CN112145022A - Automatic door with anti-pinch function - Google Patents

Automatic door with anti-pinch function Download PDF

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Publication number
CN112145022A
CN112145022A CN202011073971.0A CN202011073971A CN112145022A CN 112145022 A CN112145022 A CN 112145022A CN 202011073971 A CN202011073971 A CN 202011073971A CN 112145022 A CN112145022 A CN 112145022A
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CN
China
Prior art keywords
door leaf
door
motor
ccd camera
controller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202011073971.0A
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Chinese (zh)
Other versions
CN112145022B (en
Inventor
付强
覃克弘
章晗辰
周克雄
陈家禄
龙晓甜
罗顺
劳英慧
黄仲喜
朱卓玲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangxi Wingood Intelligent Parking Equipment Co ltd
Original Assignee
Guangxi Wingood Intelligent Parking Equipment Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Guangxi Wingood Intelligent Parking Equipment Co ltd filed Critical Guangxi Wingood Intelligent Parking Equipment Co ltd
Priority to CN202011073971.0A priority Critical patent/CN112145022B/en
Priority claimed from CN202011073971.0A external-priority patent/CN112145022B/en
Publication of CN112145022A publication Critical patent/CN112145022A/en
Application granted granted Critical
Publication of CN112145022B publication Critical patent/CN112145022B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • E05F15/74—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using photoelectric cells
    • 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
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/632—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings
    • E05F15/643—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings operated by flexible elongated pulling elements, e.g. belts, chains or cables
    • 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
    • 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
    • E05F17/00—Special devices for shifting a plurality of wings operated simultaneously
    • E05F17/004—Special devices for shifting a plurality of wings operated simultaneously for wings which abut when closed
    • 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
    • E06B3/00—Window sashes, door leaves, or like elements for closing wall or like openings; Layout of fixed or moving closures, e.g. windows in wall or like openings; Features of rigidly-mounted outer frames relating to the mounting of wing frames
    • E06B3/32—Arrangements of wings characterised by the manner of movement; Arrangements of movable wings in openings; Features of wings or frames relating solely to the manner of movement of the wing
    • E06B3/34—Arrangements of wings characterised by the manner of movement; Arrangements of movable wings in openings; Features of wings or frames relating solely to the manner of movement of the wing with only one kind of movement
    • E06B3/42—Sliding wings; Details of frames with respect to guiding
    • E06B3/46—Horizontally-sliding wings
    • E06B3/4636—Horizontally-sliding wings for doors
    • 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
    • E06B3/00—Window sashes, door leaves, or like elements for closing wall or like openings; Layout of fixed or moving closures, e.g. windows in wall or like openings; Features of rigidly-mounted outer frames relating to the mounting of wing frames
    • E06B3/70—Door leaves
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/70—SSIS architectures; Circuits associated therewith
    • H04N25/71—Charge-coupled device [CCD] sensors; Charge-transfer registers specially adapted for CCD sensors
    • 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
    • E05F2015/765—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using optical sensors
    • 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
    • E05F2015/767—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using cameras
    • 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
    • E05F17/00—Special devices for shifting a plurality of wings operated simultaneously
    • E05F2017/005—Special devices for shifting a plurality of wings operated simultaneously for sliding wings
    • 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
    • E06B3/00—Window sashes, door leaves, or like elements for closing wall or like openings; Layout of fixed or moving closures, e.g. windows in wall or like openings; Features of rigidly-mounted outer frames relating to the mounting of wing frames
    • E06B3/70—Door leaves
    • E06B2003/7049—Specific panel characteristics

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Power-Operated Mechanisms For Wings (AREA)

Abstract

The invention discloses an automatic door with an anti-pinch function, which belongs to the technical field of automatic doors and comprises a door beam, a first door leaf and a second door leaf, wherein a driving component for driving the first door leaf and the second door leaf to move in opposite directions or in opposite directions is arranged in the door beam; a foreign matter detection device for detecting whether foreign matters exist between the first door leaf and the second door leaf is arranged in the second door leaf; the foreign matter detection device comprises a CCD camera, a lens assembly arranged at the front end of the CCD camera and a rotary bracket used for automatically adjusting the scanning angle of the CCD camera; a control box is arranged in the door beam, an industrial personal computer, a controller, a power supply and a first motor driver are arranged in the control box, the industrial personal computer is connected with an image acquisition card, and the image acquisition card is connected with the CCD camera; the industrial personal computer, the power supply, the first motor driver and the driving assembly are all connected with the controller; the first motor driver is connected with the first motor; the invention solves the problem that the existing automatic door is easy to miss small objects.

