Anti-collision method and system of intelligent door and intelligent door

Abstract

The application discloses an anti-collision method and system of an intelligent door and the intelligent door. The working mode of an ultrasonic sensor is switched between a face mode and an anti-collision mode by checking the state of a lock body. When the lock body is in an unlocked state, a door opener opens the door, and the ultrasonic sensor enters the anti-collision mode. In the anti-collision mode, the detection distance of the ultrasonic sensor is a first distance. During the opening process of the door opener, the ultrasonic sensor checks whether there is an obstacle in the first distance range. If an obstacle is found, the door opener stops opening the door. If no obstacle is found, the door opener continues to open the door until the door is fully opened. The anti-collision method and system of the intelligent door and the intelligent door fully utilize the programmable characteristics of the ultrasonic sensor, well cooperate to realize face recognition and door opening, and achieve the purpose of anti-collision. The anti-collision effect can be realized while the system structure is simplified.

Description

Technical Field

[0001] This invention relates to the field of smart furniture, and more particularly to a method, system and method for preventing collisions with a smart door. Background Technology

[0002] Currently, most mainstream door or lock products have 3D facial recognition capabilities, automatically unlocking the door after successful facial recognition. To prevent collisions between the door and obstacles in the opening trajectory, an anti-collision function is generally also included. This function uses sampling radar to determine whether there are obstacles in the opening trajectory. However, this increases the resource consumption of the ARM controller and makes the entire system more complex. Summary of the Invention

[0003] This invention discloses an anti-collision method, anti-collision system, and smart door for intelligent doors. By checking the lock body's status, the ultrasonic sensor's operating mode switches between face recognition mode and anti-collision mode. When the lock body is unlocked, the door opener initiates the opening process, and the ultrasonic sensor enters anti-collision mode. In anti-collision mode, the ultrasonic sensor's detection distance is a first distance. During the door opening process, the ultrasonic sensor checks for obstacles within this first distance range. If an obstacle is detected, the door opener stops opening; otherwise, it continues until the door is fully open. This anti-collision method, system, and smart door fully utilize the programmable characteristics of the ultrasonic sensor to effectively coordinate face recognition unlocking and anti-collision opening, achieving anti-collision effects while simplifying the system structure.

[0004] In a first aspect, this application provides an anti-collision method for a smart door, the smart door including a lock body, an ultrasonic sensor, a door opener / closer, and a controller, the anti-collision method comprising the following steps:

[0005] Check the lock body status;

[0006] If the lock is in the unlocked state, the door opener opens the door, and the controller controls the ultrasonic sensor to enter the anti-collision mode.

[0007] In the collision avoidance mode, the ultrasonic sensor detection distance is the first distance;

[0008] During the door opening process of the door operator, the ultrasonic sensor detects whether there are any obstacles within the first distance range of the door opening trajectory;

[0009] If no obstacle is found, the door operator will continue to operate until the door is fully opened.

[0010] If an obstacle is detected, the door operator will stop operating until the obstacle is removed, at which point the door operator will resume operation.

[0011] Furthermore, the anti-collision method of the smart door is characterized in that: the controller can send instructions to the ultrasonic sensor to change the parameters of the ultrasonic sensor, thereby changing the detection distance and detection frequency.

[0012] Furthermore, the anti-collision method for the smart door also includes the following steps:

[0013] During the door opening process, the operator determines whether the door has opened completely.

[0014] If the door is fully open, the controller sends a command to the ultrasonic sensor to reduce the detection frequency of the ultrasonic sensor.

[0015] If the door does not open properly, the ultrasonic sensor continuously detects whether there are any obstacles within a first distance range on the door opening trajectory.

[0016] Furthermore, the anti-collision method for the smart door also includes the following steps:

[0017] Upon detecting an obstacle, the door operator stops opening the door and checks whether the obstacle has disappeared within time T1.

[0018] If there are no obstacles within the first distance range detected by the ultrasonic sensor within time T1, the door operator will continue to open the door.

[0019] If an obstacle remains within the first distance range detected by the ultrasonic sensor within time T1, the door will be opened, closed, and the lock status will be checked.

