CN113552569B - 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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- CN113552569B CN113552569B CN202110672659.1A CN202110672659A CN113552569B CN 113552569 B CN113552569 B CN 113552569B CN 202110672659 A CN202110672659 A CN 202110672659A CN 113552569 B CN113552569 B CN 113552569B
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Classifications
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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 system based on ultrasonic waves, wherein the method comprises the steps of continuously acquiring ultrasonic echoes reflected by a tested object in a preset detection area of an automatic door; amplifying and detecting 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 a preset detection area; judging whether the measured distance d which is continuously obtained gradually decreases, if so, 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; and judging whether the automatic door opening condition or the closing condition is met according to the obtained current moving state of the moving object and the current measured distance d, so as to accurately control the automatic door to be opened or closed.
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, automatic doors are widely used in various occasions. At present, most automatic doors in the market are provided with doppler microwave sensors or infrared sensors, and the two sensors can only roughly detect the detected objects or detected persons in the sensing area, namely, only detect whether the detected objects or the actual distance information from the detected persons to the sensors exist in a general range, but not specifically detect the detected objects or the actual distance information from the detected persons to the sensors, so that the detection accuracy of the sensors is not high, thereby causing inconvenience in use, such as misjudgment caused by insufficient detection accuracy, or potential safety hazard caused by triggering of the automatic doors by children or pets.
Disclosure of Invention
Based on the above, it is necessary to provide an automatic door control method and system based on ultrasonic waves, aiming at the problem of low detection precision in the conventional technology.
An automatic door control method based on ultrasonic waves comprises the following steps:
s100, continuously acquiring an ultrasonic echo reflected by a tested object in a preset detection area of an automatic door, wherein the tested object comprises a background object or a background object and a moving object;
s200, amplifying and detecting 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 measured distance d, and the measured distance d is a linear distance between a measured object and an ultrasonic transceiver;
s400, acquiring 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 a non-moving object in a preset detection area corresponding to the current automatic door leaf position;
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 which is continuously obtained gradually decreases, if so, 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 is close 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 the step S200, the amplifying and detecting process includes:
converting the obtained ultrasonic echo into an ultrasonic echo electric signal;
amplifying and filtering the ultrasonic echo electric signal to obtain an amplified and filtered signal;
performing 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; wherein each moment in each envelope information corresponds to a signal amplitude a and a measured distance d.
Optionally, in the step S300, the step of calculating the actual echo signal strength includes:
according toCalculating a measured distance d of a measured object, wherein v is the propagation speed of an ultrasonic echo in the air, t is the receiving time of the ultrasonic echo, and tau is the transmission starting time of ultrasonic waves;
and acquiring a corresponding signal amplitude A at a time 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 the step S500, if not, the step of determining that the moving object is far away from the automatic door or is in a static state in a preset detection area includes:
If the measured distance d which is continuously obtained is gradually increased, judging that the moving object is far away from the automatic door;
if the continuously obtained change difference value between the measured distances d is in the preset change range, obtaining first duration time of the change difference value of the measured distances d in 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 a preset detection area.
Optionally, if the continuously obtained change difference value between the measured distances d is within the preset change range, obtaining a first duration time of the change difference value between the measured distances d 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 a preset detection area, further including:
and if the first duration is greater than or equal to a preset second time threshold, controlling the warning device to give a warning, wherein the preset second time threshold is greater than the preset first time threshold.
Optionally, in the step S600, the method specifically includes:
if the moving object is judged to be close to the automatic door, continuously acquiring a measured distance d of the moving object, and if the measured distance d is smaller than a preset first distance threshold value, meeting the condition of opening the automatic door, and controlling the automatic door to be opened;
And if the detected distance d of the moving object is larger than or equal to a preset second distance threshold value, the condition of closing the automatic door is met, and the automatic door is controlled to be closed.
