CN107462148A - A kind of door state detection method and device - Google Patents
A kind of door state detection method and device Download PDFInfo
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- CN107462148A CN107462148A CN201710852526.6A CN201710852526A CN107462148A CN 107462148 A CN107462148 A CN 107462148A CN 201710852526 A CN201710852526 A CN 201710852526A CN 107462148 A CN107462148 A CN 107462148A
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- open angle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The invention discloses the embodiment of the present invention to provide a kind of door state detection method and device, to improve the accuracy of door state testing result.This method includes：First magnetic vector of the door that acquisition first sensor detects in current position；According to first magnetic vector and open angle and the corresponding relation of magnetic vector, the open angle of the door is determined, wherein, the angle of position when the open angle is closed for the current location of the door relative to the door；According to identified open angle, the current state of the door is determined.
Description
Technical field
The present invention relates to communication technical field, more particularly to a kind of door state detection method and device.
Background technology
Door is indispensable part in building, and closely bound up with the life and work of people, door state has become anti-
The important parameter of the fire monitoring system such as antitheft.Prior art is mainly using the state of following two methods detection door：
First, the open mode and closed mode of door are detected using magnetic induction switch or photoelectric sensor.But magnetic induction is opened
Close and photoelectric sensor needs to install in door and doorframe two parts, installation inconvenience, and the opening and closing two of door can only be detected
Kind state, can not detect open angle.
2nd, the angular acceleration and linear acceleration of door are obtained using six-axle acceleration sensor, by processor (Central
Processing Unit, CPU) calculate to obtain open angle according to the angular acceleration and linear acceleration of acquisition.Because six axles accelerate
The angular acceleration of sensor acquisition and the discreteness of linear acceleration are spent, CPU passes through carries out integral operation to the angular acceleration of acquisition
When obtaining open angle, it may occur that result of calculation is drifted about, and causes testing result inaccurate, it is therefore desirable to often carries out calibrating again
Position.
The content of the invention
The embodiment of the present invention provides a kind of door state detection method and device, to improve the accurate of door state testing result
Property.
Concrete technical scheme provided in an embodiment of the present invention is as follows：
In a first aspect, the embodiments of the invention provide a kind of door state detection method, including：
First magnetic vector of the door that acquisition first sensor detects in current position；
According to first magnetic vector and open angle and the corresponding relation of magnetic vector, the enabling of the door is determined
Angle, wherein, the angle of position when the open angle is closed for the current location of the door relative to the door；
According to identified open angle, the current state of the door is determined.
In possible embodiment, closed according to first magnetic vector and open angle are corresponding with magnetic vector
System, the open angle of the door is determined, including：
Open angle open angle corresponding with the second magnetic vector in the corresponding relation of magnetic vector is defined as
The open angle of the door, wherein, second magnetic vector is big with first magnetic vector in the corresponding relation
The minimum magnetic vector of small difference；Or
Obtain the difference with the size of first magnetic vector in the open angle and the corresponding relation of magnetic vector
The second minimum magnetic vector, and in the open angle and the corresponding relation of magnetic vector in addition to second magnetic vector
The 3rd minimum magnetic vector with the difference of the size of first magnetic vector；According to first magnetic vector, described
Two magnetic vectors, the 3rd magnetic vector, open angle corresponding to second magnetic vector and the 3rd magnetic field arrow
Open angle corresponding to amount, calculate the open angle of the door.
In possible embodiment, sweared according to first magnetic vector, second magnetic vector, the 3rd magnetic field
Amount, open angle corresponding to second magnetic vector and to open angle corresponding to the 3rd magnetic vector, calculate institute
The open angle of door is stated, including：
The open angle of the door is calculated according to below equation：
Wherein, X is the open angle for the door being calculated,For first magnetic vector,For second magnetic
Field vector,For the 3rd magnetic vector, X1For open angle, X corresponding to second magnetic vector2For the 3rd magnetic
Open angle corresponding to field vector.
In possible embodiment, methods described also includes：Obtain the door movement locus that second sensor detects
Acceleration in tangential direction；
According to identified open angle, the current state of the door is determined, including：
If the open angle of the door is less than the first setting value, and the acceleration in the door movement locus tangential direction is big
In the second setting value, it is determined that the door is closed；Or, however, it is determined that open angle be less than the first setting value, and
Acceleration in the door movement locus tangential direction is less than the 3rd setting value, it is determined that the door is closed；
If the open angle of the door is more than or equal to first setting value, it is determined that the door is in open mode.
