Security check door and metal positioning method and device for security check door

Abstract

The invention relates to a security check door and a metal positioning method and device for the security check door. Based on the security check door, the sensing assembly of the security check door can comprise a plurality of local sensing assemblies which are arranged corresponding to a plurality of height intervals of the detection channel, and the plurality of local sensing assemblies can realize time-sharing local detection with the height intervals as granularity on the detection channel through time-sharing sensing in the corresponding height intervals, so that the detection accuracy of the security check door is improved. According to the method, the spatial positioning position of the target metal in the detection channel can be automatically determined according to the received signal based on which the target metal is successfully detected in the time-sharing local detection process, so that the carrying position of the target metal in the to-be-detected object can be quickly positioned according to the spatial positioning position automatically determined by the security door, and the detection efficiency is improved. And manual reinspection by hand-held detection equipment is not needed, so that the security inspection efficiency can be improved.

Description

Technical Field

[0001] The present application relates to security inspection equipment, and in particular to a security inspection door, a metal positioning method for the security inspection door, and a target metal positioning device for the security inspection door. Background Art

[0002] The security door can use the sensing component to generate a physical magnetic field covering the detection channel, and determine whether the object to be detected in the detection channel carries the target metal through the induction result of the sensing component on the physical magnetic field.

[0003] However, the security gate cannot determine the specific location of the target metal. Therefore, when the object to be inspected carrying the target metal passes through the inspection channel, a security inspector needs to conduct a manual re-inspection using a handheld detection device to verify whether the target metal it carries is a dangerous item that affects public order or endangers personal safety.

[0004] Obviously, adding manual re-inspection will reduce security inspection efficiency. In particular, for scenes with large traffic volume, the checkpoint where the security gate is located will cause congestion due to manual re-inspection.

[0005] It can be seen that how to realize the automatic positioning of the detected target metal by the security door has become a technical problem to be solved in the prior art. Summary of the invention

[0006] In an embodiment of the present application, a security door, a metal positioning method for a security door, and a target metal positioning device for a security door are provided, which can realize automatic positioning of the security door on a successfully detected target metal.

[0007] An embodiment of the present application provides a security door, comprising:

[0008] The door frame body has a detection channel including a plurality of adjacently arranged height intervals in the vertical direction;

[0009] The sensing component comprises a plurality of local sensing components arranged corresponding to the plurality of altitude intervals, the signal strength of the received signal generated by each local sensing component when enabled is used to characterize the local magnetic field strength of the local physical magnetic field in the corresponding altitude interval, and the local physical magnetic field in each altitude interval comprises a primary magnetic field generated by the corresponding local sensing component when enabled;

[0010] A control component is used to control the multiple local sensing components to be enabled in time-sharing manner, wherein the time-sharing enabling limits the enabling state of each local sensing component to an enabling time slot allocated to the corresponding altitude interval, and the control component is further used to:

[0011] In response to successful acquisition of the received signal in each of the enabled time slots, detecting a fluctuation amplitude of the local magnetic field strength represented by the received signal in the current enabled time slot;

[0012] In response to the fluctuation amplitude of the received signal of any one of the enabled time slots reaching a target amplitude, determining that the target metal is successfully detected within the height interval corresponding to the current enabled time slot, wherein the target amplitude is used to characterize the target magnetic field intensity of the secondary magnetic field generated by the target metal based on the primary magnetic field;

[0013] In response to successful detection of the target metal within any one of the height intervals, the spatial positioning position of the target metal within the detection channel is determined, wherein the spatial positioning position includes the height positioning position of the target metal in the vertical direction, and the height positioning position is associated with the spatial height position in the vertical direction of the height interval in which the target metal is successfully detected.

[0014] In some examples, optionally, the spatial positioning position also includes the lateral positioning position of the target metal in the width direction of the security gate; the control component is also used to: determine the lateral positioning position of the target metal based on the intensity distribution state of the local magnetic field strength within the height range in which the target metal is successfully detected, wherein the intensity distribution state is used to characterize the intensity difference of the local magnetic field strength in the width direction due to the presence of the target metal.

[0015] In some examples, optionally, the door frame body includes a first door panel and a second door panel respectively arranged on opposite sides in the width direction of the detection channel, each of the local sensing components includes a first coil component and a second coil component, the first coil component includes a first receiving coil arranged on the first door panel, and the second coil component includes a second receiving coil arranged on the second door panel; the receiving signal generated by each local sensing component in the corresponding enabling time slot includes a first receiving signal generated by the first receiving coil and a second receiving signal generated by the second receiving coil; the control component is specifically configured to: in response to the fluctuation amplitude of at least one of the first receiving signal and the second receiving signal of any one of the enabling time slots reaching the target amplitude, determine the intensity distribution state based on the first receiving signal and the second receiving signal of the current enabling time slot.

[0016] In some examples, optionally, the signal strength of the first received signal is used to characterize the first local magnetic field strength of the local physical magnetic field in the corresponding height interval on the side where the first door panel is located, and the signal strength of the second received signal is used to characterize the second local magnetic field strength of the local physical magnetic field in the corresponding height interval on the side where the second door panel is located; the fluctuation amplitude includes the first fluctuation amplitude of the first local magnetic field strength, and the second fluctuation amplitude of the second local magnetic field strength; the control component is specifically configured to: in response to the fluctuation amplitude of at least one of the first received signal and the second received signal of any one of the enabled time slots reaching the target amplitude, determine the amplitude ratio of the first fluctuation amplitude and the second fluctuation amplitude based on the first received signal and the second received signal of the current enabled time slot, wherein the amplitude ratio is used to characterize the magnetic field strength distribution state.

[0017] In some examples, optionally, the control component is specifically configured to: determine a distance ratio of a first offset distance of the target metal relative to the first door panel and a second offset distance of the target metal relative to the second door panel based on the amplitude ratio; and determine the lateral positioning position of the target metal based on the distance ratio.

[0018] In some examples, optionally, the time-sharing enabling periodically cycles to time-sharingly enable multiple local sensing components; the control component is also used to: generate a spatial position trajectory of the target metal in the detection channel based on the spatial positioning position of the target metal in at least two consecutive cycles; map the spatial position trajectory to a pre-calibrated visualization space presentation, wherein the visualization space is used to characterize the internal space of the detection channel.

[0019] In some examples, optionally, the control component is specifically configured to, when the target metal detected continuously in at least two of the cycles includes a first target metal and a second target metal respectively located in different height intervals: generate a first spatial position trajectory of the first target metal in the detection channel and a second spatial position trajectory of the second target metal in the detection channel based on the spatial positioning positions of the first target metal and the second target metal in at least two consecutive cycles, respectively; and map the first spatial position trajectory and the second spatial position trajectory to the visualization space for synchronous presentation.

[0020] In some examples, optionally, the door frame body includes a first door panel and a second door panel respectively arranged on opposite sides of the width direction of the detection channel, each of the local induction components includes a first coil component and a second coil component, the first coil component includes a first receiving coil arranged on the first door panel, and a first transmitting coil arranged on the second door panel, and the second coil component includes a second receiving coil arranged on the second door panel, and a second transmitting coil arranged on the first door panel; each of the enabling time slots includes a first sub-time slot and a second sub-time slot, and the time-sharing enabling also enables the first coil component and the second coil component of each local induction component to be time-sharing enabled in the first sub-time slot and the second sub-time slot of the corresponding enabling time slot, respectively; the first coil component The component also includes a first transmitting coil of the component arranged on the second door panel, and the second coil component also includes a second transmitting coil arranged on the first door panel, and the local physical magnetic field in each of the height intervals includes the primary magnetic field as follows: the unilateral primary magnetic field generated alternately by the first transmitting coil and the second transmitting coil of the corresponding local induction component in the first sub-time slot and the second sub-time slot respectively; the receiving signal generated by each local induction component in the corresponding enabling time slot includes the first receiving signal generated by the first receiving coil and the second receiving signal generated by the second receiving coil, and the first receiving signal and the second receiving signal of each local induction component are respectively generated in the first sub-time slot and the second sub-time slot in the corresponding enabling time slot.

[0021] In some examples, optionally, the control component is specifically configured to: in response to successful acquisition of the received signal in each of the enabled time slots, detect the fluctuation amplitude of the local magnetic field intensity in the corresponding height interval compared to the primary magnetic field intensity of the primary magnetic field in the current enabled time slot based on the received signal in the current enabled time slot, wherein the primary magnetic field intensity is associated with the signal strength of the transmitted signal generated by the sensing component; and determine the successful detection of the target metal in response to the detection result that the fluctuation amplitude reaches the target amplitude.

[0022] In some examples, optionally, the control component is specifically configured to: in response to successful acquisition of the received signal in each of the enabled time slots, use the signal strength of the transmitted signal to perform signal demodulation on the received signal of the current enabled time slot using the primary magnetic field as a carrier; wherein the demodulation result of the signal demodulation includes the fluctuation amplitude.

[0023] Another embodiment of the present application provides a metal positioning method for a security door, wherein the security door includes a door frame body and a sensing component, wherein the door frame body has a detection channel including a plurality of adjacently arranged height intervals in a vertical direction, wherein the sensing component includes a plurality of local sensing components arranged corresponding to the plurality of height intervals, wherein the signal strength of a received signal generated by each of the local sensing components when enabled is used to characterize the local magnetic field strength of a local physical magnetic field within the corresponding height interval, wherein the local physical magnetic field within each of the height intervals includes a primary magnetic field generated by the corresponding local sensing component when enabled, wherein the metal positioning method controls the plurality of local sensing components to be enabled in a time-sharing manner, wherein the time-sharing enabling restricts the enabling state of each of the local sensing components to an enabling time slot assigned to the corresponding height interval, and wherein the metal positioning method further includes:

[0024] In response to successful acquisition of the received signal in each of the enabled time slots, detecting a fluctuation amplitude of the local magnetic field strength represented by the received signal in the current enabled time slot;

[0025] In response to the fluctuation amplitude of the received signal of any one of the enabled time slots reaching a target amplitude, determining that the target metal is successfully detected within the height interval corresponding to the current enabled time slot, wherein the target amplitude is used to characterize the target magnetic field intensity of the secondary magnetic field generated by the target metal based on the primary magnetic field;

[0026] In response to successful detection of the target metal within any one of the height intervals, the spatial positioning position of the target metal within the detection channel is determined, wherein the spatial positioning position includes the height positioning position of the target metal in the vertical direction, and the determination of the spatial positioning position of the target metal within the detection channel includes: determining the height positioning position of the target metal based on the spatial height position of the height interval in which the target metal is successfully detected in the vertical direction.

[0027] In some examples, optionally, the spatial positioning position also includes the lateral positioning position of the target metal in the width direction of the security gate, and determining the spatial positioning position of the target metal in the detection channel also includes: determining the lateral positioning position of the target metal based on the intensity distribution state of the local magnetic field strength in the height range where the target metal is successfully detected, wherein the intensity distribution state is used to characterize the intensity difference of the local magnetic field strength in the width direction due to the presence of the target metal.

[0028] In some examples, optionally, the door frame body includes a first door panel and a second door panel respectively arranged on opposite sides in the width direction of the detection channel, each of the local sensing components includes a first coil component and a second coil component, the first coil component includes a first receiving coil arranged on the first door panel, and the second coil component includes a second receiving coil arranged on the second door panel; the receiving signal generated by each of the local sensing components in the corresponding enabling time slot includes a first receiving signal generated by the first receiving coil and a second receiving signal generated by the second receiving coil, and if the fluctuation amplitude of at least one of the first receiving signal and the second receiving signal of any enabling time slot reaches the target amplitude, it indicates successful detection of the target metal within the corresponding height range; determining the spatial positioning position of the target metal in the detection channel also includes: determining the intensity distribution state based on the first receiving signal and the second receiving signal used to successfully detect the target metal.

[0029] In some examples, optionally, the signal strength of the first received signal is used to characterize the first local magnetic field strength of the local physical magnetic field in the corresponding height interval on the side where the first door panel is located, and the signal strength of the second received signal is used to characterize the second local magnetic field strength of the local physical magnetic field in the corresponding height interval on the side where the second door panel is located; the fluctuation amplitude includes the first fluctuation amplitude of the first local magnetic field strength, and the second fluctuation amplitude of the second local magnetic field strength; the determination of the intensity distribution state based on the first received signal and the second received signal used for successfully detecting the target metal includes: in response to the fluctuation amplitude of at least one of the first received signal and the second received signal of any one of the enabled time slots reaching the target amplitude, determining the amplitude ratio of the first fluctuation amplitude and the second fluctuation amplitude based on the first received signal and the second received signal of the current enabled time slot, wherein the amplitude ratio is used to characterize the magnetic field intensity distribution state.

