CN113960629A - Laser anti-collision method and system for multi-door-leaf revolving door, electronic equipment and storage medium - Google Patents
Laser anti-collision method and system for multi-door-leaf revolving door, electronic equipment and storage medium Download PDFInfo
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- CN113960629A CN113960629A CN202111290020.3A CN202111290020A CN113960629A CN 113960629 A CN113960629 A CN 113960629A CN 202111290020 A CN202111290020 A CN 202111290020A CN 113960629 A CN113960629 A CN 113960629A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S17/08—Systems determining position data of a target for measuring distance only
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Abstract
The invention relates to the technical field of laser ranging, and discloses a laser anti-collision method and system for a multi-door rotating door, electronic equipment and a storage medium, wherein the method comprises the following steps: the method comprises the steps of obtaining ranging data between a door leaf and a target object obtained based on a laser sensor and at least two door leaves, wherein the operating states of the door leaves comprise a translation state and a rotation state; performing data processing on the ranging data to obtain ranging data after the data processing, wherein the ranging data after the data processing comprises a target shape; according to the running state corresponding to the door leaf and the corresponding distance measurement data after data processing, whether the door leaf is controlled to stop running or not is judged; through installing a plurality of laser sensor the bottom of door leaf positive and negative realizes that the detection area does not have the blind area, has effectively filtered the interference to laser sensor, avoids producing the wrong report police.
Description
Technical Field
The invention relates to the technical field of laser ranging, in particular to a laser anti-collision method and system for a multi-door revolving door, electronic equipment and a storage medium.
Background
With the rapid development of economy in China and the continuous promotion of modern buildings, the automation and intelligence requirements of people on modern buildings are continuously improved, and the automatic revolving door is used as an automation technology product and is increasingly applied to entrances and passageways of modern buildings such as theaters, banks, large supermarkets and hotels.
The automatic revolving door is the type with the highest technical requirements in all the types of the existing automatic doors, has gorgeous appearance and good sealing function, but has the safety problem which cannot be ignored, and the accidents of hurting people by the automatic revolving door occur for many times, thereby bringing economic loss and personal injury to the nation.
The revolving door in the existing market mostly adopts the following several modes to realize the anticollision function:
in the infrared anti-collision technology, an infrared sensor is arranged at the top edge of a door leaf to optically scan the area in front of the door leaf of a revolving door, when the infrared sensor detects a pedestrian or an object, the revolving door stops rotating, but the infrared sensor is easily interfered by various heat sources and sunlight, so the revolving door can be generally used indoors, if the revolving door is arranged outdoors, the outdoor light is sufficient, and particularly when the revolving door is open in a burning sun, the infrared sensor is often interfered to generate false alarm;
ultrasonic wave anticollision, ultrasonic sensor transmits ultrasonic pulse, this ultrasonic pulse can be reflected when meetting the measured object, ultrasonic sensor receives the propagation time of this pulse of reflection back through time difference measurement technique calculation, thereby calculate the distance between sensor and the measured object, ultrasonic sensor anti environmental disturbance is strong, can all use in any lighting environment, no matter be indoor or outdoor, still all be reliable under various complex environment and various light conditions, but ultrasonic ranging induction rate is lower, and receive the influence of measured object material, sound-absorbing object such as sweater, sponge can influence ultrasonic ranging, in addition, ultrasonic ranging precision is not high, especially when closely.
Laser anticollision, the laser sensor that prior art adopted is generally installed in the eminence of revolving door, from top to bottom surveys, the detection zone becomes a fan-shaped, but the revolving door has many kinds, different types of revolving door height and width diverse, to that kind of width very wide, but the revolving door of low height, install the fan-shaped detection zone that laser sensor formed at the door leaf of revolving door or door frame top can't cover whole revolving door, the border position of door leaf can't be detected by laser, moreover, in the scene that a plurality of door leaves are installed side by side, the door leaf can produce the wrong report police because laser sensor detects adjacent door leaf in the translational motion process, therefore current laser sensor can't be applicable to the revolving door of various specifications, and only be applicable to the revolving door that has a single door leaf, under the scene that a plurality of door leaves are installed side by side, easily produce the wrong report police, application scenarios have limitations.
Disclosure of Invention
The invention aims to overcome the problem of limitation of the existing laser anti-collision method and provides a laser anti-collision method and system for a multi-door-leaf revolving door, electronic equipment and a storage medium.
In order to achieve the aim, the invention provides a laser anti-collision method for a multi-door-leaf revolving door, which comprises the following steps: the method comprises the steps of obtaining distance measurement data between door leaves and a target object obtained based on laser sensors and the running states of the door leaves, wherein the number of the door leaves is at least two, the running states of the door leaves comprise a translation state and a rotation state, and the bottom of the front side and the back side of each door leaf is respectively provided with a plurality of laser sensors;
performing data processing on the ranging data to obtain ranging data after the data processing, wherein the ranging data after the data processing comprises a target shape;
and judging whether to control the door leaf to stop running or not according to the running state corresponding to the door leaf and the corresponding distance measurement data after data processing.
