CN113585906A - Automatic door anti-pinch method and system based on ultrasonic waves - Google Patents
Automatic door anti-pinch method and system based on ultrasonic waves Download PDFInfo
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- CN113585906A CN113585906A CN202110672649.8A CN202110672649A CN113585906A CN 113585906 A CN113585906 A CN 113585906A CN 202110672649 A CN202110672649 A CN 202110672649A CN 113585906 A CN113585906 A CN 113585906A
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- automatic door
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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
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
- E05F15/42—Detection using safety edges
- E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
- E05Y2900/13—Application of doors, windows, wings or fittings thereof for buildings or parts thereof characterised by the type of wing
- E05Y2900/132—Doors
Abstract
The invention provides an automatic door anti-pinch method and system based on ultrasonic waves, wherein the method comprises the following steps: transmitting ultrasonic waves to 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; acquiring an ultrasonic echo reflected by a measured object, and carrying out amplification detection processing on the ultrasonic echo; acquiring the actual echo signal intensity of the ultrasonic echo after amplification and detection processing; acquiring background echo signal intensity corresponding to the position of the current automatic door leaf; acquiring a difference value between the actual echo signal intensity and the background echo signal intensity; if the difference value is larger than a preset anti-pinch threshold value, it is determined that a moving object exists in the preset detection area, and an anti-pinch instruction for preventing pinch of the automatic door is output. Therefore, the method is used for judging whether a moving object exists in the preset detection area. The automatic door anti-pinch control device has the advantages that the automatic door anti-pinch precise control is realized, and the problems that in the prior art, the detection precision is low, and people and/or animals are easily pinched and injured are solved.
Description
Technical Field
The invention relates to the technical field of automatic doors, in particular to an automatic door anti-pinch method and an automatic door anti-pinch system based on ultrasonic waves.
Background
With the improvement of living standard of people, the automatic door is widely applied to various occasions. However, automatic doors also present some safety hazards while providing convenience to people. For example, automatic doors are prone to catching old people, children, or pets during the automatic closing process. From this, more automatically-controlled door has begun to assemble anti-pinch device now, and uses more have infrared anti-pinch device, and infrared anti-pinch device disposes a pair of infrared pipe, is transmitting tube and receiver tube respectively, and transmitting tube and receiver tube are adorned respectively in the both sides of automatically-controlled door, and the infrared ray is launched towards the receiver tube through the transmitting tube, is received by the receiver tube again. When a user is entering or exiting the automatic door, the light path of infrared rays can be shielded, so that the receiving tube cannot receive the infrared rays, people possibly exist in the middle of the automatic door can be judged, and the automatic door is controlled not to be closed at the moment. However, the installation positions of the infrared anti-pinch device are positioned on the door edges at two sides of the automatic door, so that the wiring is troublesome; meanwhile, if the mounting height of the infrared anti-pinch device is too low, infrared rays may form another light path due to ground reflection, so that the misjudgment rate of detection is increased, and if the mounting height of the infrared anti-pinch device is too high, a pet with a low height cannot be detected, so that potential safety hazards are caused; furthermore, the detection distance of the infrared anti-pinch device is small, so that the infrared anti-pinch device cannot be applied to an automatic door with a large width, and the use scene of the infrared anti-pinch device is also limited to a great extent due to the defects that the infrared anti-pinch device is easy to interfere in a sunny environment and the like.
Disclosure of Invention
Therefore, it is necessary to provide an automatic door anti-pinch method and system based on ultrasonic waves to solve the problem of low detection precision of anti-pinch devices in the conventional technology.
An automatic door anti-pinch method based on ultrasonic waves comprises the following steps:
s100, transmitting ultrasonic waves to 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, acquiring an ultrasonic echo reflected by a measured object, and carrying out amplification detection processing on the ultrasonic echo;
s300, acquiring the actual echo signal intensity of the ultrasonic echo after amplification and detection processing;
s400, obtaining the background echo signal intensity corresponding to the position of the current automatic door leaf, 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; (ii) a
S500, obtaining a difference value between the actual echo signal intensity and the background echo signal intensity;
s510, if the difference value is larger than a preset anti-pinch threshold value, determining that a moving object exists in the preset detection area, and outputting an anti-pinch instruction for preventing pinch of the automatic door.
