CN104234575B - Automatic door control system and control method - Google Patents
Automatic door control system and control method Download PDFInfo
- Publication number
- CN104234575B CN104234575B CN201410481436.7A CN201410481436A CN104234575B CN 104234575 B CN104234575 B CN 104234575B CN 201410481436 A CN201410481436 A CN 201410481436A CN 104234575 B CN104234575 B CN 104234575B
- Authority
- CN
- China
- Prior art keywords
- door
- automatically
- unit
- microprocessor
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The automatic door control system of the present invention specifically includes that induction installation, and this induction installation can obtain a range of environmental information under automatically-controlled door entrance side, outlet side and door；Microprocessor, can detect the duty of induction installation, door, controller, can receive the video information that induction installation transmits, and analyzes automatically-controlled door state and pedestrian behavior state, and output detections result or analyze result；Controller, can pass through automatic door motor etc. and control automatically-controlled door opening and closing.Wherein induction installation has network interface, for and microprocessor communication, this microprocessor and controller communication, according to for the analysis result from the signal of induction installation, controller is sent command adapted thereto；Emergency braking apparatus.Present invention also offers a kind of automatic door control method.The system and method for the present invention can accurately obtain environmental information near automatically-controlled door, guarantees automatically-controlled door safe operation, intelligence degree is high and uses comfortable.
Description
Technical field
The present invention relates to automatically-controlled door, be specifically related to control system and the control method of a kind of automatically-controlled door.
Background technology
According to use occasion and function, automatically-controlled door can be generally divided into automatic translation door, automatic revolving door, automatic folding door, automatic vertical hinged door etc., wherein automatic translation door and automatic revolving door use widest in area, and therefore, usually said automatically-controlled door, induction door are commonly referred to as automatic translation door or automatic revolving door.
Automatically-controlled door is because easy to use, good looking appearance, being conducive to the advantages such as building energy conservation, it is 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 section bar.Automatic door control method of the prior art and control system, it is typically with induction installation inside and outside controller, automatic door drive device and door, when people is close to automatically-controlled door time, this induction installation can sense the existence of people, induced signal is sent to controller by induction installation, door is opened by driving device 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 generally adopts infrared inductor or microwave induced device, when infrared inductor, as long as induction installation is to having sensed that people or object are near just automatically turning on, it will usually there is the situation of false triggering；When microwave induced device, can only inducing moving objects, the discrimination of the human body of or geo-stationary relatively low for speed is not highly desirable, and there is sensing dead angle.Visible automatic control system of the prior art is perfect not.
Summary of the invention
It is an object of the invention to provide automatic door control system and control method, based on the improvement to induction installation and controller function, it is provided that a kind of can accurately obtain environmental information near automatically-controlled door, guarantee that automatically-controlled door safe operation, intelligence degree are high and use comfortable automatically-controlled door.
In one aspect of the invention, it is provided that a kind of automatic door control system, including: induction installation, microprocessor, controller, emergency braking apparatus, wherein:
Induction installation is used for obtaining automatically-controlled door entrance side, a range of environmental information under outlet side and door, including for obtaining automatically-controlled door entrance side and outlet side two sensing devices of a range of environmental information, it is separately mounted to above door leaf the centre position inside and outside door beam, the appropriate location that also includes being arranged on door leaf is for detecting the sensor of certain limit environment information under door, for sensing the distance between door leaf and people/thing, wherein, two sensing devices and the sensor being arranged on door leaf each include 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, including clock unit, memory element, detection unit, interface unit, interactive unit and data processing unit, wherein clock unit is used for providing temporal information；Memory element is for storing the characteristic that user is predetermined；Detection unit is used for detecting the operating parameters of automatically-controlled door after installation, including the frictional resistance being subject in running during current time, present mode of operation, debugging, resistance that during commencement of commercial operation, door receives and/or power-assisted, induction installation operation conditions, controller operation conditions, and detection data are sent the data processing unit to microprocessor；Interface unit includes the hop for producing and transmit command signal and is coupled to the part able to programme of hop, during debugging, this hop is programmed so that hop obtains predetermined properties by part able to programme 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 includes inductive signal processing unit and analytic operation unit, for the various information received is processed and analytic operation, and the result processed with analytic operation is sent to interface unit；
Controller, including the driving gear for driving door leaf translation/rotation, for driving the motor of above-mentioned driving gear, has clutch driving between gear and motor, also includes the data-interface for receiving the command signal from microprocessor；
Emergency braking apparatus, is a kind of emergency stop switch.
Wherein, automatically-controlled door is automatic revolving door, and wherein induction installation is additionally included in the sensor of revolving door curved wall upper outer edge, and this sensor is used for detecting near the curved wall outward flange of revolving door porch whether there is barrier in little scope.
Wherein, two sensing devices all each include a sensor unit and a signal transmitting unit, sensor unit adopts digital camera parts, these digital camera parts include image sensor, imaging circuit and A/D converter, image sensor converts incident beam to the signal of telecommunication, imaging circuit is using from the signal of telecommunication of image sensor as analog signal output, A/D converter converts the analogue signal from imaging circuit to digital signal, and this digital signal is sent to microprocessor by signal transmitting unit afterwards.
The induction range of two of which sensing device includes three parts, the lowest limit threshold range nearer apart from door leaf and distance door leaf monitoring threshold scope farther out, and the threshold range between lowest limit threshold range and monitoring threshold scope, video signal from above-mentioned two sensing device is processed by the inductive signal processing unit of data processing unit, the subsequent image frames of the picture frame of previous moment and subsequent time is compared, carry out pixel comparison between two images, pixel value in two images is changed and counts, by be analyzed multiple successive image frames drawing the running orbit of pedestrian etc. and and door leaf between distance, by the analytic operation unit of data processing unit, the running orbit of pedestrian etc. is calculated afterwards, judge this pedestrian waits whether want to pass through automatically-controlled door within the scope of monitoring threshold, wait whether this pedestrian of Distance Judgment etc. between door leaf enters threshold range further according to pedestrian, data processing unit will determine that result is sent to interface unit afterwards, if twice judged result is it is, then interface unit can send the instruction opened/rotate to controller, if judging whether this pedestrian etc. wants by the judged result of automatically-controlled door to be no within the scope of monitoring threshold, if then this pedestrian etc. enter above-mentioned lowest limit threshold range, automatically-controlled door also can be opened/rotate.
