CN113374377B - Library door control method, device and system and storage medium - Google Patents
Library door control method, device and system and storage medium Download PDFInfo
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- CN113374377B CN113374377B CN202110540952.2A CN202110540952A CN113374377B CN 113374377 B CN113374377 B CN 113374377B CN 202110540952 A CN202110540952 A CN 202110540952A CN 113374377 B CN113374377 B CN 113374377B
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- garage door
- vehicle
- door
- garage
- warehouse
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/77—Power-operated mechanisms for wings with automatic actuation using wireless control
Abstract
The invention provides a garage door control method, a device, a system and a storage medium, which are applied to vehicles and comprise the following steps: opening a warehouse door: the vehicle identifies the garage door consistent with the garage door identification code stored in the operation and dispatching plan of the vehicle and determines the type of the garage door; the method comprises the steps that the distance between a vehicle and a garage door is measured in real time, whether the vehicle runs in a direction with an obstacle or not and whether the garage door has a condition for controlling action or not are judged, and on the premise that the vehicle and the garage door meet requirements, the vehicle sends a garage door opening instruction and the garage door is opened; a step of closing the warehouse door: and measuring the distance between the vehicle and the garage door in real time, judging whether the garage door closing condition is met, and closing the garage door under the condition of meeting the garage door closing condition. According to the technical scheme, the position and the identification information of the garage door are confirmed by the detection equipment of the vehicle, the garage door in the operation plan can be opened, and the door can be opened through information interaction with the vehicle door control system and the ground system.
Description
Technical Field
The invention belongs to the technical field of vehicle control, and particularly relates to a garage door control method, device and system and a storage medium.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
The multiple scenes of car washing, warehousing, ex-warehouse and the like exist in the automatic shunting process of the motor train unit, and the currently mainly adopted method for opening the garage door mainly depends on the communication between a vehicle-mounted signal system and a ground system responder or a positioning server, and the opening and closing operation of the garage door is carried out according to the ground chain state and a scheduling command.
The inventor finds that in the process of shunting, when the ground configuration in a motor train is limited, or the communication between a train and the ground is interrupted or the positioning is lost due to other reasons, the train cannot identify the position of the train, the automatic opening and closing control of a garage door cannot be performed, the train needs to exit an automatic shunting mode and wait for manual processing, and the efficiency of automatic shunting is greatly influenced.
Disclosure of Invention
The invention provides a garage door control method, a device, a system and a storage medium for solving the problems.
According to some embodiments, the invention adopts the following technical scheme:
In a first aspect, a garage door control method is disclosed, which is applied to vehicle garage entering and leaving control, and comprises the following steps:
opening a warehouse door: the vehicle identifies the garage door consistent with the garage door identification code stored in the operation and dispatching plan of the vehicle and determines the type of the garage door;
the method comprises the steps that the distance between a vehicle and a garage door is measured in real time, whether the vehicle runs in a direction with an obstacle or not and whether the garage door has a condition for controlling action or not are judged, and on the premise that the vehicle and the garage door meet requirements, the vehicle sends a garage door opening instruction and the garage door is opened;
a step of closing the warehouse door: and measuring the distance between the vehicle and the garage door in real time, judging whether the garage door closing condition is met, and closing the garage door under the condition of meeting the garage door closing condition.
According to the further technical scheme, in the process of identifying the garage door by the vehicle, the vehicle sends an inquiry frame to the garage door in real time;
the vehicle receives a reply frame sent by the garage door in response to the inquiry frame, the reply frame containing the garage door identification code.
According to the further technical scheme, after the vehicle compares the warehouse door identification code in the received response frame with the stored warehouse door identification code, the vehicle sends warehouse door confirmation information and continuously tracks the response frame of the warehouse door, and the distance between the vehicle and the warehouse door is obtained through real-time calculation.
Specifically, the distance between the vehicle and the garage door can be calculated in real time according to the time difference between inquiry and response.
According to the further technical scheme, after the vehicle sends the garage door confirmation information, the image information of the garage door is collected, the characteristic extraction is carried out, and the type of the garage door is identified again.
Preferably, the vehicle identifies the type of the garage door and collects information of an obstacle in front of the garage door, and if the information of the obstacle exists, corresponding adjustment is performed according to the type of the obstacle.
Specifically, if an obstacle exists in the process of opening the door of the vehicle in the garage, a request for replacing the storage warehouse is sent;
and sending information to a ground system for disposal in the processes of closing the doors when the vehicles enter the garage, opening the doors when the vehicles leave the garage and closing the doors when the vehicles leave the garage.