[0020] Furthermore, the anti-collision method for the smart door, wherein the smart door includes a 3D face module, the method further includes the following steps:

[0021] If the lock body is in the locked state, the controller controls the ultrasonic sensor to enter the face recognition mode;

[0022] In the face recognition mode, the ultrasonic sensor detection distance is the second distance;

[0023] Determine if an ultrasonic event has been triggered;

[0024] If the ultrasonic event is triggered, 3D face recognition will be performed.

[0025] If 3D face recognition is successful, the lock will be unlocked and the lock body status will be checked.

[0026] If 3D face recognition fails, the lock will not be unlocked, and the lock body status will be checked.

[0027] The first distance is less than the second distance.

[0028] Furthermore, the anti-collision method of the smart door is characterized in that when the ultrasonic sensor is in anti-collision mode, it does not trigger facial recognition unlocking.

[0029] Furthermore, the anti-collision method for the smart door further includes the following steps:

[0030] Determine if an ultrasonic event has been triggered;

[0031] If an ultrasonic event is triggered within time T2, perform 3D face recognition.

[0032] If no ultrasonic event is triggered within time T2, perform a lock body status check.

[0033] This application provides a specific implementation of an anti-collision method for a smart door. The smart door includes a lock body, an ultrasonic sensor, a door opener / closer, an ARM controller, and a 3D face recognition module. The method includes the following steps:

[0034] Check the lock body status. If it is locked, the ARM controller controls the ultrasonic sensor to switch to face recognition mode. In face recognition mode, the detection range of the ultrasonic sensor is 1.2 meters, which can trigger face recognition.

[0035] The system detects whether anyone is within 1.2 meters of the door. If someone is present, an ultrasonic event is triggered, notifying the 3D face recognition module to perform facial recognition. It waits for the recognition result; if the facial recognition is successful, the door opens; otherwise, it returns to the locked state for further detection. This initiates a new round of facial recognition unlocking.

[0036] Check the lock body status. If it is unlocked, the ARM controller controls the ultrasonic sensor to switch to anti-collision mode. In face recognition mode, the detection range of the ultrasonic sensor is 0.3 meters. Face recognition cannot be triggered at this time. The door opener performs the door opening action. The ultrasonic sensor continuously detects whether there are obstacles in the door opening trajectory. If an obstacle is detected, the door opener stops opening the door, and the ultrasonic sensor continues to detect. If the obstacle does not disappear within 15 seconds, the door opener performs the door closing action. If the obstacle disappears within 15 seconds, the door opener continues to open the door until it is fully open and the door is successfully opened. The ARM controller sends a command to the ultrasonic sensor to reduce the ultrasonic sensor detection frequency and enter idle mode.

[0037] Secondly, this application also provides an anti-collision system for a smart door, characterized in that the anti-collision system includes: a controller, a door opener, an ultrasonic sensor, and a lock body. The controller sends different instructions to the ultrasonic sensor according to the state of the lock body. When the lock body is in the unlocked state, the door opener opens the door, and the controller controls the ultrasonic sensor to enter the anti-collision mode. At this time, the ultrasonic sensor's detection distance is a first distance. During the door opener's opening process, it checks whether there is an obstacle within the first distance range to determine whether the door opener should continue to open the door. If there is no obstacle, the door opener continues to open the door until it is fully open. If there is an obstacle, the door opener stops opening the door until the obstacle disappears.

[0038] Furthermore, the anti-collision system of the smart door is characterized in that the anti-collision system also includes a timing module. When an obstacle is detected, the door opening and closing machine stops operating, and the timing module starts timing. If the obstacle disappears within the set time T1, the door opening and closing machine continues to open the door. If the obstacle does not disappear within the set time T1, the door opening and closing machine closes the door.

[0039] Furthermore, the anti-collision system of the smart door is characterized in that the anti-collision system also includes a 3D face module. When the lock body is in the locked state, the controller controls the ultrasonic sensor to enter the face mode. At this time, the ultrasonic sensor detects at a second distance to determine whether an ultrasonic event is triggered. If the ultrasonic event is triggered, 3D face recognition is performed. If the 3D face recognition is successful, the door is unlocked. If the 3D face recognition fails, the door is not unlocked.

