WO2019000937A1 - 用于旋转门的人体安全防护激光传感器 - Google Patents

用于旋转门的人体安全防护激光传感器 Download PDF

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Publication number
WO2019000937A1
WO2019000937A1 PCT/CN2018/074433 CN2018074433W WO2019000937A1 WO 2019000937 A1 WO2019000937 A1 WO 2019000937A1 CN 2018074433 W CN2018074433 W CN 2018074433W WO 2019000937 A1 WO2019000937 A1 WO 2019000937A1
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WIPO (PCT)
Prior art keywords
laser
sensor
area
door leaf
door
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PCT/CN2018/074433
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English (en)
French (fr)
Inventor
苏丹
刘冀湘
徐玉河
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比业电子（北京）有限公司
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Application filed by 比业电子（北京）有限公司 filed Critical 比业电子（北京）有限公司
Priority to US16/626,961 priority Critical patent/US20200224483A1/en
Priority to EP18825126.8A priority patent/EP3647886B1/en
Priority to KR1020207002553A priority patent/KR102402380B1/ko
Publication of WO2019000937A1 publication Critical patent/WO2019000937A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/04—Systems determining the presence of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • 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
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/608—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for revolving wings
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/77—Power-operated mechanisms for wings with automatic actuation using wireless control
    • E05F15/78—Power-operated mechanisms for wings with automatic actuation using wireless control using light beams
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/42—Detection using safety edges
    • E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
    • E05F2015/434—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound with cameras or optical sensors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • 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—Type of wing
    • E05Y2900/132—Doors
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B3/00—Window sashes, door leaves, or like elements for closing wall or like openings; Layout of fixed or moving closures, e.g. windows in wall or like openings; Features of rigidly-mounted outer frames relating to the mounting of wing frames
    • E06B3/90—Revolving doors; Cages or housings therefor

Definitions

  • the invention belongs to the technical field of automatic door sensors, and in particular relates to a human body safety protection laser sensor for a revolving door.
  • the revolving door is a kind of venue door that combines the advantages of various door bodies. Its spacious and high-profile design creates a luxurious atmosphere, which is the crowning touch of the building. And the revolving door enhances wind resistance, reduces air conditioning energy consumption, and is the best choice for isolated airflow and energy saving.
  • the existing revolving door usually includes an automatic revolving door and a passive revolving door.
  • the passive revolving door is not provided with a driving device and an inductive device, and the safety, practicality and trial experience of the person relying on the rotation of the person are weaker than the automatic revolving door.
  • the automatic revolving door is driven to rotate by the added drive unit, eliminating the need for personnel to push the door leaf.
  • the existing automatic revolving door usually has more than two sets of sensing devices, one of which is used to detect whether a person needs to enter and exit the revolving door, and according to the detection result, the revolving door is automatically started to rotate, so that the personnel can enter and exit.
  • the other set of sensing devices is mainly a safety protection sensor whose main function is to prevent the rotating door leaf from colliding or pinching the human body.
  • the existing safety protection sensors are mainly of the following types:
  • the sensor is typically a rubber strip with a pressure sensing device.
  • the contact pressure of the door leaf or the door frame with the human body is transmitted to the pressure sensing device through the rubber strip, and the pressure sensing device recognizes the impact signal and sends a control model to the driving device of the revolving door to suspend the revolving door. Rotate to achieve the purpose of protecting the human body.
  • the advantage of this type of sensor is that the protective area is complete and the entire rubber area is protected.
  • the sensor also needs to be activated after the door leaf hits or squeezes the human body, affecting the user experience. And when the impact and pinching strength reaches a certain level, it will cause harm to the user's body, especially children or the elderly.
  • the sensor uses infrared optics technology to achieve non-contact protection of the key position of the revolving door.
  • the sensor is usually installed at a critical position on the revolving door with safety hazards. When the human body is in a critically protected position, it is detected by the infrared optical sensor and stops the door machine to achieve non-contact protection of the human body.
  • the disadvantages of this sensor are: 1.
  • the sensor of the infrared optical product has a larger divergence angle of the infrared beam, and the spot diameter of the beam on the ground will reach 2 cm or more. Therefore, there is a limit to the size of the detectable object, which needs to be at least 2 cm.
  • the protection area of the infrared optical sensor is not comprehensive with respect to the contact type pressure deformation sensor. The area outside the beam and between the beams cannot be protected.
  • the existing infrared triangular diffuse reflection optical safety protection sensor for the revolving door has a maximum installation height of usually only 4 meters.
  • the beam diameter is about several centimeters.
  • the sensor In order to protect the door leaf, the sensor combines multiple beams of infrared light to achieve rough protection of the entire door leaf, usually the beam spacing. Ten centimeters.
  • the disadvantages of this sensor are: 1.
  • the technology uses a combination of complex infrared beams, the distance between the beams of different infrared light sources is several tens of centimeters, and the area outside the beam cannot be protected. If the human body is just outside the beam, the sensor cannot Play the role of protection. 2.
  • the infrared optical sensor installed on the door leaf adopts the triangulation method, but due to the resolution of the optical chip, the sensor is currently For objects with a height of less than 20 cm from the ground, it is basically impossible to achieve effective detection, that is, the ankles of the human body cannot be safely protected. 3.
  • the existing sensor for revolving door has a detection area that is fixed, and the detection area needs to be smaller than the inner diameter of the revolving door. Otherwise, the beam will detect the inner diameter of the revolving door and cause the sensor to trigger detection, which may cause the door machine to malfunction. . However, since the protection area of the sensor is smaller than the inner diameter, at the position of the inlet and outlet, the outermost edge of the door leaf cannot be effectively detected, and it is easy to hit or squeeze the human body. 4.
  • the maximum installation height of existing infrared optical products on the revolving door is limited, usually only up to 4 meters.
  • the laser sensor used in the prior art includes a single-point beam laser sensor or a light curtain type laser sensor.
  • both the single-point beam laser sensor and the light curtain type laser sensor can only be mounted on the revolving door frame, which is generally used to monitor the entrance and exit position of the revolving door frame, and all of the corresponding sets of one or more sets of light are required.
  • a signal transmitting device and an optical signal receiving device are also included in the revolving door or other sensors located at the door leaf.
  • the optical signal receiving device For example, if the left door frame column at the entrance and exit position of the revolving door frame is provided with the optical signal transmitting device, it is necessary to provide the optical signal receiving device at the right door frame column at the door frame entrance and exit position.
  • Existing laser sensors generally determine whether there is an intrusion in the monitored area by sensing whether or not an optical signal is generated. However, since the sensor can only be mounted on the revolving door frame, it is generally only possible to detect whether there is an intruding object at the entrance position, and it is not possible to detect whether there is an intruding object at the position where the door leaf and the door frame column are sewn. If it is necessary to detect the position of the door leaf and the door frame column, it is necessary to set the sensor behind the door frame column. At this time, the sensor is required to be very small or thin, and the process requirements of the sensor are extremely high. Moreover, the sensor is easily touched or bumped by the door leaf, causing damage to the sensor. Therefore, existing laser sensors are difficult
  • a human body safety laser sensor for a revolving door comprising: a laser scanning distance measuring part and an application analyzing part.
  • the laser scanning distance measuring portion includes: a laser emitting device, a laser deflecting device, an optical signal receiving device, and an analysis processing device. Wherein, the laser emitting device emits a laser signal to the laser deflecting device.
  • the laser deflection device biases the laser signal to a predetermined angle under the control of the analysis processing device and forms at least one laser scanning region.
  • the optical signal receiving device is configured to receive the returned laser signal and transmit the signal to the analysis processing device.
  • the analysis processing device includes a trigger point distance analysis module.
  • the trigger point distance analysis module analyzes the distance information of the trigger point according to the signal sent by the optical signal receiving device, and sends the distance information to the security analysis module.
  • the trigger point distance analysis module firstly measures the time difference t of the laser signal transmission and reception based on the TOF technology, that is, the time-of-flight measurement technique. Then multiply by the speed of light to get the distance between the trigger point and the sensor.
  • the trigger point distance analysis module first calculates a time difference between the laser pulse emitted and the received return signal by using a time to digital converter (TDC). Then, according to the time difference and the speed of light, the distance of flight (TOF: time of flight), that is, the distance information between the trigger point and the sensor, is further calculated by the calculator.
  • TDC time to digital converter
  • the analysis processing device includes a laser deflection control module.
  • the laser deflection control module controls the movement of the laser deflection device based on the preset information, so that the laser deflection device can deflect the laser signal to a preset direction and angle.
  • the laser deflecting device may deflect the laser to rotate the predetermined direction to form the laser scanning region.
  • the laser deflection device comprises a polygon mirror and a driving device for driving the rotation of the polygon mirror.
  • the mirror of the polygon mirror faces the laser emitting device.
  • the laser deflection device comprises a polygon mirror and a corresponding driving device, wherein the polygon mirror side faces the laser deflection device, and the other side mirror faces the optical signal receiving device.
  • the laser deflection device comprises a first laser deflector and a second laser deflector.
  • the first laser deflector and the second laser deflector are polygon mirrors corresponding to the number of mirrors.
  • first laser deflector and the second laser deflector may be fixed on the same rotating shaft and driven to rotate by a driving device. They can also be fixed on different rotating shafts respectively, and driven by different driving devices.
  • the laser deflection device comprises: an optical feedback calibration module for calibrating the feedback optical signal.
  • the analysis processing device includes: a distance precision calibration module, which obtains the deflection control information of the laser deflection control module and the calibration information of the optical feedback calibration module, and then calibrates the trigger point distance analysis result of the trigger point distance analysis module. .
  • the analysis processing device sends the calibrated trigger point distance information to the application analysis portion.
  • the rotation angle of the laser signal is less than or equal to 180°.
  • the rotation angle of the laser signal is less than or equal to 160°.
  • the rotation angle of the laser signal is less than or equal to 150°.
  • the rotation angle of the laser signal is less than or equal to 140°.
  • the laser scanning area is located on one side of the door leaf surface and is spaced from the door leaf surface.
  • the distance between the laser scanning area and the door leaf surface is less than or equal to 50 cm.
  • the distance between the laser scanning area and the door leaf surface is less than or equal to 30 cm.
  • the distance between the laser scanning area and the door leaf surface is less than or equal to 20 cm.
  • the distance between the laser scanning area and the door leaf surface is less than or equal to 10 cm.
  • the laser scanning area is located on one side of the door leaf surface and forms an angle with the door leaf surface.
  • a first angle is formed between the laser scanning area and the door leaf surface in a vertical direction.
  • the first angle is less than or equal to 80°.
  • a second angle is formed between the laser scanning area and the door leaf surface in a horizontal direction.
  • the second angle is less than or equal to 80°.
  • the laser scanning area passes through the door leaf surface of the revolving door and forms an angle of less than or equal to 80° with the door leaf surface.
  • the laser signal emitted by the laser emitting device is a laser pulse signal.
  • the application analysis part includes: a security analysis module.
  • the safety analysis module is connected to the door control device of the revolving door, and controls the movement state of the revolving door leaf after analyzing and judging according to the trigger point distance information received from the trigger point distance analysis module.
  • the door control device may be a device mounted on the revolving door for controlling the rotation of the rotating door leaf relative to the rotating door frame, the rotation direction and the rotation speed, and having a driving and control function.
  • the security analysis module includes: a trigger point risk analysis, where the trigger point risk analysis comprises: first, acquiring trigger point distance information obtained by the trigger point distance analysis module; and then comparing the trigger point distance information with the The preset distance information of the scanning point.
  • the trigger point risk analysis comprises: first, acquiring trigger point distance information obtained by the trigger point distance analysis module; and then comparing the trigger point distance information with the The preset distance information of the scanning point.
  • the trigger point distance is greater than or equal to the preset distance of the scanning point, the trigger point is a safety trigger point, and no control signal is generated;
  • the trigger point distance is less than the preset distance of the scanning point, the trigger point is A dangerous trigger point generates a corresponding signal and sends a control signal to the gate.
  • the preset distance information may be given to the safety analysis module of the sensor by a factory setting or an initialization operation at the installation site, or may be adjusted by the sensor or the control sensor by other means such as an intelligent learning system to change the preset distance. information.
  • the initializing operation is as follows: First, under the condition that no user enters and exits the revolving door, the sensor is turned on to scan according to a preset maximum scanning angle, and the rotating door leaf is rotated at a preset direction and rate. Then, the sensor uses the trigger point distance information received by each scanning point as the preset distance information.
  • the trigger point distance information closest to the distance sensor is used as the preset distance information.
  • the sensor generally detects the glass of the revolving door leaf or the door frame.
  • the distance information of the trigger point farthest from the distance sensor is used as the preset distance information, and the record is saved. The remaining distance information is called when needed.
  • the sensor When the same scanning point has two or more trigger point distance information in different scanning periods, the sensor generally detects the fixed decoration object and the like placed in the revolving door.
  • the distance information of the scanning points where the distance information of the two or more trigger points is displayed in each scanning period is recorded, and the continuous scanning points have a certain change rule in the corresponding scanning period.
  • Scan point-distance curve When a certain scanning point of the sensor scans to the trigger signal, and the scanning point-distance curve conforming to the above change rule is scanned in successive successive scanning points, the trigger is considered as a safety trigger. If the subsequent consecutive scan points do not meet the above-mentioned variation of the scan point-distance curve, the trigger is considered to be a dangerous trigger.
  • the sensor sends a stop command to the gating system, and sends a sound or signal or prompt light to the user, prompting the user to use the paper.
  • a non-mirror thin material such as a matte film shields the place where the specular reflection occurs, and continues the initialization operation.
  • the application analysis part includes: a scan area range adjustment module.
  • the scanning area range adjusting module controls the scanning range of the laser scanning area by adjusting a maximum angle of rotation of the laser in a preset direction by transmitting a rotation control command to the laser deflection device.
  • the scan area range adjustment module includes a scan area control analysis, and the scan area control analysis includes the following steps:
  • step S3 Adjust the laser scanning area range based on the area information obtained in step S1 and step S2.
  • the method for determining a working area in step S1 includes: forming a working area according to a preset value.
  • the preset value may be set when the sensor is shipped from the factory, or may be set according to an initialization operation when the sensor is installed.
  • the preset value is set to: according to the orientation of the preset scan area of the sensor, a vertical line is taken as a base point of the sensor, and the preset scan area is divided into two parts by the vertical line as a boundary.
  • the side on which the preset toward the axis of the door leaf is selected is defined as the work area.
  • the preset scan area is divided into two parts with the connection of the sensor and the ground frame as a baseline, wherein the side from the baseline toward the door leaf axis is the work area.
  • the method for obtaining the location of the ground frame is: first determining whether there are two or more distance values of the same scanning point, and if present, further selecting the vicinity of the inflection point of the scanning point-distance curve and relatively closer to the sensor.
  • the scan point is used as the ground area information. If it does not appear, according to the preset, the preset scanning area is divided into two parts by taking the vertical position of the sensor as the base point, and the scanning point-distance curve of the scanning area located at the preset position toward the door frame is selected, and the closest is The inflection point of the vertical line is the starting point, and m scanning points are selected as the ground frame area information to extend the curve of the side gradually decreasing distance, and the m scanning points are selected according to preset values. Then, a scan point in the map area information is selected as the ground frame position.
  • a scan point corresponding to the minimum value or a scan point corresponding to the intermediate value is used as the ground frame position.
  • the method for obtaining the location of the ground frame is: using a trigger position in which a distance discontinuous change or a transition change occurs within a preset scan area as a ground frame position.
  • the method for forming the extended region in step S2 includes: rotating the extended region by a predetermined angle along the working region along the working region, that is, the extended region.
  • the predetermined preset angle of the extension is less than or equal to 90°.
  • the predetermined preset angle of the extension is less than or equal to 70°.
  • the predetermined preset angle of the extension is less than or equal to 50°.
  • the method for adjusting the range of the laser scanning area in step S3 comprises: when the door leaf is within the inner range of the door frame, the laser scanning area is the working area. When the door leaf is within the entrance or exit of the door frame, the laser scanning area is the sum of the working area and the extended area.