Preferably, the type of the garage door is identified, and meanwhile, the information of an obstacle in front of the garage door is collected, if the type of the garage door does not exist, the vehicle sends a required request to the garage door according to the real-time distance between the vehicle and the garage door when the distance is smaller than a set threshold value.
In a second aspect, a warehouse door control method is disclosed, which is applied to a warehouse door and comprises the following steps:
receiving an inquiry frame transmitted by a vehicle in real time;
responding to the inquiry frame and sending a response frame to the vehicle, wherein the response frame comprises the garage door identification code and the distance between the vehicle and the garage door;
The vehicle compares the warehouse door identification code in the received response frame with the stored warehouse door identification code, and then sends warehouse door confirmation information;
and in the process of warehousing or ex-warehouse, when the distance between the vehicle and the warehouse door is smaller than a set threshold value, receiving an instruction of opening the warehouse door or closing the warehouse door and executing.
According to the further technical scheme, after the command of opening or closing the garage door is received, if the garage door does not have the condition of opening or closing, information is fed back to the vehicle, and otherwise, the opening or closing action is executed.
In a third aspect, a garage door control device is disclosed, which is applied to a vehicle, and comprises:
a bin gate identification module configured to: the vehicle identifies the garage door consistent with the garage door identification code stored in the operation and dispatching plan of the vehicle and determines the type of the garage door;
a library gate control module configured to: the method comprises the steps that the distance between a vehicle and a garage door is measured in real time, whether the vehicle runs in a direction with an obstacle or not and whether the garage door has a condition for controlling action or not are judged, and on the premise that the vehicle and the garage door meet requirements, the vehicle sends a garage door opening instruction and the garage door is opened;
and measuring the distance between the vehicle and the garage door in real time, judging whether the garage door closing condition is met, and closing the garage door under the condition of meeting the garage door closing condition.
In a fourth aspect, a garage door control device is disclosed, which is applied to a garage door, and comprises:
the garage door identification module is used for receiving inquiry frames sent by vehicles in real time; responding to the inquiry frame and sending a response frame to the vehicle, wherein the response frame comprises the garage door identification code and the distance between the vehicle and the garage door;
the vehicle compares the warehouse door identification code in the received response frame with the stored warehouse door identification code, and then sends warehouse door confirmation information;
and the garage door control module receives and executes an instruction of opening or closing the garage door when the distance between the vehicle and the garage door is smaller than a set threshold value in the process of warehousing or leaving the garage.
In a fifth aspect, an access door control system is disclosed, comprising: a vehicle-mounted system and a warehouse door control system which are in bidirectional communication;
the vehicle-mounted system is used for identifying the warehouse door consistent with the warehouse door identification code stored in the plan of operation and dispatching; sending a warehouse door opening instruction and controlling the vehicle to enter a warehouse after the warehouse door is confirmed to be opened;
the garage door control system receives an inquiry frame sent by a vehicle in real time;
responding to the inquiry frame and transmitting a response frame to the vehicle, wherein the response frame comprises the garage door identification code;
The vehicle compares the warehouse door identification code in the received response frame with the stored warehouse door identification code, and then sends warehouse door confirmation information;
and in the process of warehousing or ex-warehouse, when the distance between the vehicle and the warehouse door is smaller than a set threshold value, receiving an instruction of opening the warehouse door or closing the warehouse door and executing.
Compared with the prior art, the invention has the beneficial effects that:
the technical scheme fully utilizes the existing automatic shunting system equipment resources, the newly added train is subjected to sensing, speed measuring and distance measuring means, the intelligent camera unit and the garage door are additionally provided with the control system, information interaction and characteristic recognition with the garage door control system are realized, and the correct recognition of the garage door is ensured by recognizing the garage door with the consistence of the planned garage door identification code stored in the operation and scheduling plan, so that the correct garage door is recognized, and the operation efficiency under the fault condition of the automatic shunting system is improved.
According to the technical scheme, the position and the identification information of the garage door are confirmed by the detection equipment of the vehicle, the garage door in the operation plan can be opened, and the door can be opened through information interaction with the vehicle door control system and the ground system.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a schematic diagram of data interaction when a train enters a garage and a door of the garage is opened according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of data interaction when a train enters a garage and a door of the garage is closed according to an embodiment of the disclosure;
FIG. 3 is a schematic diagram of a train entering a garage in accordance with an exemplary embodiment of the present disclosure;
FIG. 4 is a flow chart illustrating the opening of a library door in accordance with an exemplary embodiment of the present disclosure;
fig. 5 is a flow chart illustrating the closing of a door of a storage according to an embodiment of the present disclosure.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The first embodiment is as follows:
in this embodiment, automatic identification and garage door control during automatic shunting of the motor train unit are exemplified, but this does not mean that the method provided by the present invention is only applicable to the motor train unit. It can also be applied to other devices according to different actual scenes or control objects.
