CN112505674A - Automatic door control method and system based on FMCW microwave inductor - Google Patents

Automatic door control method and system based on FMCW microwave inductor Download PDF

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Publication number
CN112505674A
CN112505674A CN202011495422.2A CN202011495422A CN112505674A CN 112505674 A CN112505674 A CN 112505674A CN 202011495422 A CN202011495422 A CN 202011495422A CN 112505674 A CN112505674 A CN 112505674A
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frequency
information
automatic door
spectrum information
acquiring
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胡波清
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Guangdong Lanshuihua Intelligent Electronic Co ltd
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Guangdong Lanshuihua Intelligent Electronic Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • 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

Abstract

The invention belongs to the technical field of automatic doors, and particularly relates to an automatic door control method and system based on an FMCW microwave sensor, wherein the method comprises the following steps: acquiring the preset frequency modulation continuous wave period and bandwidth transmitted by the transmitting antenna based on the FMCW principle; continuously acquiring reflected electromagnetic waves reflected to the two receiving antennas after the transmitted electromagnetic waves transmitted by the transmitting antenna meet a measured object in a detection area of the automatic door, and frequency-modulated continuous waves when the two receiving antennas receive the reflected electromagnetic waves and recording the frequency-modulated continuous waves as frequency-mixed frequency-modulated waves; obtaining a first intermediate frequency signal and a second intermediate frequency signal; acquiring frequency spectrum information of a first intermediate frequency signal and a second intermediate frequency signal; acquiring plane angle information of a measured object and an FMCW microwave sensor; and controlling the automatic door to open or close according to the plane angle information. The angle information of the measured object is obtained through the frequency spectrum information, so that the control accuracy and the safety performance of the automatic door during opening and closing are improved.

Description

Automatic door control method and system based on FMCW microwave inductor
Technical Field
The invention belongs to the technical field of automatic doors, and particularly relates to an automatic door control method and system based on an FMCW microwave sensor.
Background
Automatic doors, ideally understood to be extensions of the door concept, are developments and improvements in the functionality of the door that are required by the person. The development of the automatic door industry is mature day by day, and the automatic door is as follows: the control unit can recognize the action of approaching a door or certain door entering authorization as a door opening signal, open the door through the driving system, automatically close the door after the person leaves, and control the opening and closing processes.
However, when the automatic door is controlled to open and close in the market at present, the adopted control method mostly has the problem of low control accuracy, the problem of influencing the use of the user is easily generated, and the use experience of the user is also reduced. Therefore, it is necessary to design an automatic door control method and system based on the FMCW microwave sensor.
Disclosure of Invention
The invention aims to provide an automatic door control method and system based on an FMCW microwave inductor, and aims to solve the technical problems that in the prior art, the use of a user is influenced and the use experience of the user is reduced due to low control accuracy when an automatic door is controlled to be opened and closed.
In order to achieve the above object, an embodiment of the present invention provides an automatic door control method based on an FMCW microwave sensor, where the FMCW microwave sensor includes an antenna group, and the antenna group includes a transmitting antenna and two receiving antennas; the method comprises the following steps:
acquiring the preset frequency modulation continuous wave period and bandwidth transmitted by the transmitting antenna based on the FMCW principle; the frequency modulation continuous wave is a modulation waveform which is generated by frequency modulation according to a fixed frequency and has periodic variation;
continuously acquiring reflected electromagnetic waves reflected to the two receiving antennas after the transmitted electromagnetic waves transmitted by the transmitting antenna meet a measured object in a detection area of the automatic door, and frequency-modulated continuous waves when the two receiving antennas receive the reflected electromagnetic waves and recording the frequency-modulated continuous waves as frequency-mixed frequency-modulated waves;
mixing the frequency-mixing frequency-modulated wave with the reflected electromagnetic waves received by the two receiving antennas to respectively obtain a first intermediate frequency signal and a second intermediate frequency signal;
acquiring frequency spectrum information of the first intermediate frequency signal and the second intermediate frequency signal; the spectrum information of the first intermediate frequency signal is first spectrum information, the spectrum information of the second intermediate frequency signal is second spectrum information, and the first spectrum information and the second spectrum information both comprise N frequency points;
acquiring plane angle information of the object to be measured and the FMCW microwave sensor according to the first frequency spectrum information and the second frequency spectrum information;
and controlling the automatic door to be opened or closed according to the plane angle information.
Optionally, the step of obtaining distance information of the dynamic measured object in the detection area of the automatic door according to the first frequency spectrum information and the second frequency spectrum information specifically includes:
respectively acquiring frequency point amplitude information and frequency point distance information corresponding to each frequency point in the first frequency spectrum information and the second frequency spectrum information; each frequency point in the first frequency spectrum information and the second frequency spectrum information corresponds to one frequency point amplitude information and one frequency point distance information;
and acquiring the distance information of the dynamic measured object in the detection area of the automatic door according to the frequency point amplitude information and the frequency point distance information in the first frequency spectrum information and the second frequency spectrum information.
Optionally, the step of obtaining distance information of the dynamic measured object in the detection area of the automatic door according to the frequency point amplitude information and the frequency point distance information in the first frequency spectrum information and the second frequency spectrum information specifically includes:
frequency point amplitude information of frequency points with the same sequence number in the first frequency spectrum information and the second frequency spectrum information is respectively extracted;
judging whether frequency point amplitude information of frequency points with the same sequence number in the first frequency spectrum information and the second frequency spectrum information changes or not;
if the judgment result is yes, extracting the frequency point distance information corresponding to the changed frequency point amplitude information, and recording the frequency point distance information as the distance information of the dynamic measured object in the detection area of the automatic door.
Optionally, there is also provided an automatic door control apparatus based on an FMCW microwave inductor, the apparatus comprising:
the bandwidth cycle acquisition module is used for acquiring the preset cycle and bandwidth of the frequency modulation continuous wave transmitted by the transmitting antenna based on the FMCW principle; the frequency modulation continuous wave is a modulation waveform which is generated by frequency modulation according to a fixed frequency and has periodic variation;
the electromagnetic wave acquisition module is used for continuously acquiring reflected electromagnetic waves which are reflected to the two receiving antennas after the transmitted electromagnetic waves transmitted by the transmitting antennas meet a measured object in a detection area of the automatic door, and frequency-modulated continuous waves when the two receiving antennas receive the reflected electromagnetic waves and are recorded as frequency-mixed frequency-modulated waves;
the intermediate frequency signal acquisition module is used for mixing the frequency mixing frequency modulation wave with the reflected electromagnetic waves received by the two receiving antennas to respectively obtain a first intermediate frequency signal and a second intermediate frequency signal;
the frequency spectrum information acquisition module is used for acquiring frequency spectrum information of the first intermediate frequency signal and the second intermediate frequency signal; the spectrum information of the first intermediate frequency signal is first spectrum information, the spectrum information of the second intermediate frequency signal is second spectrum information, and the first spectrum information and the second spectrum information both comprise N frequency points;
the angle information acquisition module is used for acquiring the plane angle information of the object to be measured and the FMCW microwave sensor according to the first frequency spectrum information and the second frequency spectrum information;
the first distance information acquisition module is used for acquiring the distance information between the object to be measured and the FMCW microwave sensor according to the first frequency spectrum information and the second frequency spectrum information;
and the automatic door control module is used for controlling the automatic door to be opened or closed according to the plane angle information.