  • the method for judging the position of the door leaf is: when the sensor continuously receives the trigger signal, and the distance between the trigger point and the sensor is within a preset range of the ground frame distance, the door leaf is within the inner range of the door frame.
  • the sensor cannot receive the trigger signal within the preset range of the ground frame, it means that the door leaf is within the entrance or exit range of the door frame.
  • the laser scanning area and the door leaf form an angle of less than or equal to 30° in the vertical direction
  • the method of determining the position of the door leaf is: when the sensor continuously receives the trigger signal that meets the first preset distance variation curve, The door leaf is about to enter the entrance or exit of the door frame from inside the door frame.
  • the sensor continuously receives the trigger signal that meets the second preset distance curve, it means that the door leaf is about to enter the inside of the door frame from the entrance or exit of the door frame.
  • the application analysis part comprises: an installation location analysis module.
  • the installation location analysis module is used to analyze the installation orientation of the sensor.
  • the installation location analysis module includes a sensor orientation analysis, and the sensor orientation analysis includes: first, laser scanning is performed with a maximum scanning accuracy within a maximum scanning region of the sensor; and then, the sensor scanning region orientation is determined according to the scanning result.
  • the method for determining the orientation of the scan area of the sensor according to the scan result is:
  • step (1) it is determined whether a third preset distance change curve appears, and if it occurs, the process proceeds to step (2). If it does not appear, the sensor installation orientation does not meet the preset condition.
  • step (2) the scan point information corresponding to the third preset distance change curve is obtained, and it is determined whether the scan point position information conforms to the preset range. If yes, go to step (3). If it does not match, the sensor installation orientation does not meet the preset conditions.
  • Step (3) counting the number of scan points that meet the third preset distance change curve, and determining whether the value is within the range of the number of preset scan points. If the value is consistent, the sensor is installed correctly. If the sensor is not in compliance, the sensor installation orientation is not Meet the preset conditions.
  • Step (4) cycle steps (1) to (3) until the sensor is installed correctly.
  • the third preset distance variation curve is a scan point-distance curve in which a specular reflection transition changes.
  • the installation location analysis module further includes: when the sensor is installed correctly, prompting the user that the sensor is correctly installed. When the sensor installation orientation does not meet the preset condition, the user is prompted to replace the installation position or installation orientation of the sensor.
  • the application analysis part comprises: a scan area resolution adjustment module.
  • the scan area resolution adjustment module is configured to divide the laser scan area into at least two different resolution work areas. In the working area of the at least two different resolutions, the working area with higher resolution is close to the side of the door frame, and the working area with lower resolution is close to the side of the rotating shaft of the door leaf.
  • the side close to the door frame is a main dangerous area, which is a main area where the rotating door is easy to squeeze and hit the human body.
  • the side close to the shaft of the door leaf is a sub-hazardous area, which is an area where the revolving door may hit the human body.
  • the scan area resolution adjustment includes a partition analysis method, wherein the method is: taking a vertical line of the sensor as a base point, and dividing the scan area of the sensor into a side near the door frame and close to the door leaf axis with a vertical line as a boundary. One side.
  • the side close to the door frame is defined as the main danger area
  • the side close to the rotation axis of the door leaf is defined as the secondary danger area
  • partition analysis may further separate the scan areas having different resolutions in the primary danger zone or the secondary danger zone according to the preset information.
  • the portion above the ground frame position is divided into the highest resolution region based on the connection between the ground frame position and the sensor, and the connection between the ground frame position and the sensor line and the vertical line is The area is divided into sub-high resolution areas.
  • the secondary danger zone may be divided into two or more scanning zones having different resolutions according to the corresponding scanning point-distance curve of the zone, with the curve inflection point as the dividing point.
  • two or more scanning zones in the secondary danger zone have a larger resolution as the resolution is closer to the vertical line.
  • two or more scanning partitions have a resolution which takes the maximum value closest to the perpendicular line, and the remaining partitions decrease in the scanning direction below the maximum value.
  • the decrease change may be a continuous decrease change, a discontinuous decrease change, or a wave type decrease change.
  • the working resolution of the higher resolution working area is 0.01-1.0°
  • the working resolution of the lower resolution working area is 0.5-30.0°.
  • the side closer to the door frame is the side where the sensor detects the specular reflection feature
  • the side close to the door leaf axis is the side where the sensor cannot detect the specular reflection feature
  • the above-mentioned human body safety laser sensor for the revolving door is installed at the top of the door leaf, within 50 cm from the vertical outer frame of the door leaf.
  • optical scanning device described in Patent No.: ZL200510129141.1 can be used to implement the corresponding functions of the laser scanning distance measuring portion of the present invention.
  • the laser optical scanning detection technology adopted by the technical solution of the present invention belongs to a non-contact safety protection type sensor. Compared with the contact pressure deformation sensor, the safety brake can be performed before the door leaf hits or squeezes the human body, and the user experience is better.
  • the technical solution of the present invention adopts a laser scanning detection technology, and the divergence angle of the laser beam is small compared with the existing non-contact infrared optical technology, and the width of the beam at a distance of 2 m can be reduced to 0.8 cm. Therefore, effective detection of an object having a size of about 1 cm in diameter, such as a finger, can be achieved. Compared with infrared optical technology, the detection accuracy is greatly improved.
  • the technical solution of the invention adopts the laser scanning detection technology, and the beam spacing can be very small, so the detection resolution greatly mentions that the seamless detection can be almost realized, thereby realizing complete protection of the entire door.
  • the technical solution of the invention adopts laser pulse detection technology based on laser pulse, since the energy of the laser pulse can be very high, the laser working distance can reach several tens of thousands compared with the existing non-contact triangular reflection and triangulation ranging infrared optical technology. Compared with infrared technology, the working distance is greatly improved.
  • the laser sensor provided by the present invention not only overcomes the technical problem that the existing laser sensor can be installed only at the position of the door frame, compared with the existing sensor. Moreover, the automatic adjustment of the detection range is realized.
  • the detection range of the sensor can automatically extend a distance, and the most epitaxial formation of the door leaf is effectively detected and protected.
  • the detection range of the sensor is recovered, and the energy consumption is reduced while avoiding the false induction by the inner diameter of the revolving door.
  • the monitoring and protection range of the laser sensor is further improved.
  • the laser sensor provided by the invention also has the function of automatically recognizing its installation position on the revolving door, and automatically selects the working mode and the detection area according to the identified installation position, and the laser sensor of the invention also has an automatic setting corresponding detection. Area and resolution features.
  • FIG. 1 is a schematic view showing the structure of a sensor of the present invention.
  • FIG. 2 is a schematic view showing the position of a laser scanning region of the sensor of the present invention.
  • FIG. 3 is a schematic view showing a tilting mode of the laser scanning area of the sensor of the present invention.
  • Figure 4 is a graph showing the scanning point-distance curve of the sensor of the present invention when it is not specularly reflected.
  • Fig. 5 is a graph showing a scanning point-distance curve of a mirror reflection of the sensor of the present invention.
  • FIG. 6 is a schematic diagram showing the resolution division of a laser scanning area of the sensor of the present invention.
  • FIG. 7 is a schematic diagram of preset distance information of the sensor safety analysis module of the present invention.
  • a human body safety laser sensor for a revolving door includes a laser scanning distance measuring portion and an application analysis portion.
  • the laser scanning distance measuring portion includes: a laser emitting device, a laser deflecting device, an optical signal receiving device, and an analysis processing device.
  • the sensor is installed at the top of the door leaf 2 of the revolving door, 20 cm from the vertical outer frame of the door leaf 2 of the revolving door.
  • the laser emitting device transmits a pulsed laser signal to the laser deflecting device.
  • the laser deflection device biases the directional pulse laser signal to a predetermined angle under the control of the analysis processing device, and forms one laser scanning region 3.
  • the rotation angle of the laser scanning region 3 is 110°.
  • the laser scanning area 3 is located in the direction of rotation of the door leaf 2 of the revolving door, on the front side of the area of the door leaf 2 and 0.05 cm away from the door leaf.
  • the optical signal receiving device is configured to receive the returned laser signal and transmit the signal to the analysis processing device.
  • the analysis processing device includes a laser deflection control module and a trigger point distance analysis module.
  • the laser deflection control module is coupled to the laser deflection device for controlling a deflection angle of the laser deflection device.
  • the trigger point distance analysis module first measures the time difference t of the laser signal transmission and reception based on the TOF technique, that is, the time-of-flight measurement technique. Then, by multiplying the time difference t by the speed of light v, the distance information between the light trigger signal and the sensor can be obtained. The distance information obtained by analyzing the trigger point is sent to the security analysis module.
  • the application analysis part includes: a security analysis module.
  • the safety analysis module is connected to the door control device of the revolving door, and controls the movement state of the revolving door leaf after analyzing and judging according to the trigger point distance information received from the trigger point distance analysis module.
  • the door control device may be a device mounted on the revolving door for controlling the rotation of the rotating door leaf relative to the rotating door frame, the rotation direction and the rotation speed, and having a driving and control function.
  • the security analysis module includes: a trigger point risk analysis, where the trigger point risk analysis includes: first, acquiring trigger point distance information obtained by the trigger point distance analysis module; and then comparing the trigger point distance information with the scan point Preset distance information.
  • the trigger point risk analysis includes: first, acquiring trigger point distance information obtained by the trigger point distance analysis module; and then comparing the trigger point distance information with the scan point Preset distance information.
  • the trigger point distance is greater than or equal to the preset distance of the scan point, the trigger point is a safe trigger point, and no control signal is generated; when the trigger point distance is less than the preset distance of the scan point, the trigger point is a dangerous trigger point.
  • generating a corresponding signal and transmitting the control signal to the gating device.
  • the corresponding signal is a control signal for controlling the door to stop rotating or decelerating.
  • the preset distance information described above generally includes the distance from the sensor to the revolving door leaf shaft, the distance from the sensor to the ground, the distance from the sensor to the ground frame, the distance from the sensor to the column, and the like when there is no pedestrian in the revolving door. Or the distance from the sensor to the revolving door fixture or the ornament when invading the object.
  • the preset distance information is given to the corresponding preset distance information of each scanning point by means of analog debugging according to the preset installation position and the installation height and the required working area at the time of production.
  • the main reason for limiting the existing laser sensor can only be installed at the fixed position of the revolving door by receiving the optical signal at one end of the optical signal is that the revolving door has a complicated internal structure and is based on TOF.
  • the technical laser sensor can easily generate false triggers during the operation of the revolving door, such as scanning to the rotating door frame, etc., therefore, the light shielding type laser sensor is usually used to cooperate with other sensors or directly use other sensors as safety protection sensors.
  • the present invention defines a monitoring area in which the sensor needs to generate an effective response signal by presetting the distance information, thereby largely avoiding the occurrence of false triggering.
  • the human body safety laser sensor for a revolving door according to the embodiment 1, wherein the trigger point distance analysis module first calculates a laser pulse to emit and receive a return signal by using a time to digital converter (TDC). Time difference. Then, according to the time difference and the speed of light, the distance of flight (TOF: time of flight), that is, the distance information between the trigger point and the sensor, is further calculated by the calculator.
  • TDC time to digital converter
  • the human body safety laser sensor for a revolving door according to Embodiment 1, wherein the preset distance information is completed by an initialization operation, the process is: first, turning on the sensor without the user entering or leaving the revolving door, so that It scans at a preset maximum scan angle and rotates the revolving door leaf at a preset direction and rate. Then, the sensor uses the trigger point distance information received by each scanning point as the preset distance information.
  • the trigger point distance information closest to the distance sensor is used as the preset distance information.
  • the sensor generally detects the glass of the revolving door leaf or the door frame.
  • the distance information of the trigger point farthest from the distance sensor is used as the preset distance information, and the remaining distance information is recorded and saved. , the distance information is called when needed.
  • the sensor When the same scanning point has two or more trigger point distance information in different scanning periods, the sensor generally detects the fixed decoration object and the like placed in the revolving door.
  • the human body safety laser sensor for a revolving door when two or more trigger point distance information appear in different scanning periods at the same scanning point, the trigger point distance information which is the farthest from the distance sensor As the preset distance information, the remaining distance information is recorded and saved, and the distance information is called when needed.
  • the required time is: recording the distance information of the scanning points where the distance information of the two or more trigger points is present in each scanning period, and performing scanning points with certain variation rules in the corresponding scanning periods among the consecutive scanning points.
  • - Distance curve When a certain scanning point of the sensor scans to the trigger signal, and the scanning point-distance curve conforming to the above change rule is scanned in successive successive scanning points, the trigger is considered as a safety trigger.
  • the trigger is considered to be a dangerous trigger.
  • the sensor can be prevented from being erroneously triggered due to the decoration in the sensor, thereby causing the abnormal non-safe stop or deceleration of the revolving door, thereby improving the user experience.
  • the detection distance of the detection point may change stepwise compared with the adjacent detection point, and sometimes the scanning point distance change tends to 0 in the range of several scanning points after the step change.
  • the change ie the scan point-distance curve, tends to be a straight line.
  • the scanning point at which a step change occurs is used as the starting scanning point of the specular reflection, and the scanning point at which the distance change to the adjacent scanning point recovers regularly increases or decreases as the end scanning point of the specular reflection.
  • a specular reflection phenomenon occurs, that is, when the scanning point-distance curve changes, the sensor sends a stop command to the gating system, and The user makes a sound or signal or a prompt light, prompting the user to use a non-mirror thin material such as paper or a matte film to shield the place where the specular reflection occurs, and continue the initialization operation.
  • the application analysis portion further includes: a scanning area range adjustment module.
  • the scanning area range adjusting module is connected with the trigger distance analysis module signal, and according to the obtained trigger point distance information, comparing the received distance information with the preset trigger information, and then transmitting the rotation control command to the laser deflection device to adjust The maximum angle at which the laser rotates in a preset direction to control the scanning range of the laser scanning area.
  • the application analysis portion further includes: a scanning area range adjustment module.
  • the scan area range adjustment module is connected to the security analysis module.
  • the security analysis module further includes a trigger analysis.
  • the triggering analysis includes: first comparing and comparing the received distance information with the preset trigger information. Then, according to the comparison result, when the door leaf 2 is in the inner range of the door frame 1, an A command is sent to the scanning area range adjusting module, and after receiving the A command, the scanning area range adjusting module controls the laser scanning area 3 as the working area 301.
  • the B command is sent to the scanning area range adjusting module, and after receiving the B command, the scanning area range adjusting module controls the laser scanning area 3 to be the sum of the working area 301 and the extended area 302. .
  • the scanning area range adjustment module comprises a scanning area control analysis, the scanning area control analysis comprising the following steps:
  • the method for determining the working area 301 in step S1 is: forming the working area 301 according to the preset value of production.
  • the preset value is: a sensor-based point, a pulse signal emitted vertically downward is a vertical line, and a horizontal direction toward a rotation axis of the door leaf 2 is an area in which a horizontal line is rotated to form a 90°, that is, the working area 301.
  • An extended region 302 is formed.
  • the method for forming the extended region 302 in the step S2 is: forming the region formed by extending the working region to the door frame by 20° according to the working region 301 according to the preset value of the production, which is the extended region 302.
  • step S3 Adjusting the scanning area range of the laser scanning area 3 based on the area information obtained in step S1 and step S2.
  • the method for adjusting the range of the scanning area of the laser scanning area 3 in step S3 is: comparing and analyzing according to the received distance information and the preset trigger information, when the door leaf 2 is within the inner range of the door frame 1, the laser scanning area 3 is the working area. 301.
  • the laser scanning area 3 is the sum of the working area 301 and the extended area 302.
  • the sensor used in the revolving door has a fixed detection area after the installation is completed.
  • the sensor triggers the detection, which causes the revolving door to work normally.
  • the detection area of the existing sensor needs to be smaller than the inner diameter of the revolving door.