Description

Automatic door with anti-pinch function
Technical Field
The invention relates to the technical field of automatic doors, in particular to an automatic door with an anti-pinch function.
Background
The existing intelligent stereo garage is widely used, and the intelligent garage is generally provided with an automatic door; however, in the operation process of the automatic door, people and articles often enter the door, and if the detection is not timely, safety accidents are easily caused. The existing detection devices mostly adopt correlation photoelectricity, reflection photoelectricity or light curtain to detect; however, the photoelectric detection system is easy to miss detection for small objects, the light curtain system is high in price, and certain articles, such as fingers, umbrella handles, vehicle-mounted antennas and the like, are missed to be detected at a certain probability. Therefore, it is necessary to improve the accuracy of detecting foreign matters in the conventional automatic door to improve the safety of the automatic door.
Disclosure of Invention
In view of the above, there is a need for an automatic door with anti-pinch function, which is used to solve the problem that the existing automatic door is easy to miss small objects.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an automatic door with an anti-pinch function comprises a door beam, a first door leaf and a second door leaf, wherein the first door leaf and the second door leaf are slidably mounted on the door beam, and a driving assembly for driving the first door leaf and the second door leaf to move in opposite directions or move in opposite directions is arranged in the door beam; a containing groove is formed in one side, facing the second door leaf, of the first door leaf from top to bottom, a light source is arranged in the containing groove, and a first transparent plate is embedded in the notch of the containing groove;
the second door leaf is hollow to form a cavity, a perspective port communicated with the cavity is formed in one side, facing the first door leaf, of the second door leaf from top to bottom, and a second transparent plate is embedded in the perspective port; a foreign matter detection device for detecting whether foreign matters exist between the first door leaf and the second door leaf is arranged in the cavity; the foreign matter detection device comprises a CCD camera, a lens assembly arranged at the front end of the CCD camera and a rotary bracket used for automatically adjusting the scanning angle of the CCD camera; the two ends of the rotating bracket are rotatably connected with the inner side wall of the second door leaf through bearings, and the axes of the bearings are horizontally arranged and are vertical to the front and the back of the second door leaf; a support table is arranged in the middle of the rotating support, the CCD camera is mounted on the support table, and the front end of the CCD camera faces the first door leaf; a first motor for driving the rotating bracket to rotate is further arranged in the cavity;
a control box is arranged in the door beam, an industrial personal computer, a controller, a power supply and a first motor driver are arranged in the control box, the industrial personal computer is connected with an image acquisition card, the image acquisition card is connected with the CCD camera, and the power supply is connected with the industrial personal computer; the industrial personal computer, the power supply, the first motor driver and the driving assembly are all connected with the controller; the first motor driver is connected with the first motor;
the first motor is used for driving the CCD camera to swing up and down, the CCD camera is used for collecting image information between the first door leaf and the second door leaf and sending the image information to the industrial personal computer through the image collecting card, and the industrial personal computer analyzes the image information and judges whether the image information is shielded or not so as to judge whether foreign matters exist between the first door leaf and the second door leaf or not; if no foreign matter exists, the industrial personal computer generates a door closing instruction and sends the door closing instruction to the controller, and the controller controls the driving assembly to work and drives the first door leaf and the second door leaf to move oppositely until the first door leaf and the second door leaf are closed; at the moment, the controller controls the first motor to stop rotating through a first motor driver; if foreign matters exist, the industrial personal computer generates a stop instruction and sends the stop instruction to the controller, and the controller controls the driving assembly to stop working; meanwhile, the controller controls the first motor to stop rotating through a first motor driver.
Preferably, the driving assembly comprises a driving wheel, a driven wheel, a belt, a second motor and a second motor driver; the driving wheel and the driven wheel are respectively arranged at two ends of the beam, and the belt is sleeved on the driving wheel and the driven wheel; the second motor is arranged on the cross beam and is connected with the driving wheel; the second motor is connected with the second motor driver, the second motor driver is connected with the controller, and the second motor driver is arranged in the control box; the top of the left door leaf and the top of the right door leaf are both provided with a hanging bracket, the hanging bracket is connected with the cross beam in a sliding manner, and the hanging bracket of the left door leaf and the hanging bracket of the right door leaf are respectively connected with the upper part and the lower part of the belt.
