Method for controlling a door and related device

Abstract

Embodiments of the present application disclose a method for controlling a door and related equipment. A specific implementation of the method comprises: determining a position and / or a movement parameter of an object in a target area, the target area at least comprising an area through which a part or all of a door body passes during movement of the door; and controlling movement of the door based on the position and / or the movement parameter of the object in the target area. Since the position and / or the movement parameter of the object in the target area can be determined, the implementation can control movement of the door based on the position and / or the movement parameter of the object in the target area, rather than only based on whether the object exists in the target area. It can be seen that the implementation can effectively avoid collision between the door and the object.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of intelligent control, and in particular, to a method for controlling a door and related devices. BACKGROUND

[0002] With the development of technology, many doors that can automatically open and close have appeared, such as elevator doors, security doors, etc.

[0003] However, the door is prone to collide with people during automatic movement, and therefore how to avoid the collision between the door and people is a problem that needs to be solved urgently. SUMMARY

[0004] Embodiments of the present application provide a method for controlling a door and related devices.

[0005] In a first aspect, a method for controlling a door is provided, the method comprising:

[0006] determining a position and / or a movement parameter of an object in a target area, the target area at least including an area through which a part or all of a door body passes during movement of the door;

[0007] controlling movement of the door based on the position and / or the movement parameter of the object in the target area.

[0008] In some embodiments, the controlling movement of the door based on the position and / or the movement parameter of the object in the target area comprises at least one of the following three ways:

[0009] way one, controlling a moving speed of the door based on the position and / or the movement parameter of the object in the target area to prevent the door from colliding with the object;

[0010] way two, controlling a moving direction of the door based on the position and / or the movement parameter of the object in the target area to prevent the door from colliding with the object;

[0011] way three, controlling the door to move to a first target position based on the position and / or the movement parameter of the object in the target area to prevent the door from colliding with the object.

[0012] In some embodiments, the controlling the door to move to a first target position based on the position and / or the movement parameter of the object in the target area to prevent the door from colliding with the object comprises:

[0013] obtaining a first position of the object in the target area;

[0014] determine the first target position based on the first position, wherein a distance between a target position point on the door and the object is not less than a first preset safety distance during movement of the door to the first target position;

[0015] control the door to move to the first target position.

[0016] In some embodiments, the controlling of the moving direction of the door to prevent the door from colliding with the object based on the position and / or the movement parameter of the object in the target area comprises:

[0017] determining whether a first moving direction of the object in the target area is consistent with a second moving direction of the door at a current time;

[0018] if yes, controlling the door to continue moving in the second moving direction; otherwise, controlling the door to move in a third moving direction, wherein the third moving direction is opposite to the second moving direction.

[0019] In some embodiments, the controlling of the moving speed of the door to prevent the door from colliding with the object based on the position and / or the movement parameter of the object in the target area comprises at least one of the following two manners:

[0020] Manner four, determining whether a distance between the object and the door is less than a second preset safety distance based on the position of the object in the target area, and if yes, controlling the door to reduce the moving speed to prevent the door from colliding with the object;

[0021] Manner five, determining whether the distance between the object and the door is gradually decreasing based on the position and / or the movement parameter of the object in the target area, and if yes, controlling the door to reduce the moving speed to prevent the door from colliding with the object.

[0022] In some embodiments, the method described in any of the implementation manners of the first aspect further comprises:

[0023] determining a movement type of the object based on the movement parameter of the object in the target area, wherein the movement type comprises at least one of the following: leaving the door, entering the door, and staying near the door.

[0024] In some embodiments, the method described in any of the implementation manners of the first aspect further comprises:

[0025] determining whether there is still an object in the door based on the movement type of the object, and obtaining a determination result;

[0026] controlling a working state of at least one target device based on the determination result.

[0027] In some embodiments, the method described in any implementation form of the first aspect further comprises:

[0028] controlling the door to move along a preset moving path to a second target position in response to a door control instruction for controlling the door to move, wherein the area passed through by the door in the moving process is an area passed through by the door in the process of moving from a current position to the second target position.

[0029] In a second aspect, the embodiments of the present application provide a device for controlling a door, the device comprising: an information determination unit and a moving control unit,

[0030] The information determination unit is configured to determine a position of an object in a target area and / or a movement parameter, the target area comprising at least an area passed through by part or all of a door body in a moving process of the door.

[0031] The moving control unit is configured to control the movement of the door based on the position of the object in the target area and / or the movement parameter.

[0032] In some embodiments, the moving control unit controls the movement of the door based on the position of the object in the target area and / or the movement parameter, including at least one of the following three ways:

[0033] In the first way, the moving control unit controls the moving speed of the door based on the position of the object in the target area and / or the movement parameter, to prevent the door from colliding with the object.

[0034] In the second way, the moving control unit controls the moving direction of the door based on the position of the object in the target area and / or the movement parameter, to prevent the door from colliding with the object.

[0035] In the third way, the moving control unit controls the door to move to a first target position based on the position of the object in the target area and / or the movement parameter, to prevent the door from colliding with the object.

[0036] In some embodiments, the moving control unit controls the door to move to a first target position based on the position of the object in the target area and / or the movement parameter, to prevent the door from colliding with the object, and is specifically configured as:

[0037] The moving control unit acquires a first position of the object in the target area.

[0038] The movement control unit determines the first target position of the door based on the first position, so that a distance between a target position point on the door and the object is not less than a first preset safety distance during movement of the door to the first target position.

[0039] The movement control unit controls the door to move to the first target position.

[0040] In some embodiments, the movement control unit controls a moving direction of the door based on the position of the object in the target area and / or the movement parameter, to prevent the door from colliding with the object, and is specifically configured as:

[0041] The movement control unit determines whether a first moving direction of the object in the target area is consistent with a second moving direction of the door at a current time, and if so, controls the door to continue moving in the second moving direction, and if not, controls the door to move in a third moving direction, wherein the third moving direction is opposite to the second moving direction.

[0042] In some embodiments, the movement control unit controls a moving speed of the door based on the position of the object in the target area and / or the movement parameter, to prevent the door from colliding with the object, including at least one of the following two manners:

[0043] Manner four, the movement control unit determines whether a distance between the object and the door is less than a second preset safety distance based on the position of the object in the target area, and if so, controls the door to reduce the moving speed to prevent the door from colliding with the object.

[0044] Manner five, the movement control unit determines whether the distance between the object and the door is gradually decreasing based on the position of the object in the target area and / or the movement parameter, and if so, controls the door to reduce the moving speed to prevent the door from colliding with the object.

[0045] In some embodiments, the apparatus for controlling a door described in any of the implementation manners of the second aspect further includes:

[0046] A movement type determination unit is configured to determine a movement type of the object based on the movement parameter of the object in the target area, wherein the movement type includes at least one of the following: leaving the door, entering the door, and staying near the door.

[0047] In some embodiments, the apparatus for controlling a door described in any of the implementation manners of the second aspect further includes:

[0048] An object determination unit is configured to determine whether there is still an object in the door based on the movement type of the object, and obtain a determination result.

[0049] a device control unit, configured to control a working state of at least one target device based on the determination result.

[0050] In some embodiments, the apparatus for controlling the door described in any implementation manner of the second aspect further includes:

[0051] a position control unit, configured to control the door to move to a second target position along a preset moving path in response to a door control instruction for controlling the door to move, wherein the area passed through by the door in the moving process is an area passed through by the door in a process in which the door moves from a current position to the second target position.

[0052] In a third aspect, an embodiment of the present application provides a computer readable medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method described in any implementation manner of the first aspect.

[0053] In a fourth aspect, an embodiment of the present application provides a processor for running a program, wherein the program, when executed, performs the method described in any implementation manner of the first aspect.

[0054] In a fifth aspect, an embodiment of the present application provides an electronic device, including: one or more processors; a storage device having one or more programs stored thereon; and when the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any implementation manner of the first aspect.