The resistance being wherein set to analytic operation unit to be subject in being run by the automatically-controlled door that detection unit detects compares with the threshold resistor preset; and comparative result is sent to interface unit; if this resistance is more than threshold resistor; then interface unit sends the command signal that the automatically-controlled door that suspends or slow down runs to controller, until detection unit detects that this resistance disappears or less than threshold resistor.
Present invention also offers a kind of automatic door control method, including:
After automatically-controlled door is installed, debugging routine is first carried out, this debugging routine is stored in the memory element of microprocessor, in debugging process, user sets every preset value according to testing result and the comfort of detection unit by interactive unit, hop is programmed by debugging routine by the interface unit of microprocessor by being coupled to the part able to programme of 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, automatically-controlled door enters normal operating conditions, according to the temporal information of clock unit, microprocessor judges that the residing period is whether within the default period opening/close automatically-controlled door by induced signal, if not in this preset period of time, then this automatically-controlled door just can need to be opened with default password, if in preset period of time, then automatically-controlled door is in the state of automatically processing:
Wherein, automatically-controlled door entrance side is sensed by two sensing devices, the a range of environmental information of outlet side, this induction range includes three parts, the lowest limit threshold range nearer apart from door leaf and distance door leaf monitoring threshold scope farther out, and the threshold range between lowest limit threshold range and monitoring threshold scope, under automatically processing state, the subsequent image frames that video signal from above-mentioned two sensing device is processed the picture frame of previous moment and next moment by the inductive signal processing unit of microprocessor compares, carry out pixel comparison between two images, pixel value in two images is changed and counts, by be analyzed multiple successive image frames drawing the running orbit of pedestrian etc. and and door leaf between distance, by the analytic operation unit of data processing unit, the running orbit of pedestrian etc. is calculated afterwards, judge this pedestrian waits whether want to pass through automatically-controlled door within the scope of monitoring threshold, wait whether this pedestrian of Distance Judgment etc. between door leaf enters threshold range further according to pedestrian, data processing unit will determine that result is sent to interface unit afterwards, if twice judged result is it is, then interface unit can send the instruction opened/rotate to controller, if judging whether this pedestrian etc. wants by the judged result of automatically-controlled door to be no within the scope of monitoring threshold, if then this pedestrian etc. enter above-mentioned lowest limit threshold range, automatically-controlled door also can be opened/rotate；
In automatically-controlled door translation door closedown/automatic revolving door rotary course, if detection unit detects that door leaf is subject to drag effect, then this detection information is sent to microprocessor by detection unit, this Resistance Pressure information is compared by microprocessor with the threshold resistor preset, if comparative result be this resistance more than threshold resistor, then to controller send pause instruction signal.
Wherein under automatically processing state, environmental information a range of under door is sent to microprocessor as induced signal by induction installation, people/thing whether is had under microprocessor judges door, and determine whether the distance of this people/between thing and door leaf, if judging, this distance is less than default setting value, then send the command signal of slow-down/time-out to controller.
Wherein automatically-controlled door is automatic revolving door, and wherein induction installation is additionally included in the sensor of revolving door curved wall upper outer edge, and this sensor is used for detecting near the curved wall outward flange of revolving door porch whether there is barrier in little scope.
Wherein when at the sensor sensing of revolving door curved wall upper outer edge to when there is barrier in its induction range, microprocessor sends according to this induction information and suspends the command information rotated, and sends audio alert, and prompting porch exists barrier.
Wherein under there is emergency or other desired situation, control automatically-controlled 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 automatic translation door according to embodiments of the present invention；
Fig. 4 is the front view of automatic revolving door according to embodiments of the present invention.
Detailed description of the invention
Understandable for enabling the above-mentioned purpose of the present invention, feature and advantage to become apparent from, below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.In the following description, by a lot of for elaboration details to fully understand the present invention.It should be noted, however, that the present invention can implement being different from other modes multiple described herein, those skilled in the art can make multiple improvement when without departing from present invention spirit and essence, and the present invention is by the restriction of following detailed description.
Unless specifically stated otherwise, the implication that technical term used herein is generally understood that with those skilled in the art in the invention with scientific terminology is identical, present invention term used in the description is only for describing the purpose of specific embodiment, it is not intended that the restriction present invention.
First, the automatic translation door 1 of the present invention includes door leaf 1a and 1b, and as shown in fig. 1, automatic revolving door 2 can be four flap doors, and including door leaf 2a, 2b, 2c and 2d, as shown in Figure 2, or as shown in Figure 4, automatic revolving door can be two flap doors, including door leaf 2e and 2f.Hereafter the automatic door control system of the present invention will be specifically described.
The automatic door control system of the present invention specifically includes that induction installation, this induction installation can obtain a range of environmental information under automatically-controlled door entrance side, outlet side and door, for example whether have people, thing is close to this automatically-controlled door and obtains the unlatching the threshold value whether distance between this people, thing and door reaches to preset further, 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 automatically-controlled door state and pedestrian behavior state, and according to testing result or analyze the result different instruction of output to corresponding component, such as, if testing result display induction installation working state abnormal, then send alarm, if analyzing result display door porch pedestrian or object width close to automatically-controlled door openings of sizes, then send the instruction stopping automatic door motor action, in case crushing situation；Controller, can pass through automatic door motor and control automatically-controlled door opening and closing, if rotary automatic door, then can control automatically-controlled door and rotates or stop.Wherein induction installation has network interface, for and microprocessor communication, this microprocessor and controller communication, according to for the analysis result from the signal of induction installation, controller is sent command adapted thereto；Emergency braking apparatus, it is preferable that be installed in bus structures, it is particularly preferred to be installed in the CAN that is connected with controller.
