CN114635620A

CN114635620A - Method for controlling a door and related device

Info

Publication number: CN114635620A
Application number: CN202210301128.6A
Authority: CN
Inventors: 刘达生; 于海波; 林晓彬
Original assignee: Chongqing Jiazhi Jiachuang Technology Co ltd
Current assignee: Chongqing Jiazhi Jiachuang Technology Co ltd
Priority date: 2022-03-25
Filing date: 2022-03-25
Publication date: 2022-06-17

Abstract

The embodiment of the application discloses a method for controlling a door and related equipment. One embodiment of the method comprises: determining the position and/or the movement parameters of an object in a target area, wherein the target area at least comprises an area through which part or all of door bodies pass in the door moving process; movement of the door is controlled based on the position and/or movement parameters of the object in the target area. Since the position and/or movement parameters of the object in the target area may be determined, this embodiment may control the movement of the door on a targeted basis based on the position and/or movement parameters of the object in the target area, rather than merely on whether the object is present in the target area. Therefore, the embodiment can effectively avoid the collision of the door with the object.

Description

Method for controlling a door and related device

Technical Field

The embodiment of the application relates to the technical field of intelligent control, in particular to a method for controlling a door and related equipment.

Background

With the development of science and technology, a plurality of doors capable of being automatically opened and closed, such as elevator doors, anti-theft doors and the like, appear.

However, the situation that the door collides with a person easily occurs in the automatic moving process of the door, so how to avoid the collision between the door and the person is a problem which needs to be solved at present.

Disclosure of Invention

The embodiment of the application provides a method for controlling a door and related equipment.

In a first aspect, an embodiment of the present application provides a method for controlling a door, including:

determining the position and/or the movement parameters of an object in a target area, wherein the target area at least comprises an area through which part or all of a door body passes in the door moving process;

controlling movement of the door based on the position and/or movement parameters of the object in the target area.

In some embodiments, the controlling the movement of the door based on the position and/or movement parameters of the object in the target area comprises at least one of:

firstly, controlling the moving speed of the door based on the position and/or the moving parameters of the object in the target area so as to prevent the door from colliding with the object;

secondly, controlling the moving direction of the door based on the position and/or the moving parameters of the object in the target area so as to prevent the door from colliding with the object;

and thirdly, controlling the door to move to the first target position based on the position and/or the movement parameter of the object in the target area so as to prevent the door from colliding with the object.

In some embodiments, said controlling the door to move to a first target position based on the position and/or movement parameters of the object in the target area to prevent the door from colliding with the object comprises:

acquiring a first position of the object in the target area;

determining the first target position based on the first position, wherein in the process that the door moves to the first target position, the distance between the target position point on the door and the object is not less than a first preset safety distance;

controlling the door to move to the first target position.

In some embodiments, the controlling the moving direction of the door based on the position and/or the moving parameter of the object in the target area to prevent the door from colliding with the object includes:

determining whether a first moving direction of the object in the target area coincides with a second moving direction of the door at the present time;

if yes, controlling the door to continuously move along the second moving direction; otherwise, controlling the door to move along a third moving direction, wherein the third moving direction is opposite to the second moving direction.

In some embodiments, the controlling the moving speed of the door based on the position and/or the moving parameter of the object in the target area to prevent the door from colliding with the object includes at least one of:

determining whether the distance between the object and the door is smaller than a second preset safety distance or not based on the position of the object in the target area, and if so, controlling the door to reduce the moving speed so as to prevent the door from colliding with the object;

and fifthly, determining whether the distance between the object and the door is gradually reduced or not based on the position and/or the movement parameters of the object in the target area, and if so, controlling the door to reduce the movement speed so as to prevent the door from colliding with the object.

In some embodiments, the method described in any implementation manner of the first aspect further comprises:

determining a movement type of the object based on the movement parameter of the object in the target region, wherein the movement type comprises: at least one of an exit, an entrance, and a stay near the door.

determining whether the objects still exist in the door or not based on the movement types of the objects, and obtaining a determination result;

controlling an operating state of at least one target device based on the determination result.

responding to a door control command for controlling the door to move, and controlling the door to move to a second target position along a preset moving path, wherein the passing area in the moving process of the door is as follows: an area through which the door passes during movement from the current position to the second target position.

In a second aspect, an embodiment of the present application provides an apparatus for controlling a door, the apparatus including: an information determination unit and a movement control unit,

the information determining unit is used for determining the position and/or the movement parameters of an object in a target area, and the target area at least comprises an area through which part or all of the door bodies pass in the door moving process;

the movement control unit is configured to control movement of the door based on a position and/or a movement parameter of the object in the target area.

In some embodiments, the movement control unit controls the movement of the door based on the position and/or movement parameters of the object in the target area, including at least one of:

firstly, the movement control unit controls the movement speed of the door based on the position and/or movement parameters of the object in the target area to prevent the door from colliding with the object;

secondly, the movement control unit controls the movement direction of the door based on the position and/or the movement parameter of the object in the target area so as to prevent the door from colliding with the object;

in a third aspect, the movement control unit controls the door to move to the first target position based on the position and/or the movement parameter of the object in the target area, so as to prevent the door from colliding with the object.

In some embodiments, the movement control unit controls the door to move to a first target position based on the position and/or movement parameters of the object in the target area to prevent the door from colliding with the object, and is specifically configured to:

the movement control unit acquires a first position of the object in the target area;

the movement control unit determines the first target position based on the first position, wherein in the process that the door moves to the first target position, the distance between the target position point on the door and the object is not less than a first preset safety distance;

the movement control unit controls the door to move to the first target position.

In some embodiments, the movement control unit controls the movement direction of the door based on the position and/or movement parameters of the object in the target area to prevent the door from colliding with the object, and is specifically configured to:

the movement control unit determines whether a first moving direction of the object in the target area coincides with a second moving direction of the door at a current time; if yes, controlling the door to continuously move along the second moving direction; otherwise, controlling the door to move along a third moving direction, wherein the third moving direction is opposite to the second moving direction.

In some embodiments, the movement control unit controls the movement speed of the door to prevent the door from colliding with the object based on the position and/or the movement parameter of the object in the target region, including at least one of:

fourthly, the movement control unit determines whether the distance between the object and the door is less than a second preset safety distance or not based on the position of the object in the target area, and if so, controls the door to reduce the movement speed so as to prevent the door from colliding with the object;

and a fifth mode, wherein the movement control unit determines whether the distance between the object and the door gradually becomes smaller based on the position and/or the movement parameter of the object in the target area, and if so, controls the door to reduce the movement speed so as to prevent the door from colliding with the object.

In some embodiments, the apparatus for controlling a door described in any implementation manner of the second aspect further comprises:

a movement type determination unit, configured to determine a movement type of the object based on a movement parameter of the object in the target region, where the movement type includes: at least one of an exit, an entrance, and a stay near the door.

the object determining unit is used for determining whether the objects still exist in the door or not based on the movement types of the objects and obtaining a determination result;

and the equipment control unit is used for controlling the working state of at least one target equipment based on the determination result.

the position control unit is used for responding to a door control instruction for controlling the door to move and controlling the door to move to a second target position along a preset moving path, wherein the passing area in the moving process of the door is as follows: an area through which the door passes during movement from the current position to the second target position.