  • the invention can realize the dynamic adjustment of the detection area, that is, when the door leaf moves to the inner side of the revolving door, the detection range is the working area 301, which is prevented from being triggered by the inner diameter of the revolving door; when the door leaf moves to the entrance and exit of the revolving door, the detection range is working.
  • the protection area is larger than the most extension of the door leaf 2, so that the outer edge of the door leaf 2 can be prevented from being struck or squeezed to the human body.
  • the scanning area range adjustment module comprises a scanning area control analysis, the scanning area control analysis comprising the following steps:
  • the method for determining the working area 301 in step S1 is to form the working area 301 according to a preset value.
  • the preset value is obtained by an initialization operation, which is: taking the sensor as a base point, the maximum scanning angle of the scanning area 3 toward the door leaf 2 is one side boundary, and the vertical line below the sensor is the other side boundary, between the two boundaries
  • the formed scanning area is the working area 301.
  • An extended region 302 is formed.
  • the method for forming the extended region 302 in step S2 is: performing an initializing operation according to a preset value: on the basis of the working area 301, extending along the working area in the direction of the door frame to the maximum scanning angle of the sensor toward the side of the door frame 1, the formed area That is, the extended area 302.
  • step S3 Adjusting the scanning area range of the laser scanning area 3 based on the area information obtained in step S1 and step S2.
  • the method for adjusting the range of the scanning area of the laser scanning area 3 in step S3 is: comparing and analyzing according to the received distance information and the preset trigger information, when the door leaf 2 is within the inner range of the door frame 1, the laser scanning area 3 is the working area. 301.
  • the laser scanning area 3 is the sum of the working area 301 and the extended area 302.
  • the human body safety laser sensor for a revolving door can take the following steps to form a working area:
  • the preset scan area is divided into two parts with the connection of the sensor and the ground frame as a baseline, wherein the side from the baseline toward the door leaf axis is the work area.
  • the method for obtaining the location of the ground frame is: first determining whether there are two or more distance values of the same scanning point, and if present, further selecting a scanning point that is located near the inflection point of the scanning point-distance curve and relatively closer to the sensor.
  • Ground frame area information If it does not appear, according to the preset, the preset scanning area is divided into two parts by taking the vertical position of the sensor as the base point, and the scanning point-distance curve of the scanning area located at the preset position toward the door frame is selected, and the closest is The inflection point of the vertical line is the starting point, and m scanning points are selected as the ground frame area information to extend the curve of the side gradually decreasing distance, and the m scanning points are selected according to preset values. Then, a scan point in the map area information is selected as the ground frame position. Among them, it is preferable that the scanning point corresponding to the minimum value of the distance or the scanning point corresponding to the intermediate value is used as the ground frame position.
  • the ground frame position can also be obtained by setting the trigger point where the distance of the preset scan area is discontinuous or the transition type is changed to the ground frame position.
  • the human body safety protection laser sensor for a revolving door according to an embodiment of the embodiment 7-11, wherein the received distance information and the preset trigger information are compared and analyzed by: the sensor continuously receives the trigger signal And the distance between the trigger point and the sensor is within the preset range of the ground frame distance, which means that the door leaf is within the inner range of the door frame.
  • the sensor cannot receive the trigger signal within the preset range of the ground frame, it means that the door leaf is within the entrance or exit range of the door frame.
  • the human body safety laser sensor for a revolving door according to an embodiment of the embodiments 7-11, as shown in FIG. 3, the laser scanning area 3 is located on the front side of the door leaf 2 along the direction of rotation of the door leaf 2, and the door leaf 2 An angle of 1° is formed in the vertical direction, and the top end of the laser scanning area 3 is away from the door leaf 2, and the bottom end is close to the door leaf 2.
  • the position of the door leaf is determined as follows: when the sensor continuously receives the trigger signal that matches the first preset distance change curve, it means that the door leaf is about to enter the entrance or exit of the door frame from the inside of the door frame.
  • the trigger signal that meets the second preset distance curve it means that the door leaf is about to enter the inside of the door frame from the entrance or exit of the door frame.
  • the first preset distance variation curve is: the sensor firstly detects the top position of the door frame 1 in order, and under the driving of the door leaf 2, the beam of the sensor regularly detects the bottom of the door frame 1 from the top of the door frame 1, and the distance The change conforms to the preset law change, and the ground frame 4 cannot be detected at the same time.
  • the second preset distance variation curve is: the sensor firstly detects the top position of the door frame 1 in sequence, and under the driving of the door leaf 2, the beam of the sensor is regularly detected from the top of the door frame 1 to the bottom of the door frame 1, and the distance The change conforms to the preset law change, and the ground frame 4 can be detected at the same time.
  • the top and bottom of the entrance and exit position of the revolving door are free of obstacles such as glass, and the ground frame at the entrance and exit of the revolving door is not convenient for the person to walk, and the ground frame for fixing the door frame is not provided.
  • the measurement and judgment of the position of the entrance and exit of the revolving door are realized.
  • the installation angle of the laser is slightly inclined, so that the light curtain beam firstly detects the top position of the door frame in order, and when the corresponding beam is detected to regularly detect the door frame, and the distance is just the radius of the door, It can be considered that the door leaf leaves the entrance and exit of the revolving door, and the detection area should be contracted.
  • the sensor can sense the trigger signal in the range from the ground to a certain level.
  • the sensor can detect the user finger trigger signal in the non-secure area on the column or the user foot trigger signal in the non-safe area, thereby controlling the door leaf. Brake, avoid impact or squeeze to the user's fingers and feet, to achieve perfect security.
  • a human body safety laser sensor for a revolving door according to an embodiment of the embodiments 7-11, wherein the laser scanning area 3 is located on the front side of the door leaf 2 in the direction of rotation of the door leaf 2, and forms a vertical direction with the door leaf 2 The angle is angled, and the top end of the laser scanning area 3 is close to the door leaf 2, and the bottom end is away from the door leaf 2.
  • the position of the door leaf is determined as follows: when the sensor continuously receives the trigger signal that matches the first preset distance change curve, it means that the door leaf is about to enter the entrance or exit of the door frame from the inside of the door frame.
  • the trigger signal that meets the second preset distance curve it means that the door leaf is about to enter the inside of the door frame from the entrance or exit of the door frame.
  • the first preset distance variation curve is: the sensor firstly detects the bottom position of the door frame 1 in order, and under the driving of the door leaf 2, the beam of the sensor regularly detects the top of the door frame 1 from the bottom of the door frame 1, and the distance The change conforms to the preset law change, and the ground frame 4 cannot be detected at the same time.
  • the second preset distance variation curve is: the sensor firstly detects the bottom position of the door frame 1 in order, and under the driving of the door leaf 2, the beam of the sensor regularly detects the top of the door frame 1 from the bottom of the door frame 1, and the distance The change conforms to the preset law change, and the ground frame 4 can be detected at the same time.
  • the human body safety protection laser sensor for a revolving door according to Embodiment 1, the application analysis portion further comprising: an installation position analysis module.
  • the installation location analysis module is used to analyze the installation orientation of the sensor.
  • the device can be used to assist the user in judging whether the installation position and orientation of the sensor are correct, and avoiding the sensor not working properly due to improper installation position of the user or incorrect installation orientation.
  • Existing sensors usually require the user to determine the installation position and installation orientation. Frequently, the sensor may not work properly due to improper installation position or incorrect installation orientation, or the error alarm may occur frequently, which seriously affects the user experience.
  • the human body safety laser sensor for a revolving door wherein the installation position analysis module comprises a sensor orientation analysis, the sensor orientation analysis comprises: first, performing laser light with maximum scanning accuracy within a maximum scan area of the sensor Scan; then, the sensor scan area orientation is determined based on the scan result.
  • the human body safety protection laser sensor for a revolving door according to Embodiment 16 wherein the method for determining the orientation of the scanning area of the sensor according to the scanning result is:
  • step (1) it is determined whether a third preset distance change curve appears, and if it occurs, the process proceeds to step (2). If it does not appear, the sensor installation orientation does not meet the preset condition.
  • step (2) the scan point information corresponding to the third preset distance change curve is obtained, and it is determined whether the scan point position information conforms to the preset range. If yes, go to step (3). If it does not match, the sensor installation orientation does not meet the preset conditions.
  • Step (3) counting the number of scan points that meet the third preset distance change curve, and determining whether the value is within the range of the number of preset scan points. If the value is consistent, the sensor is installed correctly. If the sensor is not in compliance, the sensor installation orientation is not Meet the preset conditions.
  • Step (4) cycle steps (1) to (3) until the sensor is installed correctly.
  • the third preset distance variation curve is a scanning point-distance curve in which a specular reflection transition changes.
  • the human body safety laser sensor for a revolving door according to any one of embodiments 17-18, wherein the installation position analysis module further comprises: prompting the user that the sensor is correctly installed when the sensor is properly installed. When the sensor installation orientation does not meet the preset condition, the user is prompted to replace the installation position or installation orientation of the sensor.
  • the human body safety protection laser sensor for a revolving door further includes: a scanning area resolution adjustment module; the scanning area resolution adjustment module is configured to divide the laser scanning area into at least 2 Working areas with different resolutions; in the working area of at least two different resolutions, the working area with higher resolution is close to the side of the door frame, and the working area with lower resolution is close to the side of the rotating shaft of the door leaf.
  • the side close to the door frame is a main dangerous area, and is an area where the rotating door is easy to squeeze and hit the finger or the foot of the human body.
  • the side close to the shaft of the door leaf is a sub-hazardous area, which is an area where the revolving door may hit the human body.
  • the side closer to the door frame is the side on which the sensor detects the specular reflection feature, and the side close to the door leaf axis is the side on which the sensor cannot detect the specular reflection feature.
  • the resolution of the sensor can be automatically adjusted based on the hazard of the monitoring area and the target monitoring object, thereby achieving precise monitoring of the main hazardous area, preventing the rotating door leaf from being squeezed or hitting the finger or foot of the human body.
  • the lower monitoring intensity is adopted for the sub-hazardous area. While ensuring the physical monitoring of the human body, the total energy consumption of the sensor can be reduced, and the service life of the sensor is prolonged to some extent.
  • the sensor using the scanning area resolution adjustment module can save more than 10% energy and increase the service life by more than 10%.
  • the human body safety protection laser sensor for a revolving door wherein the scanning area resolution adjustment comprises a partition analysis, as shown in FIG. 6 , the method of the partition analysis is: taking a sensor as a base point as a vertical line, The scanning area of the sensor is divided into a side close to the door frame and a side close to the door shaft.
  • the side close to the door frame is defined as the main danger zone
  • the side close to the axis of the door leaf is defined as the secondary danger zone.
  • the side closer to the door frame is the high-resolution scanning area 3A
  • the side close to the axis of the door leaf is the low-resolution scanning area 3B.
  • the zoning analysis may further divide the scanning area having different resolutions in the main danger zone or the secondary danger zone according to preset information.
  • the portion above the ground frame position can be divided into the highest resolution region based on the connection between the ground frame position and the sensor, and the area between the ground frame position and the sensor and the vertical line Divided into sub-high resolution areas.
  • the resolution of the highest resolution area is 0.1°
  • the resolution of the sub-high resolution area is 1.0°.
  • the zoning analysis may further divide the scanning area having different resolutions in the main danger area or the sub-hazard area according to preset information.
  • the secondary in danger zone can be divided into two or more scanning zones with different resolutions according to the corresponding scanning point-distance curve of the zone, with the curve inflection point as the dividing point.
  • the human body safety laser sensor for a revolving door according to Embodiment 23, wherein two or more scanning zones in the secondary danger zone have a resolution with a maximum value closest to the vertical line, and the rest The resolution of the partition decreases in the scan direction below the maximum value.
  • the reduction variation may be a continuous reduction variation, taking four partitions as an example: the partition closest to the vertical line is A, BCD The three partitions are arranged in the order of the axis of the door leaf.
  • the resolution of partition A is the largest, and the angle between adjacent scan points is 1°.
  • the resolution of partition B is second, and the angle between adjacent scan points is 2°.
  • the resolution of partition C is again, and the angle between adjacent scan points is 3°.
  • Partition D has the smallest resolution and a corner between adjacent scan points of 4°.
  • partition closest to the vertical line is A
  • partition three partitions of BCD are arranged in the order of the axis of the door leaf.
  • the resolution of partition A is the largest, and the angle between adjacent scan points is 1°.
  • the resolution of partition B is second, and the angle between adjacent scan points is 2°.
  • the resolution of partition C is again, and the angle between adjacent scan points is 5°.
  • Partition D has the smallest resolution and a corner between adjacent scan points of 10°.
  • partition closest to the vertical line is A
  • partition three partitions of BCD are arranged in the order of the axis of the door leaf.
  • the resolution of partition A is the largest, and the angle between adjacent scan points is 1°.
  • the resolution of partition B is large, and the angle between adjacent scan points is 7°.
  • the resolution of partition C is small, and the angle between adjacent scan points is 4°.
  • Partition D has the smallest resolution and a corner between adjacent scan points of 8°.
  • the human body safety laser sensor for a revolving door according to the embodiment 1, wherein the application analysis part comprises: a safety analysis module, and a scan area range adjustment module, a installation position analysis module, and a scan area resolution adjustment module. At least 1 module.
  • the safety analysis module according to the trigger point distance information, after the analysis, the swing door motion state is controlled by the door control device.
  • the scan area range adjustment module is used to automatically adjust the range of the scan area.
  • the installation location analysis module is used to analyze the installation orientation of the sensor.
  • the scanning area resolution adjusting module is configured to divide the laser scanning area into at least two working areas of different resolutions; in the working area of the at least two different resolutions, the working area with higher resolution is close to the side of the door frame The lower resolution work area is near the side of the door leaf shaft.
  • a human body safety laser sensor for a revolving door wherein, as shown in FIG. 1, the laser deflection device includes a first laser deflector and a second laser deflector.
  • the first laser deflector is used to deflect the laser signal emitted by the laser emitting device.
  • the second laser deflector is configured to deflect the light trigger signal to the optical signal receiving device.
  • the human body safety laser sensor for a revolving door wherein the first laser deflector and the second laser deflector are synchronized and rotated correspondingly under the control of the laser deflection control module.
  • the corresponding rotation is a second laser deflector, and the light trigger signal generated by the first laser deflector biasing is deflected to the optical signal receiving device.
  • the human body safety laser sensor for a revolving door according to one of embodiments 28 and 29, wherein the first laser deflector and the second laser deflector are polygon mirrors having a corresponding number of mirrors.
  • the first laser deflector and the second laser deflector are fixed on the same rotating shaft and driven to rotate by a driving device.
  • the human body safety laser sensor for a revolving door according to one of embodiments 28 and 29, wherein the first laser deflector and the second laser deflector are polygon mirrors having a corresponding number of mirrors.
  • the first laser deflector and the second laser deflector are respectively fixed on different rotating shafts, and are respectively driven to rotate by different driving devices.
  • the human body safety protection laser sensor for a revolving door according to Embodiment 1, wherein the laser deflection device comprises a polygon mirror and a corresponding driving device, and the polygon mirror side mirror faces the laser deflection device for transmitting the laser signal Partially directed to the target area.
  • the other side of the mirror faces the optical signal receiving device for deflecting the optical feedback signal to the optical signal receiving device.
  • the laser deflection device includes an optical feedback calibration module for calibrating the feedback optical signal.
  • Applicant's research found that the response time, gain and other performance of components are affected by factors such as ambient temperature, which in turn affects the accuracy of the product.
  • the applicant can reduce the product accuracy error caused by the above influence, and improve the sensing accuracy of the product and the accuracy of the alarm.
  • the optical feedback calibration module may be an optical feedback loop installed inside the product, and the length of the loop is a preset value. At this time, during the working of the product, the response time of the laser emitting device-optical feedback loop-optical signal receiving device can be calculated in real time or periodically. Since the length of the optical feedback loop is constant, the response time mainly depends on the element. Device differences. Based on the response time, the delay time of the component can be calculated, and then the delay time can be deducted in real time when calculating the distance of each spot to realize the calibration of the optical feedback time calculation.