Each parts of automatic door control system of the present invention are described in detail by 1-4 below with reference to the accompanying drawings.
Induction installation
In the present invention, induction installation can include the sensing device 11,21 shown in Fig. 1,2,4, it is mainly used in obtaining automatically-controlled door entrance side, a range of environmental information of outlet side, and the accuracy of this induction installation and sensitivity are to ensure that the important indicator of automatically-controlled 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 above door leaf inside and outside door beam, for automatic revolving door, it is separately mounted to the centre position inside and outside the curved cross member on revolving door top.
The induction installation of the present invention also can comprise additionally in for the sensor of certain limit environment information under induction door, it is preferred for the distance between the people/thing of induction door moving direction and the door leaf just moved, for ensureing the safe distance between door leaf and people/thing, it is ensured that people/thing is smooth and easy cosily passes through automatically-controlled door.This sensor can select common infrared sensor.
Preferably, for automatic translation door, including two these sensor (not shown)s, the each self installation in appropriate location one bottom two fan door leafs of automatic translation door of the present invention, this sensor for sensing in the preset range between two fan door leafs whether there is barrier in door running, in automatically-controlled door close stage, when this sensor detects the door leaf edge distance with barrier less than a certain setting value, automatic translation door door leaf stops mobile, or moves to the direction opened.
For automatic revolving door, including four these sensors 22 ', such as Fig. 2, as shown in 4.Owing to automatic revolving door usually enters (direction of rotation such as Fig. 2 shown in arrow R) from right side, it is preferred to revolving door direction of rotation homonymy (namely, door leaf close side) revolving door door leaf top install sensor of the invention 22 ', to sense the environmental information in preset range below this door leaf, this preset range is illustrated by the part E in Fig. 2, when sensor 22 ' detects that this door leaf barrier/snail arranged below is close to this door leaf, and when the distance between this door leaf is less than a certain setting value, this revolving door can slow-down, or suspend, to guarantee that pedestrian waits securely and comfortably by this revolving door.
More preferably, it is mounted with two sensor S shown in curved wall upper outer edge additional installation sensor S(Fig. 2 of revolving door import department, Fig. 4 illustrate only one of them), particular location is as shown in the figure, whether there is barrier in the little scope of curved wall adjacent edges of detection revolving door porch all sidedly, it is prevented that folder people's event occurs.
The sensing device of the present invention and sensor may comprise a sensor unit and a signal transmitting unit.Wherein, sensing device 11,21 preferably employs the intelligence sensor that can obtain video information: this sensor unit can include 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 automatically-controlled door is sent to microprocessor by this sensor unit in real time, this preset range such as can include three parts, for automatic translation door, can in such as Fig. 1 shown in bold portion A from shown in door close range and dotted portion B from door scope farther out and the intermediate range between A and B, for automatic revolving door, can in such as Fig. 2 shown in bold portion C from shown in door close range and dotted portion D from door scope farther out and the intermediate range (not shown intermediate range) between C and D.Wherein preferably close range is lowest limit threshold range, i.e. when the automatic door control system finder/thing of the present invention enters into this bottom line threshold range, namely automatically-controlled door starts, and intermediate range is threshold range, and scope is monitoring threshold scope farther out.
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 is using from the signal of telecommunication of image sensor as analog signal output, A/D converter converts the analogue signal from imaging circuit the digital signal of prescribed form to, by signal transmitting unit, this digital signal is sent the microprocessor to the present invention afterwards.
Microprocessor
The microprocessor 12 of the present invention preferably includes clock unit, memory element, detects unit, interface unit, interactive unit and data processing unit.
Above-mentioned clock unit is for providing temporal information in real time；
Memory element is for storing the characteristic that user is predetermined, and the password preset, the information such as account, and store various program, including safety-related program and debugging routine etc., certainly, the memory element of the present invention also can store the induced signal that induction installation transmits；
Detection unit, for detecting the operating parameters of automatically-controlled door after installation, such as current time, present mode of operation, during debugging door run in the frictional force that is subject to, 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 include for producing and transmit command signal to move door or to make a hop stopping movement, with the part able to programme being coupled to hop, this part able to programme can pass through debugging routine to the programming of described hop so that this hop obtains predetermined properties 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, may be provided at master control room or the appropriate position etc. of automatically-controlled door side walls, is used for realizing man-machine interaction, it may include input equipment and a display device.User can pass through the preset control information of this interactive unit input automatically-controlled door, such as, in the debugging stage, user can according to the parameters situation of automatically-controlled door after the installation of detection unit detection, it is manually entered the operational factor of automatically-controlled door, the dead time of open mode it is in including automatically-controlled door after opening, automatically-controlled door beats the normal running speed of opening/closing, door needs to slow down in running the resistance threshold value of the speed of service, performance is the threshold value of people/thing with the spacing of automatic door wing, lowest limit threshold value and monitoring threshold, width opened by door leaf, the time period of automatically-controlled door is started by induced signal, the time period of automatically-controlled door is not started by induced signal, open the account password etc. of automatically-controlled door.Certainly, for the optional Optimal Setting being automatically performed every operational factor by automatic door control system of the present invention of partial parameters user；
Data processing unit, including an inductive signal processing unit and an analytic operation unit, for the various information received is processed and analytic operation, and is sent to interface unit by the result processed with analytic operation.The signal that induction installation is sent by inductive signal processing unit processes.Wherein, this inductive signal processing unit can tell the door leaf in induction range, door leaf will not be judged as the people/thing in induction range, from without causing maloperation.When induction installation 11,21 includes digital camera parts, described inductive signal processing unit is suitable for processing the induction information including video data signal, in order to judge whether to have in induction range people/thing.The mode of the video frequency signal processing that shooting part is sent by inductive signal processing unit of the present invention is, the subsequent image frames of the picture frame of previous moment and next moment is compared, carry out pixel comparison between two images, the pixel value in two images is changed to be counted.If someone moves during two picture frames, then can record the change of a large amount of pixel value.