In a third aspect, the present application provides a computer readable medium, on which a computer program is stored, where the program, when executed by a processor, implements the method as described in any implementation manner of the first aspect.

In a fourth aspect, the present application provides a processor, where the processor is configured to execute a program, where the program executes to perform the method described in any implementation manner of the first aspect.

In a fifth aspect, an embodiment of the present application provides an electronic device, including: one or more processors; a storage device having one or more programs stored thereon; the one or more programs, when executed by the one or more processors, cause the one or more processors to implement a method as described in any implementation of the first aspect.

The method and the related device for controlling the door provided by the embodiment of the application can determine the position and/or the movement parameters of the object in the target area, and control the movement of the door based on the position and/or the movement parameters of the object in the target area. Since the position and/or movement parameters of the object in the target area can be determined, the present application can control the movement of the door on a targeted basis based on the position and/or movement parameters of the object in the target area, rather than merely on whether the object is present in the target area. Therefore, the method for controlling the door can effectively avoid the collision between the door and the object.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some examples or embodiments of the present application, and that for a person skilled in the art, other drawings can be obtained from the provided drawings without inventive effort, and that the present application can also be applied to other similar scenarios from the provided drawings. Unless otherwise apparent from the context, or otherwise indicated, like reference numbers in the figures refer to the same structure or operation.

FIG. 1 is an exemplary system architecture diagram to which some embodiments of the present application may be applied;

FIG. 2 is a flow chart of one embodiment of a method for controlling a door of the present application;

FIG. 3 is a schematic illustration of a target area in one application scenario of the method for controlling a door of the present application;

FIG. 4 is a flow chart of a method for controlling a door of the present application to control movement of the door to a first target position in yet another embodiment;

FIG. 5 is a schematic flow chart diagram of yet another embodiment of a method for controlling a door of the present application;

FIG. 6 is a schematic flow chart diagram of yet another embodiment of a method for controlling a door of the present application;

FIG. 7 is another exemplary system architecture diagram to which some embodiments of the present application may be applied;

FIG. 8 is a schematic flow chart diagram of yet another embodiment of a method for controlling a door of the present application;

FIG. 9 is a schematic flow chart diagram of yet another embodiment of a method for controlling a door of the present application;

FIG. 10 is a schematic structural view of one embodiment of an apparatus for controlling a door of the present application;

FIG. 11 is a schematic structural diagram of one embodiment of an electronic device of the present application.

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. The described embodiments are only some embodiments of the present application and not all 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 application.

It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments in the present application may be combined with each other without conflict.

It should be understood that "system", "apparatus", "unit" and/or "module" as used herein is a method for distinguishing different components, elements, parts or assemblies at different levels. However, other words may be substituted by other expressions if they accomplish the same purpose.

As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements. An element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

In the description of the embodiments herein, "/" means "or" unless otherwise specified, for example, a/B may mean a or B; "and/or" herein is merely an association describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more than two.

In the following, the terms "first", "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

Flow charts are used herein to illustrate operations performed by systems according to embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, the various steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.

Fig. 1 illustrates an exemplary system architecture 100 to which some embodiments of the method for controlling a door or the method for controlling a door of the present application may be applied.

As shown in fig. 1, the system architecture 100 may include a door frame 101, a door 102, an electronic lock 103, a power door closer 104, an information collection device 105, and a controller (the controller is not shown in fig. 1).

The door frame 101 is a device that functions to fix a door leaf, protect a corner, decorate, and the like. In an exemplary system architecture to which the method for controlling a door or some other embodiment of the method for controlling a door of the present application is applied, the door frame 101 may be absent. The door 102 shown in fig. 1 is a side hung door, and in an exemplary system architecture to which the method for controlling a door or some other embodiments of the method for controlling a door of the present application are applied, the door 102 may also be a revolving door, a sliding door, a folding door, a rolling door, or the like. The size, material, use, location, additional functions, door opening direction, and the like of the door 102 are not limited in the embodiments of the present application.

The electronic lock 103 is an electronic product that controls the closing of a mechanical switch by controlling the operation of a circuit or a chip to complete the unlocking and locking tasks. As shown in fig. 1, an electronic lock 103 may be mounted on the door 102. In an exemplary system architecture to which the method for controlling a door or some other embodiment of the method for controlling a door of the present application is applied, the electronic lock 103 may not be present.

The electric door closer 104 is a mechanism for controlling the door to automatically close and open in an electric control mode. The electric door closer 104 may provide a force (e.g., pulling force, pushing force) to the door via an electric motor, an electric hydraulic press, or the like. The electric door closer 104 shown in fig. 1 has one end mounted on the top of the door 102 and the other end mounted on the door frame 101. The present application does not limit the type, installation position, power, size, etc. of the electric door closer 104.

The information acquisition device 105 may be used to identify the location and/or movement parameters of objects in the area through which the door 102 moves. The information acquisition device 105 in fig. 1 may include: at least one of optical flow sensor, camera, ultrasonic detector, distance detector, etc.

Among them, optical flow sensors are devices that determine the position and/or movement parameters of an object using an optical flow method. The optical flow is the instantaneous velocity of pixel motion of a spatially moving object on the viewing imaging plane. The optical flow method is a method for calculating motion information of an object between adjacent frames by using the change of pixels in an image sequence in a time domain and the correlation between adjacent frames to find the corresponding relationship between a previous frame and a current frame. The optical flow sensor can comprise a camera and an optical flow algorithm running chip. In practical applications, the mounting position, orientation, and the like of the optical flow sensor may be adjusted according to actual needs.

When the information acquisition device 105 in fig. 1 includes a camera, the embodiment of the present application may determine the position and/or movement parameters of the object through the image of the object acquired by the camera and the change of the image of the object. The camera can be a monocular camera, a binocular camera or a multi-view camera. It is understood that a binocular camera or a multi-view camera may obtain depth information of an object. Optionally, the camera may be an infrared camera or an RGB camera. The working principle of the infrared camera is that infrared rays emitted by the infrared lamp irradiate an object, are subjected to diffuse reflection and are received by the infrared camera to form a video image. The common camera directly collects external light and forms a video image. When the camera is a binocular camera, the binocular camera can comprise an infrared camera and an RGB camera, or the binocular camera can comprise two infrared cameras, or the binocular camera can comprise two RGB cameras.

The information acquisition device 105 may include an ultrasound probe, a distance probe, or the like that may be used to identify the location and/or movement parameters of objects in the area through which the door 102 moves. The present application does not limit the type, installation location, orientation, etc. of the information acquisition device 105 used to determine the location and/or movement parameters of the object.