In possible embodiment, closed according to first magnetic vector and open angle are corresponding with magnetic vector
System, before determining open angle, methods described also includes：
For each setting position of the door in multiple setting positions, the door that 3rd sensor detects is obtained
Sweared in the door that the angular speed of the setting position and the first sensor detect in the magnetic field of the setting position
Amount, and the open angle according to corresponding to the angular speed of the setting position calculates the setting position；
It is multiple corresponding to multiple open angles and the multiple setting position according to corresponding to the multiple setting position
Magnetic vector, establish the open angle and the corresponding relation of magnetic vector.
In possible embodiment, first magnetic vector of the door that detects of first sensor in current position is obtained,
Including：
Every first magnetic vector of the door that setting duration acquisition first sensor detects in current position；Or
When determining that the position of the door changes, obtain the door that first sensor detects and sweared in the first magnetic field of current position
Amount.
In possible embodiment, methods described also includes：By the current shape of the open angle of the door and/or the door
The equipment that state is sent to the state for monitoring the door.
Second aspect, the embodiments of the invention provide a kind of door state detection means, including：
Acquisition module, for obtaining the first magnetic vector of door that first sensor detects in current position；
Determining module, for according to first magnetic vector and open angle and the corresponding relation of magnetic vector, really
The open angle of the fixed door, and according to identified open angle, the current state of the door is determined, wherein, it is described to open
The angle of position when door angle is closed for the current location of the door relative to the door.
In possible embodiment, the determining module is specifically used for：The open angle is corresponding with magnetic vector
Open angle corresponding to the second magnetic vector is defined as the open angle of the door in relation, wherein, second magnetic vector
For magnetic vector minimum with the difference of the size of first magnetic vector in the corresponding relation；Or
The acquisition module is additionally operable to：Obtain in the open angle and the corresponding relation of magnetic vector with first magnetic
The second minimum magnetic vector of the difference of the size of field vector, and removed in the open angle and the corresponding relation of magnetic vector
3rd magnetic vector of the difference minimum of the outer size with first magnetic vector of second magnetic vector；The determination mould
Block is specifically used for：First magnetic vector that is got according to the acquisition module, second magnetic vector, the described 3rd
Open angle corresponding to open angle corresponding to magnetic vector, second magnetic vector and the 3rd magnetic vector, meter
Calculate the open angle of the door.
In possible embodiment, the determining module is specifically used for：Second magnetic field is obtained in the acquisition module
After vector and the 3rd magnetic vector, the open angle of the door is calculated according to below equation：
Wherein, X is the open angle for the door being calculated,For first magnetic vector,For second magnetic
Field vector,For the 3rd magnetic vector, X1For open angle, X corresponding to second magnetic vector2For the 3rd magnetic
Open angle corresponding to field vector.
In possible embodiment, the acquisition module is additionally operable to：Obtain the door motion that second sensor detects
Acceleration on orbit tangent direction；
The determining module is specifically used for：If the open angle of the door is less than the first setting value, and door motion rail
Acceleration in mark tangential direction is more than the second setting value, it is determined that the door is closed；Or, however, it is determined that enabling
Angle is less than the first setting value, and the acceleration in the door movement locus tangential direction is less than the 3rd setting value, it is determined that institute
Door is stated to be closed；If the open angle of the door is more than or equal to first setting value, it is determined that the door is in
Open mode.
In possible embodiment, in the determining module according to first magnetic vector and open angle and magnetic field
The corresponding relation of vector, before determining open angle, the acquisition module is additionally operable to：
For each setting position of the door in multiple setting positions, the door that 3rd sensor detects is obtained
Sweared in the door that the angular speed of the setting position and the first sensor detect in the magnetic field of the setting position
Amount；
The determining module is additionally operable to：For each setting position of the door in multiple setting positions, set according to this
The angular speed for determining opening position calculates open angle corresponding to the setting position；It is multiple according to corresponding to the multiple setting position to open
Multiple magnetic vectors corresponding to door angle and the multiple setting position, it is corresponding with magnetic vector to establish the open angle
Relation.
