CN114809856A - Method and equipment for determining motion state of electric control door during opening and closing - Google Patents
Method and equipment for determining motion state of electric control door during opening and closing Download PDFInfo
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- CN114809856A CN114809856A CN202210468412.2A CN202210468412A CN114809856A CN 114809856 A CN114809856 A CN 114809856A CN 202210468412 A CN202210468412 A CN 202210468412A CN 114809856 A CN114809856 A CN 114809856A
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- 230000033001 locomotion Effects 0.000 title claims abstract description 164
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- 230000001133 acceleration Effects 0.000 claims abstract description 185
- 230000003068 static effect Effects 0.000 claims abstract description 53
- 238000001914 filtration Methods 0.000 claims abstract description 34
- 238000001514 detection method Methods 0.000 claims description 56
- 230000002441 reversible effect Effects 0.000 claims description 21
- 238000005259 measurement Methods 0.000 claims description 14
- 230000010354 integration Effects 0.000 claims description 5
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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
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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
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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
- E05Y2900/40—Application of doors, windows, wings or fittings thereof for gates
- E05Y2900/404—Application of doors, windows, wings or fittings thereof for gates for railway platform gates
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- E05Y2999/00—
Abstract
The object of the present application is to provide a method and an apparatus for determining the state of motion when an electrically controlled door is opened and closed. Compared with the prior art, the method and the device have the advantages that the original acceleration data of the electric control door in the running time are obtained; filtering the original acceleration data through a filter to determine filtered acceleration data; and determining the motion state according to the filtering acceleration data, the running time, a predetermined distance threshold, an acceleration threshold and a time threshold of each motion state, wherein the motion state comprises acceleration, constant speed, deceleration door opening, static door opening, acceleration, constant speed, deceleration door closing and static door closing. By the method, the motion state of the electric control door can be judged only by measuring acceleration data and running time, and the method is wide in applicability and low in application cost.
Description
Technical Field
The application relates to the technical field of computers, in particular to a technology for determining a motion state of an electric control door during opening and closing.
Background
In a scene that the motion state of an electric control door such as an elevator door, a freight elevator door, a subway shield door, a car door and the like which are automatically opened and closed according to a program is required to be judged, for example, a robot automatically enters and exits the electric control door and the like, the motion state is generally judged by using computer vision in the prior art, external equipment such as a 2D or 3D camera and the like is required to be installed in the mode, the application cost is high, and the requirement of a software algorithm of the computer vision on the operation environment is higher; in addition, another feasible method is to acquire a communication protocol of the electric control door so as to access a software and hardware system of the electric control door and acquire the opening and closing motion state of the electric control door, but the difficulty of acquiring the communication protocol is high, and the universality of the method is poor due to the fact that electric control door manufacturers are various.
Therefore, a technique for determining the motion state of an electrically controlled door when opened and closed is needed, which is low in cost, easy to implement, and strong in universality.
Disclosure of Invention
The application aims to provide a method and a device for determining the motion state when an electrically controlled door is opened and closed.
According to one aspect of the application, a method for determining a state of motion when electronically controlling a door switch is provided, wherein the method comprises:
acquiring original acceleration data of the electric control door in the running time;
filtering the original acceleration data through a filter to determine filtered acceleration data;
and determining the motion state according to the filtering acceleration data, the running time, a predetermined distance threshold, an acceleration threshold and a time threshold of each motion state, wherein the motion state comprises acceleration, constant speed, deceleration door opening, static door opening, acceleration, constant speed, deceleration door closing and static door closing.
Further, the original acceleration data is obtained by using an IMU, wherein after the original acceleration data is filtered by a filter and filtered acceleration data after being determined, the method further includes:
measuring and calculating deviation values, and determining detection data according to the deviation values and the filtering acceleration data;
wherein the determining the motion state according to the detection data and the running time and a predetermined distance threshold, an acceleration threshold, and a time threshold of each motion state comprises:
and judging the motion state according to the detection data and the running time, a distance threshold value, an acceleration threshold value and a time threshold value of each motion state which are measured in advance.
Further, wherein the calculating the bias value comprises:
measuring an IMU (inertial measurement Unit) measurement value in a static door opening or static door closing state according to a preset period and preset measurement times;
calculating a variance and a mean of the IMU measurements;
and if the variance is smaller than a preset variance threshold value, setting the mean value as a deviation value.