[0030] In some examples, optionally, the lateral positioning position of the target metal is determined based on the intensity distribution state of the local magnetic field intensity within the height range of the target metal that is successfully detected, including: determining a distance ratio of a first offset distance of the target metal relative to the first door panel and a second offset distance of the target metal relative to the second door panel based on the amplitude ratio; and determining the lateral positioning position of the target metal based on the distance ratio.

[0031] In some examples, optionally, the time-sharing enabling periodically cycles and time-sharingly enables multiple local sensing components; the metal locating method also includes: generating a spatial position trajectory of the target metal in the detection channel based on the spatial positioning position of the target metal in at least two consecutive cycles; mapping the spatial position trajectory to a pre-calibrated visualization space presentation, wherein the visualization space is used to characterize the internal space of the detection channel.

[0032] In some examples, optionally, generating a spatial position trajectory of the target metal in the detection channel based on the spatial positioning positions of the target metal in at least two consecutive cycles includes: when the target metal detected continuously in at least two of the cycles includes a first target metal and a second target metal respectively located in different height intervals, generating a first spatial position trajectory of the first target metal in the detection channel and a second spatial position trajectory of the second target metal in the detection channel based on the spatial positioning positions of the first target metal and the second target metal in at least two consecutive cycles respectively; mapping the spatial position trajectories to a pre-calibrated visualization space for presentation, wherein the visualization space is used to characterize the internal space of the detection channel, includes: when the target metal detected continuously in at least two of the cycles includes the first target metal and the second target metal, mapping the first spatial position trajectory and the second spatial position trajectory to the visualization space for synchronous presentation.

[0033] In some examples, optionally, the door frame body includes a first door panel and a second door panel respectively arranged on opposite sides of the width direction of the detection channel, each of the local sensing components includes a first coil component and a second coil component, the first coil component includes a first receiving coil arranged on the first door panel, and a first transmitting coil arranged on the second door panel, and the second coil component includes a second receiving coil arranged on the second door panel, and a second transmitting coil arranged on the first door panel; each of the enabling time slots includes a first sub-time slot and a second sub-time slot, and the controlling of the multiple local sensing components to be time-sharing enabled includes: controlling the first coil component and the second coil component of each local sensing component to be time-sharing enabled in the first sub-time slot and the second sub-time slot of the corresponding enabling time slot, respectively. ; The first coil component also includes a first transmitting coil component arranged on the second door panel, and the second coil component also includes a second transmitting coil arranged on the first door panel, and the local physical magnetic field in each of the height intervals includes the primary magnetic field as follows: the unilateral primary magnetic field generated alternately by the first transmitting coil and the second transmitting coil of the corresponding local induction component in the first sub-time slot and the second sub-time slot respectively; the receiving signal generated by each local induction component in the corresponding enabling time slot includes a first receiving signal generated by the first receiving coil and a second receiving signal generated by the second receiving coil, and the first receiving signal and the second receiving signal of each local induction component are respectively generated in the first sub-time slot and the second sub-time slot in the corresponding enabling time slot.

[0034] In some examples, optionally, the detecting the fluctuation amplitude of the local magnetic field strength represented by the received signal of the current enabled time slot includes: based on the received signal of the current enabled time slot, detecting the fluctuation amplitude of the local magnetic field strength within the corresponding height interval compared to the primary magnetic field strength of the primary magnetic field in the current enabled time slot, wherein the primary magnetic field strength is associated with the signal strength of the transmitted signal generated by the sensing component; and determining the successful detection of the target metal in response to the detection result that the fluctuation amplitude reaches the target amplitude.

[0035] In some examples, optionally, the fluctuation amplitude of the local magnetic field intensity within the height interval corresponding to the detection in the current enabled time slot compared to the primary magnetic field intensity of the primary magnetic field includes: using the signal strength of the transmitted signal to demodulate the received signal of the current enabled time slot with the primary magnetic field as a carrier; wherein the demodulation result of the signal demodulation includes the fluctuation amplitude.

[0036] Another embodiment of the present application provides a metal positioning device for a security door, the security door comprising a door frame body and a sensing component, the door frame body having a detection channel including a plurality of adjacently arranged height intervals in the vertical direction, the sensing component comprising a plurality of local sensing components arranged corresponding to the plurality of height intervals, the signal strength of a received signal generated by each of the local sensing components when enabled is used to characterize the local magnetic field strength of a local physical magnetic field in the corresponding height interval, the local physical magnetic field in each of the height intervals comprising a primary magnetic field generated by the corresponding local sensing component when enabled, the metal positioning device comprising a timing control module, the timing control module being used to control the time-sharing enabling of the plurality of local sensing components, the time-sharing enabling limiting the enabling state of each of the local sensing components to an enabling time slot allocated to the corresponding height interval, and the metal positioning device further comprising:

[0037] an amplitude detection module, configured to detect, in response to successful acquisition of the received signal in each of the enabled time slots, a fluctuation amplitude of the local magnetic field intensity represented by the received signal in the current enabled time slot;

[0038] a detection and judgment module, configured to determine that a target metal is successfully detected within the height interval corresponding to the current enable time slot in response to the fluctuation amplitude of the received signal of any one of the enable time slots reaching a target amplitude, wherein the target amplitude is used to characterize a target magnetic field intensity of a secondary magnetic field generated by the target metal based on the primary magnetic field;

[0039] A target positioning module is used to determine the spatial positioning position of the target metal in the detection channel in response to successful detection of the target metal in any one of the height intervals, wherein the spatial positioning position includes the height positioning position of the target metal in the vertical direction, and the target positioning module is specifically configured to determine the height positioning position of the target metal based on the spatial height position of the height interval in which the target metal is successfully detected in the vertical direction.

[0040] In some examples, optionally, the spatial positioning position also includes the lateral positioning position of the target metal in the width direction of the security gate, and the target positioning module is specifically configured to determine the lateral positioning position of the target metal based on the intensity distribution state of the local magnetic field strength within the height range in which the target metal is successfully detected, wherein the intensity distribution state is used to characterize the intensity difference of the local magnetic field strength in the width direction due to the presence of the target metal.

[0041] In some examples, optionally, the door frame body includes a first door panel and a second door panel respectively arranged on opposite sides in the width direction of the detection channel, each of the local sensing components includes a first coil component and a second coil component, the first coil component includes a first receiving coil arranged on the first door panel, and the second coil component includes a second receiving coil arranged on the second door panel; the receiving signal generated by each of the local sensing components in the corresponding enabling time slot includes a first receiving signal generated by the first receiving coil and a second receiving signal generated by the second receiving coil, and if the fluctuation amplitude of at least one of the first receiving signal and the second receiving signal of any one of the enabling time slots reaches the target amplitude, it indicates successful detection of the target metal within the corresponding height range; the target positioning module is specifically configured to determine the intensity distribution state based on the first receiving signal and the second receiving signal used to successfully detect the target metal.

[0042] In some examples, optionally, the signal strength of the first received signal is used to characterize the first local magnetic field strength of the local physical magnetic field in the corresponding height interval on the side where the first door panel is located, and the signal strength of the second received signal is used to characterize the second local magnetic field strength of the local physical magnetic field in the corresponding height interval on the side where the second door panel is located; the fluctuation amplitude includes the first fluctuation amplitude of the first local magnetic field strength, and the second fluctuation amplitude of the second local magnetic field strength; the target positioning module is specifically configured to: in response to the fluctuation amplitude of at least one of the first received signal and the second received signal of any one of the enabled time slots reaching the target amplitude, determine the amplitude ratio of the first fluctuation amplitude and the second fluctuation amplitude based on the first received signal and the second received signal of the current enabled time slot, wherein the amplitude ratio is used to characterize the magnetic field intensity distribution state.

[0043] In some examples, optionally, the target positioning module is specifically configured to: determine, based on the amplitude ratio, a distance ratio of a first offset distance of the target metal relative to the first door panel and a second offset distance of the target metal relative to the second door panel; and determine, based on the distance ratio, the lateral positioning position of the target metal.

[0044] In some examples, optionally, the time-sharing enabling periodically cycles to time-sharingly enable multiple local sensing components; the metal locating device also includes: a trajectory generating module, for generating a spatial position trajectory of the target metal in the detection channel based on the spatial positioning position of the target metal in at least two consecutive cycles; a mapping presentation module, for mapping the spatial position trajectory to a pre-calibrated visualization space presentation, wherein the visualization space is used to characterize the internal space of the detection channel.

[0045] In some examples, optionally, the trajectory generation module is specifically configured to: when the target metal detected continuously in at least two of the cycles includes a first target metal and a second target metal respectively located in different height intervals, generate a first spatial position trajectory of the first target metal in the detection channel and a second spatial position trajectory of the second target metal in the detection channel based on the spatial positioning positions of the first target metal and the second target metal in at least two consecutive cycles, respectively; the mapping presentation module is specifically configured to: when the target metal detected continuously in at least two of the cycles includes the first target metal and the second target metal, map the first spatial position trajectory and the second spatial position trajectory to the visualization space for synchronous presentation.

[0046] In some examples, optionally, the door frame body includes a first door panel and a second door panel respectively arranged on opposite sides of the width direction of the detection channel, each of the local induction components includes a first coil component and a second coil component, the first coil component includes a first receiving coil arranged on the first door panel, and a first transmitting coil arranged on the second door panel, and the second coil component includes a second receiving coil arranged on the second door panel, and a second transmitting coil arranged on the first door panel; each of the enabling time slots includes a first sub-time slot and a second sub-time slot, and the time-sharing enabling enables the first coil component and the second coil component of each local induction component to be time-sharing enabled in the first sub-time slot and the second sub-time slot of the corresponding enabling time slot, respectively; the first coil component It also includes a first transmitting coil component arranged on the second door panel, and the second coil component also includes a second transmitting coil arranged on the first door panel, and the local physical magnetic field in each of the height intervals includes the primary magnetic field as follows: the unilateral primary magnetic field generated alternately by the first transmitting coil and the second transmitting coil of the corresponding local induction component in the first sub-time slot and the second sub-time slot respectively; the receiving signal generated by each local induction component in the corresponding enabling time slot includes the first receiving signal generated by the first receiving coil and the second receiving signal generated by the second receiving coil, and the first receiving signal and the second receiving signal of each local induction component are respectively generated in the first sub-time slot and the second sub-time slot in the corresponding enabling time slot.

[0047] In some examples, optionally, the amplitude detection module is specifically configured to: detect the fluctuation amplitude of the local magnetic field strength within the corresponding height interval compared to the primary magnetic field strength of the primary magnetic field in the current enabled time slot based on the received signal of the current enabled time slot, wherein the primary magnetic field strength is associated with the signal strength of the transmitted signal generated by the sensing component; and determine the successful detection of the target metal in response to the detection result that the fluctuation amplitude reaches the target amplitude.

[0048] In some examples, optionally, the signal strength of the transmitted signal is used to perform signal demodulation on the received signal of the current enabled time slot using the primary magnetic field as a carrier; wherein a demodulation result of the signal demodulation includes the fluctuation amplitude.

[0049] Another embodiment of the present application provides a non-transitory computer-readable storage medium, which stores instructions. When the instructions are executed by a processor, the processor performs the metal positioning method as described in the above embodiments.