Thus, the 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 frames, by the analytic operation unit of data processing unit, the running orbit of pedestrian etc. is calculated afterwards, judge this pedestrian waits whether want to pass through automatically-controlled door within the scope of monitoring threshold, wait whether this pedestrian of Distance Judgment etc. between door leaf enters threshold range further according to pedestrian, data processing unit will determine that result is sent to interface unit afterwards, if twice judged result is it is, then interface unit can send the instruction opened/rotate to controller, if judging whether this pedestrian etc. wants by the judged result of automatically-controlled door to be no within the scope of monitoring threshold, if then this pedestrian etc. enter above-mentioned lowest limit threshold range, automatically-controlled door also can be opened/rotate.So, the automatically-controlled door of the present invention, by namely judging whether pedestrian etc. is intended to by automatically-controlled door within the scope of the monitoring threshold outside threshold range, eliminates and simply passes by the situation that automatically-controlled door but causes automatically-controlled door to open, bring good Consumer's Experience.
Analytic operation unit for the present invention, specifically, this analytic operation unit can the result of inductive signal processing unit be analyzed 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 detection unit, and the automatic door control method making the present invention can perform operation according to presupposed information, such as, when induced signal is sent to microprocessor and after this induced signal being processed 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 threshold value or the lowest limit threshold value whether this actual range reach to preset, if reaching threshold value or lowest limit threshold value, perform opening door operation.Or, such as when detecting unit and detecting that automatically-controlled door operation is subject to a drag effect, just this Resistance Pressure information is sent to microprocessor, in microprocessor, this Resistance Pressure information is compared by the computing unit of data processing unit with the threshold resistor preset, and comparative result is sent to interface unit, if this resistance is be more than or equal to threshold resistor, then forces to stop automatically-controlled door and continue to run with, until detection unit detects that this resistance disappears or less than threshold resistor, the event in case generation folder people hurts sb.'s feelings.Or, for automatic revolving door, when detection 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 with preset threshold value compared with, if more than threshold value, then suspend rotation, in case causing dangerous consequence.
Controller includes: drive gear 14, and this driving gear 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 driving gear；Driving the clutch (not indicating in figure) between gear and motor；Be used for receiving the data-interface (not shown) of control signal from microprocessor or command signal.Command signal can be sent to controller by a latch cicuit by the interface unit of microprocessor, it is possible to becomes the loss because the control system of the present invention is caused by short circuit or impacting with high pressure, improves system stability.
Emergency braking apparatus
The emergency braking apparatus (attached not shown) of the present invention can be such as emergency stop button, emergency stop switch etc..For automatic translation door, it is preferable that this emergency braking apparatus is arranged to three gears, first gear represents that this emergency braking apparatus is invalid, now, and automatically-controlled 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, automatically-controlled door performs corresponding operating by force, ignores other factors every.User can select according to practical situation, for instance when in door, space occurs dangerous situation to be badly in need of Evacuation, optional second gear, when space occurs special circumstances need to protect space in door outdoors, and optional 3rd gear.For automatic revolving door, it is preferable that emergency braking apparatus is arranged to two gears, first gear represents that this emergency braking apparatus is invalid, now, and automatically-controlled door normal operating；Second gear represents promptly closes the door, and now automatically-controlled door performs door-closing operation by force so that door leaf is in the state that people/thing cannot pass through, and ignores other factors every.
The all right alarm device of the automatic door control system of the present invention, this alarm device can be the warning circuit of sounding, in that case, this sounding alarm circuit can be mainly made up of a current resistor, a switching tube and a speaker, the microprocessor of the present invention is connected with this alarm device, thus, when microprocessor judges go out its operation result belong to certain predetermined condition time, namely sounding with report to the police.
Certainly, the automatic door control system of the present invention may also include with manual operational unit, is in password opening for artificial this automatically-controlled door of appointment and still automatically processes state.
The automatic door control method of the present invention is described below in reference to invention described above automatic door control system.
In the automatic door control method of the present invention, after automatically-controlled door is installed, first can perform debugging routine.This debugging routine is storable in the memory element of microprocessor.For automatic translation door, user can manually move door leaf to open position from closed position, this operation by mobile door leaf, detection unit can obtain after testing door leaf properly functioning time frictional resistance, user can arrange resistance threshold value accordingly, user also may be used in combination comfort level etc., obtain best door opens wide, and the reference value of other and this movement opened of door leaf and location-dependent parameters be stored in microprocessor, now door leaf is moved to closed position, detection unit now obtains the reference value with this location-dependent parameters and is stored in microprocessor, the displacement of detection unit detection door 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 detection unit can automatically detect and rotates relevant parameters to door and be stored in microprocessor.And, during this debugging, the dead time being in open mode after automatically-controlled door is opened can also be set, automatically-controlled door beat the opening/closing speed of service, width (above several is for automatic translation door) opened by door leaf, revolving door is once sensing the postrotational stop position of triggering, the setting value of the induction range of the sensor 22 ' on revolving door door leaf and 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 people/thing with the spacing of automatic door wing, lowest limit threshold value and monitoring threshold, every day is started the time period of automatically-controlled door by induced signal, not by induced signal but by the time period of password startup automatically-controlled door, the account password of unlatching automatically-controlled door etc. (automatic translation door and automatic revolving door are generally suitable for by above-mentioned several).