The invention also provides an automatic door control system based on the FMCW microwave inductor, which comprises the FMCW microwave inductor and an automatic door, wherein the automatic door is connected with the FMCW microwave inductor, the FMCW microwave inductor comprises an antenna group, and the antenna group comprises a transmitting antenna and two receiving antennas; wherein the content of the first and second substances,
the FMCW microwave inductor is used for acquiring the preset frequency modulation continuous wave period and bandwidth transmitted by the transmitting antenna based on the FMCW principle; the frequency modulation continuous wave is a modulation waveform which is generated by frequency modulation according to a fixed frequency and has periodic variation;
the FMCW microwave sensor is used for continuously acquiring reflected electromagnetic waves which are reflected to the two receiving antennas after the transmitted electromagnetic waves transmitted by the transmitting antennas meet a measured object in a detection area of the automatic door, and frequency-modulated continuous waves when the two receiving antennas receive the reflected electromagnetic waves and are recorded as mixed frequency modulated waves;
the FMCW microwave inductor is used for mixing the frequency-mixing frequency modulation wave with the reflected electromagnetic waves received by the two receiving antennas to respectively obtain a first intermediate frequency signal and a second intermediate frequency signal;
the FMCW microwave inductor is used for acquiring frequency spectrum information of the first intermediate frequency signal and the second intermediate frequency signal; the spectrum information of the first intermediate frequency signal is first spectrum information, the spectrum information of the second intermediate frequency signal is second spectrum information, and the first spectrum information and the second spectrum information both comprise N frequency points;
the FMCW microwave sensor is used for acquiring plane angle information of the object to be measured and the FMCW microwave sensor according to the first frequency spectrum information and the second frequency spectrum information;
the FMCW microwave sensor is used for acquiring distance information between the object to be measured and the FMCW microwave sensor according to the first frequency spectrum information and the second frequency spectrum information;
and the FMCW microwave sensor is used for controlling the automatic door to be opened or closed according to the plane angle information.
The technical scheme or the technical schemes in the automatic door control method and the automatic door control system based on the FMCW microwave sensor provided by the embodiment of the invention at least have one of the following technical effects:
the invention firstly obtains the preset frequency modulation continuous wave period and bandwidth transmitted by the transmitting antenna based on FMCW principle, then continuously obtains the reflected electromagnetic wave reflected to the two receiving antennas after the transmitted electromagnetic wave transmitted by the transmitting antenna meets the measured object in the detection area of the automatic door, and the frequency modulation continuous wave when the two receiving antennas receive the reflected electromagnetic wave is recorded as a frequency mixing frequency modulation wave, and obtains a first intermediate frequency signal and a second intermediate frequency signal after frequency mixing, and then obtains a first frequency spectrum information and a second frequency spectrum information, further obtains the plane angle information and the distance information of the measured object and the FMCW microwave sensor, and then controls the automatic door to open or close according to the plane angle information and the distance information, thereby obtaining the angle information and the distance information of the measured object through the frequency spectrum information, further improving the control accuracy when the automatic door is controlled to open or close, the safety performance of the automatic door during opening and closing is improved, the automatic door is convenient for a user to use, and the user experience is further improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a flowchart of steps S100-S500 of a method for controlling an automatic door based on an FMCW microwave sensor according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an antenna group according to an embodiment of the present invention;
fig. 3 is a projection view of the FMCW microwave sensor provided in the embodiment of the present invention after detecting the object;
fig. 4 is a schematic structural diagram of the FMCW microwave sensor-based automatic door control method according to the present invention when reflected electromagnetic waves are reflected to a receiving antenna;
FIG. 5 is a flowchart of steps S510-S530 of the method for controlling an automatic door based on an FMCW microwave sensor according to an embodiment of the present invention;
FIG. 6 is a flowchart of steps S611-S612 of a method for controlling an automatic door based on an FMCW microwave sensor according to an embodiment of the present invention;
FIG. 7 is a flowchart illustrating steps S621-S623 of a method for controlling an automatic door based on an FMCW microwave sensor according to an embodiment of the present invention;
fig. 8 is a schematic view of a projection combination of the structure of the antenna group and the FMCW microwave sensor after detecting the object to be detected according to another embodiment of the present invention;
FIG. 9 is a flowchart illustrating steps S710-S720 of a method for controlling an automatic door based on an FMCW microwave sensor according to an embodiment of the present invention;
FIG. 10 is a flowchart illustrating steps S711-S712 of a method for controlling an automatic door based on an FMCW microwave sensor according to an embodiment of the present invention;
FIG. 11 is a flowchart of steps S7121-S7123 in the method for controlling an automatic door based on an FMCW microwave sensor according to an embodiment of the present invention;
fig. 12 is a block diagram of an automatic door control device based on an FMCW microwave sensor according to an embodiment of the present invention;
FIG. 13 is a block diagram of an automatic door control system based on FMCW microwave sensor according to an embodiment of the present invention;
fig. 14 is a block diagram of a computer device according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the embodiments of the present invention, and should not be construed as limiting the invention.
In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.
In one embodiment of the present invention, as shown in fig. 1, there is provided an automatic door control method based on an FMCW microwave sensor, wherein the FMCW microwave sensor includes an antenna group, and the antenna group includes a transmitting antenna and two receiving antennas; the method comprises the following steps:
step S100: acquiring the preset frequency modulation continuous wave period and bandwidth transmitted by the transmitting antenna based on the FMCW principle; the frequency modulation continuous wave is a modulation waveform which is generated by frequency modulation according to a fixed frequency and has periodic variation;
specifically, in this step, after the period and bandwidth of the frequency modulated continuous wave are preset, the frequency of the transmission wave is modulated at a fixed frequency by the transmission antenna, so as to transmit the electromagnetic wave into the detection area of the automatic door in a frequency sweeping manner.
Specifically, if the transmission frequency is F1 at time t1, the transmission frequency is modulated at a predetermined fixed frequency at the next time, so that the transmission frequency is F2 at time t 2. The frequencies of the transmitted wave F1 and the transmitted wave F2 are different.
Further, the frequency modulated continuous wave may be a triangular wave, a sawtooth wave, or other continuous waves with a preset period and bandwidth. The frequency modulated continuous wave may be generated by generating a fixed frequency from an oscillator and continuously frequency modulating the frequency by a frequency modulator through the fixed frequency to generate the frequency modulated continuous wave.