[0050] Based on the embodiments of the present application, the sensing component of the security inspection door may include a plurality of local sensing components arranged corresponding to the plurality of height intervals of the detection channel, and the plurality of local sensing components may realize time-sharing local detection of the detection channel with the height interval as the granularity through time-sharing sensing in the corresponding height intervals. Thus, the spatial positioning position of the target metal in the detection channel can be automatically determined based on the received signal based on which the target metal is successfully detected in the time-sharing local detection process. Furthermore, based on the spatial positioning position automatically determined by the security inspection door, the carrying position of the target metal in the object to be detected can be quickly located without the need for manual re-inspection using handheld detection equipment, thereby improving the security inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The following drawings are only used to illustrate and explain the present application, and do not limit the scope of the present application:

[0052] Figure 1 This is a schematic diagram of an exemplary structure of a security door in an embodiment of the present application;

[0053] Figure 2 For Figure 1 The schematic diagram of the time-sharing local detection of the security door in the illustrated embodiment;

[0054] Figure 3 For Figure 1 An example schematic diagram of the structure of the transceiver circuit of the security door in the illustrated embodiment;

[0055] Figure 4 For Figure 1 A schematic diagram of the signal processing principle of the security door in the illustrated embodiment;

[0056] Figure 5 For Figure 1 An example effect diagram of time-sharing local detection of a security door in the illustrated embodiment;

[0057] Figure 6 For Figure 1 A comparative effect diagram of the security door in the illustrated embodiment;

[0058] Figure 7 For Figure 1 A visualization rendering of the spatial position trajectory generated by the security door in the illustrated embodiment;

[0059] Figure 8 For Figure 1 A visualization rendering of the multi-space position trajectory generated by the security door in the illustrated embodiment;

[0060] Fig. 9 For Figure 1 A schematic diagram showing the principle of extended positioning of the security door in the illustrated embodiment;

[0061] Fig.10 For Figure 1 A schematic diagram of the spatial positioning position of the security door in the illustrated embodiment obtained based on extended positioning;

[0062] Fig.11 For Figure 1 A visualization rendering of the spatial position trajectory of the security door in the illustrated embodiment generated based on extended positioning;

[0063] Fig.12 For Figure 1 A visualization rendering of the multi-space position trajectory generated by the security door in the illustrated embodiment based on extended positioning;

[0064] Fig.13 For Figure 1 A schematic diagram of the optimization principle of time-sharing local detection of the security door in the illustrated embodiment;

[0065] Fig.14 For Figure 1 A schematic diagram of an optimized example of the structure of the transceiver circuit of the security door in the illustrated embodiment;

[0066] Fig.15 For Figure 1 A signal-to-noise ratio curve diagram of a first received signal in the illustrated embodiment;

[0067] Fig.16 For Figure 1 A signal-to-noise ratio curve diagram of a second received signal in the illustrated embodiment;

[0068] Fig.17 For Figure 1 A high signal-to-noise ratio curve diagram based on bilateral unilateral determination in the illustrated embodiment;

[0069] Fig.18 It is a schematic diagram of an exemplary flow chart of a metal positioning method for a security door based on time-sharing enabling control in an embodiment of the present application;

[0070] Fig.19 This is a schematic diagram of an exemplary structure of a metal positioning device for a security door in an embodiment of the present application. DETAILED DESCRIPTION

[0071] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and examples.

[0072] Figure 1 This is an exemplary structural diagram of the security door in the embodiment of this application. Figure 1 In an embodiment of the present application, the security door may include a door frame body 10, a sensing component 20 and a control component 50.

[0073] The door frame body 10 has a detection channel 100, which includes a plurality of adjacently arranged height intervals Rg_1 to Rg_k in the vertical direction Z, where k is a positive integer greater than 1. In the embodiment of the present application, the value of k can be set according to the spatial division granularity of the detection channel 100 in the vertical direction Z (i.e., the unit height of a single height interval Rg_i in the vertical direction Z), preferably, k≥10, for example, k can be 10.

[0074] Specifically, the door frame body 10 may include a first door panel 11 and a second door panel 12 respectively arranged on opposite sides of the detection channel 100 in the width direction X. Moreover, in the embodiment of the present application, the door frame body 10 may also include a top panel 13 covering the detection channel 100, the top panel 13 may be connected between the top ends of the first door panel 11 and the second door panel 12 in the vertical direction Z, the top panel 13 may be equipped with a control box, and the control assembly 50 may be accommodated in the control box installed in the top panel 13.

[0075] The sensing component 20 may include a plurality of local sensing components 20_1 to 20_k arranged corresponding to a plurality of height intervals Rg_1 to Rg_k, that is, the local sensing component 20_i of the sensing component 20 is arranged corresponding to the height interval Rg_i, where i is a positive integer greater than or equal to 1 and less than or equal to k.

[0076] When enabled, each local sensing component 20_i can also generate a receiving signal (or eddy current signal) by sensing the local magnetic field strength of the local physical magnetic field within the corresponding height interval Rg_i, that is, each local sensing component 20_i can include a receiving coil for generating a receiving signal.

[0077] The local physical magnetic field within each height interval Rg_i includes at least a primary magnetic field generated by the corresponding local sensing component 20_i when it is enabled, and if a target metal appears in any height interval Rg_i, the local physical magnetic field within the height interval Rg_i may further include a secondary magnetic field generated by the target metal based on the primary magnetic field on the basis of the primary magnetic field.

[0078] Accordingly, each local sensing component 20_i can also generate a primary magnetic field covering the corresponding height interval Rg_i when enabled, that is, each local sensing component 20_i can include a transmitting coil for generating a primary magnetic field. Moreover, the signal strength of the received signal generated by each local sensing component 20_i when enabled is used to characterize the local magnetic field strength of the local physical magnetic field in the corresponding height interval Rg_i, so as to determine whether the local physical magnetic field in the corresponding height interval Rg_i includes the above-mentioned secondary magnetic field through the local magnetic field strength.

[0079] In the embodiment of the present application, each local induction component 20_i may include a first coil component 21_i and a second coil component 22_i.

[0080] The first coil assembly 21_i of each local sensing component 20_i can generate a primary magnetic field from the side where the second door panel 12 is located based on the transmission signal Emt_20, and the second coil assembly 22_i of each local sensing component 20_i can generate a primary magnetic field from the side where the first door panel 11 is located based on the transmission signal Emt_20. In this case, the primary magnetic field included in the local physical magnetic field covering each height interval Rg_i can be generated by the first coil assembly 21_i and the second coil assembly 22_i of the corresponding local sensing component 20_i based on the transmission signal Emt_20 and the transmission signal Emt_20, respectively.

[0081] Moreover, the first coil component 21_i of each local sensing component 20_i can generate a first receiving signal Rec_211_i by sensing the local magnetic field strength of the local physical magnetic field within the corresponding height interval Rg_i on the side where the first door panel 11 is located, and the second coil component 22_i of each local sensing component 20_i can generate a second receiving signal Rec_221_i by locally sensing the local magnetic field strength of the local physical magnetic field within the corresponding height interval Rg_i on the side where the second door panel 12 is located, that is, the receiving signal generated by each local sensing component 20_i when enabled includes the first receiving signal Rec_211_i generated by the first coil component 21_i and the second receiving signal Rec_221_i generated by the second coil component 22_i.

[0082] Specifically, the first coil assembly 21_i of each local induction component 20_i includes a first receiving coil 211_i arranged on the first door panel 11, and a first transmitting coil 212_i arranged on the second door panel 12, and the second coil assembly 22_i of each local induction component 20_i includes a second receiving coil 221_i arranged on the second door panel 12, and a second transmitting coil 222_i arranged on the first door panel 11. In this case:

[0083] The primary magnetic field included in the local physical magnetic field covering each height interval Rg_i may be generated by the first transmitting coil 212_i and the second transmitting coil 222_i of the corresponding local sensing component 20_i based on the transmitting signal Emt_20 and the transmitting signal Emt_20, respectively;

[0084] The receiving signal generated by the local sensing component 20_i corresponding to each height interval Rg_i when enabled includes a first receiving signal Rec_211_i generated by the first receiving coil 211_i and a second receiving signal Rec_221_i generated by the second receiving coil 221_i, wherein the signal strength of the first receiving signal Rec_211_i can be used to characterize the first local magnetic field strength of the local physical magnetic field within the corresponding height interval Rg_i on the side where the first door panel 11 is located, and the signal strength of the second receiving signal Rec_221_i can be used to characterize the second local magnetic field strength of the local physical magnetic field within the corresponding height interval Rg_i on the side where the second door panel 12 is located.

[0085] The control component 50 may include any logic device such as FPGA (Field Programmable Gate Array), and / or a processor with data processing capabilities such as CPU (Central Processing Unit) and MCU (Microcontroller Unit).

[0086] The control component 50 is used to control the enabling state of the sensing component 20, and when any local sensing component 20_i is enabled:

[0087] The control component 50 can generate a transmission signal Emt_20 through the transmitting circuit 30 for the enabled local sensing component 20_i (such as the first transmitting coil 212_i and the second transmitting coil 222_i) to generate a primary magnetic field within the corresponding height interval Rg_i of the detection channel 100;

[0088] The control component 50 can also obtain, through the receiving circuit 40, a receiving signal (e.g., a first receiving signal Rec_211_i and a second receiving signal Rec_221_i) generated by the enabled local sensing component 20_i (e.g., a first receiving coil 211_i and a second receiving coil 221_i) by sensing the local magnetic field strength of the local physical magnetic field within the corresponding height interval Rg_i.

[0089] In order to save power consumption of the security door, the control component 50 can enable the sensing component 20 only during the detection period when the target to be detected passes through the detection channel 100 along the depth direction Y of the security door, that is, the enabling of any local sensing component 20_i can be limited to the detection period. For example, the security door can also include a first sensor arranged at the entrance side of the detection channel 100 in the depth direction Y of the security door, and a second sensor arranged at the exit side of the detection channel in the depth direction Y of the security door, and any one of the first sensor and the second sensor can include a non-contact sensor such as an infrared sensor or a photoelectric sensor, and the control component 50 can determine the start of the detection period in response to a first trigger signal generated by the first sensor when the target to be detected passes through its sensing range (that is, the target to be detected enters the detection channel 100), and determine the end of the detection period in response to a second trigger signal generated by the second sensor when the target to be detected passes through its sensing range (that is, the target to be detected leaves the detection channel 100).

[0090] Figure 2 This is a schematic diagram of the time-sharing local detection of the security door in the embodiment of the present application. Figure 1 See also Figure 2 In an embodiment of the present application, the control component 50 can control (for example, control during the detection period) multiple local sensing components 20_1~20_k to be enabled in a time-sharing manner, that is, at any time during the detection period, at most only one of the multiple local sensing components 20_1~20_k is in an enabled state.

[0091] from Figure 2 It can be clearly seen from the pulse symbols in that the high pulse levels of the enabled time slots t1~tk of the multiple local sensing components 20_1~20_k are staggered in time and do not overlap, that is, the time-sharing enabling of the multiple local sensing components 20_1~20_k can make the enabling state of each local sensing component 20_i be limited to the enabling time slot ti allocated to the corresponding height interval Rg_i.

[0092] Moreover, the time-sharing enabling of multiple local sensing components 20_1~20_k can be cycled periodically, that is, the time-sharing enabling can periodically cycle to time-sharingly enable multiple local sensing components 20_1~20_k. For example, multiple local sensing components 20_1~20_k can be periodically enabled according to the time-sharing traversal from 1 to k, and each cycle period T_erg of the time-sharing traversal enabling of multiple local sensing components 20_1~20_k from 1 to k can also be regarded as a traversal period of the time-sharing enabling of multiple local sensing components 20_1~20_k.

[0093] Based on the time-sharing enabling of multiple local sensing components 20_1~20_k, in the enabling time slot when any local sensing component 20_i is enabled, only the local sensing component 20_i (for example, the first transmitting coil 212_i and the second transmitting coil 222_i of the local sensing component 20_i) generates a primary magnetic field covering the corresponding height interval Rg_i, and only the local sensing component 20_i generates a receiving signal (for example, the first receiving signal generated by the first receiving coil 211_i and the second receiving signal generated by the second receiving coil 221_i of the local sensing component 20_i) by sensing the local physical magnetic field within the corresponding height interval Rg_i.

[0094] Figure 3 For Figure 1 An example schematic diagram of the transceiver circuit structure of the security door in the illustrated embodiment.

[0095] See also Figure 3 In an embodiment of the present application, the input end of the transmitting circuit 30 is connected to the control component 50, and the output end of the transmitting circuit 30 can be connected to the sensing component 20 (i.e., the first transmitting coils 212_1~212_k and the second transmitting coils 222_1~222_k of the multiple local sensing components 20_1~20_k) through the first multi-selection switch 35. For example, the first multi-selection switch 35 has an input end connected to the output end of the transmitting circuit 30, and 2×k output ends respectively connected to the first transmitting coils 212_1~212_k and the second transmitting coils 222_1~222_k of the multiple local sensing components 20_1~20_k, and the multi-selection switch 35 is controlled by the control component 50.

[0096] For example, the control component 50 may include a timing control module 51 integrated into the FPGA, and the timing control module 51 may control the multi-way selection switch 35 to selectively connect the output end of the transmitting circuit 30 to the first transmitting coils 212_1~212_k and the second transmitting coils 222_1~222_k of multiple local sensing components 20_1~20_k, that is, at any time, the output end of the transmitting circuit 30 is only connected to the first transmitting coil 212_i and the second transmitting coil 222_i of one local sensing component 20_i through the multi-way selection switch 35.

[0097] In an embodiment of the present application, as a preferred structure, the transmitting circuit 30 includes a full-bridge drive circuit 30a, a gate isolation circuit 30b, a full-bridge inverter circuit 30c, an impedance matching circuit 30d and a multi-way selection switch 30e which are sequentially cascaded from the control component 50 to the multi-way selection switch 35.

[0098] Among them, the control component 50 can generate a PWM (Pulse Width Modulation) signal to the full-bridge drive circuit 30a. For example, the control component 50 can also include a signal transmission module 53 integrated in the FPGA, and the signal transmission module 53 can generate a PWM signal to the full-bridge drive circuit 30a. For another example, the PWM signal generated by the control component 50 (i.e., the signal transmission module 53) can include two complementary PWM signals with dead zones to prompt the full-bridge drive circuit 30a to generate an excitation pulse signal to the gate of the MOSFET (Metal-Oxide-Semiconductor Field-Effect Transistor) of the full-bridge inverter circuit 30.