  • the human body safety protection laser sensor for a revolving door according to Embodiment 33, wherein the analysis processing device comprises: a distance accuracy calibration module, wherein the module acquires the deflection control information of the laser deflection control module and the calibration information of the optical feedback calibration module, The trigger point distance analysis result of the trigger point distance analysis module is calibrated.
  • the analysis processing device transmits the calibrated trigger point distance information to the application analysis portion.
  • the distance accuracy calibration module may be a background object for different distances and different reflectivities, and a set of compensation parameters are calibrated, and the set of parameters is written into the laser sensor memory for storage. When the laser sensor is working normally, the compensation parameter needs to be added after the original value is calculated for each point.
  • the pulse width of the receiving end of the product is several nanoseconds, and the pulse width is related to the energy received by the receiving end, including reflectivity and distance.
  • the sensor may generate distance error due to the above factors. The error can be compensated by the above method, thereby improving the distance calculation accuracy of the poor product.
  • a human body safety laser sensor for a revolving door wherein the total scanning area generated by the sensor 5 is the sum of the laser scanning area 3 and the invalid triggering area 6.
  • the laser scanning area 3 and the invalid trigger area 6 are separated by the preset distance information. The sensor only produces a feedback action on the trigger signal in the laser scanning region 3.
  • the laser deflection device may deflect the laser light to rotate the predetermined direction to form the laser scanning region.
  • the partial rotation angle of the laser is 180°.
  • the laser deflection device may deflect the laser light to rotate the predetermined direction to form the laser scanning region.
  • the partial rotation angle of the laser is 160°.
  • the laser deflection device may deflect the laser light to rotate the predetermined direction to form the laser scanning region.
  • the partial rotation angle of the laser is 150°.
  • the laser deflection device may deflect the laser light to rotate the predetermined direction to form the laser scanning region.
  • the partial rotation angle of the laser is 140°.
  • the laser deflection device may deflect the laser light to rotate the predetermined direction to form the laser scanning region.
  • the partial rotation angle of the laser is 130°.
  • the laser deflecting means may bias the laser to rotate the predetermined direction to form the laser scanning area.
  • the partial rotation angle of the laser is 120°.
  • the laser deflection device may bias the laser to form two mutually adjacent laser scanning regions.
  • the laser deflection device may bias the laser to form three laser scanning regions that are at an angle to each other.
  • the laser deflection device may bias the laser to form four laser scanning regions that are at an angle to each other.
  • the laser deflecting device may bias the laser to form five mutually adjacent laser scanning regions.
  • the laser deflection device may bias the laser to form 6 or more laser scanning regions that are at an angle to each other.
  • the laser scanning area is located on one side of the door leaf surface and is spaced from the door leaf surface.
  • the distance between the laser scanning area and the door leaf surface is 50 cm.
  • the laser scanning area is located on one side of the door leaf surface and is spaced from the door leaf surface.
  • the distance between the laser scanning area and the door leaf surface was 30 cm.
  • the laser scanning area is located on one side of the door leaf surface and is spaced from the door leaf surface.
  • the distance between the laser scanning area and the door leaf surface is 20 cm.
  • the laser scanning area is located on one side of the door leaf surface and is spaced from the door leaf surface.
  • the distance between the laser scanning area and the door leaf surface is 10 cm.
  • the laser scanning area is located on one side of the door leaf surface and is spaced from the door leaf surface.
  • the distance between the laser scanning area and the door leaf surface is 5 cm.
  • the laser scanning area is located on one side of the door leaf surface and is spaced from the door leaf surface.
  • the distance between the laser scanning area and the door leaf surface is 3 cm.
  • the laser scanning area is located on one side of the door leaf surface and is spaced from the door leaf surface.
  • the distance between the laser scanning area and the door leaf surface was 1 cm.
  • the laser scanning area is located on one side of the door leaf surface and is spaced from the door leaf surface.
  • the distance between the laser scanning area and the door leaf surface is 0.5 cm.
  • the laser scanning area is located on one side of the door leaf surface and is spaced from the door leaf surface.
  • the distance between the laser scanning area and the door leaf surface was 0.1 cm.
  • the laser scanning area is located on one side of the door leaf surface and is spaced from the door leaf surface.
  • the distance between the laser scanning area and the door leaf surface is 0.05 cm.
  • the laser scanning area is located on one side of the door leaf surface and is spaced from the door leaf surface.
  • the distance between the laser scanning area and the door leaf surface is 0.01 cm.
  • the laser scanning area is located on one side of the door leaf surface and is spaced from the door leaf surface.
  • the distance between the laser scanning area and the door leaf surface is 0.005 cm or less.
  • the laser scanning area is located on one side of the door leaf and forms an angle with the door leaf.
  • the laser scanning area is located on one side of the door leaf surface and forms a first angle with the door leaf surface in a vertical direction.
  • the first angle is 80°.
  • the laser scanning area is located on one side of the door leaf surface and forms a first angle with the door leaf surface in a vertical direction.
  • the first angle is 60°.
  • the laser scanning area is located on one side of the door leaf surface and forms a first angle with the door leaf surface in a vertical direction.
  • the first angle is 30°.
  • the laser scanning area is located on one side of the door leaf surface and forms a first angle with the door leaf surface in a vertical direction.
  • the first angle is 20°.
  • the laser scanning area is located on one side of the door leaf surface and forms a first angle with the door leaf surface in a vertical direction.
  • the first angle is 10°.
  • the laser scanning area is located on one side of the door leaf surface and forms a first angle with the door leaf surface in a vertical direction.
  • the first angle is 5°.
  • the laser scanning area is located on one side of the door leaf surface and forms a first angle with the door leaf surface in a vertical direction.
  • the first angle is 2°.
  • the laser scanning area is located on one side of the door leaf surface and forms a first angle with the door leaf surface in a vertical direction.
  • the first angle is 1°.
  • the laser scanning area is located on one side of the door leaf surface and forms a first angle with the door leaf surface in a vertical direction.
  • the first included angle is 0.5° or less.
  • the laser scanning area is located on one side of the door leaf surface and forms a second angle with the door leaf surface in a horizontal direction.
  • the second angle is 80°.
  • the laser scanning area is located on one side of the door leaf surface and forms a second angle with the door leaf surface in a horizontal direction.
  • the second angle is 60°.
  • the laser scanning area is located on one side of the door leaf surface and forms a second angle with the door leaf surface in a horizontal direction.
  • the second angle is 30°.
  • the laser scanning area is located on one side of the door leaf surface and forms a second angle with the door leaf surface in a horizontal direction.
  • the second angle is 20°.
  • the laser scanning area is located on one side of the door leaf surface and forms a second angle with the door leaf surface in a horizontal direction.
  • the second included angle is 10°.
  • the laser scanning area is located on one side of the door leaf surface and forms a second angle with the door leaf surface in a horizontal direction.
  • the second angle is 5°.
  • the laser scanning area is located on one side of the door leaf surface and forms a second angle with the door leaf surface in a horizontal direction.
  • the second angle is 2°.
  • the laser scanning area is located on one side of the door leaf surface and forms a second angle with the door leaf surface in a horizontal direction.
  • the second angle is 1°.
  • the laser scanning area is located on one side of the door leaf surface and forms a second angle with the door leaf surface in a horizontal direction.
  • the second included angle is 0.5° or less.
  • the laser scanning area passes through the door leaf surface of the revolving door and forms an angle with the door leaf surface, and the angle may be an angle in a horizontal direction or an angle in a vertical direction. Or an angle in which the angle value is small.
  • the laser scanning area passes through the door leaf of the revolving door and forms an angle of 80° with the door leaf.
  • the laser scanning area passes through the door leaf of the revolving door and forms an angle of 60° with the door leaf.
  • the laser scanning area passes through the door leaf of the revolving door and forms an angle of 30 with the door leaf.
  • the laser scanning area passes through the door leaf of the revolving door and forms an angle of 10° with the door leaf.
  • the laser scanning area passes through the door leaf of the revolving door and forms an angle of 5° with the door leaf.
  • the laser scanning area passes through the door leaf of the revolving door and forms an angle of 1° with the door leaf.
  • the laser scanning area passes through the door leaf of the revolving door and forms an angle of 0.5° or less with the door leaf.
  • the method for forming an extended region includes: rotating a predetermined angle formed in a direction of a door frame along a working area, that is, the extended region.
  • the predetermined preset angle of the extension is 90°.
  • the method for forming an extended region includes: rotating a predetermined angle formed in a direction of a door frame along a working area, that is, the extended region.
  • the predetermined preset angle of the extension is 70°.
  • the method for forming an extended region includes: rotating a predetermined angle formed in a direction of a door frame along a working area, that is, the extended region.
  • the predetermined preset angle of the extension is 50°.
  • the method for forming an extended region includes: rotating a predetermined angle formed in a direction of a door frame along a working area, that is, the extended region.
  • the predetermined preset angle of the extension is 30°.
  • the method for forming an extended region includes: rotating a predetermined angle formed in a direction of a door frame along a working area, that is, the extended region.
  • the predetermined preset angle of the extension is 20°.
  • the method for forming an extended region includes: rotating a predetermined angle formed in a direction of a door frame along a working area, that is, the extended region.
  • the predetermined preset angle of the extension is 10°.
  • the method for forming an extended region includes: rotating a predetermined angle formed in a direction of a door frame along a working area, that is, the extended region.
  • the predetermined preset angle of the extension is 5°.
  • the method for forming an extended region includes: rotating a predetermined angle formed in a direction of a door frame along a working area, that is, the extended region.
  • the predetermined preset angle of the extension is 3°.
  • the method for forming an extended region includes: rotating a predetermined angle formed in a direction of a door frame along a working area, that is, the extended region.
  • the extended preset angle is an angle of 1° or less.
  • the scanning resolution of the higher resolution working area is 1.0°
  • the scanning resolution of the lower resolution working area is 30.0°.
  • the resolution is the angle of rotation between adjacent scan points.
  • the scanning resolution of the higher resolution working area is 0.01°
  • the scanning resolution of the lower resolution working area is 0.5°
  • the scanning resolution of the higher resolution working area is 0.1°
  • the scanning resolution of the lower resolution working area is 1.0°
  • the scanning resolution of the higher resolution working area is 0.5°
  • the scanning resolution of the lower resolution working area is 10°.
  • the human body safety laser sensor for the revolving door is installed at the top of the door leaf, within 30 cm from the vertical outer frame of the door leaf.
  • the human body safety laser sensor for the revolving door is installed at the top of the door leaf, within 10 cm from the vertical outer frame of the door leaf.
  • the human body safety laser sensor for the revolving door is installed at the top of the door leaf, within 5 cm from the vertical outer frame of the door leaf.
  • the laser optical scanning detection technology adopted by the technical solution of the present invention belongs to a non-contact safety protection type sensor. Compared with the contact pressure deformation sensor, the safety brake can be performed before the door leaf hits or squeezes the human body, and the user experience is better.
  • the technical solution of the present invention adopts a laser scanning detection technology, and the divergence angle of the laser beam is small compared with the existing non-contact infrared optical technology, and the width of the beam at a distance of 2 m can be reduced to 0.8 cm. Therefore, effective detection of an object having a size of about 1 cm in diameter, such as a finger, can be achieved. Compared with infrared optical technology, the detection accuracy is greatly improved.
  • the technical solution of the present invention adopts laser scanning detection technology, and the beam spacing can be very small, so the detection resolution greatly mentions that almost seamless detection can be realized, thereby realizing complete protection of the entire door.
  • the technical solution of the invention adopts laser pulse detection technology based on laser pulse, since the energy of the laser pulse can be very high, the laser working distance can reach several tens of thousands compared with the existing non-contact triangular reflection and triangulation ranging infrared optical technology. Compared with infrared technology, the working distance is greatly improved.
  • the laser sensor provided by the present invention not only overcomes the technical problem that the existing laser sensor can be installed only at the position of the door frame, compared with the existing sensor. Moreover, the automatic adjustment of the detection range is realized.
  • the detection range of the sensor can automatically extend a distance, and the most epitaxial formation of the door leaf is effectively detected and protected.
  • the detection range of the sensor is recovered, and the energy consumption is reduced while avoiding the false induction by the inner diameter of the revolving door.
  • the monitoring and protection range of the laser sensor is further improved.
  • the laser sensor provided by the invention also has the function of automatically recognizing its installation position on the revolving door, and automatically selects the working mode and the detection area according to the identified installation position, and the laser sensor of the invention also has an automatic setting corresponding detection. Area and resolution features.

