CN110454027A - A kind of virtual key and multi-region domain protecting method and device for automatic door control - Google Patents
A kind of virtual key and multi-region domain protecting method and device for automatic door control Download PDFInfo
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- CN110454027A CN110454027A CN201810431284.8A CN201810431284A CN110454027A CN 110454027 A CN110454027 A CN 110454027A CN 201810431284 A CN201810431284 A CN 201810431284A CN 110454027 A CN110454027 A CN 110454027A
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- 238000000034 method Methods 0.000 title claims abstract description 84
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- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000010801 machine learning Methods 0.000 claims description 3
- 238000002366 time-of-flight method Methods 0.000 claims description 2
- 230000000875 corresponding effect Effects 0.000 description 15
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- 238000005299 abrasion Methods 0.000 description 2
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Classifications
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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
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
-
- 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
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
- E05Y2900/13—Type of wing
- E05Y2900/132—Doors
Landscapes
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The invention discloses a kind of virtual keys for automatic door control and multi-region domain protecting method and device.This method comprises: the relevant parameter in the virtual key area of setting automatically-controlled door；The relevant parameter of the protection zone of automatically-controlled door is set；The virtual key area is detected, if there is the object for meeting the relevant parameter to enter at the virtual key area, triggers opening door operation；The protection zone is detected, if there is the object for meeting the relevant parameter to enter at the protection zone during door action process, triggers corresponding protection operation.The virtual key and multizone protective device that present invention also discloses a kind of to realize this method.
Description
Technical field
The present invention relates to field of intelligent control technology, and particularly, the present invention relates to a kind of for the virtual of automatic door control
Key and multi-region domain protecting method and device.
Background technique
Use of the automatically-controlled door on building can trace back to later 1920s, in the supermarket in the U.S.
Start the application for automatically-controlled door occur.Thereafter, automatic gate technique has obtained continuous development, and hydraulic type, air type, electric are automatic
Door is pushed to world market extensively in succession, and the main entrance in more and more newly-built buildings also begins to use.In China, along with city
The application of the continuous propulsion of change process, automatic gate technique also becomes more and more extensive.
In automatically-controlled door field, in order to realize the detection to the personnel of discrepancy to control automatic door gantry and to execute corresponding actions, one
As Multi-channel detection light curtain is generated in a certain range in front of the door using infrared or laser sensor, when being examined in a certain range in front of the door
Measure pedestrian there are when, control automatically-controlled door open, after pedestrian leaves control automatically-controlled door close.
However, since existing light curtain type sensor will generally form detection before the door leaf of automatically-controlled door in certain area coverage
No matter light curtain (device O is formed by light curtain as shown in figure 1) is intended to the people across automatically-controlled door when there is personnel close to automatically-controlled door
Member, the personnel still only passed by before automatically-controlled door or the personnel being trapped in front of automatically-controlled door can be possible to touch light curtain, to lead
Sensor response is caused, automatically-controlled door is caused to be opened.For normally entering and leaving the personnel of automatically-controlled door, the above-mentioned movement of automatically-controlled door belongs to normally
Response, but for the personnel passed by before automatically-controlled door or the personnel before automatically-controlled door are trapped in, the unexpected unlatching of automatically-controlled door is anti-
And it may cause unnecessary trouble and potential risks.In addition, if automatic translation door due to prolonged stay personnel in front of the door and
Keep it turning on overlong time, it is also possible to which damage is generated to electric component.Since microwave radar and infrared sensor and not knowing about connects
Whether the people of nearly automatically-controlled door will very enter, so some occasions are more willing to using key switch.
In order to solve this problem, in the prior art, people are usually on the basis of traditional infrared or microwave detection mode
Other sensor, such as infrared sensor is added.As shown in Figure 1, in addition to being configured with the proparea on the door infrared or microwave remote sensor O
Outside domain is detected, it also is each configured with infrared transmitter and infrared remote receiver in the two sides of door, is issued by infrared transmitter red
Outer light beam simultaneously detects infrared beam by infrared remote receiver.Such automatic door control system can be configured to only detecting that this is red
Door opening action is carried out when outer light beam is blocked, just to avoid the unnecessary opening for leading to door from the people passed through in front of the door；It can also be with
It is configured in the closing process of door control automatically-controlled door if detecting that infrared beam is blocked and be again turned on or stop door
Movement, to realize pinch resistant functionality.