Preferably, the determining the motion state according to the filtered acceleration data and the running time and a predetermined distance threshold, acceleration threshold and time threshold of each motion state comprises:
performing secondary integration on the detection data according to the running time to obtain distance data;
and judging the motion state according to the detection data, the running time, the distance data, a distance threshold value, an acceleration threshold value and a time threshold value of each motion state which are measured in advance.
Further, the moving sequence of the motion states includes acceleration, uniform speed, deceleration door opening, static door opening, acceleration, uniform speed, deceleration door closing, and static door closing, wherein the determining the motion states according to the detection data, the running time, the distance data, the predetermined distance threshold, the predetermined acceleration threshold, and the predetermined time threshold of each motion state includes:
if the detected data is larger than the acceleration threshold, judging that the motion state is an acceleration door opening state;
if the detected data are smaller than the acceleration threshold or the running time is larger than the time threshold of accelerating door opening, judging that the motion state is a constant-speed door opening state, and remeasuring the running time;
if the detected data is smaller than the reverse acceleration threshold or the running time is larger than the time threshold of constant-speed door opening, judging that the motion state is a deceleration door opening state, and retesting the running time;
if the detection data is larger than the reverse acceleration threshold and the distance data is larger than the distance threshold or the running time is larger than the time threshold of door opening in deceleration, judging that the motion state is a static door opening state, and retesting the running time;
if the detection data are smaller than the reverse acceleration threshold value, judging that the motion state is an acceleration door closing state, and retesting the operation time;
if the detection data is larger than the reverse acceleration threshold or the running time is larger than the acceleration door closing threshold, judging that the motion state is a constant-speed door closing state, and retesting the running time;
if the detected data is larger than the acceleration threshold or the operation time is larger than the constant speed door closing threshold, judging that the motion state is a deceleration door closing state, and remeasuring the operation time;
and if the detection data is smaller than the acceleration threshold and the distance data is larger than the distance threshold, or the running time is larger than the time threshold of decelerating door closing, judging that the motion state is a static door closing state, and retesting the running time.
Further, the determining the motion state according to the detection data and the operation time, a predetermined distance threshold, an acceleration threshold, and a time threshold of each motion state further includes:
integrating the detection data for one time according to the running time to obtain speed data;
and judging the motion state according to the detection data, the speed data and the distance data and a distance threshold value and an acceleration threshold value which are measured in advance.
Further, wherein the determining the motion state based on the detection data, the velocity data, the distance data, and a predetermined distance threshold and acceleration threshold comprises:
when the door is in a deceleration door-closing state, if the speed data is greater than or equal to 0, the distance data is smaller than the distance threshold and the detection data is greater than the acceleration threshold, changing the motion state into an acceleration door-opening state, and retesting the operation time;
when the door is in a deceleration door-closing state, if the speed data is greater than or equal to 0, the distance data is smaller than the distance threshold, and the detection data is greater than the reverse acceleration threshold and smaller than the acceleration threshold, changing the motion state into a constant-speed door-opening state, and retesting the operation time;
when the door is in the deceleration door-closing state, if the speed data is greater than or equal to 0, the distance data is smaller than the distance threshold, and the detection data is smaller than the reverse acceleration threshold, the motion state is changed into the deceleration door-opening state, and the running time is retested.
Preferably, a time delay threshold is preset, wherein after the motion state is judged to be a static door opening state or a static door closing state, the method further comprises:
and if the running time is less than the delay threshold, keeping the original motion state.
Preferably, wherein the filter comprises a second order IIR band-pass filter.
According to another aspect of the present application, there is also provided a computer readable medium for determining a motion state when electronically controlling a door switch, having stored thereon computer readable instructions executable by a processor to perform operations as the aforementioned method.
According to yet another aspect of the present application, there is also provided an apparatus for determining a motion state when electrically controlling a door switch, wherein the apparatus comprises:
one or more processors; and
a memory storing computer readable instructions that, when executed, cause the processor to perform the operations of the above-described method.