Optionally, after the 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 intensities corresponding to the current door leaf position meet the condition of updating the background echo signal intensity 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;
and if the condition of updating the background echo signal intensity is met, performing standardization processing on 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 intensities, wherein the standardization processing comprises obtaining the maximum value, the minimum value, the average value or the 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 control instructions and electrical signals, wherein the control instructions include door open instructions and door close instructions, the electrical signals including ultrasonic echo electrical signals and envelope signals;
an ultrasonic wave transceiving device configured to transmit ultrasonic waves to a preset detection region, to receive ultrasonic echoes reflected by a side object, and to convert the received ultrasonic echoes into ultrasonic echo electric signals;
an amplifying and detecting module configured to perform amplifying and detecting processing on the ultrasonic echo electric signal;
the actual echo data acquisition module is configured to acquire actual echo data of the ultrasonic echo after amplification detection processing; and
and the automatic door opening and closing judging module is configured to judge whether an automatic door opening condition or a closing condition 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 approaches to the automatic door and the moving object is far from the automatic door.
Optionally, the control instruction further includes an alarm instruction and a timing instruction; the automatic door control system further includes:
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 the 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 filtered signal to obtain an envelope signal; and
an envelope information obtaining unit is configured to obtain envelope information in an envelope signal, wherein the envelope information comprises N moments, and each moment in the envelope information corresponds to one signal amplitude A and one measured distance d.
A computer device, comprising:
a memory for storing a computer program;
and a processor coupled to the memory, the processor configured to implement the steps of the method as described above when executing the computer program.
A computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method as described above.
When the automatic door uses the method of the invention, the amplifying detection processing is adopted firstly to enable each ultrasonic echo to be detected, namely all detected objects can be detected, thereby greatly improving the detection precision, then the actual echo data of the ultrasonic echo after the amplifying detection processing is acquired, the current moving state of the moving object is judged based on the continuously acquired 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, thereby realizing the accurate control of the opening or the closing of the automatic door and solving the problem that children trigger the opening of the automatic door by mistake.
Drawings
Fig. 1 is a schematic flow chart of an automatic door control method based on ultrasonic waves.
Fig. 2 is a schematic diagram 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 an ultrasonic transceiver of the present invention transmitting ultrasonic waves to a human body in a predetermined detection area.
Fig. 4 is a schematic diagram of an ultrasonic transceiver of the present invention receiving an ultrasonic echo reflected by a human body through a preset detection area.
Fig. 5 is a schematic block diagram of the structure of the ultrasonic-based automatic door control system of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the following description, the object to be measured includes a background object including the automatic door frame 110, the door leaf 120, the ground, and the decorations, or a background object including a person and an animal, and a moving object.
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, 310-ultrasonic wave, 320-ultrasonic echo, wherein ultrasonic wave 310 is ultrasonic wave 310 emitted by ultrasonic transceiver 300 and ultrasonic echo 320 is ultrasonic echo 320 received by ultrasonic transceiver 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 a detected object in a preset detection area 200 of the automatic door 100;
in this step, the ultrasonic transceiver 300 for transmitting the ultrasonic wave 310 is mounted 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, and the included angle is an acute angle, which can be understood 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 only the human body sensing function of the automatic door 100 is required to be realized when the moving object is detected in the preset detection area 200.
Further, the emitted ultrasonic wave 310 covers the preset detection area 200, so as to ensure the detection accuracy and the stability of the human body sensing function.
And S100, continuously acquiring ultrasonic echoes 320 reflected by the tested objects in the preset detection area 200 of the automatic door 100, wherein the tested objects comprise background objects or the background objects and moving objects.
In this step, when the ultrasonic wave 310 emitted by the ultrasonic transceiver 300 touches the object to be measured, an 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 ultrasonic echo 320 electrical signal for transmission, amplification and detection; further, if there is no moving object in the preset detection area 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 area 200, the ultrasonic transceiver 300 acquires the ultrasonic echoes 320 of the background object and the moving object.