[0099] and, Figure 3 The gate isolation circuit 30b shown in the figure is used to prevent the gate of the MOSFET of the full-bridge inverter circuit 30 from being impacted by the oscillating voltage; the full-bridge inverter circuit 30 can use the gate voltage change of the MOSFET to generate an AC voltage signal, which can be used as an emission signal Emt_20 for generating a local physical magnetic field.

[0100] Specifically, the transmitting signal Emt_20 (i.e., the AC voltage signal) generated by the full-bridge inverter circuit 30c is output to the input end of the multi-way selection switch 35 after impedance matching by the impedance matching circuit 30d. Thus, based on the switching control of the control component 50 (e.g., the timing control module 51), the transmitting signal Emt_20 (i.e., the AC voltage signal) generated by the full-bridge inverter circuit 30c can be output to the induction component 20 (i.e., the first transmitting coils 212_1~212_k and the second transmitting coils 222_1~222_k of the multiple local induction components 20_1~20_k).

[0101] In the example structure provided for the transmitting circuit 30, a full-bridge inverter circuit 30c is selected as the driving circuit of the first transmitting coil 212 and the second transmitting coil 222. This is because the full-bridge inverter circuit has a response speed of nanoseconds (i.e., the on-off response speed of MOSFET). Therefore, the full-bridge inverter circuit 30c can be more suitable for high-precision time-sharing control.

[0102] Still see Figure 3In the embodiment of the present application, the input end of the receiving circuit 40 is connected to the sensing component 20 (i.e., connected to the first receiving coils 211_1~211_k and the second receiving coils 221_1~221_k of the multiple local sensing components 20_1~20_k) through the second multiple-select-one switch 45. For example, the second multiple-select-one switch 45 has 2×k input ends respectively connected to the first receiving coils 211_1~211_k and the second receiving coils 221_1~221_k of the multiple local sensing components 20_1~20_k, and one input end connected to the input end of the receiving circuit 40. The output end of the receiving circuit 40 is connected to the control component 50 to obtain the receiving signals {Rec_211_i, Rec_221_i} generated by the first receiving coils 211_1~211_k and the second receiving coils 221_1~221_k of the multiple local sensing components 20_1~20_k in time-sharing. For example, the control component 50 may further include a data acquisition module 54 integrated into the FPGA, and the data acquisition module 54 is used to acquire the receiving signals {Rec_211_i, Rec_221_i} generated by the first receiving coils 211_1~211_k and the second receiving coils 221_1~221_k of the multiple local sensing components 20_1~20_k in a time-sharing manner.

[0103] In an embodiment of the present application, as a preferred structure, the receiving circuit 40 may include a limiting circuit 40a, an amplifying circuit 40b, a bandpass filtering circuit 40c and an analog-to-digital conversion circuit 40d sequentially cascaded from the second multiple-choice switch 45 to the control component 50.

[0104] Among them, the limiting circuit 40a is used to limit the amplitude of the analog eddy current signal generated by the first receiving coils 211_1~211_k and the second receiving coils 221_1~221_k of the multiple local induction components 20_1~20_k, so as to prevent the overshoot voltage in the analog eddy current signal from impacting the receiving circuit 40; the analog eddy current signal is input to the analog-to-digital conversion circuit 40d after the signal amplification processing of the amplifier circuit 40b and the filtering processing of the bandpass filter circuit 40c, and is converted into a digital signal by the analog-to-digital conversion circuit 40d. The receiving signal {Rec_211_i, Rec_221_i} described above may include the digital signal obtained by time-sharing conversion of the analog-to-digital conversion circuit 40d.

[0105] In an embodiment of the present application, in addition to controlling the time-sharing enabling of multiple local sensing components 20_1~20_k, the control component 50 can also be used to: detect the target metal appearing in the detection channel 100 based on the receiving signals generated by the multiple local sensing components 20_1~20_k in time-sharing in each cycle, and determine the spatial positioning position of the successfully detected target metal in the detection channel.

[0106] In an embodiment of the present application, the detection process of the target metal by the control component 50 based on the received signal may include:

[0107] In response to successful acquisition of the received signal {Rec_211_i, Rec_221_i} in each enabled time slot ti, detecting the fluctuation amplitude of the local magnetic field strength represented by the received signal {Rec_211_i, Rec_221_i} of the current enabled time slot ti, for example, the fluctuation amplitude may refer to the fluctuation amplitude of the local magnetic field strength represented by the received signal {Rec_211_i, Rec_221_i} compared to the primary magnetic field;

[0108] In response to the fluctuation amplitude of the local magnetic field strength represented by the received signal {Rec_211_i, Rec_221_i} of any enabled time slot ti reaching the target amplitude, it is determined that the target metal is successfully detected within the height range corresponding to the current enabled time slot, wherein the target amplitude is used to represent the target magnetic field intensity of the secondary magnetic field generated by the target metal based on the primary magnetic field.

[0109] In order to detect the target metal present in the detection channel 100, the control component 50 may be specifically configured as follows;

[0110] In response to the successful acquisition of the received signal {Rec_211_i, Rec_221_i} in each enabled time slot ti, based on the received signal {Rec_211_i, Rec_221_i} of the current enabled time slot ti, the fluctuation amplitude of the local magnetic field intensity of the local physical magnetic field in the corresponding height interval Rg_i in the current enabled time slot ti is detected. For example, the fluctuation amplitude of the local magnetic field intensity of the local physical magnetic field in any height interval Rg_i compared to may include: the first local magnetic field intensity represented by the first received signal Rec_211_i described above compared to the first fluctuation amplitude ΔW_21 of the primary magnetic field intensity of the primary magnetic field generated in the height interval Rg_i. 1_i, and the second fluctuation amplitude ΔW_221_i of the second local magnetic field strength represented by the second receiving signal Rec_221_i described above compared to the primary magnetic field strength of the primary magnetic field generated in the height interval Rg_i, wherein the primary magnetic field strength of the primary magnetic field generated in any height interval Rg_i is associated with the signal strength of the transmitting signal Emit_20 generated by the sensing component 20 in the corresponding enabling time slot ti, for example, the transmitting signal Emit_20 generated by the sensing component 20 in the corresponding enabling time slot ti can be generated by the first transmitting coil 212_i and / or the second transmitting coil 222_i of the local sensing component 20_i corresponding to the height interval Rg_i;

[0111] In response to the detection result that the fluctuation amplitude within the height interval Rg_i corresponding to any enabled time slot ti reaches the target amplitude, the successful detection of the target metal appearing in the height interval Rg_i is determined. For example, in response to the detection result that at least one of the first fluctuation amplitude ΔW_211_i and the second fluctuation amplitude ΔW_221_i within the height interval Rg_i corresponding to any enabled time slot ti reaches the target amplitude, the successful detection of the target metal appearing in the height interval Rg_i is determined.

[0112] In an embodiment of the present application, in order to improve the accuracy of the fluctuation amplitude, a signal component used to characterize the above-mentioned fluctuation amplitude {ΔW_211_i, ΔW_221_i} can be extracted from the received signal {Rec_211_i, Rec_221_i} by signal demodulation, that is, the first fluctuation amplitude ΔW_211_i is extracted from the first received signal Rec_211_i by signal demodulation, and the second fluctuation amplitude is extracted from the second received signal Rec_221_i by signal demodulation.

[0113] Figure 4 For Figure 1 Schematic diagram of the signal processing principle of the security door in the embodiment shown. Figure 4 In an embodiment of the present application, the control component 50 (e.g., the data acquisition module 54) may be specifically configured to: utilize the signal strength of the transmission signal Emit_20 generated by the sensing component 20 to perform signal demodulation S50 on the received signal {Rec_211_i, Rec_221_i} using the primary magnetic field as the carrier. For example, the signal demodulation S50 may include IQ (quadrature) demodulation. Moreover, the demodulation result of the signal demodulation includes the fluctuation amplitude {ΔW_211_i, ΔW_221_i} described above, so that the determination of whether the fluctuation amplitude {ΔW_211_i, ΔW_221_i} reaches the target amplitude ΔW_obj can be achieved by utilizing the demodulation result of the signal demodulation, thereby determining whether there is a target metal in the corresponding height interval Rg_i.

[0114] Since the transmitting coil (for example, the first transmitting coil 212_i and the second transmitting coil 222_i) and the receiving coil (for example, the first receiving coil 211_i and the second receiving coil 221_i) of each local induction component 20_i are arranged in the same corresponding height interval Rg_i, the transmitting and receiving path of each local induction component 20_i (for example, the transmitting and receiving path between the first transmitting coil 212_i and the first receiving coil 211_i, and the transmitting and receiving path between the second transmitting coil 222_i and the second receiving coil 221_i) are basically parallel to the width direction X of the security door or converge to the width direction X of the security door.

[0115] Therefore, based on the time-sharing enabling of multiple local sensing components 20_1 to 20_k, only when the target metal 90 is located in the transmitting and receiving path of the same local sensing component 20_i, the fluctuation amplitude of the local magnetic field intensity represented by the receiving signal generated by the local sensing component 20_i (for example, the first receiving signal Rec_211_i generated by the first receiving coil 211_i and / or the second receiving signal Rec_221_i generated by the second receiving coil 221_i) (for example, at least one of the first fluctuation amplitude ΔW_211_i and the second fluctuation amplitude ΔW_221_i described above) can reach the target amplitude representing the secondary magnetic field generated by the target metal. That is, in all height intervals Rg_1 to Rg_k, only the local sensing component 20_i corresponding to the height interval Rg_i where the target metal is located can uniquely sense the secondary magnetic field generated by the target metal.

[0116] Therefore, the spatial height position of the height interval Rg_i of the target metal that is successfully detected in the vertical direction Z can accurately reflect the height position of the target metal in the detection channel 100 .

[0117] In an embodiment of the present application, the process of determining the spatial positioning position of the target metal by the control component 50 may include:

[0118] In response to the successful detection of the target metal in any one of the height intervals Rg_i, the spatial positioning position of the target metal in the detection channel 100 is determined, wherein the spatial positioning position includes the height positioning position of the target metal in the vertical direction Z, and the height positioning position is associated with the spatial height position of the height interval Rg_i in the vertical direction Z in which the target metal is successfully detected, that is, the height positioning position of the target metal is determined based on the spatial height position of the height interval Rg_i in the vertical direction in which the target metal is successfully detected. For example, the spatial height position of the height interval Rg_i in the vertical direction Z in which the target metal is successfully detected can be characterized by the median position, upper boundary position, or lower boundary position of the height interval Rg_i in the vertical direction Z.

[0119] Figure 5 For Figure 1 An example effect diagram of the time-sharing local detection of the security door in the illustrated embodiment. Figure 5 In the figure, only the first transmitting coil 212_i generates a magnetic field and the first receiving coil 211_i generates a receiving signal Rec_211_i as an example. Figure 5 , when the target metal 90 appears in any height interval Rg_i of the detection channel 100:

[0120] Only at the start time slot ti when the corresponding local sensing component 20_i is enabled, the target metal 90 located in the height interval Rg_i will be in the transmitting and receiving path of the corresponding local sensing component 20_i. At this time, the target metal 90 can be detected by the receiving signal {Rec_211_i, Rec_221_i} generated by the local sensing component 20_i;

[0121] In the startup time slots t(i-1) and t(i+1) in which the local sensing components 20_i-1 and 20_i+1 corresponding to the adjacent height intervals Rg_i-1 and Rg_i+1 are enabled, although the target metal 90 can also be covered by the primary magnetic field of the adjacent height intervals Rg_i-1 and Rg_i+1 and generate a secondary magnetic field, the target metal 90 deviates from the transmitting and receiving paths of the local sensing components 20_i-1 and 20_i+1. Therefore, the local magnetic field strength represented by the receiving signals {Rec_211_i-1, Rec_221_i-1} and {Rec_211_i+1, Rec_221_i+1} generated by the local sensing components 20_i-1 and 20_i+1 respectively does not have the fluctuation amplitude representing the secondary magnetic field.

[0122] Figure 6 For Figure 1 The comparative effect diagram of the security door in the embodiment shown is shown. Figure 6 As shown, if the time-sharing enable of multiple local sensing components 20_1~20_k is enabled synchronously, the receiving signals generated by the local sensing components 20_i-1, 20_i and 20_i+1 corresponding to more than one height interval Rg_i-1, Rg_i and Rg_i+1 have the fluctuation amplitude representing the secondary magnetic field, so that the height positioning position of the target metal in the vertical direction Z cannot be accurately located.