In above-mentioned solution, although realizing the function of avoiding unnecessary enabling and anti-pinch, system is additionally configured
A set of infrared sensor, has the drawback that
Firstly, the use of multiple sensors causes, at high cost, installation is inconvenient, signal processing is complicated, possible fault point increases
The problems such as adding；Second, once be installed, the height of the infrared transmitter and receiver is fixed, therefore can only detect and be in
The object of the horizontal position is without being convenient for flexible configuration；Third, such configuration can only detect infrared transmitter and infrared connect
Receiving has unobstructed between device, and can not know to cause the size and shape information of the object stopped more acurrate and intelligent to carry out
Judgement；4th, the protection zone of above-mentioned solution only one (reference can be made to region C in Fig. 2) cannot be acted on as in Fig. 2
Smooth door two side areas D；In practical applications, the two regions generally require separately to treat, relay protective scheme and execution
Protection act is different.For example, smoothly automatically-controlled door is during closing, if (the region C in such as Fig. 2) detects row among door
People can protect pedestrian to avoid being jammed by being again turned on automatically-controlled door, if door two sides (the region D in such as Fig. 2) is examined
Pedestrian is measured, can prevent from bumping against pedestrian by such as acting a stopping.
Summary of the invention
The invention proposes a kind of virtual keys for automatic door control and multi-region domain protecting method and device, can
The above problem in the prior art is well solved, in order to achieve this, the present invention adopts the following technical scheme:
A kind of virtual key and multi-region domain protecting method for automatic door control, comprising:
The relevant parameter in the virtual key area of automatically-controlled door is set；
The relevant parameter of the protection zone of automatically-controlled door is set, wherein the protection zone includes anti-pinch protection area and/or Anti-bumping protection area；
The virtual key area is detected, if having at the virtual key area meet the object of the relevant parameter into
Enter, then triggers opening door operation；
The protection zone is detected, meets the relevant parameter if had at the protection zone during door action process
Object enters, then the corresponding protection operation of triggering.
According to preceding method, the virtual key area is detected including the use of one or more in following means
It is a:
Flight time (ToF) method, method of structured light, machine vision method.
According to aforementioned either method, the relevant parameter for being provided with the virtual key area of automatically-controlled door includes: that handle is manually placed into need
The region of virtual key is set, obtains the scene information containing virtual key area, the position of hand is identified, thus according to the hand
Position determine the positions and dimensions in virtual key area.
According to aforementioned either method, the protection zone for being provided with automatically-controlled door includes: the scene information obtained around automatically-controlled door,
Protection zone boundary, and storage protection block boundary information are determined by marking boundary manually before automatically-controlled door.
According to aforementioned either method, wherein the position of the identification hand further comprises the center for identifying hand, then
Corresponding size is set to determine virtual key area size.
According to aforementioned either method, wherein identifying the center of hand using flight time (ToF) method
Include the following steps:
Determine scanning range in anti-pinch protection area and Anti-bumping protection area；
The each consecutive points for comparing scene information in the horizontal direction, when point n+1, n+2 are less than away from the distance value at the top of automatically-controlled door
When point n, then it is assumed that point n is the initial point position of hand；
When point n+l+1, n+l+2 are greater than point n+l away from the distance value at the top of automatically-controlled door, then it is assumed that n+l point is the end point of hand
It sets；
Between n and n+l point find away from the top of automatically-controlled door apart from smallest point, then it is assumed that the point is the central point of hand.
According to aforementioned either method, wherein then touching if it find that there is the object for meeting relevant parameter to enter virtual key area
Send out opening door operation；If finding that anti-pinch protection area has qualified object to enter in door closing procedure, the protection operation
To open the door；If finding that Anti-bumping protection area has qualified object to enter in door opening process, the protection operation stops door
Movement, wherein the condition can preset or machine learning by way of obtain.
A kind of virtual key and multizone protective device for automatic door control, comprising:
Scene scan module is configured to obtain the scanning letter in the scene by detecting scene in gated regions
Breath.
Regional learning module, be configured to pre-set or automatically learn by way of come determine automatically-controlled door it is virtual by
Keypad and/or the relevant parameter of protection zone；
Region detection module is configured to detect the virtual key area, if having symbol at the virtual key area
The object for closing the relevant parameter enters, then to the information for judging output module transmission door open command or the object；And/or
Region detection module described in person detects the protection zone, meets if had at the protection zone during door action process
The object of the relevant parameter enters, then to the information for judging the corresponding protection instruction of output module transmission or the object；
Judge output module, is configured to instruct automatically-controlled door according to the information of the door action command or the object that receive
Carry out respective doors movement.