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Abstract

一种用于旋转门的人体安全防护激光传感器，包括：激光扫描距离测算部分和应用分析部分。激光扫描测距部分包括：激光发射装置、激光偏向装置、光信号接收装置、分析处理装置。其中，激光发射装置向激光偏向装置发射激光信号；激光偏向装置将激光信号偏向预设角度，并形成至少1个激光扫描区域；光信号接收装置接收返回的激光信号，并向分析处理装置传递该信号。分析处理装置包括：触发点距离分析模块；该模块根据光信号接收装置发出的信号，分析得到触发点的距离信息。应用分析部分包括：安全分析模块；该模块根据触发点距离信息，经过分析后通过门控装置控制旋转门运动状态。

Description

用于旋转门的人体安全防护激光传感器 技术领域
本发明属于自动门传感器技术领域，具体涉及一种用于旋转门的人体安全防护激光传感器。
背景技术
旋转门是一种集聚各种门体优点于一身的场地用门，其宽敞和高格调的设计营造出奢华的气氛，堪称建筑物的点睛之笔。并且旋转门增强了抗风性，减少了空调能源消耗，是隔离气流和节能的最佳选择。
现有旋转门通常包括自动旋转门和被动旋转门，其中被动旋转门不设有驱动装置和感应装置，依靠人员的推动旋转，其安全性、实用性和试用体验均弱于自动旋转门。自动旋转门通过加装的驱动装置驱动转动，无需人员推动门扇。并且现有自动旋转门通常还加装有2套以上的传感装置，其中1套传感装置用于检测是否有人员需要进出旋转门，并根据检测结果控制旋转门自动启动旋转，方便人员进出。另1套传感装置主要为安全防护传感器，其主要功能为防止旋转的门扇撞击或夹伤人体。
现有安全防护传感器主要有以下几种类型：
一、接触式压力形变传感器
该传感器通常为内装有压力感应装置的橡胶条。当人体被旋转门撞击或者挤夹时，门扇或门框与人体的接触压力通过橡胶条向压力感应装置传递，压力感应装置识别该撞击信号并给旋转门的驱动装置发送控制型号，使旋转门暂停转动，从而达到保护人体安全的目的。
该类型传感器的优势在于保护区域很完整，整条的橡胶区域都实现了保护。然而该传感器也需要在门扇撞击或挤压人体后才能产生作用，影响对用户的体验。且当撞击和挤夹力度达到一定程度后，会对用户的身体造成伤害，尤其是儿童或者老人。
二、红外三角漫反射光学安全保护传感器
该传感器采用红外光学技术，对旋转门的关键位置，实现了非接触式的保护。该传感器通常加装在旋转门上具有安全隐患的关键位置处，当人体处于关键保护的位置时，会被红外光学传感器探测，并停止门机运转，实现对人体的非接触式保护。
该传感器的缺点在于：1.红外光学的产品的传感器由于红外光束的发散角度较大，光束在地面上的光斑直径会达到2厘米以上。因而对可检测物体大小有限制，至少需要在2厘米以上。2.相对于接触式的压力形变传感器，红外光学传感器的保护区域不全面。光束之外和光束之间的区域无法实现保护。3.现有用于旋转门的红外三角漫反射光学安全保护传感器，其最大安装高度通常只能达到4米。
三、门扇面的三角测距型红外光学安全保护传感器
由于红外光束的发散角相对较大，光束直径约几个厘米，为了实现对门扇面的保护，该传感器采用多束红外光束组合在一起，从而实现对整个门扇面的粗略的保护，通常光束间距几十厘米。
该传感器的缺点在于：1.该技术采用复数红外光束组合，不同红外光源的光束之间间距几十厘米，光束之外的区域无法实现保护，如果人体肢体恰好在光束外的区域时，传感器不能起到应有的保护作用。2.为避免传感器随门扇移动过程中，因地面发射率的变化而引起的误干扰，在门扇上安装的红外光学传感器采用三角测距方式，但由于光学芯片的分辨率的原因，目前该传感器对距离地面高度少于20cm的物体基本无法实现有效检测，即对人体的脚踝部位无法实现安全保护。3.现有用于旋转门的该类型传感器，其探测区域是固定的，并且探测区域需要小于旋转门的内径，否则光束会检测到旋转门内径并导致传感器触发探测，进而导致门机无法正常工作。但是由于传感器的保护区小于内径，在进出口的位置，门扇最外边缘处不能被有效检测，容易发生撞击或挤压人体。4.旋转门上现有红外光学产品的最大安装高度有限，通常只能达到4米。
除上述传感器外，也有在旋转门上通过上述传感器或其他位于门扇处的传感器，结合激光传感器形成安全保护体系。其中，现有技术采用的激光传感器包括单点光束激光传感器或光幕型激光传感器。然而，无论是单点光束激光传感器，还是光幕型激光传感器，都只能安装在旋转门门框上，一般用于监测旋转门门框的出入口位置，且都需要对应设置的一组或多组光信号发射装置和光信号接收装置。例如，在旋转门框出入口位置处的左侧门框立柱设置光信号发射装置，就需要在门框出入口位置处的右侧门框立柱设置光信号接收装置。现有激光传感器一般通过感应是否产生光信号遮蔽判断监测区域内是否有入 侵物。但是，由于传感器只能安装在旋转门门框上，一般只能检测出入口位置是否有入侵物，而不能检测门扇与门框立柱夹缝位置是否有入侵物。如需要检测门扇与门框立柱夹缝位置，就需要将传感器设置在门框立柱后方，此时就要求传感器非常的小或薄，对传感器的工艺要求极高。而且传感器很容易被门扇触碰或撞击到，造成传感器损坏。因此，现有激光传感器很难形成完全保护。
发明内容
本发明针对现有接触式压力形变传感器会对用户的身体造成伤害，红外光学安全保护传感器存在不能完全保护，以及激光传感器只能安装在门框上且很难形成完全保护的问题中的至少一项，提供了一种用于旋转门的人体安全防护激光传感器，包括：激光扫描距离测算部分和应用分析部分。所述激光扫描距离测算部分包括：激光发射装置、激光偏向装置、光信号接收装置、分析处理装置。其中，所述激光发射装置向激光偏向装置发射激光信号。所述激光偏向装置在分析处理装置的控制下，将激光信号偏向预设角度，并形成至少1个激光扫描区域。所述光信号接收装置用于接收返回的激光信号，并向分析处理装置传递该信号。
进一步的，所述分析处理装置包括触发点距离分析模块。所述触发点距离分析模块，根据光信号接收装置发出的信号，分析得到触发点的距离信息，并将该距离信息发送至安全分析模块。
进一步的，触发点距离分析模块基于TOF技术，即飞行时间测算技术，首先测量出激光信号发射和接收的时间差t。然后在乘以光速，就可以得到触发点与传感器之间的距离信息。
进一步的，所述触发点距离分析模块，首先利用延迟时间转换器(TDC：time to digital converter)计算激光脉冲发射出去和接收返回信号的时间差。然后根据这个时间差和光速通过计算器进一步计算出光脉冲的飞行距离(TOF：time of flight)，也就是触发点与传感器之间的距离信息。
进一步的，所述分析处理装置包括激光偏向控制模块。所述激光偏向控制模块基于预设信息控制激光偏向装置运动，使激光偏向装置可以将激光信号偏导至预设的方向和角度。
进一步的，所述激光偏向装置可以偏导激光沿预设方向旋转一定 角度形成所述激光扫描区域。
进一步的，所述激光偏向装置包括多面镜和驱动多面镜转动的驱动装置。所述多面镜的镜面朝向激光发射装置。
可选的，所述激光偏向装置包括1个多面镜和相应的驱动装置，所述多面镜一侧镜面朝向激光偏向装置，另一侧镜面朝向光信号接收装置。
可选的，所述激光偏向装置包括第一激光偏向器和第二激光偏向器。所述第一激光偏向器和第二激光偏向器为镜面数量相应的多面镜。
进一步的，所述第一激光偏向器和第二激光偏向器可以固定在同一转轴上，由一个驱动装置驱动转动。也可以分别固定在不同的转轴上，由不同的驱动装置分别驱动转动。
进一步的，所述激光偏向装置包括：光学反馈校准模块，该模块用于校准反馈的光信号。
进一步的，所述分析处理装置包括：距离精度校准模块，该模块获取激光偏向控制模块的偏向控制信息和光学反馈校准模块的校准信息后，对触发点距离分析模块的触发点距离分析结果进行校准。
进一步的，所述分析处理装置将校准后的触发点距离信息发送至应用分析部分。
优选的，所述激光信号的旋转角度小于等于180°。
优选的，所述激光信号的旋转角度小于等于160°。
优选的，所述激光信号的旋转角度小于等于150°。
优选的，所述激光信号的旋转角度小于等于140°。
进一步的，所述激光扫描区域，位于门扇面一侧且与门扇面之间设有间距。
优选的，所述激光扫描区域与门扇面之间的间距小于等于50cm。
优选的，所述激光扫描区域与门扇面之间的间距小于等于30cm。
优选的，所述激光扫描区域与门扇面之间的间距小于等于20cm。
优选的，所述激光扫描区域与门扇面之间的间距小于等于10cm。
进一步的，所述激光扫描区域，位于门扇面一侧且与门扇面之间形成夹角。
进一步的，所述激光扫描区域与门扇面之间沿垂直方向形成第一夹角。
进一步的，所述第一夹角成小于等于80°。
进一步的，所述激光扫描区域与门扇面之间沿水平方向形成第二夹角。
进一步的，所述第二夹角成小于等于80°。
进一步的，所述激光扫描区域，穿过旋转门的门扇面且与门扇面形成小于等于80°的夹角。
进一步的，所述激光发射装置发出的激光信号为激光脉冲信号。
进一步的，所述应用分析部分包括：安全分析模块。
进一步的，所述安全分析模块与旋转门的门控装置连接，并根据从触发点距离分析模块接收到的触发点距离信息，经过分析判断后控制旋转门门扇的运动状态。所述门控装置可以是安装在旋转门上，用于控制旋转门扇相对旋转门框转动与否、转动方向和转动速度的，具有驱动和控制功能的装置。
进一步的，所述安全分析模块包括：触发点危险性分析，所述触发点危险性分析包括：首先，获取触发点距离分析模块分析得到的触发点距离信息；然后，对比触发点距离信息与该扫描点的预设距离信息，当触发点距离大于等于扫描点预设距离时，该触发点为安全触发点，不产生控制信号；当触发点距离小于扫描点预设距离时，该触发点为危险触发点，产生相应信号并将控制信号发送至门控装置。
进一步的，上述预设的距离信息可以通过出厂设置或在安装场地进行初始化操作赋予传感器的安全分析模块，或通过其他例如智能学习系统等方式赋予传感器或控制传感器相应调整改变所述预设的距离信息。
进一步的，上述初始化操作过程为：首先，在没有用户进出旋转门的条件下，开启传感器，使其按照预设最大扫描角度进行扫描，并使旋转门扇按预设方向和速率旋转。然后，传感器将各扫描点接收到的触发点距离信息作为预设距离信息。
进一步的，在初始化操作过程中，同一扫描点在同一扫描周期内出现2个或2个以上触发点距离信息时，以其中距离传感器最近的触发点距离信息作为预设距离信息。同一扫描点在同一扫描周期内出现2个或2个以上触发点距离信息时一般为传感器检测到了旋转门门扇或门框的玻璃处。
进一步的，在初始化操作过程中，同一扫描点在不同扫描周期内出现2个或2个以上触发点距离信息时，以其中距离传感器最远的触发点距离信息作为预设距离信息，并记录保存其余距离信息，在需要的时候调用该距离信息。同一扫描点在不同扫描周期内出现2个或2个以上触发点距离信息时一般为传感器检测到了旋转门内放置的固定装饰物等物件。
进一步的，所述需要的时候为：记录出现2个或2个以上触发点距离信息的扫描点在各个扫描周期内的距离信息，并对其中连续的扫描点做相应扫描周期内具有一定变化规律的扫描点-距离曲线。当传感器某一扫描点扫描到触发信号，且在接下来连续的数个扫描点扫描到符合上述变化规律的扫描点-距离曲线，则认为该触发为安全触发。如接下来连续的数个扫描点不符合上述变化规律的扫描点-距离曲线，则认为该触发为危险触发。
进一步的，在初始化操作过程中，出现镜面反射现象，即扫描点-距离曲线出现跃迁变化时：首先，以跃迁变化的起点的前一扫描点和终点的后一扫描点的扫描点-距离曲线的曲率值记为最小值和最大值，计算出最小值和最大值的差值ΔX。然后统计得出最小值和最大值之间对应的扫描点数量n，计算出每个扫描点的平均曲率增长Δx＝ΔX/n。之后，赋予跃迁变化的起点和终点之间的各扫描点一个计算曲率值，该计算曲率值k n＝k n-1+Δx，式中k n为当前扫描点计算曲率，k n-1为当前扫描点的前一扫描点计算曲率，并取k 0＝所述最小值，k max＝所述最大值。而后在跃迁变化的起点的前一扫描点和终点的后一扫描点间做曲线连线，该曲线连线在跃迁变化的各扫描点处的曲率为其计算曲率。最后根据做出的扫描点-距离曲线赋予跃迁变化阶段的各扫描点的距离预设值。
可选的，在初始化操作过程中，出现镜面反射现象，即扫描点-距离曲线出现跃迁变化时：传感器向门控系统发出停止指令，并向用户发出声音或信号或提示光，提示用户采用纸张或磨砂薄膜等非镜面薄物质遮蔽产生镜面反射的地方，并继续初始化操作。
进一步的，所述应用分析部分包括：扫描区域范围调节模块。
进一步的，所述扫描区域范围调节模块，通过向激光偏向装置发送旋转控制指令，调节激光沿预设方向旋转的最大角度，从而控制激 光扫描区域的扫描范围。
进一步的，所述扫描区域范围调节模块包括扫描区域控制分析，所述扫描区域控制分析包括如下步骤：
S1.确定工作区域。
S2.形成延伸区域。
S3.基于步骤S1和步骤S2获得的区域信息，调节激光扫描区域范围。
进一步的，步骤S1所述确定工作区域的方法包括：根据预设值形成工作区域。所述预设值可是在传感器出厂时完成设置，也可以在传感器安装时根据初始化操作完成设置。
进一步的，所述预设值设置为：根据传感器的预设扫描区域朝向，以传感器为基点做垂线，并以该垂线为边界，将预设扫描区域分为两部分。选取其中预设朝向门扇转轴的一侧定义为工作区域。
可选的，采取下述步骤形成所述工作区域：
(1)在传感器最大扫描区域范围内进行激光扫描，形成预设扫描区域并获取地框位置。
(2)基于获得的地框位置信息，以传感器与地框的连线为基线，将预设扫描区域划分为两个部分，其中自基线朝向门扇转轴的一侧为工作区域。
进一步的，所述获取地框位置的方法为：首先判断是否出现同一扫描点有2个或以上距离值，如出现则进一步选取其中位于扫描点-距离曲线的拐点附近，且相对更靠近传感器的扫描点作为地框区域信息。如未出现则根据预设，以传感器所在位置为基点做垂线将预设扫描区域分为两部分，选取其中位于预设朝向门框位置处的扫描区域的扫描点-距离曲线，以其中最靠近垂线的拐点为起始点，向距离逐渐减少的一侧曲线延伸选取m个扫描点作为地框区域信息，所述m个扫描点根据预设数值选取。然后，选取地框区域信息中的一个扫描点作为地框位置。
优选的，所述选取地框区域信息中：距离最小值对应的扫描点或距离中间值对应的扫描点，作为地框位置。
可选的，所述地框位置的获取方法为：将预设扫描区域范围内出现距离非连续变化或出现跃迁式变化的触发处作为地框位置。
进一步的，步骤S2所述形成延伸区域的方法包括：在工作区域的基础上，沿工作区域向门框方向旋转延伸预设角度所形成的区域，即为所述延伸区域。
优选的，所述延伸的预设角度小于等于90°。
优选的，所述延伸的预设角度小于等于70°。
优选的，所述延伸的预设角度小于等于50°。
进一步的，步骤S3所述调节激光扫描区域范围的方法包括：当门扇处于门框内部范围内时，激光扫描区域为工作区域。当门扇处于门框的入口或出口范围内时，激光扫描区域为工作区域与延伸区域之和。
进一步的，门扇位置的判断方法为：当传感器持续接收到触发信号，且触发点与传感器的距离在地框距离预设值范围内，则代表门扇处于门框内部范围内。当传感器不能接收到地框预设值范围内的触发信号时，则代表门扇处于门框的入口或出口范围内。
进一步的，所述激光扫描区域与门扇沿垂直方向形成小于等于30°的夹角，此时门扇位置的判断方法为：当传感器持续接收到符合第一预设距离变化曲线的触发信号时，代表门扇即将从门框内部进入门框的入口或出口处。
当传感器持续接收到符合第二预设距离变化曲线的触发信号时，代表门扇即将从门框的入口或出口处进入门框内部。
进一步的，所述应用分析部分包括：安装位置分析模块。所述安装位置分析模块用于分析传感器的安装朝向。
进一步的，所述安装位置分析模块包括传感器朝向分析，所述传感器朝向分析包括：首先，在传感器最大扫描区域范围内以最大扫描精度进行激光扫描；然后，根据扫描结果判断传感器扫描区域朝向。
进一步的，所述根据扫描结果判断传感器扫描区域朝向的方法为：
步骤(1)，判断是否出现第三预设距离变化曲线，如出现则进入步骤(2)，未出现则传感器安装朝向不符合预设条件。
步骤(2)，获取出现符合第三预设距离变化曲线的扫描点信息，并判断该扫描点位置信息是否符合预设范围。如符合则进入步骤(3)，不符合则传感器安装朝向不符合预设条件。