And S200, amplifying and detecting the ultrasonic echo 320.
In this step, after the amplifying and detecting process is performed on the ultrasonic echo 320, all the echo electrical signals can be detected, that is, all the ultrasonic echoes 320 of the background object or the background object and the moving object can be detected, so as to achieve the purpose of detecting multiple targets in the preset detection area 200, and solve the problems of small detection range and high misjudgment rate in the prior art.
S300, acquiring actual echo data of the ultrasonic echo 320 after amplification detection processing, wherein the actual echo data comprises actual echo signal intensity and measured distance d, and the measured distance d is a linear distance between a measured object and the ultrasonic transceiver 300.
In this step, the actual echo signal strength of the ultrasonic echo 320 and the measured distance d are obtained by algorithm calculation, and the specific calculation process is described in detail below, which is not repeated here.
S400, acquiring 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 a non-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 the preset background echo signal intensity to obtain a difference echo signal intensity therebetween, and whether the moving object exists in the preset detection area 200 is determined according to the obtained difference echo signal intensity.
It is further noted that the background echo signal intensity may be updated automatically in actual use or manually.
It is further described that the door leaf 120 on the automatic door 100 has N moving track points, and each moving track point corresponds to a current door leaf 120 position and has a background echo signal intensity.
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 of the position where the moving object is located, so that it can be known whether the moving object exists in the preset detection area 200 based on the above principle.
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 area 200, or in order to ensure the detection accuracy, it is determined that a moving object exists in the preset detection area 200 after the continuously acquired actual echo signal intensity is greater than the background echo signal intensity multiple times.
S500, judging whether the measured distance d continuously obtained gradually decreases;
s510, if yes, judging that the moving object approaches 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, as the moving object approaches the automatic door 100 (the ultrasonic wave transceiver 300), the time required for the ultrasonic wave transceiver 300 to transmit the ultrasonic wave 310 to generate the ultrasonic echo 320 is shorter, and then according to the calculation formula of the measured distance d:the measured distance d may be gradually reduced as the moving object approaches the ultrasonic transceiver 300, so that the moving object may be approaching the automatic door 100, otherwise, the moving object may be determined to be far from the automatic door 100 or in the preset detection area 2And is in a static state in 00.
S600, judging whether the opening condition or the closing condition of the automatic door 100 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 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 a 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 an open state to a closed state; in the second case, the automatic door 100 is in the closed state, and the automatic door 100 is controlled to continue to be closed. The specific process of determining the 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 here.
In one embodiment, the step S400 further includes 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 area 200. When the no moving object is greater than the fourth time threshold, a door closing command for controlling the door leaf 120 of the automatic door 100 to close is output.
In one embodiment, in the step S200, the amplifying and detecting process includes:
s210, converting the obtained ultrasonic echo 320 into an ultrasonic echo 320 electric signal so that the amplifying and filtering module can detect the ultrasonic echo 320 electric signal.
S220, amplifying and filtering the ultrasonic echo 320 electric signal to obtain an amplified and filtered signal. By amplifying and filtering the ultrasonic echo 320 electric signal, the subsequent circuit processing has higher accuracy and stability, and guarantees are provided for the subsequent processing of the ultrasonic echo 320 electric signal.
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 a plurality of ultrasonic echoes 320 is realized when the envelope information includes N times, namely N ultrasonic echoes 320 information.
S250, acquiring a signal amplitude A and a measured distance d corresponding to each moment according to the envelope information; wherein each moment in each envelope information corresponds to a signal amplitude a and a measured distance d.
In the step, the signal amplitude A and the measured distance d corresponding to each moment are obtained according to the envelope information, namely, each moment corresponds to one signal amplitude A and one measured distance d, so that detection of a plurality of objects to be detected is realized, and the detection precision is greatly improved.