The distance detector may be a Time of Flight (TOF) sensor or other sensor capable of detecting distance. The TOF sensor can emit an infrared light source to a measured object, and light waves are collected by the TOF sensor after being reflected by the object, so that the distance between the measured object and the TOF sensor is calculated by calculating the pulse difference or time difference of the received light waves.

In practical applications, when the information acquisition device 105 of the present application includes a plurality of devices (e.g., including an optical flow sensor, a binocular camera, and a TOF sensor), each of the devices included in the information acquisition device 105 may operate independently or cooperate with each other.

The controller can be in communication connection with at least one of the electronic lock 103, the electric door closer 104 and the information acquisition device 105. At least one type of data can be transmitted between the controller and the electronic lock 103, such as: an unlock command, a lock close command, an electronic lock state indicating whether the electronic lock 103 is in an unlocked state or a locked state, and the like. At least one type of data may be transmitted between the controller and the power door closer 104, such as: a door opening command for controlling the electric door closer 104 to open the door, a door closing command for controlling the electric door closer 104 to close the door, a command for controlling the electric door closer 104 to open the door to a target position, a command for controlling the electric door closer 104 to close the door to the target position, a command for controlling the electric door closer 104 to adjust the door moving direction, a command for controlling the electric door closer 104 to adjust the door moving speed, and the like.

In an exemplary system architecture applying other embodiments of the method for controlling a door or the method for controlling a door of the present application, the controller may be a processor in the electronic lock 103, the power door closer 104, the information acquisition device 105, or other equipment. For example: the controller may be a processor of the electronic lock 103, a processor of the electric door closer 104, a processor of the information acquisition device 105, a processor of a control terminal (such as an intelligent router) for controlling a household appliance, or a processor of a server.

The communication connections may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.

It should be noted that the method for controlling the door provided in the embodiments of the present application is generally performed by a controller, and accordingly, the apparatus for controlling the door is generally disposed in the controller.

With continued reference to FIG. 2, a flow 200 of one embodiment of a method for controlling a door in accordance with the present application is shown. The method for controlling a door includes the steps of:

step 201, determining the position and/or the movement parameters of an object in a target area, wherein the target area at least comprises an area through which part or all of the door bodies pass in the door moving process.

The subject in step 201 may be a person, an animal, an item other than a door, or the like.

The position and/or movement parameters of the object in the target area in step 201 may be generated by the information acquisition device 105 shown in fig. 1 and sent to a controller that performs the method shown in fig. 2. The information acquisition device 105 in fig. 1 may include: at least one of optical flow sensor, camera, ultrasonic detector, distance detector, etc. The camera can be a monocular camera, a binocular camera or a multi-view camera. The camera can be an infrared camera or an RGB camera.

Of course, in an alternative embodiment, the information acquisition device 105 shown in fig. 1 may only perform information acquisition (such as image acquisition, infrared image acquisition, ultrasonic signal acquisition, etc.), and then transmit the acquired information to the controller executing the method shown in fig. 2, and the controller executing the method shown in fig. 2 generates the position and/or movement parameters of the object in the target area based on the information acquired by the information acquisition device 105.

If the information acquisition device 105 includes an optical flow sensor, the optical flow sensor may calculate motion information of the object between adjacent frames based on an optical flow algorithm, and then the optical flow sensor or a controller executing the method shown in fig. 2 may determine the position and/or movement parameters of the object in the target area based on the motion information of the object between adjacent frames.

If the information acquisition device 105 includes a camera, the camera may acquire an image of the target area, then identify the position of the object in the image, and continuously track the position of the object based on an object tracking algorithm or the like, thereby determining the position and/or movement parameters of the object in the target area. It can be understood that if the camera is a binocular camera or a multi-view camera, the camera can also acquire depth information of the object. Thus, when the position of the object in the image is identified, a more accurate position of the object can be identified according to the depth information.

If the information acquisition device 105 comprises an ultrasound probe, the ultrasound probe may emit ultrasound waves towards the object and determine the position and/or movement parameters of the object in the target region based on the reflected ultrasound waves.

If the information acquisition device 105 includes a TOF sensor, the TOF sensor may emit an infrared light source toward the object, and the light waves are collected by the TOF sensor after being reflected back by the object. The distance between the object and the TOF sensor can be calculated by calculating the pulse difference or the time difference of the received light waves, so that the position and/or the movement parameter of the object in the target area can be determined.

It is understood that the door moves when the door is closed or opened, and if an object such as a person or an object is located in a movement area of the door, a collision may occur between the door and the object.

Wherein, the type of door is different, and the region that the door passed through in the removal process also changes correspondingly. For the door 102 in the exemplary system architecture 100 shown in FIG. 1, the area through which the bottom of the door 102 passes during its movement may be indicated by the scalloped area 106 in FIG. 3; and the area of the door 102 through which all the door bodies pass can be a three-dimensional area. In the embodiment of the present application, the target area may be a planar area or a stereoscopic area.

Alternatively, the controller performing the method of fig. 2 may perform step 201 in response to the movement state of the door 102. For example: the controller determines that the door 102 has started to move, then step 201 is executed; alternatively, the controller determines that the door 102 is about to start moving, then step 201 is performed. In an alternative embodiment, step 201 and/or step 202 may be performed multiple times, periodically or aperiodically.

The controller may determine whether the door 102 has begun to move by the operating state of the power closer 104. The controller may also determine whether the door 102 is about to begin moving by the operating state of the electronic lock 103 or a message sent by the electronic lock 103. For example: when the electronic lock 103 is unlocked, the controller may determine that the door 102 is about to move (open); the following steps are repeated: the electronic lock 103 sends a successful unlock message to the controller, and the controller can determine that the door 102 is about to start moving (open the door). The controller may also determine whether the door has begun to move by other means, such as: it is detected by a sensor whether the door has started to move.

Of course, in alternative embodiments, the controller may determine movement parameters such as the direction and speed of movement of the door 102, and the controller may determine information such as the position of the door 102, in addition to whether the door 102 has started moving or whether the door is about to start moving.

Optionally, since the electric door closer 104 provides an acting force to the door 102 and drives the door to perform actions such as automatic closing and automatic opening, the controller may determine the position and/or movement parameters of the door 102 according to the operating state of the electric door closer 104. For example: the electric door closer 104 moves the door 102 via a stepper motor, and the controller may determine the position and/or movement parameters of the door 102 via the stepper motor.

Optionally, the controller may also detect the position and/or movement parameters of the door 102 via some sensor. Those skilled in the art will appreciate that there are a variety of sensors that may be used to detect the position and/or movement parameters of the door 102, such as: gyroscopes, velocity sensors, acceleration sensors, laser transmitter/receivers, etc. The use of detecting the position and/or movement parameters of the door can be various, for example: the process of controlling the movement of the door is monitored based on the detection result of the position and/or movement parameter of the door to determine whether the door is moved to a target position or whether the movement parameter of the door is the movement parameter determined by the controller. And the following steps: determining a distance of the door from the object based on the position of the door; based on the position and/or movement parameters of the door, the risk of collision of the door with the object, etc. is determined.