步骤(3)，统计符合第三预设距离变化曲线的扫描点数量数值，判断该数值是否位于预设扫描点数量数值范围内，如符合则表示传感 器安装正确，如不符合则传感器安装朝向不符合预设条件。
步骤(4)，循环步骤(1)至步骤(3)直至传感器安装正确。
进一步的，所述第三预设距离变化曲线为出现镜面反射跃迁变化的扫描点-距离变化曲线。
进一步的，所述安装位置分析模块还包括：当传感器安装正确时，提示用户传感器安装正确。当传感器安装朝向不符合预设条件时，提示用户更换传感器的安装位置或安装朝向。
进一步的，所述应用分析部分包括：扫描区域分辨率调节模块。所述扫描区域分辨率调节模块用于将激光扫描区域分为至少2个不同分辨率的工作区域。所述至少2个不同分辨率的工作区域中，分辨率较高的工作区域靠近门框一侧，分辨率较低的工作区域靠近门扇转轴一侧。其中，所述靠近门框一侧为主危险区域，是旋转门容易出现挤压和撞击人体的主要区域。所述靠近门扇转轴一侧为次危险区域，是旋转门有可能发生撞击人体的区域。
进一步的，所述扫描区域分辨率调节包括分区分析，所述分区分析的方法为：以传感器为基点做垂线，以垂线为边界将传感器的扫描区域分为靠近门框一侧和靠近门扇转轴一侧。
进一步的，上述分区分析中，靠近门框一侧定义为主危险区域，靠近靠近门扇转轴一侧定义为次危险区域。
进一步的，所述分区分析可以根据预设信息在主危险区域或次危险区域中进一步分出具有不同分辨率的扫描区域。
优选的，在主危险区域中可以基于地框位置与传感器的连线，将地框位置以上的部分分为最高分辨率区域，将地框位置与传感器的连线与所述垂线之间的区域分为次高分辨率区域。
优选的，在次级危险区域中，可以根据该区域对应的扫描点-距离曲线，以曲线拐点作为分割点，将次级危险区域分为2个或2个以上具有不同分辨率的扫描区域。
优选的，上述次级危险区域中2个或2个以上的扫描分区，其分辨率越靠近所述垂线则越大。
优选的，上述次级危险区域中2个或2个以上的扫描分区，其分辨率以最靠近所述垂线处取最大值，其余分区在最大值之下沿扫描方向减小变化。
进一步的，所述减小变化可以是连续的减小变化，也可以是非连续的减小变化，还可以是波浪式的减小变化。
优选的，所述分辨率较高的工作区域的扫描分辨率为0.01-1.0°，所述分辨率较低的工作区域的扫描分辨率为0.5-30.0°。
进一步的，所述靠近门框一侧为传感器检测到镜面反射特征的一侧，所述靠近门扇转轴一侧为传感器不能检测到镜面反射特征的一侧。
进一步的，上述用于旋转门的人体安全防护激光传感器，其安装位置为门扇顶端，距离门扇的垂直外边框50cm以内的地方。
进一步的，可采用专利号：ZL200510129141.1所述光扫描设备实现本发明激光扫描距离测算部分的相应功能。
本发明至少具有以下优点之一：
1.本发明技术方案采用的激光光学扫描探测技术属于非接触安全保护类传感器，相比接触式压力形变传感器，可在门扇撞击或挤压人体前进行安全制动，用户体验更好。
2.本发明技术方案采用激光扫描探测技术，相比现有的非接触红外光学技术，其激光光束的发散角度小，2m距离时的光束的宽度可降低至0.8cm。因此，可以实现对约直径1cm大小物体的有效检测，例如手指。相比红外光学技术，其检测精度大大提高。
3.本发明技术方案采用激光扫描探测技术，光束间距可以非常小，因而探测分辨率大大提到几乎可以实现无缝探测，从而实现对整扇门完整的保护。
4.本发明技术方案采用基于激光脉冲的激光扫描探测技术，由于激光脉冲的能量可以非常高，相比现有的非接触三角反射和三角测距红外光学技术，其激光工作距离可以达到数十米，相比较红外技术，工作距离大大提高。
5.本发明提供的激光传感器相比现有传感器，不仅克服了现有激光传感器安装只能安装在门框位置处的技术问题。而且实现了探测范围的自动调节，当旋转门的门扇旋转至出入口位置处时，传感器的探测范围可以自动延伸一段距离，对门扇最外延形成有效探测保护。当旋转门的门扇旋转至门框内部时，传感器的探测范围回收，降低能耗的同时避免被旋转门内径触发误感应。进一步完善了激光传感器的监测保护范围。
6.本发明提供的激光传感器还具有自动识别其在旋转门上的安装位置的功能，并根据识别得到的安装位置自动选择工作模式和检测区域，同时本发明激光传感器还具有自动设置对应的检测区域和分辨率的功能。
附图说明
图1所示为本发明传感器结构示意图。
图2所示为本发明传感器激光扫描区域位置示意图。
图3所示为本发明传感器激光扫描区域一种倾斜方式示意图。
图4所示为本发明传感器非镜面反射时的扫描点-距离曲线图。
图5所示为本发明传感器镜面反射时的扫描点-距离曲线图。
图6所示为本发明传感器一种激光扫描区域的分辨率分区示意图。
图7所示为本发明传感器安全分析模块的预设距离信息示意图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图，对本发明进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
实施例1
一种用于旋转门的人体安全防护激光传感器，如图1和图2所示，包括激光扫描距离测算部分和应用分析部分。所述激光扫描距离测算部分包括：激光发射装置、激光偏向装置、光信号接收装置、分析处理装置。该传感器的安装位置为旋转门的门扇2顶端，距离旋转门的门扇2垂直外边框20cm的地方。其中，所述激光发射装置向激光偏向装置发射脉冲激光信号。所述激光偏向装置在分析处理装置的控制下，将定向脉冲激光信号偏向预设角度，并形成1个激光扫描区域3。所述激光扫描区域3的旋转角度为110°。所述激光扫描区域3，沿旋转门的门扇2转动方向，位于门扇2的区域前侧且距离门扇面0.05cm。所述光信号接收装置用于接收返回的激光信号，并向分析处理装置传递该信号。所述分析处理装置包括：激光偏向控制模块和触发点距离分析模块。
所述激光偏向控制模块与激光偏向装置信号连接，用于控制激光偏向装置的偏导角度。
所述触发点距离分析模块，基于TOF技术，即飞行时间测算技术， 首先测量出激光信号发射和接收的时间差t。然后将时间差t乘以光速v，就可以得到光触发信号与传感器之间的距离信息。分析得到触发点的距离信息发送至安全分析模块。
所述应用分析部分包括：安全分析模块。所述安全分析模块与旋转门的门控装置连接，并根据从触发点距离分析模块接收到的触发点距离信息，经过分析判断后控制旋转门门扇的运动状态。所述门控装置可以是安装在旋转门上，用于控制旋转门扇相对旋转门框转动与否、转动方向和转动速度的，具有驱动和控制功能的装置。
所述安全分析模块包括：触发点危险性分析，所述触发点危险性分析包括：首先，获取触发点距离分析模块分析得到的触发点距离信息；然后，对比触发点距离信息与该扫描点的预设距离信息，当触发点距离大于等于扫描点预设距离时，该触发点为安全触发点，不产生控制信号；当触发点距离小于扫描点预设距离时，该触发点为危险触发点，产生相应信号并将控制信号发送至门控装置。所述相应信号为控制门扇停止转动或减速转动的控制信号。
上述预设的距离信息如图7所示通常包括：传感器到旋转门门扇转轴的距离、传感器到地面的距离、传感器到地框的距离、传感器到立柱的距离等，以及旋转门内无行人时或入侵物时，传感器到旋转门固定设备或摆件的距离等。上述预设的距离信息在出产时基于预设安装位置和安装高度以及需要的工作区域，通过模拟调试的方式赋予各扫描点相应的预设距离信息。
申请人研究发现，限制现有激光传感器只能以一端发射光信号一端接收光信号的方式安装在旋转门的固定位置处的主要原因在于：由于旋转门具有较为复杂的内部结构，现有基于TOF技术的激光传感器很容易在旋转门工作过程中产生误触发，如扫描到旋转门地框等，因此通常采用光遮蔽型激光传感器配合其他传感器依稀工作或直接采用其他传感器作为安全保护传感器。而本发明在TOF技术的基础上，通过预设距离信息的方式，定义出传感器需要产生有效响应信号的监测区域，在很大程度上避免了误触发的发生。
实施例2
基于实施例1所述用于旋转门的人体安全防护激光传感器，其中所述触发点距离分析模块，首先利用延迟时间转换器(TDC：time to  digital converter)计算激光脉冲发射出去和接收返回信号的时间差。然后根据这个时间差和光速通过计算器进一步计算出光脉冲的飞行距离(TOF：time of flight)，也就是触发点与传感器之间的距离信息。
实施例3
基于实施例1所述用于旋转门的人体安全防护激光传感器，其中所述预设的距离信息通过初始化操作完成，其过程为：首先，在没有用户进出旋转门的条件下，开启传感器，使其按照预设最大扫描角度进行扫描，并使旋转门扇按预设方向和速率旋转。然后，传感器将各扫描点接收到的触发点距离信息作为预设距离信息。
其中，在初始化操作过程中，同一扫描点在同一扫描周期内出现2个或2个以上触发点距离信息时，以其中距离传感器最近的触发点距离信息作为预设距离信息。同一扫描点在同一扫描周期内出现2个或2个以上触发点距离信息时一般为传感器检测到了旋转门门扇或门框的玻璃处。
在初始化操作过程中，同一扫描点在不同扫描周期内出现2个或2个以上触发点距离信息时，以其中距离传感器最远的触发点距离信息作为预设距离信息，并记录保存其余距离信息，在需要的时候调用该距离信息。同一扫描点在不同扫描周期内出现2个或2个以上触发点距离信息时一般为传感器检测到了旋转门内放置的固定装饰物等物件。
实施例4
基于实施例3所述用于旋转门的人体安全防护激光传感器，在同一扫描点在不同扫描周期内出现2个或2个以上触发点距离信息时，以其中距离传感器最远的触发点距离信息作为预设距离信息，并记录保存其余距离信息，在需要的时候调用该距离信息。所述需要的时候为：记录出现2个或2个以上触发点距离信息的扫描点在各个扫描周期内的距离信息，并对其中连续的扫描点做相应扫描周期内具有一定变化规律的扫描点-距离曲线。当传感器某一扫描点扫描到触发信号，且在接下来连续的数个扫描点扫描到符合上述变化规律的扫描点-距离曲线，则认为该触发为安全触发。如接下来连续的数个扫描点不符合上述变化规律的扫描点-距离曲线，则认为该触发为危险触发。通过上述设置可以进一步避免由于传感器内装饰物导致传感器误触发，从而 导致旋转门非正常非安全停止或减速运动，提高用户体验。
实施例5
基于实施例3所述用于旋转门的人体安全防护激光传感器，在初始化操作过程中，出现镜面反射现象，即扫描点-距离曲线出现跃迁变化时：首先，以跃迁变化的起点的前一扫描点和终点的后一扫描点的扫描点-距离曲线的曲率值记为最小值和最大值，计算出最小值和最大值的差值ΔX。然后统计得出最小值和最大值之间对应的扫描点数量n，计算出每个扫描点的平均曲率增长Δx＝ΔX/n。之后，赋予跃迁变化的起点和终点之间的各扫描点一个计算曲率值，该计算曲率值k n＝k n-1+Δx，式中k n为当前扫描点计算曲率，k n-1为当前扫描点的前一扫描点计算曲率，并取k 0＝所述最小值，k max＝所述最大值。而后在跃迁变化的起点的前一扫描点和终点的后一扫描点间做曲线连线，该曲线连线在跃迁变化的各扫描点处的曲率为其计算曲率。最后根据做出的扫描点-距离曲线赋予跃迁变化阶段的各扫描点的距离预设值。通过该设置可以自动消除由于镜面反射现象导致的预设距离过远问题，避免当镜面反射点消失时导致的传感器误触发现象。
申请人研究发现，当不存在立柱的镜面反射时，物体面时连续的，相邻点之间的距离也是连续变化的。正常情况下，每个光点对应的检测距离为脉冲光束的往返距离，监测点-距离曲线如图4所示。相邻两个点的检测距离相对变化不大，是连续变化的。当出现反射时，监测点-距离曲线如图5所示，脉冲光束在立柱发生反射后，光束与地面再次反射会传感器，总体的脉冲激光光束飞行的距离(TOF)增加，增加的距离为一般为检测点到地面距离的两倍或以上。此时，检测点的检测距离与相邻的检测点相比会发生阶跃性的变化，有时还会在阶跃性的变化后的数个扫描点范围内出现扫描点距离变化趋向于0的变化，即扫描点-距离曲线趋向于平直线。一般的，开始出现阶跃性的变化的扫描点作为镜面反射的起始扫描点，至相邻扫描点的距离变化恢复规律增长或减小的扫描点作为镜面反射的终止扫描点。
实施例6
基于实施例3所述用于旋转门的人体安全防护激光传感器，在初始化操作过程中，出现镜面反射现象，即扫描点-距离曲线出现跃迁变化时：传感器向门控系统发出停止指令，并向用户发出声音或信号或 提示光，提示用户采用纸张或磨砂薄膜等非镜面薄物质遮蔽产生镜面反射的地方，并继续初始化操作。
实施例7
基于实施例1所述用于旋转门的人体安全防护激光传感器，所述应用分析部分还包括：扫描区域范围调节模块。所述扫描区域范围调节模块与触发距离分析模块信号连接，根据获取的触发点距离信息，将接收到的距离信息和预设触发信息对比分析判断后，通过向激光偏向装置发送旋转控制指令，调节激光沿预设方向旋转的最大角度，从而控制激光扫描区域的扫描范围。
实施例8
基于实施例1所述用于旋转门的人体安全防护激光传感器，所述应用分析部分还包括：扫描区域范围调节模块。所述扫描区域范围调节模块与安全分析模块信号连接，此时，所述安全分析模块还包括触发分析。所述触发分析包括：首先将接收到的距离信息和预设触发信息对比分析判断。然后根据对比结果，当门扇2处于门框1内部范围内时，向扫描区域范围调节模块发送A指令，扫描区域范围调节模块接收到A指令后，控制激光扫描区域3为工作区域301。当门扇2处于门框1的入口或出口范围内时，向扫描区域范围调节模块发送B指令，扫描区域范围调节模块接收到B指令后，控制激光扫描区域3为工作区域301与延伸区域302之和。
实施例9
基于实施例7或8其中一个实施例所述用于旋转门的人体安全防护激光传感器，所述扫描区域范围调节模块包括扫描区域控制分析，所述扫描区域控制分析包括如下步骤：
S1.确定工作区域301。
步骤S1所述确定工作区域301的方法为：根据出产预设值形成工作区域301。所述预设值为：以传感器为基点，垂直向下发射的脉冲信号为垂线，水平朝向门扇2转轴的方向为水平线旋转形成90°的区域，即为所述工作区域301。
S2.形成延伸区域302。
步骤S2所述形成延伸区域302的方法为：根据出产预设值，在工作区域301的基础上，沿工作区域向门框方向延伸20°所形成的区域， 即为所述延伸区域302。
S3.基于步骤S1和步骤S2获得的区域信息，调节激光扫描区域3的扫描区域范围。
步骤S3所述调节激光扫描区域3的扫描区域范围的方法为：根据接收到的距离信息和预设触发信息对比分析判断，当门扇2处于门框1内部范围内时，激光扫描区域3为工作区域301。当门扇2处于门框1的入口或出口范围内时，激光扫描区域3为工作区域301与延伸区域302之和。
申请人经过研究发现，现有运用在旋转门上的传感器，其检测区域在安装完成后都是固定不变的，为了防止光束检测到旋转门内径导致传感器触发探测，从而致使旋转门无法正常工作，现有传感器的探测区域均需要小于旋转门的内径，当门扇运动到出入口位置时，门扇最外延无法被探测保护，很容易撞击或挤压到人体。而本发明可以实现探测区域的动态调整，即当门扇运动到旋转门内侧时，其检测范围为工作区域301，避免被旋转门内径触发；当门扇运动到旋转门出入口时，其检测范围为工作区域301和延伸区域302之和。此时，保护区域大于门扇2的最外延，从而可以避免门扇2的外边缘撞击或挤压到人体。
实施例10
基于实施例7或8其中一个实施例所述用于旋转门的人体安全防护激光传感器，所述扫描区域范围调节模块包括扫描区域控制分析，所述扫描区域控制分析包括如下步骤：
S1.确定工作区域301。
步骤S1所述确定工作区域301的方法为：根据预设值形成工作区域301。所述预设值通过初始化操作获取，其方法为：以传感器为基点，扫描区域3朝向门扇2一方的最大扫描角度为一侧边界，传感器下方垂线为另一侧边界，两个边界之间所形成的扫描区域即为所述工作区域301。
S2.形成延伸区域302。
步骤S2所述形成延伸区域302的方法为：根据预设值进行初始化操作：在工作区域301的基础上，沿工作区域向门框方向延伸至传感器朝向门框1一方的最大扫描角度，所形成的区域，即为所述延伸区 域302。
S3.基于步骤S1和步骤S2获得的区域信息，调节激光扫描区域3的扫描区域范围。
步骤S3所述调节激光扫描区域3的扫描区域范围的方法为：根据接收到的距离信息和预设触发信息对比分析判断，当门扇2处于门框1内部范围内时，激光扫描区域3为工作区域301。当门扇2处于门框1的入口或出口范围内时，激光扫描区域3为工作区域301与延伸区域302之和。
