CN108301698A - A kind of intelligence door system and its control method - Google Patents
A kind of intelligence door system and its control method Download PDFInfo
- Publication number
- CN108301698A CN108301698A CN201810209780.9A CN201810209780A CN108301698A CN 108301698 A CN108301698 A CN 108301698A CN 201810209780 A CN201810209780 A CN 201810209780A CN 108301698 A CN108301698 A CN 108301698A
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- Prior art keywords
- door
- master control
- control board
- systematic master
- outdoors
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Classifications
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
- E05B49/00—Electric permutation locks; Circuits therefor ; Mechanical aspects of electronic locks; Mechanical keys therefor
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
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- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
- E06B7/00—Special arrangements or measures in connection with doors or windows
- E06B7/28—Other arrangements on doors or windows, e.g. door-plates, windows adapted to carry plants, hooks for window cleaners
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00563—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys using personal physical data of the operator, e.g. finger prints, retinal images, voicepatterns
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Lock And Its Accessories (AREA)
Abstract
A kind of intelligent door system provided by the invention and its control method, system include：Door body, electronic lock body, automatic switch door gear, sensor panel, touch panel and systematic master control board；The electronic lock body, automatic switch door gear, sensor panel and touch panel are electrically connected with the systematic master control board, and the present invention between the door leaf and doorframe by being connected with automatic switch door gear；It is provided on sensor panel and refers to vein tripper；Touching display screen is provided on touch panel, it is not smart enough to solve existing door system, the technical issues of cannot achieve automatic opening and closing door.
Description
Technical field
The present invention relates to door control system field more particularly to a kind of intelligent door system and its control methods.
Background technology
With the pursuit that the development and masses of electronic equipment live to high-quality, interconnecting between various equipment becomes
Normality, while public, existing door system, because leave behind key or key also higher and higher to the attention rate of household safety-protection and smart home
Spoon is lost, and the case where not opening door, and safety cannot ensure outdoors, no automatic opening and closing door of registering one's residence, door system frequent occurrence
Lack necessary human-computer interaction, and traditional entry door can only manually carry out switch gate, and door never has larger development, not
Everybody pursuit to Intelligent life can be met.
Therefore, the existing technology needs to be improved and developed.
Invention content
In view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of intelligent door system and its controlling parties
Method, it is intended to which it is not smart enough to solve existing door system, the technical issues of cannot achieve automatic opening and closing door.
Technical scheme is as follows：
A kind of intelligence door system, wherein including：Door body, electronic lock body, automatic switch door gear, sensor panel, touch panel
And systematic master control board；
The door body includes doorframe and door leaf；
The electronic lock body is arranged on the door leaf；
Automatic switch door gear is connected between the door leaf and doorframe；
The sensor panel is set to side outside the door leaf room, is provided on sensor panel and refers to vein tripper；
The touch panel is set to side in the door leaf room, and touching display screen is provided on touch panel；
The systematic master control board is built in the door leaf；
The electronic lock body, automatic switch door gear, sensor panel and touch panel are electrically connected with the systematic master control board.
The intelligent door system, wherein be additionally provided on the sensor panel doorbell, outdoors voice prompt device and
Camera module outdoors, the camera module outdoors include camera and outdoors distance-sensor outdoors.
The intelligent door system, wherein be additionally provided with voice prompt device in door on the touch panel, imaged in door
Module and Men Nei speech input devices, camera module includes camera and Men Nei distance-sensors in door in the door.
The intelligent door system, wherein further include：It is built in the door leaf and is used for the electronic lock body, certainly
The battery module of dynamic door opening/closing apparatus, sensor panel, touch panel and systematic master control board centrally connected power supply, the battery module connect
It is connected to wireless charging receiving coil, wireless charging emission lines corresponding with wireless charging receiving coil are provided on the doorframe
Circle carries out wireless charging in the case where door leaf closes state to the battery module.
The intelligent door system, wherein be provided on the electronic lock body and close state simultaneously for incuding the door leaf
Control the self-locking reaction tongue of electronic lock body.
The intelligent door system, wherein be provided with unblock button on the touch area of the touching display screen.