[0040] Furthermore, the anti-collision system of the intelligent door is characterized in that the door opening and closing mechanism consists of a motor controller, a motor, and a door opening and closing mechanical structure, and is responsible for controlling the opening, closing, and stopping of the door, as well as reporting the door status.

[0041] Thirdly, embodiments of this application also provide a smart door, characterized in that the smart door includes the anti-collision system.

[0042] This solution fully utilizes the programmable characteristics of ultrasonic sensors to effectively achieve both facial recognition unlocking and door collision prevention. Without adding new modules, it leverages the functionality and characteristics of ultrasonic sensors to achieve collision prevention, avoiding the resource consumption of ARM controllers by new modules, thus maximizing system resource utilization. At the same time, it simplifies the system structure and reduces production and R&D costs.

[0043] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 A flowchart of an anti-collision method for a smart door provided in an embodiment of this application;

[0046] Figure 2 This is a schematic diagram of the hardware architecture of the anti-collision system for a smart door provided in an embodiment of this application. Specific Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0049] In this invention, the term "exemplary" is used to mean "serving as an example, illustration, or description." Any embodiment described as "exemplary" in this invention is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use the invention. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that the invention can be made without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid obscuring the description of the invention with unnecessary detail. Therefore, the invention is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed herein.

[0050] This invention provides an anti-collision method, anti-collision system, and smart door for a smart door, which will be described in detail below.

[0051] This application provides an anti-collision method for a smart door, the method comprising the following steps:

[0052] Check the lock body status;

[0053] If the lock is in the unlocked state, the door opener opens the door, and the controller controls the ultrasonic sensor to enter the anti-collision mode.

[0054] In the collision avoidance mode, the ultrasonic sensor detection distance is the first distance;

[0055] During the door opening process of the door operator, the ultrasonic sensor detects whether there are any obstacles within the first distance range of the door opening trajectory;

[0056] If no obstacle is found, the door operator will continue to operate until the door is fully opened.

[0057] If an obstacle is detected, the door operator will stop operating until the obstacle is removed, at which point the door operator will resume operation.

[0058] This embodiment provides an anti-collision method for a smart door, utilizing an ultrasonic sensor to detect obstacles during the door opening process. When the lock unlocks and the door opener opens the door, the controller activates the ultrasonic sensor to enter anti-collision mode. In anti-collision mode, the ultrasonic sensor's detection distance is a first distance, and it detects whether there are obstacles within the door opening trajectory within this first distance range. Since the ultrasonic sensor is located on the door, its trajectory is the same as the door's when the door opener opens, allowing it to detect obstacles within the first distance range and thus preventing collisions. In this embodiment, the first distance is 0.3 meters, meaning that in anti-collision mode, the ultrasonic sensor detects obstacles within a 0.3-meter range of the door opening trajectory. Beyond this embodiment, those skilled in the art can adjust the range of the first distance without inventive effort, utilizing the programmable nature of the ultrasonic sensor to achieve the anti-collision purpose. This solution utilizes an ultrasonic sensor to detect obstacles during door opening, avoiding the need for an additional anti-collision module to determine the presence of obstacles in the opening trajectory. This reduces ARM controller resource consumption, simplifies the overall system structure, fully utilizes system resources, and lowers development costs. The obstacle is any object that exists in the door opening trajectory and will collide with the door, such as a person, a box, a cart, etc.

[0059] Furthermore, the anti-collision method of the smart door is characterized in that: the controller can send instructions to the ultrasonic sensor to change the parameters of the ultrasonic sensor, thereby changing the detection distance and detection frequency.

[0060] Taking advantage of the programmable nature of ultrasonic sensors, the controller can... 2 The C-bus sends commands to the ultrasonic sensor, changing its parameters to alter the detection distance and frequency. The ultrasonic sensor, by transmitting and receiving ultrasonic waves, calculates the distance to obstacles using the time difference and the speed of sound propagation. The controller adjusts the detection frequency by controlling the period of the ultrasonic sensor's object detection. A higher detection frequency results in a shorter interval between transmitting and receiving ultrasonic waves, allowing for faster detection of obstacles in front of the door and better real-time performance. During door opening, because real-time detection of obstacles within the door's opening trajectory is required, the ultrasonic sensor operates at a high detection frequency in anti-collision mode to achieve real-time detection. Those skilled in the art can set appropriate detection frequencies according to their needs to achieve anti-collision detection without inventive effort.