In possible embodiment, the acquisition module is specifically used for：First sensor detection is obtained every setting duration
First magnetic vector of the door arrived in current position；Or
When determining that the position of the door changes, the door that acquisition first sensor detects is the first of current position
Magnetic vector.
In possible embodiment, described device also includes：Sending module, for by the open angle of the door and/or
The equipment that the current state of the door is sent to the state for monitoring the door.
Based on above-mentioned technical proposal, in the embodiment of the present invention, door state detection means obtains what first sensor detected
Door current position the first magnetic vector, according to first magnetic vector and open angle it is corresponding with magnetic vector pass
System, determines the open angle of the door, and according to identified open angle, determines the current state of the door, wherein, should
The angle of position when open angle is closed for the current location of door relative to door.The embodiment of the present invention is according to the first magnetic field of acquisition
The corresponding relation of vector and open angle and magnetic vector, it is determined that the current open angle of door and state, it is not necessary to carry out
Integral operation, and magnetic field of the earth has a continuous uniformity in the range of certain space, door state testing result is more accurate, it is not necessary to
Continually carry out calibration and reset operation.
Brief description of the drawings
Fig. 1 is a kind of structural representation of door state detection means provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic flow sheet of door state detection method provided in an embodiment of the present invention；
Fig. 3 is rectangular coordinate system in space schematic diagram where door in the embodiment of the present invention；
Fig. 4 is the concrete structure schematic diagram of door state detection means in the embodiment of the present invention.
Embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, the present invention is made below in conjunction with accompanying drawing into
One step it is described in detail.
Door refers to move in a circle around door-hinge to realize the door of open and close function, the first sensing in the embodiment of the present invention
Magnetic vector in magnetic vector and open angle and the corresponding relation of magnetic vector that device detects is at door position
Magnetic field of the earth.
As shown in figure 1, a kind of door state detection means 100 provided in an embodiment of the present invention is including acquisition module 101 and really
Cover half block 102.Wherein, acquisition module 101, for obtaining door that first sensor detects in the first magnetic field of current position
Vector；Determining module 102, the first magnetic vector and open angle and magnetic field for being got according to acquisition module 101 are sweared
The corresponding relation of amount, it is determined that the open angle of door, and according to identified open angle, the current state of this is determined, its
In, the angle of position when the open angle is closed for the current location of door relative to door.
In one specific embodiment, the function of acquisition module 101 and determining module 102 can be by CPU or micro-control
Unit (Microcontroller Unit, MCU) processed is realized.
Fig. 2 schematically illustrates a kind of flow of door state detection method provided in an embodiment of the present invention, and this method is
Realized based on the door state detection means 100 shown in Fig. 1, the flow comprises the following steps：
Step 201：First magnetic vector of the door that acquisition first sensor detects in current position.
Specifically, sweared every the door that setting duration acquisition first sensor detects in the first magnetic field of current position
Amount；Or when determining that the position of the door changes, door that first sensor detects is obtained the first of current position
Magnetic vector, to reduce the power consumption of door state detection means 100 so that condition checkout gear 100 can be pacified by battery powered
Fill easy to use, construction cost is low.Wherein, step 201 is realized by the acquisition module 101 in door state detection means 100.
Step 202：According to the first magnetic vector and open angle and the corresponding relation of magnetic vector got, it is determined that
The open angle of this, wherein, the angle of position when the open angle is closed for the current location of the door relative to the door.
Step 202 can be realized by the determining module 102 of door state detection means 100.
Specifically, according to first magnetic vector and the open angle and the corresponding relation of magnetic vector, it is determined that door
Open angle, one kind in including but not limited to following two modes：
Mode one, by the difference in the open angle and the corresponding relation of magnetic vector with the size of first magnetic vector
Open angle corresponding to the second minimum magnetic vector is defined as the open angle of this, wherein, second magnetic vector is to open
The magnetic vector minimum with the difference of the size of first magnetic vector in the corresponding relation of door angle and magnetic vector.