[0055] The method for controlling the door and the related device provided by the embodiments of the present application can determine the position and / or the moving parameter of the object in the target area, and control the movement of the door based on the position and / or the moving parameter of the object in the target area. Since the position and / or the moving parameter of the object in the target area can be determined, the present application can control the movement of the door based on the position and / or the moving parameter of the object in the target area, rather than only based on whether the object exists in the target area. It can be seen that the method for controlling the door provided by the present application can effectively avoid the collision between the door and the object. BRIEF DESCRIPTION OF DRAWINGS

[0056] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application, and for those skilled in the art, other drawings can be obtained from the provided drawings without creative effort, and the present application can also be applied to other similar scenarios according to the provided drawings. Unless it is obvious from the language environment or otherwise stated, the same reference numbers in the drawings represent the same structure or operation.

[0057] Figure 1 is an exemplary system architecture diagram in which some embodiments of the present application can be applied;

[0058] Figure 2 is a flowchart of one embodiment of the method for controlling a door of the present application;

[0059] Figure 3 is a schematic diagram of a target area in one application scenario of the method for controlling a door of the present application;

[0060] Figure 4 is a flowchart of controlling the door to move to a first target position in another embodiment of the method for controlling a door of the present application;

[0061] Figure 5 is a flowchart of another embodiment of the method for controlling a door of the present application;

[0062] Figure 6 is a flowchart of another embodiment of the method for controlling a door of the present application;

[0063] Figure 7 is another exemplary system architecture diagram in which some embodiments of the present application can be applied;

[0064] Figure 8 is a flowchart of another embodiment of the method for controlling a door of the present application;

[0065] Figure 9 is a flowchart of another embodiment of the method for controlling a door of the present application;

[0066] Figure 10 is a structural schematic diagram of one embodiment of the device for controlling a door of the present application;

[0067] Figure 11 is a structural schematic diagram of one embodiment of the electronic device of the present application. DETAILED DESCRIPTION

[0068] The application will be described in further detail below with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not intended to limit the scope of the application. The embodiments described herein are only a portion of all embodiments of the application, and all other embodiments obtained by those of ordinary skill in the art based on the embodiments in the application without creative efforts fall within the scope of the application.

[0069] It should be noted that, for the convenience of description, only the parts related to the application are shown in the drawings. The embodiments in the application and the features in the embodiments can be combined with each other without conflict.

[0070] It should be understood that the "system", "device", "unit" and / or "module" used in the application is a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0071] As shown in the application and claims, unless the context clearly indicates otherwise, "one", "a", "an", and / or "the" do not refer to the singular, but can also include the plural. Generally, the terms "comprise" and "include" only indicate the inclusion of the steps and elements explicitly identified, and these steps and elements do not constitute an exclusive list, and the method or device can also include other steps or elements. The element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, product or device comprising the element.

[0072] In the description of the embodiments of the application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this document is only a description of the association between the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the application, "multiple" means two or more than two.

[0073] Hereinafter, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features.

[0074] Flowcharts are used in this application to illustrate the operations performed by the system according to embodiments of this application. It should be understood that the preceding or following operations are not necessarily performed precisely in sequence. Instead, the steps can be processed in reverse order or simultaneously. Furthermore, other operations can be added to these processes, or one or more steps can be removed from them.

[0075] Figure 1 An exemplary system architecture 100 is shown, in which some embodiments of the method for controlling a door or the method for controlling a door of this application can be applied.

[0076] like Figure 1 As shown, the system architecture 100 may include a door frame 101, a door 102, an electronic lock 103, an electric door opener / closer 104, an information acquisition device 105, and a controller. Figure 1 (Controller not shown).

[0077] The door frame 101 serves to fix the door leaf, protect the corners of the walls, and provide decoration. In exemplary system architectures applying the method for controlling a door according to this application or other embodiments of the method for controlling a door, the door frame 101 may be omitted. Figure 1 The door 102 shown is a swing door. In exemplary system architectures applying the method for controlling a door of this application or other embodiments of the method for controlling a door, the door 102 can also be a revolving door, a sliding door, a folding door, a roller shutter door, etc. This application does not limit the size, material, purpose, location, additional functions, opening direction, etc. of the door 102.

[0078] The electronic lock 103 is an electronic product that uses a control circuit or chip to control the closing of a mechanical switch, thus completing the tasks of locking and unlocking. For example... Figure 1 As shown, the electronic lock 103 can be installed on the door 102. In exemplary system architectures applying the method for controlling a door of this application or some other embodiments of the method for controlling a door, the electronic lock 103 may not be present.

[0079] The electric door opener / closer 104 is a mechanism that controls the automatic closing and opening of a door through electrical control. The electric door opener / closer 104 can provide a force (such as pulling force or pushing force) on the door through an electric motor, electric hydraulic press, etc. Figure 1 The electric door opener / closer 104 shown is mounted on the top of the door 102 at one end and on the door frame 101 at the other end. This application does not limit the type, installation location, power, size, etc. of the electric door opener / closer 104.

[0080] The information acquisition device 105 can be used to identify the position and / or movement parameters of objects in the area that the door 102 passes through during its movement. Figure 1The information collection device 105 in the door 102 can include at least one of an optical flow sensor, a camera, an ultrasonic detector, a distance detector, and the like.

[0081] The optical flow sensor is a device that determines the position and / or movement parameters of the object by using the optical flow method. The optical flow is the instantaneous velocity of the pixel motion of a spatial moving object on an observation imaging plane. The optical flow method is a method of finding the correspondence between the previous frame and the current frame by using the change of the pixel in the time domain and the correlation between the adjacent frames, and calculating the motion information of the object between the adjacent frames. The optical flow sensor can include a camera and an optical flow algorithm running chip. In actual application, the installation position and orientation of the optical flow sensor can be adjusted according to actual needs.

[0082] In the door 102, Figure 1 When the information collection device 105 in the door 102 includes a camera, the embodiments of the present application can determine the position and / or movement parameters of the object by the object image collected by the camera and the change of the object image. The camera can be a monocular camera, a binocular camera or a multi-camera. It can be understood that the binocular camera or the multi-camera can obtain the depth information of the object. Optionally, the camera can be an infrared camera or an RGB camera. The working principle of the infrared camera is that the infrared light emitted by the infrared lamp irradiates the object, the infrared light is diffusely reflected, and the infrared light is received by the infrared camera to form a video image. The ordinary camera directly collects external light and forms a video image. When the camera is a binocular camera, the binocular camera can include one infrared camera and one RGB camera, or the binocular camera can include two infrared cameras, or the binocular camera can include two RGB cameras.

[0083] The ultrasonic detector, the distance detector and the like included in the information collection device 105 can be used to identify the position and / or movement parameters of the object in the area passed by the door 102 during movement. The present application does not limit the type, installation position, orientation and the like of the information collection device 105 used to determine the position and / or movement parameters of the object.

[0084] The distance detector can be a time of flight (TOF) sensor or other sensors that can detect distance. The TOF sensor can emit an infrared light source to the measured object, the light wave is reflected back by the object, and then the TOF sensor collects the light wave, and further calculates the distance between the measured object and the TOF sensor by calculating the pulse difference or time difference of the received light wave.

[0085] In actual applications, when the information collection device 105 includes multiple devices (for example, the information collection device 105 includes an optical flow sensor, a binocular camera, and a TOF sensor), the devices included in the information collection device 105 can work independently or cooperatively.

[0086] The controller can be in communication connection with at least one of the electronic lock 103, the electric door opener 104, and the information collection device 105. The controller and the electronic lock 103 can transmit at least one type of data, such as an unlocking instruction, a locking instruction, an electronic lock state indicating whether the electronic lock 103 is in an unlocking state or a locking state, and the like. The controller and the electric door opener 104 can transmit at least one type of data, such as an opening instruction for controlling the electric door opener 104 to open the door, a closing instruction for controlling the electric door opener 104 to close the door, an instruction for controlling the electric door opener 104 to open the door to a target position, an instruction for controlling the electric door opener 104 to close the door to a target position, an instruction for controlling the electric door opener 104 to adjust the moving direction of the door, an instruction for controlling the electric door opener 104 to adjust the moving speed of the door, and the like.