[0061] Furthermore, the anti-collision method for the smart door further includes the following steps:

[0062] During the door opening process, the operator determines whether the door has opened completely.

[0063] If the door is fully open, the controller sends a command to the ultrasonic sensor to reduce the detection frequency of the ultrasonic sensor.

[0064] If the door does not open properly, the ultrasonic sensor continuously detects whether there are any obstacles within a first distance range on the door opening trajectory.

[0065] In the above embodiment, when the door is fully open, the controller sends a command to the ultrasonic sensor to reduce the ultrasonic sensor's detection frequency. The ultrasonic sensor then enters an idle mode, where the ultrasonic detection frequency is reduced to decrease power consumption. That is, during the door opening process, the ultrasonic sensor operates at a high detection frequency because it needs to detect obstacles within the door's trajectory in real time. However, once the door is fully open, real-time detection is no longer required, so the ultrasonic sampling frequency is reduced to decrease power consumption. Therefore, the ultrasonic sensor's detection frequency in the anti-collision mode is higher than that in the idle mode, resulting in better real-time performance in the anti-collision mode compared to the idle mode.

[0066] Furthermore, the anti-collision method for the smart door further includes the following steps:

[0067] Upon detecting an obstacle, the door operator stops opening the door and checks whether the obstacle has disappeared within time T1.

[0068] If there are no obstacles within the first distance range detected by the ultrasonic sensor within time T1, the door operator will continue to open the door.

[0069] If an obstacle remains within the first distance range detected by the ultrasonic sensor within time T1, the door will be opened, closed, and the lock status will be checked.

[0070] During the door opening process, if an obstacle exists within the door opening trajectory, the door operator stops opening the door. Although the operator stops opening, it remains in a waiting-to-open state until the obstacle disappears, at which point it resumes opening. If the obstacle persists, the operator remains in a waiting-to-open state, inevitably resulting in unnecessary waste of system power. Therefore, this embodiment sets a time T1. If the obstacle has not disappeared within the set time T1, the door operator closes. This embodiment provides a T1 value of 15 seconds; however, those skilled in the art can set other T1 values ​​as needed without inventive effort.

[0071] Furthermore, the anti-collision method for the smart door, wherein the smart door includes a 3D face module, the method further includes the following steps:

[0072] If the lock body is in the locked state, the controller controls the ultrasonic sensor to enter the face recognition mode;

[0073] In the face recognition mode, the ultrasonic sensor detection distance is the second distance;

[0074] Determine if an ultrasonic event has been triggered;

[0075] If the ultrasonic event is triggered, 3D face recognition will be performed.

[0076] If 3D face recognition is successful, the lock will be unlocked and the lock body status will be checked.

[0077] If 3D face recognition fails, the lock will not be unlocked, and the lock body status will be checked.

[0078] The first distance is less than the second distance.

[0079] When the lock is locked, the controller activates the ultrasonic sensor to enter face recognition mode. The ultrasonic sensor detects at a second distance. An ultrasonic event occurs when the ultrasonic sensor detects whether someone is within this second distance range in front of the door. If someone is present, the ultrasonic event is triggered, notifying the 3D face recognition module to perform face recognition. In this embodiment, the second distance is 1.2 meters. When the lock is locked, the ultrasonic sensor enters face recognition mode and can trigger face recognition. The ultrasonic sensor detects whether someone is within 1.2 meters in front of the door. If someone is present, the ultrasonic event is triggered, initiating face recognition. If face recognition is successful, the lock unlocks, and the controller activates the ultrasonic sensor to enter anti-collision mode. If face recognition fails, a new face recognition process begins.

[0080] Furthermore, the anti-collision method of the smart door is characterized in that when the ultrasonic sensor is in anti-collision mode, it does not trigger facial recognition unlocking.