Preferably, an encoder is arranged on the second motor and connected with the controller.
Preferably, the front side and the rear side of the door beam are both provided with sensors for sensing whether an object approaches the automatic door, and the sensors are connected with the controller.
Preferably, the controller is a single chip microcomputer or a PLC.
Preferably, the length of the see-through port is equal to the height of the cavity, the width of the see-through port is equal to the thickness of the cavity, and the size of the notch of the receiving groove is equal to the size of the see-through port.
Preferably, the first transparent plate and the second transparent plate are both acrylic plates or tempered glass.
Preferably, the light source is a backlight.
Preferably, the CCD camera is located in the middle of the side of the cavity away from the first door leaf.
Preferably, the first motor is in transmission connection with the rotating bracket through a gear.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
1. compared with the existing automatic door, the automatic door can more accurately detect the foreign matters, avoid the defect of missing detection of small objects and has higher operation safety performance; according to the invention, the foreign matter detection device for detecting whether foreign matters exist between the first door leaf and the second door leaf is arranged in the second door leaf, and a CCD (charge coupled device) camera of the foreign matter detection device scans the space between the first door leaf and the second door leaf up and down under the driving of the first stepping motor and the rotating bracket, so that no dead angle exists in the detection range; if foreign matters exist between the first door leaf and the second door leaf, the industrial personal computer generates a stop instruction and sends the stop instruction to the controller, and the controller controls the driving assembly to stop working and stop door closing operation; simultaneously, the controller controls first motor stall through first motor drive, carries out real time monitoring to this foreign matter, leaves the automatically-controlled door until the foreign matter, avoids the emergence of the missed measure condition, has better anti-pinch effect.
2. According to the invention, the foreign matter detection device is arranged in the second door leaf, so that the foreign matter detection device has a good protection effect and the appearance of the second door leaf is not influenced; in addition, compared with the foreign matter detection device arranged on the outer side of the second door leaf, the foreign matter detection device is arranged in the second door leaf, so that the foreign matter detection accuracy of the foreign matter detection device is improved.
3. According to the invention, the light source is arranged on the side, facing the second door leaf, of the first door leaf, and the light source is a backlight lamp, so that the CCD camera can be assisted to detect and identify the foreign matters, and a better illumination effect is achieved.
4. The invention also has the advantages of simple structure, convenient use, low cost, strong practicability and the like; the foreign matter detection device can be used for anti-pinch detection of the automatic door, can also be used for other occasions requiring range detection such as contour detection and the like, and has a wider application range.
Drawings
Fig. 1 is a front view of an automatic door provided by an embodiment of the present invention;
fig. 2 is a schematic view illustrating a connection between a door beam and a first door leaf and a second door leaf according to an embodiment of the present invention;
fig. 3 is a schematic view of an internal structure of the first door leaf according to the embodiment of the present invention;
fig. 4 is a schematic view of an internal structure of a second door leaf according to an embodiment of the present invention;
FIG. 5 is a schematic view of the installation of the foreign object detection apparatus according to the embodiment of the present invention;
FIG. 6 is a schematic diagram of electrical connections of an automatic door provided by an embodiment of the present invention;
the main reference symbols in the drawings are as follows:
in the attached figure, 1-door beam, 2-first door leaf, 3-containing groove, 4-light source, 5-first transparent plate, 6-second door leaf, 7-cavity, 8-second transparent plate, 9-foreign body detection device, 10-CCD camera, 11-lens assembly, 12-rotary bracket, 13-bearing, 14-supporting table and 15-first motor, 16-gear, 17-control box, 18-industrial personal computer, 19-controller, 20-power supply, 21-first motor driver, 22-image acquisition card, 23-second motor, 24-second motor driver, 25-encoder, 26-sensor, 27-driving wheel, 28-driven wheel, 29-belt and 30-hanger.
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The drawings are only for purposes of illustration and are not intended to be limiting, certain elements of the drawings may be omitted, enlarged or reduced to better illustrate the embodiments of the present invention, and do not represent the size of the actual product, and it is understood that some well-known structures, elements and descriptions thereof in the drawings may be omitted for persons skilled in the art.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Examples