[0087] In an exemplary system architecture in which the method for controlling a door or other embodiments of the method for controlling a door are applied, the controller can be a processor in the electronic lock 103, the electric door opener 104, the information collection device 105, or other devices. For example, the controller can be a processor in the electronic lock 103, a processor in the electric door opener 104, a processor in the information collection device 105, a processor in a control terminal (for example, a smart router) for controlling a household appliance, or a processor in a server.

[0088] The communication connection described above can include various connection types, such as a wired, wireless communication link, or a fiber optic cable, and the like.

[0089] It should be noted that the method for controlling a door provided by the embodiments of the present application is generally executed by a controller, and accordingly, the device for controlling a door is generally provided in the controller.

[0090] Continuing to refer to Figure 2 which shows a flow 200 of one embodiment of the method for controlling a door according to the present application. The method for controlling a door includes the following steps:

[0091] Step 201, determining the position and / or movement parameter of an object in a target area, the target area at least including an area through which part or all of the door body passes during the movement of the door.

[0092] In step 201, the object can be a person, an animal, an article other than the door, or the like.

[0093] The position and / or movement parameter of the object in the target area in step 201 can be generated by the information collection device 105 shown in the figure and sent to the controller performing the method shown in the figure. Figure 1 The controller performing the method shown in the figure. Figure 2 The controller performing the method shown in the figure. Figure 1 The information collection device 105 in the figure can include at least one of an optical flow sensor, a camera, an ultrasonic detector, a distance detector, etc. The camera can be a monocular camera, a binocular camera or a multi-view camera. The camera can be an infrared camera or an RGB camera.

[0094] Of course, in an optional embodiment, the information collection device 105 shown in the figure can only collect information (such as image collection, infrared image collection, ultrasonic signal collection, etc.), and then send the collected information to the controller performing the method shown in the figure. Figure 1 The controller performing the method shown in the figure. Figure 2 The controller performing the method shown in the figure. Figure 2 The controller performing the method shown in the figure.

[0095] If the information collection device 105 includes an optical flow sensor, the optical flow sensor can calculate the motion information of the object between adjacent frames based on an optical flow algorithm, and then determine the position and / or movement parameter of the object in the target area based on the motion information of the object between adjacent frames by the optical flow sensor or the controller performing the method shown in the figure. Figure 2

[0096] If the information collection device 105 includes a camera, the camera can collect images of the target area, then identify the position of the object in the image, and continuously track the position of the object based on an object tracking algorithm, etc., so as to determine the position and / or movement parameter of the object in the target area. It can be understood that if the camera is a binocular camera or a multi-view camera, the camera can also collect depth information of the object. In this way, when identifying the position of the object in the image, a more accurate object position can be identified according to the depth information.

[0097] If the information collection device 105 includes an ultrasonic detector, the ultrasonic detector can emit ultrasonic waves to the object, and determine the position and / or movement parameter of the object in the target area based on the reflected ultrasonic waves.

[0098] If the information collection device 105 includes a TOF sensor, the TOF sensor can emit an infrared light source to the object, and the light wave reflected by the object is collected by the TOF sensor. The present application can calculate the distance between the object and the TOF sensor by calculating the pulse difference or time difference of the received light wave, so as to determine the position and / or movement parameter of the object in the target area.

[0099] ​It can be understood that the door will move when closing or opening, and if an object such as a person or an object is located in the moving area of the door, a collision between the door and the object can occur.

[0100] The area passed by the door during the moving process varies according to the type of the door. For example, for a door with a bottom, the area passed by the bottom of the door during the moving process can be a planar area, and the area passed by the whole door during the moving process can be a solid area. Figure 1 As shown in the exemplary system architecture 100, the area passed by the bottom of the door 102 during the moving process can be a planar area as shown by the sector-shaped shaded area 106 in FIG. 1, and the area passed by the whole door during the moving process can be a solid area. Figure 3 In the embodiments of the present application, the target area can be a planar area or a solid area.

[0101] Optionally, the controller performing the method shown in FIG. 2 can execute step 201 in response to the moving state of the door 102. For example, the controller determines that the door 102 has started to move, and then executes step 201; or the controller determines that the door 102 is about to start to move, and then executes step 201. In an optional embodiment, step 201 and / or step 202 can be executed multiple times periodically or aperiodically. Figure 2 The controller can determine whether the door 102 has started to move by the working state of the electric door closer 104. The controller can also determine whether the door 102 is about to start to move by the working state of the electronic lock 103 or the message sent by the electronic lock 103. For example, the electronic lock 103 completes unlocking, and then the controller can determine that the door 102 is about to start to move (open the door); for another example, the electronic lock 103 sends a message to the controller that unlocking is successful, and then the controller can determine that the door 102 is about to start to move (open the door). The controller can also determine whether the door has started to move by other ways, for example, by a sensor detecting whether the door has started to move.

[0102] Of course, in other optional embodiments, in addition to determining whether the door 102 has started to move or whether the door is about to start to move, the controller can also determine the moving direction, moving speed and other moving parameters of the door 102, and the controller can also determine the position and other information of the door 102.

[0103] Optionally, since the electric door closer 104 provides a force to the door 102 and drives the door to automatically close, automatically open and the like, the controller can determine the position and / or moving parameters of the door 102 according to the working state of the electric door closer 104. For example, the electric door closer 104 drives the door 102 to move by a stepping motor, and then the controller can determine the position and / or moving parameters of the door 102 by the stepping motor.

[0104]

[0105] ​Optionally, the controller can also detect the position and / or movement parameter of the door 102 through some sensors. Those skilled in the art can understand that the sensors that can be used to detect the position and / or movement parameter of the door 102 can be various, such as: a gyroscope, a speed sensor, an acceleration sensor, a laser emitter / receiver, etc. The position and / or movement parameter of the door can be used in various ways, for example: based on the detection result of the position and / or movement parameter of the door, the process of controlling the movement of the door is monitored to determine whether the door moves to the target position or the movement parameter of the door is the movement parameter determined by the controller. For another example: based on the position of the door, the distance between the door and the object is determined; based on the position and / or movement parameter of the door, the collision risk between the door and the object is determined, etc.

[0106] In summary, the embodiments of the present application do not limit the specific way in which the controller determines the position and / or movement parameter of the door 102.

[0107] In another optional embodiment of the method for controlling the door of the present application, the controller can also determine the type of the object, for example: determine whether the object is a person or a pet, determine whether the object is a trusted member or an untrusted member, etc. Specifically, the controller can determine the type of the object according to the image collected by the information collection device 105. In actual application, the present application can first train an object recognition model, and then identify the type of the object based on the object recognition model. Optionally, the present application can use supervised training method, semi-supervised training method and unsupervised training method when training the above-mentioned object recognition model.

[0108] Step 202: controlling the movement of the door based on the position and / or movement parameter of the object in the target area.

[0109] Since the position and / or movement parameter of the object in the target area can be determined, the present application can control the movement of the door based on the position and / or movement parameter of the object in the target area, rather than only based on whether there is an object in the target area. It can be seen that the method for controlling the door of the present application can effectively avoid the collision between the door and the object.

[0110] Specifically, step 202 can control the movement of the door based on the position and / or movement parameter of the object in the target area to prevent the collision between the door and the object. In an optional embodiment, step 202 can control the movement speed and / or movement direction of the door to prevent the collision between the door and the object. In another optional embodiment, step 202 can control the door to move to the target position to prevent the collision between the door and the object.

[0111] According to another embodiment of the method for controlling the door of the present application, Figure 2 Step 202 in the illustrated embodiment can specifically include at least one of the following ways:

[0112] In a first mode, a moving speed of the door is controlled based on a position of the object in the target region and / or a moving parameter of the object, to prevent the door from colliding with the object.

[0113] In the first mode, the moving speed of the door can be controlled to be reduced to prevent the door from colliding with the object. Of course, in some cases, the moving speed of the door can also be controlled to be increased to prevent the door from colliding with the object. For example, the door is an out-swinging type of swing door, and a person runs from inside the house to the door during opening of the door. In this case, the door can be controlled to be accelerated to open, to prevent the door from colliding with the person, based on the position of the object in the target region and the moving parameter of the object.