Compared with the prior art, the method and the device have the advantages that the original acceleration data of the electric control door in the running time are obtained; filtering the original acceleration data through a filter to determine filtered acceleration data; and determining the motion state according to the filtering acceleration data, the running time, a predetermined distance threshold, an acceleration threshold and a time threshold of each motion state, wherein the motion state comprises acceleration, constant speed, deceleration door opening, static door opening, acceleration, constant speed, deceleration door closing and static door closing. By the method, the motion state of the electric control door can be judged only by measuring acceleration data and running time, and the method is wide in applicability and low in application cost.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments thereof, made with reference to the following drawings:
FIG. 1 illustrates a flow chart of a method for determining a state of motion of an electrically controlled door switch, according to one aspect of the present application;
FIG. 2 illustrates a flow chart of a method for determining a state of motion of an electronically controlled door switch in accordance with a preferred embodiment of the present application;
FIG. 3(a) is a graph illustrating the effect of moving average filtering according to an embodiment of the present application;
FIG. 3(b) is a graph illustrating the effect of first-order lag filtering according to an embodiment of the present application;
FIG. 3(c) shows a Kalman filtering effect diagram of one embodiment of the present application;
fig. 3(d) shows a second-order IIR band-pass filtering effect diagram of an embodiment of the present application;
FIG. 4(a) shows a data plot obtained by an IMU inertial measurement unit of one embodiment of the present application;
fig. 4(b) shows a data diagram of second order IIR bandpass filtering of the data of fig. 4(a) according to an embodiment of the present application.
The same or similar reference numbers in the drawings identify the same or similar elements.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
In a typical configuration of the present application, the terminal, the device serving the network, and the trusted party each include 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). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement 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, computer readable media does not include non-transitory computer readable media (transient media), such as modulated data signals and carrier waves.
The electric control door described in the present application includes the electric control door that automatically opens and closes according to the preset program, for example, elevator door, freight elevator door, subway shield door and car door etc. the program is usually preset including the procedure of opening the door, static and closing the door. The specific type of the electric control door is not limited and explained, and the electric control door which is automatically opened and closed according to a preset program and can be used for judging the motion state during opening and closing is within the protection range of the electric control door.
To further illustrate the technical means and effects adopted by the present application, the following description clearly and completely describes the technical solution of the present application with reference to the accompanying drawings and preferred embodiments.
Fig. 1 illustrates a method for determining a motion state of an electrically controlled door switch according to an aspect of the present application, wherein the method includes:
s11, acquiring original acceleration data of the electric control door in the running time;
s12, filtering the original acceleration data through a filter to determine filtered acceleration data;
s13 determines the motion state based on the filtered acceleration data and the running time and a predetermined distance threshold, acceleration threshold, and time threshold for each motion state.
In this embodiment, in the step S11, raw acceleration data of the electrically controlled door during the operation time is obtained.
In this step, the raw acceleration data refers to the acceleration data measured directly by the measuring element, which is continuously monitored in the operating state of the electrically controlled door.
Further, the measuring element includes, but is not limited to, an IMU inertial measuring unit, and when the IMU is used, the IMU inertial measuring unit is fixed on the door panel capable of opening and closing the electric control door, so that the acceleration data of the electric control door in the opening and closing direction can be obtained. Here, it should be clear that the present application does not limit the opening and closing direction of the electric control door, and the electric control door may be opened and closed in the horizontal direction, such as an elevator door and a subway platform door, and may also be opened and closed in the vertical direction, such as a food conveying door of a part of restaurants.
In this embodiment, in the step S12, since there is a large fluctuation in the directly measured raw acceleration data, the raw acceleration data must be filtered by a filter to obtain smoother acceleration data, so as to improve the usability of the data, and thus improve the accuracy of the determination result.
Common filtering algorithms include, but are not limited to, moving average filtering, first-order delay filtering, second-order IIR band-pass filtering, and kalman filtering. Fig. 3(a), (b), (c), and (d) are diagrams illustrating that the same acceleration data obtained by the IMU are respectively subjected to moving average filtering, first-order delay filtering, kalman filtering, and second-order IIR band-pass filtering, and by comparing filtering effect diagrams of respective filtering algorithms, it can be known that the filtering effect of the second-order IIR band-pass filtering is the best, the obtained filtered acceleration data curve is smoother, and the loss of the most significant data is small, so that the second-order IIR band-pass filter is selected to perform filtering processing on the original acceleration data. Meanwhile, as shown in fig. 4(b), when the IMU is used for monitoring the original acceleration data, the IMU acceleration data in fig. 4(a) is filtered through a second-order IIR band-pass filter, so that the problems of high-frequency interference and low-frequency drift of the IMU can be effectively reduced.