A kind of control method of intelligence door system, wherein including step：
During entering, when sensor panel, which collects, refers to intravenous data, the finger intravenous data and system that will currently acquire
Pre-stored user refers to intravenous data verification is compared in master control borad, and after comparing successfully, sensor panel, which is sent, unlocks
It instructs to systematic master control board, systematic master control board receives unlocking instruction and controls electronic lock body unlocking, after the completion of unlocking, system master
Plate control automatic switch door gear automatically opens door leaf；
During going out, when touch panel receive sliding unblock button operation when, touch panel send unlocking instruction to
Systematic master control board, systematic master control board receive unlocking instruction and control electronic lock body unlocking, after the completion of unlocking, systematic master control board control
Automatic switch door gear automatically opens door leaf
The control method of the intelligent door system, wherein further include step：
After enabling, when range sensor detects that user leaves in the fan section of door leaf rotation in the door on touch panel,
Range sensor sends instruction of closing the door to systematic master control board in door, and systematic master control board controls automatic switch door gear and closes door leaf；
When closing door leaf, the reaction tongue on the electronic lock body is under pressure reset, and it is multiple that systematic master control board receives reaction tongue
It is automatic locking to control electronic lock body motor for bit instruction.
The control method of the intelligent door system, wherein further include step：
Outer scene is measured in real time range sensor on the door outdoors；
When detection is there are when abnormal conditions, then camera open command is controlled to systematic master control board, systematic master control board outside dispatcher's office
Outdoors camera open and start monitoring monitor video is stored in systematic master control board by scene, the camera outdoors outdoors.
When detect abnormal conditions release when, then outside dispatcher's office camera out code to systematic master control board, system master
Camera is closed outdoors for plate control.
The control method of the intelligent door system, wherein further include step：
During going out, when range sensor detects that user gos out in door, camera open command is in dispatcher's office
System master control borad；
Camera is opened and shoots the picture of active user in the systematic master control board control door；
Verification is compared with pre-stored photo in systematic master control board in the picture of current shooting, when comparing successfully, institute
Systematic master control board wake-up touching display screen is stated to show word reminded contents or/and wake up the automatic broadcasting of voice prompt device in door in advance
The prompting stayed.
Advantageous effect：A kind of intelligent door system provided by the invention and its control method, system include：Door body, electric lock
Body, automatic switch door gear, sensor panel, touch panel and systematic master control board；The electronic lock body, automatic opening and closing door dress
Set, sensor panel and touch panel are electrically connected with the systematic master control board, the present invention passes through between the door leaf and doorframe
It is connected with automatic switch door gear；It is provided on sensor panel and refers to vein tripper；It is provided on touch panel tactile
Display screen is controlled, it is not smart enough to solve existing door system, the technical issues of cannot achieve automatic opening and closing door.
Description of the drawings
Fig. 1 is a kind of outside door body structure schematic diagram of intelligent door system of the present invention.
Fig. 2 is a kind of indoor door body structure schematic diagram of intelligent door system of the present invention.
Fig. 3 is a kind of schematic diagram of circuit connection structure of intelligent door system of the present invention.
Fig. 4 is a kind of camera module structural schematic diagram outdoors of intelligent door system of the present invention.
Fig. 5 is camera module structural schematic diagram in a kind of door of intelligent door system of the present invention.
Fig. 6 is a kind of reaction tongue structural schematic diagram of intelligent door system of the present invention.
Specific implementation mode
A kind of intelligent door system of present invention offer and its control method, to make the purpose of the present invention, technical solution and effect
Clearer, clear, the present invention is described in more detail below.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
Referring to Fig. 1 and Fig. 2, a kind of intelligent door system of the invention, including：Door body 10, electronic lock body 20, automatic opening and closing door
Device 30, sensor panel 40, touch panel 50 and systematic master control board；
The door body 10 includes doorframe 60 and door leaf 70；
The electronic lock body 20 is arranged on the door leaf；
Automatic switch door gear 30 is connected between the door leaf and doorframe；
The sensor panel 40 is set to side outside the door leaf room, is provided on sensor panel and refers to vein tripper
80；
The touch panel 50 is set to side in the door leaf room, and touching display screen 90 is provided on touch panel；
The systematic master control board is built in the door leaf；
Referring to Fig. 3, the electronic lock body, automatic switch door gear, sensor panel and touch panel and the systematic master control board
Electrical connection.The systematic master control board, which includes at least, central processing unit and reservoir, and the reservoir is for storing user data
And outdoors with the video captured by camera in door.
Specifically, the present invention is provided with automatic switch door gear between doorframe and door leaf, realizes user's inlet/outlet
When, door leaf automatically opening and closing, and is arranged on sensor panel and refers to vein tripper, refers to vein identification technology, refer to quiet
Arteries and veins identification is one kind of hand vein recognition, personal finger vena distribution map is obtained by referring to hand vein recognition instrument first, from finger vena
Distribution map extracts characteristic value according to special alignment algorithm, is irradiated by near infrared light, and finger vena is obtained using CCD camera
Image in computer systems by the storage of the digital picture of finger vena characteristic value is stored, when vein compares, adopt in real time
Vein figure is taken, characteristic value is extracted, it is same to deposit with advanced filtering, image binaryzation, refinement means to digital image zooming-out feature
The finger vein features value stored up in host compares, and is matched to finger vein features using complicated matching algorithm, to
Identity authentication is carried out to individual, confirms identity, compared with other biological identification technology, discrimination is high, it is not easy to forge, more pacify
Entirely.