Step S200: continuously acquiring reflected electromagnetic waves reflected to the two receiving antennas after the transmitted electromagnetic waves transmitted by the transmitting antenna meet a measured object in a detection area of the automatic door, and frequency-modulated continuous waves when the two receiving antennas receive the reflected electromagnetic waves and recording the frequency-modulated continuous waves as frequency-mixed frequency-modulated waves;
in this step, at time t1, a transmitting electromagnetic wave with frequency f1 is continuously transmitted into the detection area of the automatic door through the transmitting antenna, and the transmitting electromagnetic wave is a transmitting electromagnetic wave. After the emitted electromagnetic wave is emitted, the electromagnetic wave is reflected after encountering a measured object in the detection area of the automatic door, and at the time t2, the reflected electromagnetic wave is received by the two receiving antennas. The frequency of the reflected electromagnetic wave is also f 1. At this time, since the frequency of the transmitted wave is continuously modulated, the frequency of the transmitted wave is modulated to f2 after the time t1 to t2 is swept.
Specifically, a cycle is a frequency mixing frequency modulation wave generated when a transmission electromagnetic wave is sent to a receiving antenna and a reflected electromagnetic wave is received by the receiving antenna, and the two receiving antennas respectively receive the two reflected electromagnetic waves. There are a number of such cycles over time as the automatic door operates. In each cycle, one transmitted electromagnetic wave, two reflected electromagnetic waves and one mixed frequency modulated wave are acquired. If the transmitted electromagnetic wave, the reflected electromagnetic wave and the mixed frequency modulation wave in one cycle period form a group of data, a plurality of groups of data are continuously acquired in the continuous work of the automatic door. Which is described in this step: the method comprises the steps of continuously obtaining the reflected electromagnetic wave which transmits the electromagnetic wave, is reflected to a receiving antenna after meeting a measured object in a detection area of the automatic door, and the frequency mixing frequency modulation wave.
Step S300: mixing the frequency-mixing frequency-modulated wave with the reflected electromagnetic waves received by the two receiving antennas to respectively obtain a first intermediate frequency signal and a second intermediate frequency signal;
in this step, the frequency-mixing frequency-modulated wave and the reflected electromagnetic waves received by the two receiving antennas are mixed to obtain the first intermediate frequency signal and the second intermediate frequency signal.
Specifically, when the frequency of the mixed frequency modulation wave is f2 and the frequency of the reflected electromagnetic wave is f1, after mixing, the frequency Δ f of the intermediate frequency signal is the difference between the frequency of the current mixed frequency modulation wave and the frequency of the reflected electromagnetic wave, that is, Δ f ═ f1-f2|。
In this embodiment, each of the mixed frequency modulated waves is mixed with the corresponding reflected electromagnetic wave by a mixer.
Step S400: acquiring frequency spectrum information of the first intermediate frequency signal and the second intermediate frequency signal; the spectrum information of the first intermediate frequency signal is first spectrum information, the spectrum information of the second intermediate frequency signal is second spectrum information, and the first spectrum information and the second spectrum information both comprise N frequency points;
in this step, after obtaining the spectrum information of each of the first intermediate frequency signal and the second intermediate frequency signal, subsequent information processing and parsing is facilitated. Specifically, the spectral information includes frequency information, amplitude information, and phase information.
Step S500: acquiring plane angle information of the object to be measured and the FMCW microwave sensor according to the first frequency spectrum information and the second frequency spectrum information;
specifically, in this embodiment, as shown in fig. 2 to 4, when the two receiving antennas are arranged in parallel, the transmitting antenna is arranged above the side of the two receiving antennas. As shown in fig. 3, the angular information of the projection of the object to be measured on the XZ plane can be detected by the FMCW microwave sensor.
Further, the distance between the two receiving antennas is R, the angle of the object to be measured is θ, as shown in fig. 4, when the planar angle information and the distance information between the object to be measured and the FMCW microwave sensor are obtained according to the first frequency spectrum information and the second frequency spectrum information, the obtained angle information is more accurate, so that accurate data support and basis are provided for subsequent control of the automatic door, and the accuracy of automatic door control is improved.
Step S600: and controlling the automatic door to be opened or closed according to the plane angle information.
The invention firstly obtains the preset frequency modulation continuous wave period and bandwidth transmitted by the transmitting antenna based on FMCW principle, then continuously obtains the reflected electromagnetic wave reflected to the two receiving antennas after the transmitted electromagnetic wave transmitted by the transmitting antenna meets the measured object in the detection area of the automatic door, and the frequency modulation continuous wave when the two receiving antennas receive the reflected electromagnetic wave is recorded as a frequency mixing frequency modulation wave, and obtains a first intermediate frequency signal and a second intermediate frequency signal after frequency mixing, and then obtains a first frequency spectrum information and a second frequency spectrum information, further obtains the plane angle information and the distance information of the measured object and an FMCW microwave sensor, and then controls the automatic door to be opened or closed according to the plane angle information, thereby obtaining the angle information and the distance information of the measured object through the frequency spectrum information, further improving the control accuracy when the automatic door is controlled to be opened or closed, and improving the safety performance when the automatic door is automatically closed, the convenience of the user uses, and then promotes user experience.
In another embodiment of the present invention, as shown in fig. 5, the step of obtaining the plane angle information between the object to be measured and the FMCW microwave sensor according to the first spectrum information and the second spectrum information specifically includes:
step S510: acquiring the frequency spectrum phase difference of the first frequency spectrum information and the second frequency spectrum information according to the first frequency spectrum information and the second frequency spectrum information;
in this step, in the first spectrum information, the frequency point is panHaving a phase of alphaan＝arctan(yan/xan) (ii) a The following can be obtained after the formula is changed:
Figure BDA0002842021290000091
similarly, in the second spectrum information, the frequency point pbnOf phase a thereofbn＝arctan(ybn/xbn) (ii) a The following can be obtained after the formula is changed:
Figure BDA0002842021290000092
therefore, for a frequency point with a sequence number n, a calculation formula of a phase difference between the first spectrum information and the second spectrum information is as follows: delta alphan＝αan-αbn；
According to the trigonometric formula
Figure BDA0002842021290000093
Therefore, it can be seen that:
Figure BDA0002842021290000094
therefore, it can be obtained: delta alphan＝arctan((yanxbn-xanybn)/(xanxbn+yanybn))；
In this way, the spectral phase difference between the first spectral information and the second spectral information can be obtained through the first spectral information and the second spectral information.
Step S520: acquiring an antenna linear distance between two receiving antennas;
specifically, in this step, the distance between the two receiving antennas is set by a person skilled in the art when setting hardware, that is, the distance is denoted by R in fig. 4, and the antenna linear distance R between the two receiving antennas is a known quantity.
Step S530: and acquiring the plane angle information of the object to be measured and the FMCW microwave sensor according to the frequency spectrum phase difference and the linear distance of the antenna.
In this step, as shown in fig. 2 to 4, in this embodiment, the angle information of the plane projection of the object to be measured and the FMCW microwave sensor on one plane is obtained by setting one antenna group, that is, the combination of one transmitting antenna and 2 receiving antennas.