[0114] In an optional embodiment, the first mode can include at least one of a fourth mode and a fifth mode.

[0115] In the fourth mode, it is determined whether a distance between the object and the door is less than a second preset safety distance based on the position of the object in the target region, and the moving speed of the door is controlled to be reduced to prevent the door from colliding with the object if the distance is less than the second preset safety distance.

[0116] Optionally, the moving speed of the door can be controlled by controlling a speed at which the electric door opener drives the door to move. Specifically, when the electric motor provides a force to the door, the electric door opener can adjust a working parameter of the electric motor to change the speed at which the electric motor drives the door to move. The working parameter of the electric motor includes at least one of a parameter of a power supply of the electric motor, a rotating speed of the electric motor, and the like. The parameter of the power supply includes at least one of a voltage, a current, a frequency, and the like.

[0117] For example, when the electric motor is a stepping motor, the speed at which the electric motor drives the door to move can be changed by controlling a frequency of input pulses. When the electric motor is an alternating current motor, the speed at which the electric motor drives the door to move can be changed by controlling a frequency of input alternating current. When the electric motor is a direct current motor, the speed at which the electric motor drives the door to move can be changed by controlling a driving voltage.

[0118] Optionally, a plurality of speed gears can be preset in the controller, each of the speed gears corresponds to a moving speed, and the moving speeds corresponding to the speed gears are different. The electric door opener can store a corresponding relationship between the speed gears and the working parameters of the electric motor. When the electric door opener controls the electric motor to work at a working parameter in the corresponding relationship, the electric motor drives the door to move at a speed represented by a speed gear corresponding to the working parameter.

[0119] An example of the corresponding relationship between the speed gears and the working parameters of the electric motor is shown in Table 1.

[0120] Table 1, correspondence between speed gears and working parameters of the motor

[0121] Speed gear Operating parameters of the electric motor First gear First operating parameter Second gear Second operating parameter Third gear Third operating parameter Fourth gear Fourth operating parameter Fifth gear Fifth operating parameter

[0122] The following takes Table 1 as an example to illustrate the process of controlling the moving speed of the door in the embodiment of the present application: when the condition of adjusting the moving speed of the door is met, the controller sends the target gear to which the adjustment is needed to the electric opening and closing door device; the electric opening and closing door device looks up the corresponding working parameters in Table 1 according to the received target gear, and controls the motor to work according to the found working parameters, so that the motor drives the door to move at the speed represented by the target gear.

[0123] Optionally, the adjustment of the moving speed of the door in the embodiment of the present application includes at least one of the following adjustment modes: increasing the moving speed of the door, decreasing the moving speed of the door, keeping the moving speed of the door, and controlling the door to keep still.

[0124] In an optional embodiment of the present application, the distance between the object and the door can be the shortest distance from the object to the door. In another optional embodiment of the present application, the distance between the object and the door can be the distance from the object to the door in the moving direction of the object.

[0125] It can be understood that by decreasing the moving speed of the door, the door can be effectively prevented from colliding with the object. Optionally, the value of the second preset safety distance can be matched with the type of the object, for example: if the type of the object is human, the second preset safety distance is 30 cm; if the type of the object is animal, the second preset safety distance is 25 cm; if the type of the object is inanimate object, the second preset safety distance is 20 cm.

[0126] Mode five, based on the position of the object in the target area and / or the moving parameter, it is determined whether the distance between the object and the door is gradually decreasing, and if so, the moving speed of the door is controlled to be decreased to prevent the door from colliding with the object.

[0127] It can be understood that if the distance between the object and the door is gradually decreasing, the two objects may collide, at which time the moving speed of the door can be controlled to be decreased to prevent the door from colliding with the object. After a period of time, if the distance between the object and the door is gradually increasing, the door can be controlled to start moving according to the original moving mode (such as the original moving speed) again. The specific mode of adjusting the moving speed of the door has been described in the foregoing content, and will not be described again.

[0128] Optionally, the specific manner of controlling the door to reduce the moving speed in the fourth and fifth manners can be various, such as: directly reducing the moving speed of the door to the target moving speed; or, for example, reducing the moving speed of the door by 50%; or, for example, for the door with the rotating moving manner, reducing the rotating speed of the door by 30 degrees per second, and for the door with the translating moving manner, reducing the translating speed of the door by 0.3 meters per second.

[0129] It should be noted that the target moving speed can be 0, i.e., when the moving speed of the door is reduced to the target moving speed, the door stops moving.

[0130] Optionally, the second manner can control the moving direction of the door to prevent the door from colliding with the object based on the position of the object in the target area and / or the moving parameter.

[0131] Optionally, the second manner can control the moving direction of the door to prevent the door from colliding with the object based on the position of the object in the target area and / or the moving parameter.

[0132] In an optional embodiment, the second manner can specifically include:

[0133] determining whether the first moving direction of the object in the target area is consistent with the second moving direction of the door at the current time, if yes, controlling the door to continue moving in the second moving direction; otherwise, controlling the door to move in a third moving direction, wherein the third moving direction is opposite to the second moving direction.

[0134] In an optional embodiment, the determination manner that the first moving direction of the object in the target area is consistent with the second moving direction of the door at the current time can be:

[0135] a first component of the first moving direction in a target direction points to a same direction as a second component of the second moving direction in the target direction. Wherein, the target direction is a direction perpendicular to a plane where the largest surface of the door is located.

[0136] In actual application, the first moving direction of the object in the target area being consistent with the second moving direction of the door at the current time can include at least one of the following cases:

[0137] Case one: the object moves in the target area towards a direction close to the house, the door is an out-opening door of the flat-open type, and the door performs closing.

[0138] Case two: the object moves in the target area towards a direction away from the house, the door is an out-opening door of the flat-open type, and the door performs opening.

[0139] Case three: the object moves in the target area towards a direction close to the house, the door is an in-opening door of the flat-open type, and the door performs opening.

[0140] Case four, the object moves in the target region in a direction away from the house, the door is a type of inward opening door, and the door is closing.

[0141] It can be understood that based on the above-mentioned determination manner of "consistent direction" and the above-mentioned four cases, the person skilled in the art knows that the "consistent direction" of other types of doors can include various cases, which are not limited herein.

[0142] If the first moving direction of the object in the target region is consistent with the second moving direction of the door at the current time, the possibility of collision between the object and the door is small, and even if a collision occurs, the door will not cause great harm to the object, so the door can be controlled to continue moving in the second moving direction.

[0143] If the first moving direction of the object in the target region is not consistent with the second moving direction of the door at the current time, the possibility of collision between the object and the door is large; if a collision occurs, the door will cause great harm to the object, so the door can be controlled to continue moving in the opposite direction, which effectively avoids the possibility of collision and effectively reduces the degree of collision damage.

[0144] Optionally, the controller can send a control instruction carrying the target moving direction to the electric opening and closing door device, and the electric opening and closing door device can control the working mode of the component (such as a motor) driving the door to move according to the target moving direction, thereby controlling the moving direction of the door. For example: the moving direction of the door at the current time is the second moving direction, and the motor drives the door to move in the second moving direction when the motor rotates forward; if the controller determines that the moving direction of the door needs to be adjusted to the third moving direction (the third moving direction is opposite to the second moving direction), the motor can send a control instruction carrying the third moving direction to the electric opening and closing door device, and the electric opening and closing door device controls the motor to reverse according to the third moving direction, so that the motor drives the door to move in the third moving direction when the motor reverses.

[0145] Method three, based on the position and / or movement parameter of the object in the target region, the door is controlled to move to a first target position to prevent the door from colliding with the object.

[0146] Optionally, the above-mentioned first target position can be a safe position with a relatively large distance from the object, in which the possibility of collision between the door and the object is small.

[0147] In the embodiments of the present application, the types of the object are different, and the first target position can be the same or different.