According to aforementioned device, wherein the scene scan module includes one or more of following module:
Laser light curtain module detects target in gated regions by pulsed-beam time-of-flight methods to realize regional learning and area
Domain detection；
Structure optical module, by using the specific optical information of project structured light to body surface with to target in gated regions into
Row detection is to realize regional learning and region detection；
Machine vision module is imaged to calculate via machine vision target in gated regions by one or more camera
Method realizes regional learning and region detection.
According to aforementioned any device, wherein the protection zone includes anti-pinch protection area and Anti-bumping protection area.
By above-mentioned it is found that disclosure sets forth a kind of virtual keys for automatic door control and multi-region domain protecting method
And device.Advantages of the present invention includes but is not limited to: using virtual key+multizone protection scheme, making it possible to be not necessarily to
In the case where configuring multiple sensors system, without making automatic door unit in the case where configuring any solid door operation button
It identifies the intention of pedestrian more intelligently to more convenient passing through in pedestrian, in addition avoids a movement to pedestrian around or object
Body damages, and reduces unnecessary door movement, to reduce the abrasion of automatically-controlled door, extends its service life, in addition also promote
Into the realization of building energy-saving environmental protection (such as heat preservation cold insulation).
The details of one or more embodiments of the invention is elaborated in following the drawings and specific embodiments.According to
The drawings and specific embodiments and record according to claim, other feature and advantage will be apparent.
Detailed description of the invention
Fig. 1 illustrates a kind of schematic diagrames of automatic door control system of the prior art；
Fig. 2 illustrates the schematic diagram of automatically-controlled door protection zone；
Fig. 3 is illustrated according to this for the virtual key of automatic door control and the composition schematic diagram of multizone protective device；
Fig. 4 illustrates the schematic diagram in virtual key area and protection zone according to an embodiment of the present invention；
Fig. 5 illustrates the schematic diagram of the method for the center of identification hand according to an embodiment of the present invention；
Fig. 6 illustrates the flow chart of the method for the center of identification hand according to an embodiment of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiment is only the section Example of the application, rather than whole embodiments.Based on this Shen
Please in embodiment, those of ordinary skill in the art's every other embodiment obtained shall fall in the protection scope of this application.
It can implement the present invention in many ways, such as can realize as a kind of device, a kind of method, a kind of computer journey
Sequence product.In general, unless otherwise indicated, the order of the steps of the disclosed process can change within the scope of the invention
Become.
The detailed description of the embodiment of the present invention is provided below with reference to the attached drawing of diagram the principle of the present invention.Although in conjunction with this
Class embodiment describes the present invention, but the present invention is not limited to any embodiment.Statement is many in the following detailed description
Detail is in order to provide thorough understanding of the present invention.Provided details be in order to reach exemplary purpose, however can be with
The present invention is practiced according to claim in the case where some or all of in these details.It is bright for clarity
, it is not described in detail in known technology in technical field related to the present invention, so that the present invention gives prominence to the key points.
The invention discloses the device (hereinafter referreds that a kind of virtual key for automatic door control and multizone are protected
" protective device ").As shown in figure 3, the device includes scene scan module, region detection module, regional learning module and judgement
Output module.It should be noted that the arrow representative information interaction in Fig. 3, but be not excluded between the module connected without arrow
There can be information exchange.
In one embodiment, the scene scan module can be laser light curtain module, such as based on B.E.A.(than industry electricity
Son) FLATSCAN platform laser light curtain module, can by integrate sensor, light curtain generating assembly, feedback
Light-receiving component and for sensor function corresponding matched analysis, calculate, the components such as control are constituted.The laser light curtain module
The top that may be mounted at automatically-controlled door, the detection light curtain for continuously transmitting laser pulse formation certain shapes to target are (such as fan-shaped, vertical
Straight curtain shape etc.), the luminous point that the light curtain generates can be also possible in three-dimensional space in a plane.By connecing
The optical feedback signal (from the reflected optical signal of object) generated by the barrier in light curtain is received, ToF(Time of is utilized
Flight, flight time) technology, each point in dot matrix is obtained on object by flight (round-trip) time of detecting optical pulses
Corresponding distance value, the dot matrix can be two-dimensional (the section profile for reflecting object) or three-dimensional (i.e. the three of reflection object
Tie up pattern).
In one embodiment, the scene scan module can also be machine vision module.For example, can be in automatically-controlled door
One or more cameras are installed automatically-controlled door near zone to be imaged in top, and gained signal is converted into digitized image
Signal sends image processing system to, extracts clarification of objective to the various operations of these signals progress by image processing system,
To realize the identification to target, such as pedestrian and other objects can be identified from gained a series of images (video frame) (such as
Cargo, cart etc.) motion profile, in addition can also identify personnel in front of the door hand (or other any objects appropriate, under
The corresponding actions of position and then tracking, record, analysis hand together).