Specifically, the plane angle information of the object to be measured and the FMCW microwave sensor is obtained through the following formula according to the frequency spectrum phase difference and the antenna linear distance:
Figure BDA0002842021290000101
wherein theta is the plane angle information of the object to be measured and the FMCW microwave sensor, F0Frequency of center frequency of transmission of FMCW microwave inductor, c speed of light, Delta alphanFor the phase of the frequency spectrumAnd R is the linear distance of the antenna.
Specifically, as shown in fig. 2, the calculation formula of the angle of the projection of the measured object detected by the FMCW microwave sensor on the XZ plane is: θ is arcsin (l/R), where l is the difference between the distances between the two receiving antennas and the measured object.
Specifically, l is calculated as follows:
setting the center frequency of the FMCW microwave inductor transmission to F0Then its wavelength is:
Figure BDA0002842021290000102
wherein c is the speed of light; within a complete period of 2 pi, there is a complete wavelength of λ, and the phase difference between the reflected electromagnetic wave 1 and the reflected electromagnetic wave 2 is Δ αnTherefore, the distance difference thereof
Figure BDA0002842021290000111
Then, will
Figure BDA0002842021290000112
Substituting θ ═ arcsin (l/R), we can obtain:
Figure BDA0002842021290000113
namely:
Figure BDA0002842021290000114
therefore, the plane angle information of the measured object and the FMCW microwave sensor can be obtained, the accuracy of angle information acquisition is improved, and the accuracy of automatic door control is improved.
In another embodiment of the present invention, there is also provided a method for calculating the plane angle information of the object to be measured and the FMCW microwave sensor, as shown in fig. 2, the distance d between the receiving antenna 1 and the object to be measured can be calculated according to the reflected electromagnetic wave 1 received by the receiving antenna 1 and the reflected electromagnetic wave 2 received by the receiving antenna 2aAnd dbWherein d isaThe distance between the receiving antenna 1 and the measured object; dbThe distance between the receiving antenna 2 and the measured object;
according to fig. 2, since the distance R between the receiving antenna 1 and the receiving antenna 2 is very small, the reflected electromagnetic wave 1 of the object to be measured reflected to the receiving antenna 1 and the reflected electromagnetic wave 2 of the object to be measured reflected to the receiving antenna 2 can be regarded as parallel electromagnetic waves, so that: l ═ da-db(ii) a Thus, the value of l can be obtained.
Since the value of R is known, the angle of the projection of the object to be measured on the XZ plane detected by the FMCW microwave sensor can be obtained by substituting the values of l and R into the formula θ arcsin (l/R).
Therefore, the plane angle information of the measured object and the FMCW microwave sensor can be conveniently and quickly acquired, a data base is provided for the control of the follow-up automatic door, and the control precision of the automatic door is improved.
In another embodiment of the present invention, as shown in fig. 6, the plane angle information is horizontal plane angle information, and the step of controlling the automatic door to open or close according to the plane angle information specifically includes:
step S611: judging the actual movement direction of the measured object according to the horizontal plane angle information;
specifically, as shown in fig. 2, after the antenna group is properly set by a person skilled in the art, when the obtained angular information of the projection of the object to be measured on the XZ plane detected by the FMCW microwave sensor is horizontal plane angular information, it can be determined whether the user is walking straight toward the automatic door relative to the center of the automatic door, or walking inclined to the left or right of the automatic door, that is, the actual moving direction of the object to be measured can be determined according to the horizontal plane angular information.
Step S612: and controlling the automatic door to be opened or closed by a preset opening width according to the actual movement direction.
In this step, the opening width is preset by a person skilled in the art, i.e. the opening width is set by detecting different movement directions of the person.
Specifically, the opening width is the maximum opening width, and the maximum opening width is set to correspond to different angles, so that efficient resource utilization of automatic door opening and closing control is realized, and control accuracy is improved.
In another embodiment of the present invention, the automatic door has an asymmetric opening function of a single door, and when it is detected that the user walks to the left through the actual moving direction, only the left moving door leaf is opened; if the user walks to the right through the actual movement direction, only the right movable door leaf is opened; if the user walks along the center through the actual movement direction, the left and right movable door leaves are opened simultaneously.
Furthermore, the accuracy of the automatic door control is greatly improved, the safety performance is also improved, and the automatic door control system has high practicability and market prospect.
In another embodiment of the present invention, as shown in fig. 7, the plane angle information is vertical plane angle information, and the step of controlling the automatic door to open or close according to the plane angle information specifically includes:
step S621: detecting actual height information of the measured object according to the vertical plane angle information;
specifically, after the placement mode of the antenna group is properly set by a person skilled in the art, when the obtained angle information of the projection of the object to be measured on the XZ plane detected by the FMCW microwave sensor is the vertical plane angle information, the actual height information of the object to be measured can be detected according to the vertical plane angle information.
Further, the distance d between the two receiving antennas and the measured object is calculatedaAnd dbAnd after the plane angle information of the object to be measured and the FMCW microwave sensor, the actual height information of the object to be measured can be obtained according to the cosine law, namely the actual height information of the object to be measured is detected according to the vertical plane angle information.
Therefore, the plane angle information is set to be the vertical plane angle information, so that the automatic door can filter out interference signals brought by the movable door leaf of the automatic door in the moving process in the operating process. Because of the vertical angle of the movable door leaf of the automatic door is very large, and the user walks from a far place to trigger the walking process of the automatic door, the angle is relatively small, and then the movable door leaf is very easy to distinguish from an action signal generated in the moving process, therefore, the misoperation caused by the movable door leaf can be greatly reduced, the frequent self-excitation of the automatic door is avoided, and even the problem of not closing the automatic door is avoided, the accuracy of the opening and closing control of the automatic door is further improved, the problem that the user is accidentally injured by the automatic door due to inaccurate control is also avoided, and the safety performance in the opening and closing control process of the automatic door is improved.
Step S622: judging whether the actual height information is greater than or equal to a preset height threshold value or not;
in this step, the height threshold is preset by a person skilled in the art. The height threshold is used for filtering signal interference of interferents with lower height, such as pets, sweeping robots and the like, so that the control precision is improved.
In order to be safe, the height threshold value can be set to be the same as the height of a child, so that the child with a shorter height can be filtered, and the condition that the child triggers the automatic door privately is avoided.
Step S623: if the judgment result is yes, the automatic door is controlled to be opened; if not, the automatic door is controlled to be closed or kept in a closed state.
Specifically, in this step, when the determination is yes, it is determined whether the actual height information is greater than or equal to a preset height threshold, that is, at this time, an adult or a non-interfering object needs to enter or exit the automatic door, so that the automatic door is controlled to open.
And when the judgment result is negative, judging that the actual height information is smaller than a preset height threshold value, namely, at the moment, an interfering object or a child walks to the front of the automatic door, and at the moment, keeping the automatic door closed.