As an implementation manner, the step of determining whether to control the door to stop operating according to the operating state corresponding to the door and the distance measurement data after the corresponding data processing specifically includes:
when the running state of the door leaf is a rotating state, obtaining the distance between the door leaf and a target object according to the corresponding distance measurement data after data processing, judging whether the distance between the door leaf and the target object is smaller than a preset safety distance or not, and when the distance between the door leaf and the target object is not smaller than the preset safety distance, generating no danger alarm signal; when the distance between the door leaf and the target object is smaller than a preset safety distance, generating a danger alarm signal and controlling the door leaf to stop running;
when the running state of the door leaf is a translation state, obtaining the shape of a target object according to the distance measurement data after corresponding data processing, comparing the shape of the target object with a preset door sector shape, judging whether the target object is an adjacent door leaf, and when the target object is judged to be the adjacent door leaf, generating no danger alarm signal; when the target object is judged to be not an adjacent door leaf, the distance between the door leaf and the target object is obtained according to the distance measurement data after corresponding data processing, whether the distance between the door leaf and the target object is smaller than a preset safety distance or not is judged, when the distance between the door leaf and the target object is not smaller than the preset safety distance, a danger alarm signal is not generated, and when the distance between the door leaf and the target object is smaller than the preset safety distance, the danger alarm signal is generated and the door leaf is controlled to stop running.
As an implementation manner, the step of acquiring distance measurement data between a door leaf and a target object obtained based on a laser sensor, and performing data processing on the distance measurement data to obtain distance measurement data after data processing specifically includes:
polling all the laser sensors regularly, and collecting ranging data of all the laser sensors;
filtering the collected ranging data through a Kalman filtering algorithm to eliminate errors and obtain the distance between the door leaf and the target object;
and analyzing and processing the collected ranging data through point cloud to obtain the shape of the target object.
As an embodiment, the distance between adjacent laser sensors on the same door leaf is the same.
As an implementation manner, the operation state of the door leaf is obtained from a PLC controller controlling the operation of the door leaf through a serial port.
Correspondingly, the invention also provides a laser anti-collision system of the multi-door-leaf revolving door, which comprises:
the system comprises an acquisition unit and a control unit, wherein the acquisition unit is used for acquiring ranging data between a door leaf and a target object obtained based on laser sensors and the running state of the door leaf, the number of the door leaf is at least two, the running state of the door leaf comprises a translation state and a rotation state, and the bottom of the front side and the back side of each door leaf is respectively provided with a plurality of laser sensors;
the data processing unit is used for carrying out data processing on the ranging data to obtain ranging data after data processing, and the ranging data after data processing comprises the shape of a target object;
and the control unit is used for judging whether to control the door leaf to stop running or not according to the running state corresponding to the door leaf and the corresponding ranging data after data processing.
As an implementation manner, the step of determining whether to control the door to stop operating according to the operating state corresponding to the door and the distance measurement data after the corresponding data processing specifically includes:
when the running state of the door leaf is a rotating state, obtaining the distance between the door leaf and a target object according to the corresponding distance measurement data after data processing, judging whether the distance between the door leaf and the target object is smaller than a preset safety distance or not, and when the distance between the door leaf and the target object is not smaller than the preset safety distance, generating no danger alarm signal; when the distance between the door leaf and the target object is smaller than a preset safety distance, generating a danger alarm signal and controlling the door leaf to stop running;
when the running state of the door leaf is a translation state, obtaining the shape of a target object according to the distance measurement data after corresponding data processing, comparing the shape of the target object with a preset door sector shape, judging whether the target object is an adjacent door leaf, and when the target object is judged to be the adjacent door leaf, generating no danger alarm signal; when the target object is judged to be not an adjacent door leaf, the distance between the door leaf and the target object is obtained according to the distance measurement data after corresponding data processing, whether the distance between the door leaf and the target object is smaller than a preset safety distance or not is judged, when the distance between the door leaf and the target object is not smaller than the preset safety distance, a danger alarm signal is not generated, and when the distance between the door leaf and the target object is smaller than the preset safety distance, the danger alarm signal is generated and the door leaf is controlled to stop running.
As an implementation manner, the step of acquiring distance measurement data between a door leaf and a target object obtained based on a laser sensor, and performing data processing on the distance measurement data to obtain distance measurement data after data processing specifically includes:
polling all the laser sensors regularly, and collecting ranging data of all the laser sensors;
filtering the collected ranging data through a Kalman filtering algorithm to eliminate errors and obtain the distance between the door leaf and the target object;
and analyzing and processing the collected ranging data through point cloud to obtain the shape of the target object.