Further, in the present embodiment, doorbell 100, outdoors voice prompt dress are additionally provided on the sensor panel
110 and outdoors camera module 120 are set, referring to Fig. 4, the camera module outdoors includes camera 130 and outdoors distance perspective outdoors
Answer device 140.
Specifically, by the way that distance-sensor outdoors and outdoors camera are arranged on sensor panel, in of the invention
Distance-sensor can be detected the people close to door system, when detect people close to when, send instructions to systematic master control board,
Camera is opened outdoors for systematic master control board control, and camera starts monitoring scene outdoors outdoors, and is stored with visual form
In systematic master control board, access can be transferred on the touchscreen when user goes home, solve the problems, such as safety outdoors.
Further, in the present embodiment, voice prompt device 150 in door is additionally provided on the touch panel, in door
Camera module 160 and Men Nei speech input devices 170, referring to Fig. 5, camera module includes 180 He of camera in door in the door
Distance-sensor 190 in door.
Existing door system cannot achieve effective interaction between people and door system because without touching display screen, lead to
It crosses and touch panel is set on door leaf, and be additionally provided on touch panel range sensor in door, camera in door, language in door
Sound input unit and Men Nei voice prompt devices, user go out, and by scene in camera capture gate and comparison, work as comparison
For success return instruction to systematic master control board, systematic master control board controls and wakes up touching display screen, can be aobvious by touching display screen
Show message information and/or play reserved message automatically by voice prompt device in door and remind, certainly, also may be used when user gos out
It to select the message button in touch display screen, and is left a message by speech input device typing voice in door, enhances people
Interaction between door system.
Further, referring to Fig. 2, in the present embodiment, the intelligence door system further includes：It is built in the door leaf
For the electricity to the electronic lock body, automatic switch door gear, sensor panel, touch panel and systematic master control board centrally connected power supply
Pond module 200, the battery module are connected with wireless charging receiving coil 210, are provided on the doorframe and wireless charging
The corresponding wireless charging transmitting coil 220 of receiving coil carries out wireless charging in the case where door leaf closes state to the battery module.
Excessively electric using wireless power mode between doorframe and door leaf, alternating current is direct current when accessing doorframe by power supply adaptor
19V safe voltages, are respectively equipped with transmitting coil and receiving coil between doorframe and door leaf, reach when transmitting and receiving coil are close
When certain interval, transmitting coil and receiving coil are of coupled connections and can charge for the battery pack on door leaf, improve power supply safety
Property, in addition, the battery module in the present embodiment can be divided into battery module 1 and battery module 2, respectively electronic lock body and touch-control
Panel, automatic switch door gear, sensor panel, systematic master control board power supply.
Further, it referring to Fig. 2 and Fig. 6, in the present embodiment, is provided on the electronic lock body for incuding the door
Fan closes state and controls the self-locking reaction tongue of electronic lock body 230.By the way that reaction tongue is arranged on electronic lock body, work as door leaf
When closing, reaction tongue, which is under pressure, to be resetted, and by transmitting reset instruction to systematic master control board, systematic master control board control is electronic
Lock body is locked, and realizes being automatically closed for electronic lock body, it is preferred that the reaction tongue is preferably the convex block of triangle, the sense
The both sides composition for answering tongue exposed is parabola shaped, facilitates the folding of door leaf.
Further, in the present embodiment, it is provided with unblock button on the touch area of the touching display screen.It is preferred that
, touching display screen is built-in with Android system, and WIFI module is provided in touch panel, and network connection may be implemented,
And application is downloaded, for example, the broadcasting of music can be realized by down-load music application, or downloads Internet video application and come
Film is watched, remote control module is additionally provided in touch screen, remote control of the mobile terminal to touch screen may be implemented, remotely
The information such as setting message can be shown corresponding message information with touch screen, extend the function of touch screen, are arranged on touch panel and touch
Display screen is controlled, the interaction between user and door system is enhanced.
Many functional areas are provided on the touch area of touching display screen in the present invention, for example, video/audio function area, solution
Lock function area, game function area, the functional areas such as message-leaving function area, the functional areas can be configured according to self-defined, solve
Lock function is provided with unblock button in area, and the key unlock of electronic lock body may be implemented.