In summary, the embodiments of the present application do not limit the specific manner in which the controller determines the position and/or movement parameters of the door 102.

In another optional embodiment of the method for controlling a door of the present application, the controller may also determine the type of the object, for example: determining whether the object is a person or a pet, determining whether the object is a trusted member or an untrusted member, and the like. Specifically, the controller may determine the type of object from the image acquired by the information acquisition device 105. In practical applications, the application may first train to obtain an object recognition model, and then recognize the type of the object based on the object recognition model. Optionally, in the present application, a supervised training method, a semi-supervised training method, and an unsupervised training method may be used for training the object recognition model.

The movement of the door is controlled based on the position and/or movement parameters of the object in the target area, step 202.

Since the position and/or movement parameters of the object in the target area can be determined, the present application can control the movement of the door on a targeted basis based on the position and/or movement parameters of the object in the target area, rather than merely on whether the object is present in the target area. Therefore, the method for controlling the door can effectively avoid the collision between the door and the object.

In particular, step 202 may control movement of the door to prevent the door from colliding with the object based on the position and/or movement parameters of the object in the target area. In an alternative embodiment, step 202 may control the speed and/or direction of movement of the door to prevent the door from colliding with the object. In another alternative embodiment, step 202 may control the door to move to the target position to prevent the door from colliding with the object.

According to another embodiment of the method for controlling a door of the present application, step 202 in the embodiment shown in fig. 2 may specifically include at least one of the following manners:

first, the moving speed of the door is controlled based on the position and/or moving parameters of the object in the target area to prevent the door from colliding with the object.

The specific way of controlling the moving speed of the door to prevent the door from colliding with the object may be: the door is controlled to reduce the moving speed to prevent the door from colliding with the object. Of course, in some cases, the moving speed may be increased by controlling the door to prevent the door from colliding with the object. For example: the door opening type of the door is an outward-opening vertical hinged door, and in the door opening process, a person runs towards the door from the inside of a room, so that the door can be controlled to be opened in an accelerated manner based on the position and the moving parameters of an object in a target area, and the door can be prevented from colliding with the person.

In an optional embodiment, the first mode may specifically include at least one of the fourth mode and the fifth mode:

and fourthly, determining whether the distance between the object and the door is less than a second preset safety distance or not based on the position of the object in the target area, and if so, controlling the door to reduce the moving speed so as to prevent the collision between the door and the object.

Optionally, the manner of controlling the door to reduce the moving speed may be: and controlling the speed of the electric door closer driving the door to move. Specifically, when the electric door closer provides the acting force to the door through the electric motor, the electric door closer can adjust the working parameters of the electric motor to change the speed of driving the door to move. The operating parameters of the motor include: at least one of parameters of a power supply of the motor, a rotation speed of the motor, and the like. Wherein, the parameters of the power supply may include: at least one of voltage, current, frequency, etc.

For example: when the motor is a stepping motor, the speed of driving the door to move can be changed by controlling the frequency of input pulses; when the motor is an alternating current motor, the speed of driving the door to move can be changed by controlling the frequency of the input alternating current; when the motor is a dc motor, the speed of the driving door can be changed by controlling the magnitude of the driving voltage.

Optionally, in the embodiment of the application, a plurality of speed gears may be set in the controller in advance, each speed gear corresponds to one moving speed, and the moving speeds corresponding to the speed gears are different. The corresponding relation between the speed gear and the working parameters of the motor can be stored in the electric door closer, and when the electric door closer controls the motor to work under a certain working parameter in the corresponding relation, the motor can drive the door to move at the speed represented by the speed gear corresponding to the working parameter.

An example of a speed gear versus operating parameter of the electric motor is provided below, as shown in table 1.

TABLE 1, speed gear and motor operating parameter corresponding relationship schematic table

Speed gear	Operating parameters of electric motor
		First gear	First operating parameter
Second gear	Second operating parameter
		Third gear	Third operating parameter
Fourth gear	Fourth operating parameter
		Fifth gear	Fifth operating parameter

The following takes table 1 as an example to illustrate the process of controlling the moving speed of the door according to the embodiment of the present application: when the condition that the moving speed of the door needs to be adjusted is met, the controller sends a target gear needing to be adjusted to the electric door opening and closing device; the electric door closer searches the corresponding working parameters in the table 1 according to the received target gear, and controls the motor to work according to the searched working parameters, so that the motor drives the door to move according to the speed represented by the target gear.

Optionally, the adjusting the moving speed of the door in the embodiment of the present application includes: at least one of adjusting modes such as increasing the moving speed of the door, reducing the moving speed of the door, keeping the moving speed of the door and controlling the door to be kept still.

In an optional embodiment of the present application, the distance between the object and the door may be: the shortest distance of the object to the door. In another optional embodiment of the present application, the distance between the object and the door may be: the distance of the object from the door in the direction of its movement.

It can be understood that the door can be effectively prevented from hitting the object by reducing the moving speed of the door. Optionally, the value of the second preset safe distance may be matched with the type of the object, for example: if the type of the object is human, the second preset safe distance is 30 centimeters; if the type of the object is an animal, the second preset safe distance is 25 cm; if the type of the object is an item without life, the second preset safe distance is 20 cm.

And fifthly, determining whether the distance between the object and the door is gradually reduced or not based on the position and/or the movement parameter of the object in the target area, and if so, controlling the door to reduce the movement speed so as to prevent the door from colliding with the object.

It is understood that if the distance between the object and the door is gradually decreased, the object and the door may collide with each other, and the door may be controlled to decrease the moving speed to prevent the collision between the door and the object. After a period of time, if the distance between the object and the door is gradually increased, the door can be controlled again to start moving according to the original moving mode (such as the original moving speed). The specific way of adjusting the moving speed of the door has been described in the foregoing, and is not described in detail.

Optionally, the specific manner of controlling the door to reduce the moving speed in the fourth and fifth manners may be various, such as: directly reducing the moving speed of the door to a target moving speed; the following steps are repeated: reducing the moving speed of the door by 50%; the following steps are repeated: for a door with a rotational movement, the rotational speed of the door is reduced by 30 degrees/second, and for a door with a translational movement, the translational speed of the door is reduced by 0.3 m/second.

The target moving speed may be 0, that is: when the moving speed of the door is reduced to the target moving speed, the door does not move any more.

And secondly, controlling the moving direction of the door based on the position and/or the moving parameters of the object in the target area so as to prevent the door from colliding with the object.

Optionally, the second mode may be to prevent the door from colliding with the object by adjusting the moving direction of the door.

In an optional embodiment, the second method may specifically include:

determining whether a first moving direction of the object in the target area is consistent with a second moving direction of the door at the current moment, and if so, controlling the door to continue to move along the second moving direction; otherwise, the control door moves in a third direction of movement, wherein the third direction of movement is opposite to the second direction of movement.