[0081] When the ultrasonic sensor is in anti-collision mode, it detects whether there are obstacles within a first distance range along the door opening trajectory. The purpose of anti-collision mode is to ensure that the door avoids collisions with obstacles during the door opening process. Facial recognition is not required in this mode, therefore it is not triggered. In other words, if a person appears within the first distance range along the door opening trajectory, the person is treated as an obstacle, and the door operator stops opening the door, rather than as a target for facial recognition; therefore, the facial recognition process is not initiated.

[0082] Furthermore, the anti-collision method for the smart door further includes the following steps:

[0083] Determine if an ultrasonic event has been triggered;

[0084] If an ultrasonic event is triggered within time T2, perform 3D face recognition.

[0085] If no ultrasonic event is triggered within time T2, perform a lock body status check.

[0086] In this embodiment, T2 is defined as 10 seconds. If an ultrasonic event is triggered within 10 seconds, 3D face recognition is performed; if no ultrasonic event is triggered within 10 seconds, the lock body status is checked.

[0087] like Figure 1 The diagram shown is a flowchart of an anti-collision method for a smart door provided in an embodiment of this application.

[0088] The smart door includes a lock body, an ultrasonic sensor, a door opener / closer, an ARM controller, and a 3D face recognition module. The method includes the following steps:

[0089] Check the lock body status. If it is locked, the ARM controller controls the ultrasonic sensor to switch to face recognition mode. In face recognition mode, the detection range of the ultrasonic sensor is 1.2 meters, which can trigger face recognition.

[0090] The system detects whether anyone is within 1.2 meters of the door. If someone is present, an ultrasonic event is triggered, notifying the 3D face recognition module to perform facial recognition. It waits for the recognition result; if the facial recognition is successful, the door opens; otherwise, it returns to the locked state for further detection. This initiates a new round of facial recognition unlocking.

[0091] Check the lock body status. If it is unlocked, the ARM controller controls the ultrasonic sensor to switch to anti-collision mode. In face recognition mode, the detection range of the ultrasonic sensor is 0.3 meters. Face recognition cannot be triggered at this time. The door opener performs the door opening action. The ultrasonic sensor continuously detects whether there are obstacles in the door opening trajectory. If an obstacle is detected, the door opener stops opening the door, and the ultrasonic sensor continues to detect. If the obstacle does not disappear within 15 seconds, the door opener performs the door closing action. If the obstacle disappears within 15 seconds, the door opener continues to open the door until it is fully open and the door is successfully opened. The ARM controller sends a command to the ultrasonic sensor to reduce the ultrasonic sensor detection frequency and enter idle mode.

[0092] This application also provides an anti-collision system for smart doors.

[0093] A smart door anti-collision system is characterized in that the anti-collision system includes: a controller, a door opener, an ultrasonic sensor, and a lock body. The controller sends different commands to the ultrasonic sensor according to the state of the lock body. When the lock body is in the unlocked state, the door opener opens the door, and the controller controls the ultrasonic sensor to enter the anti-collision mode. At this time, the ultrasonic sensor's detection distance is a first distance. During the door opener's opening process, it checks whether there is an obstacle within the first distance range to determine whether the door opener should continue to open the door. If there is no obstacle, the door opener continues to open the door until it is fully open. If there is an obstacle, the door opener stops opening the door until the obstacle disappears.

[0094] This embodiment provides an anti-collision system for a smart door. When the lock body unlocks and the door operator opens the door, the controller controls the ultrasonic sensor to enter anti-collision mode. In anti-collision mode, the ultrasonic detection distance is a first distance, which in this embodiment is 0.3 meters. That is, when the lock body unlocks and the door operator opens the door, the ultrasonic sensor enters anti-collision mode. Since the ultrasonic sensor is installed on the door, it moves with the door. The ultrasonic sensor detects whether there are obstacles within 0.3 meters of the door opening trajectory. If there are no obstacles, the door operator continues to open the door until it is fully open. If there are obstacles, the door operator stops opening the door until the obstacles disappear. This system utilizes the programmability of the ultrasonic sensor to detect obstacles within the door opening trajectory using ultrasonic waves, avoiding the need for an additional anti-collision module to determine whether there are obstacles in the door opening trajectory. This reduces the resource consumption of the ARM controller, simplifies the overall system structure, fully utilizes system resources, and reduces development costs.