[0148] In an optional embodiment, as shown in Figure 4 Method three can specifically include:

[0149] Step 401, obtaining a first position of the object in the target region;

[0150] Step 402, determining a first target position based on the first position, wherein a distance between the target position point on the door and the object is not less than a first preset safety distance during the process that the door moves to the first target position.

[0151] Step 403, controlling the door to move to the first target position.

[0152] The target position point on the door can be different when the type of the door is different. For example, when the type of the door is a roller shutter door, the target position point on the door can be a position point at the bottom of the door because the roller shutter door generally moves up and down. When the type of the door is a swing door, the target position point on the door can be a position point on the door closest to the object or a point on another side of the door opposite to the side where the hinge is located because the swing door generally rotates along the hinge.

[0153] In the embodiments of the present application, at least two of the moving speed, the moving direction and the target position of the door can be controlled simultaneously or successively to prevent the door from colliding with the object during the process that the door is controlled. For example, the door is first controlled to decelerate, then the door is controlled to change the moving direction, and then the door is controlled to move to the first target position.

[0154] Of course, the moving speed, the moving direction and the target position of the door can also be selected and used according to the scene. For example, it is determined whether the first moving direction of the object in the target area is consistent with the second moving direction of the door at the current time, if not, the door is controlled to move along a third moving direction, wherein the third moving direction is opposite to the second moving direction; if yes, it is determined whether the distance between the object and the door gradually decreases, if yes, the moving speed of the door is controlled to decrease, and then the door is controlled to move to the first target position.

[0155] In actual applications, the moving speed, the moving direction and the target position of the door can also be controlled in combination with the door opening type, the door opening direction and the like, which are not limited in the embodiments of the present application.

[0156] According to another embodiment of the method for controlling the door, the method for controlling the door can further include: determining a moving type of the object based on the moving parameter of the object in the target area, wherein the moving type includes at least one of leaving the door, entering the door and staying near the door.

[0157] After the moving type of the object is determined, various processing can be performed based on the object type, such as controlling the household appliance, controlling the electronic lock and the like. In actual applications, if the moving type is leaving the door, it can be determined that the user has left the door, and at this time, the mode of the electronic lock can be adjusted to a security mode.

[0158] Optionally, the embodiment of the present application can determine the moving type of the object according to the moving direction of the object, that is, determine whether the object is going out, going in or staying near the door according to the moving direction.

[0159] Reference is made to Figure 5 which shows a flow 500 of one embodiment of the method for controlling a door according to the present application. The method for controlling a door comprises the following steps:

[0160] Step 501, determining the moving type of the object based on the moving parameter of the object in the target area, wherein the moving type comprises at least one of going out, going in and staying near the door.

[0161] Step 502, determining whether there is still an object in the door based on the moving type of the object, and obtaining a determination result.

[0162] By determining the moving type of the object, it can be determined whether there is still an object in the door.

[0163] Optionally, the embodiment of the present application can set a current number N0, which is initially set to 0. The embodiment of the present application can determine the number N1 of objects going out and the number N2 of objects going in during each opening and closing process of the door based on the moving type of the object, and adjust the current number N0 according to the number N1 of objects going out and the number N2 of objects going in (for example, after each opening / closing process, the current number N0 is increased by the number N2 of objects going in, and the current number N0 is decreased by the number N1 of objects going out). The current number is the number of objects in the door, and if the current number is 0, it means that there is no object in the door.

[0164] For example, three people go in when there is no one at home on the first night, and three people go out on the next morning, it can be determined that there is no one in the door after the three people go out.

[0165] Step 503, controlling the working state of at least one target device based on the determination result.

[0166] The above target device can include one or more of a sweeping robot, an air conditioner, a water heater, a washing machine, an electric curtain, a video monitoring device, an air purifier, a lamp, a heating device, etc.

[0167] If there is an object in the door, the working state of at least one target device can be controlled based on the object. For example, when there is someone at home, the working state of the air conditioner can be controlled according to the temperature at home. For another example, when there is someone at home, the working state of the lamp can be controlled according to the light intensity at home.

[0168] If no object exists in the door, the working state of at least one target device can be controlled based on the result of no object existing in the door. For example, when no one is at home, some household appliances are turned off.

[0169] Through steps 501 to 503, the embodiment of the present application can determine whether an object still exists in the door based on the moving type of the object and control the working state of the target device accordingly, so that the working state of the target device matches whether an object still exists in the door, effectively improving the intelligence of device control.

[0170] Continuing to refer to Figure 6 which shows a flow 600 of one embodiment of a method for controlling a door according to the present application. The method for controlling a door includes the following steps:

[0171] Step 601, in response to a door control instruction for controlling the door to move, controlling the door to move along a preset moving path to a second target position, wherein the area passed through in the door moving process is an area passed through in the process of the door moving from a current position to the second target position.

[0172] The above-mentioned door control instruction can be generated or issued by various devices, such as a mobile terminal such as a mobile phone, a server, an electronic lock, a controller, etc.

[0173] The above-mentioned door control instruction can be generated or issued after a successful unlocking operation, for example, after a user performs an unlocking operation by a key, a magnetic card, a mobile phone, a password, a fingerprint, a face, etc. and successfully unlocks, the above-mentioned door control instruction is generated or issued by the device. The above-mentioned door control instruction can be an open door instruction, a close door instruction, a half-open door instruction, a half-close door instruction, etc.

[0174] Optionally, the second target position matches the door control instruction, if the door control instruction is a close door instruction, the second target position is a position where the door is completely closed; if the door control instruction is an open door instruction, the second target position is a position where the door is completely opened; if the door control instruction is a half-open door instruction, the second target position is a position where the door is opened to half.

[0175] Step 602, determining the position and / or moving parameter of the object in a target area, the target area at least including an area partially or entirely passed through by the door body in the door moving process.

[0176] Step 603, controlling the movement of the door based on the position and / or moving parameter of the object in the target area.

[0177] Wherein, step 602 is consistent with step 201 shown in Figure 2 , and step 603 is consistent with step 202 shown in Figure 2 , which will not be described in detail.

[0178] Specifically, the step 602 and the step 603 can be performed in the process of controlling the door to move to the second target position along the preset moving path in the step 601. Alternatively, the step 602 and the step 603 can be performed once or multiple times in the process of controlling the door to move to the second target position along the preset moving path in the step 601.

[0179] Figure 7 Another exemplary system architecture 700 to which the method for controlling a door or the method for controlling a door of the present application can be applied is shown.

[0180] As shown in Figure 7 The system architecture 700 can include an optical flow sensor 701, a face recognition module 702, a video master controller 703, a door lock master controller 704, an electric opening and closing door device 705, a lock body 706, and a door 707.

[0181] The optical flow sensor 701, the electric opening and closing door device 705, and the door 707 have been described in the foregoing content and will not be repeated here. It can be understood that in other exemplary system architectures, the optical flow sensor 701 can be changed to at least one of an optical flow sensor, a camera, an ultrasonic detector, a distance detector, or the like. It can be understood that the face recognition module 702 is a non-essential component of the system architecture of the method for controlling a door or the method for controlling a door of the present application. That is, the system architecture 700 can not include the face recognition module 702.

[0182] The face recognition module 702 is a module that can perform face recognition on images collected by the optical flow sensor 701. The face recognition module 702 can be a separate module or can be integrated into other devices, such as being integrated into the video master controller 703, or being integrated into the optical flow sensor 701, or being integrated into the door lock master controller 704.

[0183] The video master controller 703 is a controller that can control the electric opening and closing door device 705 based on the position and / or movement parameters of the object determined by the optical flow sensor 701. Of course, the video master controller 703 can also send instructions to the door lock master controller 704 based on the recognition result of the face recognition module 702 to cause the lock body 706 to be unlocked or locked. Alternatively, the video master controller 703 and the door lock master controller 704 can be integrated together, that is, the video master controller 703 and the door lock master controller 704 can be the same controller. Of course, the video master controller 703 and the door lock master controller 704 can also be different controllers.