As shown in fig. 1-6, an automatic door with an anti-pinch function includes a door beam 1, a first door leaf 2 and a second door leaf 6, the first door leaf 2 and the second door leaf 6 are slidably mounted on the door beam 1, and a driving assembly for driving the first door leaf 2 and the second door leaf 6 to move in opposite directions or move back to back is disposed in the door beam 1.
Wherein the drive assembly comprises a driving pulley 27, a driven pulley 28, a belt 29, a second motor 23 and a second motor driver 24. The driving wheel 27 and the driven wheel 28 are respectively arranged at two ends of the cross beam, and the belt 29 is sleeved on the driving wheel 27 and the driven wheel 28. The second motor 23 is arranged on the cross beam and connected with the driving wheel 27, the second motor 23 is connected with a second motor driver 24, and the second motor driver 24 is used for driving the second motor 23 to rotate forwards and backwards. The second motor 23 is further provided with an encoder 25, which can be used for monitoring the angular displacement of the second motor 23, so as to set the starting point and the ending point of the first door leaf 2 and the second door leaf 6, and belongs to the conventional prior art.
The top of the left door leaf and the top of the right door leaf are both provided with a hanger 30, the hanger 30 is connected with the cross beam in a sliding manner, and the hanger 30 of the left door leaf and the hanger 30 of the right door leaf are respectively connected with the upper part and the lower part of the belt 29. When the second motor 23 rotates forwards, the first door leaf 2 and the second door leaf 6 move oppositely until being folded; when the second motor 23 is reversed, the first door leaf 2 and the second door leaf 6 move back to the maximum displacement. Both the front and rear sides of the door beam 1 are provided with sensors 26 for sensing whether an object is approaching the automatic door. In this embodiment, the sensor 26 is an infrared sensor 26.
One side top-down that first door leaf 2 was faced second door leaf 6 has seted up one and has accomodate groove 3, is provided with light source 4 in accomodating the groove 3, and the notch department of accomodating groove 3 inlays and is equipped with first transparent plate 5. In this embodiment, the light source 4 is a backlight. The second door leaf 6 is hollow to form a cavity 7, a perspective port communicated with the cavity 7 is formed in one side, facing the first door leaf 2, of the second door leaf 6 from top to bottom, and a second transparent plate 8 is embedded in the perspective port. The first transparent plate 5 and the second transparent plate 8 are both acrylic plates or toughened glass; in this embodiment, the first transparent board 5 and the second transparent board 8 are both acrylic boards, and have good mechanical strength. The length of the perspective port is equal to the height of the cavity 7, the width of the perspective port is equal to the thickness of the cavity 7, and the size of the notch of the accommodating groove 3 is equal to the size of the perspective port. The dimensions of the first transparent panel 5 and the second transparent panel 8 are substantially equal to the lateral dimensions of the first door leaf 2 and the second door leaf 6.
A foreign matter detection device 9 for detecting whether foreign matter exists between the first door leaf 2 and the second door leaf 6 is arranged in the cavity 7. The foreign matter detection device 9 includes a CCD camera 10, a lens assembly 11 disposed at a front end of the CCD camera 10, and a rotary holder 12 for automatically adjusting a scanning angle of the CCD camera 10. Both ends of the rotating bracket 12 are rotatably connected with the inner side wall of the second door leaf 6 through bearings 13, and the axis of the bearings 13 is horizontally arranged and is vertically arranged with the front surface and the back surface of the second door leaf 6. The middle part of the rotating bracket 12 is provided with a supporting table 14, the CCD camera 10 is installed on the supporting table 14, the CCD camera 10 is located in the middle part of one side of the cavity 7 far away from the first door leaf 2, and the front end of the CCD camera 10 faces the first door leaf 2. The arrangement is such that the CCD camera 10 better captures the image between the first door leaf 2 and the second door leaf 6, and the perspective port is larger, so that the CCD camera 10 has a larger scanning angle. A first motor 15 for driving the rotating bracket 12 to rotate is further arranged in the cavity 7; wherein, first motor 15 passes through gear 16 and is connected with runing rest 12 transmission, reduces the installation degree of difficulty of first motor 15 to drive runing rest 12 better. The first motor 15 is a stepping motor having a self-locking function.
According to the invention, the foreign matter detection device 9 is arranged in the second door leaf 6, so that the foreign matter detection device 9 has a good protection effect and does not influence the appearance of the second door leaf 6. Compared with the foreign matter detection device 9 arranged outside the second door leaf 6, the foreign matter detection device 9 is arranged in the second door leaf 6, and the foreign matter detection device is more beneficial to improving the accuracy of the foreign matter detection device 9 in detecting the foreign matters. In addition, the light source 4 is arranged on the side of the first door leaf 2 facing the second door leaf 6, and the light source 4 is a backlight, so that the invention has good illumination effect and can assist the CCD camera 10 to detect and identify the foreign matters.