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 acquired 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 wave and 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 the step S400,
acquiring prestored background echo signal intensity corresponding to the actual echo signal intensity, and determining the current automatic door leaf position according to the acquired background echo signal intensity; or the like, or, alternatively,
and acquiring the position of the current automatic door leaf, and determining the intensity of a pre-stored background echo signal corresponding to the current automatic door leaf according to the position of the current automatic door leaf.
Optionally, after step S510, the method further includes step S511:
if the difference value is larger than a preset anti-pinch threshold value, determining that a moving object exists in the preset detection area, and acquiring a first duration time of the moving object in the preset detection area;
and when the first duration is greater than the first time threshold, controlling the warning device to send out a warning.
Optionally, after the step S511, the method further includes a step S512:
and when the first duration is greater than a second time threshold, outputting a door movement instruction for controlling the automatic door leaf to close at a preset safe speed or controlling the automatic door leaf to move to a target position, wherein the second time threshold is greater than the first time threshold, and the preset safe speed is a speed which does not hurt people when the automatic door is closed.
Optionally, after step S500, the method further includes:
continuously acquiring the actual echo signal intensity, and determining the door leaf position of the current automatic door corresponding to the actual echo signal intensity according to the background 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 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.
Automatic door anti-pinch system based on ultrasonic wave includes:
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 amplifying and detecting module is configured to amplify and detect the electric signal;
the background echo signal intensity acquisition module is configured to acquire background echo signal intensity through the current automatic door leaf position and/or acquire background echo signal intensity through actual echo signal intensity;
and the judgment and comparison module is configured to judge and compare the difference value with the anti-pinch threshold value and send the comparison result to the control module.
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.
The method of the invention is adopted to detect the detected object in the preset detection area, so that the background object or the background object and the moving object in the detected object can be detected, thereby realizing the multi-target detection, and judging whether the moving object exists in the preset detection area according to the comparison analysis of the actual echo signal intensity of the detected object obtained by calculation and the background echo signal intensity corresponding to the current automatic door leaf position, thereby realizing the accurate control of the automatic door to prevent clamping, and solving the problems of low detection precision and easy human and/or animal clamping injury in the prior art.
Drawings
FIG. 1 is a schematic flow chart of an automatic door anti-pinch method based on ultrasonic waves according to the present invention.
FIG. 2 is a schematic view of the installation position and the monitoring state after installation of the automatic door anti-pinch system based on ultrasonic waves.
FIG. 3 is a block diagram of the structural principle of the automatic door anti-pinch system based on ultrasonic waves.
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 a doorframe 110 of the automatic door 100, a door leaf 120, a floor, and a preset ornament, or a background object and a moving object including a person and an animal.
The reference numerals of fig. 2 are explained as follows: 100-automatic door, 110-automatic door frame, 120-door leaf; 200-presetting a detection area; 300-ultrasonic transceiver, 310-ultrasonic, wherein ultrasonic 310 is ultrasonic 310 emitted by ultrasonic transceiver 300.
As shown in fig. 1, the automatic door anti-pinch method based on ultrasonic wave includes the following steps:
s100, transmitting ultrasonic waves to 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.
Specifically, the ultrasonic wave transceiver 300 for transmitting ultrasonic waves is installed on the top door frame of the automatic door 100, and the direction of the ultrasonic waves transmitted by the ultrasonic wave transceiver is vertically downward and directed to the ground, so that the preset detection area 200 can be understood as being located in the vertically downward direction of the door frame, and 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 120 of the automatic door 100 and the installation position of the automatic door 100, and only when a moving object is detected in the preset detection area 200, the anti-pinch function of the automatic door 100 is realized.
Further, the transmitted ultrasonic wave covers the preset detection area 200, so that the detection precision and the use stability of the anti-pinch function are ensured.
