CN113552569A - Automatic door control method and system based on ultrasonic waves - Google Patents
Automatic door control method and system based on ultrasonic waves Download PDFInfo
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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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
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/04—Systems determining presence of a target
Abstract
The invention provides an automatic door control method and a system based on ultrasonic waves, wherein the method comprises the steps of continuously acquiring ultrasonic echoes reflected by a measured object in a preset detection area of an automatic door; carrying out amplification detection processing on the ultrasonic echo; acquiring actual echo data of the ultrasonic echo after amplification and detection processing; comparing and analyzing the actual echo signal intensity with the preset background echo signal intensity; if the obtained actual echo signal intensity is greater than the background echo signal intensity, determining that a moving object exists in the preset detection area; judging whether the measured distance d obtained continuously is gradually reduced or not, and if so, judging that the moving object approaches the automatic door; if not, judging that the moving object is far away from the automatic door or is in a static state in a preset detection area; and judging whether the opening condition or the closing condition of the automatic door is met or not according to the obtained current moving state of the moving object and the current measured distance d, so as to realize the accurate control of the opening or the closing of the automatic door.
Description
Technical Field
The invention relates to the technical field of automatic doors, in particular to an automatic door control method and system based on ultrasonic waves.
Background
With the improvement of living standard of people, the automatic door is widely applied to various occasions. At present, Doppler microwave sensors or infrared sensors are installed on most automatic doors in the market, and both the two sensors can only roughly detect a detected object or a detected person in a sensing area, namely, only the fact that whether a person exists in a rough range can be detected, and the actual distance information between the detected object or the detected person and the sensor cannot be detected specifically, so that the detection accuracy of the sensor is not high, and inconvenience in use is caused, such as misjudgment caused by insufficient detection accuracy, or potential safety hazards caused by triggering of an automatic door by children or pets.
Disclosure of Invention
Therefore, it is necessary to provide a method and a system for controlling an automatic door based on ultrasonic waves, which solve the problem of low detection accuracy in the conventional technology.
The control method of the automatic door based on the ultrasonic wave comprises the following steps:
s100, continuously acquiring ultrasonic echoes reflected by a measured object in a preset detection area of an automatic door, wherein the measured object comprises a background object or the background object and a moving object;
s200, carrying out amplification detection processing on the ultrasonic echo;
s300, acquiring actual echo data of the ultrasonic echo after amplification and detection processing, wherein the actual echo data comprises actual echo signal intensity and a measured distance d, and the measured distance d is a linear distance between a measured object and an ultrasonic transceiver;
s400, obtaining the background echo signal intensity corresponding to the position of the current automatic door leaf, and comparing and analyzing the actual echo signal intensity with the preset background echo signal intensity, wherein the background echo signal intensity is the echo signal intensity of no moving object in a preset detection area corresponding to the position of the current automatic door leaf;
if the obtained actual echo signal intensity is greater than the background echo signal intensity, determining that a moving object exists in the preset detection area;
s500, judging whether the measured distance d obtained continuously is gradually reduced or not, and if yes, judging that the moving object approaches to the automatic door; if not, judging that the moving object is far away from the automatic door or is in a static state in a preset detection area;
s600, judging whether an automatic door opening condition or a closing condition is met according to the obtained current moving state of the moving object and the current measured distance d of the moving object, wherein the current moving state comprises that the moving object approaches to the automatic door, the moving object is far away from the automatic door and the moving object is in a static state in a preset detection area.
Optionally, in step S200, the amplifying and detecting process includes:
converting the obtained ultrasonic echo into an ultrasonic echo electric signal;
carrying out amplification filtering processing on the ultrasonic echo electric signal to obtain an amplified filtering signal;
carrying out envelope detection processing on the amplified and filtered signal to obtain an envelope signal;
acquiring envelope information in the envelope signal, wherein the envelope information comprises N moments;
acquiring a signal amplitude A and a measured distance d corresponding to each moment according to the envelope information; each time in each envelope information corresponds to a signal amplitude A and a measured distance d.
Optionally, in step S300, the step of calculating the actual echo signal strength includes:
according to
Calculating the measured distance d of the measured object, wherein v is the propagation speed of the ultrasonic echo in the air, t is the receiving time of the ultrasonic echo, and tau is the transmitting starting time of the ultrasonic wave;
and acquiring a corresponding signal amplitude A when the moment is t from the envelope information, wherein the actual echo signal intensity of the measured distance d is delta A, and delta is a conversion factor for converting the signal amplitude into the echo signal intensity.
Optionally, in step S500, if not, the step of determining that the moving object is far away from the automatic door or is in a stationary state in a preset detection area includes:
if the measured distance d obtained continuously is gradually increased, judging that the moving object is far away from the automatic door;
if the change difference value between the measured distances d obtained continuously is within the preset change range, obtaining a first duration time that the change difference value of the measured distances d is within the preset change range, and if the first duration time is greater than or equal to a preset first time threshold value, judging that the moving object is in a static state in the preset detection area.
Optionally, if the variation difference between the measured distances d obtained continuously is within a preset variation range, obtaining a first duration time that the variation difference between the measured distances d is within the preset variation range, and if the first duration time is greater than or equal to a preset first time threshold, determining that the moving object is in a stationary state in the preset detection region, further including:
and if the first duration time is greater than or equal to a preset second time threshold value, controlling the warning device to send out a warning, wherein the preset second time threshold value is greater than the preset first time threshold value.
Optionally, in step S600, the method specifically includes:
if the moving object is judged to be close to the automatic door, continuously acquiring the measured distance d of the moving object, and if the measured distance d is smaller than a preset first distance threshold, meeting the condition of opening the automatic door and controlling the automatic door to open;
and if the moving object is judged to be far away from the automatic door, continuously acquiring the measured distance d of the moving object, and if the measured distance d is greater than or equal to a preset second distance threshold, meeting the condition of closing the automatic door and controlling the automatic door to close.