In addition, the invention also discloses a kind of control method of intelligent door system, including step：
During entering, when sensor panel, which collects, refers to intravenous data, the finger intravenous data and system that will currently acquire
Pre-stored user refers to intravenous data verification is compared in master control borad, and after comparing successfully, sensor panel, which is sent, unlocks
It instructs to systematic master control board, systematic master control board receives unlocking instruction and controls electronic lock body unlocking, after the completion of unlocking, system master
Plate control automatic switch door gear automatically opens door leaf；
During going out, when touch panel receive sliding unblock button operation when, touch panel send unlocking instruction to
Systematic master control board, systematic master control board receive unlocking instruction and control electronic lock body unlocking, after the completion of unlocking, systematic master control board control
Automatic switch door gear automatically opens door leaf.
Preferably, the touch panel in the present invention can be unlocked by sliding trace, be set in touch panel in advance
Set unlock track, when sliding trace of the user on touching display screen is consistent with preset unlock track, touch panel
Unlocking instruction is sent to systematic master control board, electronic lock body is controlled and realizes unlock.
Further, further include step：
After enabling, when range sensor detects that user leaves in the fan section of door leaf rotation in the door on touch panel,
Range sensor sends instruction of closing the door to systematic master control board in door, and systematic master control board controls automatic switch door gear and closes door leaf；
When closing door leaf, the reaction tongue on the electronic lock body is under pressure reset, and it is multiple that systematic master control board receives reaction tongue
It is automatic locking to control electronic lock body motor for bit instruction.
Further, further include step：
Outer scene is measured in real time range sensor on the door outdoors；
When detection is there are when abnormal conditions, then camera open command is controlled to systematic master control board, systematic master control board outside dispatcher's office
Outdoors camera open and start monitoring monitor video is stored in systematic master control board by scene, the camera outdoors outdoors.
When detect abnormal conditions release when, then outside dispatcher's office camera out code to systematic master control board, system master
Camera is closed outdoors for plate control.The distance-sensor outdoors that the abnormal conditions refer to senses that someone stops not for a long time outdoors
It leaves.
Further, further include step：
During going out, when range sensor detects that user gos out in door, camera open command is in dispatcher's office
System master control borad；
Camera is opened and shoots the picture of active user in the systematic master control board control door；By the picture of current shooting be
Verification is compared in pre-stored photo in system master control borad, and when comparing successfully, the systematic master control board wakes up touch-control and shows
Screen shows word reminded contents or/and wakes up voice prompt device in door plays reserved prompting automatically.
In conclusion a kind of intelligent door system provided by the invention and its control method, system include：Door body, electric lock
Body, automatic switch door gear, sensor panel, touch panel and systematic master control board；The electronic lock body, automatic opening and closing door dress
Set, sensor panel and touch panel are electrically connected with the systematic master control board, the present invention passes through between the door leaf and doorframe
It is connected with automatic switch door gear；It is provided on sensor panel and refers to vein tripper；It is provided on touch panel tactile
Display screen is controlled, it is not smart enough to solve existing door system, the technical issues of cannot achieve automatic opening and closing door.
It should be understood that the application of the present invention is not limited to the above for those of ordinary skills can
With improvement or transformation based on the above description, all these modifications and variations should all belong to the guarantor of appended claims of the present invention
Protect range.
Claims (10)
1. a kind of intelligence door system, which is characterized in that including：Door body, electronic lock body, automatic switch door gear, sensor panel,
Touch panel and systematic master control board；
The door body includes doorframe and door leaf；
The electronic lock body is arranged on the door leaf；
Automatic switch door gear is connected between the door leaf and doorframe；
The sensor panel is set to side outside the door leaf room, is provided on sensor panel and refers to vein tripper；
The touch panel is set to side in the door leaf room, and touching display screen is provided on touch panel；
The systematic master control board is built in the door leaf；
The electronic lock body, automatic switch door gear, sensor panel and touch panel are electrically connected with the systematic master control board.
2. it is according to claim 1 intelligence door system, which is characterized in that be additionally provided on the sensor panel doorbell,
Voice prompt device and outdoors camera module outdoors, the camera module outdoors is including camera outdoors and distance perspective is answered outdoors
Device.
3. intelligence door system according to claim 1, which is characterized in that be additionally provided with voice in door on the touch panel
Camera module and Men Nei speech input devices in suggestion device, door, camera module includes camera and Men Nei in door in the door
Distance-sensor.