In one embodiment, the scene scan module can also be structure optical module, the detection based on structure light with
It is different using the detection technique of machine vision, active by project structured light to testee, by the deformation of structure light (or
Person's flight time etc.) determine the dimensional parameters of measured object, therefore also referred to as active three dimensional detection.Project structured light is to be measured
By the high modulation of determinand behind object surface, the structure light modulated is acquired through camera system, is sent to image processing module warp
The morphological data of measured object can be obtained after analytical calculation.Wherein modulation system can be divided into time-modulation and spatial modulation two major classes.
For example, can above automatically-controlled door mounting structure optical module, such as can by computer programming generate sine streak pass through
Region before projection to automatically-controlled door utilizes the bending journey of camera shooting striped existing object modulation before by automatically-controlled door
Degree, demodulates the curved stripes and obtains phase, then convert phase to the height of the whole audience, to obtain the three-dimensional shaped of tested region
Looks.
The scene scan module can be can carry out any technology that object in space near automatically-controlled door is detected
It realizes, and is not limited to above-described embodiment.
In one embodiment, the region detection module, regional learning module and judge that output module can be storage
Computer software logic (such as software module, executable program, library file, dynamic link library) on a memory, so that
The logic makes to realize corresponding function (As described in detail below) when being called by processor.The region detection module, region
Study module and judge that output module can also be by various hardware logical units (such as FPGA, DSP, CPLD) Lai Shixian, at this
Specific function (As described in detail below) is realized when logic operation.These modules can be independent of each other but can also be total to
Certain code segments, logic OR are enjoyed, such as control scene scan module carries out the logical code of scene scanning.The areography
Flexible configuration can be carried out by practising module, region detection module, for example, integrate with the hardware device of scene scan module or
It is integrated in the hardware device, is also possible to independent computing module, can both be located locally, it can also be remotely located.
In one embodiment, the regional learning module may include automatic mode of learning and operational mode (thus whole
A protective device also accordingly may include automatic mode of learning and operational mode).It can come in several ways in these moulds
It is switched between formula, such as by entity button triggering level signal in equipment, by wire/radio network, serial communication,
Or the study module (being also believed to the protective device) is configured by the various modes such as gesture identification.
As shown in figure 4, the protective device learns (i.e. automatically-controlled door scene after entire protective device is installed
Detection or imaging) and store the data obtained.After entering automatic mode of learning, the region detection module calls the scene to sweep
It retouches module to be measured in real time region a certain range of around automatically-controlled door, at this moment installation maintenance personnel can use in front of the door hand
(or other any objects appropriate) mark boundary in the space close to door, this boundary locus is remembered in real time by region detection module
Record, and in locally stored or long-range memory, using as the anti-pinch protection area of automatically-controlled door (as shown in A, C range in Fig. 4).
It should be noted that this anti-pinch protection area boundary locus can be compared with the scene information learnt before, if by installing
The anti-pinch protection area range that maintenance personnel marks exceeds the automatically-controlled door scene previously learnt, then the automatically-controlled door scene previously to have learnt
It for borderline region and stores, and can optionally prompt mistake or alarm, such as issue specific sound using loudspeaker.In order to
Reduce the error artificially acted, region description can also repeatedly be carried out by maintenance personnel, to be averaged to obtain anti-pinch guarantor to track
Protect the final data in area.Anti-pinch protection area after setting completed, Anti-bumping protection area (D, E model in such as Fig. 4 is set in the same way
Shown in enclosing).Alternatively, anti-pinch protection area periphery certain distance range can also be automatically set as Anti-bumping protection area, such as
Can Anti-bumping protection area, i.e. D=A+10cm, E=C+10cm simply be set by 10cm distance outside anti-pinch protection area.
Alternatively, the relevant parameter in anti-pinch protection area and/or Anti-bumping protection area can also be configured by any other mode, and (it can
To characterize the positions and dimensions of the protection zone, such as two-dimensional/three-dimensional coordinate and two-dimensional/three-dimensional size), it is such as inputted and is joined by remote controler
Number such as passes through to configure and stores particular parameter value in learning system in advance, or passes through any connections sides such as serial ports, wireless network
Formula configures.It is also noted that this Anti-bumping protection area boundary locus can be compared with the scene information learnt before
It is right, if its range exceeds the automatically-controlled door scene that had previously learnt, the automatically-controlled door field that with anti-pinch protection zone boundary and had previously learnt
Scape boundary is boundary, and can optionally prompt mistake or alarm, such as issue specific sound using loudspeaker.