S200, acquiring the ultrasonic echo reflected by the measured object, and carrying out amplification detection processing on the ultrasonic echo.
Specifically, when the ultrasonic wave emitted by the ultrasonic transceiver 300 contacts the object to be measured, an ultrasonic echo is generated, the ultrasonic echo is received by the ultrasonic transceiver 300 and converted into an ultrasonic echo electric signal, and the ultrasonic echo electric signal is transmitted to be amplified and detected, so that all the ultrasonic echo electric signals can be detected, and actual background ultrasonic echo data and actual moving object ultrasonic echo data are determined, so that all the ultrasonic echoes after the amplification and detection can be detected, that is, the detection of a plurality of targets in the preset detection area 200 is realized, and the phenomena of small detection range and high misjudgment rate in the prior art are solved.
And S300, acquiring the actual echo signal intensity of the ultrasonic echo after amplification and detection processing. The specific calculation process is described in detail below, and will not be described herein in detail.
S400, obtaining a background echo signal intensity corresponding to the current position of the door leaf 120, where the background echo signal intensity is an echo signal intensity of no moving object in a preset detection area corresponding to the current position of the door leaf 120 of the automatic door 100.
Specifically, the background echo signal intensities are multiple groups, which are stored in advance, and each group of background echo signal intensities corresponds to a current position of the door leaf 120, and if the movable path of the automatic door 100 includes N (N is a natural number) points, each of the points corresponds to one background echo signal intensity.
Further, the manner of obtaining the current position of the door leaf 120 is described in detail below, and will not be described herein.
Further, 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.
S500, obtaining a difference value between the actual echo signal intensity and the background echo signal intensity. Because the actual echo signal intensity obtained by each point on the movable path of the automatic door 100 is different from the corresponding background echo signal intensity, the actual echo signal intensity is compared with the background echo signal intensity by calculating the difference value of the actual echo signal intensity and the background echo signal intensity, and then the difference value is compared with the set anti-pinch threshold value.
And S510, if the difference value is greater than a preset anti-pinch threshold value, determining that a moving object exists in the preset detection area 200, and outputting an anti-pinch instruction for preventing pinch of the automatic door 100. At this time, if the automatic door 100 is in the closed state, the control door 120 is opened to a target position, such as a fully opened state or a half opened state, and if the automatic door 100 is in the fully opened state, the control door 120 is in a state of prohibiting closing of the door 120.
When the anti-pinch threshold is set, firstly, determining that no moving object exists in a preset detection region 200 to obtain the background echo signal intensity, and then determining the anti-pinch threshold after multiple experimental data tests and comparisons; in practical application, a reverse pushing process is set for the anti-pinch threshold, and according to the difference value between the actual echo signal intensity and the background echo signal intensity, the anti-pinch threshold is compared with the actual echo signal intensity, and whether a moving object exists in the preset detection area 200 is determined.
And S520, if the difference value is smaller than or equal to a preset anti-pinch threshold value, determining that no moving object exists in the preset detection area 200, and outputting a door closing instruction for closing the automatic door 100.
If the automatic door 100 is originally in the open state, the automatic door 100 is controlled to be closed, and if the automatic door 100 is in the closed state, the automatic door 100 is controlled to be continuously closed.
Further, when the difference value is less than or equal to the preset anti-pinch threshold value, detailed description is given below, and redundant description is not repeated here.
In one embodiment, in step S200, the amplification detection processing includes:
and converting the obtained ultrasonic echo into an ultrasonic echo electric signal so as to enable the amplification filtering module to detect the ultrasonic echo.
And carrying out amplification filtering processing on the ultrasonic echo electric signal to obtain an amplified filtering signal. By amplifying and filtering the ultrasonic echo electric signal, the subsequent circuit processing has higher accuracy and stability, and the subsequent processing of the ultrasonic echo electric signal is guaranteed.
And 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 time moments, and each time moment comprises a corresponding signal amplitude A and a measured distance d.
And 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 emitted by the measured object is also different, and the envelope information includes N moments, that is, N pieces of ultrasonic echo information, so that the detection of a plurality of ultrasonic echoes is realized.