Specifically, when the judgment is no, if the automatic door is in a closed state, controlling the automatic door to keep the closed state; and when the judgment result is no and the automatic door is in an open state, controlling the automatic door to close.
In another embodiment of the present invention, as shown in fig. 8, the plane angle information is vertical plane angle information and horizontal plane angle information.
The step of controlling the automatic door to open or close according to the plane angle information specifically comprises:
synthesizing the vertical plane angle information and the horizontal plane angle information to form three-dimensional angle information;
and judging the movement trend of the measured object according to the three-dimensional angle information, and further controlling the automatic door to be opened or closed.
Therefore, through the combination of the vertical plane angle information and the horizontal plane angle information, the functions of horizontal plane angle detection and vertical plane angle detection are integrated, the measured object is positioned in the three-dimensional space, and the accuracy of controlling the automatic door is improved.
Furthermore, as shown in fig. 8, in this embodiment, one antenna set of the FMCW microwave sensor includes one transmitting antenna and three receiving antennas, the relative positions of the receiving antennas and the transmitting antennas are set as shown on the left side in fig. 8, and the right side in fig. 8 is used for detecting the projection information of the object to be measured on the projection plane by the FMCW microwave sensor.
According to the left diagram in fig. 8, the angle information of the projection of the measured object on the YZ plane can be detected from the phase difference of the two reflected electromagnetic waves received by the receiving antennas 2 and 3.
And then the angle information of the projection of the measured object on the XZ plane is detected by integrating the receiving antenna 1 and the receiving antenna 2, so that the measured object can be positioned in the three-dimensional space.
In another embodiment of the present invention, as shown in fig. 9, the method further comprises:
step S710: acquiring distance information of a dynamic measured object in a detection area of the automatic door according to the first frequency spectrum information and the second frequency spectrum information;
specifically, in this step, the static object to be measured is filtered according to the first frequency spectrum information and the second frequency spectrum information, so that the distance information of the dynamic object to be measured is obtained, the static factors interfering in the control process of the automatic door are filtered through the frequency spectrum information, and the accuracy of the control of the automatic door is improved.
Step S720: and controlling the automatic door to be opened or closed according to the distance information of the dynamic measured object and the plane angle information.
In this step, the automatic door is controlled to be opened to control the automatic door to be switched from a closed state to an open state. The closing is divided into two cases, one is to change from the open state to the closed state. The other is continuous closing.
In another embodiment of the present invention, as shown in fig. 10, the step of obtaining distance information of a dynamic measured object in a detection area of an automatic door according to the first spectrum information and the second spectrum information specifically includes:
step S711: respectively acquiring frequency point amplitude information and frequency point distance information corresponding to each frequency point in the first frequency spectrum information and the second frequency spectrum information; each frequency point in the first frequency spectrum information and the second frequency spectrum information corresponds to one frequency point amplitude information and one frequency point distance information;
specifically, in this step, frequency point amplitude information and frequency point distance information corresponding to each frequency point in the first frequency spectrum information and the second frequency spectrum information are respectively obtained, so as to establish a one-to-one correspondence relationship between the amplitudes and distances of the same frequency points. That is, one amplitude information corresponding to one frequency point in the frequency spectrum corresponds to one distance information. Compared with the situation that one amplitude corresponds to a plurality of distances in the prior art, the method and the device realize that one amplitude corresponds to one distance on the basis of the acquired frequency spectrum information, solve the technical problems in the prior art, simultaneously improve the controllable precision in the automatic door detection process, greatly improve the user experience, and have high practicability and commercial value.
In this embodiment, the data information processing operation in step S711 is implemented by a signal processor.
Step S712: and acquiring the distance information of the dynamic measured object in the detection area of the automatic door according to the frequency point amplitude information and the frequency point distance information in the first frequency spectrum information and the second frequency spectrum information.
Specifically, after the one-to-one correspondence relationship between the amplitude and the distance is established in step S711, the static object to be measured and the dynamic object to be measured in the detection area of the automatic door can be determined, and the static object to be measured is filtered out, so that the dynamic object to be measured is obtained. And then, acquiring the distance information of the dynamic measured object.
In another embodiment of the present invention, as shown in fig. 11, the step of obtaining distance information of a dynamic object to be measured in a detection area of an automatic door according to frequency point amplitude information and frequency point distance information in the first frequency spectrum information and the second frequency spectrum information specifically includes:
step S7121: frequency point amplitude information of frequency points with the same sequence number in the first frequency spectrum information and the second frequency spectrum information is respectively extracted;
specifically, in this step, the distance information of the frequency points is changed according to the frequency point amplitude information of the frequency points with the same sequence number in the frequency spectrum information. It can also be understood that the frequency point amplitude information of a sequence number frequency point corresponds to a distance value.
Step S7122: judging whether frequency point amplitude information of frequency points with the same sequence number in the first frequency spectrum information and the second frequency spectrum information changes or not;
in this step, it is determined whether frequency point amplitude information of frequency points with the same sequence number in each of the first frequency spectrum information and the second frequency spectrum information changes, that is, it is determined whether there is a dynamic object to be measured at different time points and at the same distance point.
Step S7123: if the judgment result is yes, extracting the frequency point distance information corresponding to the changed frequency point amplitude information, and recording the frequency point distance information as the distance information of the dynamic measured object in the detection area of the automatic door.
In this step, when the judgment result is yes, the frequency point amplitude information of the frequency points with the same sequence number in each frequency spectrum information is judged to be changed.
Specifically, at time t3, the amplitude of the frequency bin with number 1 is X. At the time t4, the amplitude of the frequency point with the sequence number of 1 is Y, and the amplitude information corresponding to the frequency point with the sequence number of 1 changes, which means that a dynamic measured object appears at the distance point corresponding to the amplitude information at this time.
And then, extracting the frequency point distance information corresponding to the changed frequency point amplitude information, namely obtaining the distance information of the dynamic measured object.
In another embodiment of the present invention, the step S400: the step of obtaining the spectrum information of the first intermediate frequency signal and the second intermediate frequency signal specifically includes:
(1) converting the first intermediate frequency signal and the second intermediate frequency signal into digital intermediate frequency signals respectively;
(2) converting the digital intermediate frequency signal into a frequency domain intermediate frequency signal through Fourier transform;
in this step, the digital intermediate frequency signal is a time domain signal, and the time domain signal is converted into a frequency domain signal by fourier transform.
Specifically, when performing fourier transform, the number of sampling points in a sampling period is set to be N and the sampling frequency is set to be F for the digital intermediate frequency signal.
(3) And acquiring the frequency spectrum information of the first intermediate frequency signal and the second intermediate frequency signal according to the frequency domain intermediate frequency signal.