Pre-setting of above-mentioned parameters can be undertaken by interactive unit.This interactive unit may be provided at master control room or the appropriate position etc. of automatically-controlled door side walls, is used for realizing man-machine interaction, it may include input equipment and a display device.User can pass through the preset control information of this interactive unit input automatically-controlled door, such as, in the debugging stage, user can according to the parameters situation of automatically-controlled door after the installation of detection unit detection, it is manually entered the operational factor of automatically-controlled door, the dead time of open mode it is in including automatically-controlled door after opening, automatically-controlled door beats the normal running speed of opening/closing, door needs to slow down in running the resistance threshold value of the speed of service, performance is the threshold value of people/thing with the spacing of automatic door wing, lowest limit threshold value and monitoring threshold, width opened by door leaf, the time period of automatically-controlled door is opened/closes by induced signal, the time period of opening/closing automatically-controlled door is not beaten by induced signal, open the account password etc. of automatically-controlled door.Certainly, for partial parameters, the optional Optimal Setting being automatically performed every operational factor by automatic door control system of the present invention of user；
During debugging routine, hop is programmed by debugging routine by the interface unit of microprocessor by being coupled to the part able to programme of 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, automatically-controlled door enters normal operating conditions.
Under automatically-controlled door normal operating conditions, the operating parameters of automatically-controlled door after the detection unit of the present invention can detect installation, 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, according to the temporal information of clock unit, microprocessor judges that the residing period is whether within the default period opening/close automatically-controlled door by induced signal, if not in this preset period of time, then this automatically-controlled door just can need to be opened with default password, if in preset period of time, then automatically-controlled door is in the state of automatically processing:
Certainly, the automatic door control method of the present invention selects the automatically-controlled door of the present invention to be in the state of automatically processing or password opening also by manual methods.
Under automatically processing state, induction installation is obtained induced signal by sensor unit and is sent induced signal to microprocessor by signal transmitting unit.This sensor unit preferably employs the intelligence sensor that can obtain video information: this sensor can include 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 automatically-controlled door is sent to microprocessor by this sensor unit in real time, this preset range such as can include three parts, for automatic translation door, can in such as Fig. 1 shown in bold portion A from shown in door close range and dotted portion B from door scope farther out and the intermediate range between A and B, for automatic revolving door, can in such as Fig. 2 shown in bold portion C from shown in door close range and dotted portion D from door scope farther out and the intermediate range (not shown intermediate range) between C and D.Wherein preferably close range is lowest limit threshold range, i.e. when the automatic door control system finder/thing of the present invention enters into this bottom line threshold range, namely automatically-controlled door starts, and intermediate range is threshold range, and scope is monitoring range farther out.
Preferably, the 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 is using from the signal of telecommunication of image sensor as analog signal output, A/D converter converts the analogue signal from imaging circuit the digital signal of prescribed form to, afterwards, by signal transmitting unit, this digital signal is sent the microprocessor to the present invention.
Data processing unit in microprocessor is for processing the various signals of reception.And the signal processing computing by analysis is 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 having this predetermined properties, hop just produces command adapted thereto signal and sends this command signal to control unit, thus control unit performs corresponding operating.
It may be noted that the inductive signal processing unit of the present invention can tell the door leaf in induction range, door leaf will not be judged as the people/thing in induction range, from without causing maloperation.
When induction installation includes digital camera parts, described inductive signal processing unit is suitable for processing the induction information including video data signal, it is judged that whether have people/thing in induction range.The mode of the video frequency signal processing that shooting part is sent by inductive signal processing unit of the present invention is, the subsequent image frames of the picture frame of previous moment and next moment is compared, carry out pixel comparison between two images, the pixel value in two images is changed to be counted.If someone moves during two picture frames, then can record the change of a large amount of pixel value.Thus, the 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 frames.By be analyzed multiple successive image frames drawing the running orbit of pedestrian etc. and and door leaf between distance, by the analytic operation unit of data processing unit, the running orbit of pedestrian etc. is calculated afterwards, judge whether this pedestrian etc. wants by automatically-controlled 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 automatically-controlled door, then judge that this pedestrian etc. wants to pass through automatically-controlled door), wait whether this pedestrian of Distance Judgment etc. between door leaf enters threshold range further according to pedestrian, data processing unit will determine that result is sent to interface unit afterwards, if twice judged result is it is, then interface unit can send the instruction opened/rotate to controller, if judging whether this pedestrian etc. wants by the judged result of automatically-controlled door to be no within the scope of monitoring threshold, if then this pedestrian etc. enter above-mentioned lowest limit threshold range, automatically-controlled door also can be opened/rotate.So, the automatically-controlled door of the present invention, by judging outside threshold range whether pedestrian etc. is intended to by automatically-controlled door, eliminates and simply passes by the situation that automatically-controlled door but causes automatically-controlled door to open, bring good Consumer's Experience.
Simultaneously, it is arranged on automatically-controlled door door leaf the sensor of appropriate position and also in real time its induction information can be sent the microprocessor to the present invention, and then, whether the automatic door control method of the present invention can sense in real time has the people/thing spacing with door leaf less than a setting value near door leaf, if less than this setting value, then automatically-controlled door performs to prevent 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.
Specifically, 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 setting value set in advance, if less than or equal to this setting value, microprocessor just sends slow down velocity of rotation or the tentative instruction rotated to controller, so, the automatic door control method of the present invention can conveniently move slowly old people etc. smoothly and cosily by this automatically-controlled door.Simultaneously, sensor S in revolving door edge sidewalls senses whether its induction range exists barrier, and induction information is sent to microprocessor, and microprocessor sends according to this induction information and suspends the instruction rotated, and send voice alarm, there is barrier in prompting porch.
Equally, specifically, 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 setting value set in advance, if less than or equal to this setting value, microprocessor just sends slow down velocity of rotation or the tentative instruction rotated to controller.