A control box 17 is arranged in the door beam 1, an industrial personal computer 18, a controller 19, a power supply 20 and a first motor driver 21 are arranged in the control box 17, the industrial personal computer 18 is connected with an image acquisition card 22, the image acquisition card 22 is connected with the CCD camera 10, and the power supply 20 is connected with the industrial personal computer 18. Wherein, the controller 19 is a single chip microcomputer or a PLC; in this embodiment, the controller 19 is a single chip microcomputer. The encoder 25, the sensor 26, the industrial personal computer 18, the power supply 20, the first motor driver 21 and the driving component are all connected with the controller 19; specifically, a second motor driver 24 of the drive assembly is connected to the controller 19, and the second motor driver 24 is provided in the control box 17. The first motor driver 21 is connected to the first motor 15.
As is well known, automatic doors have the advantages of automatic sensing and automatic opening; when the sensor 26 senses that an object approaches the automatic door, the controller 19 controls the second motor 23 to rotate reversely through the second motor driver 24, and the first door leaf 2 and the second door leaf 6 are opened; when the object leaves the automatic door and the sensor 26 cannot sense that the object approaches the automatic door, the automatic door performs foreign matter detection, if the foreign matter is found, the door closing operation is stopped, and the door closing operation is performed again after the foreign matter leaves the automatic door; if no foreign matter is found, the door closing operation is directly executed.
In the invention, the first motor 15 is used for driving the CCD camera 10 to swing up and down, and when a foreign object is detected, the controller 19 controls the first motor 15 to rotate forward and backward through the first motor driver 21, so that the CCD camera 10 swings in the up-and-down direction, and the space between the first door leaf 2 and the second door leaf 6 is scanned up and down, and no dead angle exists in the detection range. The CCD camera 10 is configured to collect image information between the first door leaf 2 and the second door leaf 6, and send the image information to the industrial personal computer 18 via the image collection card 22, and the industrial personal computer 18 analyzes the image information to determine whether the image information is blocked, so as to determine whether a foreign object exists between the first door leaf 2 and the second door leaf 6. If no foreign matter exists, the industrial personal computer 18 generates a door closing instruction and sends the door closing instruction to the controller 19, and the controller 19 controls the driving assembly to work to drive the first door leaf 2 and the second door leaf 6 to move oppositely until the first door leaf 2 and the second door leaf 6 are closed; at this time, the controller 19 controls the first motor 15 to stop rotating through the first motor driver 21. If foreign matters exist, the industrial personal computer 18 generates a stop instruction and sends the stop instruction to the controller 19, and the controller 19 controls the driving assembly to stop working and stop door closing operation; meanwhile, the controller 19 controls the first motor 15 to stop rotating through the first motor driver 21, and monitors the foreign matter in real time until the foreign matter leaves the automatic door, and then the door is closed, so that the condition of missed detection is avoided, and a better anti-pinch effect is achieved.
In addition, in this embodiment, a relay is further disposed in the control box 17, the light source 4 is electrically connected to an output end of the relay, an input end of the relay is electrically connected to the power supply 20, and a control end of the relay is electrically connected to the controller 19; when the foreign matter is detected, the controller 19 controls the relay to be closed, the power supply 20 supplies power to the light source 4, and the light source 4 works; after the automatic door is closed, the controller 19 controls the relay to be opened, and the light source 4 stops working.
Compared with the existing automatic door, the automatic door can more accurately detect the foreign matters, avoid the defect of missing detection of small objects and has higher operation safety performance; the invention also has the advantages of simple structure, convenient use, low cost, strong practicability and the like; the foreign matter detection device 9 can be used for anti-pinch detection of an automatic door, can also be used for other occasions requiring range detection such as contour detection and the like, and has a wide application range.
The above description is intended to describe in detail the preferred embodiments of the present invention, but the embodiments are not intended to limit the scope of the claims of the present invention, and all equivalent changes and modifications made within the technical spirit of the present invention should fall within the scope of the claims of the present invention.