In one embodiment, in automatic mode of learning, one or more virtual keys (such as 2-4 can be set
It is a), as shown in region V in Fig. 4.In one embodiment, maintenance personnel can be put with handle (or other any objects appropriate)
To the region for needing to be arranged virtual key, by the scanning of protective device equipment by hand position represented by virtual key information,
It identifies the position sold, and then sets a virtual key area for this position, record the relevant parameter in this virtual key area,
Its positions and dimensions that can characterize the virtual key area, such as two-dimensional/three-dimensional coordinate and two-dimensional/three-dimensional size.With same side
Formula can learn multiple virtual key areas.Alternatively, the set-up mode in anti-pinch protection area similarly as described above, can also be with
The range (such as line segment, a rectangular area etc.) is stored and is appointed as by marking any range in space with hand
Virtual key area.Alternatively, the relevant parameter in virtual key area can also be configured by any other mode, and (it can be with table
The positions and dimensions for levying the virtual key area, such as two-dimensional/three-dimensional coordinate and two-dimensional/three-dimensional size), it is such as inputted and is joined by remote controler
Number such as passes through to configure and stores particular parameter value in learning system in advance, or passes through any connections sides such as serial ports, wireless network
Formula configures.
Protective device can identify the center of hand first according to the information that scanning obtains, then with this center
For midpoint, fixed two dimension or three-dimensional dimension are set, to determine virtual key area.Particularly, identify that the center of hand can be with
Using following steps (as shown in Figure 5): 1. determining scanning range in anti-pinch protection area and Anti-bumping protection area；2. in the horizontal direction
The upper each consecutive points for comparing scene information, when point n+1, n+2 are less than point n away from the distance value at the top of automatically-controlled door, then it is assumed that point n
It is the initial point position of hand；3. when point n+l+1, n+l+2 are greater than point n+l away from the distance value at the top of automatically-controlled door, then it is assumed that n+l point
It is the end point position of hand；4. when point n+l+1, n+l+2 are greater than point n+l away from the distance value at the top of automatically-controlled door, then it is assumed that n+l point
It is the end point position of hand.After the completion of the configuration of automatically-controlled door relevant parameter, protective device can switch to transport from automatic mode of learning
Row mode.
In one embodiment, under the operational mode, the region detection module calls the scene scan module
Region a certain range of around automatically-controlled door is measured in real time, and will test real-time data transmission and export mould to the judgement
Block.Specifically, the scene scan module can use one of ToF technology, structured light technique and machine vision technique or
It is a variety of that object near automatically-controlled door is measured in real time.
Using ToF technology, as shown in figure 4, the fan for being mounted on automatically-controlled door center of top can be used for example
Shape laser light curtain (as shown in device O) comprising laser beam emitting device, laser deflection device, light signal receiving, at analysis
Manage device.The analysis processing device includes laser deflection control module and trigger point distance analysis module.The Laser emission
Device is to laser deflection device emission pulse laser signal, laser deflection control of the laser deflection device in analysis processing device
Under the control of molding block, orientation pulsed laser signal is gradually deflected into preset angle from left to right in full scan range (such as 110 °)
(such as 1 °) is spent to form laser scanning region S.The light signal receiving be used for receives return laser signal, and to divide
Analysis processing unit transmits the signal.The laser deflection control module is coupled with laser deflection device, inclined for controlling laser
The deviation angle of rotary device.The trigger point distance analysis module is based on ToF technology, measures laser signal transmitting first and connects
The time difference t of receipts.Then by time difference t multiplied by light velocity v, so that it may obtain the distance between light trigger signal and sensor information
D=vt/2, and the distance d for obtaining trigger point is sent to the analysis processing device.Analysis processing device is by the distance d
Distance x and level of the measured point away from automatically-controlled door top can be calculated according to trigonometric function relationship with known deflection angle θ
Position y.After completing the scanning in certain scanning range, then the coordinate (x, y) of each scanning element within the scope of this is generated.