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 wave and 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;
in the above calculation formula, the total time from the transmission of the ultrasonic wave to the reception of the ultrasonic echo is obtained by (t- τ) neglecting the influence of the temperature on the propagation speed of the ultrasonic wave, and the transmission distance of the ultrasonic wave is equal to the distance of the ultrasonic echo
And calculating to obtain the measured distance d of the measured object.
Further, 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, that is, corresponds to the measured object closer to the automatic door 100, the shorter the reception time t of the ultrasonic echo, 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 reception time t.
And S320, 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.
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, in step S400,
and acquiring the pre-stored background echo signal intensity corresponding to the actual echo signal intensity, and determining the current position of the door leaf 120 according to the acquired background echo signal intensity.
This is one of the ways to achieve background echo signal strength acquisition: comparing the obtained actual echo signal intensity with all pre-stored background echo signal intensities one by one, determining the background echo signal intensity corresponding to the actual echo signal intensity, and then determining the current door leaf 120 position 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 position of the door leaf 120, and if the preset monitoring area has a moving object, the background echo signal intensity corresponding to the current position of the door leaf 120 at this time corresponds to the actual echo signal intensity part, the non-corresponding part is the part having 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 position of the door leaf 120.
And acquiring the position of the current door leaf 120, and determining the intensity of the pre-stored background echo signal corresponding to the current door leaf 120 according to the position of the current door leaf.
This is another way to achieve background echo signal strength acquisition: the position of the door leaf 120 can be read by the host of the automatic door 100 in a manner of acquiring the current position of the door leaf 120, generally speaking, the door leaf 120 adopts a motor as a power source, and the number of rotation turns of the motor is detected, so that the current position of the door leaf 120 is judged, and in addition, the position of the current door leaf 120 can be detected in real time in a manner of adopting a distance sensor, so that the intensity of a pre-stored background echo signal corresponding to the current position of the door leaf 120 is determined according to the current position of the door leaf 120, and the effect of the manner is also realized.
In one embodiment, after the step S510, the method further includes the step S511:
if the difference value is larger than a preset anti-pinch threshold value, it is determined that a moving object exists in the preset detection area 200, and a first duration time of the moving object in the preset detection area 200 is obtained.
When it is determined that a moving object exists in the preset detection region 200, timing is started, and the timing is recorded as a first duration, where the first duration is a time period, and the time period includes multiple time instants, and each time instant corresponds to an actual echo signal intensity.
If the moving object is a person and/or an animal, the moving object finally leaves from the preset detection area 200 in the process of dynamically walking in the preset detection area 200, and when the moving object leaves, the timing is stopped, the first duration is interrupted, and step S100 is executed.
And when the first duration is greater than the first time threshold, controlling the warning device to send out a warning. Specifically, the warning instruction is to send a warning to the moving object, and specifically, the warning time may be set by itself or by a manufacturer.
The effect of setting the first time threshold is that if the automatic door 100 is in an open state for a long time, there are two situations, one of which is: when the moving object does exist in the preset detection area 200 of the automatic door 100, an alarm can be given at the moment, so that the closed automatic door 100 forms a closed space, and the safety and the privacy are ensured, and the other situation is as follows: when the door leaf 120 cannot be closed, the worker can be immediately reminded to maintain after the warning is given.
In one embodiment, after the step S511, the method further includes a step S512:
when the first duration is greater than a second time threshold, outputting a door movement command for controlling the door leaf 120 to close at a preset safe speed or controlling the door leaf 120 to move to a target position, where the second time threshold is greater than the first time threshold, and the preset safe speed is a speed at which the door 100 is not hurt when being closed.
In this case, after the warning is given in step S511, the moving object still exists, when the accumulated first duration is greater than the second time threshold, the door 120 is controlled to be slowly closed, if the moving object is a person and/or an animal, the person and/or the animal may walk out of the preset detection area 200 to avoid the moving object, or the person and/or the animal may not timely avoid the moving object, the preset safe speed closing speed may also ensure that the person and/or the animal are prevented from being injured, and if the moving object is a newly added decoration, the newly added decoration is not placed on the moving path of the door 120, so the door 120 may be smoothly closed; it should be noted that if a new decoration is added, the operation of the operator is required to be listed in the background data, so as to avoid the operation of mistakenly recognizing people and/or animals.