Claims (10)

1. The utility model provides an automatically-controlled door with prevent pressing from both sides function, includes door beam, first door leaf and second door leaf, first door leaf with but second door leaf slidable mounting be in on the door beam, be provided with in the door beam and be used for driving the drive assembly of first door leaf and second door leaf relative motion or motion dorsad, its characterized in that: a containing groove is formed in one side, facing the second door leaf, of the first door leaf from top to bottom, a light source is arranged in the containing groove, and a first transparent plate is embedded in the notch of the containing groove;
the second door leaf is hollow to form a cavity, a perspective port communicated with the cavity is formed in one side, facing the first door leaf, of the second door leaf from top to bottom, and a second transparent plate is embedded in the perspective port; a foreign matter detection device for detecting whether foreign matters exist between the first door leaf and the second door leaf is arranged in the cavity; the foreign matter detection device comprises a CCD camera, a lens assembly arranged at the front end of the CCD camera and a rotary bracket used for automatically adjusting the scanning angle of the CCD camera; the two ends of the rotating bracket are rotatably connected with the inner side wall of the second door leaf through bearings, and the axes of the bearings are horizontally arranged and are vertical to the front and the back of the second door leaf; a support table is arranged in the middle of the rotating support, the CCD camera is mounted on the support table, and the front end of the CCD camera faces the first door leaf; a first motor for driving the rotating bracket to rotate is further arranged in the cavity;
a control box is arranged in the door beam, an industrial personal computer, a controller, a power supply and a first motor driver are arranged in the control box, the industrial personal computer is connected with an image acquisition card, the image acquisition card is connected with the CCD camera, and the power supply is connected with the industrial personal computer; the industrial personal computer, the power supply, the first motor driver and the driving assembly are all connected with the controller; the first motor driver is connected with the first motor;
the first motor is used for driving the CCD camera to swing up and down, the CCD camera is used for collecting image information between the first door leaf and the second door leaf and sending the image information to the industrial personal computer through the image collecting card, and the industrial personal computer analyzes the image information and judges whether the image information is shielded or not so as to judge whether foreign matters exist between the first door leaf and the second door leaf or not; if no foreign matter exists, the industrial personal computer generates a door closing instruction and sends the door closing instruction to the controller, and the controller controls the driving assembly to work and drives the first door leaf and the second door leaf to move oppositely until the first door leaf and the second door leaf are closed; at the moment, the controller controls the first motor to stop rotating through a first motor driver; if foreign matters exist, the industrial personal computer generates a stop instruction and sends the stop instruction to the controller, and the controller controls the driving assembly to stop working; meanwhile, the controller controls the first motor to stop rotating through a first motor driver.
2. The automatic door with the anti-pinch function as claimed in claim 1, characterized in that: the driving assembly comprises a driving wheel, a driven wheel, a belt, a second motor and a second motor driver; the driving wheel and the driven wheel are respectively arranged at two ends of the beam, and the belt is sleeved on the driving wheel and the driven wheel; the second motor is arranged on the cross beam and is connected with the driving wheel; the second motor is connected with the second motor driver, the second motor driver is connected with the controller, and the second motor driver is arranged in the control box; the top of the left door leaf and the top of the right door leaf are both provided with a hanging bracket, the hanging bracket is connected with the cross beam in a sliding manner, and the hanging bracket of the left door leaf and the hanging bracket of the right door leaf are respectively connected with the upper part and the lower part of the belt.
3. The automatic door with the anti-pinch function as claimed in claim 1, characterized in that: and an encoder is arranged on the second motor and is connected with the controller.
4. The automatic door with the anti-pinch function as claimed in claim 3, characterized in that: the front side and the rear side of the door beam are both provided with sensors used for sensing whether an object approaches the automatic door or not, and the sensors are connected with the controller.
5. The automatic door with the anti-pinch function as claimed in claim 4, characterized in that: the controller is a single chip microcomputer or a PLC.
6. The automatic door with the anti-pinch function as claimed in claim 1, characterized in that: the length of the perspective port is equal to the height of the cavity, the width of the perspective port is equal to the thickness of the cavity, and the size of the notch of the accommodating groove is equal to the size of the perspective port.
7. The automatic door with the anti-pinch function as claimed in claim 1, characterized in that: the first transparent plate and the second transparent plate are both acrylic plates or toughened glass.
8. The automatic door with the anti-pinch function as claimed in claim 7, characterized in that: the light source is a backlight.
9. The automatic door with the anti-pinch function as claimed in claim 1, characterized in that: the CCD camera is positioned in the middle of one side of the cavity, which is far away from the first door leaf.
10. The automatic door with the anti-pinch function as claimed in claim 1, characterized in that: the first motor is in transmission connection with the rotating bracket through a gear.
CN202011073971.0A 2020-09-28 Automatic door with anti-pinch function Active CN112145022B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011073971.0A CN112145022B (en) 2020-09-28 Automatic door with anti-pinch function