4. intelligence door system according to claim 1, which is characterized in that further include：It is built in the door leaf and is used for
To the battery mould of the electronic lock body, automatic switch door gear, sensor panel, touch panel and systematic master control board centrally connected power supply
Block, the battery module are connected with wireless charging receiving coil, are provided on the doorframe and wireless charging receiving coil pair
The wireless charging transmitting coil answered carries out wireless charging in the case where door leaf closes state to the battery module.
5. intelligence door system according to claim 1, which is characterized in that be provided on the electronic lock body for incuding
Door leaf is stated to close state and control the self-locking reaction tongue of electronic lock body.
6. intelligence door system according to claim 1, which is characterized in that be arranged on the touch area of the touching display screen
There is unblock button.
7. a kind of control method including the intelligent door system described in claim 1-6 any one, which is characterized in that including step
Suddenly：
During entering, when sensor panel, which collects, refers to intravenous data, the finger intravenous data and system that will currently acquire
Pre-stored user refers to intravenous data verification is compared in master control borad, and after comparing successfully, sensor panel, which is sent, unlocks
It instructs to systematic master control board, systematic master control board receives unlocking instruction and controls electronic lock body unlocking, after the completion of unlocking, system master
Plate control automatic switch door gear automatically opens door leaf；
During going out, when touch panel receive sliding unblock button operation when, touch panel send unlocking instruction to
Systematic master control board, systematic master control board receive unlocking instruction and control electronic lock body unlocking, after the completion of unlocking, systematic master control board control
Automatic switch door gear automatically opens door leaf.
8. the control method of intelligence door system according to claim 7, which is characterized in that further include step：
After enabling, when range sensor detects that user leaves in the fan section of door leaf rotation in the door on touch panel,
Range sensor sends instruction of closing the door to systematic master control board in door, and systematic master control board controls automatic switch door gear and closes door leaf；
When closing door leaf, the reaction tongue on the electronic lock body is under pressure reset, and it is multiple that systematic master control board receives reaction tongue
It is automatic locking to control electronic lock body motor for bit instruction.
9. the control method of intelligence door system according to claim 7, which is characterized in that further include step：
Outer scene is measured in real time range sensor on the door outdoors；
When detection is there are when abnormal conditions, then camera open command is controlled to systematic master control board, systematic master control board outside dispatcher's office
Outdoors camera open and start monitoring monitor video is stored in systematic master control board by scene, the camera outdoors outdoors；
When detect abnormal conditions release when, then outside dispatcher's office camera out code to systematic master control board, systematic master control board control
System outdoors close by camera.
10. the control method of intelligence door system according to claim 7, which is characterized in that further include step：
During going out, when range sensor detects that user gos out in door, camera open command is in dispatcher's office
System master control borad；
Camera is opened and shoots the picture of active user in the systematic master control board control door；
Verification is compared with pre-stored photo in systematic master control board in the picture of current shooting, when comparing successfully, institute
Systematic master control board wake-up touching display screen is stated to show word reminded contents or/and wake up the automatic broadcasting of voice prompt device in door in advance
The prompting stayed.
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| CN201810209780.9A CN108301698A (en) | 2018-03-14 | 2018-03-14 | A kind of intelligence door system and its control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810209780.9A CN108301698A (en) | 2018-03-14 | 2018-03-14 | A kind of intelligence door system and its control method |
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Cited By (9)
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| CN108979340A (en) * | 2018-07-17 | 2018-12-11 | 深圳市创维群欣安防科技股份有限公司 | A kind of door-locking system and its application method |
| CN109685975A (en) * | 2019-01-31 | 2019-04-26 | 绵阳市智慧鸟软件技术有限公司 | A kind of bin selling cabinet |
| CN110359777A (en) * | 2019-06-26 | 2019-10-22 | 珠海唯码科技有限公司 | Fully-automatic intelligent lock |
| CN110751773A (en) * | 2019-10-23 | 2020-02-04 | 傅勇 | Method for realizing automatic opening and closing of intelligent door by utilizing biological recognition technology |
| CN111101772A (en) * | 2018-10-28 | 2020-05-05 | 李川涛 | Triggering automatic locking method |
| CN111219118A (en) * | 2018-11-23 | 2020-06-02 | 仁宝电脑工业股份有限公司 | Space adjusting system and control method thereof |
| CN111749569A (en) * | 2020-07-03 | 2020-10-09 | 南通四方节能科技有限公司 | Control method for movable door body with sensor electric quantity early warning function |
| CN112211496A (en) * | 2019-07-09 | 2021-01-12 | 杭州萤石软件有限公司 | Monitoring method and system based on intelligent door lock and intelligent door lock |
| CN112854945A (en) * | 2021-02-06 | 2021-05-28 | 哈尔滨贰零贰壹科技有限公司 | Automatic door |
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