The analytic operation unit of data processing unit, the result of inductive signal processing unit can be analyzed and computing draws the information such as distance of reaction value, testing result can be drawn according to the detection data operation of detection unit, and operation can be performed according to presupposed information, such as, when induced signal is sent to microprocessor and after this induced signal being processed 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 threshold value or the lowest limit threshold value whether this actual range reach to preset, if reaching threshold value or lowest limit threshold value, perform opening door operation.Or, such as when detecting unit and detecting that automatically-controlled door operation is subject to a drag effect, just this Resistance Pressure information is sent to microprocessor, this Resistance Pressure information is compared by the computing unit of microprocessor data processing unit with the threshold resistor preset, if judging, actual resistance is be more than or equal to threshold resistor, then force to stop automatically-controlled door continuing to run with until resistance disappears or less than threshold resistor, the event in case generation folder people hurts sb.'s feelings.
Interface unit is by after command signal transmission to controller, and controller can be driven operation by motor and driving gear, drives automatic translation door to translate, or drive automatic revolving door rotation.
Under there is emergency or other desired situation, control automatically-controlled 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 automatically-controlled 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, automatically-controlled 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 automatically-controlled door normal operating；Second gear represents promptly closes the door, and now automatically-controlled door performs door-closing operation by force so that door leaf is in the state that people/thing cannot pass through, and ignores other factors every.
Describe the several embodiments of the present invention above by means of example, describe comparatively concrete and detailed, it should be noted that be not considered as composition limiting the scope of the invention described above.It should be pointed out that, to those skilled in the art, when without departing from present inventive concept, above-mentioned embodiment can be made multiple changes and improvements, it is believed that this changes and improvements broadly fall into protection scope of the present invention.Protection scope of the present invention is defined solely by the appended claims.
Claims (10)
1. an automatic door control system, including: induction installation, microprocessor, controller, emergency braking apparatus, wherein:
Induction installation is used for obtaining automatically-controlled door entrance side, a range of environmental information under outlet side and door, including two sensing devices for obtaining automatically-controlled door entrance side and a range of environmental information of outlet side, it is separately mounted to above door leaf the centre position inside and outside door beam, the appropriate location that also includes being arranged on door leaf is for detecting the sensor of certain limit environment information under door, for sensing the distance between door leaf and people/thing, wherein, two sensing devices and the sensor being arranged on door leaf each include 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, including clock unit, memory element, detection unit, interface unit, interactive unit and data processing unit, wherein clock unit is used for providing temporal information；Memory element is for storing the characteristic that user is predetermined；Detection unit is used for detecting the operating parameters of automatically-controlled door after installation, including the frictional resistance being subject in running during current time, present mode of operation, debugging, resistance that during commencement of commercial operation, door is subject to and/or power-assisted, induction installation operation conditions, controller operation conditions, and detection data are sent the data processing unit to microprocessor；Interface unit includes the hop for producing and transmit command signal and is coupled to the part able to programme of hop, during debugging, this hop is programmed so that hop obtains predetermined properties by part able to programme 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 includes inductive signal processing unit and analytic operation unit, for the various information received is processed and analytic operation, and the result processed with analytic operation is sent to interface unit；
Controller, including the driving gear for driving door leaf translation/rotation, for driving the motor of above-mentioned driving gear, has clutch driving between gear and motor, also includes 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, automatically-controlled door is automatic revolving door, and wherein induction installation is additionally included in the sensor of revolving door curved wall upper outer edge, and this sensor is used for detecting near the curved wall outward flange of revolving door porch whether there is barrier in little scope.
3. automatic door control system as claimed in claim 1, wherein, two sensing devices all each include a sensor unit and a signal transmitting unit, sensor unit adopts digital camera parts, these digital camera parts include image sensor, imaging circuit and A/D converter, image sensor converts incident beam to the signal of telecommunication, imaging circuit is using from the signal of telecommunication of image sensor as analog signal output, A/D converter converts the analogue signal from imaging circuit to digital signal, and this digital signal is sent to microprocessor by signal transmitting unit afterwards.
4. the automatic door control system as according to any one of claim 1-3, the induction range of two of which sensing device includes three parts, the lowest limit threshold range nearer apart from door leaf and distance door leaf monitoring threshold scope farther out, and the threshold range between lowest limit threshold range and monitoring threshold scope, video signal from above-mentioned two sensing device is processed by the inductive signal processing unit of data processing unit, the subsequent image frames of the picture frame of previous moment and subsequent time is compared, carry out pixel comparison between two images, pixel value in two images is changed and counts, by be analyzed multiple successive image frames drawing the running orbit of pedestrian and and door leaf between distance, by the analytic operation unit of data processing unit, the running orbit of pedestrian is calculated afterwards, judge whether this pedestrian wants to pass through automatically-controlled door within the scope of monitoring threshold, further according to the Distance Judgment between pedestrian and door leaf, whether this pedestrian enters threshold range, data processing unit will determine that result is sent to interface unit afterwards, if twice judged result is it is, then interface unit can send the instruction opened/rotate to controller, if it is no for judging within the scope of monitoring threshold whether this pedestrian wants by the judged result of automatically-controlled door, if then this pedestrian enters above-mentioned lowest limit threshold range, automatically-controlled door also can be opened/rotate.
5. the automatic door control system as according to any one of claim 1-3; the resistance being wherein set to analytic operation unit to be subject in being run by the automatically-controlled door that detection unit detects compares with the threshold resistor preset; and comparative result is sent to interface unit; if this resistance is more than threshold resistor; then interface unit sends the command signal that the automatically-controlled door that suspends or slow down runs to controller, until detection unit detects that this resistance disappears or less than threshold resistor.