Mode two, obtain the difference with the size of the first magnetic vector in the open angle and the corresponding relation of magnetic vector
The second minimum magnetic vector, and in addition to second magnetic vector and be somebody's turn to do in the open angle and the corresponding relation of magnetic vector
The 3rd minimum magnetic vector of the difference of the size of first magnetic vector；According to first magnetic vector, second magnetic vector,
Open angle corresponding to 3rd magnetic vector, second magnetic vector and to angle of being opened the door corresponding to the 3rd magnetic vector
Degree, calculate the open angle of door.Under normal circumstances, the magnetic vector and first in open angle and the corresponding relation of magnetic vector
The size of magnetic vector is unequal, according to first magnetic vector, second magnetic vector, the 3rd magnetic vector, this second
Open angle corresponding to open angle corresponding to magnetic vector and the 3rd magnetic vector, calculates the open angle of door, can
Further improve the computational accuracy of open angle.Wherein, obtain the first magnetic vector, the second magnetic vector, the 3rd magnetic vector,
Open angle corresponding to second magnetic vector and open angle corresponding to the 3rd magnetic vector can be detected by door state
The acquisition module 101 of device 100 is realized.
Specifically, when pass-through mode two determines the open angle of door, the enabling angle of this can be calculated according to below equation
Degree：
Wherein, X is the open angle being calculated,For first magnetic vector,For second magnetic vector,For
3rd magnetic vector, X1For open angle, X corresponding to second magnetic vector2For angle of being opened the door corresponding to the 3rd magnetic vector
Degree.
Step 203：According to identified open angle, the current state of this is determined.Wherein, step 203 can pass through
The determining module 102 of door state detection means 100 is realized.
In implementation, because the magnetic vector that first sensor detects has error, it is determined that during the open angle of door
There is also error, when door is closed, identified open angle is not equal to zero, but one very close to zero value, because
It is relatively low that this according only to identified open angle judges whether door is closed accuracy.In order to improve door state detection knot
The accuracy of fruit, it is determined that on the basis of the current open angle of door, sentence with reference to the acceleration in door movement locus tangential direction
Whether disconnected door is closed, wherein, when door is changed into closed mode from open mode, the door is in movement locus tangential direction
On can produce a larger acceleration, when door is also at closed mode before the current detection moment, the door motion rail
Acceleration in mark tangential direction is zero or close to zero.
Specifically, the acceleration in the door movement locus tangential direction that second sensor detects is obtained；If institute is really
The open angle of fixed door is less than the first setting value, and the acceleration in the movement locus tangential direction of this is more than the second setting
During value, it is determined that the door is closed, or, however, it is determined that open angle be less than the first setting value, and the door is moving
Acceleration on orbit tangent direction is less than the 3rd setting value, it is determined that the door is closed；If the enabling angle of the door
Degree is more than or equal to first setting value, it is determined that the door is in open mode.Wherein, the first setting value and the second setting
Value is based on experience value or simulation result determines.Wherein, the door movement locus tangent line side that second sensor detects is obtained
Upward acceleration can be realized by the acquisition module 101 of door state detection means 100.
In implementation, according to first magnetic vector and open angle and the corresponding relation of magnetic vector, it is determined that opening the door
Before angle, open angle and the corresponding relation of magnetic vector are also established.In one specific embodiment, by with lower section
Method establishes open angle and the corresponding relation of magnetic vector：For each setting position of this in multiple setting positions, obtain
The door that this that 3rd sensor detects is detected in the angular speed and first sensor of the setting position is taken at this
The magnetic vector of setting position, and the open angle according to corresponding to the angular speed of the setting position calculates the setting position；
Multiple magnetic vectors corresponding to multiple open angles and the plurality of setting position according to corresponding to the plurality of setting position, establish
The corresponding relation of the open angle and magnetic vector.Wherein, the number of the setting position is more, the essence of identified open angle
Degree is higher, but open angle and internal memory shared by the corresponding relation of magnetic vector are larger, according to open angle and magnetic vector
Corresponding relation determine that the time needed for open angle process is longer, therefore, the number of the setting position needs to consider door
The hardware configuration of condition checkout gear 100 and the precision of open angle.Specifically, the door that 3rd sensor detects is obtained to exist
This that the angular speed and first sensor of each setting position detect can in the magnetic vector of each setting position
To be realized by the acquisition module 101 of door state detection means 100, the setting is calculated according to the angular speed of each setting position
Magnetic corresponding to the open angle of position correspondence and open angle and each setting position according to corresponding to each setting position
Field vector, open angle and the corresponding relation of magnetic vector are established, determining module can be obtained by door state detection means 100
102 realize.