[0123] By comparing Figure 5 and Figure 6 It can be clearly seen that by time-sharing enabling of multiple local sensing components 20_1~20_k, the height positioning position of the target metal in the vertical direction Z determined based on the signal acquisition time of the received signal is accurate. The accuracy mentioned here means that the positioning accuracy can reach the granularity of the height interval Rg_i.

[0124] Based on the embodiments of the present application, the sensing component 29 of the security inspection door may include a plurality of local sensing components 20_1 to 20_k arranged corresponding to the plurality of height intervals Rg_1 to Rg_k of the detection channel 100, and the plurality of local sensing components 20_1 to 20_k may realize time-sharing local detection of the detection channel 100 with the height interval Rg_i as the granularity through time-sharing sensing in the corresponding height intervals Rg_1 to Rg_k. Thus, the spatial positioning position of the target metal in the detection channel 100 may be automatically determined based on the receiving signal {Rec_211_i, Rec_221_i} used to successfully detect the target metal in the time-sharing local detection process. Furthermore, based on the spatial positioning position automatically determined by the security inspection door, the carrying position of the target metal in the object to be detected may be quickly located without the need for manual re-inspection using a handheld detection device, thereby improving the security inspection efficiency.

[0125] In the embodiment of the present application, the control component 50 may also be used for:

[0126] Generate a spatial position trajectory of the target metal in the detection channel 100 based on the spatial positioning position of the target metal in at least two consecutive cycles;

[0127] The generated spatial position trajectory is mapped to a pre-calibrated visualization space for presentation, wherein the visualization space is used to characterize the internal space of the detection channel 100 .

[0128] For example, the control component 50 of the security door can be further connected to the display device for communication, and the display device can present the visualization space in real time. Moreover, when a spatial position trajectory of the target metal is generated, the spatial position trajectory can be mapped in real time to the visualization space presented in real time by the display device.

[0129] Figure 7 For Figure 1 The visualization rendering of the spatial position trajectory generated by the security door in the embodiment shown. Figure 7 In an embodiment of the present application, the visualization space can be a YZ plane space jointly defined by the vertical direction Z and the travel direction Y of the detection channel 100, and the spatial position trajectory 700 can be fitted by discrete position points representing the height positioning position of the target metal in at least two consecutive cycles.

[0130] Among them, if the spatial positioning position of the target metal is represented by the position coordinates in the scene space coordinate system of the scene where the security gate is located, then the coordinates of the first coordinate axis (i.e., the Z axis) of each trajectory point in the spatial position trajectory 700 in the virtual space coordinate system of the visualization space can be based on the conversion relationship between the scene space coordinate system and the virtual space coordinate system of the visualization space, and are converted from the height positioning position of the target metal; or, the spatial positioning position of the target metal can also be directly determined as the position coordinates of the virtual space coordinate system of the visualization space. In this case, the coordinates of the first coordinate axis (i.e., the Z axis) of each trajectory point in the spatial position trajectory 700 in the virtual space coordinate system of the visualization space can be directly determined by the height positioning position of the target metal.

[0131] Moreover, the coordinates of the discrete position points in the spatial position trajectory 700 on the second coordinate axis (i.e., the Y axis) of the virtual space coordinate system of the visualization space can be determined by converting the time dimension and the space dimension of the virtual space coordinate system of the visualization space, that is, the trajectory length of the spatial position trajectory 700 is associated with the duration of at least two cycles of continuous detection of the target metal, and by mapping the spatial position trajectory 700 as a whole to the position interval in the second coordinate axis (i.e., the Y axis), the coordinates of each trajectory point in the spatial position trajectory 700 on the second coordinate axis (i.e., the Y axis) of the virtual space coordinate system of the visualization space can be determined. The above-mentioned position interval can be used to characterize the depth dimension of the detection interval 100 in the travel direction Y.

[0132] Figure 8 For Figure 1 The visualization rendering of the multi-spatial position trajectory generated by the security door in the illustrated embodiment. Figure 8 In the embodiment of the present application, in any cycle, the first target metal and the second target metal located in different height intervals Rg_i and Rg_j may be detected at different enabling time slots ti and tj, respectively. In this case, the control component 50 may be specifically configured as follows: when the target metals continuously detected in at least two of the cycle periods include the first target metal and the second target metal located in different height intervals Rg_i and Rg_j:

[0133] Generate a first spatial position trajectory 710 of the first target metal in the detection channel 100 and a second spatial position trajectory 720 of the second target metal in the detection channel 100 based on the spatial positioning positions of the first target metal and the second target metal in at least two consecutive cycles respectively;

[0134] The first spatial position trajectory 710 and the second spatial position trajectory 720 are mapped and presented in the above-mentioned visualization space.

[0135] In the embodiment of the present application, the spatial positioning position of the target metal in the detection channel 100 determined by the control component 50 may also include the lateral positioning position of the target metal in the width direction X of the security door. Accordingly, the control component 50 may also be used for:

[0136] Based on the intensity distribution state of the local magnetic field strength within the height interval Rg_i where the target metal is successfully detected, the lateral positioning position of the target metal is determined, wherein the intensity distribution state is used to characterize the intensity difference of the local magnetic field strength within the corresponding height interval Rg_i in the width direction X due to the presence of the target metal (i.e., due to the secondary magnetic field generated by the target metal).

[0137] Specifically, as described above, each local induction component 20_i may include a first coil component 21_i and a second coil component 22_i, the first coil component 21_i of each local induction component 20_i includes a first receiving coil 211_i arranged on the first door panel 11, the second coil component 22_i of each local induction component 20_i includes a second receiving coil 221_i arranged on the second door panel 12, and the receiving signal generated by the local induction component 20_i corresponding to each height interval Rg_i when enabled includes a first receiving signal Rec_211_i and a second receiving signal Rec_221_i.

[0138] In this case, the control component 50 may be specifically configured as:

[0139] In response to the fluctuation amplitude of at least one of the first receiving signal Rec_211_i and the second receiving signal Rec_221_i of any enabling time slot ti reaching the target amplitude, it is determined that the target metal is successfully detected within the height interval Rg_i corresponding to the current enabling time slot ti, and the intensity distribution state described above is determined based on the first receiving signal Rec_211_i and the second receiving signal Rec_221_i of the current enabling time slot ti.

[0140] As described above, the signal strength of the first received signal Rec_211_i can be used to characterize the first local magnetic field strength of the local physical magnetic field in the corresponding height interval Rg_i on the side where the first door panel 11 is located, and the signal strength of the second received signal Rec_221_i can be used to characterize the second local magnetic field strength of the local physical magnetic field in the corresponding height interval Rg_i on the side where the second door panel 12 is located, and the above-mentioned fluctuation amplitude may include the first fluctuation amplitude ΔW_211_i of the first local magnetic field strength compared to the primary magnetic field strength described above, and the second fluctuation amplitude ΔW_221_i of the second local magnetic field strength compared to the primary magnetic field strength described above. In this case, the control component 50 can be specifically configured as:

[0141] In response to the fluctuation amplitude of at least one of the first received signal Rec_211_i and the second received signal Rec_221_i of any enabled time slot ti reaching the target amplitude, the amplitude ratio ΔW_211_i / ΔW_221_i of the above-mentioned first fluctuation amplitude ΔW_211_i and the second fluctuation amplitude ΔW_221_i is determined based on the first received signal Rec_211_i and the second received signal Rec_221_i of the current enabled time slot ti, wherein the amplitude ratio ΔW_211_i / ΔW_221_i is used to characterize the magnetic field intensity distribution state described above.

[0142] Fig. 9 For Figure 1 Schematic diagram of the principle of extended positioning of the security door in the embodiment shown. Fig. 9 In the embodiment of the present application, the intensity of the secondary magnetic field (i.e., the fluctuation amplitude described above) sensed by the receiving coils (e.g., the first receiving coil 211_i and the second receiving coil 221_i) of each local sensing component 20_i is associated with the distance of the target metal from the receiving coil in the width direction, and the associated relationship can be expressed as the following expressions (1) and (2):

[0143] ΔW_211_i / d1=ΔW_221_i / (L-d1) Expression (1)

[0144] d2=L-d1Expression (2)

[0145] Wherein, L is the spacing distance between the first door panel 11 and the second door panel 12 in the width direction X, d1 is the first offset distance of the target metal relative to the first door panel 11 in the width direction X, and d2 is the second offset distance of the target metal relative to the second door panel 12 in the width direction X.

[0146] Therefore, combining expressions (1) and (2) yields expression (3):

[0147] ΔW_211_i / ΔW_221_i=d1 / d2 Expression (3)

[0148] Therefore, the amplitude ratio ΔW_211_i / ΔW_221_i that can characterize the magnetic field intensity distribution state can determine the relative position relationship between the target metal and the first door panel 11 and the second door panel 12 in the width direction X, and thus the lateral positioning position of the target metal can be obtained through the relative position relationship.

[0149] That is, if the amplitude ratio ΔW_211_i / ΔW_221_i is used to characterize the magnetic field intensity distribution state described above, the control component 50 may be specifically configured as follows:

[0150] Based on the amplitude ratio ΔW_211_i / ΔW_221_i, a distance ratio d1 / d2 between a first offset distance d1 of the target metal relative to the first door panel 11 in the width direction X and a second offset distance d2 of the target metal relative to the second door panel 12 in the width direction X is determined;

[0151] Based on the distance ratio d1 / d2, the lateral location of the target metal is determined.

[0152] Fig.10 For Figure 1 Schematic diagram of the spatial positioning position of the security door in the embodiment shown in the figure based on the extended positioning. Fig.10 In an embodiment of the present application, if the spatial positioning position of the target metal includes both the height positioning position Pz and the lateral positioning position Px, the three-dimensional spatial positioning of the target metal can be achieved by recording the moving trajectory of the target metal.

[0153] Fig.11 For Figure 1 A visualization rendering of the spatial position trajectory of the security door in the illustrated embodiment generated based on extended positioning. Fig.12 For Figure 1 The visual presentation effect diagram of the multi-space position trajectory generated by the security door in the embodiment shown in the figure based on the extended positioning. Fig.11 and Fig.12 In an embodiment of the present application, if the spatial positioning position of the target metal includes both the height positioning position Pz and the lateral positioning position Px, then the visualization space can be a YXZ three-dimensional space defined by the vertical direction Z, the width direction X, and the travel direction Y of the detection channel 100. Among them, the method for determining the coordinates of each trajectory point in the spatial position trajectory 700 in the third coordinate axis (i.e., the X-axis) of the virtual space coordinate system of the visualization space can be the same as the method for determining the coordinates of each trajectory point in the spatial position trajectory 700 in the first coordinate axis (i.e., the Z-axis) of the virtual space coordinate system of the visualization space, which will not be repeated here. Moreover, the YXZ three-dimensional space can support the separate presentation of the spatial position trajectory 900 of a single target metal, and can also support the synchronous presentation of the first spatial position trajectory 910 of the first target metal and the second spatial position trajectory 920 of the second target metal.

[0154] In addition, when the spatial positioning position of the target metal includes both the height positioning position Pz and the lateral positioning position Px, the display device can respond to the human-computer interaction instruction and display the interface in the following manner: Fig.11 and Fig.12 The YXZ three-dimensional space shown in Figure 7 and Figure 8 Switches between the YZ plane spaces shown.

[0155] Fig.13 For Figure 1 Schematic diagram of the optimization principle of time-sharing local detection of the security door in the embodiment shown. Fig.13 In an embodiment of the present application, the granularity of the time-sharing enabling of multiple local sensing components 20_i can be further refined, that is, each enabling time slot ti can include a first sub-time slot ti_a and a second sub-time slot ti_a, so that the time-sharing enabling controlled by the control component 50 can also enable the first coil component 21_i and the second coil component 22_i of each local sensing component 20_i to be time-sharing enabled in the first sub-time slot ti_a and the second sub-time slot ti_b of the corresponding enabling time slot ti, respectively.

[0156] Fig.14 For Figure 1 Schematic diagram of an optimized example of the transceiver circuit structure of the security door in the embodiment shown. Fig.14 In the embodiment of the present application, the 2×k output terminals of the first multi-select-one switch 35 of the transmitting circuit 30 and the 2×k input terminals of the second multi-select-one switch 45 of the receiving circuit 40 are all selected by the control component 50.