6. an automatic door control method, including:
After automatically-controlled door is installed, debugging routine is first carried out, this debugging routine is stored in the memory element of microprocessor, in debugging process, user sets every preset value according to testing result and the comfort of detection unit by interactive unit, hop is programmed by debugging routine by the interface unit of microprocessor by being coupled to the part able to programme of 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, automatically-controlled door enters normal operating conditions, according to the temporal information of clock unit, microprocessor judges that the residing period is whether within the default period opening/close automatically-controlled door by induced signal, if not in this preset period of time, then this automatically-controlled door just can need to be opened with default password, if in preset period of time, then automatically-controlled door is in the state of automatically processing:
Wherein, automatically-controlled door entrance side is sensed by two sensing devices, the a range of environmental information of outlet side, this induction range includes three parts, the lowest limit threshold range nearer apart from door leaf and distance door leaf monitoring threshold scope farther out, and the threshold range between lowest limit threshold range and monitoring threshold scope, under automatically processing state, the subsequent image frames that video signal from above-mentioned two sensing device is processed the picture frame of previous moment and next moment by the inductive signal processing unit of microprocessor compares, carry out pixel comparison between two images, pixel value in two images is changed and counts, by be analyzed multiple successive image frames drawing the running orbit of pedestrian and and door leaf between distance, by the analytic operation unit of data processing unit, the running orbit of pedestrian is calculated afterwards, judge whether this pedestrian wants to pass through automatically-controlled door within the scope of monitoring threshold, further according to the Distance Judgment between pedestrian and door leaf, whether this pedestrian enters threshold range, data processing unit will determine that result is sent to interface unit afterwards, if twice judged result is it is, then interface unit can send the instruction opened/rotate to controller, if it is no for judging within the scope of monitoring threshold whether this pedestrian wants by the judged result of automatically-controlled door, if then this pedestrian enters above-mentioned lowest limit threshold range, automatically-controlled door also can be opened/rotate；
In automatically-controlled door closedown/rotary course, if detection unit detects that door leaf is subject to drag effect, then this detection information is sent to microprocessor by detection unit, this Resistance Pressure information is compared by microprocessor with the threshold resistor preset, if comparative result be this resistance more than threshold resistor, then to controller send pause instruction signal.
7. method as claimed in claim 6, wherein under automatically processing state, environmental information a range of under door is sent to microprocessor as induced signal by induction installation, people/thing whether is had under microprocessor judges door, and determine whether the distance of this people/between thing and door leaf, if judging, 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 automatically-controlled door is automatic revolving door, wherein induction installation is additionally included in the sensor of revolving door curved wall upper outer edge, and this sensor is used for detecting near the curved wall outward flange of revolving door porch whether there is barrier in little scope.
9. method as claimed in claim 8, wherein when at the sensor sensing of revolving door curved wall upper outer edge to when there is barrier in its induction range, microprocessor sends according to this induction information and suspends the command information rotated, and sends audio alert, and prompting porch exists barrier.
10. method as claimed in claim 6, wherein under there is emergency or other desired situation, controls automatically-controlled door state by emergency braking apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410481436.7A CN104234575B (en) | 2014-09-21 | 2014-09-21 | Automatic door control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410481436.7A CN104234575B (en) | 2014-09-21 | 2014-09-21 | Automatic door control system and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104234575A CN104234575A (en) | 2014-12-24 |
| CN104234575B true CN104234575B (en) | 2016-06-29 |
Family
ID=52223384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410481436.7A Expired - Fee Related CN104234575B (en) | 2014-09-21 | 2014-09-21 | Automatic door control system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104234575B (en) |
Families Citing this family (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11040857B2 (en) | 2015-08-14 | 2021-06-22 | Otis Elevator Company | Door motor brake |
| CN108022333A (en) * | 2016-11-04 | 2018-05-11 | 杭州海康威视数字技术股份有限公司 | A kind of access control method, access controller and access control system |
| CN106408729B (en) * | 2016-11-22 | 2019-08-02 | 江苏轩博电子科技有限公司 | A kind of gate inhibition's automatic recognition system and method based on ultra-high frequency RFID technology |
| JP6827216B2 (en) * | 2017-02-28 | 2021-02-10 | パナソニックＩｐマネジメント株式会社 | Detection device and control system |
| CN106875530B (en) * | 2017-03-03 | 2021-04-27 | 国网山东省电力公司泰安供电公司 | Automatic mouse blocking system for storehouse door and method for automatically blocking mouse at storehouse door |
| EP3388863A1 (en) * | 2017-04-10 | 2018-10-17 | Bea S.A. | Sensor for controlling an automatic door |
| CN109979073B (en) * | 2017-12-27 | 2021-03-23 | 杭州海康威视数字技术股份有限公司 | Pedestrian passageway gate control method and device and pedestrian passageway gate |
| CN110359805A (en) * | 2018-03-26 | 2019-10-22 | 韩劝劝 | Robot control system(RCS) based on image analysis |
| CN108509883A (en) * | 2018-03-26 | 2018-09-07 | 韩劝劝 | Automatic control method based on image analysis |