It should be noted that the embodiment of the present invention is not to establishing the corresponding relation process of open angle and magnetic vector
In, obtain the door that 3rd sensor detects and set in the door that the angular speed and first sensor of setting position detect at this
The sequencing for determining the magnetic vector of opening position is defined, and can first be obtained angular speed of the door in the setting position, also may be used
First to obtain magnetic vector of the door in the setting position, or angular speed and magnetic field of the door in the setting position are obtained simultaneously
Vector.
In one specific embodiment, in rectangular coordinate system in space where door as shown in Figure 3, Z axis is door-hinge place
Direction, X-axis and Y-axis composition plane for door movement locus where plane.First sensor at least detects door each
During setting position, the angular speed in X-direction and Y direction, 3rd sensor detects door at each setting position, X-axis side
Magnetic field of the earth size in, Y direction and Z-direction, door state detection means 100 obtain each setting using integral operation
The open angle of position correspondence, according to open angle corresponding to each setting position being calculated and each setting position pair
The magnetic field of the earth in X-direction, Y direction and Z-direction answered, establishes open angle and the corresponding relation of magnetic vector.
In implementation, it is determined that after the current open angle of door and state, by the current shape of identified open angle and/or door
The equipment that state is sent to the state for monitoring the door.Wherein, the current state of identified open angle and/or door is sent out
The process for giving the equipment of the state for monitoring door is realized by the sending module 103 of door state detection means 100.
Specifically, door state detection means 100 can pass through wired mode or wireless mode (such as bluetooth, infrared) transmission
The current state of identified open angle and/or door.For example, door state detection means 100 can by with for monitoring
Low-power consumption bluetooth (Bluetooth Low Energy, the BLE) connection established between the equipment of the state of door is stated, it is identified to open
Door angle and/or the current state of door.And for example, door state detection means 100 can pass through the input/output (input/ of itself
Output, I/O) the current state of identified door is sent to the equipment OR gate state-detection of the state for monitoring door by interface
Other modules of device 100, identified open angle is sent to the state for monitoring door by the serial line interface of itself
Equipment OR gate condition checkout gear 100 other modules.
It should be noted that first sensor, second sensor and 3rd sensor can be distinguished in the embodiment of the present invention
For the sensor for measuring magnetic field of the earth at door position, for measure at door position the sensor of acceleration and
For measuring the sensor of angular speed at door position, or first sensor, second sensor and 3rd sensor are energy
Enough integrated sensors for measuring magnetic field of the earth, acceleration and angular speed at a position simultaneously, such as nine axle gyroscopes.
Based on above-mentioned technical proposal, in the embodiment of the present invention, door state detection means obtains what first sensor detected
Door current position the first magnetic vector, according to first magnetic vector and open angle it is corresponding with magnetic vector pass
System, determines the open angle of the door, and according to identified open angle, determines the current state of the door, wherein, should
The angle of position when open angle is closed for the current location of door relative to door.The embodiment of the present invention is according to the first magnetic field of acquisition
The corresponding relation of vector and open angle and magnetic vector, it is determined that the current open angle of door and state, it is not necessary to carry out
Integral operation, and magnetic field of the earth has a continuous uniformity in the range of certain space, door state testing result is more accurate, it is not necessary to
Continually carry out calibration and reset operation.
In one specific embodiment, the concrete structure of door state detection means 100 is as shown in figure 4, including nine axle tops
Spiral shell instrument 401, MCU 402, BLE Bluetooth chips 403 and power supply 404.Wherein, nine axle gyroscopes 401 are used to measure door in X-axis, Y-axis
Model with the angular speed in Z-direction, magnetic field intensity and acceleration, such as nine axle gyroscopes 401 can be MPU9250,
The axle gyroscopes of MPU9250 nine being capable of the above-mentioned 9 kinds of parameters of quick high accuracy collection；MCU 402 is used for nine axle gyroscopes 401 of acquisition and surveyed
The angular speed and magnetic field intensity measured, opened according to corresponding to the angular speed that nine axle gyroscopes 401 measure calculates door position
Door angle, establishes open angle and the corresponding relation of magnetic vector, and the magnetic field intensity measured according to nine axle gyroscopes 401
With the open angle of foundation and the corresponding relation of magnetic vector, it is determined that the open angle that door is current, and according to identified enabling
Angle, it is determined that the state that door is current, such as MCU 402 model can be EFM32ZG110F32, EFM32ZG110F32 has
Low-power consumption M0+ kernels, dormancy operating current is very low, and the speed of service is fast after wake-up；BLE Bluetooth chips 403 are used for MCU 402
The current open angle of identified door and/or state are sent to the equipment for monitoring door state, example BLE Bluetooth chips 403
Can be CC2640, CC2640 is bluetooth SOC (System-on-a-Chip) chip with BLE protocol stacks, can realize with
Bluetooth host and the long connection with mobile phone, interaction data；It is nine axle gyroscopes 401, MCU 402 and BLE bluetooths that power supply 404, which is used for,
Chip 403 is powered.