[0157] Based on the above selective conduction, in the first sub-time slot ti_a of each enabled time slot ti:

[0158] The first coil component 21_i (i.e., the first transmitting coil 212_i) of the corresponding local sensing component 20_i generates a primary magnetic field from the second door panel 12 side of the corresponding height interval Rg_i based on the transmitting limit signal Emt_20, and the second coil component 22_i (i.e., the second transmitting coil 222_i) of the local sensing component 20_i is not enabled and cannot receive the transmitting signal Emt_20 from the transmitting circuit 30, so it cannot generate a primary magnetic field from the first door panel 11 side of the corresponding height interval Rg_i;

[0159] The first coil component 21_i (i.e., the first receiving coil 211_i) of the corresponding local sensing component 20_i can generate a first receiving signal Rec_211_i by sensing the first local magnetic field strength of the local physical magnetic field of the corresponding height interval Rg_i on the side of the first door panel 11, and the second coil component 22_i (i.e., the second receiving coil 221_i) of the local sensing component 20_i cannot provide the second receiving signal Rec_221_i to the control component 50 because it is not enabled and not connected to the receiving circuit 40.

[0160] Based on the above selective conduction, in the second sub-time slot ti_b of each enabled time slot ti:

[0161] The second coil component 22_i (i.e., the second transmitting coil 222_i) of the corresponding local sensing component 20_i generates a primary magnetic field from the first door panel 11 side of the corresponding height interval Rg_i based on the transmitting limit signal Emt_20, and the first coil component 21_i (i.e., the first transmitting coil 212_i) of the local sensing component 20_i is not enabled and cannot receive the transmitting signal Emt_20 from the transmitting circuit 30, so it cannot generate a primary magnetic field from the second door panel 12 side of the corresponding height interval Rg_i;

[0162] The second coil component 22_i (i.e., the second receiving coil 221_i) of the corresponding local sensing component 20_i can generate a second receiving signal Rec_221_i by sensing the second local magnetic field strength of the local physical magnetic field of the corresponding height interval Rg_i on the second door panel 12 side, and the first coil component 21_i (i.e., the first receiving coil 211_i) of the local sensing component 20_i cannot provide the first receiving signal Rec_211_i to the control component 50 because it is not enabled and not connected to the receiving circuit 40.

[0163] It can be seen that in the embodiment of the present application, if the control component 50 controls the first coil component 21_i and the second coil component 22_i of each local sensing component 20_i to be time-division enabled in the first sub-time slot ti_a and the second sub-time slot ti_b of the corresponding enabling time slot ti, then:

[0164] The local physical magnetic field in each height interval Rg_i includes a primary magnetic field as follows: a unilateral primary magnetic field generated alternately in the first sub-time slot ti_a and the second sub-time slot ti_b by the first transmitting coil 212_i and the second transmitting coil 222_i of the corresponding local induction component 20_i;

[0165] The first receiving signal Rec_211_i and the second receiving signal Rec_221_i of each local sensing component 20_i are respectively generated in a first sub-time slot ti_a and a second sub-time slot ti_b in the corresponding enabling time slot ti in time-sharing.

[0166] When the first receiving coil 211_i deployed on the first door panel 11 in any local sensing component 20_i is working (i.e., the first sub-time slot ti_a), the first transmitting coil 212_i of the second door panel 12 deployed on the opposite side of the first receiving coil 211_i generates a unilateral primary magnetic field, and the second transmitting coil 222_i deployed on the same side of the first door panel 11 as the first receiving coil 211_i is closed. Therefore, the local physical magnetic field within the corresponding height interval Rg_i at this time only includes the weak primary magnetic field after the unilateral primary magnetic field gradually decays from the second door panel 12 to the first door panel 11, and does not include the unattenuated strong primary magnetic field generated by the second transmitting coil 222_i deployed on the same side of the first door panel 11, that is, the first unilateral magnetic field strength at least includes the strength of the weak primary magnetic field after the primary magnetic field generated by the first transmitting coil 212_i decays across the detection channel 100 along the width direction X;

[0167] When the second receiving coil 221_i deployed on the second door panel 12 in any local sensing component 20_i is working (i.e., the second sub-time slot ti_b), the second transmitting coil 222_i deployed on the first door panel 11 on the opposite side of the second receiving coil 221_i generates a unilateral primary magnetic field, and the first transmitting coil 212_i deployed on the second door panel 12 on the same side as the second receiving coil 221_i is closed. Therefore, the local physical magnetic field within the corresponding height interval Rg_i at this time only includes the weak primary magnetic field after the unilateral primary magnetic field gradually decays from the first door panel 11 to the second door panel 12, but does not include the unattenuated strong primary magnetic field generated by the first transmitting coil 212_i deployed on the same side of the second door panel 12, that is, the second unilateral magnetic field strength at least includes the strength of the weak primary magnetic field after the primary magnetic field generated by the second transmitting coil 222_i decays along the width direction X across the detection channel 100.

[0168] That is, the primary magnetic field included in the local physical magnetic field within each height interval Rg_i is only the unilateral primary magnetic field alternately generated by the first transmitting coil 212_i and the second transmitting coil 22 of the corresponding local induction component 20_i in the first sub-time slot ti_a and the second sub-time slot ti_b, respectively, and the first receiving coil 211_i and the second receiving coil 221_i working in the first sub-time slot ti_a and the second sub-time slot ti_b, respectively, are both located in the attenuation area of ​​the unilateral primary magnetic field, thereby reducing the intensity of the primary magnetic field induced by the first receiving coil 211_i and the second receiving coil 221_i when working.

[0169] If the fluctuation amplitude of the secondary magnetic field characterized by the target metal described above is regarded as the target signal in the first receiving signal Rec_211_i and the second receiving signal Rec_221_i, and the signal component of the magnetic field strength characterized by the primary magnetic field in the first receiving signal Rec_211_i and the second receiving signal Rec_221_i is regarded as an interference signal, then by reducing the strength of the primary magnetic field induced by the first receiving coil 211_i and the second receiving coil 221_i when working, the signal-to-noise ratio of the first receiving signal Rec_211_i and the second receiving signal Rec_221_i can be improved.

[0170] Fig.15 For Figure 1 A signal-to-noise ratio curve diagram of the first received signal in the illustrated embodiment. Fig.16 For Figure 1 The signal-to-noise ratio curve of the second received signal in the embodiment shown. Fig.15 and Fig.16 :

[0171] If the target metal is located close to the first door panel 11 within any height interval Rg_i, the first receiving coil 211_i has a higher sensitivity to the magnetic field strength of the secondary magnetic field generated by the target metal, and Fig.15 As shown, the signal-to-noise ratio of the intensity fluctuation in the first unilateral magnetic field intensity caused by the secondary magnetic field in the first receiving signal Rec_211_i is higher. For example, the signal-to-noise ratio of the intensity fluctuation in the first unilateral magnetic field intensity caused by the secondary magnetic field in the first receiving signal Rec_211_i may be exponentially related to the distance of the target metal relative to the first door panel 11 in the width direction X of the detection channel 100;

[0172] If the target metal is located close to the second door panel 12 within any height interval Rg_i, the second receiving coil 221 has a higher sensitivity to the magnetic field strength of the secondary magnetic field generated by the target metal, and Fig.16 As shown, the signal-to-noise ratio of the intensity fluctuation in the second unilateral magnetic field strength caused by the secondary magnetic field in the second received signal Rec_221_i is higher. For example, the signal-to-noise ratio of the intensity fluctuation in the second unilateral magnetic field strength caused by the secondary magnetic field in the second received signal Rec_221_i can be exponentially related to the distance of the target metal relative to the second door panel 12 in the width direction X of the detection channel 100.

[0173] Fig.17 For Figure 1 The high signal-to-noise ratio curve diagram based on the bilateral unilateral determination in the embodiment shown. Fig.17As shown, the control component 50 can use the first unilateral magnetic field strength represented by the first received signal Rec_211_i to detect and determine the target metal in the unilateral area on one side close to the first door panel 11 in the detection channel 100, and can use the second unilateral magnetic field strength represented by the second received signal Rec_221_i to detect and determine the target metal in the other unilateral area on the second door panel 12 in the detection channel 100. Therefore, no matter where the target metal generates the secondary magnetic field in the width direction X of the detection channel 100, the signal-to-noise ratio of the intensity fluctuation caused by the secondary magnetic field can reach 1 / 2. Fig.15 and Fig.16 The high signal-to-noise ratio range.

[0174] Therefore, if there is a target metal in any height interval Rg_i, even if the target metal is a small metal object with a weak ability to generate a secondary magnetic field, the weak secondary magnetic field generated by it may penetrate the attenuation area of ​​the unilateral primary magnetic field and be successfully sensed by the first receiving coil 211_i of the corresponding local sensing component 20_i in the first sub-time slot ti_a, or by the second receiving coil 221_i of the corresponding local sensing component 20_i in the second sub-time slot ti_b. Therefore, the sensitivity of sensing the target metal can be improved to reduce the probability of missed detection of the target metal.

[0175] Moreover, the improvement of the signal-to-noise ratio of the first receiving signal Rec_211_i and the second receiving signal Rec_221_i can also help improve the accuracy of the lateral positioning of the target metal.

[0176] That is, in an embodiment of the present application, in order to ensure that the target metal can be successfully detected at any position in the width direction of the detection channel 100 through effective induction of the secondary magnetic field generated by it, the control component 50 can also be used to: in response to the detection result that the intensity fluctuation of the first unilateral magnetic field strength and / or the second unilateral magnetic field strength compared to the primary magnetic field strength described above reaches a target amplitude, determine that there is a target metal in the detection channel 100, that is, determine that the object to be detected currently passing through the detection channel 100 carries the target metal, wherein the target amplitude is used to characterize the magnetic field strength threshold of the secondary magnetic field generated by the target metal based on the primary magnetic field.

[0177] Fig.18 This is an exemplary flow chart of the metal positioning method for security doors based on time-sharing enabling control in the embodiment of the present application. Fig.18In an embodiment of the present application, the metal positioning method may be applicable to a security door including a plurality of local sensing components as described above, wherein the metal positioning method may control a plurality of local sensing components corresponding to a plurality of height intervals to be enabled in a time-sharing manner, and the time-sharing enabling may limit the enabling state of each local sensing component to the enabling time slot assigned to the corresponding height interval, and the metal positioning method may further include:

[0178] S1810: In response to successful acquisition of the received signal in each enabled time slot, detecting a fluctuation amplitude of the local magnetic field strength represented by the received signal in the current enabled time slot.

[0179] For example, as described above, if each local induction component includes a first coil component and a second coil component, the receiving signal generated by each local induction component in the corresponding enabled time slot may include a first receiving signal generated by the first coil component (i.e., the first receiving coil) and a second receiving signal generated by the second coil component (i.e., the second receiving coil).

[0180] For example, the fluctuation amplitude detected by S1810 may refer to the fluctuation amplitude of the local magnetic field strength of the local physical magnetic field in the corresponding height interval represented by the received signal compared to the primary magnetic field strength described above. That is, S1810 may detect the fluctuation amplitude of the local magnetic field strength in the corresponding height interval in the current enabled time slot compared to the primary magnetic field strength described above based on the received signal of the current enabled time slot, and the primary magnetic field strength is associated with the signal strength of the transmitted signal generated by the induction component. Furthermore, S1810 may determine the successful detection of the target metal in response to the detection result that the fluctuation amplitude reaches the target amplitude.

[0181] If the received signal acquired by S1810 includes a first received signal and a second received signal, then the local magnetic field strength of the local physical magnetic field within any height interval compared to the fluctuation amplitude of the primary magnetic field may include: the first local magnetic field strength of the local physical magnetic field within the corresponding height interval represented by the first received signal on the first door panel side compared to the first fluctuation amplitude of the primary magnetic field, and the second local magnetic field strength of the local physical magnetic field within the corresponding height interval represented by the second received signal on the second door panel side compared to the second fluctuation amplitude of the primary magnetic field.

[0182] For another example, the fluctuation amplitude detected by S1810 can be determined by demodulating the received signal with a primary magnetic field as a carrier, that is, S1810 can use the signal strength of the transmitting signal generated by the induction component to demodulate the received signal of the current enabled time slot with a primary magnetic field as a carrier, and the demodulation result of the signal demodulation may include the fluctuation amplitude to be detected by S1810.

[0183] S1830: In response to the fluctuation amplitude of the received signal of any enabled time slot reaching the target amplitude, it is determined that the target metal is successfully detected within the height interval corresponding to the current enabled time slot, wherein the target amplitude is used to characterize the target magnetic field strength of the secondary magnetic field generated by the target metal based on the primary magnetic field.

[0184] For example, the fluctuation amplitude detected by S1810 may include the above-mentioned first fluctuation amplitude and second fluctuation amplitude. Then, S1830 may determine the successful detection of the target metal appearing in the corresponding height range in response to the detection result that at least one of the first fluctuation amplitude and the second fluctuation amplitude reaches the target amplitude.

[0185] S1850: In response to successful detection of the target metal within any height interval, determine the spatial positioning position of the target metal within the detection channel, wherein the spatial positioning position includes the height positioning position of the target metal in the vertical direction, and the process of determining the spatial positioning position includes: determining the height positioning position of the target metal based on the spatial height position of the height interval in which the target metal is successfully detected in the vertical direction.