In an alternative embodiment, the first moving direction of the object in the target area and the second moving direction of the door at the current time may be determined in a manner that:

the first component of the first direction of movement in the target direction points in the same direction as the second component of the second direction of movement in the target direction. Wherein the target direction is a direction perpendicular to the plane of the largest surface of the door.

In practical applications, the first moving direction of the object in the target area is consistent with the second moving direction of the door at the current time, and may include at least one of the following situations:

in the first case, the object moves in the target area in a direction close to the inside of the room, the door is a side-hung type outward opening door, and the door is closed.

And in the second situation, the object moves in the direction far away from the indoor space in the target area, the door is a side-hung type outward opening door, and the door is opened.

And in the third case, the object moves towards the indoor direction in the target area, the door is a horizontally-opened inward-opening door, and the door is opened.

And in the fourth case, the object moves in the target area in the direction far away from the indoor space, the door is an inward opening door of a side hung type, and the door is closed.

It is understood that, based on the above-mentioned determination manner of "direction matching" and the above-mentioned four cases, those skilled in the art know that "direction matching" of other types of doors may include various cases, and the embodiments of the present application are not limited herein.

If the first moving direction of the object in the target area is consistent with the second moving direction of the door at the current moment, the possibility of collision between the object and the door is low, and even if collision occurs, the door does not cause great damage to the object, so that the door can be controlled to continuously move along the second moving direction.

If the first moving direction of the object in the target area is inconsistent with the second moving direction of the door at the current moment, the possibility of collision between the object and the door is high; if collision happens, the door can cause great damage to the object, so that the door can be controlled to move continuously along the opposite moving direction, the possibility of collision is effectively avoided, and the degree of collision damage is effectively reduced.

Optionally, the controller may send a control command carrying a target moving direction to the electric door closer, and the electric door closer may control a working mode of a component (e.g., a motor) that drives the door to move according to the target moving direction, so as to control the moving direction of the door. For example: the moving direction of the door at the current moment is a second moving direction, and the motor drives the door to move along the second moving direction when rotating positively; if the controller determines that the moving direction of the door needs to be adjusted to a third moving direction (the third moving direction is opposite to the second moving direction), the motor may send a control command carrying the third moving direction to the electric door closer, and the electric door closer controls the motor to rotate reversely according to the third moving direction, so that the door is driven to move in the third moving direction when the motor rotates reversely.

Alternatively, the first target position may be a safe position having a relatively large distance from the object, in which the door is less likely to collide with the object.

In the embodiment of the present application, the types of the objects are different, and the first target positions may be the same or different.

In an alternative embodiment, as shown in fig. 4, the third method may specifically include:

step 401, acquiring a first position of an object in a target area;

step 402, determining a first target position based on the first position, wherein in the process that the door moves to the first target position, the distance between the target position point on the door and the object is not less than a first preset safety distance;

step 403, the door is controlled to move to the first target position.

The target location point of the door may be different when the door type is different. For example: when the door type is a tambour door, the target location point on the door may be a location point at the bottom of the door, since the tambour door is typically moved up and down. When the door type is a side hung door, since the side hung door generally rotates along the hinge, the target position point on the door may be a position point on the door closest to the object, or may be a point on the other side of the door opposite to the side where the hinge is located.

In the embodiment of the present application, in controlling the door, at least two of the moving speed, the moving direction, and the target position of movement of the door may be controlled simultaneously or sequentially to prevent the door from colliding with the object. For example: the door is controlled to decelerate first, then the door is controlled to change the moving direction, and then the door is controlled to move to the first target position.

Of course, the moving speed, the moving direction, and the moving target position of the control gate may be selectively used according to the scene. For example: determining whether a first moving direction of the object in the target area is consistent with a second moving direction of the door at the current moment, and if not, controlling the door to move along a third moving direction, wherein the third moving direction is opposite to the second moving direction; if the distance between the object and the door is consistent with the first target position, determining whether the distance between the object and the door is gradually reduced, if so, controlling the door to reduce the moving speed, and then controlling the door to move to the first target position.

In practical applications, the moving speed, the moving direction and the moving target position of the door may also be controlled by combining the door opening type and the door opening direction of the door, and the embodiment of the present application is not limited herein.

In another embodiment of the method for controlling a door according to the present application, the method for controlling a door may further include: determining a movement type of the object based on the movement parameter of the object in the target area, wherein the movement type comprises: at least one of an exit, an entrance, and a stay near the door.

After determining the type of movement of the object, various processing may be performed based on the object type, such as: control of home appliances, control of electronic locks, and the like. In practical application, if the movement type is going out, it can be determined that the user has gone out, and at this time, the mode of the electronic lock can be adjusted to the security mode.

Optionally, in the embodiment of the present application, the movement type of the object may be determined according to the movement direction of the object, that is: whether the object is out, in, or near the door is determined according to the moving direction.

Referring to FIG. 5, a flow chart 500 of one embodiment of a method for controlling a door in accordance with the present application is shown. The method for controlling a door includes the steps of:

step 501, determining a movement type of an object based on a movement parameter of the object in a target area, wherein the movement type includes: at least one of an exit, an entrance, and a stay near the door.

Step 502, determining whether the object still exists in the door or not based on the movement type of the object, and obtaining a determination result.

By determining the type of movement of the object, it can be determined whether there are still objects in the door.

Optionally, the embodiment of the application may set a current number N of people₀The current number of persons is initially set to 0. The method and the device for determining the number N of the objects to be out of the door can determine the number N of the objects to be out of the door in the process of opening and closing the door each time based on the moving type of the objects₁And the number N of objects entering the door₂According to the number N of objects out₁And the number N of objects entering the door₂For the current number of people N₀Making adjustments (e.g., after each door opening/closing process, the current number of people N₀Increasing the number of objects entering the door N₂The current number of people N₀Minus the number of outgoing objects N₁). The current number of people is the number of objects in the door, and if the current number of people is 0, no object exists in the door.

For example: three people enter the door in the first night under the condition that no people are at home, and three people exit the door in the second morning, so that the situation that no people are in the door after the three people exit the door can be determined.

And step 503, controlling the working state of at least one target device based on the determination result.

The target device may include: the floor cleaning robot comprises one or more of a floor cleaning robot, an air conditioner, a water heater, a washing machine, an electric curtain, a video monitoring device, an air purifier, an electric lamp, heating equipment and the like.

If an object is present within the door, an operational state of the at least one target device may be controlled based on the object. For example: when a person is at home, the working state of the air conditioner is controlled according to the temperature at home. The following steps are repeated: when a person is at home, the working state of the electric lamp is controlled according to the illumination intensity at home.

If no object exists in the door, the operating state of the at least one target device may be controlled based on a result of the absence of the object in the door. For example: some household appliances are turned off when nobody is at home, etc.

Through steps 501 to 503, the embodiment of the present application may determine whether there are still objects in the door based on the movement type of the object and correspondingly control the working state of the target device, so that the working state of the target device is matched with whether there are still objects in the door, thereby effectively improving the intelligence of device control.