Correspondingly, the invention also provides an electronic device, comprising: at least one processor, a memory communicatively coupled to at least one of the processors; at least one of the processors is configured to read a program in the memory for performing any of the above methods.
Accordingly, the present invention also provides a computer readable storage medium having stored thereon instructions which, when run on a computer, cause the computer to perform any of the methods described above.
The invention has the beneficial effects that:
the invention discloses a laser anti-collision method and system for a multi-door-leaf revolving door, electronic equipment and a storage medium, wherein the method comprises the following steps: the method comprises the steps of obtaining distance measurement data between door leaves and a target object obtained based on laser sensors and the running states of the door leaves, wherein the number of the door leaves is at least two, the running states of the door leaves comprise a translation state and a rotation state, and the bottom of the front side and the back side of each door leaf is respectively provided with a plurality of laser sensors; performing data processing on the ranging data to obtain ranging data after the data processing, wherein the ranging data after the data processing comprises a target shape; judging whether to control the door leaf to stop running or not according to the running state corresponding to the door leaf and the corresponding ranging data after data processing; according to the invention, the laser sensors are arranged at the bottoms of the front and back sides of the door leaf, so that no blind area exists in a detection area, the anti-collision requirements of a plurality of door leaves in complex scenes such as side-by-side installation are met, and meanwhile, the interference of adjacent door leaves on the laser sensors is effectively filtered by comprehensively judging according to the distance measurement data and the running state of the door leaves, and the false alarm is avoided.
Drawings
Fig. 1 is a schematic method flow diagram of a multi-door-leaf revolving door laser collision avoidance method, a system, an electronic device and a storage medium according to the present invention.
Fig. 2 is a schematic view of a multi-door revolving door laser collision avoidance method, a system, an electronic device and a revolving door of a storage medium according to the present invention.
Fig. 3 is a perspective view of a multi-leaf revolving door laser anti-collision method, system, electronic device and storage medium according to the present invention.
Fig. 4 is a front cross-sectional view of a multi-door revolving door laser anti-collision method, system, electronic device and storage medium according to the present invention.
Fig. 5 is a sectional view a-a of fig. 4.
Fig. 6 is a partial schematic view of a lower movable seat and a track beam set of a revolving door of the multi-door-leaf revolving door according to the laser collision avoidance method, the system, the electronic device and the storage medium of the present invention.
Fig. 7 is a sectional view B-B of fig. 4.
Fig. 8 is a schematic view of an upper movable seat and a panel frame of a revolving door of a multi-door-leaf revolving door according to the laser collision avoidance method, the laser collision avoidance system, the electronic device and the storage medium of the invention.
Fig. 9 is an enlarged view at C of fig. 3.
Fig. 10 is a schematic view of a locking mechanism and a roller frame of a revolving door of the multi-door-leaf revolving door, a system, an electronic device and a storage medium according to the laser collision avoidance method and system of the invention.
Fig. 11 is a schematic sectional view of the lower part of the screen frame and the lower movable seat of the revolving door of the multi-door revolving door, the system, the electronic device and the storage medium according to the laser anti-collision method and the system of the invention.
Fig. 12 is a cross-sectional view taken along line D-D of fig. 7.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Present laser sensor for revolving door can only install in the eminence, from last down surveying, detection zone becomes fan-shaped, to the revolving door of width broad, the regional unable door leaf edge that covers of laser detection, there is the detection blind area, can't form complete protection, and in the revolving door contains a plurality of door leafs and the complicated scene of installing side by side, the door leaf both can rotate and can the translation, all become 90 degrees angles and carry out the translation when two adjacent door leafs and door frame, two adjacent door leafs can be close to very much, overlap together almost, current laser sensor can arouse the wrong report of police because of detecting adjacent door leaf.
Therefore, in order to solve the above problem, referring to fig. 1, the present embodiment provides a technical solution: a laser anti-collision method for a multi-door-leaf revolving door comprises the following steps:
step S100: the method comprises the steps of obtaining distance measurement data between door leaves and a target object obtained based on laser sensors and the running states of the door leaves, wherein the number of the door leaves is at least two, the running states of the door leaves comprise a translation state and a rotation state, and the bottom of the front side and the back side of each door leaf is respectively provided with a plurality of laser sensors;
step S200: performing data processing on the ranging data to obtain ranging data after the data processing, wherein the ranging data after the data processing comprises a target shape;
step S300: and judging whether to control the door leaf to stop running or not according to the running state corresponding to the door leaf and the corresponding distance measurement data after data processing.