In one embodiment, in the step S300, the step of calculating the actual echo signal strength includes:
s310 according toCalculating a measured distance d of a 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 transmission starting time of the ultrasonic wave 310;
In the above calculation formula, the influence of temperature on the propagation speed of the ultrasonic wave 310 is ignored, the total time taken from the ultrasonic wave 310 to the ultrasonic echo 320 is obtained by (t- τ), and the ultrasonic wave 310 is transmitted at the same distance as the ultrasonic echo 320, so thatAnd calculating the measured distance d of the measured object.
Further, each piece of envelope information includes a plurality of pieces of echo signal information, and the echo signal appearing earlier in the envelope information corresponds to the ultrasonic echo 320 received earlier, that is, corresponds to the measured object closer to the automatic door 100, and the receiving time t of the ultrasonic echo 320 is shorter, 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.
S320, acquiring a corresponding signal amplitude A at a time 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, multiplying the signal amplitude A by a conversion factor delta to obtain the echo signal intensity delta A; the conversion factor delta is a fixed coefficient, and the actual value of the conversion factor delta is preset according to actual conditions.
Furthermore, the background echo signal intensity is consistent with the actual echo signal intensity in the calculation step, and can also be obtained by the calculation method of the actual echo signal intensity.
In one embodiment, the step S520 includes:
s521, if the measured distance d continuously obtained gradually increases, determining that the moving object is far away from the automatic door 100. Based on the above-described determination method of determining that the moving object is approaching 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 continuously obtained variation difference value between the measured distances d is within the preset variation range, a first duration of time that the variation difference value of the measured distances d is within the preset variation range is obtained, and if the first duration of time is greater than or equal to a preset first time threshold value, the moving object is judged to be in a static state in the preset detection area 200.
Specifically, if five sets of measured distances d are continuously obtained, namely 1 set, 2 sets, 3 sets, 4 sets and 5 sets, calculating the difference between the measured distances d of the 1 sets and the measured distances d of the 2 sets, wherein the difference is the variation difference between the measured distances d of the 1 sets and the measured distances d of the 2 sets, and then judging that the variation difference is within a preset variation range, and the like.
Specifically, in step S521 and step S522, when the variation difference between the measured distances d continuously obtained is within the preset variation range, it is explained that the measured distances d continuously obtained are substantially unchanged, and the substantially unchanged can be understood as two cases: in the first case, the continuously obtained variation differences between the measured distances d are equal, so that the measured distances d are equal; secondly, the continuously obtained variation difference value between the measured distances d is not large and is located in the preset variation range, so that the variation amplitude of each measured distance d is not large, and the moving object is judged to move in a certain area in the preset detection area 200 in a small amplitude; and then acquiring a first duration of time when the measured distance d variation difference value is within a preset variation range, performing secondary determination, and judging that the moving object is in a static state in the preset detection area 200 when the first duration of time is greater than or equal to a preset first time threshold value.
In one embodiment, after step S522, the method further includes:
and S523, if the first duration is greater than or equal to a preset second time threshold, controlling the warning device to give a warning, wherein the preset second time threshold is greater than the preset first time threshold.
In this step, the moving object determined to be stationary is alerted to move out of or into the automatic door 100.
In one embodiment, the step S600 specifically includes:
and S610, continuously acquiring a measured distance d of the moving object if the moving object is judged to be close to the automatic door 100, and controlling the automatic door 100 to be opened if the measured distance d is smaller than a preset first distance threshold value and the condition that the automatic door 100 is opened is met.
In this step, when it is determined that the moving object approaches the automatic door 100 and the measured distance d is smaller than the preset first distance threshold, the door opening command for opening the automatic door 100 is output because a person needs to enter the automatic door 100.
It is further described 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, where the determination of the preset first distance threshold may be based on the average height of the child in the current community, in the town, in the city, in the province, in the country, or in the world, and then the average height is converted into the preset first distance threshold.