[0186] Since the sensing component of the security inspection door may include multiple local sensing components arranged corresponding to multiple height intervals of the detection channel, and the multiple local sensing components can realize time-sharing local detection of the detection channel with height intervals as the granularity through time-sharing sensing in the corresponding height intervals, therefore, based on the above process, the spatial positioning position of the target metal in the detection channel can be automatically determined according to the received signal based on which the target metal is successfully detected in the time-sharing local detection process. Furthermore, based on the spatial positioning position automatically determined by the security inspection door, the carrying position of the target metal in the object to be detected can be quickly located without the need for manual re-inspection with the help of handheld detection equipment, thereby improving the security inspection efficiency.

[0187] In an embodiment of the present application, the time-sharing enabling control of multiple local sensing components by the metal positioning method can be implemented during the period when the target to be detected passes through the detection channel, that is, the time-sharing enabling control of multiple local sensing components by the metal positioning method can be started in response to a first trigger signal generated by a first sensor arranged on the entrance side of the detection channel when the target to be detected passes through its sensing range, and the time-sharing enabling control of multiple local sensing components by the metal positioning method can be ended in response to a second trigger signal generated by a second sensor arranged on the exit side of the detection channel when the target to be detected passes through its sensing range.

[0188] In the embodiments of the present application, Fig.18 The process shown can be executed periodically and cyclically, that is, the time-sharing enabling can periodically and cyclically enable multiple local sensing components in a time-sharing manner, and, as Fig.18Each execution of the process shown can be regarded as a cycle.

[0189] In an embodiment of the present application, each enabling time slot may be further configured to include a first sub-time slot and a second sub-time slot. In this case, the metal positioning method may control the time-sharing enabling of multiple local sensing components by: controlling the first coil component and the second coil component of each local sensing component to be time-sharing enabled in the first sub-time slot and the second sub-time slot of the corresponding enabling time slot, respectively. Accordingly, the primary magnetic field included in the local physical magnetic field within each height interval may be: a unilateral primary magnetic field generated alternately by the first transmitting coil and the second transmitting coil of the corresponding local sensing component in the first sub-time slot and the second sub-time slot, respectively; and the first receiving signal and the second receiving signal of each local sensing component are respectively generated in the first sub-time slot and the second sub-time slot in the corresponding enabling time slot, respectively.

[0190] In addition, in the embodiment of the present application, the spatial positioning position determined by the metal positioning method may also include the lateral positioning position of the target metal in the width direction of the security door, that is, S1850 may also include:

[0191] Determine, based on the first received signal and the second received signal used to successfully detect the target metal, an intensity distribution state of the local magnetic field intensity within a height interval in which the target metal is successfully detected;

[0192] The lateral location of the target metal is determined based on the intensity distribution state of the local magnetic field strength within the height interval where the target metal is successfully detected, wherein the intensity distribution state is used to characterize the intensity difference of the local magnetic field strength in the width direction due to the presence of the target metal.

[0193] For example, S1850 can determine the intensity distribution state in the following manner: in response to the fluctuation amplitude of at least one of the first received signal and the second received signal of any enabled time slot reaching the target amplitude, determine the amplitude ratio of the first fluctuation amplitude and the second fluctuation amplitude based on the first received signal and the second received signal of the current enabled time slot, wherein the amplitude ratio is used to characterize the above-mentioned magnetic field intensity distribution state.

[0194] In this case, S1850 can also determine the lateral positioning position of the target metal in the following manner: based on the above-mentioned amplitude ratio, determine the distance ratio of the first offset distance of the target metal in the width direction relative to the first door panel and the second offset distance of the target metal in the width direction relative to the second door panel, see expression (3) described above for details; thus, based on this distance ratio, the lateral positioning position of the target metal can be determined.

[0195] In addition, whether the spatial positioning position includes a height positioning position or a position combination of a height positioning position and a lateral positioning position, the metal positioning method in the embodiment of the present application may further include:

[0196] Based on the spatial positioning position of the target metal in at least two consecutive cycles, a spatial position trajectory of the target metal in the detection channel is generated, wherein if the target metals continuously detected in at least two of the cycles include a first target metal and a second target metal located in different height intervals, respectively, then the generated spatial trajectory may include a first spatial position trajectory of the first target metal in the detection channel, and a second spatial position trajectory of the second target metal in the detection channel;

[0197] The spatial position trajectory is mapped to a pre-calibrated visualization space for presentation, wherein the visualization space is used to characterize the internal space of the detection channel, wherein if the generated trajectory includes the first spatial trajectory and the second spatial trajectory mentioned above, the first spatial position trajectory and the second spatial position trajectory can be mapped to the visualization space for synchronous presentation.

[0198] For the generation and mapping of spatial position trajectories, please refer to the previous article for details. Figure 7 and Figure 8 ,as well as Fig.11 and Fig.12 The text description will not be repeated here.

[0199] Fig.19 This is an exemplary structural diagram of a metal positioning device for a security door in an embodiment of the present application. Fig.19 In an embodiment of the present application, the metal locating device may be applicable to a security door including a plurality of local sensing components as described above.

[0200] Among them, the metal positioning device may include a timing control module 1900, and the timing control module 1900 can control multiple local sensing components corresponding to multiple height intervals to be enabled in time-sharing manner, and the time-sharing enabling can limit the enabling state of each local sensing component to the enabling time slot assigned to the corresponding height interval. As a further preferred method, the timing control module 1900 can also refer to the method described above to control the first coil component and the second coil component of each local sensing component to be enabled in time-sharing manner in the first sub-time slot and the second sub-time slot of the corresponding enabling time slot, respectively, which will not be repeated here. In addition, the time-sharing enabling control of multiple local sensing components by the timing control module 1900 can be implemented during the period when the target to be detected passes through the detection channel, as described above, and will not be repeated here.

[0201] Furthermore, the metal positioning device in the embodiment of the present application may further include:

[0202] The amplitude detection module 1910 is used to detect the fluctuation amplitude of the local magnetic field strength represented by the received signal of the current enabled time slot in response to the successful acquisition of the received signal in each enabled time slot. For example, the specific working principle of the amplitude detection module 1910 can be found in the text description of S1810 above, which will not be repeated here;

[0203] The detection and judgment module 1930 is used to determine that the target metal is successfully detected within the height interval corresponding to the current enabled time slot in response to the fluctuation amplitude of the received signal of any enabled time slot reaching the target amplitude, wherein the target amplitude is used to characterize the target magnetic field intensity of the secondary magnetic field generated by the target metal based on the primary magnetic field. For example, the specific working principle of the detection and judgment module 1930 can be found in the text description of S1930 above, which will not be repeated here;

[0204] The target positioning module 1950 is used to determine the spatial positioning position of the target metal in the detection channel in response to the successful detection of the target metal in any height interval, wherein the spatial positioning position includes the height positioning position of the target metal in the vertical direction, and the target positioning module 1950 can be specifically configured to determine the height positioning position of the target metal based on the spatial height position of the height interval in which the target metal is successfully detected in the vertical direction.

[0205] In an embodiment of the present application, if the spatial positioning position may also include the lateral positioning position of the target metal in the width direction of the security door, the target positioning module 1950 may also be configured as follows:

[0206] Determine, based on the first received signal and the second received signal used to successfully detect the target metal, an intensity distribution state of the local magnetic field intensity within a height interval in which the target metal is successfully detected;

[0207] The lateral location of the target metal is determined based on the intensity distribution state of the local magnetic field strength within the height interval where the target metal is successfully detected, wherein the intensity distribution state is used to characterize the intensity difference of the local magnetic field strength in the width direction due to the presence of the target metal.

[0208] Among them, the specific method for the target positioning module 1950 to determine the intensity distribution state and the lateral positioning position can refer to the text description of S1850 above, which will not be repeated here.

[0209] Since the sensing component of the security inspection door may include multiple local sensing components arranged corresponding to multiple height intervals of the detection channel, and the multiple local sensing components can realize time-sharing local detection of the detection channel with height intervals as the granularity through time-sharing sensing in the corresponding height intervals, therefore, based on the above-mentioned metal positioning device, the spatial positioning position of the target metal in the detection channel can be automatically determined according to the received signal based on which the target metal is successfully detected in the time-sharing local detection process. Furthermore, based on the spatial positioning position automatically determined by the security inspection door, the carrying position of the target metal in the object to be detected can be quickly located without the need for manual re-inspection with the help of handheld detection equipment, thereby improving the security inspection efficiency.

[0210] In the embodiment of the present application, the metal positioning device may also include Fig.19 As shown in:

[0211] A trajectory generation module, for generating a spatial position trajectory of the target metal in the detection channel based on the spatial positioning position of the target metal in at least two consecutive cycles, wherein if the target metals continuously detected in at least two of the cycles include a first target metal and a second target metal located in different height intervals, respectively, then the generated spatial trajectory may include a first spatial position trajectory of the first target metal in the detection channel, and a second spatial position trajectory of the second target metal in the detection channel;

[0212] A mapping presentation module is used to map the spatial position trajectory to a pre-calibrated visual space presentation, wherein the visual space is used to characterize the internal space of the detection channel, wherein if the generated trajectory includes the above-mentioned first spatial trajectory and second spatial trajectory, then the first spatial position trajectory and the second spatial position trajectory can be mapped to the visual space for synchronous presentation.

[0213] The specific working principles of the trajectory generation module and the mapping presentation module can be found in the previous section. Figure 7 and Figure 8 ,as well as Fig.11 and Fig.12 The text description will not be repeated here.

[0214] Another embodiment of the present application further provides a non-transitory computer-readable storage medium, which stores instructions. When the instructions are executed by a processor, the processor executes the metal positioning method described in the aforementioned embodiment.

[0215] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A security door, characterized in that: include: The door frame body has a detection channel including a plurality of adjacently arranged height intervals in the vertical direction; The sensing component comprises a plurality of local sensing components arranged corresponding to the plurality of altitude intervals, the signal strength of the received signal generated by each local sensing component when enabled is used to characterize the local magnetic field strength of the local physical magnetic field in the corresponding altitude interval, and the local physical magnetic field in each altitude interval comprises a primary magnetic field generated by the corresponding local sensing component when enabled; A control component is used to control the multiple local sensing components to be enabled in time-sharing manner, wherein the time-sharing enabling limits the enabling state of each local sensing component to an enabling time slot allocated to the corresponding altitude interval, and the control component is further used to: In response to successful acquisition of the received signal in each of the enabled time slots, detecting a fluctuation amplitude of the local magnetic field strength represented by the received signal in the current enabled time slot; In response to the fluctuation amplitude of the received signal of any one of the enabled time slots reaching a target amplitude, determining that the target metal is successfully detected within the height interval corresponding to the current enabled time slot, wherein the target amplitude is used to characterize the target magnetic field intensity of the secondary magnetic field generated by the target metal based on the primary magnetic field; In response to successful detection of the target metal within any one of the height intervals, the spatial positioning position of the target metal within the detection channel is determined, wherein the spatial positioning position includes the height positioning position of the target metal in the vertical direction, and the height positioning position is associated with the spatial height position in the vertical direction of the height interval in which the target metal is successfully detected.

2. The security door according to claim 1, characterized in that: The spatial positioning position also includes the lateral positioning position of the target metal in the width direction of the security door; The control component is also used for: The lateral positioning position of the target metal is determined based on the intensity distribution state of the local magnetic field strength within the height range of the target metal successfully detected, wherein the intensity distribution state is used to characterize the intensity difference of the local magnetic field strength in the width direction due to the presence of the target metal.

3. The security door according to claim 2, characterized in that: The door frame body comprises a first door panel and a second door panel respectively arranged at opposite sides in the width direction of the detection channel, each of the local sensing components comprises a first coil component and a second coil component, the first coil component comprises a first receiving coil arranged on the first door panel, and the second coil component comprises a second receiving coil arranged on the second door panel; The receiving signal generated by each local sensing component in the corresponding enabling time slot includes a first receiving signal generated by the first receiving coil and a second receiving signal generated by the second receiving coil; The control component is specifically configured as follows: In response to the fluctuation amplitude of at least one of the first received signal and the second received signal of any one of the enabled time slots reaching the target amplitude, the intensity distribution state is determined based on the first received signal and the second received signal of the current enabled time slot.

4. The security door according to claim 3, characterized in that: The signal strength of the first received signal is used to characterize a first local magnetic field strength of the local physical magnetic field in the corresponding height interval on the side where the first door panel is located, and the signal strength of the second received signal is used to characterize a second local magnetic field strength of the local physical magnetic field in the corresponding height interval on the side where the second door panel is located; The fluctuation amplitude includes a first fluctuation amplitude of the first local magnetic field strength and a second fluctuation amplitude of the second local magnetic field strength; The control component is specifically configured as follows: In response to the fluctuation amplitude of at least one of the first received signal and the second received signal of any one of the enabled time slots reaching the target amplitude, the amplitude ratio of the first fluctuation amplitude and the second fluctuation amplitude is determined based on the first received signal and the second received signal of the current enabled time slot, wherein the amplitude ratio is used to characterize the magnetic field intensity distribution state.