Optionally, after step S600, the method further includes:
continuously acquiring the actual echo signal intensity, and determining the door leaf position of the current automatic door according to the acquired actual echo signal intensity;
judging whether the acquired actual echo signal intensity corresponding to the current door leaf position meets the condition of updating the background echo signal intensity or not according to the door leaf state of the current automatic door, wherein the door leaf state of the current automatic door comprises a door leaf opening state, a door leaf closing state and a door leaf moving state;
if the condition of updating the background echo signal intensity is met, standardizing the acquired actual echo signal intensities corresponding to the current door leaf position, and storing the acquired standardized actual echo signal intensities as the background echo signal intensity, wherein the standardizing comprises solving a maximum value, a minimum value, an average value or a median of the continuously acquired actual echo signal intensities corresponding to the current door leaf position.
An ultrasonic-based automatic door control system comprising:
a control module configured to process a control instruction and an electrical signal, wherein the control instruction comprises a door opening instruction and a door closing instruction, and the electrical signal comprises an ultrasonic echo electrical signal and an envelope signal;
an ultrasonic wave transceiving means configured to transmit an ultrasonic wave to a preset detection region, to receive an ultrasonic echo reflected by a side object, and to convert the received ultrasonic echo into an ultrasonic echo electric signal;
the amplification detection module is configured to perform amplification detection processing on the ultrasonic echo electric signal;
an actual echo data acquisition module configured to acquire actual echo data of the amplified and detected ultrasonic echo; and
and the automatic door switch judging module is configured to judge whether the opening condition or the closing condition of the automatic door is met according to the obtained current measured distance d of the moving object and the current moving state of the moving object, wherein the current moving state comprises that the moving object is close to the automatic door and the moving object is far away from the automatic door.
Optionally, the control instruction further includes an alert instruction and a timing instruction; the automatic door control system further comprises:
a timing module configured to start timing according to the timing instruction; and
and the warning device is configured to warn the moving object in a preset detection area according to the warning instruction.
Optionally, the amplifying and detecting device includes:
the amplifying and filtering unit is configured to amplify and filter the electric signal to obtain an amplified and filtered signal;
an envelope detection unit configured to detect the amplified and filtered signal to obtain an envelope signal; and
the envelope information acquisition unit is configured to acquire envelope information in an envelope signal, wherein the envelope information includes N time instants, and each time instant in the envelope information corresponds to a signal amplitude A and a measured distance d.
A computer device, comprising:
a memory for storing a computer program;
a processor connected to the memory, the processor being configured to implement the steps of the method as described above when executing the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method as described above.
When the automatic door uses the method of the invention, amplification detection processing is firstly adopted to enable all ultrasonic echoes to be detected, namely all detected objects can be detected, thus greatly improving the detection precision, then the actual echo data of the ultrasonic echoes after the amplification detection processing is obtained, the current moving state of the moving object is judged based on the continuously obtained actual echo data, and whether the opening condition or the closing condition of the automatic door is met is judged by combining the current detected distance d of the moving object, thus realizing the accurate control of the opening or the closing of the automatic door and solving the problem that children falsely trigger the opening of the automatic door.
Drawings
FIG. 1 is a schematic flow chart of the control method of the automatic door based on ultrasonic wave according to the present invention.
FIG. 2 is a schematic view of the installation position and the monitoring state after installation of the ultrasonic-based automatic door control system of the present invention.
Fig. 3 is a schematic view of the ultrasonic transceiver of the present invention transmitting ultrasonic waves to a human body in a predetermined detection region.
Fig. 4 is a schematic diagram of an ultrasonic transceiver of the present invention receiving an ultrasonic echo reflected by a human body in a predetermined detection region.
FIG. 5 is a block diagram of the ultrasonic-based automatic door control system according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the following description, the object to be measured includes a background object including an automatic door frame 110, a door leaf 120, a floor, and decorations, or a background object and a moving object including a human and an animal.
The reference numerals of fig. 2 to 4 are explained as follows: 100-automatic door, 110-automatic door frame, 120-door leaf; 200-presetting a detection area; 300-ultrasonic transceiver means, 310-ultrasonic waves, 320-ultrasonic echoes, wherein ultrasonic waves 310 are ultrasonic waves 310 emitted by the ultrasonic transceiver means 300, and ultrasonic echoes 320 are ultrasonic echoes 320 received by the ultrasonic transceiver means 300.
As shown in fig. 1, the present invention provides a method for controlling an automatic door 100 based on ultrasonic waves 310, comprising the steps of:
s000, transmitting ultrasonic waves 310 to the measured object in the preset detection area 200 of the automatic door 100;
in this step, the ultrasonic transceiver 300 for transmitting the ultrasonic wave 310 is installed on the top door frame of the automatic door 100, and the direction of the ultrasonic wave 310 transmitted by the ultrasonic transceiver 300 forms an included angle with the horizontal plane of the preset detection area 200, where the included angle is an acute angle, which means that the direction of the ultrasonic wave 310 transmitted by the ultrasonic transceiver 300 is inclined downward and points to the preset detection area 200; the actual size of the preset detection area 200 can be set according to the specification of the automatic door 100, the opening and closing range of the door leaf of the automatic door 100 and the installation position of the automatic door 100, and it is only required to ensure that the human body induction function of the automatic door 100 is realized when a moving object is detected in the preset detection area 200.
Further, the transmitted ultrasonic wave 310 covers the preset detection area 200 to ensure the detection precision and the stability of the use of the human body induction function.
S100, continuously acquiring an ultrasonic echo 320 reflected by a measured object in a preset detection area 200 of the automatic door 100, wherein the measured object comprises a background object or the background object and a moving object.