When MCU 402EFM32ZG110F32 enter EM2 park modes, operating current is about 2uA；Nine axle gyroscopes
During 401MPU9250A dormancy, operating current 8uA, BLE Bluetooth chip 403CC2640 is built as bluetooth slave with bluetooth host
It is 10uA not have average power consumption during data interaction after vertical connection, so average power consumption is about during door state detection means dormancy
20uA.If door state detection means wakes up once for every 1 second, current magnetic field intensity level, the milli of wakeup time 2 are read after waking up
Second, operating current is about 2mA.Average power consumption is about when door state detection means normal operation is calculated in data more than
24uA, the electric current consumed during along with data interaction, average power consumption is about 30uA, and power consumption is relatively low, and now power supply 404 can be electricity
Pond.Using common button cell CR2450 as example, the cell voltage 3V, capacity 550mAh, effective percentage are 70%, door state detection
The apparatus module normal use time up to 535 days, fully meets the requirement of low-power consumption.
MCU 402 also includes I/O interfaces and serial line interface, wherein, I/O interfaces are used for the current state of transmission gate and (opened
State or closed mode) and the flow of the corresponding relation to establishing open angle and magnetic vector be controlled.Specifically, door
Condition checkout gear 100 exports high level or low level by an output port in the I/O interfaces, is detected to the door state
The opening and closing two states of the external feedback door of device 100, wherein, output port output high level represents that door is currently located
In open mode, output port output low level represents that door is currently at closed mode, or the output port exports low electricity
Flat to represent that door is currently at open mode, output port output high level represents that door is currently at closed mode.Door state is examined
Device 100 is surveyed to swear with magnetic field into open angle is established by the way that an input port in the I/O interfaces is arranged into high level
The flow of the corresponding relation of amount, by the input port be arranged to low level exit establish open angle it is corresponding with magnetic vector close
The flow of system, or establish open angle and the corresponding relation of magnetic vector by the way that the input port is arranged into low level entrance
Flow, the input port is arranged to the flow that high level exits the corresponding relation for establishing open angle and magnetic vector.String
Mouthful be used for the current open angle of transmission gate, at the same can also be set by serial port command enter and exit establish open angle with
The flow of the corresponding relation of magnetic vector.
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can use the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.Moreover, the present invention can use the computer for wherein including computer usable program code in one or more
The shape for the computer program product that usable storage medium is implemented on (including but is not limited to magnetic disk storage and optical memory etc.)
Formula.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram
Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processors of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real
The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which produces, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention
God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these changes and modification.
Claims (14)
- A kind of 1. door state detection method, it is characterised in that including：First magnetic vector of the door that acquisition first sensor detects in current position；According to first magnetic vector and open angle and the corresponding relation of magnetic vector, the enabling angle of the door is determined Degree, wherein, the angle of position when the open angle is closed for the current location of the door relative to the door；According to identified open angle, the current state of the door is determined.
- 2. the method as described in claim 1, it is characterised in that according to first magnetic vector and open angle and magnetic field The corresponding relation of vector, the open angle of the door is determined, including：Open angle open angle corresponding with the second magnetic vector in the corresponding relation of magnetic vector is defined as described Door open angle, wherein, the vector of magnetic field second be the corresponding relation in the size of first magnetic vector The minimum magnetic vector of difference；OrObtain minimum with the difference of the size of first magnetic vector in the open angle and the corresponding relation of magnetic vector The second magnetic vector, and in the open angle and the corresponding relation of magnetic vector in addition to second magnetic vector and institute State the 3rd minimum magnetic vector of the difference of the size of the first magnetic vector；According to first magnetic vector, second magnetic Field vector, the 3rd magnetic vector, open angle and the 3rd magnetic vector pair corresponding to second magnetic vector The open angle answered, calculate the open angle of the door.