Under automatic mode of learning, region detection module can receive from scene scan module scene information (such as
Point cloud coordinate), and determine the position of hand according to method as described above using a series of this coordinate (x, y) and determine virtual key
Area, anti-pinch protection area and Anti-bumping protection area.In the operating mode, region detection module can equally determine according to the above method
Whether the position of the object scanned meets relevant parameter.The concrete meaning for " meeting the relevant parameter " herein is In
Under operational mode, the region detection module can identify hand or pedestrian or other objects according to a series of this coordinate (x, y)
Body, and in conjunction with the coordinate data in the virtual key area, anti-pinch protection area or Anti-bumping protection area come determine for example the hand whether position
In in the virtual key area or whether the pedestrian or other objects are located in anti-pinch protection area or Anti-bumping protection area, then root
Judge that output module executes corresponding operating according to judgement result notice: for example, entering virtual key area in the object for having appropriate size
In the case where (and reaching its residence time threshold value), then it is believed that there is user to be intended to triggering virtual key area, and then judgement is notified
Output module, to execute corresponding actions, such as door opening action.For example, the region detection module described in door opening process detects
There is object in the case where Anti-bumping protection area (and reaching its residence time threshold value), then it is believed that there is risk of collision, Jin Ertong
Know judgement output module, to execute corresponding protection act, such as stops door movement, stop door opening action and then close the door, with more
Slow speed is opened the door, and is sent warning signal.For example, having detected that object (and is reached close to anti-pinch protection area in door closing procedure
To its residence time threshold value) in the case where, then it is believed that there is folder people's danger, and then notify to judge output module, it is corresponding to execute
Protection act, such as stop shutdown movement or open the door, it sends warning signal.
It will be apparent to those skilled in the art that above-mentioned specific embodiment is only example, it is not intended to limit
The scope of the present invention.For example, the laser light curtain module is not necessarily intended to install at position O shown in Fig. 4, but can install
It is any can be to the place that scene is easily scanned；The laser light curtain module also can be configured to other shapes transmitting
Laser beam, such as trapezoidal, vertical blinds shape；Above-mentioned coordinate (x, y) is also possible to three-dimensional seat according to the configuration of laser light curtain module
It marks (x, y, z).Alternatively, the laser light curtain module can also use the machine vision module of mature application in the prior art
(such as the module measured using binocular machine vision) or structure optical module (such as utilize fringe projection technology or optical picture
The structure optical module of the coding techniques of case) or any other the technological means of similar functions may be implemented to replace.In addition, herein
Described in method, processing, step, process be not limited to realize in some particular module, but can be in any module
Middle realization, for example, it is described above to " whether the hand is located in the virtual key area or whether the pedestrian or other objects
In anti-pinch protection area or Anti-bumping protection area " judgement can also be carried out by judgement output module, at this moment judgement output mould
Block only receives the raw information from the region detection module, for example including a cloud coordinate data.
To received detection data, (virtual key area is triggered the judgement output module, anti-pinch protection area exists
There are objects etc. for object and/or Anti-bumping protection area) it is handled in real time, and then gating device is promoted to execute corresponding actions.Especially
Ground when multiple conditions meet simultaneously, such as is triggered and there are objects in Anti-bumping protection area, then in synchronization virtual key area
Command adapted thereto is sent to gating device according to preset configuration or priority.Preferably, security protection is being paid the utmost attention to
Configuration under, find that virtual key is triggered and Anti-bumping protection area is there are when object, preferentially carries out Anti-bumping protection area at the same time
Protection, it can it keeps door static or stops door movement or carry out other operations, and alternatively, in the configuration of efficiency comes first
Under, current personnel can be paid the utmost attention to and carry out door opening action or carry out other operations.The detection data received can be with
Including any data that the analysis processing device detects, such as the point cloud coordinate data of target.Preferably, it is exported in judgement
In module, " fail-safe " principle can be followed, i.e., Yi Dan break down or logic error after, the judgement output module energy
Make the theory of system automatic guide secure side.For example, if showing not about the point cloud data of target based on the received
Before having object to be in automatically-controlled door, but the information that virtual key area is triggered is had received simultaneously, this is clearly self-contradictory patrols
Volume, at this moment, it can be defined according to preparatory secure side and execute the movement of guiding safety and optionally can alarm and record event
Barrier such as thinks that stopping door movement is secure side, then stops all movements.
It should be appreciated by those skilled in the art that unless expressly stated, above-mentioned modules/device either separation,
Also it can integrate within one device, can both be located at automatically-controlled door local, can also be located at remotely, such as setting is controlled in building
In room/security protection cloud/automatic building control system.Above-mentioned modules/device can physically be coupled in one by various means
It rises or is communicated, be including but not limited to mechanically connected, be electrically connected, between wireless communication, software module/process/thread
Mutually call.It should be noted that method described herein, step, process are not limited to described order, but can be with
It realizes in any order, unless clearly limited in related context.Drawn attached drawing is merely illustrative expression herein,
Physical structure and arrangement only indicate the example of implementation, and not limitation of the present invention, and those skilled in the art can be
Without departing from the scope of the invention, to device therein, module, method carry out position adjustment, order is mutually brought more preferably
Ground adapts to specific erecting bed.