In this step, when the ultrasonic wave 310 emitted from the ultrasonic transceiver 300 touches the object to be measured, the ultrasonic echo 320 is generated and returned in the original path, and the ultrasonic echo 320 is received by the ultrasonic transceiver 300 and converted into an electric signal of the ultrasonic echo 320 for amplification and detection processing; it is further noted that, if there is no moving object in the preset detection region 200, the ultrasonic transceiver 300 only acquires the ultrasonic echo 320 of the background object, and if there is a moving object in the preset detection region 200, the ultrasonic transceiver 300 acquires the ultrasonic echoes 320 of the background object and the moving object.
And S200, carrying out amplification detection processing on the ultrasonic echo 320.
In this step, after the ultrasonic echo 320 is amplified and detected, all the echo electric signals can be detected, that is, all the background objects or the ultrasonic echoes 320 of the background object and the moving object can be detected, so that the purpose of detecting a plurality of targets in the preset detection area 200 is achieved, and the problems of small detection range and high misjudgment rate in the prior art are solved.
S300, acquiring actual echo data of the amplified and detected ultrasonic echo 320, where the actual echo data includes an actual echo signal strength and a measured distance d, and the measured distance d is a linear distance between the measured object and the ultrasonic transceiver 300.
In this step, the actual echo signal intensity and the measured distance d of the ultrasonic echo 320 are calculated by an algorithm, and the specific calculation process is described in detail below, which is not described herein in any greater detail.
S400, obtaining the background echo signal intensity corresponding to the position of the door leaf 120 of the current automatic door 100, and comparing and analyzing the actual echo signal intensity with the preset background echo signal intensity, wherein the background echo signal intensity is the echo signal intensity of no moving object in the preset detection area 200 corresponding to the position of the door leaf 120 of the current automatic door 100; .
In this step, the actual echo signal intensity is compared with a preset background echo signal intensity for analysis, a difference echo signal intensity between the actual echo signal intensity and the preset background echo signal intensity is obtained, and whether a moving object exists in the preset detection area 200 is judged according to the obtained difference echo signal intensity.
It is further explained that the background echo signal strength can be updated automatically in practical application or manually.
It is further explained that the door leaf 120 on the automatic door 100 has N moving track points, and the current position of the door leaf 120 corresponding to each moving track point corresponds to a background echo signal intensity.
And S410, if the obtained actual echo signal intensity is greater than the background echo signal intensity, determining that a moving object exists in the preset detection area 200.
In this step, if a moving object enters the preset detection area 200, the actual echo signal intensity of the position where the moving object is located is greater than the background echo signal intensity, so that based on the above principle, it can be known whether the moving object exists in the preset detection area 200.
Further, when one of the continuously acquired actual echo signal intensities is greater than the background echo signal intensity, it may be determined that a moving object exists in the preset detection region 200, or to ensure the detection accuracy, when the continuously acquired actual echo signal intensity is greater than the background echo signal intensity for multiple times, it is determined that a moving object exists in the preset detection region 200.
S500, judging whether the measured distance d obtained continuously is gradually reduced or not;
s510, if yes, judging that the moving object approaches to the automatic door 100;
s520, if not, judging that the moving object is far away from the automatic door 100 or is in a static state in the preset detection area 200
In steps S500, S510, and S520, the shorter the time required for the ultrasonic wave transmission/reception device 300 to generate the ultrasonic echo 320 from the transmission of the ultrasonic wave 310 is as the moving object gets closer to the automatic door 100 (the ultrasonic wave transmission/reception device 300), and then according to the calculation formula of the measured distance d:
it can be obtained that the measured distance d is gradually decreased as the moving object gets closer to the ultrasonic wave transmitting/receiving device 300, and thus the moving object is approaching the automatic door 100, and on the contrary, it is determined that the moving object is far from the automatic door 100 or is in a stationary state within the preset detection area 200.
S600, judging whether the opening condition or the closing condition of the automatic door 100 is met or not according to the obtained current moving state of the moving object and the current measured distance d of the moving object, wherein the current moving state comprises that the moving object approaches the automatic door 100, the moving object is far away from the automatic door 100 and the moving object is in a static state in the preset detection area 200.
In this step, if the opening condition of the automatic door 100 is satisfied, the automatic door 100 is controlled to be switched from the closed state to the open state; if the condition for closing the automatic door 100 is satisfied, there are two cases: in case one, the automatic door 100 is controlled to be switched from the open state to the closed state; in case two, the automatic door 100 is in a closed state, and the automatic door 100 is controlled to continue to be closed. The specific judgment process according to the obtained current moving state of the moving object and the current measured distance d of the moving object is described in detail below, and will not be described in detail herein.
In one embodiment, the step S400 further includes a step S420:
if the obtained actual echo signal intensity is less than or equal to the background echo signal intensity, it is determined that no moving object exists in the preset detection region 200. When no moving object is greater than the fourth time threshold, a door closing command for controlling the closing of the door leaf 120 of the automatic door 100 is output.
In one embodiment, in step S200, the amplification detection processing includes:
s210, converting the obtained ultrasonic echo 320 into an ultrasonic echo 320 electric signal so that the amplification filtering module can detect the ultrasonic echo.
And S220, carrying out amplification filtering processing on the electric signal of the ultrasonic echo 320 to obtain an amplified filtering signal. By amplifying and filtering the ultrasonic echo 320 electric signal, the subsequent circuit processing has higher accuracy and stability, and the subsequent processing of the ultrasonic echo 320 electric signal is guaranteed.
And S230, carrying out envelope detection processing on the amplified and filtered signal to obtain an envelope signal, wherein the envelope signal is a continuous signal in a time period, the time period comprises a plurality of moments, and each moment comprises a corresponding signal amplitude A and a measured distance d.
S240, acquiring envelope information in the acquired envelope signal, wherein the envelope information comprises N moments. The distance between the measured object and the ultrasonic transceiver 300 is different, the acquisition time of the ultrasonic echo 320 emitted by the measured object is also different, and the detection of the plurality of ultrasonic echoes 320 is realized when the envelope information includes N moments, i.e., includes N pieces of information of the ultrasonic echo 320.