And S620, continuously acquiring a measured distance d of the moving object if the moving object is judged to be far away from the automatic door 100, and controlling the automatic door 100 to close if the measured distance d is larger than or equal to a preset second distance threshold value and the condition that the automatic door 100 is closed is met.
In this step, when it is determined that the moving object is far away 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, and no person needs to enter the automatic door 100, if the automatic door 100 is originally in the open state, the condition that the automatic door 100 is closed is satisfied; if the automatic door 100 is in a closed state, the door leaf is controlled to continue 120 closing.
In one embodiment, after the step S600, the method further includes a step S700:
s710, continuously acquiring the actual echo signal intensity, and determining the position of the door leaf 120 of the current automatic door according to the acquired actual echo signal intensity;
further, obtaining the door leaf position of the current automatic door 100 includes the following two ways, one: and acquiring pre-stored background echo signal intensity corresponding to the actual echo signal intensity, and determining the current door leaf position according to the acquired background echo signal intensity. Comparing the obtained actual echo signal intensity with all pre-stored background echo signal intensities one by one in the mode, determining the background echo signal intensity corresponding to the actual echo signal intensity, and then determining the current door leaf position according to the determined background echo signal intensity; the comparison process is as follows, 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 portion where the actual echo signal intensity is obtained, the non-corresponding portion is the portion where the moving object exists in the preset detection area 200, and the corresponding portion is also sufficient to determine the background echo signal intensity of the current door leaf position; mode two: acquiring the position of a current door leaf, and determining the pre-stored background echo signal intensity corresponding to the current door leaf according to the position of the current door leaf; the mode of obtaining the position of the current door leaf under this mode can be through the door leaf position of automatic door 100 host computer reading, and in general, the door leaf adopts the motor as the power supply, through detecting the number of turns that the motor rotates to judge the position of current door leaf, also can adopt the mode of distance sensor in addition, the position of current door leaf of real-time detection, confirm the prestoring background echo signal intensity rather than corresponding according to current door leaf position promptly like this, has also realized the effect of above-mentioned mode.
S720, judging whether the acquired actual echo signal intensities corresponding to the current door leaf 120 position meet the condition of updating the background echo signal intensity 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.
In this step, the automatic door has N moving track points of the door leaves 120, each moving track point corresponds to one door leaf 120 position, a background echo signal intensity is pre-stored at each door leaf 120 position before use, the door leaf 120 position can be determined by comparing the obtained actual echo signal intensity with all background echo signal intensities, the obtained actual echo signal intensity can be classified based on this, and all the actual echo signal intensities are respectively classified into each door leaf 120 position.
Specifically, the door leaf open state includes a door leaf half open state and a door leaf full open state, the door leaf closed state is a door leaf full closed state, and the door leaf moving state includes a door leaf opening state and a door leaf closing state.
If the door is in the door opening state or the door closing state at present, starting timing and recording the timing as second duration; when the moving object enters the preset detection area 200, the timing is stopped, the second duration is interrupted, and step S000 is performed; when no person enters the preset detection area 200 and the obtained second duration is greater than the third time threshold, step S730 is performed;
If the door leaf is in the moving state at present, comparing the intensities of the actual echo signals obtained when the door leaf passes through the same position each time, if the intensities of the actual echo signals obtained when the door leaf is in the same position are the same or similar, obtaining the intensities of the actual echo signals when the door leaf is in the same position by the same or similar times, and if the same or similar 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, performing standardization processing on the acquired actual echo signal intensities corresponding to the current door leaf 120 position, and storing the acquired standardized actual echo signal intensities as the background echo signal intensity, wherein the standardization processing comprises obtaining the maximum value, the minimum value, the average value or the 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 are calculated, the actual echo signal intensities are calculated and recorded as the background echo signal intensities of the current door leaf position and stored, and the storage mode can be to cover the original background echo signal intensities of the current door leaf position or independently store or temporarily store. Thus, the real-time updating of the background echo signal intensity at the position of each door leaf 120 is realized, and the use experience is ensured.