The embodiment discloses a garage door control method, which is applied to a vehicle and comprises the following steps:
opening a warehouse door: the vehicle identifies the garage door consistent with the garage door identification code stored in the operation and dispatching plan of the vehicle and determines the type of the garage door;
the method comprises the steps that the distance between a vehicle and a garage door is measured in real time, whether the vehicle runs in a direction with an obstacle or not and whether the garage door has a condition for controlling action or not are judged, and on the premise that the vehicle and the garage door meet requirements, the vehicle sends a garage door opening instruction and the garage door is opened;
A step of closing the warehouse door: and measuring the distance between the vehicle and the garage door in real time, judging whether the garage door closing condition is met, and closing the garage door under the condition of meeting the garage door closing condition.
It should be noted that, the garage door control is applied to two scenes of vehicle warehousing and vehicle ex-warehouse, and in the vehicle warehousing and vehicle ex-warehouse processes, the steps of garage door identification, garage door opening after the identification of the garage door, judgment of the closing condition of the garage door, and garage door closing after the closing condition is met are required.
In the process of opening the garage door in the garage, the head car sends inquiry to the garage door equipment, and the garage door responds. And in the process of closing the garage door after the garage is put in storage, the tail car sends inquiry to the garage door equipment and the garage door responds.
In the process of opening the garage door during the warehouse-out process, the head car sends inquiry and garage door response to the garage door device. And in the process of closing the garage door after leaving the garage, the tail car sends inquiry to the garage door equipment and the garage door responds.
Specifically, in the process of identifying the garage door by the vehicle, the vehicle sends an inquiry frame to the front garage door in real time;
the vehicle receives a reply frame sent by the garage door in response to the inquiry frame, the reply frame including the garage door identification code.
And after the vehicle compares the garage door identification code in the received response frame with the stored garage door identification code, transmitting the garage door confirmation information, continuously tracking the response frame of the garage door, and calculating the distance between the vehicle and the garage door according to the time difference between inquiry and response in real time.
And after the vehicle sends the garage door confirmation information, acquiring image information of the garage door, performing feature extraction, and identifying the type of the garage door again.
The vehicle identifies the type of the garage door and collects information of obstacles in front of the garage door, and if the information of the obstacles exists, corresponding adjustment is carried out according to the type of the obstacles;
wherein, if there is an obstacle in the process of opening the door when the vehicle enters the garage, a request for replacing the storage is sent;
and sending information to a ground system for disposal in the processes of closing the doors when the vehicles enter the garage, opening the doors when the vehicles leave the garage and closing the doors when the vehicles leave the garage.
And identifying the type of the garage door and simultaneously acquiring the information of the obstacle in front of the garage door, if the type of the garage door does not exist, sending a required request to the garage door by the vehicle according to the real-time distance between the vehicle and the garage door when the distance is smaller than a set threshold value.
Based on the method, in another implementation example, the garage door control device is further disclosed, and is applied to a vehicle, and comprises the following steps:
a bin gate identification module configured to: the vehicle identifies the garage door consistent with the garage door identification code stored in the operation and dispatching plan of the vehicle and determines the type of the garage door;
a library gate control module configured to: the method comprises the steps that the distance between a vehicle and a garage door is measured in real time, whether the vehicle runs in a direction with an obstacle or not and whether the garage door has a condition for controlling action or not are judged, and on the premise that the vehicle and the garage door meet requirements, the vehicle sends a garage door opening instruction and the garage door is opened;
And measuring the distance between the vehicle and the garage door in real time, judging whether the garage door closing condition is met, and closing the garage door under the condition of meeting the garage door closing condition.
The specific implementation process of the module refers to the library door control method, and details are not repeated here.
Example two:
the embodiment discloses a warehouse door control method, which is applied to a warehouse door and comprises the following steps:
receiving an inquiry frame transmitted by a vehicle in real time;
responding to the inquiry frame and sending a response frame to the vehicle, wherein the response frame comprises the garage door identification code and the distance between the vehicle and the garage door;
the vehicle compares the warehouse door identification code in the received response frame with the stored warehouse door identification code, and then sends warehouse door confirmation information;
and in the process of warehousing or ex-warehouse, when the distance between the vehicle and the warehouse door is smaller than a set threshold value, receiving an instruction of opening the warehouse door or closing the warehouse door and executing.