S250, acquiring a signal amplitude A and a measured distance d corresponding to each moment according to the envelope information; each time in each envelope information corresponds to a signal amplitude A and a measured distance d.
In this step, the signal amplitude a and the measured distance d corresponding to each moment are obtained according to the envelope information, that is, each moment corresponds to one signal amplitude a and one measured distance d, so that the detection of a plurality of measured objects is realized, and the detection precision is greatly improved.
In one embodiment, in step S300, the step of calculating the actual echo signal strength includes:
s310, according to
Calculating the measured distance d of the measured object, wherein v is the propagation speed of the ultrasonic echo 320 in the air, t is the receiving time of the ultrasonic echo 320, and τ is the emitting starting time of the ultrasonic wave 310;
in the above calculation formula, neglecting the influence of temperature on the propagation speed of the ultrasonic wave 310, the total time taken from the transmission of the ultrasonic wave 310 to the reception of the ultrasonic echo 320 is obtained by (t- τ), and the transmission distance of the ultrasonic wave 310 is equal to the distance of the ultrasonic echo 320, so that the total time is obtained
And calculating to obtain the measured distance d of the measured object.
Furthermore, each envelope information includes a plurality of echo signal information, the earlier echo signal in the envelope information corresponds to the earlier received ultrasonic echo 320, that is, corresponds to the measured object closer to the automatic door 100, the shorter the receiving time t of the ultrasonic echo 320, and the received echo signal intensity, that is, the reflection intensity of the measured object can be determined according to the signal amplitude of the echo signal corresponding to the receiving time t.
And S320, acquiring a corresponding signal amplitude A when the time is t from the envelope information, wherein the actual echo signal intensity of the measured distance d is delta A, and delta is a conversion factor for converting the signal amplitude into the echo signal intensity.
In the step, the signal amplitude A is multiplied by a conversion factor delta to obtain the echo signal intensity delta A; the conversion factor δ is a fixed coefficient, and the actual value thereof is preset according to the actual situation.
Further, the calculation steps of the background echo signal intensity and the actual echo signal intensity are consistent, and the background echo signal intensity and the actual echo signal intensity can also be obtained by a calculation method of the actual echo signal intensity.
In one embodiment, the step S520 includes:
s521, if the measured distance d obtained continuously increases gradually, it is determined that the moving object is away from the automatic door 100. Based on the above-described determination method of determining that the moving object approaches the automatic door 100, when the measured distance d continuously obtained gradually increases, it is determined that the moving object is away from the automatic door 100.
S522, if the variation difference between the continuously obtained measured distances d is within the preset variation range, obtaining a first duration that the variation difference between the measured distances d is within the preset variation range, and if the first duration is greater than or equal to a preset first time threshold, determining that the moving object is in a stationary state in the preset detection area 200.
Specifically, if five groups of measured distances d are continuously obtained, which are 1 group, 2 groups, 3 groups, 4 groups and 5 groups, respectively, the difference between the measured distance d of the 1 group and the measured distance d of the 2 groups is calculated, and the difference is the change difference between the measured distance d of the 1 group and the measured distance d of the 2 groups, and then the change difference is determined to be within the preset change range, and so on.
Specifically, in step S521 and step S522, when the variation difference between the continuously obtained measured distances d is within the preset variation range, it is indicated that the continuously obtained measured distances d are substantially unchanged, and the substantially unchanged can be understood as two cases: in the first situation, the continuously obtained variation differences between the measured distances d are all equal, and the measured distances d are equal; in case two, the variation difference between the continuously obtained measured distances d is not large and is within the preset variation range, so that the variation range of each measured distance d is not large, and the moving object is judged to move in a small range in a certain area in the preset detection area 200; and then obtaining the first duration time of the change difference value of the measured distance d within the preset change range, and determining for the second time, wherein when the first duration time is greater than or equal to the preset first time threshold, it can be determined that the moving object is in a static state in the preset detection area 200.
In one embodiment, after step S522, the method further includes:
s523, if the first duration is greater than or equal to a preset second time threshold, controlling the warning device to send a warning, where the preset second time threshold is greater than the preset first time threshold.
In this step, the moving object determined to be in the stationary state is warned, so that the moving object is moved away from or moved into the automatic door 100.
In one embodiment, the step S600 specifically includes:
and S610, if the moving object is judged to be close to the automatic door 100, continuously acquiring the measured distance d of the moving object, and if the measured distance d is smaller than a preset first distance threshold, meeting the condition of opening the automatic door 100 and controlling the automatic door 100 to open.
In this step, when it is determined that the moving object is close to the automatic door 100 and the measured distance d is smaller than the preset first distance threshold, a door opening instruction for opening the automatic door 100 is output for a person who needs to enter the automatic door 100.
It is further noted that the preset first distance threshold is smaller than the measured distance d corresponding to the ultrasonic echo 320 reflected by the child in the trigger area, wherein the determination of the preset first distance threshold may be determined based on the average height of the child in the current community, or town, or city, or province, or country, or world, and then the average height of the child needs to be converted into the preset first distance threshold.
And S620, if the moving object is far away from the automatic door 100, continuously acquiring the measured distance d of the moving object, and if the measured distance d is greater than or equal to a preset second distance threshold, meeting the condition of closing the automatic door 100 and controlling the automatic door 100 to close.
In this step, when it is determined that the moving object is far from the automatic door 100 and the measured distance d is greater than or equal to the preset second distance threshold, the moving object is not within the distance triggering the automatic door 100 to open, no person needs to enter the automatic door 100, and if the automatic door 100 is originally in an open state, the condition of closing the automatic door 100 is met; if the automatic door 100 is closed, the door leaves are controlled to be closed 120.