In another embodiment of the present invention, the frequency point amplitude information is calculated by the following formula:
Figure BDA0002842021290000161
and
Figure BDA0002842021290000162
wherein An is frequency point amplitude information, N is the number of the corresponding frequency point in the frequency spectrum, N is the number of sampling points in the sampling period in Fourier transform, and xnReal part information, y, corresponding to a frequency point of sequence number nnAnd the imaginary part information is corresponding to the frequency point with the serial number n.
Due to the symmetry of the frequency spectrum, only the first N/2 frequency points need to be subjected to data divisionAnalyzing, wherein An is frequency point amplitude information, N is the serial number of the corresponding frequency point in the frequency spectrum, N is the sampling point number of the sampling period in Fourier transform, and xnReal part information, y, corresponding to a frequency point of sequence number nnAnd the imaginary part information is corresponding to the frequency point with the serial number n.
Specifically, when performing fourier transform, setting the number of sampling points in a sampling period to be N, and after the sampling frequency is F, and performing fourier computation, obtaining frequency spectrum information including N frequency points, which are marked as 0, 1, 2.. N; where n represents the number of the bins. Each frequency point in the frequency spectrum correspondingly has real part information xnAnd imaginary information yn。
Further, the frequency point with the number n is pnIs indicated, in particular, pnThe frequency is calculated by
Figure BDA0002842021290000171
The phase is calculated as alphan＝arctan(yn/xn) (ii) a The amplitude calculation formula corresponding to different frequency points is as follows, specifically, the serial number is
Figure BDA0002842021290000172
Frequency point pnThe calculation formula is as follows:
Figure BDA0002842021290000173
for a frequency point p with the number n (n equals 0)nThe calculation formula is as follows:
Figure BDA0002842021290000174
in another embodiment of the present invention, the frequency point distance information is calculated by the following formula:
Figure BDA0002842021290000175
wherein d isnThe method comprises the following steps of (1) obtaining frequency point distance information, c representing the light speed, N representing the serial number of a corresponding frequency point in a frequency spectrum, F representing the sampling frequency, k representing the frequency modulation slope of a frequency modulation continuous wave, and N representing the number of sampling points;
the frequency modulation slope k is calculated by the period T and the bandwidth B of the frequency modulation continuous wave, and if the frequency modulation continuous wave is a sawtooth wave, the expression of the slope k of the frequency modulation continuous wave is as follows: k is B/T; if the frequency modulated continuous wave is a triangular wave, the expression of the slope k of the frequency modulated continuous wave is as follows: k is 2B/T.
Specifically, taking as an example the transmitted electromagnetic wave f1, the reflected electromagnetic wave f1, and the mixed frequency modulated wave f2 acquired in one cycle of the operation of the automatic door described in step S200, the following formula is derived:
firstly, the preset frequency modulation continuous wave has the period of T and the bandwidth of B. If the frequency modulated continuous wave is a sawtooth wave, the expression of the slope k of the frequency modulated continuous wave is as follows: k is B/T; if the frequency modulated continuous wave is a triangular wave, the expression of the slope k of the frequency modulated continuous wave is as follows: k is 2B/T.
Next, in a time period in which the frequency modulation continuous wave is changed from f1 to f2, a time t elapses, and the frequency change amount is: Δ f ═ f1-f2L. That is, the frequency is changed by Δ f in the period t, so an expression can be obtained
Figure BDA0002842021290000181
Specifically, the propagation speed of the electromagnetic wave is the speed of light c, so that the path of propagation of the electromagnetic wave is s ═ ct in time t. The distance of the measured object is half of the propagation path of the electromagnetic wave, so the following deduction can be made:
Figure BDA0002842021290000182
where c is the speed of light, Δ f is the frequency of the intermediate frequency signal, and k is the chirp rate of the chirped wave.
Specifically, the speed of light is known, T, B and the modulation waveform is pre-defined, so the chirp slope k is also known. Therefore, based on the FMCW principle, when the frequency Δ f of the intermediate frequency signal is known, the actual distance of the measured object can be calculated by the above formula.
Further according to the formula
Figure BDA0002842021290000183
And formulas
Figure BDA0002842021290000184
After Fourier transformation, the frequency point p with the serial number nnThe distance information represented is:
Figure BDA0002842021290000185
therefore, the distance information corresponding to each frequency point in the frequency spectrum information is obtained through calculation, and subsequent data processing and accurate control of the automatic door are facilitated.
In another embodiment of the present invention, the step of converting the first intermediate frequency signal and the second intermediate frequency signal into digital intermediate frequency signals respectively specifically includes:
(1) filtering and amplifying the first intermediate frequency signal and the second intermediate frequency signal to obtain an amplified intermediate frequency signal with an amplified amplitude;
in the step, the interference impurities of the signals are filtered through filtering, so that the data processing precision is improved.
Then, amplitude amplification processing is carried out to obtain the amplified intermediate frequency signal so as to facilitate subsequent signal processing.
In this embodiment, the filtering and amplifying process for the intermediate frequency signal is implemented by a signal filtering amplifier.
(2) And performing analog-to-digital conversion on the amplified intermediate frequency signal to obtain the digital intermediate frequency signal.
Specifically, after being converted into a digital signal, the time domain signal is subsequently converted into a frequency domain signal by fourier transform.
In this embodiment, the amplified if signal is analog-to-digital converted by an AD converter.
In another embodiment of the present invention, the step of continuously acquiring the reflected electromagnetic wave reflected to the two receiving antennas after the transmitted electromagnetic wave transmitted by the transmitting antenna meets the object to be measured in the detection area of the automatic door, and the frequency modulated continuous wave when the two receiving antennas receive the reflected electromagnetic wave and is recorded as the mixed frequency modulated wave specifically includes:
(1) continuously acquiring the transmitted electromagnetic wave transmitted by a transmitting antenna according to the frequency modulated continuous wave;
specifically, when the frequency modulated continuous wave is transmitted, the transmitted electromagnetic wave transmitted by the transmitting antenna can be acquired at any time when the automatic door works.
(2) Acquiring reflected electromagnetic waves which are reflected to two receiving antennas after the transmitted electromagnetic waves encounter a measured object in a detection area of the automatic door;
when the transmitted electromagnetic wave meets the object to be measured in the detection area of the automatic door, the electromagnetic wave is reflected, and then the reflected electromagnetic wave is received by the receiving antenna.
(3) And acquiring frequency modulation continuous waves when the receiving antenna receives the reflected electromagnetic waves, and recording the frequency modulation continuous waves at the moment as frequency mixing frequency modulation waves.
Because the transmitted electromagnetic wave is the frequency modulation continuous wave, when the receiving antenna is obtained to receive the reflected electromagnetic wave, the frequency of the transmitted electromagnetic wave is changed, and the frequency modulation continuous wave at the moment is the frequency mixing frequency modulation wave.
In another embodiment of the present invention, as shown in fig. 12, there is also provided an automatic door control apparatus based on an FMCW microwave sensor, the apparatus including a bandwidth period acquisition module, an electromagnetic wave acquisition module, an intermediate frequency signal acquisition module, a spectrum information acquisition module, an angle information acquisition module, a first distance information acquisition module, and an automatic door control module.