| JP7090887B2 (en) * | 2018-04-24 | 2022-06-27 | 千蔵工業株式会社 | Automatic doors and protection sensors for automatic doors |
| US11536078B2 (en) * | 2018-06-15 | 2022-12-27 | Assa Abloy Entrance Systems Ab | Configuration of entrance systems having one or more movable door members |
| CN109025649A (en) * | 2018-07-11 | 2018-12-18 | 北海和思科技有限公司 | A kind of control system and its control method of automatic sensing revolving door |
| WO2020229175A1 (en) * | 2019-05-13 | 2020-11-19 | Assa Abloy Entrance Systems Ab | A swing door operator for moving a swing door leaf in a swing path between an open and closed position, a swing door and a room with a swing door |
| CN110439418B (en) * | 2019-08-14 | 2020-12-22 | 上海朗荣自动门科技有限公司 | Control method of two-wing revolving door |
| CN110863730B (en) * | 2019-12-02 | 2021-08-17 | 南京中竞科智能科技有限公司 | Control method for automatically opening and closing door, automatically opening and closing door and household appliance |
| CN111123777A (en) * | 2019-12-23 | 2020-05-08 | 东华大学 | Remote monitoring and early warning system for translation automatic door |
| CN114508882A (en) * | 2020-11-17 | 2022-05-17 | 海信（山东）冰箱有限公司 | A kind of refrigerator |
| CN112502566B (en) * | 2020-11-17 | 2022-10-28 | 广州赛特智能科技有限公司 | Method and system for assisting robot to pass through electric door |
| CN112412242A (en) * | 2020-11-20 | 2021-02-26 | 福建师范大学 | Automatic door control and anti-pinch system based on binocular stereoscopic vision and method thereof |
| CN112505674A (en) * | 2020-12-17 | 2021-03-16 | 广东蓝水花智能电子有限公司 | Automatic door control method and system based on FMCW microwave inductor |
| CN112650071B (en) * | 2020-12-21 | 2023-01-13 | 道亿科技医疗健康(海南)有限公司 | Intelligent decision making system and method based on artificial intelligence |
| CN112854952A (en) * | 2020-12-24 | 2021-05-28 | 珠海新天地科技有限公司 | Intelligent access system |
| CN112554733A (en) * | 2020-12-25 | 2021-03-26 | 成都市蜀盾自动门有限责任公司 | Safe two-wing rotary automatic door and safety control method thereof |
| CN112774999A (en) * | 2020-12-28 | 2021-05-11 | 常熟市百联自动机械有限公司 | Precise sorting method of sorting vehicle |
| CN113585913B (en) * | 2021-07-28 | 2022-09-09 | 广东蓝水花智能电子有限公司 | Automatic door and method for setting triggering area of automatic door |
| CN113719217A (en) * | 2021-09-03 | 2021-11-30 | 九牧厨卫股份有限公司 | Shower room door switch control method and shower room |
| CN113981860A (en) * | 2021-11-10 | 2022-01-28 | 北京品创联拓科技有限公司 | Gate system |
| CN114320130A (en) * | 2021-12-07 | 2022-04-12 | 广州地铁集团有限公司 | Safe passing method of station roller shutter door based on Internet of things rail transit platform |
| CN115012759A (en) * | 2022-06-15 | 2022-09-06 | 重庆文理学院 | Automatic door control method, automatic door system and readable storage medium |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5758220B2 (en) * | 2011-07-15 | 2015-08-05 | ナブテスコ株式会社 | Automatic door |
| CN203561754U (en) * | 2013-10-22 | 2014-04-23 | 江苏德普尔门控科技有限公司 | A novel automatic door sensor |
| CN103670128B (en) * | 2013-12-24 | 2016-01-06 | 今创集团股份有限公司 | A kind of side sliding door control device and control method thereof |
| CN204175091U (en) * | 2014-09-21 | 2015-02-25 | 王俭俭 | Automatic door control system |
-
2014
- 2014-09-21 CN CN201410481436.7A patent/CN104234575B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104234575A (en) | 2014-12-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104234575B (en) | Automatic door control system and control method | |
| CN204175091U (en) | Automatic door control system | |
| EP3551823B1 (en) | Automatic door operator for a swing door assembly | |
| JP2005525489A (en) | Method and apparatus for adjusting internal obstacle force settings for monitored garage door operator equipment | |
| CN112352086B (en) | Arrangement of an access system with one or more movable door members | |
| KR20090107888A (en) | Electric curtain controller | |
| CA2628204A1 (en) | Automatic door assembly with video imaging device | |
| US10385606B2 (en) | Intelligent autoclose door | |
| KR20190035029A (en) | Method, system and apparatus operated according to environment condition for automatic opening and closing of window | |
| CN212484475U (en) | Van-type modular access control system | |
| KR102247217B1 (en) | Automatic opening and closing device for sliding door | |
| CN107940670B (en) | Air conditioner opening and closing structure control method, air conditioner and readable storage medium | |
| CN102556813A (en) | Dragging-preventive video light-curtain system for elevator landing door | |
| CN113825886B (en) | Swing door operator for moving a swing door leaf on a swing path between an open position and a closed position, swing door and room with a swing door | |
| JP2004068515A (en) | Object detecting system of opening/closing apparatus | |
| CN210087215U (en) | Control system for rolling shutter door at entrance and exit of subway station | |
| US11408221B2 (en) | Entrance system | |
| US20210180384A1 (en) | Finger pinch protection for an entrance system | |
| JP3655674B2 (en) | Electric shutter safety device | |
| KR200487428Y1 (en) | Open control door system for energy saving | |
| CN108843209A (en) | A kind of security door convenient for escape | |
| WO2018183698A1 (en) | Command and confirm electronic shutter systems | |
| CN206928873U (en) | A kind of window and its window system with security monitoring function of entering the room | |
| EP1666690B1 (en) | Automatic door assembly with video imaging device | |
| JP2019085853A (en) | Electric shutter apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20160223 Address after: 201500 Shanghai City, Jinshan District Road No. 61 Lu Zhen Xi Building 8 Room 106 Applicant after: Dachang Technology (Shanghai) Co., Ltd. gated Address before: 201615 Shanghai City, Songjiang District Jiuting Zhen Pu Hui Lu No. 1 Applicant before: Wang Jianjian |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: 201500 Shanghai city Jinshan District Lu Zhen Road No. 61 Building 8 Room 106 Patentee after: Dachang gated Technology (Shanghai) Limited by Share Ltd Address before: 201500 Shanghai City, Jinshan District Road No. 61 Lu Zhen Xi Building 8 Room 106 Patentee before: Dachang Technology (Shanghai) Co., Ltd. gated |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160629 Termination date: 20200921 |