And after receiving the command of opening or closing the garage door, if the garage door does not have the condition of opening or closing, feeding back information to the vehicle, and otherwise, executing the action of opening or closing the garage door.
Based on the above method, in another embodiment, a library door control device is further disclosed, which is applied to a library door and includes:
The garage door identification module is used for receiving an inquiry frame sent by a vehicle in real time; responding to the inquiry frame and sending a response frame to the vehicle, wherein the response frame comprises the garage door identification code and the distance between the vehicle and the garage door;
the vehicle compares the warehouse door identification code in the received response frame with the stored warehouse door identification code, and then sends warehouse door confirmation information;
and the garage door control module receives and executes an instruction of opening or closing the garage door when the distance between the vehicle and the garage door is smaller than a set threshold value in the process of warehousing or leaving the garage.
Example three:
this embodiment discloses an access door control system, including: a vehicle-mounted system and a warehouse door control system which are in bidirectional communication;
the vehicle-mounted system is used for identifying the warehouse door consistent with the warehouse door identification code stored in the plan of operation and dispatching; sending a warehouse door opening instruction and controlling the vehicle to enter a warehouse after the warehouse door is confirmed to be opened;
the garage door control system receives an inquiry frame sent by a vehicle in real time;
responding to the inquiry frame and sending a response frame to the vehicle, wherein the response frame comprises the garage door identification code and the distance between the vehicle and the garage door;
receiving the garage door confirmation information sent after the garage door identification code in the response frame received by the vehicle is compared with the stored garage door identification code;
And in the process of warehousing or ex-warehouse, when the distance between the vehicle and the warehouse door is smaller than a set threshold value, receiving an instruction of opening the warehouse door or closing the warehouse door and executing.
The vehicle-mounted system and the garage door control system are both two-way communication equipment and can be used as inquiry terminals or answering terminals, and in addition, the vehicle-mounted system is installed on two head vehicles and is applied according to specific scenes.
A more specific embodiment is shown in fig. 1, 2 and 3, wherein the vehicle-mounted system includes: the system comprises an automatic shunting main control unit, a vehicle-mounted secondary radar and an intelligent camera unit; the warehouse door control system comprises a control unit, a bidirectional secondary radar system and a camera unit, and preferably a panoramic camera unit.
During specific implementation, vehicle-mounted speed and distance measurement can be completed by various means such as a GPS, a primary radar, a video sensor, a speed sensor and the like.
In specific implementation, the library door image recognition can be realized by means of a camera, a laser radar and the like or a combination of multiple means.
In one embodiment, the method for automatic identification and library door control, as shown in fig. 4, includes:
in the process of automatic shunting, the signal system sends a train operation plan and a scheduling information table to the shunting main control unit in real time, and the shunting main control unit stores the information and controls the train to operate according to the open condition of the access of the signal system.
Opening a warehouse door:
the method comprises the steps that a vehicle-mounted secondary radar at the head of the motor train unit sends inquiry information in real time and receives front garage door response information; after receiving the response information, firstly, the information including the warehouse door identification code, the distance and the like contained in the response information is confirmed to be sent to the main control unit, and the vehicle-mounted main control unit confirms that the warehouse door is consistent with the warehouse door identification code planned to be stored in the operation and dispatching plan.
And after the correct warehouse door is confirmed, the vehicle-mounted secondary radar continuously tracks the response information of the warehouse door and measures the distance in real time.
The intelligent camera unit collects image information of the warehouse door, performs feature extraction according to different types of warehouse doors, and identifies the type of the warehouse door again. And meanwhile, the information of the barrier in front of the warehouse door is collected and sent to the main control unit.
And the main control unit identifies the type of the warehouse door and the barrier information according to the image and reconfirms the correctness of the warehouse door and the opening safety of the warehouse door.
After the completion of the confirmation, when the distance between the train and the garage door is judged to be less than 20m according to the radar ranging information and the camera visual information, the vehicle-mounted main control unit sends a garage door opening instruction, the garage door control system receives the instruction and confirms whether the self state meets the door opening condition, after the condition is met, confirmation information is sent to the vehicle-mounted equipment to control the garage door to be opened, and meanwhile, the garage door is controlled to be opened through voice prompt.