The invention also discloses a kind of methods that virtual key for automatic door control and multizone are protected.In a reality
It applies in example, the described method comprises the following steps: the relevant parameter in the virtual key area of automatically-controlled door is set；The protection of automatically-controlled door is set
The relevant parameter in area；The virtual key area is detected, meets the relevant parameter if had at the virtual key area
Object enter, then trigger opening door operation；The protection zone is detected, if the protection zone during door action process
Place has the object for meeting the relevant parameter to enter, then the corresponding protection operation of triggering.It is readily apparent that above-mentioned steps have no spy
Determine sequence requirement.The virtual key area can be equivalent to one piece of region of door handle or door open button, and it is flat to can be two dimension
Face or three-dimensional space can determine that when manpower (or object similar to manpower) stops in this region and are intended to open the door for someone.
And protection zone may include anti-pinch protection area and Anti-bumping protection area, the anti-pinch protection area is usually located in the middle part of automatically-controlled door, in this area
The shutdown movement executed in domain may hurt people or object present in this region.The automatically-controlled door can be diversified forms
Door, such as translation door, push the door open, circular arc automatic door, foldable automatic door, can type push form automatically-controlled door, rotary automatic door, in order to chat
It states succinctly, is only had been described and illustrated by taking translation door as an example in the present specification.
In one embodiment, the method using one or more of following means come to the virtual key area into
Row detection: flight time (ToF) method, method of structured light, machine vision method.
In one embodiment, the relevant parameter for the virtual key area of automatically-controlled door being arranged in the method includes: that handle is put
To the region for needing to be arranged virtual key, the scene information containing virtual key area is obtained, the position of hand is identified, thus according to institute
The position of hand is stated to determine the positions and dimensions in virtual key area.It should be understood that " hand " herein is not limited merely to people's
Hand, and any object of manpower can be equivalent to (such as foot, shoes, wooden stick, slab, this can basis by being included on pattern
It is arranged to determine).
In one embodiment, the position that hand is identified described in the method further comprises the center for identifying hand,
Then corresponding size is set to determine virtual key area size.It please notes that and can be any dimension throughout " size " described herein
(such as one-dimensional size, two-dimensional, three-dimensional dimension etc.) is spent, unless context clearly limits.Utilizing flight time (ToF)
It in the case where method, identifies that the center of hand may include following steps (with reference to the scene of Fig. 5, process is as shown in Figure 6): determining
Identification range is in anti-pinch protection area and Anti-bumping protection area；The each consecutive points for comparing scene information in the horizontal direction, as point n
When+1, n+2 are less than point n away from the distance value at the top of automatically-controlled door, then it is assumed that point n is the initial point position of hand；As point n+l+1, n+l+2
When being greater than point n+l away from the distance value at the top of automatically-controlled door, then it is assumed that n+l point is the end point position of hand；It is sought between n and n+l point
Look at the top of away from automatically-controlled door apart from smallest point, then it is assumed that the point is the central point of hand.
In one embodiment, the method further includes if it find that there is the object for meeting relevant parameter to enter virtually
Opening door operation is then triggered in key zone；If finding that anti-pinch protection area has qualified object to enter in door closing procedure, institute
Protection operation is stated to open the door；If finding that Anti-bumping protection area has qualified object to enter in door opening process, the protection
Operation stop door movement, wherein the condition can preset or machine learning by way of obtain.The relevant parameter
It can include but is not limited to its three-dimensional or two-dimensional coordinate and/or size, such as can be its center point coordinate and three-dimensional or two dimension
Size can be the respective two dimension of multiple subpoints thereon or three-dimensional coordinate.The condition can be preset before factory, or by grasping
Make personnel or maintenance personnel to configure during installation and debugging, can also be adjusted in use into mode of learning
It is whole, it might even be possible to be realized in the way of neural network learning and artificial intelligence.
It should be noted that in the narration previously with regard to the embodiment of device, described logic, step, process etc.
It can equally be well applied to embodiment of the method for the invention.
By above disclosure it is found that the invention proposes a kind of virtual keys and multizone for automatic door control
Protective device and method.In embodiments of the present invention, using virtual key+multizone protection scheme, make it possible to be not necessarily to
In the case where configuring multiple sensors system, without making automatic door unit in the case where configuring any solid door operation button
More intelligently identify that the intention of pedestrian to more convenient passing through in pedestrian, in addition avoids a movement to surrounding row people or object
It damages, reduces unnecessary door movement, to reduce the abrasion of automatically-controlled door, extend its service life, in addition also promote
The realization of building energy-saving environmental protection (such as heat preservation cold insulation).