The revolving door of the present embodiment includes at least two door leaves arranged in parallel, and the door leaves can rotate and translate, for example, referring to fig. 2, the revolving door 100 includes four door leaves 2, each door leaf 2 can rotate or translate left and right in the direction of the arrow shown in the figure, and the distances between adjacent laser sensors on the same door leaf are the same; specifically, the plurality of laser sensors may be arranged at different intervals according to the width of the revolving door, for example, they may be installed at the bottom positions of the front and back sides of each door leaf in parallel according to the distance of 10cm, because the sensor detection visual field fov (field of view) is 25 °, the angle of the emitted light is a cylindrical angle, and the plurality of laser sensors are installed at the bottom positions of the door leaf 2 in parallel according to the width of the revolving door at an interval of 10cm, and the detection area is a rectangular plane approximately equal to the width of the revolving door, so there is no blind area.
Step S300: the step of judging whether to control the door leaf to stop running according to the running state corresponding to the door leaf and the corresponding distance measurement data after data processing specifically comprises the following steps:
when the running state of the door leaf is a rotating state, obtaining the distance between the door leaf and a target object according to the corresponding distance measurement data after data processing, judging whether the distance between the door leaf and the target object is smaller than a preset safety distance or not, and when the distance between the door leaf and the target object is not smaller than the preset safety distance, generating no danger alarm signal; when the distance between the door leaf and the target object is smaller than a preset safety distance, generating a danger alarm signal and controlling the door leaf to stop running;
when the running state of the door leaf is a translation state, obtaining the shape of a target object according to the distance measurement data after corresponding data processing, comparing the shape of the target object with a preset door sector shape, judging whether the target object is an adjacent door leaf, and when the target object is judged to be the adjacent door leaf, generating no danger alarm signal; when the target object is judged to be not an adjacent door leaf, the distance between the door leaf and the target object is obtained according to the distance measurement data after corresponding data processing, whether the distance between the door leaf and the target object is smaller than a preset safety distance or not is judged, when the distance between the door leaf and the target object is not smaller than the preset safety distance, a danger alarm signal is not generated, and when the distance between the door leaf and the target object is smaller than the preset safety distance, the danger alarm signal is generated and the door leaf is controlled to stop running.
In this embodiment, a shape of a target object is obtained according to the distance measurement data after corresponding data processing, the shape of the target object is compared with a preset door sector shape, and whether the target object is an adjacent door leaf is determined.
In step S100 and step S200, obtaining distance measurement data between the door leaf and the target object obtained based on the laser sensor, and performing data processing on the distance measurement data to obtain distance measurement data after data processing specifically includes:
initializing all the laser sensors through a written I2C communication driver, polling all the sensors at regular time, and collecting ranging data of all the laser sensors;
filtering the collected ranging data through a Kalman filtering algorithm to eliminate errors and obtain the distance between the door leaf and the target object;
and analyzing and processing the collected ranging data through point cloud to obtain the shape of the target object.
Specifically, firstly, a singlechip I2C communication driving program is written, the singlechip initializes all sensors through an I2C bus and polls all the laser sensors regularly, and distance measurement data of the laser sensors are acquired; fusing and filtering the collected multiple groups of ranging data through a Kalman filtering algorithm, and eliminating errors to obtain the most real distance; calculating the shape of a target object according to a point cloud technology, wherein the shape of the target object comprises the width of the target object, and judging whether the target object is an object such as an ankle, an adjacent door leaf and the like of a person according to the width of the target object;
reading the running state of the door leaf from a PLC (programmable logic controller) through a serial port, wherein the running state of the door leaf comprises 3 types of stillness, rotation and translation; if the door leaf is in a rotating state, the shape calculation of a target object is not needed at the moment, an alarm is triggered as long as the target object is within a safe distance, the alarm is output to the PLC, and the PLC controls the door leaf to stop running; if the door leaves are in a translation state, under the scene that a plurality of door leaves are installed side by side, the laser sensor may detect the adjacent door leaves, so that the shape of the target object is calculated according to a point cloud technology, the shape of the target object is compared with a preset door sector shape, whether the target object is similar to the door leaves or not is judged, and if the target object is similar to the door leaves, an anti-collision alarm is not triggered; if the difference is not similar, an alarm signal is output to the PLC, namely the singlechip sends an IO alarm signal to the PLC controller, and the PLC controller controls a motor driving the revolving door to run to stop running.
In the embodiment, the laser sensor adopts VL53L1X, which is a relatively fast miniature laser ranging sensor on the market, the fast ranging frequency is as high as 50Hz, and the range can be accurately measured within 4 m; the micro-reflow soldering package is adopted, an SPAD receiving array, a 940nm invisible class 1 laser transmitter, a physical infrared filter and an optical device are integrated, and the optimal distance measurement performance is realized under various environmental lighting conditions (with various cover plate options); unlike conventional infrared sensors, VL53L1X uses the latest generation of tof (time of flight) technology, which can measure absolute distance at any target color and reflectivity; the laser accords with the first-level safety standard, and human eyes can look directly without injuring the eyes, thereby meeting the distance measurement requirement.