[0184] The door lock master controller 704 is a controller that can control the lock body 706, and the door lock master controller 704 and the lock body 706 can be components of an electronic lock. It can be understood that the lock body 706 and the electric opening and closing door device 705 can be installed on the door 707.

[0185] Figure 7 The connection between different components in the system architecture 700 shown represents one of the following: a communication connection, an electrical connection, a transmission connection, a physical connection, and the like.

[0186] Please refer to Figure 8 which shows a flow of one embodiment of the method for controlling a door according to the present application. The method for controlling a door comprises the following steps:

[0187] Step 801, the face recognition module performs face recognition on the image collected by the camera, and obtains a recognition result.

[0188] Optionally, the camera can be triggered by an infrared sensor and enter a working state to start collecting images. The above-mentioned infrared sensor can collect infrared signals in the area in front of the door, so as to collect infrared signals when a person stands in front of the door and trigger the camera according to the infrared signals.

[0189] Among them, the face recognition module can determine whether there is a face in the collected image, if there is a face, it is determined whether the face is the face of a trusted member, if it is, the obtained recognition result is that the person in the image is a trusted member. If it is determined that the face is not the face of a trusted member, the obtained recognition result is that the person in the image is not a trusted member.

[0190] Among them, the face of the trusted member can be pre-stored for face recognition.

[0191] Step 802, the face recognition module sends the recognition result to the video master control.

[0192] Step 803, when the recognition result is that the person in the image is a trusted member, the video master control generates an unlocking instruction.

[0193] It can be understood that in addition to face recognition, other ways such as fingerprint, password, etc. can also be used to unlock.

[0194] Step 804, the video master control sends the unlocking instruction to the door lock master control.

[0195] Step 805, the door lock master control controls the lock body to unlock based on the unlocking instruction.

[0196] Step 806, the video master control controls the light flow sensor to start.

[0197] Step 806 can be executed before or after step 804, and step 806 and step 804 can also be executed simultaneously. Step 806 can be executed before or after step 805, and step 806 and step 805 can also be executed simultaneously.

[0198] After the optical flow sensor is started, it can start to work, such as collecting images, determining the position and / or movement parameters of the object in the target area based on the images, etc.

[0199] In step 807, the optical flow sensor determines whether there is an object in the target area. If not, step 808 is triggered; if yes, step 809 is triggered.

[0200] In step 808, the video master sets the maximum opening angle of the door as the first target position, and triggers step 812.

[0201] Since there is no object in the target area, the door can be opened to the maximum opening angle.

[0202] The maximum opening angle can be set and modified. In an optional embodiment of the present application, the video master can learn and adjust the maximum opening angle according to the opening angle of the door in actual use.

[0203] In step 809, the optical flow sensor collects images and determines the position and / or movement parameters of the object in the target area based on the images.

[0204] Since there is an object in the target area, the embodiments of the present application need to determine the position and / or movement parameters of the object in the target area, and control the movement of the door based on the position and / or movement parameters of the object in the target area, to prevent the door from colliding with the object.

[0205] In step 810, the optical flow sensor sends the position and / or movement parameters of the object in the target area to the video master.

[0206] In step 811, the video master determines the first target position based on the position and / or movement parameters of the object in the target area.

[0207] The specific scheme for determining the first target position based on the position and / or movement parameters of the object in the target area has been described in the foregoing embodiments, and will not be repeated here.

[0208] In step 812, the video master sends the first target position to the electric opening and closing door device.

[0209] In step 813, the electric opening and closing door device drives the door to open to the first target position at a first movement speed.

[0210] Optionally, after the electric opening and closing door device drives the door to open to the first target position, the door can be controlled to stop moving, to further prevent collision.

[0211] Optionally, after the electric opening and closing door device drives the door to open to the first target position, step 809 can be executed again.

[0212] The first target position is different, and the first moving speed can be the same or different. For example, when the first target position is the maximum opening angle of the door, the first moving speed can be larger; when the first target position is not the maximum opening angle of the door, the first moving speed can be smaller.

[0213] Of course, in other embodiments, the video master can determine the moving direction, moving speed, etc. of the door based on the position of the object in the target area and / or the moving parameter, and send the determined moving direction and / or moving speed to the electric opening and closing door device, and the electric opening and closing door device drives the door to move to the first target position at the moving direction and / or moving speed.

[0214] For example, in the process of driving the door to open to the first target position at the first moving speed by the electric opening and closing door device, the video master determines whether the first moving direction of the object in the target area is consistent with the second moving direction of the door at the current time based on the position of the object in the target area and / or the moving parameter, if yes, controls the door to continue to move in the second moving direction; otherwise, controls the door to move in a third moving direction, wherein the third moving direction is opposite to the second moving direction.

[0215] Figure 8 The embodiments shown can determine the first target position based on the position of the object in the target area and / or the moving parameter when the object exists in the target area, and drive the door to open to the first target position at the first moving speed by the electric opening and closing door device. Figure 8 The embodiments shown effectively reduce the collision risk between the door and the object during the opening process.

[0216] Please refer to Figure 9 which shows one embodiment of a method for controlling a door according to the present application. The method for controlling a door comprises the following steps:

[0217] Step 901, the video master generates a door closing instruction.

[0218] The video master can generate a door closing instruction in at least one case, such as: the door opening time is exceeded, a door closing instruction is generated; for example: it is detected that the object has passed through the target area, a door closing instruction is generated.

[0219] Step 902, the video master controls the light flow sensor to start based on the door closing instruction.

[0220] After the light flow sensor starts, it can start working, such as: collecting images, determining the position of the object in the target area and / or the moving parameter based on the images, etc.

[0221] Step 903, the optical flow sensor determines whether there is an object in the target area, and sends a result of determining that there is no object in the target area to the video master to trigger the video master to perform step 904; the optical flow sensor performs step 905 when determining that there is an object in the target area.

[0222] Step 904, the video master sets the maximum closing angle as the first target position, and performs step 908.

[0223] Optionally, the maximum closing angle can be an angle at which the door is closed to a position at which the door can be locked. When the door moves to the maximum closing angle, it can be determined that the door is successfully closed.

[0224] The maximum closing angle can be set and modified. In an optional embodiment of the present application, the video master can learn and adjust the maximum closing angle according to the closing angle of the door in actual use.

[0225] Step 905, the optical flow sensor collects images and determines the position and / or movement parameters of the object in the target area based on the images.

[0226] Since there is an object in the target area, the embodiments of the present application need to determine the position and / or movement parameters of the object in the target area, and control the movement of the door based on the position and / or movement parameters of the object in the target area to prevent the door from colliding with the object.

[0227] Step 906, the optical flow sensor sends the position and / or movement parameters of the object in the target area to the video master.

[0228] Step 907, the video master determines the first target position based on the position and / or movement parameters of the object in the target area.

[0229] The specific scheme of determining the first target position based on the position and / or movement parameters of the object in the target area has been described in the foregoing embodiments, and will not be repeated here.

[0230] Step 908, the video master sends the first target position to the electric opening and closing door device.

[0231] Step 909, the electric opening and closing door device drives the door to move to the first target position at a second moving speed.

[0232] The second moving speed can be the same as or different from the first moving speed in the embodiment shown in the figure. That is, the moving speed of the door when closing and the moving speed of the door when opening can be the same or different. Figure 8

[0233] ​If the first target position is not the maximum closing angle, the electric opening and closing door device of the embodiment of the application can control the door to stop moving after driving the door to the first target position, so as to prevent the door from colliding with the object.

[0234] The second moving speed can be the same or different when the first target position is different. For example, the second moving speed can be larger when the first target position is the maximum closing angle, and the second moving speed can be smaller when the first target position is not the maximum closing angle.

[0235] Of course, in other embodiments, the video master can determine the moving direction and moving speed of the door based on the position and / or moving parameter of the object in the target area, and send the determined moving direction and / or moving speed to the electric opening and closing door device, and the electric opening and closing door device drives the door to move to the first target position at the moving direction and / or moving speed.