In one embodiment, after the step S500, the method further includes the step S600:
and S610, continuously acquiring the actual echo signal intensity, and determining the door leaf position of the current automatic door 100 corresponding to the actual echo signal intensity according to the background echo signal intensity. The obtained actual echo signal intensity is compared with the prestored background echo signal intensity, so that the door leaf 120 position of the automatic door 100 is determined, or after the door leaf 120 position of the automatic door 100 is obtained through the automatic door host, the background echo signal intensity corresponding to the current door leaf 120 position of the automatic door 100 is obtained according to the current door leaf 120 position of the automatic door 100, and then the obtained background echo signal intensity is compared with the actual echo signal intensity, so that the effects can be achieved.
S620, determining whether the obtained actual echo signal intensity corresponding to the current position of the door 120 meets the condition of updating the background echo signal intensity according to the door 120 state of the current automatic door 100, where the door 120 state of the current automatic door 100 includes a door 120 open state and a door 120 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 the door leaf half-open state and the door leaf full-open state, and the door leaf moving state includes the door leaf being open state and the door leaf being closed state.
If the door leaf is in the open state at present, timing is started and recorded as second duration; when a moving object enters the preset detection area 200, timing is stopped, the second duration is interrupted, and step S100 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 S630;
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 S630;
s630, if the condition for updating the background echo signal strength is satisfied, normalizing the acquired actual echo signal strengths corresponding to the current door leaf 120 position, and storing the obtained normalized actual echo signal strengths as the background echo signal strength, wherein the normalizing includes obtaining a maximum value, a minimum value, an average value, or a median of the continuously acquired actual echo signal strengths 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 and 3, the present invention further provides an automatic door anti-pinch system based on ultrasonic waves, 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 transceiver 300 configured to transmit an ultrasonic wave to the preset detection region 200, to receive an ultrasonic echo reflected by the side object, and to convert the received ultrasonic echo into an ultrasonic echo electrical signal;
the amplifying and detecting module is configured to amplify and detect the electric signal;
a background echo signal strength acquiring module configured to acquire a background echo signal strength through the current door leaf 120 position and/or acquire a background echo signal strength through an actual echo signal strength;
and the judgment and comparison module is configured to judge and compare the difference value with the anti-pinch threshold value and send the comparison result to the control module.
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 amplifying and filtering unit is configured to perform amplifying and filtering processing on the electrical 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, there is provided 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:
s100, transmitting ultrasonic waves to 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;
s200, acquiring an ultrasonic echo reflected by a measured object, and carrying out amplification detection processing on the ultrasonic echo;
s300, acquiring the actual echo signal intensity of the ultrasonic echo after amplification and detection processing;
s400, obtaining the intensity of a background echo signal corresponding to the current position of the door leaf 120, wherein the intensity of the background echo signal is the intensity of an echo signal of a moving object in a preset detection area corresponding to the current position of the door leaf 120 of the automatic door 100;
s500, obtaining a difference value between the actual echo signal intensity and the background echo signal intensity;
and S510, if the difference value is greater than a preset anti-pinch threshold value, determining that a moving object exists in the preset detection area 200, and outputting an anti-pinch instruction for preventing pinch of the automatic door 100.
And S520, if the difference value is smaller than or equal to a preset anti-pinch threshold value, determining that no moving object exists in the preset detection area 200, and outputting a door closing instruction for closing the automatic door 100.
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:
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 acquired 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.
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:
according to
Calculating the measured distance d of the measured object, wherein v is ultrasonic wave and ultrasoundThe propagation speed of the 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.