Although preferred embodiments of the embodiments of the present application have been described, once a person skilled in the art knows this
Basic creative concept is invented, then additional changes and modifications can be made to these embodiments.So appended claims are anticipated
Diagram is interpreted as including preferred embodiment and all change and modification for falling into the application real protection scope.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Refer to nonexcludability, so that the process, method, article or equipment for including a series of elements not only includes those elements,
And it is also possible that other elements that are not explicitly listed, it either further include for this process, method, article or equipment institute
Intrinsic element already present in the prior art.
Claims (10)
1. a kind of virtual key and multi-region domain protecting method for automatic door control, comprising:
The relevant parameter in the virtual key area of automatically-controlled door is set；
The relevant parameter of the protection zone of automatically-controlled door is set, wherein the protection zone includes anti-pinch protection area and/or Anti-bumping protection area；
The virtual key area is detected, if having at the virtual key area meet the object of the relevant parameter into
Enter, then triggers opening door operation；
The protection zone is detected, meets the relevant parameter if had at the protection zone during door action process
Object enters, then the corresponding protection operation of triggering.
2. according to the method described in claim 1, it detects including the use of in following means the virtual key area
It is one or more:
Flight time (ToF) method, method of structured light, machine vision method.
3. method according to claim 1 or 2, the relevant parameter for being provided with the virtual key area of automatically-controlled door includes: handle
It is manually placed into the region for needing to be arranged virtual key, the scene information containing virtual key area is obtained, the position of hand is identified, thus root
The positions and dimensions in virtual key area are determined according to the position of the hand.
4. method according to claim 1 or 2, the protection zone for being provided with automatically-controlled door includes: to obtain around automatically-controlled door
Scene information determines protection zone boundary, and storage protection block boundary information by marking boundary manually before automatically-controlled door.
5. according to the method described in claim 3, wherein it is described identification hand position further comprise identify hand center,
Then corresponding size is set to determine virtual key area size.
6. according to the method described in claim 5, wherein being identified in hand using flight time (ToF) method
Heart position further comprises following steps:
Determine scanning range in anti-pinch protection area and Anti-bumping protection area；
The each consecutive points for comparing scene information in the horizontal direction, when point n+1, n+2 are less than away from the distance value at the top of automatically-controlled door
When point n, then it is assumed that point n is the initial point position of hand；
When point n+l+1, n+l+2 are greater than point n+l away from the distance value at the top of automatically-controlled door, then it is assumed that n+l point is the end point of hand
It sets；
Between n and n+l point find away from the top of automatically-controlled door apart from smallest point, then it is assumed that the point is the central point of hand.
7. according to the method described in claim 1, wherein qualified if finding that anti-pinch protection area has in door closing procedure
Object enters, then the protection operation is enabling；If finding that there is qualified object in Anti-bumping protection area in door opening process
Into, protection operation to stop door movement, wherein the condition can preset or machine learning by way of obtain
.
8. a kind of virtual key and multizone protective device for automatic door control, comprising:
Scene scan module is configured to obtain the scanning letter in the scene by detecting scene in gated regions
Breath；
Regional learning module, be configured to pre-set or automatically learn by way of determine the virtual key area of automatically-controlled door
And/or the relevant parameter of protection zone；
Region detection module is configured to detect the virtual key area, if having symbol at the virtual key area
The object for closing the relevant parameter enters, then to the information for judging output module transmission door open command or the object；And/or
Region detection module described in person detects the protection zone, meets if had at the protection zone during door action process
The object of the relevant parameter enters, then to the information for judging the corresponding protection instruction of output module transmission or the object；
Judge output module, is configured to instruct automatically-controlled door according to the information of the door action command or the object that receive
Carry out respective doors movement.
9. device according to claim 8, wherein the scene scan module includes one or more in following module
It is a:
Laser light curtain module detects target in gated regions by pulsed-beam time-of-flight methods to realize regional learning and area
Domain detection；
Structure optical module, by using the specific optical information of project structured light to body surface with to target in gated regions into
Row detection is to realize regional learning and region detection；
Machine vision module is imaged to calculate via machine vision target in gated regions by one or more camera
Method realizes regional learning and region detection.
10. device according to claim 8, wherein the protection zone includes anti-pinch protection area and Anti-bumping protection area.
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| CN201810431284.8A CN110454027A (en) | 2018-05-08 | 2018-05-08 | A kind of virtual key and multi-region domain protecting method and device for automatic door control |
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| CN201810431284.8A CN110454027A (en) | 2018-05-08 | 2018-05-08 | A kind of virtual key and multi-region domain protecting method and device for automatic door control |
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Application publication date: 20191115 |