[0236] For example, in the process of driving the door to the first target position at the first moving speed, the video master determines whether the first moving direction of the object in the target area is consistent with the second moving direction of the door at the current time based on the position and / or moving parameter of the object in the target area, and if yes, controls the door to continue moving in the second moving direction; otherwise, controls the door to move in a third moving direction, wherein the third moving direction is opposite to the second moving direction.

[0237] Step 910, the electric opening and closing door device feeds back the state of the door to the video master.

[0238] The state of the door includes: successful closing, closing timeout, blocking object in front of the door, etc.

[0239] Step 911, the video master determines whether the closing is successful, if yes, step 912 is performed; if not, step 914 is performed.

[0240] Optionally, the state of the door such as closing timeout and blocking object in front of the door indicates that the closing is not successful.

[0241] In an optional embodiment, if the closing is not successful, the closing process can be stopped.

[0242] Step 912, the video master sends a lock closing instruction to the door lock master;

[0243] Step 913, the door lock master controls the lock body to close the lock based on the lock closing instruction.

[0244] Step 914, the video master performs voice prompt processing.

[0245] The voice prompt processing can be that the video master controls a voice output device (such as a loudspeaker or a user's mobile phone) to output a prompt sound. The prompt sound can be "there is an obstacle in front of the door", "please do not block the door", "door closing fails", and the like.

[0246] In an optional embodiment, after step 914 is performed, after a period of time, step 901 can be performed again to attempt to close the door again.

[0247] Further reference Figure 10 , as an implementation of the method shown in some of the above figures, the present application provides an embodiment of an apparatus for controlling a door, which corresponds to the method embodiment shown in Figure 2 , and the apparatus can be applied in various electronic devices.

[0248] As shown in Figure 10 , the apparatus for controlling a door in the embodiment can include an information determination unit 1001 and a movement control unit 1002,

[0249] The information determination unit 1001 is configured to determine a position of an object in a target area and / or a movement parameter, the target area at least including an area through which a part or all of a door body passes during movement of the door;

[0250] The movement control unit 1002 is configured to control movement of the door based on the position of the object in the target area and / or the movement parameter.

[0251] In the embodiment, the specific processing of the information determination unit 1001 and the movement control unit 1002 and the technical effects brought by the same can be respectively referred to the related descriptions of the embodiments of steps 201 and 202 in the corresponding embodiments, which will not be described herein again. Figure 2

[0252] In some embodiments, the movement control unit 1002 controls movement of the door based on the position of the object in the target area and / or the movement parameter, including at least one of the following three ways:

[0253] Way one, the movement control unit 1002 controls a movement speed of the door based on the position of the object in the target area and / or the movement parameter, to prevent the door from colliding with the object;

[0254] Way two, the movement control unit 1002 controls a movement direction of the door based on the position of the object in the target area and / or the movement parameter, to prevent the door from colliding with the object;

[0255] Way three, the movement control unit 1002 controls the door to move to a first target position based on the position of the object in the target area and / or the movement parameter, to prevent the door from colliding with the object.

[0256] ​In some embodiments, the movement control unit 1002 controls the door to move to a first target position based on the position of the object in the target area and / or the movement parameter, to prevent the door from colliding with the object, specifically configured as follows:

[0257] The movement control unit 1002 obtains a first position of the object in the target area detected by the optical flow sensor;

[0258] The movement control unit 1002 determines the first target position based on the first position, wherein the distance between the target position point on the door and the object is not less than a first preset safety distance during the movement of the door to the first target position.

[0259] The movement control unit 1002 controls the door to move to the first target position.

[0260] In some embodiments, the movement control unit 1002 controls the moving direction of the door based on the position of the object in the target area and / or the movement parameter, to prevent the door from colliding with the object, specifically configured as follows:

[0261] The movement control unit 1002 determines whether the first moving direction of the object in the target area is consistent with the second moving direction of the door at the current time; if yes, the door continues to move in the second moving direction; otherwise, the door moves in a third moving direction, wherein the third moving direction is opposite to the second moving direction.

[0262] In some embodiments, the movement control unit 1002 controls the moving speed of the door based on the position of the object in the target area and / or the movement parameter, to prevent the door from colliding with the object, including at least one of the following two ways:

[0263] Fourthly, the movement control unit 1002 determines whether the distance between the object and the door is less than a second preset safety distance based on the position of the object in the target area, and if yes, controls the door to reduce the moving speed to prevent the door from colliding with the object.

[0264] Fifthly, the movement control unit 1002 determines whether the distance between the object and the door is gradually decreasing based on the position of the object in the target area and / or the movement parameter, and if yes, controls the door to reduce the moving speed to prevent the door from colliding with the object.

[0265] In some embodiments, the device for controlling the door provided by the embodiments of the present application can further include:

[0266] A movement type determination unit is configured to determine the movement type of the object based on the movement parameter of the object in the target area, wherein the movement type includes at least one of the following: leaving the door, entering the door, and staying near the door.

[0267] In some embodiments, the apparatus for controlling the door provided by the embodiments of the present application can further include:

[0268] The object determination unit is configured to determine whether there is still an object in the door based on a movement type of the object, and obtain a determination result.

[0269] The device control unit is configured to control a working state of at least one target device based on the determination result.

[0270] In some embodiments, the apparatus for controlling the door provided by the embodiments of the present application can further include:

[0271] The position control unit is configured to control the door to move to a second target position along a preset movement path in response to a door control instruction for controlling the door to move.

[0272] It should be noted that the apparatus for controlling the door can be a chip, a component or a module. The apparatus for controlling the door can include a processor and a memory. The information determination unit 1001 and the movement control unit 1002 are stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize the corresponding functions.

[0273] The processor can include a core, and the core can call the corresponding program units from the memory. The core can be set to one or more, and the control of the door can be realized by adjusting the core parameters.

[0274] The memory can include a non-permanent memory in a computer readable medium, a random access memory (RAM) and / or a non-volatile memory such as a read-only memory (ROM) or a flash memory (flash RAM), and the memory includes at least one memory chip.

[0275] The apparatus for controlling the door provided by the above-mentioned embodiments of the present application can determine the position and / or movement parameter of the object in the target area, and control the movement of the door based on the position and / or movement parameter of the object in the target area. Since the position and / or movement parameter of the object in the target area can be determined, the apparatus for controlling the door of the present application can control the movement of the door based on the position and / or movement parameter of the object in the target area, rather than only based on whether there is an object in the target area. It can be seen that the apparatus for controlling the door of the present application can effectively avoid the collision between the door and the object.

[0276] Reference will be made to the following description Figure 11 which shows a structural schematic diagram of an electronic device 1100 suitable for implementing some embodiments of the present application. Figure 11The electronic device shown is merely an example and should not impose any limitation on the functions and use range of the embodiments of the present application.

[0277] As shown in Figure 11 , the electronic device 1100 can include a processor 1101, a memory 1102, a communication interface 1103, an input unit 1104, an output unit 1105, and a communication bus 1106. Among them, the processor 1101 and the memory 1102 are connected to each other through the communication bus 1106. The communication interface 1103, the input unit 1104, and the output unit 1105 are also connected to the communication bus 1106.

[0278] Among them, the communication interface 1103 can be the interface of the communication module, such as the interface of the GSM module. The communication interface 1103 can send control instructions to the electric door opener.

[0279] In the embodiments of the present application, the processor 1101 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a field programmable gate array (FPGA), or other programmable logic devices.

[0280] In a possible implementation, the memory 1102 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function (such as a sound playing function, an image playing function, etc.); the data storage area can store data created during the use of the computer, such as gear information, working parameters of the electric motor, etc.

[0281] In addition, the memory 1102 can include a high-speed random access memory, and can also include a non-volatile memory, for example, at least one magnetic disk storage device or other volatile solid-state memory device.

[0282] The processor 1101 can invoke the program stored in the memory 1102, specifically, the processor 1101 can execute the method for controlling the door shown in any one of the embodiments in the above Figure 2 and Figures 4 to 9 .