The bandwidth cycle acquisition module is used for acquiring the cycle and the bandwidth of a preset frequency modulation continuous wave transmitted by the transmitting antenna based on an FMCW principle; the frequency modulation continuous wave is a modulation waveform which is generated by frequency modulation according to a fixed frequency and has periodic variation;
the electromagnetic wave acquisition module is used for continuously acquiring reflected electromagnetic waves which are reflected to the two receiving antennas after the transmitted electromagnetic waves transmitted by the transmitting antenna meet a measured object in a detection area of the automatic door, and frequency-modulated continuous waves when the two receiving antennas receive the reflected electromagnetic waves and are recorded as frequency-mixed frequency-modulated waves;
the intermediate frequency signal acquisition module is used for mixing the frequency mixing frequency modulation wave with the reflected electromagnetic waves received by the two receiving antennas to respectively obtain a first intermediate frequency signal and a second intermediate frequency signal;
the spectrum information acquisition module is used for acquiring spectrum information of the first intermediate frequency signal and the second intermediate frequency signal; the spectrum information of the first intermediate frequency signal is first spectrum information, the spectrum information of the second intermediate frequency signal is second spectrum information, and the first spectrum information and the second spectrum information both comprise N frequency points;
the angle information acquisition module is used for acquiring the plane angle information of the object to be measured and the FMCW microwave sensor according to the first frequency spectrum information and the second frequency spectrum information;
the first distance information acquisition module is used for acquiring the distance information between the object to be measured and the FMCW microwave sensor according to the first frequency spectrum information and the second frequency spectrum information;
and the automatic door control module is used for controlling the automatic door to be opened or closed according to the plane angle information.
In another embodiment of the present invention, the FMCW microwave sensor-based automatic door control apparatus further includes: the device comprises a distance information acquisition module and an automatic door opening and closing module.
The distance information acquisition module is used for acquiring the distance information of the dynamic measured object in the detection area of the automatic door according to the first frequency spectrum information and the second frequency spectrum information;
and the automatic door switch module is used for controlling the automatic door to be opened or closed according to the distance information of the dynamic measured object and the plane angle information.
In another embodiment of the present invention, the distance information obtaining module is further configured to obtain frequency point amplitude information and frequency point distance information corresponding to each frequency point in the first frequency spectrum information and the second frequency spectrum information, respectively; each frequency point in the first frequency spectrum information and the second frequency spectrum information corresponds to one frequency point amplitude information and one frequency point distance information;
and acquiring the distance information of the dynamic measured object in the detection area of the automatic door according to the frequency point amplitude information and the frequency point distance information in the first frequency spectrum information and the second frequency spectrum information
In another embodiment of the present invention, there is also provided a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the FMCW microwave sensor-based automatic door control method when executing the computer program.
In another embodiment of the present invention, a computer readable storage medium has stored thereon a computer program which, when being executed by a processor, realizes the steps of the above-mentioned FMCW microwave sensor-based automatic door control method.
For specific limitations of the automatic door control device based on the FMCW principle, reference may be made to the above limitations of the automatic door control method based on the FMCW microwave sensor, and details thereof are not repeated here. The various modules in the FMCW principle based automatic gating apparatus described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 14. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of automatic door control based on an FMCW microwave sensor. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 14 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In another embodiment of the present invention, as shown in fig. 13, there is further provided an automatic door control system based on an FMCW microwave sensor, the system including an FMCW microwave sensor and an automatic door, the automatic door being connected to the FMCW microwave sensor, the FMCW microwave sensor including an antenna group, the antenna group including one transmitting antenna and two receiving antennas; wherein the content of the first and second substances,
the FMCW microwave inductor is used for acquiring the preset frequency modulation continuous wave period and bandwidth transmitted by the transmitting antenna based on the FMCW principle; the frequency modulation continuous wave is a modulation waveform which is generated by frequency modulation according to a fixed frequency and has periodic variation;
the FMCW microwave sensor is used for continuously acquiring reflected electromagnetic waves which are reflected to the two receiving antennas after the transmitted electromagnetic waves transmitted by the transmitting antennas meet a measured object in a detection area of the automatic door, and frequency-modulated continuous waves when the two receiving antennas receive the reflected electromagnetic waves and are recorded as mixed frequency modulated waves;
the FMCW microwave inductor is used for mixing the frequency-mixing frequency modulation wave with the reflected electromagnetic waves received by the two receiving antennas to respectively obtain a first intermediate frequency signal and a second intermediate frequency signal;
the FMCW microwave inductor is used for acquiring frequency spectrum information of the first intermediate frequency signal and the second intermediate frequency signal; the spectrum information of the first intermediate frequency signal is first spectrum information, the spectrum information of the second intermediate frequency signal is second spectrum information, and the first spectrum information and the second spectrum information both comprise N frequency points;
the FMCW microwave sensor is used for acquiring plane angle information of the object to be measured and the FMCW microwave sensor according to the first frequency spectrum information and the second frequency spectrum information;
the FMCW microwave sensor is used for controlling the automatic door to be opened or closed according to the plane angle information;
and the FMCW microwave sensor is used for acquiring the distance information between the object to be measured and the FMCW microwave sensor according to the first frequency spectrum information and the second frequency spectrum information.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. An automatic door control method based on an FMCW microwave sensor, wherein the FMCW microwave sensor comprises an antenna group, and the antenna group comprises a transmitting antenna and two receiving antennas; characterized in that the method comprises:
acquiring the preset frequency modulation continuous wave period and bandwidth transmitted by the transmitting antenna based on the FMCW principle; the frequency modulation continuous wave is a modulation waveform which is generated by frequency modulation according to a fixed frequency and has periodic variation;
continuously acquiring reflected electromagnetic waves reflected to the two receiving antennas after the transmitted electromagnetic waves transmitted by the transmitting antenna meet a measured object in a detection area of the automatic door, and frequency-modulated continuous waves when the two receiving antennas receive the reflected electromagnetic waves and recording the frequency-modulated continuous waves as frequency-mixed frequency-modulated waves;
mixing the frequency-mixing frequency-modulated wave with the reflected electromagnetic waves received by the two receiving antennas to respectively obtain a first intermediate frequency signal and a second intermediate frequency signal;
acquiring frequency spectrum information of the first intermediate frequency signal and the second intermediate frequency signal; the spectrum information of the first intermediate frequency signal is first spectrum information, the spectrum information of the second intermediate frequency signal is second spectrum information, and the first spectrum information and the second spectrum information both comprise N frequency points;
acquiring plane angle information of the object to be measured and the FMCW microwave sensor according to the first frequency spectrum information and the second frequency spectrum information;
and controlling the automatic door to be opened or closed according to the plane angle information.