With continued reference to FIG. 6, a flow 600 of one embodiment of a method for controlling a door in accordance with the present application is shown. The method for controlling a door includes the steps of:

step 601, responding to a door control command for controlling the door to move, and controlling the door to move to a second target position along a preset moving path, wherein the passing area in the moving process of the door is as follows: the area through which the door passes during movement from the current position to the second target position.

The door control command may be generated or issued by a variety of devices, such as: a mobile terminal such as a mobile phone, a server, an electronic lock, a controller and the like.

The door control command may be generated or issued after the unlocking operation is successfully performed, for example: the user carries out unlocking operation through a key, a magnetic card, a mobile phone, a password, a fingerprint, a human face and the like, and after the unlocking operation is successfully carried out, the equipment generates or sends out the door control command. The door control command may be: a door open command, a door close command, a half door open command, a half door close command, etc.

Optionally, the second target position is matched with the door control instruction, and if the door control instruction is a door closing instruction, the second target position is a position where the door is completely closed; if the door control instruction is a door opening instruction, the second target position is a position at which the door is completely opened; if the door control command is a command for opening the door to half, the second target position is a position for opening the door to half.

Step 602, determining the position and/or the movement parameters of the object in a target area, wherein the target area at least comprises an area through which part or all of the door body passes in the door moving process.

Step 603, controlling the movement of the door based on the position and/or movement parameters of the object in the target area.

Step 602 is the same as step 201 shown in fig. 2, and step 603 is the same as step 202 shown in fig. 2, and will not be described again.

Specifically, steps 602 and 603 may be performed during the step 601 of controlling the door to move to the second target position along the preset moving path. Alternatively, steps 602 and 603 may be performed one or more times during the step 601 of controlling the door to move to the second target position along the preset moving path.

Fig. 7 illustrates another exemplary system architecture 700 to which some embodiments of the method for controlling a door or the method for controlling a door of the present application may be applied.

As shown in fig. 7, the system architecture 700 may include: an optical flow sensor 701, a face recognition module 702, a video master control 703, a door lock master control 704, an electric door closer 705, a lock body 706 and a door 707.

The optical flow sensor 701, the electric door closer 705, and the door 707 have already been described above, and are not described again. It is understood that in other exemplary system architectures, the optical flow sensor 701 may be modified to at least one of an optical flow sensor, a camera, an ultrasound probe, a distance probe, and the like. It is to be understood that the face recognition module 702 is an unnecessary component of the system architecture to which the method for controlling a door or the method for controlling a door of the present application is applied. Namely: the system architecture 700 may not include the face recognition module 702.

The face recognition module 702 is a module that can perform face recognition on the image acquired by the optical flow sensor 701. The face recognition module 702 may be a separate module or may be integrated into other devices, such as the video master 703, the optical flow sensor 701, or the door lock master 704.

The video master 703 is a controller that can control the electric door closer 705 based on the position and/or movement parameters of the object determined by the optical flow sensor 701. Of course, the video master control 703 may also send an instruction to the door lock master control 704 based on the recognition result of the face recognition module 702, so as to unlock or lock the lock body 706. Alternatively, the video master 703 and the door lock master 704 may be integrated together, i.e.: the video master 703 and the door lock master 704 may be the same controller. Of course, the video master 703 and the door lock master 704 may be different controllers.

The door lock master 704 is a controller that can control the lock body 706, and the door lock master 704 and the lock body 706 can be integral parts of an electronic lock. It will be appreciated that both the lock body 706 and the power door closer 705 may be mounted to the door 707.

The lines between the various components of the system architecture 700 shown in FIG. 7 represent: one of communication connection, electric connection, transmission connection, physical connection and the like.

Referring to FIG. 8, a flow diagram of one embodiment of a method for controlling a door in accordance with the present application is shown. The method for controlling a door includes the steps of:

step 801, a face recognition module performs face recognition on an image acquired by a camera to obtain a recognition result.

Optionally, the camera may be triggered by an infrared sensor and enter a working state to start capturing images. The infrared sensor can collect infrared signals in the front area of the door, so that when a person stands in front of the door, the infrared signals are collected, and the camera is triggered according to the infrared signals.

The face recognition module can determine whether a face exists in the acquired image, if so, determine whether the face is the face of a trusted member, and if so, obtain a recognition result as follows: people in the image are trusted members. If the face is determined not to be the face of the trusted member, the obtained recognition result is: the person in the image is not a trusted member.

Wherein, the face of the trusted member can be stored in advance to facilitate face recognition.

Step 802, the face recognition module sends the recognition result to the video master control.

Step 803, the recognition result is: and when the person in the image is a trusted member, the video master control generates an unlocking instruction.

It can be understood that the lock can be unlocked in other modes such as fingerprints and passwords besides the mode of face recognition.

And step 804, the video master control sends an unlocking instruction to the door lock master control.

And step 805, controlling the lock body to be unlocked by the door lock master controller based on the unlocking instruction.

At step 806, the video master controls the start of the optical flow sensor.

Step 806 may be performed before or after step 804, or step 806 and step 804 may be performed simultaneously. Step 806 may be performed before or after step 805, and step 806 and step 805 may also be performed simultaneously.

After the optical flow sensor is started, the operation can be started, such as: acquiring images, determining position and/or movement parameters of the object in the target area based on the images, etc.

Step 807, the optical flow sensor determines whether an object exists in the target area, and if not, step 808 is triggered; if so, step 809 is triggered.

Step 808, the video master sets the maximum door opening angle as the first target position, and triggers to execute step 812.

Since there is no object in the target area, the door can be opened to a maximum door opening angle.

Wherein the maximum door opening angle can be set and modified. In an optional embodiment of the present application, the video master controller may learn and adjust the maximum door opening angle according to the door opening angle of the door in actual use.

Step 809, the optical flow sensor acquires an image and determines the position and/or movement parameters of the object in the target area based on the image.

Since the object exists in the target area, the embodiment of the present application needs to determine the position and/or the movement parameter of the object in the target area, and control the movement of the door based on the position and/or the movement parameter of the object in the target area to prevent the door from colliding with the object.

At step 810, the optical flow sensor sends the position and/or movement parameters of the object in the target area to the video master.

In step 811, the video master determines a first target location based on the location and/or movement parameters of the object in the target area.

The specific scheme for determining the first target position based on the position and/or the movement parameter of the object in the target area has been described in the foregoing embodiments, and is not described again.

At step 812, the video master sends the first target position to the power door closer.

At step 813, the electric door closer drives the door to open to the first target position at the first moving speed.

Alternatively, after the electric door closer drives the door to be opened to the first target position, the door may be controlled to stop moving to further prevent collision.

Alternatively, step 809 may be performed again after the power door closer actuates the door to open to the first target position.

Wherein, the first target position is different, and the first moving speed can be the same or different. For example: when the first target position is the maximum door opening angle, the first moving speed may be greater; when the first target position is not the maximum door opening angle, the first moving speed may be smaller.