In this embodiment, in step S13, after the filtered acceleration data is obtained, the motion state is determined by combining the operation time of the electric control gate, the predetermined distance threshold, the acceleration threshold, and the time threshold of each motion state.
In this step, a distance threshold value of the electric control door in the opening and closing direction and a time threshold value of each motion state are measured in advance, and an acceleration threshold value is set. Wherein, the distance threshold refers to a proximity value of a maximum movement distance of the door panel (for example, 80% of the maximum movement distance, etc.) for which the electric control door can perform opening and closing movement; the time threshold refers to the duration of the electric control door in each motion state of acceleration, uniform speed, deceleration door opening, static door opening, acceleration, uniform speed, deceleration door closing and static door closing. The acceleration threshold is a super parameter, and can be set as empirical data on the occasion that the acceleration is relatively stable without specially adjusting the parameter; on the occasion of large acceleration movement, the filtered acceleration data can be observed and analyzed by collecting the original acceleration data first, and the acceleration threshold value can be adjusted by configuring an interface.
In another preferred embodiment, see fig. 2, wherein steps S21 and S22 in fig. 2 are the same as or substantially the same as steps S11 and S12 in the embodiment in fig. 1, and therefore are not repeated herein and are included herein only by way of reference. Wherein the step S23 includes: and measuring and calculating a deviation value, and determining detection data according to the deviation value and the filtered acceleration data after the filtered acceleration data are determined. Here, when the IMU is used to monitor the raw acceleration data, since the IMU itself has a zero offset problem, the problem is overcome by measuring and calculating an offset value.
Further, the method for measuring and calculating the deviation value comprises the steps of measuring an IMU (inertial measurement Unit) measurement value in a static door opening or static door closing state according to a preset period and preset measurement times; calculating a variance and a mean of the IMU measurements; and if the variance is smaller than a preset variance threshold value, setting the mean value as a deviation value.
In order to solve the inherent zero offset problem of the IMU, the acceleration values of the electric control door in a static state are measured for many times, and the variance reflects the stability of data, so that the variance of the acceleration values is used as a judgment basis for judging whether the deviation value needs to be updated, when the deviation value needs to be updated, the mean value of the measured acceleration values is used as the deviation value, and the difference value between the filtered acceleration data and the deviation value is used as a detection data value. Here, the static state includes a static door opening state and/or a static door closing state. Meanwhile, it should be clear that the static state described in the present application is a programmed temporary static state of the electric control door in the operation process, specifically including a static door opening and a static door closing, but not an opposite state of the operation state.
Continuing in this step, specifically, a plurality of acceleration data of the electric control door in a static state are acquired according to a preset data acquisition period or preset data acquisition times, so as to perform a calculation of a deviation value. When the next preset updating period or updating times are reached, if the electric control door is just in a static door opening or static door closing state, acquiring a plurality of acceleration data of the electric control door in the static state according to a preset data acquisition period or preset data acquisition times; and if the electric control door is in a motion state, acquiring a plurality of acceleration data of the electric control door according to a preset data acquisition period or preset data acquisition times when waiting for the electric control door to reach the next static state.
The method realizes the self-adaptive updating of the deviation value and further improves the accuracy of the detection data.
Continuing in the preferred embodiment, after determining the sensed data based on the offset value and the filtered acceleration value, said step S24 includes: and judging the motion state according to the detection data and the running time, a distance threshold value, an acceleration threshold value and a time threshold value of each motion state which are measured in advance.
Further, the determining the motion state according to the detection data and the operation time, a predetermined distance threshold, an acceleration threshold, and a time threshold of each motion state includes: performing secondary integration on the detection data according to the running time to obtain distance data; and judging the motion state according to the detection data, the running time, the distance data, a distance threshold value, an acceleration threshold value and a time threshold value of each motion state which are measured in advance.