To achieve the above object, as shown in fig. 2 to 5, the present invention further provides an automatic door 100 control system based on ultrasonic waves 310, comprising:
a control module configured to process control instructions including door open instructions and door close instructions and electrical signals including an ultrasonic echo 320 electrical signal and an envelope signal;
an ultrasonic transceiver 300 configured to transmit ultrasonic waves 310 to a preset detection region 200, to receive ultrasonic echoes 320 reflected by a side object, and to convert the received ultrasonic echoes 320 into ultrasonic echo 320 electrical signals;
an amplifying and detecting module configured to amplify and detect the ultrasonic echo 320 electric signal;
the actual echo data acquisition module is configured to acquire actual echo data of the ultrasonic echo 320 after amplification detection processing; and
an automatic door 100 opening/closing judging module configured to judge whether an automatic door 100 opening condition or a closing condition is satisfied according to the obtained current measured distance d of the moving object and a 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 away from the automatic door 100.
In one embodiment, the control instructions further include an alert instruction and a timing instruction; the automatic door 100 control system 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 a warning device configured to warn the moving object in the preset detection area 200 according to the warning 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 so as to display warning sentences; the lamp body unit comprises at least one LED lamp body so as to emit warning light with a warning effect; the audio playing unit is a voice broadcasting module and/or a buzzer for broadcasting warning sentences or giving out alarms.
In one embodiment, 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 filtered signal to obtain an envelope signal; and
an envelope information obtaining unit is configured to obtain envelope information in an envelope signal, wherein the envelope information comprises N moments, and each moment in the envelope information corresponds to one signal amplitude A and one measured distance d.
In one embodiment, a computer device includes:
a memory for storing a computer program;
and a processor coupled to the memory, the processor configured to implement the steps of the method as described above when executing the computer program.
In one embodiment, the processor is configured to execute the computer program to further implement the steps of:
s000, transmitting ultrasonic waves 310 to a detected object in a preset detection area 200 of the automatic door 100;
s100, continuously acquiring an ultrasonic echo 320 reflected by a tested object in a preset detection area 200 of the automatic door 100, wherein the tested object comprises a background object or a background object and a moving object;
s200, amplifying and detecting the ultrasonic echo 320;
s300, acquiring actual echo data of the ultrasonic echo 320 after amplification detection processing, wherein the actual echo data comprises actual echo signal intensity and measured distance d, and the measured distance d is a linear distance between a measured object and the ultrasonic transceiver 300;
S400, acquiring 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 a non-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 greater 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 continuously obtained is gradually reduced, 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 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 a preset detection area 200.
In one embodiment, the processor is configured to execute the computer program to further implement the steps of: in the step S200, the amplifying and detecting process includes:
S210, converting the obtained ultrasonic echo 320 into an ultrasonic echo 320 electric signal;
s220, amplifying and filtering the ultrasonic echo 320 electric signal 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; wherein each moment in each envelope information corresponds to a signal amplitude a and a measured distance d.
In one embodiment, the processor is configured to execute the computer program to further implement the steps of: in the step S300, the step of calculating the actual echo signal intensity includes:
s310 according toCalculating a measured distance d of the measured object, wherein v is the propagation speed of the ultrasonic echo 320 in the air, and t is the time of receiving the ultrasonic echo 320At the moment τ is the emission start time of the ultrasonic wave 310;
s320, acquiring a corresponding signal amplitude A at a time 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 execute the computer program to further implement the steps of: the step S500 includes:
s521, if the measured distance d continuously obtained gradually increases, judging that the moving object is far away from the automatic door 100;
s522, if the continuously obtained variation difference value between the measured distances d is within the preset variation range, a first duration of time that the variation difference value of the measured distances d is within the preset variation range is obtained, and if the first duration of time is greater than or equal to a preset first time threshold value, the moving object is judged to be in a static state in the preset detection area 200.