Of course, in other embodiments, the video master may determine a moving direction, a moving speed, etc. of the door based on the position and/or the moving parameters of the object in the target area, and transmit the determined moving direction and/or moving speed to the electric door closer, which drives the door to move to the first target position in the moving direction and/or moving speed.

For example: during the process that the electric door closer drives the door to open to the first target position at the first moving speed, the video main control determines whether the first moving direction of the object in the target area is consistent with the second moving direction of the door at the current moment or not based on the position and/or the moving parameters of the object in the target area, and if so, the door is controlled to continue to move along the second moving direction; otherwise, the control door moves in a third moving direction, wherein the third moving direction is opposite to the second moving direction.

The embodiment shown in fig. 8 may determine a first target position and drive the door to open to the first target position at a first moving speed by the electric door closer based on the position and/or moving parameters of the object in the target area when the object exists in the target area. The embodiment shown in fig. 8 effectively reduces the risk of collision of the door with the object during opening of the door.

Referring to FIG. 9, a flow diagram of one embodiment of a method for controlling a door in accordance with the present application is shown. The method for controlling a door includes the steps of:

and step 901, the video master control generates a door closing instruction.

Wherein, the video master control can generate a door closing instruction under at least one condition, such as: generating a door closing instruction when the door is opened overtime; the following steps are repeated: and detecting that the object passes through the target area, and generating a door closing instruction.

And step 902, the video master controller controls the optical flow sensor to start based on the door closing instruction.

903, determining whether an object exists in the target area by the optical flow sensor, and sending a determination result that the object does not exist in the target area to the video master control when the object does not exist in the target area, so as to trigger the video master control to execute step 904; the optical flow sensor performs step 905 when it determines that an object is present in the target area.

In step 904, the video master sets the maximum door closing angle as the first target position and performs step 908.

Alternatively, the maximum door-closing angle may be an angle at which the door is closed to be locked. When the door moves to the maximum door closing angle, it can be determined that the door was closed successfully.

Wherein the maximum door closing angle can be set and modified. In an optional embodiment of the present application, the video master controller may learn and adjust the maximum door closing angle according to the door closing angle of the door in actual use.

Step 905, the optical flow sensor acquires an image and determines a position and/or movement parameter of the object in the target area based on the image.

At step 906, the optical flow sensors send the position and/or movement parameters of the object in the target area to the video master.

In step 907, the video master determines a first target location based on the location and/or movement parameters of the object in the target area.

At step 908, the video master sends the first target location to the power door closer.

At step 909, the electric door closer drives the door to close to the first target position at the second moving speed.

The second moving speed may be the same as or different from the first moving speed in the embodiment shown in fig. 8. Namely: the door moving speed when the door is closed and the door moving speed when the door is opened may be the same or different.

If the first target position is not the maximum door closing angle, the electric door closer according to the embodiment of the present application may control the door to stop moving after the driving door is closed to the first target position, so as to prevent the door from colliding with the object.

Wherein, the first target position is different, and the second moving speed can be the same or different. For example: when the first target position is the maximum door closing angle, the second moving speed may be greater; when the first target position is not the maximum door-closing angle, the second moving speed may be smaller.

For example: in the process that the electric door closer drives the door to close to a first target position at a first moving speed, the video main control determines whether a first moving direction of an object in a target area is consistent with a second moving direction of the door at the current moment or not based on the position and/or moving parameters of the object in the target area, and if so, the door is controlled to continue to move along the second moving direction; otherwise, the control door moves in a third direction of movement, wherein the third direction of movement is opposite to the second direction of movement.

In step 910, the electric door closer feeds back the door status to the video master.

The states of the door include: the door is successfully closed, the door is closed overtime, and barriers are arranged in front of the door.

Step 911, the video master control determines whether the door closing is successful, and if the door closing is successful, step 912 is executed; if the door closing is not successful, go to step 914.

Optionally, the door closing time out, the door having a barrier in front of the door, etc. status indicates that the door was not closed successfully.

In an alternative embodiment, the door closing process may be stopped if the door closing is unsuccessful.

Step 912, the video master control sends a lock closing instruction to the door lock master control;

and step 913, the door lock master control controls the lock body to lock based on the locking command.

In step 914, the video master control performs voice prompt processing.

The voice prompt processing may be: the video master control controls a voice output device (such as a loudspeaker or a mobile phone of a user) to output prompt tones. The prompt tone can be 'there is a barrier in front of the door', 'there is no barrier to close the door', 'door closing failure' and so on.

In an alternative embodiment, after the step 914 is executed, after a period of time, the step 901 may be executed again to try to close the door again.

With further reference to fig. 10, as an implementation of the methods shown in some of the above figures, the present application provides an embodiment of an apparatus for controlling a door, which corresponds to the method embodiment shown in fig. 2, and which is particularly applicable in various electronic devices.

As shown in fig. 10, the apparatus for controlling a door of the present embodiment may include: an information determination unit 1001 and a movement control unit 1002,

the information determining unit 1001 is used for determining the position and/or the movement parameters of an object in a target area, wherein the target area at least comprises an area through which a part or all of the door bodies pass in the door moving process;

a movement control unit 1002 for controlling the movement of the door based on the position and/or movement parameters of the object in the target area.

In this embodiment, the detailed processing of the information determining unit 1001 and the mobile control unit 1002 and the technical effects brought by the processing can refer to the related descriptions of the embodiments of step 201 and step 202 in the corresponding embodiment of fig. 2, which are not described herein again.

In some embodiments, the movement control unit 1002 controls the movement of the door based on the position and/or movement parameters of the object in the target area, including at least one of the following three ways:

first, the movement control unit 1002 controls the movement speed of the door based on the position and/or movement parameter of the object in the target area to prevent the door from colliding with the object;

second, the movement control unit 1002 controls the movement direction of the door based on the position and/or movement parameters of the object in the target area to prevent the door from colliding with the object;

third, the movement control unit 1002 controls the door to move to the first target position based on the position and/or the movement parameter of the object in the target area to prevent the door from colliding with the object.

In some embodiments, the movement control unit 1002 controls the door to move to the first target position based on the position and/or the movement parameter of the object in the target area to prevent the door from colliding with the object, and is specifically configured to:

the movement control unit 1002 acquires a first position of an object in the target area detected by the optical flow sensor;

the movement control unit 1002 determines a first target position based on the first position, wherein in the process that the door moves to the first target position, the distance between the target position point on the door and the object is not less than a first preset safety distance;

the movement control unit 1002 controls the door to move to the first target position.

In some embodiments, the movement control unit 1002 controls the movement direction of the door based on the position and/or the movement parameter of the object in the target area to prevent the door from colliding with the object, and is specifically configured to:

the movement control unit 1002 determines whether a first moving direction of the object in the target area coincides with a second moving direction of the door at the present time; if yes, the control door continues to move along the second moving direction; otherwise, the control door moves in a third moving direction, wherein the third moving direction is opposite to the second moving direction.