Further, when the motion state transition sequence of the electric control door in the non-interference state is acceleration, uniform speed, deceleration door opening, static door opening, acceleration, uniform speed, deceleration door closing and static door closing, wherein the determining the motion state according to the detection data, the running time, the distance data, the predetermined distance threshold, the predetermined acceleration threshold and the predetermined time threshold of each motion state comprises:
if the detected data is larger than the acceleration threshold, judging that the motion state is an acceleration door opening state;
if the detected data is smaller than the acceleration threshold or the running time is larger than the time threshold for accelerating door opening, judging that the motion state is a constant-speed door opening state, and retesting the running time;
if the detected data is smaller than the reverse acceleration threshold or the running time is larger than the time threshold of constant-speed door opening, judging that the motion state is a deceleration door opening state, and retesting the running time;
if the detection data is larger than the reverse acceleration threshold and the distance data is larger than the distance threshold or the running time is larger than the time threshold of door opening in deceleration, judging that the motion state is a static door opening state, and retesting the running time;
if the detection data are smaller than the reverse acceleration threshold value, judging that the motion state is an acceleration door closing state, and retesting the operation time;
if the detection data is larger than the reverse acceleration threshold or the running time is larger than the acceleration door closing threshold, judging that the motion state is a constant-speed door closing state, and retesting the running time;
if the detected data is larger than the acceleration threshold or the running time is larger than the time threshold of constant-speed door closing, judging that the motion state is a deceleration door closing state, and retesting the running time;
and if the detection data is smaller than the acceleration threshold and the distance data is larger than the distance threshold, or the running time is larger than the time threshold of decelerating door closing, judging that the motion state is a static door closing state, and retesting the running time.
If it is determined that the movement state changes, the specific operating time for each movement state is determined by monitoring the operating time until the movement state changes again.
The method judges the motion state of the electric control door based on the acceleration data and by integrating distance and time factors, and compared with a single acceleration judgment mode, the multi-factor integrated judgment mode has the advantages of higher judgment speed and more accurate result.
Further, in an actual application scenario, acceleration oscillation may occur in the opening and closing process of the electric control door, and based on the above state determination manner, correction of misjudgment of the motion state caused by the acceleration oscillation in the opening and closing process of the door may be realized, for example:
when the motion state is judged to be the constant-speed door opening state by mistake, if the detection data are larger than the acceleration threshold value, the motion state is corrected to be the accelerated door opening state;
when the motion state is judged to be the deceleration door opening state by mistake, if the detection data is larger than the reverse acceleration threshold value and the distance is smaller than the distance threshold value, the motion state is corrected to be the acceleration door opening state;
when the motion state is judged to be the accelerated door opening state by mistake, if the running time is greater than the total door opening time threshold (and the sum of the time thresholds of accelerated, uniform and decelerated door opening), the motion state is corrected to be the static door opening state;
when the motion state is judged to be the constant-speed door opening state by mistake, if the running time is greater than the total door opening time threshold (and the sum of the time thresholds of acceleration, constant speed and deceleration door opening), the motion state is corrected to be the static door opening state;
and when the motion state is judged to be the constant-speed door closing state by mistake, if the detection data are smaller than the reverse acceleration threshold value, the motion state is corrected to be the accelerated door closing state.
By the method, the misjudgment correction of the motion state caused by acceleration oscillation is realized.
Preferably, it should be understood that, in an actual application scenario, when the movement distance of the power door is close to the maximum movement distance of the door panel, it may be determined that a certain movement state has been entered, and therefore, the distance threshold is set to the reduction-in-scale value of the maximum movement distance according to the time application scenario. For example, when the moving distance of the door panel of the opening and closing movement of the power door reaches 80% of the maximum moving distance, it has been determined that the next moving state of the power door is the still door-opened state, and therefore, the distance threshold may be set to 80% of the maximum moving distance when the determination is made. Here, since fluctuation of acceleration may occur at each door opening and closing process, and the fluctuation of acceleration may cause fluctuation of the movement distance obtained by integration, a state determination error may occur if a motion state is determined for the movement distance obtained by integration using a maximum movement distance measured in advance. Therefore, setting the distance threshold to the reduced scale value of the maximum moving distance (the reduced scale should not be excessively large) can effectively avoid a determination error of the motion state due to the acceleration fluctuation.
Further, determining the motion state according to the detection data and the operation time, and a distance threshold value, an acceleration threshold value, and a time threshold value of each motion state, which are measured in advance, further includes: integrating the detection data for one time according to the running time to obtain speed data; and judging the motion state according to the detection data, the speed data and the distance data and a distance threshold value and an acceleration threshold value which are measured in advance.