In one embodiment, the processor is configured to further perform the following steps when executing the computer program: in the step S400, the first step is performed,
acquiring pre-stored background echo signal intensity corresponding to the actual echo signal intensity, and determining the current door leaf 120 position according to the acquired background echo signal intensity; or the like, or, alternatively,
and acquiring the position of the current door leaf 120, and determining the intensity of the pre-stored background echo signal corresponding to the current door leaf 120 according to the position of the current door leaf.
In one embodiment, the processor is configured to further perform the following steps when executing the computer program: after the step S510, the method further includes a step S511:
if the difference value is greater than a preset anti-pinch threshold value, determining that a moving object exists in the preset detection area 200, and acquiring a first duration time of the moving object in the preset detection area 200;
and when the first duration is greater than the first time threshold, controlling the warning device to send out a warning.
In one embodiment, the processor is configured to further perform the following steps when executing the computer program: after the step S511, the method further includes a step S512:
when the first duration is greater than a second time threshold, which is greater than the first time threshold, a door movement command for controlling the door leaf 120 to close or controlling the door leaf 120 to move to the target position is output.
In one embodiment, the processor is configured to further perform the following steps when executing the computer program: after the step S500, the method further includes a step S600:
s610, continuously acquiring the actual echo signal intensity, and determining the door leaf position of the current automatic door 100 corresponding to the actual echo signal intensity according to the background echo signal intensity;
s620, according to the door leaf 120 state of the current automatic door 100, determining whether the obtained actual echo signal intensities corresponding to the current door leaf 120 position satisfy the condition of updating the background echo signal intensity, where the door leaf 120 state of the current automatic door 100 includes a door leaf 120 open state and a door leaf 120 moving state;
s630, if the condition for updating the background echo signal strength is satisfied, normalizing the acquired actual echo signal strengths corresponding to the current door leaf 120 position, and storing the obtained normalized actual echo signal strengths as the background echo signal strength, wherein the normalizing includes obtaining a maximum value, a minimum value, an average value, or a median of the continuously acquired actual echo signal strengths 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:
s100, transmitting ultrasonic waves to 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;
s200, acquiring an ultrasonic echo reflected by a measured object, and carrying out amplification detection processing on the ultrasonic echo;
s300, acquiring the actual echo signal intensity of the ultrasonic echo after amplification and detection processing;
s400, obtaining the intensity of a background echo signal corresponding to the current position of the door leaf 120, wherein the intensity of the background echo signal is the intensity of an echo signal of a moving object in a preset detection area corresponding to the current position of the door leaf 120 of the automatic door 100;
s500, obtaining a difference value between the actual echo signal intensity and the background echo signal intensity;
and S510, if the difference value is greater than a preset anti-pinch threshold value, determining that a moving object exists in the preset detection area 200, and outputting an anti-pinch instruction for preventing pinch of the automatic door 100.
And S520, if the difference value is smaller than or equal to a preset anti-pinch threshold value, determining that no moving object exists in the preset detection area 200, and outputting a door closing instruction for closing the automatic door 100.
In one embodiment, the computer program when executed by the processor further performs the steps of:
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 acquired 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.
In one embodiment, the computer program when executed by the processor further performs the steps of: 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 wave and 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.
In one embodiment, the computer program when executed by the processor further performs the steps of: in the step S400, the first step is performed,
acquiring pre-stored background echo signal intensity corresponding to the actual echo signal intensity, and determining the current door leaf 120 position according to the acquired background echo signal intensity; or the like, or, alternatively,
and acquiring the position of the current door leaf 120, and determining the intensity of the pre-stored background echo signal corresponding to the current door leaf 120 according to the position of the current door leaf.
In one embodiment, the computer program when executed by the processor further performs the steps of: after the step S510, the method further includes a step S511:
if the difference value is greater than a preset anti-pinch threshold value, determining that a moving object exists in the preset detection area 200, and acquiring a first duration time of the moving object in the preset detection area 200;
and when the first duration is greater than the first time threshold, controlling the warning device to send out a warning.
In one embodiment, the computer program when executed by the processor further performs the steps of: after the step S511, the method further includes a step S512:
when the first duration is greater than a second time threshold, which is greater than the first time threshold, a door movement command for controlling the door leaf 120 to close or controlling the door leaf 120 to move to the target position is output.