In some embodiments, the movement control unit 1002 controls the moving speed of the door to prevent the door from colliding with the object based on the position and/or the movement parameter of the object in the target area, including at least one of:

the fourth way, the movement control unit 1002 determines whether the distance between the object and the door is less than a second preset safe distance based on the position of the object in the target area, and if so, controls the door to reduce the movement speed to prevent the door from colliding with the object;

mode five, the movement control unit 1002 determines whether the distance between the object and the door gradually becomes smaller based on the position of the object in the target area and/or the movement parameter, and if so, controls the door to decrease the movement speed to prevent the door from colliding with the object.

In some embodiments, an apparatus for controlling a door provided by the embodiments of the present application may further include:

a movement type determination unit, configured to determine a movement type of the object based on the movement parameter of the object in the target area, wherein the movement type includes: at least one of an exit, an entrance, and a stay near the door.

In some embodiments, an apparatus for controlling a door provided by an embodiment of the present application may further include:

the object determining unit is used for determining whether the objects still exist in the door or not based on the movement types of the objects to obtain a determination result;

and the position control unit is used for responding to a door control command for controlling the door to move, and controlling the door to move to a second target position along a preset moving path, wherein the passing area in the moving process of the door is as follows: the area through which the door passes during movement from the current position to the second target position.

It should be noted that the device for controlling the door may be a chip, a component or a module, the device for controlling the door may include a processor and a memory, the information determination unit 1001 and the movement control unit 1002 are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.

The processor may include a kernel, which calls the corresponding program unit from the memory. One or more of the cores can be set, and the control of the door is realized by adjusting the parameters of the cores.

The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

The apparatus for controlling a door provided in the above-described embodiments of the present application controls the movement of the door based on the position and/or movement parameters of the object in the target area by determining the position and/or movement parameters of the object in the target area. Since the position and/or movement parameters of the object in the target area can be determined, the apparatus for controlling a door of the present application can control the movement of the door on a targeted basis based on the position and/or movement parameters of the object in the target area, rather than controlling the movement of the door only based on whether the object is present in the target area. It can be seen that the device for controlling a door of the present application can effectively avoid the collision of the door with an object.

Referring now to FIG. 11, shown is a schematic diagram of an electronic device 1100 suitable for use in implementing some embodiments of the present application. The electronic device shown in fig. 11 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.

As shown in fig. 11, electronic device 1100 may include a processor 1101, a memory 1102, a communication interface 1103, an input unit 1104, an output unit 1105, and a communication bus 1106. Wherein the processor 1101 and the memory 1102 are coupled to each other via a communication bus 1106. A communication interface 1103, an input unit 1104, and an output unit 1105 are also connected to the communication bus 1106.

The communication interface 1103 may be an interface of a communication module, such as an interface of a GSM module. The communication interface 1103 may send control commands to the electric door closer.

In this embodiment, the processor 1101 may be a Central Processing Unit (CPU), an application-specific integrated circuit (ASIC), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device.

In one possible implementation, the memory 1102 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data created during use of the computer, such as gear information, operating parameters of the motor, and the like.

Further, the memory 1102 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device or other volatile solid-state storage device.

The processor 1101 may call a program stored in the memory 1102, and in particular, the processor 1101 may execute the method for controlling the gate shown in any one of the embodiments of fig. 2 and fig. 4 to 9.

The memory 1102 is used for storing one or more programs, the programs may include program codes including computer operation instructions, and in this embodiment, the memory 1102 stores at least the programs for implementing the following functions:

controlling movement of the door based on a position and/or movement parameter of the object in the target area.

The present application may further include an input unit 1105, where the input unit 1105 may include at least one of a touch sensing unit that senses a touch event on the touch display panel, a keyboard, a mouse, a camera, a sound pickup, and the like.

The output unit 1104 may include: at least one of a display, a speaker, a vibration mechanism, a light, and the like. The display may comprise a display panel, such as a touch display panel or the like. In one possible case, the Display panel may be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), or the like. The vibration mechanism is operable to displace the electronic device 1100, and in one possible implementation, the vibration mechanism includes a motor and an eccentric vibrator, and the motor rotates the eccentric vibrator to generate vibration. The brightness and/or color of the lamp can be adjusted, in a possible implementation manner, different information can be embodied through at least one of the on-off, brightness and color of the lamp, for example, the alarm information can be embodied through red light emitted by the lamp.

Of course, the structure of the electronic device 1100 shown in fig. 11 does not constitute a limitation of the electronic device in the embodiment of the present application, and in practical applications, the electronic device may include more or less components than those shown in fig. 11, or some components may be combined.

The present application provides a computer readable medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method for controlling a door described in the above method embodiments.

The present application provides a processor, which is configured to execute a program, where the program when executed implements the method for controlling a door described in the above method embodiments.

The present application further provides a computer program product which, when executed on a data processing device, causes the data processing device to implement the method for controlling a door as described in the above method embodiments.

In addition, the electronic device, the processor, the computer-readable medium, or the computer program product provided in the foregoing embodiments of the present application may be all used for executing the corresponding method provided above, and therefore, the beneficial effects achieved by the electronic device, the processor, the computer-readable medium, or the computer program product may refer to the beneficial effects in the corresponding method provided above, and are not described herein again.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

Computer-readable media, which include both non-transitory and non-transitory, removable and non-removable media, may implement the information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The above description is only for the purpose of illustrating the preferred embodiments of the present application and the technical principles applied, and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. The scope of the invention according to the present application is not limited to the specific combinations of the above-described features, and may also cover other embodiments in which the above-described features or their equivalents are arbitrarily combined without departing from the spirit of the invention. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.

Claims

1. A method for controlling a door, the method comprising:

2. The method of claim 1, wherein controlling the movement of the door based on the position and/or movement parameters of the object in the target area comprises at least one of:

a second mode of controlling the moving direction of the door based on the position and/or the moving parameters of the object in the target area so as to prevent the door from colliding with the object;

3. The method of claim 2, wherein the controlling the door to move to a first target position based on the position and/or movement parameters of the object in the target area to prevent the door from colliding with the object comprises:

acquiring a first position of the object in the target area;

controlling the door to move to the first target position.

4. The method of claim 2, wherein the controlling the direction of movement of the door to prevent the door from colliding with the object based on the position and/or movement parameters of the object in the target area comprises:

5. The method of claim 2, wherein the controlling the speed of movement of the door to prevent the door from colliding with the object based on the position and/or movement parameters of the object in the target area comprises at least one of:

6. The method of claim 1, further comprising:

7. The method of claim 6, further comprising:

8. The method of claim 1, further comprising:

9. An apparatus for controlling a door, the apparatus comprising: an information determination unit and a movement control unit,

10. A computer-readable medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-8.

11. A processor for running a program, wherein the program when running implements the method of any one of claims 1-8.

12. An electronic device, comprising:

one or more processors;

a storage device having one or more programs stored thereon;

the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-8.