实施例11
基于实施例9-10中的一个实施例所述用于旋转门的人体安全防护激光传感器，可采取下述步骤形成工作区域：
(1)在传感器最大扫描区域范围内进行激光扫描，形成预设扫描区域并获取地框位置。
(2)基于获得的地框位置信息，以传感器与地框的连线为基线，将预设扫描区域划分为两个部分，其中自基线朝向门扇转轴的一侧为工作区域。
所述获取地框位置的方法为：首先判断是否出现同一扫描点有2个或以上距离值，如出现则进一步选取其中位于扫描点-距离曲线的拐点附近，且相对更靠近传感器的扫描点作为地框区域信息。如未出现则根据预设，以传感器所在位置为基点做垂线将预设扫描区域分为两部分，选取其中位于预设朝向门框位置处的扫描区域的扫描点-距离曲线，以其中最靠近垂线的拐点为起始点，向距离逐渐减少的一侧曲线延伸选取m个扫描点作为地框区域信息，所述m个扫描点根据预设数值选取。然后，选取地框区域信息中的一个扫描点作为地框位置。其中，优选以距离最小值对应的扫描点或距离中间值对应的扫描点，作为地框位置。
也可以采用下述方法获取地框位置：将预设扫描区域范围内出现距离非连续变化或出现跃迁式变化的触发点设定为地框位置。
实施例12
基于实施例7-11中的一个实施例所述用于旋转门的人体安全防护激光传感器，所述接收到的距离信息和预设触发信息对比分析判断的方法为：当传感器持续接收到触发信号，且触发点与传感器的距离在 地框距离预设值范围内，则代表门扇处于门框内部范围内。当传感器不能接收到地框预设值范围内的触发信号时，则代表门扇处于门框的入口或出口范围内。
实施例13
基于实施例7-11中的一个实施例所述用于旋转门的人体安全防护激光传感器，如图3所示，所述激光扫描区域3沿门扇2旋转方向位于门扇2前侧，且与门扇2沿垂直方向形成1°夹角，且激光扫描区域3顶端远离门扇2，底端靠近门扇2。此时门扇位置的判断方法为：当传感器持续接收到符合第一预设距离变化曲线的触发信号时，代表门扇即将从门框内部进入门框的入口或出口处。当传感器持续接收到符合第二预设距离变化曲线的触发信号时，代表门扇即将从门框的入口或出口处进入门框内部。
所述第一预设距离变化曲线为：传感器按照顺序依次首先检测到门框1的顶部位置，并在门扇2的带动下，传感器的光束有规律的自门框1顶部检测到门框1底部，并且距离变化符合预设规律变化，同时不能检测到地框4。
所述第二预设距离变化曲线为：传感器按照顺序依次首先检测到门框1的顶部位置，并在门扇2的带动下，传感器的光束有规律的自门框1顶部检测到门框1底部，并且距离变化符合预设规律变化，同时可以检测到地框4。
申请人发现，一般旋转门的出入口位置的顶部和底部都是没有玻璃等障碍物的，并且在旋转门进出口位置为了方便人员走动，不会设有固定门框的地框，因此，可以据此实现对旋转门的进出口位置的测量和判断。而传感器安装时，使激光的安装角度稍微倾斜，这样光幕光束会按照顺序依次首先检测到门框的顶部位置，当发现对应的光束有规律的检测到门框，并且距离刚好为门的半径时，即可认为是门扇离开旋转门进出口位置，检测区域应该收缩。进入到门内侧后，由于能检测到旋转门地面上的金属底框，可以判断，传感器旋转到了门的内部。直到再次检测到距离等于门框1的规律变化曲线，并且不能检测到地框4时，可判断旋转门进入到了进出口位置，光幕需要增加一段保护的区域。
此时，当门扇运动至门框1的出入口处时，由于监测区域增加， 使得传感器可以感应到从地面至一定水平高度的范围内触发信号。当用户扶靠在门框1的立柱或将脚伸进门框1内部时，传感器可以及时检测到立柱上非安全区域内的用户手指触发信号，或非安全区域的用户脚部触发信号，从而控制门扇制动，避免撞击或挤压到用户的手指和脚部，实现完善的安全保障。
实施例14
基于实施例7-11中的一个实施例所述用于旋转门的人体安全防护激光传感器，所述激光扫描区域3沿门扇2旋转方向位于门扇2前侧，且与门扇2沿垂直方向形成5°夹角，且激光扫描区域3顶端靠近门扇2，底端远离门扇2。此时门扇位置的判断方法为：当传感器持续接收到符合第一预设距离变化曲线的触发信号时，代表门扇即将从门框内部进入门框的入口或出口处。当传感器持续接收到符合第二预设距离变化曲线的触发信号时，代表门扇即将从门框的入口或出口处进入门框内部。
所述第一预设距离变化曲线为：传感器按照顺序依次首先检测到门框1的底部位置，并在门扇2的带动下，传感器的光束有规律的自门框1底部检测到门框1顶部，并且距离变化符合预设规律变化，同时不能检测到地框4。
所述第二预设距离变化曲线为：传感器按照顺序依次首先检测到门框1的底部位置，并在门扇2的带动下，传感器的光束有规律的自门框1底部检测到门框1顶部，并且距离变化符合预设规律变化，同时可以检测到地框4。
实施例15
基于实施例1所述用于旋转门的人体安全防护激光传感器，所述应用分析部分还包括：安装位置分析模块。所述安装位置分析模块用于分析传感器的安装朝向。该装置可以用于辅助用户判断传感器的安装位置和朝向是否正确，避免由于用户安装位置不当或安装朝向错误导致的传感器不能正常工作。而现有传感器通常需要用户自行判断其安装位置和安装朝向，经常出现由于用户安装位置不当或安装朝向错误导致的传感器不能正常工作，或经常性出现错误报警等问题，严重影响用户体验。
实施例16
基于实施例15所述用于旋转门的人体安全防护激光传感器，所述安装位置分析模块包括传感器朝向分析，所述传感器朝向分析包括：首先，在传感器最大扫描区域范围内以最大扫描精度进行激光扫描；然后，根据扫描结果判断传感器扫描区域朝向。
实施例17
基于实施例16所述用于旋转门的人体安全防护激光传感器，所述根据扫描结果判断传感器扫描区域朝向的方法为：
步骤(1)，判断是否出现第三预设距离变化曲线，如出现则进入步骤(2)，未出现则传感器安装朝向不符合预设条件。
步骤(2)，获取出现符合第三预设距离变化曲线的扫描点信息，并判断该扫描点位置信息是否符合预设范围。如符合则进入步骤(3)，不符合则传感器安装朝向不符合预设条件。
步骤(3)，统计符合第三预设距离变化曲线的扫描点数量数值，判断该数值是否位于预设扫描点数量数值范围内，如符合则表示传感器安装正确，如不符合则传感器安装朝向不符合预设条件。
步骤(4)，循环步骤(1)至步骤(3)直至传感器安装正确。
实施例18
基于实施例17所述用于旋转门的人体安全防护激光传感器，所述第三预设距离变化曲线为出现镜面反射跃迁变化的扫描点-距离变化曲线。
申请人研究发现，当不存在立柱的镜面反射时，物体面时连续的，相邻点之间的距离也是连续变化的。正常情况下，每个光点对应的检测距离为脉冲光束的往返距离，监测点-距离曲线如图4所示。相邻两个点的检测距离相对变化不大，是连续变化的。当出现反射时，监测点-距离曲线如图5所示，脉冲光束在立柱发生反射后，光束与地面再次反射会传感器，总体的脉冲激光光束飞行的距离(TOF)增加，增加的距离为一般为检测点到地面距离的两倍或以上。基于上述变化，可以通过检测立柱的镜面反射，判断传感器的安装朝向，从而确定激光扫描区域的朝向，使扫描区域符合预设工作位置。避免由于安装不当，导致传感器工作异常。
实施例19
基于实施例17-18其中一个实施例所述用于旋转门的人体安全防 护激光传感器，所述安装位置分析模块还包括：当传感器安装正确时，提示用户传感器安装正确。当传感器安装朝向不符合预设条件时，提示用户更换传感器的安装位置或安装朝向。
实施例20
基于实施例1所述用于旋转门的人体安全防护激光传感器，所述应用分析部分还包括：扫描区域分辨率调节模块；所述扫描区域分辨率调节模块用于将激光扫描区域分为至少2个不同分辨率的工作区域；所述至少2个不同分辨率的工作区域中，分辨率较高的工作区域靠近门框一侧，分辨率较低的工作区域靠近门扇转轴一侧。其中，所述靠近门框一侧为主危险区域，是旋转门容易出现挤压和撞击人体的手指或脚部的区域。所述靠近门扇转轴一侧为次危险区域，是旋转门有可能发生撞击人体身体的区域。所述分辨率越大则相邻扫描点之间的旋转角度越小。所述靠近门框一侧为传感器检测到镜面反射特征的一侧，所述靠近门扇转轴一侧为传感器不能检测到镜面反射特征的一侧。
通过该设置可以基于监测区域危险性和目标监测对象的不同自动调节传感器的分辨率，从而实现对主危险区域的精密监测，避免旋转门扇挤压或撞击到人体的手指或脚部。同时对次危险区域的采用较低监测强度，在保证实现对人体身体监测的同时，又可以降低传感器的总能耗，并在一定程度上延长传感器的使用寿命。相比全程采用高分辨率监测的传感器，采用了扫描区域分辨率调节模块的传感器可以节能10％以上，使用寿命增加10％以上。
实施例21
基于实施例20所述用于旋转门的人体安全防护激光传感器，所述扫描区域分辨率调节包括分区分析，如图6所示，所述分区分析的方法为：以传感器为基点做垂线，以垂线为边界将传感器的扫描区域分为靠近门框一侧和靠近门扇转轴一侧。靠近门框一侧定义为主危险区域，靠近靠近门扇转轴一侧定义为次危险区域。其中，靠近门框一侧为高分辨率扫描区域3A，靠近靠近门扇转轴一侧为低分辨率扫描区域3B。
实施例22
基于实施例21所述用于旋转门的人体安全防护激光传感器，所述分区分析可以根据预设信息在主危险区域或次危险区域中进一步分出 具有不同分辨率的扫描区域。其中，在主危险区域中可以基于地框位置与传感器的连线，将地框位置以上的部分分为最高分辨率区域，将地框位置与传感器的连线与所述垂线之间的区域分为次高分辨率区域。例如：最高分辨率区域的分辨率为0.1°，次高级分辨率区域的分辨率为1.0°
实施例23
基于实施例21所述用于旋转门的人体安全防护激光传感器，所述分区分析可以根据预设信息在主危险区域或次危险区域中进一步分出具有不同分辨率的扫描区域。其中，在次级危险区域中，可以根据该区域对应的扫描点-距离曲线，以曲线拐点作为分割点，将次级危险区域分为2个或2个以上具有不同分辨率的扫描区域。
实施例24
基于实施例23所述用于旋转门的人体安全防护激光传感器，所述次级危险区域中2个或2个以上的扫描分区，其分辨率越靠近所述垂线则越大。
实施例25
基于实施例23所述用于旋转门的人体安全防护激光传感器，所述次级危险区域中2个或2个以上的扫描分区，其分辨率以最靠近所述垂线处取最大值，其余分区的分辨率在最大值以下沿扫描方向减小变化。
实施例26
基于实施例25所述用于旋转门的人体安全防护激光传感器，所述减小变化可以是连续的减小变化，以4个分区为例：最靠近所述垂线处的分区为A，BCD三个分区沿门扇转轴方向依次排列。其中分区A的分辨率最大，其相邻扫描点之间的转角为1°。分区B的分辨率次之，其相邻扫描点之间的转角为2°。分区C的分辨率再次之，其相邻扫描点之间的转角为3°。分区D的分辨率最小，其相邻扫描点之间的转角为4°。
也可以是非连续的减小变化，以4个分区为例：最靠近所述垂线处的分区为A，BCD三个分区沿门扇转轴方向依次排列。其中分区A的分辨率最大，其相邻扫描点之间的转角为1°。分区B的分辨率次之，其相邻扫描点之间的转角为2°。分区C的分辨率再次之，其相邻扫描 点之间的转角为5°。分区D的分辨率最小，其相邻扫描点之间的转角为10°。
还可以是波浪式的减小变化，以4个分区为例：最靠近所述垂线处的分区为A，BCD三个分区沿门扇转轴方向依次排列。其中分区A的分辨率最大，其相邻扫描点之间的转角为1°。分区B的分辨率较大，其相邻扫描点之间的转角为7°。分区C的分辨率较小，其相邻扫描点之间的转角为4°。分区D的分辨率最小，其相邻扫描点之间的转角为8°。
实施例27
基于实施例1所述用于旋转门的人体安全防护激光传感器，其中，所述应用分析部分包括：安全分析模块，以及扫描区域范围调节模块、安装位置分析模块、扫描区域分辨率调节模块中的至少1个模块。
所述安全分析模块：根据触发点距离信息，经过分析后通过门控装置控制旋转门运动状态。所述扫描区域范围调节模块用于自动调节扫描区域的范围。所述安装位置分析模块用于分析传感器的安装朝向。所述扫描区域分辨率调节模块用于将激光扫描区域分为至少2个不同分辨率的工作区域；所述至少2个不同分辨率的工作区域中，分辨率较高的工作区域靠近门框一侧，分辨率较低的工作区域靠近门扇转轴一侧。
实施例28
基于实施例1所述用于旋转门的人体安全防护激光传感器，其中，如图1所示，所述激光偏向装置包括第一激光偏向器和第二激光偏向器。所述第一激光偏向器用于偏导激光发射装置发射出的激光信号。所述第二激光偏向器用于将光触发信号偏导向光信号接收装置。
实施例29
基于实施例28所述用于旋转门的人体安全防护激光传感器，其中，所述第一激光偏向器和第二激光偏向器在激光偏向控制模块的控制下同步且相应转动。所述相应转动为第二激光偏向器可以将第一激光偏向器偏导产生的光触发信号偏导向光信号接收装置。
实施例30
基于实施例28和29其中一个实施例所述用于旋转门的人体安全防护激光传感器，所述第一激光偏向器和第二激光偏向器为镜面数量 相应的多面镜。所述第一激光偏向器和第二激光偏向器固定在同一转轴上，由一个驱动装置驱动转动。
实施例31
基于实施例28和29其中一个实施例所述用于旋转门的人体安全防护激光传感器，所述第一激光偏向器和第二激光偏向器为镜面数量相应的多面镜。所述第一激光偏向器和第二激光偏向器分别固定在不同的转轴上，由不同的驱动装置分别驱动转动。
实施例32
基于实施例1所述用于旋转门的人体安全防护激光传感器，所述激光偏向装置包括1个多面镜和相应的驱动装置，所述多面镜一侧镜面朝向激光偏向装置，用于将激光信号偏导至目标区域。另一侧镜面朝向光信号接收装置，用于将光反馈信号偏导至光信号接收装置。
实施例33
基于实施例1所述用于旋转门的人体安全防护激光传感器，所述激光偏向装置包括：光学反馈校准模块，该模块用于校准反馈的光信号。
申请人研究发现，元器件的响应时间、增益等性能受环境温度等因素的影响，进而会影响到产品的精度。申请人通过加装光学反馈校准模块可以降低由于上述影响导致的产品精度误差，提高产品的感应准确性和报警的准确性。
所述光学反馈校准模块可以是安装在产品内部的光学反馈回路，回路的长度为预设值。此时，在产品工作期间，可以实时或定期的计算激光发射装置——光学反馈回路——光信号接收装置的响应时间，由于光学反馈回路的长度是一定的，所以该响应时间主要取决于元器件的差异。基于该响应时间就可以计算出元器件的延迟时间，进而在计算每个光点的距离时把该延迟时间实时的扣除从而实现对光反馈时间计算的校准。
实施例34
基于实施例33所述用于旋转门的人体安全防护激光传感器，所述分析处理装置包括：距离精度校准模块，该模块获取激光偏向控制模块的偏向控制信息和光学反馈校准模块的校准信息后，对触发点距离分析模块的触发点距离分析结果进行校准。所述分析处理装置将校准 后的触发点距离信息发送至应用分析部分。
所述距离精度校准模块可以是针对不同距离和不同反射率的背景物体，校准出一套补偿参数，该套参数会写入到激光传感器内存中保存。激光传感器正常工作时，每个点计算出的原始数值后，需要再增加该补偿参数。
申请人研究发现，产品接收端的脉冲宽度为几个纳秒，脉冲宽度与接收端接收到的能量相关，包括反射率，距离等因素。在使用过程中传感器可能会由于上述因素而产生距离测算误差，通过上述方法可以对该误差进行补偿，从而提高差产品的距离计算精度。
实施例35
基于实施例1-34其中一个实施例所述用于旋转门的人体安全防护激光传感器，其中，所述传感器5产生的总扫描区域为激光扫描区域3和无效触发区域6之和。所述激光扫描区域3和无效触发区域6之间通过所述预设距离信息分开。所述传感器仅对激光扫描区域3中的触发信号产生反馈动作。
除上述实施例外，本发明至少还可以进行如下技术组合或替换：
根据本发明的一个实施例，所述激光偏向装置可以偏导激光沿预设方向旋转一定角度形成所述激光扫描区域。所述激光的偏导旋转角度为180°。
根据本发明的一个实施例，所述激光偏向装置可以偏导激光沿预设方向旋转一定角度形成所述激光扫描区域。所述激光的偏导旋转角度为160°。
根据本发明的一个实施例，所述激光偏向装置可以偏导激光沿预设方向旋转一定角度形成所述激光扫描区域。所述激光的偏导旋转角度为150°。
根据本发明的一个实施例，所述激光偏向装置可以偏导激光沿预设方向旋转一定角度形成所述激光扫描区域。所述激光的偏导旋转角度为140°。
根据本发明的一个实施例，所述激光偏向装置可以偏导激光沿预设方向旋转一定角度形成所述激光扫描区域。所述激光的偏导旋转角度为130°。
根据本发明的一个实施例，所述激光偏向装置可以偏导激光沿预 设方向旋转一定角度形成所述激光扫描区域。所述激光的偏导旋转角度为120°。