2. The method as claimed in claim 1, wherein the step of obtaining the plane angle information of the object to be measured and the FMCW microwave sensor according to the first spectrum information and the second spectrum information includes:
acquiring the frequency spectrum phase difference of the first frequency spectrum information and the second frequency spectrum information according to the first frequency spectrum information and the second frequency spectrum information;
acquiring an antenna linear distance between two receiving antennas;
and acquiring the plane angle information of the object to be measured and the FMCW microwave sensor according to the frequency spectrum phase difference and the linear distance of the antenna.
3. The method of claim 2, wherein the plane angle information of the object to be measured and the FMCW microwave sensor is obtained according to the spectral phase difference and the antenna linear distance by the following formula:
Figure FDA0002842021280000021
wherein theta is the level of the object to be measured and the FMCW microwave sensorFace angle information, F0Frequency of center frequency of transmission of FMCW microwave inductor, c speed of light, Delta alphanR is the linear distance of the antenna.
4. The method for controlling an automatic door based on an FMCW microwave sensor as claimed in any one of claims 1-3, wherein the plane angle information is horizontal plane angle information, and the step of controlling the automatic door to open or close according to the plane angle information specifically comprises:
judging the actual movement direction of the measured object according to the horizontal plane angle information;
and controlling the automatic door to be opened or closed by a preset opening width according to the actual movement direction.
5. The method for controlling an automatic door based on an FMCW microwave sensor as claimed in any one of claims 1-3, wherein the plane angle information is vertical plane angle information, and the step of controlling the automatic door to open or close according to the plane angle information specifically comprises:
detecting actual height information of the measured object according to the vertical plane angle information;
judging whether the actual height information is greater than or equal to a preset height threshold value or not;
if the judgment result is yes, the automatic door is controlled to be opened; if not, the automatic door is controlled to be closed or kept in a closed state.
6. The method of FMCW microwave sensor-based automatic door control of claim 1, further comprising:
acquiring distance information of a dynamic measured object in a detection area of the automatic door according to the first frequency spectrum information and the second frequency spectrum information;
and controlling the automatic door to be opened or closed according to the distance information of the dynamic measured object and the plane angle information.
7. The method for controlling an automatic door based on an FMCW microwave sensor as claimed in claim 6, wherein the step of obtaining the distance information of the dynamic object under test in the detection area of the automatic door according to the first spectrum information and the second spectrum information includes:
respectively acquiring frequency point amplitude information and frequency point distance information corresponding to each frequency point in the first frequency spectrum information and the second frequency spectrum information; each frequency point in the first frequency spectrum information and the second frequency spectrum information corresponds to one frequency point amplitude information and one frequency point distance information;
and acquiring the distance information of the dynamic measured object in the detection area of the automatic door according to the frequency point amplitude information and the frequency point distance information in the first frequency spectrum information and the second frequency spectrum information.
8. The FMCW microwave sensor-based automatic door control method according to claim 7, wherein the step of obtaining distance information of the dynamic object to be measured in the detection area of the automatic door according to the frequency point amplitude information and the frequency point distance information in the first frequency spectrum information and the second frequency spectrum information specifically includes:
frequency point amplitude information of frequency points with the same sequence number in the first frequency spectrum information and the second frequency spectrum information is respectively extracted;
judging whether frequency point amplitude information of frequency points with the same sequence number in the first frequency spectrum information and the second frequency spectrum information changes or not;
if the judgment result is yes, extracting the frequency point distance information corresponding to the changed frequency point amplitude information, and recording the frequency point distance information as the distance information of the dynamic measured object in the detection area of the automatic door.
9. An automatic door control apparatus based on an FMCW microwave sensor, the apparatus comprising:
the bandwidth cycle acquisition module is used for acquiring the preset cycle and bandwidth of the frequency modulation continuous wave transmitted by the transmitting antenna based on the FMCW principle; the frequency modulation continuous wave is a modulation waveform which is generated by frequency modulation according to a fixed frequency and has periodic variation;
the electromagnetic wave acquisition module is used for continuously acquiring reflected electromagnetic waves which are reflected to the two receiving antennas after the transmitted electromagnetic waves transmitted by the transmitting antennas meet a measured object in a detection area of the automatic door, and frequency-modulated continuous waves when the two receiving antennas receive the reflected electromagnetic waves and are recorded as frequency-mixed frequency-modulated waves;
the intermediate frequency signal acquisition module is used for mixing the frequency mixing frequency modulation wave with the reflected electromagnetic waves received by the two receiving antennas to respectively obtain a first intermediate frequency signal and a second intermediate frequency signal;
the frequency spectrum information acquisition module is used for acquiring frequency spectrum information of the first intermediate frequency signal and the second intermediate frequency signal; the spectrum information of the first intermediate frequency signal is first spectrum information, the spectrum information of the second intermediate frequency signal is second spectrum information, and the first spectrum information and the second spectrum information both comprise N frequency points;
the angle information acquisition module is used for acquiring the plane angle information of the object to be measured and the FMCW microwave sensor according to the first frequency spectrum information and the second frequency spectrum information;
the first distance information acquisition module is used for acquiring the distance information between the object to be measured and the FMCW microwave sensor according to the first frequency spectrum information and the second frequency spectrum information;
and the automatic door control module is used for controlling the automatic door to be opened or closed according to the plane angle information.
10. An automatic door control system based on an FMCW microwave inductor is characterized by comprising the FMCW microwave inductor and an automatic door, wherein the automatic door is connected with the FMCW microwave inductor, the FMCW microwave inductor comprises an antenna group, and the antenna group comprises a transmitting antenna and two receiving antennas; wherein the content of the first and second substances,
the FMCW microwave inductor is used for acquiring the preset frequency modulation continuous wave period and bandwidth transmitted by the transmitting antenna based on the FMCW principle; the frequency modulation continuous wave is a modulation waveform which is generated by frequency modulation according to a fixed frequency and has periodic variation;
the FMCW microwave sensor is used for continuously acquiring reflected electromagnetic waves which are reflected to the two receiving antennas after the transmitted electromagnetic waves transmitted by the transmitting antennas meet a measured object in a detection area of the automatic door, and frequency-modulated continuous waves when the two receiving antennas receive the reflected electromagnetic waves and are recorded as mixed frequency modulated waves;
the FMCW microwave inductor is used for mixing the frequency-mixing frequency modulation wave with the reflected electromagnetic waves received by the two receiving antennas to respectively obtain a first intermediate frequency signal and a second intermediate frequency signal;
the FMCW microwave inductor is used for acquiring frequency spectrum information of the first intermediate frequency signal and the second intermediate frequency signal; the spectrum information of the first intermediate frequency signal is first spectrum information, the spectrum information of the second intermediate frequency signal is second spectrum information, and the first spectrum information and the second spectrum information both comprise N frequency points;
the FMCW microwave sensor is used for acquiring plane angle information of the object to be measured and the FMCW microwave sensor according to the first frequency spectrum information and the second frequency spectrum information;
and the FMCW microwave sensor is used for controlling the automatic door to be opened or closed according to the plane angle information.
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