[0283] The memory 1102 is used to store one or more programs, and the program can include program code including computer operation instructions. In the embodiments of the present application, the memory 1102 at least stores programs for implementing the following functions:

[0284] determining a position and / or a movement parameter of the object in a target region, the target region comprising at least a region through which a part or all of the door body passes during the door movement;

[0285] controlling the movement of the door based on the position and / or the movement parameter of the object in the target region.

[0286] The electronic device 1100 can further include an input unit 1105, which can include at least one of a touch sensing unit that senses a touch event on a touch display panel, a keyboard, a mouse, a camera, a microphone, and the like.

[0287] The output unit 1104 can include at least one of a display, a speaker, a vibration mechanism, a lamp, and the like. The display can include a display panel, such as a touch display panel, and the like. In one possible implementation, the display panel can be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), and the like. The vibration mechanism can cause the electronic device 1100 to displace when in operation. In one possible implementation, the vibration mechanism includes an electric motor and an eccentric vibrator, and the electric motor drives the eccentric vibrator to rotate to generate vibration. The lamp can have adjustable brightness and / or color. In one possible implementation, different information can be represented by at least one of the on / off, brightness, and color of the lamp, such as an alarm information represented by red light emitted by the lamp.

[0288] Of course, Figure 11 The structure of the electronic device 1100 shown does not constitute a limitation on the electronic device in the embodiments of the present application. In actual applications, the electronic device can include more or fewer components than those shown, or combine certain components. Figure 11

[0289] The embodiments of the present application provide a computer readable medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method for controlling a door described in the above method embodiments.

[0290] The embodiments of the present application provide a processor for running a program, wherein the program, when executed, implements the method for controlling a door described in the above method embodiments.

[0291] The present application also provides a computer program product that, when executed on a data processing device, causes the data processing device to implement the method for controlling a door described in the above method embodiments.

[0292] ​The electronic device, the processor, the computer-readable medium, or the computer program product provided by the above-described embodiments of the present application can be used to execute the corresponding method provided above, and thus can achieve the beneficial effects of the corresponding method provided above, which will not be repeated here.

[0293] The present application is described with reference to the flowcharts and / or block diagrams according to the methods, devices (systems), and computer program products of embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus generate a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that implements the functions specified in the flowcharts and / or block diagrams.

[0294] These computer program instructions can also be stored in a computer-readable memory that can direct the computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including instruction apparatus, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that implements the functions specified in the flowcharts and / or block diagrams.

[0295] These computer program instructions can also be loaded into a computer or other programmable data processing apparatus, so that a series of operation steps are performed on the computer or other programmable data processing apparatus to produce a computer-implemented process, so that the instructions executed on the computer or other programmable data processing apparatus provide a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that implements the functions specified in the flowcharts and / or block diagrams.

[0296] In a typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0297] The memory can include non-persistent memory in the computer-readable medium, random access memory (RAM), and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

[0298] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can implement information storage by any method or technology. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0299] Those skilled in the art will appreciate that embodiments of the present application can be provided as methods, systems or computer program products. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage etc.) containing computer usable program code.

[0300] The above description is only the preferred embodiment of the present application and the explanation of the technical principles used, and is not intended to limit the present application. Those skilled in the art can make various changes and modifications to the present application. The scope of the invention involved in the present application is not limited to the technical solutions formed by the specific combinations of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, the above features can be replaced with technical features disclosed in the present application (but not limited to) having similar functions to form technical solutions.

Claims

1. A method for controlling a door, characterized in that, The method comprises: determining the position and / or movement parameter of the object in the target area, the target area at least including the area through which the door body passes during the door movement process; controlling the door movement based on the position and / or movement parameter of the object in the target area, in combination with the door opening type and the door opening direction, to control the door movement process, and simultaneously or in sequence to control at least two of the door movement speed, the door movement direction and the target position of the door movement, to prevent the door from colliding with the object; wherein the control of the door movement comprises: determining whether the first movement direction of the object in the target area is consistent with the second movement direction of the door at the current time, and if not, controlling the door to move in a third movement direction opposite to the second movement direction; and if so, determining whether the distance between the object and the door is gradually decreasing, and if so, controlling the door to reduce the movement speed and then controlling the door to move to a first target position. wherein, if the door opening type is an outward opening casement door, the control of the door movement further comprises: during the door opening process, the object running from the house to the door, and controlling the door to accelerate opening based on the position and movement parameter of the object in the target area, to prevent the door from colliding with the person.

2. The method of claim 1, wherein, The method further comprises at least one of the following three modes: Mode one: controlling the door movement speed based on the position and / or movement parameter of the object in the target area, to prevent the door from colliding with the object; Mode two: controlling the door movement direction based on the position and / or movement parameter of the object in the target area, to prevent the door from colliding with the object; Mode three: controlling the door to move to a first target position based on the position and / or movement parameter of the object in the target area, to prevent the door from colliding with the object.

3. The method of claim 2, wherein, The control of the door to move to a first target position based on the position and / or movement parameter of the object in the target area, to prevent the door from colliding with the object, comprises: acquiring a first position of the object in the target area; determining the first target position based on the first position, wherein during the movement of the door to the first target position, the distance between the target position point on the door and the object is not less than a first preset safety distance; and controlling the door to move to the first target position.

4. The method of claim 2, wherein, The control of the door movement direction based on the position and / or movement parameter of the object in the target area, to prevent the door from colliding with the object, comprises: determining whether the first movement direction of the object in the target area is consistent with the second movement direction of the door at the current time; if so, controlling the door to continue moving in the second movement direction; otherwise, controlling the door to move in a third movement direction opposite to the second movement direction.

5. The method of claim 2, wherein, The control of the door movement speed based on the position and / or movement parameter of the object in the target area, to prevent the door from colliding with the object, comprises at least one of the following two modes: In a fourth mode, it is determined whether the distance between the object and the door is less than a second preset safety distance based on the position of the object in the target area, and if so, the moving speed of the door is controlled to be reduced to prevent the door from colliding with the object. In a fifth mode, it is determined whether the distance between the object and the door is gradually reduced based on the position and / or movement parameter of the object in the target area, and if so, the moving speed of the door is controlled to be reduced to prevent the door from colliding with the object.

6. The method of claim 1, wherein, The method further comprises: determining the movement type of the object based on the movement parameter of the object in the target area, wherein the movement type comprises at least one of leaving the door, entering the door, and staying near the door.

7. The method of claim 6, wherein, The method further comprises: determining whether there is still an object in the door based on the movement type of the object, and obtaining a determination result; controlling the working state of at least one target device based on the determination result.

8. The method of claim 1, wherein, The method further comprises: controlling the door to move along a preset moving path to a second target position in response to a door control instruction for controlling the door to move, wherein the area passed through by the door in the moving process is an area passed through by the door in the process of moving from the current position to the second target position.

9. A device for controlling a door, characterized in that The device comprises an information determination unit and a moving control unit, The information determination unit is configured to determine the position and / or movement parameter of the object in the target area, wherein the target area at least comprises an area partially or entirely passed through by the door in the moving process. The moving control unit is configured to control the moving of the door based on the position and / or movement parameter of the object in the target area, in combination with the opening type and opening direction of the door, to control at least two of the moving speed, moving direction, and target position of the door in the moving process of the door, in order to prevent the door from colliding with the object. The control of the moving of the door comprises: determining whether the first moving direction of the object in the target area is consistent with the second moving direction of the door at the current time, and if not, controlling the door to move in a third moving direction opposite to the second moving direction; and if so, determining whether the distance between the object and the door is gradually reduced, and if so, controlling the door to reduce the moving speed and then move to a first target position. If the opening type of the door is an outwardly opening casement door, the control of the moving of the door further comprises: in the opening process, the object runs from inside the house to the door, and the door is controlled to be opened at an accelerated speed based on the position and movement parameter of the object in the target area, in order to prevent the door from colliding with the object.

10. A computer readable medium having stored thereon a computer program, wherein, The program is executed by the processor to implement the method of any one of claims 1-8.

11. A processor for running a program, wherein, The program is executed to implement the method of any one of claims 1-8. 12.An electronic device, comprising: one or more processors; a storage having one or more programs stored thereon; when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method of any one of claims 1-8.

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