Referring to fig. 5, the process of closing the door:
after the motor train unit enters the garage, the two-way secondary radar of the vehicle door control system sends inquiry information in real time, receives secondary radar response information of the tail of the motor train unit ahead, and conducts real-time distance measurement.
The vehicle door control system confirms the distance between the tail of the motor train unit and the garage door.
And an intelligent camera unit of the vehicle door control system collects video information of the motor train unit in the garage in real time and extracts parking sign information in the garage.
The vehicle door control system combines the real-time ranging information of the secondary radar and the camera visual information, and when the distance between the vehicle door and the front train is judged to be larger than 50m and the video information prompt reaches the in-warehouse zone bit, a warehouse door closing instruction is sent out, the warehouse door is controlled to be closed, and meanwhile, the warehouse door is controlled to be closed through the voice prompt.
According to the technical scheme, in the automatic shunting process, the train head radar speed and distance measuring system detects the distance between a train and a front garage door in real time, the intelligent camera unit extracts and correctly identifies the front garage door according to characteristics, meanwhile, the correct garage door is identified according to a running plan and a scheduling information table provided by a signal system, the radar system and the garage door control system carry out information interaction, a garage door opening instruction is sent, the garage door is automatically opened, and meanwhile, the car door control system controls to carry out sound prompt. And the garage door control system performs information interaction with the train tail radar system, and controls the garage door to be automatically closed after the train is confirmed to be warehoused.
The warehouse door control system is provided with a control unit, a radar system and an intelligent camera unit.
Example four
The object of this embodiment is to provide a computing device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements the steps of the methods in the first and second embodiments.
EXAMPLE five
An object of the present embodiment is to provide a computer-readable storage medium.
A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, performs the steps of the method of the first or second embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (11)
1. A garage door control method is characterized by being applied to vehicle warehousing and ex-warehouse control and comprising the following steps:
opening a warehouse door: the vehicle identifies the garage door consistent with the garage door identification code stored in the operation and dispatching plan of the vehicle and determines the type of the garage door; in the process that the vehicle identifies the garage door, the vehicle sends an inquiry frame to the garage door in real time;
the vehicle receives a response frame sent by the garage door in response to the inquiry frame, wherein the response frame comprises the garage door identification code and the distance between the vehicle and the garage door; after comparing the garage door identification code in the received response frame with the stored garage door identification code, the vehicle sends garage door confirmation information and continuously tracks the response frame of the garage door, and the distance between the vehicle and the garage door is calculated in real time;
the method comprises the steps that the distance between a vehicle and a garage door is measured in real time, whether the vehicle runs in a direction with an obstacle or not and whether the garage door has a condition for controlling action or not are judged, and on the premise that the vehicle and the garage door meet requirements, the vehicle sends a garage door opening instruction and the garage door is opened;
a step of closing the warehouse door: measuring the distance between the vehicle and the garage door in real time, judging whether the garage door closing condition is met, and closing the garage door under the condition that the garage door is closed; in the process of opening the garage door during the garage leaving, the head car sends inquiry to the garage door equipment, and the garage door responds; and in the process of closing the garage door after leaving the garage, the tail car sends inquiry to the garage door equipment and the garage door responds.
2. The garage door control method of claim 1, wherein said vehicle transmits the garage door confirmation information and then collects the image information of the garage door, performs feature extraction, and re-identifies the type of the garage door.
3. A garage door control method as claimed in any one of claims 1 to 2, wherein the vehicle identifies the type of the garage door and collects information on obstacles in front of the garage door, and if there is any obstacle, makes a corresponding adjustment according to the type of the obstacle.
4. A garage door control method according to any one of claims 1 to 2, wherein the type of the garage door is identified while acquiring information on obstacles in front of the garage door, and if not, the vehicle transmits a request to the garage door when the distance is less than a set threshold value, based on the real time distance from the garage door.
5. A warehouse door control method is characterized by being applied to a warehouse door and comprising the following steps:
receiving an inquiry frame transmitted by a vehicle in real time;
responding to the inquiry frame and transmitting a response frame to the vehicle, wherein the response frame comprises the garage door identification code; in the process that the vehicle identifies the garage door, the vehicle sends an inquiry frame to the garage door in real time;
the vehicle receives a response frame sent by the garage door in response to the inquiry frame, wherein the response frame comprises the garage door identification code and the distance between the vehicle and the garage door;
The vehicle compares the warehouse door identification code in the received response frame with the stored warehouse door identification code, and then sends warehouse door confirmation information;
in the process of warehousing or ex-warehouse, when the distance between the vehicle and the warehouse door is smaller than a set threshold value, receiving an instruction of opening the warehouse door or closing the warehouse door and executing the instruction; in the process of opening the garage door during the garage leaving, the head car sends inquiry to the garage door equipment, and the garage door responds; and in the process of closing the garage door after leaving the garage, the tail car sends inquiry to the garage door equipment and the garage door responds.