In one embodiment, after the step S600, the method further includes the step S700:
s710, continuously acquiring the actual echo signal intensity, and determining the door leaf 120 position of the current automatic door according to the acquired actual echo signal intensity;
further, the obtaining of the door leaf position of the current automatic door 100 includes the following two ways, one way is: and acquiring the intensity of a prestored background echo signal corresponding to the actual echo signal intensity, and determining the current door leaf position according to the obtained background echo signal intensity. In the method, the obtained actual echo signal intensity is compared with all pre-stored background echo signal intensities one by one, the background echo signal intensity corresponding to the actual echo signal intensity is determined, and then the current door leaf position is determined according to the determined background echo signal intensity; if the preset detection area 200 has no moving object, the actual echo signal intensity obtained at this time is the same as or almost the same as the background echo signal intensity corresponding to the current door leaf position, if the preset monitoring area has a moving object, the background echo signal intensity corresponding to the current door leaf position at this time corresponds to the obtained actual echo signal intensity part, the non-corresponding part is the part with the moving object in the preset detection area 200, and the corresponding part is enough to determine the background echo signal intensity of the current door leaf position; the second method comprises the following steps: acquiring the position of a current door leaf, and determining the intensity of a pre-stored background echo signal corresponding to the current door leaf according to the position of the current door leaf; the mode of obtaining the position of current door leaf under this mode accessible automatically-controlled door 100 host computer reads the door leaf position, and generally speaking, the door leaf adopts the motor as the power supply, through detecting the motor and rotating the number of turns to judge the position of current door leaf, also can adopt distance sensor's mode in addition, the position of current door leaf is detected in real time, and the background echo signal intensity of prestoring rather than corresponding is confirmed according to current door leaf position promptly like this, has realized the effect of above-mentioned mode equally.
S720, determining whether the obtained actual echo signal intensity corresponding to the current door leaf 120 position meets the condition of updating the background echo signal intensity according to the door leaf state of the current automatic door 100, where the door leaf state of the current automatic door 100 includes a door leaf open state, a door leaf closed state, and a door leaf moving state.
In this step, the automatic door has N door leaf 120 moving track points, and every moving track point corresponds a door leaf 120 position, can prestore a background echo signal intensity in every door leaf 120 position before using, compares through obtaining actual echo signal intensity and all background echo signal intensities, can judge and obtain door leaf 120 position, can classify to the actual echo signal intensity who obtains based on this, classify to every door leaf 120 position respectively with all actual echo signal intensities.
Specifically, the door leaf open state includes that the door leaf is half-open state and door leaf open state entirely, and the door leaf closed state is the door leaf and closes the state entirely, and the door leaf removal state includes that the door leaf is opening the state and the door leaf is closing the state.
If the current state is the door leaf opening state or the door leaf closing state, timing is started and recorded as a second duration time; when a moving object enters the preset detection area 200, timing is stopped, the second duration is interrupted, and step S000 is executed; when no person enters the preset detection area 200 and the obtained second duration is greater than the third time threshold, executing step S730;
if the current state is the door leaf moving state, comparing the actual echo signal intensities obtained when the door leaf passes through the same position every time, if the actual echo signal intensities obtained when the door leaf is at the same position are the same or similar, obtaining the times that the actual echo signal intensities are the same or similar when the door leaf is at the same position, and if the times are greater than a preset time threshold, executing step S730;
and S730, if the condition of updating the background echo signal intensity is met, normalizing the acquired actual echo signal intensities corresponding to the current door leaf 120 position, and storing the acquired normalized actual echo signal intensities as the background echo signal intensity, wherein the normalizing comprises calculating a maximum value, a minimum value, an average value or a median of the continuously acquired actual echo signal intensities corresponding to the current door leaf 120 position.
After the average value, the maximum value, the minimum value or the median of the actual echo signal intensities is obtained through calculation, the actual echo signal intensities are obtained through calculation and recorded as the background echo signal intensity of the current door leaf position, and the background echo signal intensity is stored, wherein the storage mode can be that the original background echo signal intensity of the current door leaf position is covered, or the original background echo signal intensity is stored independently or temporarily. Therefore, the intensity of the background echo signal at the position of each door leaf 120 is updated in real time, and the use experience is ensured.
To achieve the above object, as shown in fig. 2 to 5, the present invention further provides a control system of an automatic door 100 based on ultrasonic waves 310, comprising:
a control module configured to process a control instruction and an electrical signal, wherein the control instruction comprises a door opening instruction and a door closing instruction, and the electrical signal comprises an ultrasonic echo 320 electrical signal and an envelope signal;
an ultrasonic transceiver 300 configured to transmit an ultrasonic wave 310 to the preset detection region 200, to receive an ultrasonic echo 320 reflected by the side object, and to convert the received ultrasonic echo 320 into an ultrasonic echo 320 electrical signal;
the amplification detection module is configured to perform amplification detection processing on the ultrasonic echo 320 electric signal;
an actual echo data acquisition module configured to acquire actual echo data of the amplified and detected ultrasonic echo 320; and
and an automatic door 100 opening and closing judgment module configured to judge whether the opening condition or the closing condition of the automatic door 100 is satisfied according to the obtained current measured distance d of the moving object and the current moving state of the moving object, wherein the current moving state includes that the moving object approaches the automatic door 100 and the moving object is far away from the automatic door 100.
In one embodiment, the control instructions further comprise an alert instruction and a timing instruction; the control system of the automatic door 100 further includes:
a timing module configured to start timing according to the timing instruction;
specifically, after receiving the timing instruction, the timing module starts timing and records as a duration, where the duration may be at least one of a first duration and a second duration.
And an alert device configured to alert the moving object in the preset detection area 200 according to the alert instruction.
Specifically, the warning device is at least one of a display unit, a lamp body unit and an audio playing unit; the display unit comprises a nixie tube, a display or an LED dot matrix screen to display warning sentences; the lamp body unit comprises at least one LED lamp body so as to emit warning light with a warning function; the audio playing unit is a voice broadcasting module and/or a buzzer to broadcast warning sentences or give an alarm.