Furthermore, the laser sensor uses the time of photon travel, multiplied by the speed of light divided by 2, to obtain the distance, and uses the fact that the light will reflect after hitting the object, and because of the time difference, it can overcome most of the interference of the ambient light. In the case of a black, white object, the return time is the same even if the amount of light (light intensity) returned is different.
The embedded system of the embodiment takes an STM32F103C8T6 single chip microcomputer as a core, the core of the single chip microcomputer adopts the most classical Cortex-M structure, the program in the single chip microcomputer is provided with a 64KB flash medium memory and a 20KB random access data register, the STM32F103C8T6 is complete in peripheral equipment, such as an input/output port, a timer and a synchronous serial communication interface, the embedded system is an efficient single chip microcomputer, is low in cost and wide in application range, and can be used in the application occasions of an anti-collision system.
Compared with the existing laser anti-collision method, the multi-door-leaf revolving door laser anti-collision method has the advantages that the multiple laser sensors form an array, can be randomly cascaded and matched with the revolving door with any width, has no blind area in a detection area, not only meets the anti-collision requirement of a single door leaf, but also meets the anti-collision requirements of multiple door leaves in complex scenes such as side-by-side installation and the like, and under the scene of installation of multiple door leaf rows, the anti-collision method designed by the invention can effectively filter the interference of adjacent door leaves on the laser sensors and avoid false alarm.
The following is a detailed description of the specific construction of the swing door 100:
the revolving door 100 includes two track beam sets 1 and at least two door leaves 2; the two track beam groups 1 are respectively an upper track beam group and a lower track beam group, and the door leaf 2 comprises an upper movable seat 3 movably matched with the upper track beam group, a lower movable seat 4 movably matched with the lower track beam group and a screen leaf frame 5 rotatably installed between the upper movable seat 3 and the lower movable seat 4;
the upper movable seat 3 or/and the lower movable seat 4 is/are provided with a translation mechanism 6, and the translation mechanism 6 is used for being matched with the corresponding track beam group 1 to drive the door leaf 2 to move; the upper movable seat 3 or/and the lower movable seat 4 is/are provided with a rotating mechanism 7, and the rotating mechanism 7 is used for driving the screen fan frame 5 to rotate.
In this embodiment, the screen frame 5 of the door leaf 2 can be opened or closed in a rotating manner through the rotating mechanism 7, and each door leaf 2 can also be folded in a translating manner on the track beam set 1 through the translating mechanism 6, and during actual use, the screen frame 5 can be controlled to be opened in a rotating manner (for example, the rotating frame is perpendicular to the track beam set 1), and then the door leaf 2 is moved to one side of the track beam set 1 through the translating mechanism 6, so that a larger passage space can be formed.
The revolving door 100 of the present embodiment may be applied to various fields including, but not limited to, a performance device used as a performance venue, a sheltering device for building entrances and exits, a landscape sheltering device for large building facades, and the like.
As shown in fig. 3 and 4, in the present embodiment, the fan frame 5 has a vertical working position and a horizontal working position, and in the vertical working position, the plane of the fan frame 5 is perpendicular to the planes of the upper track beam set and the lower track beam set; the screen fan frame 5 is provided with a locking mechanism 8, and the locking mechanism 8 is used for being matched with the corresponding track beam set 1 when the screen fan frame 5 is in a horizontal working position to prevent the screen fan frame 5 from rotating.
The locking mechanism 8 can effectively prevent the screen fan frame 5 from rotating, and the problem that the screen fan frame 5 rotates due to manual pushing is solved.
When the screen fan frame 5 is in the vertical working position, the screen fan frame 5 is in an open state and moves to one side of the track beam set 1, so that a larger passage space can be formed for people to come in and go out; when the screen fan frame 5 is in the horizontal working position, the screen fan frame 5 is in a closed state, and at the moment, the screen fan frame 5 can better display information (through the display of articles mounted on the screen fan frame 5), and a shielding barrier can be formed.
In practical use, the door leaf 2 can rotate at plus or minus 90 degrees or plus or minus 180 degrees.
As shown in fig. 1, 2 and 7, in the present embodiment, the panel frame 5 has a rotating shaft 9, the panel frame 5 is rotatably mounted on the upper movable seat 3 and the lower movable seat 4 through the rotating shaft 9, the locking mechanism 8 is located on one side or both sides of the rotating shaft 9, the locking mechanism 8 includes a telescopic element 10 and a lock rod 11 driven by the telescopic element 10, a limit bracket 12 is disposed on the rail beam set 1 matched with the locking mechanism 8, and a limit groove 13 matched with the lock rod 11 is disposed on the limit bracket 12.