Specifically, the determining the motion state according to the detection data, the speed data, the distance data, and a distance threshold and an acceleration threshold measured in advance includes:
when the door is in a deceleration door-closing state, if the speed data is greater than or equal to 0, the distance data is smaller than the distance threshold and the detection data is greater than the acceleration threshold, changing the motion state into an acceleration door-opening state, and retesting the operation time;
when the door is in a deceleration door-closing state, if the speed data is greater than or equal to 0, the distance data is smaller than the distance threshold, and the detection data is greater than the reverse acceleration threshold and smaller than the acceleration threshold, changing the motion state into a constant-speed door-opening state, and retesting the operation time;
when the door is in the deceleration door-closing state, if the speed data is greater than or equal to 0, the distance data is smaller than the distance threshold, and the detection data is smaller than the reverse acceleration threshold, the motion state is changed into the deceleration door-opening state, and the running time is retested.
Here, since the electric control door may interrupt and change the motion state in the process of closing the door, when the electric control door is in the deceleration closing state, the determination method as described above is added, so that the change of the motion state when the electric control door is to be closed is captured, and the change of the motion state is prevented from being misjudged and missed. When the reverse door opening action in the deceleration door closing state needs to be captured, the judgment mode is the same.
Further, presetting a delay threshold, wherein after the motion state is judged to be a static door opening state or a static door closing state, the method further comprises the following steps: and if the running time is less than the delay threshold, keeping the original motion state.
Here, because the oscillation of acceleration can appear in the oscillation that the action of opening the door and closing the door of automatically controlled door arouses, consequently, set up a time delay threshold value, when the motion state of automatically controlled door judges static opening the door or static closing the door, when operating duration is less than the time delay threshold value, then keep former motion state. So as to avoid misjudgment caused by door opening and closing oscillation.
Compared with the prior art, the method and the device have the advantages that the original acceleration data of the electric control door in the running time are obtained; filtering the original acceleration data through a filter to determine filtered acceleration data; and determining the motion state according to the filtering acceleration data, the running time, a predetermined distance threshold, an acceleration threshold and a time threshold of each motion state, wherein the motion state comprises acceleration, constant speed, deceleration door opening, static door opening, acceleration, constant speed, deceleration door closing and static door closing. By the method, the motion state of the electric control door can be judged only by measuring acceleration data and running time, and the method is wide in applicability and low in application cost.
Furthermore, the embodiment of the present application also provides a computer readable medium, on which computer readable instructions are stored, and the computer readable instructions can be executed by a processor to implement the foregoing method.
The embodiment of the application also provides equipment for determining the motion state of the electric control door during opening and closing, wherein the equipment comprises:
one or more processors; and
a memory storing computer readable instructions that, when executed, cause the processor to perform the operations of the foregoing method.
For example, the computer readable instructions, when executed, cause the one or more processors to:
acquiring original acceleration data of the electric control door in the running time;
filtering the original acceleration data through a filter to determine filtered acceleration data;
and determining the motion state according to the filtering acceleration data, the running time, a predetermined distance threshold, an acceleration threshold and a time threshold of each motion state, wherein the motion state comprises acceleration, constant speed, deceleration door opening, static door opening, acceleration, constant speed, deceleration door closing and static door closing.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (11)
1. A method for determining a state of motion of an electrically controlled door when opened and closed, wherein the method comprises:
acquiring original acceleration data of the electric control door in the running time;
filtering the original acceleration data through a filter to determine filtered acceleration data;
and determining the motion state according to the filtering acceleration data, the running time, a predetermined distance threshold, an acceleration threshold and a time threshold of each motion state, wherein the motion state comprises acceleration, constant speed, deceleration door opening, static door opening, acceleration, constant speed, deceleration door closing and static door closing.
2. The method of claim 1, wherein the raw acceleration data is acquired using an IMU inertial measurement unit, wherein the raw acceleration data is filtered through a filter, and wherein after determining filtered, filtered acceleration data, the method further comprises:
measuring and calculating deviation values, and determining detection data according to the deviation values and the filtering acceleration data;
wherein determining the motion state based on the filtered acceleration data and the run time and a predetermined distance threshold, acceleration threshold, and time threshold for each motion state comprises:
and judging the motion state according to the detection data and the running time, a distance threshold value, an acceleration threshold value and a time threshold value of each motion state which are measured in advance.