In one embodiment, the amplification and detection apparatus includes:
the amplifying and filtering unit is configured to amplify and filter the electric signal to obtain an amplified and filtered signal;
an envelope detection unit configured to detect the amplified and filtered signal to obtain an envelope signal; and
the envelope information acquisition unit is configured to acquire envelope information in an envelope signal, wherein the envelope information includes N time instants, and each time instant in the envelope information corresponds to a signal amplitude A and a measured distance d.
In one embodiment, a computer device, comprising:
a memory for storing a computer program;
a processor connected to the memory, the processor being configured to implement the steps of the method as described above when executing the computer program.
In one embodiment, the processor is configured to further perform the following steps when executing the computer program:
s000, transmitting ultrasonic waves 310 to the measured object in the preset detection area 200 of the automatic door 100;
s100, continuously acquiring ultrasonic echoes 320 reflected by a detected object in a preset detection area 200 of the automatic door 100, wherein the detected object comprises a background object or the background object and a moving object;
s200, carrying out amplification detection processing on the ultrasonic echo 320;
s300, acquiring actual echo data of the ultrasonic echo 320 after amplification and detection processing, wherein the actual echo data comprises actual echo signal intensity and a measured distance d, and the measured distance d is a linear distance between a measured object and the ultrasonic transceiver 300;
s400, obtaining the background echo signal intensity corresponding to the position of the door leaf 120 of the current automatic door 100, and comparing and analyzing the actual echo signal intensity with the preset background echo signal intensity, wherein the background echo signal intensity is the echo signal intensity of no moving object in the preset detection area 200 corresponding to the position of the door leaf 120 of the current automatic door 100;
s410, if the obtained actual echo signal intensity is larger than the background echo signal intensity, determining that a moving object exists in the preset detection area 200;
s500, judging whether the measured distance d obtained continuously is gradually reduced or not, and if so, judging that the moving object approaches the automatic door 100; if not, judging that the moving object is far away from the automatic door 100 or is in a static state in a preset detection area 200;
s600, judging whether the opening condition or the closing condition of the automatic door 100 is met or not according to the obtained current moving state of the moving object and the current measured distance d of the moving object, wherein the current moving state comprises that the moving object approaches the automatic door 100, the moving object is far away from the automatic door 100 and the moving object is in a static state in the preset detection area 200.
In one embodiment, the processor is configured to further perform the following steps when executing the computer program: in step S200, the amplification and detection process includes:
s210, converting the obtained ultrasonic echo 320 into an ultrasonic echo 320 electric signal;
s220, amplifying and filtering the electric signal of the ultrasonic echo 320 to obtain an amplified and filtered signal;
s230, carrying out envelope detection processing on the amplified and filtered signal to obtain an envelope signal;
s240, acquiring envelope information in the envelope signal, wherein the envelope information comprises N moments;
s250, acquiring a signal amplitude A and a measured distance d corresponding to each moment according to the envelope information; each time in each envelope information corresponds to a signal amplitude A and a measured distance d.
In one embodiment, the processor is configured to further perform the following steps when executing the computer program: in step S300, the step of calculating the actual echo signal strength includes:
s310, according to
Calculating the measured distance d of the measured object, wherein v is the propagation speed of the ultrasonic echo 320 in the air, t is the receiving time of the ultrasonic echo 320, and τ is the emitting starting time of the ultrasonic wave 310;
and S320, acquiring a corresponding signal amplitude A when the time is t from the envelope information, wherein the actual echo signal intensity of the measured distance d is delta A, and delta is a conversion factor for converting the signal amplitude into the echo signal intensity.
In one embodiment, the processor is configured to further perform the following steps when executing the computer program: the step S500 includes:
s521, if the measured distance d obtained continuously is gradually increased, judging that the moving object is far away from the automatic door 100;
s522, if the variation difference between the continuously obtained measured distances d is within the preset variation range, obtaining a first duration that the variation difference between the measured distances d is within the preset variation range, and if the first duration is greater than or equal to a preset first time threshold, determining that the moving object is in a stationary state in the preset detection area 200.
In one embodiment, the processor is configured to further perform the following steps when executing the computer program: after step S522, the method further includes:
s523, if the first duration is greater than or equal to a preset second time threshold, controlling the warning device to send a warning, where the preset second time threshold is greater than the preset first time threshold.
In one embodiment, the processor is configured to further perform the following steps when executing the computer program: in step S600, the method specifically includes:
s610, if the moving object is judged to be close to the automatic door 100, continuously acquiring the measured distance d of the moving object, and if the measured distance d is smaller than a preset first distance threshold, meeting the condition of opening the automatic door 100 and controlling the automatic door 100 to open;
and S620, if the moving object is far away from the automatic door 100, continuously acquiring the measured distance d of the moving object, and if the measured distance d is greater than or equal to a preset second distance threshold, meeting the condition of closing the automatic door 100 and controlling the automatic door 100 to close.