In one embodiment, the computer program when executed by the processor further performs the steps of: after the step S500, the method further includes step S600:
s610, continuously acquiring the actual echo signal intensity, and determining the door leaf position of the current automatic door 100 corresponding to the actual echo signal intensity according to the background echo signal intensity;
s620, according to the door leaf 120 state of the current automatic door 100, determining whether the obtained actual echo signal intensities corresponding to the current door leaf 120 position satisfy the condition of updating the background echo signal intensity, where the door leaf 120 state of the current automatic door 100 includes a door leaf 120 open state and a door leaf 120 moving state;
s630, if the condition for updating the background echo signal strength is satisfied, normalizing the acquired actual echo signal strengths corresponding to the current door leaf 120 position, and storing the obtained normalized actual echo signal strengths as the background echo signal strength, wherein the normalizing includes obtaining a maximum value, a minimum value, an average value, or a median of the continuously acquired actual echo signal strengths 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 Static 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. Automatic door anti-pinch method based on ultrasonic wave is characterized in that: the method comprises the following steps:
s100, transmitting ultrasonic waves to 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, acquiring an ultrasonic echo reflected by a measured object, and carrying out amplification detection processing on the ultrasonic echo;
s300, acquiring the actual echo signal intensity of the ultrasonic echo after amplification and detection processing;
s400, obtaining the background echo signal intensity corresponding to the position of the current automatic door leaf, 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;
s500, obtaining a difference value between the actual echo signal intensity and the background echo signal intensity;
s510, if the difference value is larger than a preset anti-pinch threshold value, determining that a moving object exists in the preset detection area, and outputting an anti-pinch instruction for preventing pinch of the automatic door.
2. The automatic door anti-pinch method based on ultrasonic waves of claim 1, characterized in that: 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 acquired 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 automatic door anti-pinch method based on ultrasonic waves of claim 2, characterized in that: 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 wave and 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 automatic door anti-pinch method based on ultrasonic waves of claim 1, characterized in that: in the step S400, the first step is performed,
acquiring prestored background echo signal intensity corresponding to the actual echo signal intensity, and determining the current automatic door leaf position according to the acquired background echo signal intensity;
or, acquiring the position of the current automatic door leaf, and determining the intensity of the pre-stored background echo signal corresponding to the current automatic door leaf according to the position of the current automatic door leaf.
5. The automatic door anti-pinch method based on ultrasonic waves of any one of claims 1 to 4, characterized in that: after the step S510, the method further includes a step S511:
if the difference value is larger than a preset anti-pinch threshold value, determining that a moving object exists in the preset detection area, and acquiring a first duration time of the moving object in the preset detection area;
and when the first duration is greater than the first time threshold, controlling the warning device to send out a warning.
6. The automatic door anti-pinch method based on ultrasonic waves of claim 5, characterized in that: after the step S511, the method further includes a step S512:
and when the first duration is greater than a second time threshold, outputting a door movement instruction for controlling the automatic door leaf to close at a preset safe speed or controlling the automatic door leaf to move to a target position, wherein the second time threshold is greater than the first time threshold, and the preset safe speed is a speed which does not hurt people when the automatic door is closed.
7. The automatic door anti-pinch method based on ultrasonic waves of any one of claims 1 to 4, characterized in that: after the step S500, the method further includes:
continuously acquiring the actual echo signal intensity, and determining the door leaf position of the current automatic door corresponding to the actual echo signal intensity according to the background 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 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 anti-pinch 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 amplifying and detecting module is configured to amplify and detect the electric signal;
the background echo signal intensity acquisition module is configured to acquire background echo signal intensity through the current automatic door leaf position and/or acquire background echo signal intensity through actual echo signal intensity;
and the judgment and comparison module is configured to judge and compare the difference value with the anti-pinch threshold value and send the comparison result to the control module.
9. The ultrasonic-based automatic door anti-pinch system of claim 8, characterized in that: 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 anti-pinch system of claim 8, characterized in that: 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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