As shown in fig. 9, in the present embodiment, the limiting groove 13 is a long strip, and after the lock rod 11 extends into the limiting groove 13, when the door leaf 2 moves relative to the track beam set 1, the lock rod 11 can slide along the limiting groove 13.
As shown in fig. 9 and 10, in the present embodiment, a roller frame 14 is installed on the fan frame 5, the roller frame 14 has at least one set of rollers 15 disposed oppositely and at intervals, and the lock lever 11 is used for being inserted between two rollers in the same set; the telescopic element 10 is an electromagnet or an electric push rod. Through the cooperation of the roller 15 and the lock rod 11, the friction force can be effectively reduced, the telescopic operation of the lock rod 11 is convenient, and therefore the reliable locking and unlocking operation of the locking mechanism 8 is realized.
As shown in fig. 5, 6 and 8, in the present embodiment, the translation mechanism 6 includes a gear base 16, a driving gear 17 and a translation driving motor 18, the driving gear 17 is mounted on the gear base 16 and is directly or indirectly driven by the translation driving motor 18; the set of rail beams 1 cooperating with the translation mechanism 6 comprises a rack 19, the driving gear 17 being in mesh with the rack 19.
As shown in fig. 5, 6 and 8, in the present embodiment, a back wheel 20 is further mounted on the gear seat 16, and the back wheel 20 is in rolling engagement with a side of the rack 19 away from the gear. The provision of the back wheel 20 ensures a secure engagement of the drive gear 17 with the rack 19.
As shown in fig. 8, the rotating mechanism 7 includes a rotating motor and a speed reducer, and the rotating motor is used for directly or indirectly driving the rotating shaft 9 to rotate. Preferably, in this embodiment, the speed reducer is a harmonic speed reducer, and the application adopts the harmonic speed reducer to cooperate with the servo motor to directly drive the rotating shaft 9 to rotate, and compared with the conventional rotary support, the speed reducer has the function of eliminating the return clearance.
As shown in fig. 5 and 8, in the present embodiment, the upper track beam set includes a track 21, a traveling wheel 23 is installed on the upper movable seat 3, and the traveling wheel 23 of the upper movable seat 3 is located above the corresponding track 21 or embedded in the track 21, and is in rolling fit with the track 21; as shown in fig. 5, the lower track beam set includes a track 21, and a slide block 22 is mounted on the lower movable seat 4, and the slide block 22 of the lower movable seat 4 is in sliding fit with the corresponding track 21.
In other embodiments, the upper movable seat 3 may also be mounted on a sliding rail matched with the rail 21, and the lower movable seat 4 may also be mounted on a traveling wheel 23 matched with the rail 21.
As shown in fig. 3, in the present embodiment, there are a plurality of door leaves 2; in practical use, the fan frame 5 can be provided with various articles such as a display element to enrich the function of the fan frame 5.
The operating principle of the revolving door 100 with multiple door leaves 2 is: the initial state of the door leaf 2 is perpendicular to the track beam set 1, the door leaf 2 is arranged on one side or two sides of the track beam set 1 in a parallel and tight mode, when the door leaf 2 needs to be closed, the translation mechanism 6 drives the door leaf 2 to move to the opposite side, when the door leaf 2 has a safe rotating distance, the rotating mechanism 7 works to drive the screen leaf frames 5 to rotate, and finally the screen leaf frames 5 are located on the same plane and are parallel to the lower track beam set or located on the same plane.
In another embodiment, as shown in fig. 9 and 10, the difference from the revolving door 100 described in the above embodiment is that: the screen fan frame is characterized by further comprising a joint bearing 25, two rotating shafts of the screen fan frame 5 are respectively a driving rotating shaft (not shown in the figure) and an adjusting rotating shaft 24, the driving rotating shaft is fixed with the screen fan frame 5, the rotating mechanism drives the screen fan frame 5 to rotate through the driving rotating shaft, and the adjusting rotating shaft 24 is inserted on the joint bearing 25;
in this embodiment, the joint bearing 25 is installed on the screen fan frame 5, and the adjusting rotating shaft 24 is fixed with the corresponding movable seat; in practical use, the joint bearing 25 can be mounted on the corresponding movable seat, and the adjusting rotating shaft 24 is fixed with the screen fan frame 5.
It should be noted that, in the present application, "the adjusting rotating shaft 24 is fixed to the corresponding movable seat", where the corresponding movable seat refers to the movable seat corresponding to the adjusting rotating shaft 24, specifically, when the adjusting rotating shaft 24 is at the lower end of the screen fan frame 5, the movable seat refers to the lower movable seat (i.e., the structure shown in fig. 6 and 7), and when the adjusting rotating shaft 24 is at the upper end of the screen fan frame 5, the movable seat refers to the upper movable seat; similarly, the "knuckle bearing 25 is mounted on the corresponding movable seat", and the corresponding movable seat is also referred to as the movable seat corresponding to the adjustment shaft 24.