In one embodiment, the processor is configured to further perform the following steps when executing the computer program: after the step S600, the method further includes a step S700:
s710, continuously acquiring the door leaf 120 position and the actual echo signal intensity of the current automatic door 100, wherein each door leaf 120 position corresponds to a background echo signal intensity;
s720, judging whether the acquired actual echo signal intensity corresponding to the current door leaf 120 position meets the condition of updating the background echo signal intensity or not according to the door leaf state of the current automatic door 100, wherein the door leaf state of the current automatic door 100 comprises a door leaf opening state, a door leaf closing state and a door leaf moving state;
and S730, if the condition of updating the background echo signal intensity is met, normalizing the acquired actual echo signal intensities corresponding to the current door leaf 120 position, and storing the acquired normalized actual echo signal intensities as the background echo signal intensity, wherein the normalizing comprises calculating a maximum value, a minimum value, an average value or a median of the continuously acquired actual echo signal intensities corresponding to the current door leaf 120 position.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when executed by a processor, performs the steps of:
s000, transmitting ultrasonic waves 310 to the measured object in the preset detection area 200 of the automatic door 100;
s100, continuously acquiring ultrasonic echoes 320 reflected by a detected object in a preset detection area 200 of the automatic door 100, wherein the detected object comprises a background object or the background object and a moving object;
s200, carrying out amplification detection processing on the ultrasonic echo 320;
s300, acquiring actual echo data of the ultrasonic echo 320 after amplification and detection processing, wherein the actual echo data comprises actual echo signal intensity and a measured distance d, and the measured distance d is a linear distance between a measured object and the ultrasonic transceiver 300;
s400, obtaining the background echo signal intensity corresponding to the position of the door leaf 120 of the current automatic door 100, and comparing and analyzing the actual echo signal intensity with the preset background echo signal intensity, wherein the background echo signal intensity is the echo signal intensity of no moving object in the preset detection area 200 corresponding to the position of the door leaf 120 of the current automatic door 100;
s410, if the obtained actual echo signal intensity is larger than the background echo signal intensity, determining that a moving object exists in the preset detection area 200;
s500, judging whether the measured distance d obtained continuously is gradually reduced or not, and if so, judging that the moving object approaches the automatic door 100; if not, judging that the moving object is far away from the automatic door 100 or is in a static state in a preset detection area 200;
s600, judging whether the opening condition or the closing condition of the automatic door 100 is met or not according to the obtained current moving state of the moving object and the current measured distance d of the moving object, wherein the current moving state comprises that the moving object approaches the automatic door 100, the moving object is far away from the automatic door 100 and the moving object is in a static state in the preset detection area 200.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when executed by a processor, performs the steps of: in step S200, the amplification and detection process includes:
s210, converting the obtained ultrasonic echo 320 into an ultrasonic echo 320 electric signal;
s220, amplifying and filtering the electric signal of the ultrasonic echo 320 to obtain an amplified and filtered signal;
s230, carrying out envelope detection processing on the amplified and filtered signal to obtain an envelope signal;
s240, acquiring envelope information in the envelope signal, wherein the envelope information comprises N moments;
s250, acquiring a signal amplitude A and a measured distance d corresponding to each moment according to the envelope information; each time in each envelope information corresponds to a signal amplitude A and a measured distance d.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when executed by a processor, performs the steps of: in step S300, the step of calculating the actual echo signal strength includes:
s310, according to
Calculating the measured distance d of the measured object, wherein v is the propagation speed of the ultrasonic echo 320 in the air, t is the receiving time of the ultrasonic echo 320, and τ is the emitting starting time of the ultrasonic wave 310;
and S320, acquiring a corresponding signal amplitude A when the time is t from the envelope information, wherein the actual echo signal intensity of the measured distance d is delta A, and delta is a conversion factor for converting the signal amplitude into the echo signal intensity.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when executed by a processor, performs the steps of: the step S500 includes:
s521, if the measured distance d obtained continuously is gradually increased, judging that the moving object is far away from the automatic door 100;
s522, if the variation difference between the continuously obtained measured distances d is within the preset variation range, obtaining a first duration that the variation difference between the measured distances d is within the preset variation range, and if the first duration is greater than or equal to a preset first time threshold, determining that the moving object is in a stationary state in the preset detection area 200.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when executed by a processor, performs the steps of: after step S522, the method further includes:
s523, if the first duration is greater than or equal to a preset second time threshold, controlling the warning device to send a warning, where the preset second time threshold is greater than the preset first time threshold.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when executed by a processor, performs the steps of: in step S600, the method specifically includes:
s610, if the moving object is judged to be close to the automatic door 100, continuously acquiring the measured distance d of the moving object, and if the measured distance d is smaller than a preset first distance threshold, meeting the condition of opening the automatic door 100 and controlling the automatic door 100 to open;
and S620, if the moving object is far away from the automatic door 100, continuously acquiring the measured distance d of the moving object, and if the measured distance d is greater than or equal to a preset second distance threshold, meeting the condition of closing the automatic door 100 and controlling the automatic door 100 to close.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when executed by a processor, performs the steps of: after the step S600, the method further includes a step S700:
s710, continuously acquiring the door leaf 120 position and the actual echo signal intensity of the current automatic door 100, wherein each door leaf 120 position corresponds to a background echo signal intensity;
s720, judging whether the acquired actual echo signal intensity corresponding to the current door leaf 120 position meets the condition of updating the background echo signal intensity or not according to the door leaf state of the current automatic door 100, wherein the door leaf state of the current automatic door 100 comprises a door leaf opening state, a door leaf closing state and a door leaf moving state;
and S730, if the condition of updating the background echo signal intensity is met, normalizing the acquired actual echo signal intensities corresponding to the current door leaf 120 position, and storing the acquired normalized actual echo signal intensities as the background echo signal intensity, wherein the normalizing comprises calculating a maximum value, a minimum value, an average value or a median of the continuously acquired actual echo signal intensities corresponding to the current door leaf 120 position.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as background RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The control method of the automatic door based on the ultrasonic wave is characterized in that: the method comprises the following steps:
s100, continuously acquiring ultrasonic echoes reflected by a measured object in a preset detection area of an automatic door, wherein the measured object comprises a background object or the background object and a moving object;
s200, carrying out amplification detection processing on the ultrasonic echo;
s300, acquiring actual echo data of the ultrasonic echo after amplification and detection processing, wherein the actual echo data comprises actual echo signal intensity and a measured distance d, and the measured distance d is a linear distance between a measured object and an ultrasonic transceiver;
s400, obtaining the background echo signal intensity corresponding to the position of the current automatic door leaf, and comparing and analyzing the actual echo signal intensity with the preset background echo signal intensity, wherein the background echo signal intensity is the echo signal intensity of no moving object in a preset detection area corresponding to the position of the current automatic door leaf;
if the obtained actual echo signal intensity is greater than the background echo signal intensity, determining that a moving object exists in the preset detection area;
s500, judging whether the measured distance d obtained continuously is gradually reduced or not, and if yes, judging that the moving object approaches to the automatic door; if not, judging that the moving object is far away from the automatic door or is in a static state in a preset detection area;
s600, judging whether an automatic door opening condition or a closing condition is met according to the obtained current moving state of the moving object and the current measured distance d of the moving object, wherein the current moving state comprises that the moving object approaches to the automatic door, the moving object is far away from the automatic door and the moving object is in a static state in a preset detection area.