6. The garage door control method according to claim 5, wherein after receiving the command for opening or closing the garage door, if the garage door does not have the condition for opening or closing, the information is fed back to the vehicle, otherwise, the opening or closing action is performed.
7. An garage door control device, characterized by being applied to a vehicle, comprising:
a bin gate identification module configured to: the vehicle identifies the garage door consistent with the garage door identification code stored in the operation and dispatching plan of the vehicle and determines the type of the garage door; in the process that the vehicle identifies the garage door, the vehicle sends an inquiry frame to the garage door in real time;
the vehicle receives a response frame sent by the garage door in response to the inquiry frame, wherein the response frame comprises the garage door identification code and the distance between the vehicle and the garage door; after comparing the garage door identification code in the received response frame with the stored garage door identification code, the vehicle sends garage door confirmation information and continuously tracks the response frame of the garage door, and the distance between the vehicle and the garage door is calculated in real time;
A garage door control module configured to: the method comprises the steps that the distance between a vehicle and a garage door is measured in real time, whether the vehicle runs in a direction with an obstacle or not and whether the garage door has a condition for controlling action or not are judged, and on the premise that the vehicle and the garage door meet requirements, the vehicle sends a garage door opening instruction and the garage door is opened;
and measuring the distance between the vehicle and the garage door in real time, judging whether the garage door closing condition is met, and closing the garage door under the condition of meeting the garage door closing condition.
8. A warehouse door control device is characterized in that the warehouse door control device is applied to a warehouse door and comprises:
the garage door identification module is used for receiving an inquiry frame sent by a vehicle in real time; responding to the inquiry frame and sending a response frame to the vehicle, wherein the response frame comprises the garage door identification code and the distance between the vehicle and the garage door; after comparing the garage door identification code in the received response frame with the stored garage door identification code, the vehicle sends garage door confirmation information and continuously tracks the response frame of the garage door, and the distance between the vehicle and the garage door is calculated in real time;
the vehicle compares the warehouse door identification code in the received response frame with the stored warehouse door identification code, and then sends warehouse door confirmation information;
the garage door control module receives an instruction for opening or closing the garage door and executes the inquiry and the garage door response sent by the head car to the garage door equipment in the garage door opening process when the distance between the car and the garage door is smaller than a set threshold value in the garage entering or leaving process; and in the process of closing the garage door after leaving the garage, the tail car sends inquiry to the garage door equipment and the garage door responds.
9. An access door control system, comprising: a vehicle-mounted system and a warehouse door control system which are in bidirectional communication;
the vehicle-mounted system is used for identifying the warehouse door consistent with the warehouse door identification code stored in the plan of operation and dispatching; sending a warehouse door opening instruction and controlling the vehicles to enter or exit after confirming that the warehouse door is opened;
the garage door control system receives an inquiry frame sent by a vehicle in real time;
responding to the inquiry frame and transmitting a response frame to the vehicle, wherein the response frame comprises the garage door identification code; in the process that the vehicle identifies the garage door, the vehicle sends an inquiry frame to the garage door in real time;
the vehicle receives a response frame sent by the garage door in response to the inquiry frame, wherein the response frame comprises the garage door identification code and the distance between the vehicle and the garage door;
the vehicle compares the warehouse door identification code in the received response frame with the stored warehouse door identification code, and then sends warehouse door confirmation information;
in the process of warehousing or ex-warehouse, when the distance between the vehicle and the warehouse door is smaller than a set threshold value, receiving an instruction of opening the warehouse door or closing the warehouse door and executing the instruction; in the process of opening the garage door during the garage leaving, the head car sends inquiry to the garage door equipment, and the garage door responds; and in the process of closing the garage door after leaving the garage, the tail car sends inquiry to the garage door equipment and the garage door responds.
10. A computing device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of the method of any one of claims 1 to 6.
11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, is adapted to carry out the steps of the method according to any one of the preceding claims 1 to 6.
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| CN105840042A (en) * | 2016-03-30 | 2016-08-10 | 乐视控股（北京）有限公司 | Garage door control method and device |
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