5. The security door according to claim 4, characterized in that: The control component is specifically configured as follows: determining, based on the amplitude ratio, a distance ratio of a first offset distance of the target metal relative to the first door panel to a second offset distance of the target metal relative to the second door panel; Based on the distance ratio, the lateral location of the target metal is determined.

6. The security door according to claim 1, characterized in that: The time-sharing enabling periodically and cyclically enables the plurality of local sensing components in a time-sharing manner; The control component is also used for: Based on the spatial positioning positions of the target metal in at least two consecutive cycles, generating a spatial position trajectory of the target metal in the detection channel; The spatial position trajectory is mapped to a pre-calibrated visualization space for presentation, wherein the visualization space is used to represent the internal space of the detection channel.

7. The security door according to claim 6, characterized in that: The control component is specifically configured to, when the target metals continuously detected in at least two of the cycles include a first target metal and a second target metal respectively located in different height intervals: Generate a first spatial position trajectory of the first target metal in the detection channel and a second spatial position trajectory of the second target metal in the detection channel based on the spatial positioning positions of the first target metal and the second target metal in at least two consecutive cycles respectively; The first spatial position trajectory and the second spatial position trajectory are mapped to the visualization space for synchronous presentation.

8. The security door according to claim 1, characterized in that: The door frame body comprises a first door panel and a second door panel respectively arranged at opposite sides in the width direction of the detection channel, each of the local sensing components comprises a first coil component and a second coil component, the first coil component comprises a first receiving coil arranged on the first door panel, and a first transmitting coil arranged on the second door panel, and the second coil component comprises a second receiving coil arranged on the second door panel, and a second transmitting coil arranged on the first door panel; Each of the enabling time slots includes a first sub-time slot and a second sub-time slot, and the time-sharing enabling further enables the first coil assembly and the second coil assembly of each of the local sensing assemblies to be time-sharing enabled in the first sub-time slot and the second sub-time slot of the corresponding enabling time slot, respectively; The first coil assembly further includes a first transmitting coil of the assembly arranged on the second door panel, the second coil assembly further includes a second transmitting coil of the assembly arranged on the first door panel, and the local physical magnetic field in each of the height intervals includes the primary magnetic field as follows: a unilateral primary magnetic field generated alternately by the first transmitting coil and the second transmitting coil of the corresponding local induction assembly in the first sub-time slot and the second sub-time slot respectively; The receiving signal generated by each local sensing component in the corresponding enabled time slot includes a first receiving signal generated by the first receiving coil and a second receiving signal generated by the second receiving coil. The first receiving signal and the second receiving signal of each local sensing component are respectively generated in time-sharing in the first sub-time slot and the second sub-time slot within the corresponding enabled time slot.

9. The security door according to claim 1, characterized in that: The control component is specifically configured as follows: In response to successful acquisition of the received signal in each of the enabled time slots, based on the received signal of the current enabled time slot, detecting the fluctuation amplitude of the local magnetic field intensity within the corresponding altitude interval compared to the primary magnetic field intensity of the primary magnetic field in the current enabled time slot, wherein the primary magnetic field intensity is associated with the signal intensity of the transmitted signal generated by the induction component; In response to a detection result that the fluctuation amplitude reaches the target amplitude, successful detection of the target metal is determined.

10. The security door according to claim 9, characterized in that: The control component is specifically configured as follows: In response to successful acquisition of the received signal in each of the enabled time slots, using the signal strength of the transmitted signal to perform signal demodulation on the received signal of the current enabled time slot using the primary magnetic field as a carrier; The demodulation result of the signal demodulation includes the fluctuation amplitude.

11. A metal positioning method for a security door, characterized in that: The security door comprises a door frame body and a sensing component, wherein the door frame body has a detection channel including a plurality of adjacently arranged height intervals in the vertical direction, the sensing component comprises a plurality of local sensing components arranged corresponding to the plurality of height intervals, the signal strength of a received signal generated by each of the local sensing components when enabled is used to characterize the local magnetic field strength of a local physical magnetic field in the corresponding height interval, the local physical magnetic field in each of the height intervals comprises a primary magnetic field generated by the corresponding local sensing component when enabled, the metal positioning method controls the plurality of local sensing components to be enabled in time-sharing manner, the time-sharing enabling makes the enabling state of each of the local sensing components limited to the enabling time slot allocated to the corresponding height interval, and the metal positioning method further comprises: In response to successful acquisition of the received signal in each of the enabled time slots, detecting a fluctuation amplitude of the local magnetic field strength represented by the received signal in the current enabled time slot; In response to the fluctuation amplitude of the received signal of any one of the enabled time slots reaching a target amplitude, determining that the target metal is successfully detected within the height interval corresponding to the current enabled time slot, wherein the target amplitude is used to characterize the target magnetic field intensity of the secondary magnetic field generated by the target metal based on the primary magnetic field; In response to successful detection of the target metal within any one of the height intervals, the spatial positioning position of the target metal within the detection channel is determined, wherein the spatial positioning position includes the height positioning position of the target metal in the vertical direction, and the determination of the spatial positioning position of the target metal within the detection channel includes: determining the height positioning position of the target metal based on the spatial height position of the height interval in which the target metal is successfully detected in the vertical direction.

12. The metal positioning method according to claim 11, characterized in that: The spatial positioning position also includes the lateral positioning position of the target metal in the width direction of the security door, and the determining the spatial positioning position of the target metal in the detection channel further includes: determining the lateral positioning position of the target metal based on the intensity distribution state of the local magnetic field intensity in the height interval where the target metal is successfully detected, wherein the intensity distribution state is used to characterize the intensity difference of the local magnetic field intensity in the width direction due to the presence of the target metal; and / or, The time-sharing enabling periodically cycles and time-sharingly enables the plurality of local sensing components, and the metal locating method further comprises: generating a spatial position trajectory of the target metal in the detection channel based on the spatial positioning position of the target metal in at least two consecutive cycles; and mapping the spatial position trajectory to a pre-calibrated visualization space presentation, wherein the visualization space is used to characterize the internal space of the detection channel; and / or, The door frame body comprises a first door panel and a second door panel respectively arranged on opposite sides in the width direction of the detection channel, each of the local sensing components comprises a first coil component and a second coil component, the first coil component comprises a first receiving coil arranged on the first door panel, and a first transmitting coil arranged on the second door panel, and the second coil component comprises a second receiving coil arranged on the second door panel, and a second transmitting coil arranged on the first door panel; each of the enabling time slots comprises a first sub-time slot and a second sub-time slot, and the controlling of the multiple local sensing components to be time-sharing enabled comprises: controlling the first coil component and the second coil component of each local sensing component to be time-sharing enabled in the first sub-time slot and the second sub-time slot of the corresponding enabling time slot respectively; the first coil component The coil assembly also includes a first transmitting coil of the assembly arranged on the second door panel, the second coil assembly also includes a second transmitting coil arranged on the first door panel, and the local physical magnetic field in each of the height intervals includes the primary magnetic field as follows: the unilateral primary magnetic field generated alternately by the first transmitting coil and the second transmitting coil of the corresponding local induction assembly in the first sub-time slot and the second sub-time slot respectively; the receiving signal generated by each local induction assembly in the corresponding enabling time slot includes a first receiving signal generated by the first receiving coil and a second receiving signal generated by the second receiving coil, and the first receiving signal and the second receiving signal of each local induction assembly are respectively generated in the first sub-time slot and the second sub-time slot in the corresponding enabling time slot; and / or, The detecting of the fluctuation amplitude of the local magnetic field strength represented by the received signal of the current enabled time slot comprises: based on the received signal of the current enabled time slot, detecting the fluctuation amplitude of the local magnetic field strength within the corresponding height interval compared with the primary magnetic field strength of the primary magnetic field in the current enabled time slot, wherein the primary magnetic field strength is associated with the signal strength of the transmitting signal generated by the sensing component; and, in response to the detection result that the fluctuation amplitude reaches the target amplitude, determining the successful detection of the target metal.

13. A metal positioning device for a security door, characterized in that: The security door includes a door frame body and a sensing component, wherein the door frame body has a detection channel including a plurality of adjacently arranged height intervals in the vertical direction, the sensing component includes a plurality of local sensing components arranged corresponding to the plurality of height intervals, the signal strength of the received signal generated by each of the local sensing components when enabled is used to characterize the local magnetic field strength of the local physical magnetic field in the corresponding height interval, the local physical magnetic field in each of the height intervals includes a primary magnetic field generated by the corresponding local sensing component when enabled, the metal positioning includes a timing control module, the timing control module is used to control the time-sharing enabling of the plurality of local sensing components, the time-sharing enabling limits the enabling state of each of the local sensing components to the enabling time slot allocated to the corresponding height interval, and the metal positioning device also includes: an amplitude detection module, configured to detect, in response to successful acquisition of the received signal in each of the enabled time slots, a fluctuation amplitude of the local magnetic field intensity represented by the received signal in the current enabled time slot; a detection and judgment module, configured to determine that a target metal is successfully detected within the height interval corresponding to the current enable time slot in response to the fluctuation amplitude of the received signal of any one of the enable time slots reaching a target amplitude, wherein the target amplitude is used to characterize a target magnetic field intensity of a secondary magnetic field generated by the target metal based on the primary magnetic field; A target positioning module is used to determine the spatial positioning position of the target metal in the detection channel in response to successful detection of the target metal in any one of the height intervals, wherein the spatial positioning position includes the height positioning position of the target metal in the vertical direction, and the target positioning module is specifically configured to determine the height positioning position of the target metal based on the spatial height position of the height interval in which the target metal is successfully detected in the vertical direction.

14. The metal positioning device according to claim 13, characterized in that: The spatial positioning position also includes the lateral positioning position of the target metal in the width direction of the security door, and the target positioning module is specifically configured to: determine the lateral positioning position of the target metal based on the intensity distribution state of the local magnetic field intensity within the height interval where the target metal is successfully detected, wherein the intensity distribution state is used to characterize the intensity difference of the local magnetic field intensity in the width direction due to the presence of the target metal; and / or, The time-sharing enabling periodically and cyclically enables the plurality of local sensing components in a time-sharing manner; the metal positioning device further comprises: A trajectory generation module, used for generating a spatial position trajectory of the target metal in the detection channel based on the spatial positioning position of the target metal in at least two consecutive cycles; and a mapping presentation module, used for mapping the spatial position trajectory to a pre-calibrated visualization space presentation, wherein the visualization space is used to represent the internal space of the detection channel; and / or, The door frame body includes a first door panel and a second door panel respectively arranged on opposite sides of the width direction of the detection channel, each of the local induction components includes a first coil component and a second coil component, the first coil component includes a first receiving coil arranged on the first door panel, and a first transmitting coil arranged on the second door panel, and the second coil component includes a second receiving coil arranged on the second door panel, and a second transmitting coil arranged on the first door panel; each of the enabling time slots includes a first sub-time slot and a second sub-time slot, and the time-sharing enabling enables the first coil component and the second coil component of each local induction component to be time-sharing enabled in the first sub-time slot and the second sub-time slot of the corresponding enabling time slot respectively; the first coil component also includes an arrangement The first transmitting coil of the component of the second door panel, the second coil component also includes a second transmitting coil arranged on the first door panel, and the local physical magnetic field in each of the height intervals includes the primary magnetic field as follows: the unilateral primary magnetic field generated alternately by the first transmitting coil and the second transmitting coil of the corresponding local induction component in the first sub-time slot and the second sub-time slot respectively; the receiving signal generated by each local induction component in the corresponding enabling time slot includes the first receiving signal generated by the first receiving coil and the second receiving signal generated by the second receiving coil, and the first receiving signal and the second receiving signal of each local induction component are respectively generated in the first sub-time slot and the second sub-time slot in the corresponding enabling time slot; and / or, The amplitude detection module is specifically configured to: detect the fluctuation amplitude of the local magnetic field strength within the corresponding height interval compared with the primary magnetic field strength of the primary magnetic field in the current enabled time slot based on the received signal of the current enabled time slot, wherein the primary magnetic field strength is associated with the signal strength of the transmitted signal generated by the sensing component; and determine the successful detection of the target metal in response to the detection result that the fluctuation amplitude reaches the target amplitude.

15. A non-transitory computer-readable storage medium, characterized in that The non-transitory computer-readable storage medium stores instructions which, when executed by a processor, cause the processor to perform the metal locating method of claim 11 or 12.

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