In one embodiment, the processor is configured to execute the computer program to further implement the steps of: after the step S522, the method further includes:
and S523, if the first duration is greater than or equal to a preset second time threshold, controlling the warning device to give a warning, wherein the preset second time threshold is greater than the preset first time threshold.
In one embodiment, the processor is configured to execute the computer program to further implement the steps of: in the step S600, the method specifically includes:
S610, if the moving object is judged to be close to the automatic door 100, continuously acquiring a measured distance d of the moving object, and if the measured distance d is smaller than a preset first distance threshold value, meeting the condition that the automatic door 100 is opened, and controlling the automatic door 100 to be opened;
and S620, continuously acquiring a measured distance d of the moving object if the moving object is judged to be far away from the automatic door 100, and controlling the automatic door 100 to close if the measured distance d is larger than or equal to a preset second distance threshold value and the condition that the automatic door 100 is closed is met.
In one embodiment, the processor is configured to execute the computer program to further implement the steps of: after the step S600, the method further includes a step S700:
s710, continuously acquiring the position of the door leaf 120 of the current automatic door 100 and the actual echo signal intensity, wherein each door leaf 120 corresponds to one background echo signal intensity;
s720, judging whether the acquired actual echo signal intensities corresponding to the current door leaf 120 position meet the condition of updating the background echo signal intensity 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, performing standardization processing on the acquired actual echo signal intensities corresponding to the current door leaf 120 position, and storing the acquired standardized actual echo signal intensities as the background echo signal intensity, wherein the standardization processing comprises obtaining the maximum value, the minimum value, the average value or the 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 having a computer program stored thereon, which when executed by a processor, performs the steps of:
s000, transmitting ultrasonic waves 310 to a detected object in a preset detection area 200 of the automatic door 100;
s100, continuously acquiring an ultrasonic echo 320 reflected by a tested object in a preset detection area 200 of the automatic door 100, wherein the tested object comprises a background object or a background object and a moving object;
s200, amplifying and detecting the ultrasonic echo 320;
s300, acquiring actual echo data of the ultrasonic echo 320 after amplification detection processing, wherein the actual echo data comprises actual echo signal intensity and measured distance d, and the measured distance d is a linear distance between a measured object and the ultrasonic transceiver 300;
S400, acquiring 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 a non-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 greater 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 continuously obtained is gradually reduced, 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 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 a preset detection area 200.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of: in the step S200, the amplifying and detecting process includes:
S210, converting the obtained ultrasonic echo 320 into an ultrasonic echo 320 electric signal;
s220, amplifying and filtering the ultrasonic echo 320 electric signal 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; wherein each moment 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 having a computer program stored thereon, which when executed by a processor, performs the steps of: in the step S300, the step of calculating the actual echo signal intensity includes:
s310 according toCalculating a measured distance d of a 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 transmission starting time of the ultrasonic wave 310;
s320, acquiring a corresponding signal amplitude A at a time 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 having a computer program stored thereon, which when executed by a processor, performs the steps of: the step S500 includes:
s521, if the measured distance d continuously obtained gradually increases, judging that the moving object is far away from the automatic door 100;
s522, if the continuously obtained variation difference value between the measured distances d is within the preset variation range, a first duration of time that the variation difference value of the measured distances d is within the preset variation range is obtained, and if the first duration of time is greater than or equal to a preset first time threshold value, the moving object is judged to be in a static state in the preset detection area 200.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of: after the step S522, the method further includes:
and S523, if the first duration is greater than or equal to a preset second time threshold, controlling the warning device to give a warning, wherein the preset second time threshold is greater than the preset first time threshold.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of: in the step S600, the method specifically includes:
S610, if the moving object is judged to be close to the automatic door 100, continuously acquiring a measured distance d of the moving object, and if the measured distance d is smaller than a preset first distance threshold value, meeting the condition that the automatic door 100 is opened, and controlling the automatic door 100 to be opened;