[0095] Furthermore, the anti-collision system of the smart door is characterized in that the anti-collision system also includes a timing module. When an obstacle is detected, the door opening and closing machine stops operating, and the timing module starts timing. If the obstacle disappears within the set time T1, the door opening and closing machine continues to open the door. If the obstacle does not disappear within the set time T1, the door opening and closing machine closes the door.

[0096] In the above embodiment, by setting a time T1, if the obstacle still has not disappeared after T1, the door will close. This avoids the obstacle remaining within the door opening trajectory, which would prevent the door from opening further while the door operator continues to run, resulting in unnecessary waste of system power consumption.

[0097] Furthermore, the anti-collision system of the smart door is characterized in that the anti-collision system also includes a 3D face module. When the lock body is in the locked state, the controller controls the ultrasonic sensor to enter the face mode. At this time, the ultrasonic sensor detects at a second distance to determine whether an ultrasonic event is triggered. If the ultrasonic event is triggered, 3D face recognition is performed. If the 3D face recognition is successful, the door is unlocked. If the 3D face recognition fails, the door is not unlocked.

[0098] In the above embodiment, when the lock body is in the locked state, the ultrasonic sensor is in face recognition mode. When face recognition is successful, the lock body unlocks, the door opener opens the door, and at this time the ultrasonic sensor enters anti-collision mode.

[0099] Furthermore, the anti-collision system of the intelligent door is characterized in that the door opening and closing mechanism consists of a motor controller, a motor, and a door opening and closing mechanical structure, and is responsible for controlling the opening, closing, and stopping of the door, as well as reporting the door status.

[0100] like Figure 2 The diagram shown is a hardware architecture schematic of the anti-collision system for a smart door provided in an embodiment of this application.

[0101] The internal human body recognition hardware architecture diagram of the face recognition unlocking device provided in this application embodiment includes: a 3D face module, an ultrasonic sensor, an ARM controller, a door opener and a lock body.

[0102] The lock body is responsible for opening / closing the lock and reporting its status. Based on the lock body's status, the ARM controller communicates via I... 2 The C-bus sends commands to the ultrasonic sensor, changing its parameters and controlling its mode. When the lock is locked, the ultrasonic sensor enters face detection mode, detecting if anyone is within 1.2 meters of the door. If someone is present, an ultrasonic event is triggered, notifying the 3D face recognition module to perform face recognition. If the face recognition is successful, the lock unlocks, and the door opener opens the door. Otherwise, it returns to the locked state for detection, initiating a new round of face unlocking. When the lock is unlocked and the door opener opens the door, the ultrasonic sensor enters anti-collision mode. The ultrasonic waves continuously detect obstacles along the opening path. If an obstacle is detected, the door opener stops opening, and the ultrasonic waves continue detecting. If the obstacle does not disappear within 15 seconds, the door opener closes the door. If the obstacle disappears within 15 seconds, the door opener continues opening until the door is fully open, indicating successful opening. The ultrasonic waves then stop detecting and switch to idle mode.

[0103] This application also provides a smart door that includes the above-described anti-collision system.

[0104] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the detailed descriptions of other embodiments above, which will not be repeated here.

[0105] In practice, each of the above units or structures can be implemented as an independent entity or can be arbitrarily combined to be implemented as the same or several entities. For the specific implementation of each of the above units or structures, please refer to the previous method embodiments, which will not be repeated here.