根据本发明的一个实施例，所述激光偏向装置可以偏导激光形成2个互成夹角的激光扫描区域。
根据本发明的一个实施例，所述激光偏向装置可以偏导激光形成3个互成夹角的激光扫描区域。
根据本发明的一个实施例，所述激光偏向装置可以偏导激光形成4个互成夹角的激光扫描区域。
根据本发明的一个实施例，所述激光偏向装置可以偏导激光形成5个互成夹角的激光扫描区域。
根据本发明的一个实施例，所述激光偏向装置可以偏导激光形成6个或6个以上互成夹角的激光扫描区域。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间设有间距。所述激光扫描区域与门扇面之间的间距为50cm。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间设有间距。所述激光扫描区域与门扇面之间的间距为30cm。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间设有间距。所述激光扫描区域与门扇面之间的间距为20cm。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间设有间距。所述激光扫描区域与门扇面之间的间距为10cm。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间设有间距。所述激光扫描区域与门扇面之间的间距为5cm。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间设有间距。所述激光扫描区域与门扇面之间的间距为3cm。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间设有间距。所述激光扫描区域与门扇面之间的间距为 1cm。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间设有间距。所述激光扫描区域与门扇面之间的间距为0.5cm。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间设有间距。所述激光扫描区域与门扇面之间的间距为0.1cm。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间设有间距。所述激光扫描区域与门扇面之间的间距为0.05cm。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间设有间距。所述激光扫描区域与门扇面之间的间距为0.01cm。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间设有间距。所述激光扫描区域与门扇面之间的间距为0.005cm或更小。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间形成夹角。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间沿垂直方向形成第一夹角。所述第一夹角为80°。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间沿垂直方向形成第一夹角。所述第一夹角为60°。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间沿垂直方向形成第一夹角。所述第一夹角为30°。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间沿垂直方向形成第一夹角。所述第一夹角为20°。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间沿垂直方向形成第一夹角。所述第一夹角为10°。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间沿垂直方向形成第一夹角。所述第一夹角为5°。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间沿垂直方向形成第一夹角。所述第一夹角为2°。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间沿垂直方向形成第一夹角。所述第一夹角为1°。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间沿垂直方向形成第一夹角。所述第一夹角为0.5°或更小。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间沿水平方向形成第二夹角。所述第二夹角为80°。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间沿水平方向形成第二夹角。所述第二夹角为60°。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间沿水平方向形成第二夹角。所述第二夹角为30°。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间沿水平方向形成第二夹角。所述第二夹角为20°。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间沿水平方向形成第二夹角。所述第二夹角为10°。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间沿水平方向形成第二夹角。所述第二夹角为5°。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间沿水平方向形成第二夹角。所述第二夹角为2°。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间沿水平方向形成第二夹角。所述第二夹角为1°。
根据本发明的一个实施例，所述激光扫描区域，位于门扇面一侧且与门扇面之间沿水平方向形成第二夹角。所述第二夹角为0.5°或更小。
根据本发明的一个实施例，所述激光扫描区域，穿过旋转门的门扇面且与门扇面形成夹角，该夹角可以是沿水平方向的夹角，也可以是沿垂直方向的夹角，或是其中角度值较小的夹角。
根据本发明的一个实施例，所述激光扫描区域，穿过旋转门的门扇面且与门扇面形成80°夹角。
根据本发明的一个实施例，所述激光扫描区域，穿过旋转门的门扇面且与门扇面形成60°夹角。
根据本发明的一个实施例，所述激光扫描区域，穿过旋转门的门 扇面且与门扇面形成30°夹角。
根据本发明的一个实施例，所述激光扫描区域，穿过旋转门的门扇面且与门扇面形成10°夹角。
根据本发明的一个实施例，所述激光扫描区域，穿过旋转门的门扇面且与门扇面形成5°夹角。
根据本发明的一个实施例，所述激光扫描区域，穿过旋转门的门扇面且与门扇面形成1°夹角。
根据本发明的一个实施例，所述激光扫描区域，穿过旋转门的门扇面且与门扇面形成0.5°或更小的夹角。
根据本发明的一个实施例，所述形成延伸区域的方法包括：在工作区域的基础上，沿工作区域向门框方向旋转延伸预设角度所形成的区域，即为所述延伸区域。所述延伸的预设角度为90°。
根据本发明的一个实施例，所述形成延伸区域的方法包括：在工作区域的基础上，沿工作区域向门框方向旋转延伸预设角度所形成的区域，即为所述延伸区域。所述延伸的预设角度为70°。
根据本发明的一个实施例，所述形成延伸区域的方法包括：在工作区域的基础上，沿工作区域向门框方向旋转延伸预设角度所形成的区域，即为所述延伸区域。所述延伸的预设角度为50°。
根据本发明的一个实施例，所述形成延伸区域的方法包括：在工作区域的基础上，沿工作区域向门框方向旋转延伸预设角度所形成的区域，即为所述延伸区域。所述延伸的预设角度为30°。
根据本发明的一个实施例，所述形成延伸区域的方法包括：在工作区域的基础上，沿工作区域向门框方向旋转延伸预设角度所形成的区域，即为所述延伸区域。所述延伸的预设角度为20°。
根据本发明的一个实施例，所述形成延伸区域的方法包括：在工作区域的基础上，沿工作区域向门框方向旋转延伸预设角度所形成的区域，即为所述延伸区域。所述延伸的预设角度为10°。
根据本发明的一个实施例，所述形成延伸区域的方法包括：在工作区域的基础上，沿工作区域向门框方向旋转延伸预设角度所形成的区域，即为所述延伸区域。所述延伸的预设角度为5°。
根据本发明的一个实施例，所述形成延伸区域的方法包括：在工作区域的基础上，沿工作区域向门框方向旋转延伸预设角度所形成的 区域，即为所述延伸区域。所述延伸的预设角度为3°。
根据本发明的一个实施例，所述形成延伸区域的方法包括：在工作区域的基础上，沿工作区域向门框方向旋转延伸预设角度所形成的区域，即为所述延伸区域。所述延伸的预设角度为1°或更小的角度。
根据本发明的一个实施例，所述分辨率较高的工作区域的扫描分辨率为1.0°，所述分辨率较低的工作区域的扫描分辨率为30.0°。所述分辨率即为相邻扫描点之间的旋转角度。
根据本发明的一个实施例，所述分辨率较高的工作区域的扫描分辨率为0.01°，所述分辨率较低的工作区域的扫描分辨率为0.5°。
根据本发明的一个实施例，所述分辨率较高的工作区域的扫描分辨率为0.1°，所述分辨率较低的工作区域的扫描分辨率为1.0°。
根据本发明的一个实施例，所述分辨率较高的工作区域的扫描分辨率为0.5°，所述分辨率较低的工作区域的扫描分辨率为10°。
根据本发明的一个实施例，所述用于旋转门的人体安全防护激光传感器，其安装位置为门扇顶端，距离门扇的垂直外边框30cm以内的地方。
根据本发明的一个实施例，所述用于旋转门的人体安全防护激光传感器，其安装位置为门扇顶端，距离门扇的垂直外边框10cm以内的地方。
根据本发明的一个实施例，所述用于旋转门的人体安全防护激光传感器，其安装位置为门扇顶端，距离门扇的垂直外边框5cm以内的地方。
本发明至少具有以下优点之一：
1.本发明技术方案采用的激光光学扫描探测技术属于非接触安全保护类传感器，相比接触式压力形变传感器，可在门扇撞击或挤压人体前进行安全制动，用户体验更好。
2.本发明技术方案采用激光扫描探测技术，相比现有的非接触红外光学技术，其激光光束的发散角度小，2m距离时的光束的宽度可降低至0.8cm。因此，可以实现对约直径1cm大小物体的有效检测，例如手指。相比红外光学技术，其检测精度大大提高。
3.本发明技术方案采用激光扫描探测技术，光束间距可以非常小，因而探测分辨率大大提到几乎可以实现无缝探测，从而实现对整扇门 完整的保护。
4.本发明技术方案采用基于激光脉冲的激光扫描探测技术，由于激光脉冲的能量可以非常高，相比现有的非接触三角反射和三角测距红外光学技术，其激光工作距离可以达到数十米，相比较红外技术，工作距离大大提高。
5.本发明提供的激光传感器相比现有传感器，不仅克服了现有激光传感器安装只能安装在门框位置处的技术问题。而且实现了探测范围的自动调节，当旋转门的门扇旋转至出入口位置处时，传感器的探测范围可以自动延伸一段距离，对门扇最外延形成有效探测保护。当旋转门的门扇旋转至门框内部时，传感器的探测范围回收，降低能耗的同时避免被旋转门内径触发误感应。进一步完善了激光传感器的监测保护范围。
6.本发明提供的激光传感器还具有自动识别其在旋转门上的安装位置的功能，并根据识别得到的安装位置自动选择工作模式和检测区域，同时本发明激光传感器还具有自动设置对应的检测区域和分辨率的功能。
应该注意到并理解，在不脱离本发明权利要求所要求的精神和范围的情况下，能够对上述详细描述的本发明做出各种修改和改进。因此，要求保护的技术方案的范围不受所给出的任何特定示范教导的限制。

Claims (10)

  1. 用于旋转门的人体安全防护激光传感器，其特征在于，包括：激光扫描距离测算部分和应用分析部分；
    所述激光扫描测距部分包括：激光发射装置、激光偏向装置、光信号接收装置、分析处理装置；其中，所述激光发射装置向激光偏向装置发射激光信号；所述激光偏向装置在分析处理装置的控制下，将激光信号偏向预设角度，并形成至少1个激光扫描区域；所述光信号接收装置用于接收返回的激光信号，并向分析处理装置传递该信号；所述分析处理装置包括：触发点距离分析模块；所述触发点距离分析模块，根据光信号接收装置发出的信号，分析得到触发点的距离信息；
    所述应用分析部分包括：安全分析模块；所述安全分析模块，根据触发点距离信息，经过分析后通过门控装置控制旋转门运动状态；
    所述安全分析模块包括：触发点危险性分析，所述触发点危险性分析包括：首先，获取触发点距离分析模块分析得到的触发点距离信息；然后，对比触发点距离信息与该扫描点的预设距离信息，当触发点距离大于等于扫描点预设距离时，该触发点为安全触发点；当触发点距离小于扫描点预设距离时，该触发点为危险触发点，产生相应控制信号。
  2. 根据权利要求1所述用于旋转门的人体安全防护激光传感器，其特征在于，所述激光扫描区域，位于门扇面一侧且与门扇面之间设有间距，或穿过旋转门的门扇面且与门扇面形成夹角。
  3. 根据权利要求1所述用于旋转门的人体安全防护激光传感器，其特征在于，所述应用分析部分包括：扫描区域范围调节模块；所述扫描区域范围调节模块包括扫描区域控制分析，所述扫描区域控制分析包括如下步骤：
    S1.确定工作区域；
    S2.形成延伸区域；
    S3.基于步骤S1和步骤S2获得的区域信息，调节激光扫描区域的范围。
  4. 根据权利要求3所述用于旋转门的人体安全防护激光传感器，其特征在于，步骤S1所述确定工作区域的方法包括：根据预设值形成 工作区域，或采取下述步骤形成工作区域：
    (1)在传感器最大扫描区域范围内进行激光扫描，形成预设扫描区域并获取地框位置；
    (2)基于获得的地框位置信息，以传感器与地框的连线为基线，将预设扫描区域划分为两个部分，其中自基线朝向门扇转轴的一侧为工作区域。
  5. 根据权利要求3所述用于旋转门的人体安全防护激光传感器，其特征在于，步骤S2所述形成延伸区域的方法包括：在工作区域的基础上，沿工作区域向门框方向旋转延伸预设角度所形成的区域，即为所述延伸区域。
  6. 根据权利要求3所述用于旋转门的人体安全防护激光传感器，其特征在于，步骤S3所述调节激光扫描区域范围的方法包括：根据接收到的距离信息和预设触发信息对比分析判断，当门扇处于门框内部范围内时，激光扫描区域为工作区域；当门扇处于门框的入口或出口范围内时，激光扫描区域为工作区域与延伸区域之和。
  7. 根据权利要求6所述用于旋转门的人体安全防护激光传感器，其特征在于，门扇位置的判断方法为：当传感器持续接收到触发信号，且触发点与传感器的距离符合预设地框距离预设值范围，则代表门扇处于门框内部范围内；当传感器不能接收到地框预设值范围内的触发信号时，则代表门扇处于门框的入口或出口范围内。
  8. 根据权利要求6所述用于旋转门的人体安全防护激光传感器，其特征在于，所述激光扫描区域与门扇沿垂直方向形成夹角，此时门扇位置的判断方法为：当传感器持续接收到符合第一预设距离变化曲线的触发信号时，代表门扇即将从门框内部进入门框的入口或出口处；
    当传感器持续接收到符合第二预设距离变化曲线的触发信号时，代表门扇即将从门框的入口或出口处进入门框内部。
  9. 根据权利要求1所述用于旋转门的人体安全防护激光传感器，其特征在于，所述应用分析部分包括：安装位置分析模块；所述安装位置分析模块用于分析传感器的安装朝向。
  10. 根据权利要求1所述用于旋转门的人体安全防护激光传感器，其特征在于，所述应用分析部分包括：扫描区域分辨率调节模块；所述扫描区域分辨率调节模块用于将激光扫描区域分为至少2个不同分 辨率的工作区域；所述至少2个不同分辨率的工作区域中，分辨率较高的工作区域靠近门框一侧，分辨率较低的工作区域靠近门扇转轴一侧。
PCT/CN2018/074433 2017-06-28 2018-01-29 用于旋转门的人体安全防护激光传感器 WO2019000937A1 (zh)

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