- 3. method as claimed in claim 2, it is characterised in that according to first magnetic vector, second magnetic vector, Opened the door corresponding to open angle corresponding to 3rd magnetic vector, second magnetic vector and the 3rd magnetic vector Angle, including：The open angle of the door is calculated according to below equation：<mrow> <mi>X</mi> <mo>=</mo> <mfrac> <mrow> <mo>|</mo> <msub> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mn>1</mn> </msub> <mo>&times;</mo> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mo>|</mo> <mo>&times;</mo> <msub> <mi>X</mi> <mn>2</mn> </msub> </mrow> <mrow> <mo>|</mo> <msub> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mn>1</mn> </msub> <mo>&times;</mo> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mo>|</mo> <mo>+</mo> <mo>|</mo> <msub> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mn>2</mn> </msub> <mo>&times;</mo> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mo>|</mo> </mrow> </mfrac> <mo>+</mo> <mfrac> <mrow> <mo>|</mo> <msub> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mn>2</mn> </msub> <mo>&times;</mo> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mo>|</mo> <mo>&times;</mo> <msub> <mi>X</mi> <mn>1</mn> </msub> </mrow> <mrow> <mo>|</mo> <msub> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mn>1</mn> </msub> <mo>&times;</mo> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mo>|</mo> <mo>+</mo> <mo>|</mo> <msub> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mn>2</mn> </msub> <mo>&times;</mo> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mo>|</mo> </mrow> </mfrac> </mrow>Wherein, X is the open angle for the door being calculated,For first magnetic vector,Sweared for second magnetic field Amount,For the 3rd magnetic vector, X1For open angle, X corresponding to second magnetic vector2Sweared for the 3rd magnetic field Open angle corresponding to amount.
- 4. the method as described in claim 1, it is characterised in that methods described also includes：Obtain the acceleration in the door movement locus tangential direction that second sensor detects；According to identified open angle, the current state of the door is determined, including：If the open angle of the door is less than the first setting value, and the acceleration in the door movement locus tangential direction is more than the Two setting values, it is determined that the door is closed；Or, however, it is determined that open angle be less than the first setting value, it is and described Acceleration in door movement locus tangential direction is less than the 3rd setting value, it is determined that the door is closed；If the open angle of the door is more than or equal to first setting value, it is determined that the door is in open mode.
- 5. the method as described in claim any one of 1-4, it is characterised in that according to first magnetic vector and enabling angle Degree and the corresponding relation of magnetic vector, before determining open angle, methods described also includes：For each setting position of the door in multiple setting positions, the door that acquisition 3rd sensor detects is at this The door that the angular speed of setting position and the first sensor detect the setting position magnetic vector, and The open angle according to corresponding to the angular speed of the setting position calculates the setting position；Multiple magnetic fields corresponding to multiple open angles and the multiple setting position according to corresponding to the multiple setting position Vector, establish the open angle and the corresponding relation of magnetic vector.
- 6. the method as described in claim any one of 1-4, it is characterised in that the door that acquisition first sensor detects is current First magnetic vector of opening position, including：Every first magnetic vector of the door that the setting duration acquisition first sensor detects in current position；OrWhen determining that the position of the door changes, door that the first sensor detects is obtained the first of current position Magnetic vector.
- 7. the method as described in claim any one of 1-4, it is characterised in that methods described also includes：The equipment that the current state of the open angle of the door and/or the door is sent to the state for monitoring the door.
- A kind of 8. door state detection means, it is characterised in that including：Acquisition module, for obtaining the first magnetic vector of door that first sensor detects in current position；Determining module, for according to first magnetic vector and open angle and the corresponding relation of magnetic vector, determining institute State the open angle of door, and according to identified open angle, determine the current state of the door, wherein, the enabling angle Spend the angle of position when being closed for the current location of the door relative to the door.