2. The method of ultrasonic-based automatic door control of claim 1, wherein: in step S200, the amplification and detection process includes:
converting the obtained ultrasonic echo into an ultrasonic echo electric signal;
carrying out amplification filtering processing on the ultrasonic echo electric signal to obtain an amplified filtering signal;
carrying out envelope detection processing on the amplified and filtered signal to obtain an envelope signal;
acquiring envelope information in the envelope signal, wherein the envelope information comprises N moments;
acquiring a signal amplitude A and a measured distance d corresponding to each moment according to the envelope information; each time in each envelope information corresponds to a signal amplitude A and a measured distance d.
3. The method of ultrasonic-based automatic door control of claim 2, wherein: in step S300, the step of calculating the actual echo signal strength includes:
according to
Calculating the measured distance d of the measured object, wherein v is the propagation speed of the ultrasonic echo in the air, t is the receiving time of the ultrasonic echo, and tau is the transmitting starting time of the ultrasonic wave;
and acquiring a corresponding signal amplitude A when the moment is t from the envelope information, wherein the actual echo signal intensity of the measured distance d is delta A, and delta is a conversion factor for converting the signal amplitude into the echo signal intensity.
4. The method of controlling an automatic door based on ultrasonic waves according to any one of claims 1 to 3, characterized in that: in the step S500, if not, the step of determining that the moving object is far away from the automatic door or is in a stationary state in a preset detection area includes:
if the measured distance d obtained continuously is gradually increased, judging that the moving object is far away from the automatic door;
if the change difference value between the measured distances d obtained continuously is within the preset change range, obtaining a first duration time that the change difference value of the measured distances d is within the preset change range, and if the first duration time is greater than or equal to a preset first time threshold value, judging that the moving object is in a static state in the preset detection area.
5. The method of ultrasonic-based automatic door control of claim 4, wherein: if the variation difference value between the measured distances d obtained continuously is within the preset variation range, obtaining a first duration time that the variation difference value of the measured distances d is within the preset variation range, and if the first duration time is greater than or equal to a preset first time threshold, determining that the moving object is in a stationary state in a preset detection area, further comprising:
and if the first duration time is greater than or equal to a preset second time threshold value, controlling the warning device to send out a warning, wherein the preset second time threshold value is greater than the preset first time threshold value.
6. The method of controlling an automatic door based on ultrasonic waves according to any one of claims 1 to 3, characterized in that: in step S600, the method specifically includes:
if the moving object is judged to be close to the automatic door, continuously acquiring the measured distance d of the moving object, and if the measured distance d is smaller than a preset first distance threshold, meeting the condition of opening the automatic door and controlling the automatic door to open;
and if the moving object is judged to be far away from the automatic door, continuously acquiring the measured distance d of the moving object, and if the measured distance d is greater than or equal to a preset second distance threshold, meeting the condition of closing the automatic door and controlling the automatic door to close.
7. The method of controlling an automatic door based on ultrasonic waves according to any one of claims 1 to 3, characterized in that: after step S600, the method further includes:
continuously acquiring the actual echo signal intensity, and determining the door leaf position of the current automatic door according to the acquired actual echo signal intensity;
judging whether the acquired actual echo signal intensity corresponding to the current door leaf position meets the condition of updating the background echo signal intensity or not according to the door leaf state of the current automatic door, wherein the door leaf state of the current automatic door comprises a door leaf opening state, a door leaf closing state and a door leaf moving state;
if the condition of updating the background echo signal intensity is met, standardizing the acquired actual echo signal intensities corresponding to the current door leaf position, and storing the acquired standardized actual echo signal intensities as the background echo signal intensity, wherein the standardizing comprises solving a maximum value, a minimum value, an average value or a median of the continuously acquired actual echo signal intensities corresponding to the current door leaf position.
8. Automatic door control system based on ultrasonic wave, its characterized in that: the method comprises the following steps:
a control module configured to process a control instruction and an electrical signal, wherein the control instruction comprises a door opening instruction and a door closing instruction, and the electrical signal comprises an ultrasonic echo electrical signal and an envelope signal;
an ultrasonic wave transceiving means configured to transmit an ultrasonic wave to a preset detection region, to receive an ultrasonic echo reflected by a side object, and to convert the received ultrasonic echo into an ultrasonic echo electric signal;
the amplification detection module is configured to perform amplification detection processing on the ultrasonic echo electric signal;
an actual echo data acquisition module configured to acquire actual echo data of the amplified and detected ultrasonic echo; and
and the automatic door switch judging module is configured to judge whether the opening condition or the closing condition of the automatic door is met according to the obtained current measured distance d of the moving object and the current moving state of the moving object, wherein the current moving state comprises that the moving object is close to the automatic door and the moving object is far away from the automatic door.
9. The ultrasonic-based automatic door control system of claim 8, wherein: the control instruction further comprises an alarm instruction and a timing instruction; the automatic door control system further comprises:
a timing module configured to start timing according to the timing instruction; and
and the warning device is configured to warn the moving object in a preset detection area according to the warning instruction.
10. The ultrasonic-based automatic door control system of claim 8, wherein: the amplification and detection device comprises:
the amplifying and filtering unit is configured to amplify and filter the electric signal to obtain an amplified and filtered signal;
an envelope detection unit configured to detect the amplified and filtered signal to obtain an envelope signal; and
the envelope information acquisition unit is configured to acquire envelope information in an envelope signal, wherein the envelope information includes N time instants, and each time instant in the envelope information corresponds to a signal amplitude A and a measured distance d.
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