3. The method of claim 2, wherein the calculating a bias value comprises:
measuring an IMU (inertial measurement Unit) measurement value in a static door opening or static door closing state according to a preset period and preset measurement times;
calculating the variance and mean of the IMU measurement values;
and if the variance is smaller than a preset variance threshold value, setting the mean value as a deviation value.
4. The method of any of claims 2 or 3, wherein said determining the motion state from the detection data and the runtime and a predetermined distance threshold, acceleration threshold, and time threshold for each motion state comprises:
performing secondary integration on the detection data according to the running time to obtain distance data;
and judging the motion state according to the detection data, the running time, the distance data, a distance threshold value, an acceleration threshold value and a time threshold value of each motion state which are measured in advance.
5. The method of claim 4, wherein the transition sequence of the motion states is acceleration, uniform velocity, deceleration door opening, stationary door opening, acceleration, uniform velocity, deceleration door closing, and stationary door closing, and wherein the determining the motion state according to the detection data, the operation time, the distance data, the predetermined distance threshold, the predetermined acceleration threshold, and the predetermined time threshold of each motion state comprises:
if the detected data is larger than the acceleration threshold, judging that the motion state is an acceleration door opening state;
if the detected data is smaller than the acceleration threshold or the running time is larger than the time threshold for accelerating door opening, judging that the motion state is a constant-speed door opening state, and retesting the running time;
if the detected data is smaller than the reverse acceleration threshold or the running time is larger than the time threshold of constant-speed door opening, judging that the motion state is a deceleration door opening state, and retesting the running time;
if the detection data is larger than the reverse acceleration threshold and the distance data is larger than the distance threshold or the running time is larger than the time threshold of door opening in deceleration, judging that the motion state is a static door opening state, and retesting the running time;
if the detection data are smaller than the reverse acceleration threshold value, judging that the motion state is an acceleration door closing state, and retesting the operation time;
if the detection data is larger than the reverse acceleration threshold or the running time is larger than the acceleration door closing threshold, judging that the motion state is a constant-speed door closing state, and retesting the running time;
if the detected data is larger than the acceleration threshold or the operation time is larger than the constant speed door closing threshold, judging that the motion state is a deceleration door closing state, and remeasuring the operation time;
and if the detection data are smaller than the acceleration threshold and the distance data are larger than the distance threshold, or the running time is larger than the time threshold of decelerating and closing the door, judging that the motion state is a static door closing state, and retesting the running time.
6. The method of any of claims 4 or 5, wherein said determining the motion state from the detection data and the runtime and a predetermined distance threshold, acceleration threshold, and time threshold for each motion state further comprises:
integrating the detection data for one time according to the running time to obtain speed data;
and judging the motion state according to the detection data, the speed data and the distance data and a distance threshold value and an acceleration threshold value which are measured in advance.
7. The method of claim 6, wherein said determining the motion state from the detection data, velocity data, distance data and a pre-measured distance threshold and acceleration threshold comprises:
when the door is in a deceleration door-closing state, if the speed data is greater than or equal to 0, the distance data is smaller than the distance threshold and the detection data is greater than the acceleration threshold, changing the motion state into an acceleration door-opening state, and retesting the operation time;
when the door is in a deceleration door-closing state, if the speed data is greater than or equal to 0, the distance data is smaller than the distance threshold, and the detection data is greater than the reverse acceleration threshold and smaller than the acceleration threshold, changing the motion state into a constant-speed door-opening state, and retesting the operation time;
when the door is in the deceleration door-closing state, if the speed data is greater than or equal to 0, the distance data is smaller than the distance threshold, and the detection data is smaller than the reverse acceleration threshold, the motion state is changed into the deceleration door-opening state, and the running time is retested.
8. The method of claim 5, presetting a delay threshold, wherein determining the motion state as stationary door opening or stationary door closing further comprises:
and if the running time is less than the delay threshold, keeping the original motion state.
9. The method of claim 1, wherein the filter comprises a second order IIR band-pass filter.
10. A computer readable medium having computer readable instructions stored thereon which are executable by a processor to implement the method of any one of claims 1 to 9.
11. An apparatus for motion state determination upon opening and closing of an elevator door, wherein the apparatus comprises:
one or more processors; and
a memory storing computer readable instructions that, when executed, cause the processor to perform the operations of the method of any of claims 1 to 9.
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