- 9. device as claimed in claim 8, it is characterised in that the determining module is specifically used for：Open angle open angle corresponding with the second magnetic vector in the corresponding relation of magnetic vector is defined as described Door open angle, wherein, second magnetic vector be the corresponding relation in the size of first magnetic vector The minimum magnetic vector of difference；OrThe acquisition module is additionally operable to：Obtain in the open angle and the corresponding relation of magnetic vector and sweared with first magnetic field The second minimum magnetic vector of the difference of the size of amount, and except described in the open angle and the corresponding relation of magnetic vector 3rd magnetic vector of the difference minimum of the outer size with first magnetic vector of the second magnetic vector；The determining module tool Body is used for：First magnetic vector that is got according to the acquisition module, second magnetic vector, the 3rd magnetic field Open angle corresponding to open angle corresponding to vector, second magnetic vector and the 3rd magnetic vector, calculate institute State the open angle of door.
- 10. device as claimed in claim 8, it is characterised in that the determining module is specifically used for：After the acquisition module obtains second magnetic vector and the 3rd magnetic vector, according to below equation meter Calculate the open angle of the door：<mrow> <mi>X</mi> <mo>=</mo> <mfrac> <mrow> <mo>|</mo> <msub> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mn>1</mn> </msub> <mo>&times;</mo> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mo>|</mo> <mo>&times;</mo> <msub> <mi>X</mi> <mn>2</mn> </msub> </mrow> <mrow> <mo>|</mo> <msub> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mn>1</mn> </msub> <mo>&times;</mo> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mo>|</mo> <mo>+</mo> <mo>|</mo> <msub> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mn>2</mn> </msub> <mo>&times;</mo> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mo>|</mo> </mrow> </mfrac> <mo>+</mo> <mfrac> <mrow> <mo>|</mo> <msub> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mn>2</mn> </msub> <mo>&times;</mo> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mo>|</mo> <mo>&times;</mo> <msub> <mi>X</mi> <mn>1</mn> </msub> </mrow> <mrow> <mo>|</mo> <msub> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mn>1</mn> </msub> <mo>&times;</mo> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mo>|</mo> <mo>+</mo> <mo>|</mo> <msub> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mn>2</mn> </msub> <mo>&times;</mo> <mover> <mi>V</mi> <mo>&RightArrow;</mo> </mover> <mo>|</mo> </mrow> </mfrac> </mrow>Wherein, X is the open angle for the door being calculated,For first magnetic vector,Sweared for second magnetic field Amount,For the 3rd magnetic vector, X1For open angle, X corresponding to second magnetic vector2Sweared for the 3rd magnetic field Open angle corresponding to amount.
- 11. device as claimed in claim 8, it is characterised in that the acquisition module is additionally operable to：Obtain the acceleration in the door movement locus tangential direction that second sensor detects；The determining module is specifically used for：If the open angle of the door is less than the first setting value, and the acceleration in the door movement locus tangential direction is more than the Two setting values, it is determined that the door is closed；Or, however, it is determined that open angle be less than the first setting value, it is and described Acceleration in door movement locus tangential direction is less than the 3rd setting value, it is determined that the door is closed；If the open angle of the door is more than or equal to first setting value, it is determined that the door is in open mode.
- 12. the device as described in claim 8-11 any one, it is characterised in that in the determining module according to described first The corresponding relation of magnetic vector and open angle and magnetic vector, before determining open angle, the acquisition module is additionally operable to：For each setting position of the door in multiple setting positions, the door that acquisition 3rd sensor detects is at this Magnetic vector of the door that the angular speed of setting position and the first sensor detect in the setting position；The determining module is additionally operable to：For each setting position of the door in multiple setting positions, according to the setting position The angular speed at the place of putting calculates open angle corresponding to the setting position；Multiple enabling angles according to corresponding to the multiple setting position Multiple magnetic vectors corresponding to degree and the multiple setting position, establish open angle pass corresponding with magnetic vector System.
- 13. the device as described in claim 8-11 any one, it is characterised in that the acquisition module is specifically used for：Every first magnetic vector of the door that setting duration acquisition first sensor detects in current position；OrWhen determining that the position of the door changes, the door that acquisition first sensor detects is in the first magnetic field of current position Vector.
- 14. the device as described in claim 8-11 any one, it is characterised in that also include：Sending module, for the current state of the open angle of the door and/or the door to be sent to for monitoring the door State equipment.
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