[0106] The above provides a detailed description of the anti-collision method, anti-collision system, and smart door of the present invention. Specific examples have been used to illustrate the principles and embodiments of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in specific embodiments and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A collision avoidance method for a smart door, characterized in that, The smart door includes a lock body, an ultrasonic sensor, a door opener / closer, and a controller. The anti-collision method includes the following steps: Check the lock body status; If the lock is in the unlocked state, the door opener opens the door, and the controller controls the ultrasonic sensor to enter the anti-collision mode. In the collision avoidance mode, the ultrasonic sensor detection distance is the first distance; During the door opening process of the door operator, the ultrasonic sensor detects whether there are any obstacles within the first distance range of the door opening trajectory; If no obstacle is found, the door operator will continue to operate until the door is fully opened. If an obstacle is detected, the door operator will stop operating until the obstacle is removed, at which point the door operator will resume operation. The smart door also includes a 3D face module, and the method further includes the following steps: If the lock body is in the locked state, the controller controls the ultrasonic sensor to enter the face recognition mode; In the face recognition mode, the ultrasonic sensor detection distance is the second distance; Determine if an ultrasonic event has been triggered; If the ultrasonic event is triggered, 3D face recognition will be performed. If 3D face recognition is successful, the lock will be unlocked and the lock body status will be checked. If 3D face recognition fails, the lock will not be unlocked, and the lock body status will be checked. The first distance is less than the second distance.

2. The anti-collision method for a smart door as described in claim 1, characterized in that: The controller can send commands to the ultrasonic sensor to change the parameters of the ultrasonic sensor, thereby changing the detection distance and detection frequency.

3. The anti-collision method for a smart door as described in claim 2, characterized in that, The method further includes the following steps: During the door opening process, the operator determines whether the door has opened completely. If the door is fully open, the controller sends a command to the ultrasonic sensor to reduce the detection frequency of the ultrasonic sensor. If the door does not open properly, the ultrasonic sensor continuously detects whether there are any obstacles within a first distance range on the door opening trajectory.

4. The anti-collision method for a smart door as described in claim 3, characterized in that, The collision avoidance method also includes the following steps: Upon detecting an obstacle, the door operator stops opening the door and checks whether the obstacle has disappeared within time T1. If there are no obstacles within the first distance range detected by the ultrasonic sensor within time T1, the door operator will continue to open the door. If an obstacle remains within the first distance range detected by the ultrasonic sensor within time T1, the door will be opened, closed, and the lock status will be checked.

5. The anti-collision method for a smart door as described in claim 1, characterized in that, When the ultrasonic sensor is in anti-collision mode, it does not trigger facial recognition unlocking.

6. The anti-collision method for a smart door as described in claim 1, characterized in that, The method further includes the following steps: Determine if an ultrasonic event has been triggered; If an ultrasonic event is triggered within time T2, perform 3D face recognition. If no ultrasonic event is triggered within time T2, perform a lock body status check.

7. An anti-collision system for an intelligent door, characterized in that, The anti-collision system includes a controller, a door opener, an ultrasonic sensor, and a lock body. The controller sends different commands to the ultrasonic sensor according to the state of the lock body. When the lock body is unlocked, the door opener opens the door, and the controller controls the ultrasonic sensor to enter the anti-collision mode. At this time, the ultrasonic sensor detects at a first distance. During the door opening process, the controller checks whether there are obstacles within the first distance range to determine whether the door opener should continue to open the door. If there are no obstacles, the door opener continues to open the door until it is fully open. If there are obstacles, the door opener stops opening the door until the obstacles are removed. The anti-collision system also includes a 3D face recognition module. When the lock is locked, the controller controls the ultrasonic sensor to enter face recognition mode. At this time, the ultrasonic sensor detects at the second distance to determine whether an ultrasonic event is triggered. If the ultrasonic event is triggered, 3D face recognition is performed. If the 3D face recognition is successful, the lock is unlocked. If the 3D face recognition fails, the lock is not unlocked.

8. A collision avoidance system for an intelligent door as described in claim 7, characterized in that, The anti-collision system also includes a timing module. When an obstacle is detected, the door opener stops operating and the timing module starts timing. If the obstacle disappears within the set time T1, the door opener continues to open the door. If the obstacle does not disappear within the set time T1, the door opener closes the door.

9. A collision avoidance system for an intelligent door as described in claim 7, characterized in that, The door opening and closing machine consists of a motor controller, a motor, and a door opening and closing mechanical structure. It is responsible for controlling the opening, closing, and stopping of the door, as well as reporting the door's status.

10. A smart door, characterized in that, It includes a door and an anti-collision system as described in any one of claims 7-9.

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