In the embodiment, the joint bearing 25 is arranged to enable one end of the screen fan frame 5 to be capable of being movably adjusted in multiple dimensions, for example, the screen fan frame can swing, for example, can slide up and down (at this time, the inner ring of the adjusting rotating shaft 24 and the joint bearing 25 are preferably in clearance fit), and the installation error of the rotary translation screen fan can be effectively compensated through the matching of the adjusting rotating shaft 24 and the joint bearing 25.
Based on the same inventive concept, the embodiment of the present invention further provides a laser anti-collision system for a multi-door revolving door, and regarding the composition, reference may be made to the related description, and the repetition part is not described redundantly, and the system includes the following units:
the system comprises an acquisition unit and a control unit, wherein the acquisition unit is used for acquiring ranging data between a door leaf and a target object obtained based on laser sensors and the running state of the door leaf, the number of the door leaf is at least two, the running state of the door leaf comprises a translation state and a rotation state, and the bottom of the front side and the back side of each door leaf is respectively provided with a plurality of laser sensors;
the data processing unit is used for carrying out data processing on the ranging data to obtain ranging data after data processing, and the ranging data after data processing comprises the shape of a target object;
and the control unit is used for judging whether to control the door leaf to stop running or not according to the running state corresponding to the door leaf and the corresponding ranging data after data processing.
The step of judging whether to control the door leaf to stop running according to the running state corresponding to the door leaf and the corresponding distance measurement data after data processing specifically comprises the following steps:
when the running state of the door leaf is a rotating state, obtaining the distance between the door leaf and a target object according to the corresponding distance measurement data after data processing, judging whether the distance between the door leaf and the target object is smaller than a preset safety distance or not, and when the distance between the door leaf and the target object is not smaller than the preset safety distance, generating no danger alarm signal; when the distance between the door leaf and the target object is smaller than a preset safety distance, generating a danger alarm signal and controlling the door leaf to stop running;
when the running state of the door leaf is a translation state, obtaining the shape of a target object according to the distance measurement data after corresponding data processing, comparing the shape of the target object with a preset door sector shape, judging whether the target object is an adjacent door leaf, and when the target object is judged to be the adjacent door leaf, generating no danger alarm signal; when the target object is judged to be not an adjacent door leaf, the distance between the door leaf and the target object is obtained according to the distance measurement data after corresponding data processing, whether the distance between the door leaf and the target object is smaller than a preset safety distance or not is judged, when the distance between the door leaf and the target object is not smaller than the preset safety distance, a danger alarm signal is not generated, and when the distance between the door leaf and the target object is smaller than the preset safety distance, the danger alarm signal is generated and the door leaf is controlled to stop running.
The method comprises the steps of obtaining ranging data between a door leaf and a target object obtained based on a laser sensor, carrying out data processing on the ranging data, and obtaining the ranging data after the data processing, wherein the steps specifically comprise:
polling all the laser sensors regularly, and collecting ranging data of all the laser sensors;
filtering the collected ranging data through a Kalman filtering algorithm to eliminate errors and obtain the distance between the door leaf and the target object;
and analyzing and processing the collected ranging data through point cloud to obtain the shape of the target object.
Based on the same inventive concept, embodiments of the present invention further provide an electronic device, which can refer to the foregoing related descriptions for components, and repeated parts are not described redundantly, including: at least one processor, a memory communicatively coupled to at least one of the processors; at least one of the processors is adapted to read a program in the memory for performing the method described above.
Based on the same inventive concept, embodiments of the present invention further provide a computer-readable storage medium, which can refer to the related description above for components, and the repetition of which is not repeated, wherein the medium stores instructions that, when executed on a computer, cause the computer to execute the method described above.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (10)
1. A laser anti-collision method for a multi-door-leaf revolving door is characterized by comprising the following steps:
the method comprises the steps of obtaining distance measurement data between door leaves and a target object obtained based on laser sensors and the running states of the door leaves, wherein the number of the door leaves is at least two, the running states of the door leaves comprise a translation state and a rotation state, and the bottom of the front side and the back side of each door leaf is respectively provided with a plurality of laser sensors;
performing data processing on the ranging data to obtain ranging data after the data processing, wherein the ranging data after the data processing comprises a target shape;
and judging whether to control the door leaf to stop running or not according to the running state corresponding to the door leaf and the corresponding distance measurement data after data processing.