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011073971.0A CN112145022B (en) 2020-09-28 Automatic door with anti-pinch function

Publications (2)

Publication Number Publication Date
CN112145022A true CN112145022A (en) 2020-12-29
CN112145022B CN112145022B (en) 2024-07-16

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102747919A (en) * 2012-06-18 2012-10-24 浙江工业大学 Omnidirectional computer vision-based safe and energy-saving control device for pedestrian automatic door
CN106050064A (en) * 2016-07-18 2016-10-26 中国电子信息产业集团有限公司第六研究所 Intelligent control automatic flexible door
CN206522043U (en) * 2016-10-13 2017-09-26 昆明学院 A kind of contactless automatically-controlled door clamping-proof control system
CN110454027A (en) * 2018-05-08 2019-11-15 比业电子（北京）有限公司 A kind of virtual key and multi-region domain protecting method and device for automatic door control
CN214170294U (en) * 2020-09-28 2021-09-10 广西云高智能停车设备有限公司 Automatic door with anti-pinch function

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102747919A (en) * 2012-06-18 2012-10-24 浙江工业大学 Omnidirectional computer vision-based safe and energy-saving control device for pedestrian automatic door
CN106050064A (en) * 2016-07-18 2016-10-26 中国电子信息产业集团有限公司第六研究所 Intelligent control automatic flexible door
CN206522043U (en) * 2016-10-13 2017-09-26 昆明学院 A kind of contactless automatically-controlled door clamping-proof control system
CN110454027A (en) * 2018-05-08 2019-11-15 比业电子（北京）有限公司 A kind of virtual key and multi-region domain protecting method and device for automatic door control
CN214170294U (en) * 2020-09-28 2021-09-10 广西云高智能停车设备有限公司 Automatic door with anti-pinch function

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