent to microprocessor by signal transmitting unit afterwards.
4. the automatic door control system according to any one of claim 1-3, wherein the induction range of two sensing devices comprises three parts, the lowest limit threshold range that distance door leaf is nearer and the monitoring threshold scope far away apart from door leaf, and the threshold range between lowest limit threshold range and monitoring threshold scope, the inductive signal processing unit of data processing unit processes the vision signal from above-mentioned two sensing devices, the picture frame of previous moment and the subsequent image frames of subsequent time are compared, carry out pixel comparison between two images, pixel value change in two images is counted, by multiple successive image frame analysis is drawn pedestrian etc. running orbit and and door leaf between distance, calculated by the running orbit of analytic operation unit to pedestrian etc. of data processing unit afterwards, judge this pedestrian waits whether want to pass through automatic door within the scope of monitoring threshold, this pedestrian of Distance Judgment etc. between door leaf is waited whether to enter threshold range according to pedestrian again, judged result is sent to interface unit by data processing unit afterwards, if twice judged result is be, then interface unit can send the instruction of opening/rotating to controller, if to judge that within the scope of monitoring threshold this pedestrian waits whether to want by the judged result of automatic door be no, if then this pedestrian etc. enter above-mentioned lowest limit threshold range, automatic door also can be opened/rotate.
5. the automatic door control system according to any one of claim 1-3; the resistance be subject to during the automatic door being wherein set to by analytic operation unit detecting unit to be detected runs compares with the threshold resistor preset; and comparative result is sent to interface unit; if this resistance is greater than threshold resistor; then interface unit sends the command signal of the automatic door operation that suspends or slow down to controller, until detecting unit detects that this resistance disappears or is less than threshold resistor.
6. an automatic door control method, comprising:
After automatic door is installed, first debugging routine is performed, this debugging routine is stored in the memory cell of microprocessor, in debug process, user sets every preset value according to the testing result of detecting unit and comfort by interactive unit, the interface unit of microprocessor is programmed to hop by debugging routine by the part able to programme being coupled to hop, this hop is made to obtain predetermined properties, thus when hop finds that the operation result that the data processing unit of microprocessor sends has this preset property, hop just produces and transmits command adapted thereto signal, wherein set every preset value is stored in microprocessor,
After debugging, automatic door enters normal operating conditions, microprocessor according to the temporal information of clock unit judge the residing period whether preset by the period of induced signal On/Off automatic door, if not in this preset period of time, then this automatic door just can need be opened with the password preset, if in preset period of time, then automatic door is in automatic treatment state:
Wherein, by two sensing device induction automatic door entrance sides, environmental information in outlet side certain limit, this induction range comprises three parts, the lowest limit threshold range that distance door leaf is nearer and the monitoring threshold scope far away apart from door leaf, and the threshold range between lowest limit threshold range and monitoring threshold scope, under automatic treatment state, the inductive signal processing unit of microprocessor processes the vision signal from above-mentioned two sensing devices and the picture frame of previous moment and the subsequent image frames in next moment is compared, carry out pixel comparison between two images, pixel value change in two images is counted, by multiple successive image frame analysis is drawn pedestrian etc. running orbit and and door leaf between distance, calculated by the running orbit of analytic operation unit to pedestrian etc. of data processing unit afterwards, judge this pedestrian waits whether want to pass through automatic door within the scope of monitoring threshold, this pedestrian of Distance Judgment etc. between door leaf is waited whether to enter threshold range according to pedestrian again, judged result is sent to interface unit by data processing unit afterwards, if twice judged result is be, then interface unit can send the instruction of opening/rotating to controller, if to judge that within the scope of monitoring threshold this pedestrian waits whether to want by the judged result of automatic door be no, if then this pedestrian etc. enter above-mentioned lowest limit threshold range, automatic door also can be opened/rotate,
In automatic door translation door closedown/automatic revolving door rotary course, if detecting unit detects that door leaf is subject to drag effect, then this Detection Information is sent to microprocessor by detecting unit, this Resistance Pressure information and the threshold resistor preset compare by microprocessor, if comparative result is greater than threshold resistor for this resistance, then send pause instruction signal to controller.
7. method as claimed in claim 6, wherein under automatic treatment state, environmental information in certain limit under door is sent to microprocessor as induced signal by induction installation, people/thing whether is had under microprocessor judges door, and judge further the distance of this people/between thing and door leaf, if judge, this distance is less than default setting value, then send the command signal of slow-down/time-out to controller.
8. method as claimed in claim 6, wherein automatic door is automatic revolving door, wherein induction installation is also included in the sensor of revolving door curved wall upper outer edge, and this sensor is for detecting near the curved wall outward flange of revolving door entrance among a small circle whether there is obstruction.
9. method as claimed in claim 8, wherein when there is obstruction at the sensor sensing of revolving door curved wall upper outer edge in its induction range, microprocessor sends the command information suspending and rotate according to this induction information, and sends audio alert, and prompting entrance exists obstruction.
10. method as claimed in claim 6, wherein under generation emergency or other desired situation, controls automatic door state by emergency braking apparatus.
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