and S620, continuously acquiring a measured distance d of the moving object if the moving object is judged to be far away from the automatic door 100, and controlling the automatic door 100 to close if the measured distance d is larger than or equal to a preset second distance threshold value and the condition that the automatic door 100 is closed is met.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of: after the step S600, the method further includes a step S700:
s710, continuously acquiring the position of the door leaf 120 of the current automatic door 100 and the actual echo signal intensity, wherein each door leaf 120 corresponds to one background echo signal intensity;
s720, judging whether the acquired actual echo signal intensities corresponding to the current door leaf 120 position meet the condition of updating the background echo signal intensity 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, performing standardization processing on the acquired actual echo signal intensities corresponding to the current door leaf 120 position, and storing the acquired standardized actual echo signal intensities as the background echo signal intensity, wherein the standardization processing comprises obtaining the maximum value, the minimum value, the average value or the median of the continuously acquired actual echo signal intensities corresponding to the current door leaf 120 position.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile 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), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (5)
1. The automatic door control method based on ultrasonic wave is characterized in that: the method comprises the following steps:
s100, continuously acquiring an ultrasonic echo reflected by a tested object in a preset detection area of an automatic door, wherein the tested object comprises a background object or a background object and a moving object;
s200, amplifying and detecting 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 measured distance d, and the measured distance d is a linear distance between a measured object and an ultrasonic transceiver;
S400, acquiring 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 a non-moving object in a preset detection area corresponding to the current automatic door leaf position;
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 which is continuously obtained gradually decreases, if so, 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 is close 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; the amplification detection processing includes:
converting the obtained ultrasonic echo into an ultrasonic echo electric signal;
Amplifying and filtering the ultrasonic echo electric signal to obtain an amplified and filtered signal;
performing 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; wherein, each moment in each envelope information corresponds to a signal amplitude A and a measured distance d;
in the step S300, the step of calculating the actual echo signal intensity includes:
according toCalculating a measured distance d of a measured object, wherein v is the propagation speed of an ultrasonic echo in the air, t is the receiving time of the ultrasonic echo, and tau is the transmission starting time of ultrasonic waves;
and acquiring a corresponding signal amplitude A at a time 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.
2. The ultrasonic-based automatic door control method according to claim 1, wherein: 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 static state in a preset detection area includes:
If the measured distance d which is continuously obtained is gradually increased, judging that the moving object is far away from the automatic door;
if the continuously obtained change difference value between the measured distances d is in the preset change range, obtaining first duration time of the change difference value of the measured distances d in 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 a preset detection area.
3. The ultrasonic-based automatic door control method according to claim 2, wherein: if the continuously obtained change difference value between the measured distances d is within the preset change range, obtaining a first duration time of the change difference value of the measured distances d 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 a preset detection area, and further comprising:
and if the first duration is greater than or equal to a preset second time threshold, controlling the warning device to give a warning, wherein the preset second time threshold is greater than the preset first time threshold.
4. The ultrasonic-based automatic door control method according to any one of claims 1 to 2, wherein: in the step S600, the method specifically includes:
If the moving object is judged to be close to the automatic door, continuously acquiring a measured distance d of the moving object, and if the measured distance d is smaller than a preset first distance threshold value, meeting the condition of opening the automatic door, and controlling the automatic door to be opened;
and if the detected distance d of the moving object is larger than or equal to a preset second distance threshold value, the condition of closing the automatic door is met, and the automatic door is controlled to be closed.
5. The ultrasonic-based automatic door control method according to any one of claims 1 to 4, wherein: after the 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 intensities corresponding to the current door leaf position meet the condition of updating the background echo signal intensity 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;
and if the condition of updating the background echo signal intensity is met, performing standardization processing on 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 intensities, wherein the standardization processing comprises obtaining the maximum value, the minimum value, the average value or the median of the continuously acquired actual echo signal intensities corresponding to the current door leaf position.
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