2. The laser anti-collision method for the multi-door rotating door according to claim 1, wherein the step of judging whether to control the door to stop operating according to the operating state corresponding to the door and the distance measurement data after the corresponding data processing specifically comprises:
when the running state of the door leaf is a rotating state, obtaining the distance between the door leaf and a target object according to the corresponding distance measurement data after data processing, judging whether the distance between the door leaf and the target object is smaller than a preset safety distance or not, and when the distance between the door leaf and the target object is not smaller than the preset safety distance, generating no danger alarm signal; when the distance between the door leaf and the target object is smaller than a preset safety distance, generating a danger alarm signal and controlling the door leaf to stop running;
when the running state of the door leaf is a translation state, obtaining the shape of a target object according to the distance measurement data after corresponding data processing, comparing the shape of the target object with a preset door sector shape, judging whether the target object is an adjacent door leaf, and when the target object is judged to be the adjacent door leaf, generating no danger alarm signal; when the target object is judged to be not an adjacent door leaf, the distance between the door leaf and the target object is obtained according to the distance measurement data after corresponding data processing, whether the distance between the door leaf and the target object is smaller than a preset safety distance or not is judged, when the distance between the door leaf and the target object is not smaller than the preset safety distance, a danger alarm signal is not generated, and when the distance between the door leaf and the target object is smaller than the preset safety distance, the danger alarm signal is generated and the door leaf is controlled to stop running.
3. The laser anti-collision method for the multi-door rotating door according to claim 1, wherein the step of obtaining the distance measurement data between the door leaf and the target object obtained based on the laser sensor and performing data processing on the distance measurement data to obtain the distance measurement data after the data processing specifically comprises:
polling all the laser sensors regularly, and collecting ranging data of all the laser sensors;
filtering the collected ranging data through a Kalman filtering algorithm to eliminate errors and obtain the distance between the door leaf and the target object;
and analyzing and processing the collected ranging data through point cloud to obtain the shape of the target object.
4. The laser anti-collision method for the multi-door rotating door according to claim 1, wherein the distance between the adjacent laser sensors on the same door leaf is the same.
5. The laser anti-collision method for the multi-door rotating door according to claim 1, wherein the operation state of the door leaf is obtained from a PLC (programmable logic controller) for controlling the operation of the door leaf through a serial port.
6. The utility model provides a many revolving doors laser collision avoidance system which characterized in that includes:
the system comprises an acquisition unit and a control unit, wherein the acquisition unit is used for acquiring ranging data between a door leaf and a target object obtained based on laser sensors and the running state of the door leaf, the number of the door leaf is at least two, the running state of the door leaf comprises a translation state and a rotation state, and the bottom of the front side and the back side of each door leaf is respectively provided with a plurality of laser sensors;
the data processing unit is used for carrying out data processing on the ranging data to obtain ranging data after data processing, and the ranging data after data processing comprises the shape of a target object;
and the control unit is used for judging whether to control the door leaf to stop running or not according to the running state corresponding to the door leaf and the corresponding ranging data after data processing.
7. The laser collision avoidance system of claim 1, wherein the step of determining whether to control the door leaf to stop operating according to the operating status corresponding to the door leaf and the distance measurement data after the corresponding data processing specifically comprises:
when the running state of the door leaf is a rotating state, obtaining the distance between the door leaf and a target object according to the corresponding distance measurement data after data processing, judging whether the distance between the door leaf and the target object is smaller than a preset safety distance or not, and when the distance between the door leaf and the target object is not smaller than the preset safety distance, generating no danger alarm signal; when the distance between the door leaf and the target object is smaller than a preset safety distance, generating a danger alarm signal and controlling the door leaf to stop running;
when the running state of the door leaf is a translation state, obtaining the shape of a target object according to the distance measurement data after corresponding data processing, comparing the shape of the target object with a preset door sector shape, judging whether the target object is an adjacent door leaf, and when the target object is judged to be the adjacent door leaf, generating no danger alarm signal; when the target object is judged to be not an adjacent door leaf, the distance between the door leaf and the target object is obtained according to the distance measurement data after corresponding data processing, whether the distance between the door leaf and the target object is smaller than a preset safety distance or not is judged, when the distance between the door leaf and the target object is not smaller than the preset safety distance, a danger alarm signal is not generated, and when the distance between the door leaf and the target object is smaller than the preset safety distance, the danger alarm signal is generated and the door leaf is controlled to stop running.
8. The laser anti-collision system for the multi-door rotating door according to claim 1, wherein the step of obtaining the distance measurement data between the door leaf and the target object obtained based on the laser sensor, and performing data processing on the distance measurement data to obtain the distance measurement data after data processing specifically comprises:
polling all the laser sensors regularly, and collecting ranging data of all the laser sensors;
filtering the collected ranging data through a Kalman filtering algorithm to eliminate errors and obtain the distance between the door leaf and the target object;
and analyzing and processing the collected ranging data through point cloud to obtain the shape of the target object.
9. An electronic device, comprising: at least one processor, a memory communicatively coupled to at least one of the processors; at least one of the processors is adapted to read a program in the memory for performing the method of any of claims 1-5.
10. A computer-readable storage medium having stored thereon instructions which, when executed on a computer, cause the computer to perform the method of any one of claims 1-5.
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