Self-adaptive sliding plug door anti-pinch system and sliding plug door structure
By designing an adaptive sling door anti-clip system on the sling door, the detection module and control module are used to screen out specific inlet and exit personnel in real time, and the opening and closing actions of the sling door are optimized through the timing module and alarm prompt device, the problem that the existing sling door cannot effectively screen out specific inlet and exit personnel is solved, and the effective opening and closing of the sling door and the safe passage of personnel is achieved.
Patent Information
- Application Number
- CN202510276996.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-10
- Publication Date
- 2025-04-15
AI Technical Summary
The existing sled door cannot effectively screen out specific personnel entering and exiting, resulting in the sled door being unable to effectively open and close, and it is impossible to ensure that personnel pass safely.
An adaptive sling door anti-clip system is designed, including a detection module, a control module and a sling door drive module. The camera and lidar device detect personnel or object information in real time, filter out specific incoming and outgoing personnel, and optimize the opening and closing actions of the sling door through the timing module and alarm prompt device to ensure safe passage of personnel.
Real-time detection and screening of personnel or objects in the surrounding areas of the Seller Door is realized, ensuring effective opening and closing of the Seller Door, reducing the risk of being clipped, and improving the safety and efficiency of personnel passage.
Smart Images
Figure CN119825216A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of plug-and-sliding doors, and in particular to an adaptive plug-and-sliding door anti-pinch system and a plug-and-sliding door structure. Background Art
[0002] When the existing Sierra door is in use, it is generally controlled to open by sensing people or objects, and at the same time, it is controlled to close after a preset time is reached. However, when people or objects pass through the Sierra door without entering, the Sierra door will also open, and it is impossible to screen out the specific people entering and exiting, so as to achieve effective opening and closing of the Sierra door. Therefore, it is necessary to design an adaptive Sierra door anti-pinch system and a Sierra door structure to solve the above problems. Summary of the invention
[0003] The purpose of the present invention is to design an adaptive plug-in door anti-pinch system to solve the problem in the above-mentioned background technology that the existing plug-in door cannot screen out specific people entering and exiting, so that the plug-in door can be effectively opened and closed.
[0004] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions: An adaptive plug-in door anti-pinch system, comprising a detection module, a control module and a plug-in door drive module; the detection module is used to detect abnormal conditions of all personnel or object information in a preset detection area of the plug-in door, determine the specific in and out personnel, make the plug-in door open and close effectively, and send out the detected results; the control module is used to receive information sent by the detection module and send out control instructions; the plug-in door drive module is used to receive control instructions sent by the control module and control the plug-in door to open or close; the control module is connected to the detection module and the plug-in door drive module by signals; The detection module can effectively detect and identify people or objects passing through the detection area of the sliding door, screen out specific people entering and exiting, and enable the sliding door to be opened and closed effectively.
[0005] Preferably, the detection module includes a camera and a laser radar device; the camera is provided with at least two groups, and the two groups of cameras are respectively located on the front and rear sides of the top frame of the plug sliding door; the laser radar device is provided with at least three groups, of which two groups of laser radar devices and the cameras are arranged one by one, and the other group of laser radar devices is arranged on the bottom surface of the frame and emits a laser beam downward; Through the setting of cameras and lidar devices, it is possible to detect in real time the images of people or objects in the area around the Sierra door, their age, whether they are moving towards the Sierra door, whether the position distance is decreasing, the moving speed, etc., and at the same time, it is possible to calculate in real time the time required for each inspector to pass through the Sierra door.
[0006] Preferably, the anti-pinch system further includes a timing module for setting the duration in the case of no abnormal state in the detection area of the sliding plug door and feeding back a signal to the control module; the control module is in signal connection with the timing module; Through the design of the timing module, timing is performed when the detection is normal, and the detection result is fed back to the control module. The control module controls the sliding plug door driving module to change the instantaneous fast action when the sliding plug door closes into a time period action, retaining a certain buffer time, so that the person who is about to pass but has not been detected yet has enough time to pass. At the same time, to a certain extent, it also avoids the situation that when the sliding plug door closes, a person is suddenly detected again, resulting in frequent opening and closing of the sliding plug door. Furthermore, it reduces the risk of a person being pinched when a person is suddenly detected when the sliding plug door closes.
[0007] Preferably, the distance between the detected person or object and the sliding plug door is set as X1, and the moving speed of the detected person or object is set as V1. The time for the detected person or object to reach the sliding plug door is obtained as T1 = X1 / V1; The maximum distance that one side of the sliding plug door moves is set as X2, and the closing speed of one side of the sliding plug door is set as V2. The closing time of one side of the sliding plug door is obtained as T2 = X2 / V2; The preset time of the timing module is set as T; The detection results are obtained as follows: The first type: T1 ≥ T + T2, which is a normal state, and the sliding plug door closes normally; The second type: T1 < T + T2, which is an abnormal state, and the sliding plug door remains open; this abnormal state includes detecting a person or object during the timing process of the timing module and detecting a person or object during the closing process of the sliding plug door; Through the above settings, it is possible to detect in real time the image of a person or object in the surrounding area of the sliding plug door, the age, whether they are moving towards the sliding plug door, whether the position distance is decreasing, the magnitude of the moving speed, and the time required to pass through the sliding plug door, etc. Furthermore, it is possible to screen out the people who are truly moving towards the sliding plug door, determine the specific people entering and leaving, and compare the time required for a person to pass through the sliding plug door with the sum of the timing set time and the sliding plug door closing time to determine whether it is a normal or abnormal situation, thereby controlling whether the sliding plug door opens or closes to ensure the safe passage of people.
[0008] Preferably, the anti-pinch system further includes an alarm reminder device provided on the sliding plug door for reminding people when the timing module starts timing and the sliding plug door is about to close, so that people can pass through the sliding plug door faster. At the same time, the alarm of the alarm reminder device gradually becomes rapid and continuous as the timing of the timing module progresses; the alarm reminder device is in signal connection with the control module; Through the alarm prompt device and the setting of the alarm prompt device which gradually and rapidly sounds an alarm as the timing module proceeds, people who have not passed through the sliding door are reminded that the sliding door is about to close, and the psychological urgency of the people passing through is enhanced, prompting them to speed up their passage.
[0009] Preferably, the anti-pinch system further includes an emergency protection device for reducing the force level of a special person being pinched or hit when passing through the plug-sliding door at a sudden acceleration during the closing process of the plug-sliding door, and a relatively old person being pinched when passing through the plug-sliding door; Through the emergency protection device, people who suddenly accelerate through the Sierra door and some older people can be protected, reducing the possibility of hitting the Sierra door to a certain extent. Even if they finally hit the edge of the Sierra door, the impact force can be reduced, and the force when being clamped by the Sierra door can also be reduced.
[0010] Preferably, the emergency protection device comprises a flexible movable part installed on the side of the plug sliding door; the flexible movable part comprises an aluminum connecting rod rotatably connected to the side of the plug sliding door, and the outer surface of the connecting rod is limitedly wrapped with a rubber strip that makes the two groups of the plug sliding doors tightly closed, so that when a person hits the edge of the plug sliding door, the hard contact is changed into a flexible contact, which reduces the force degree during the collision to a certain extent and plays a protective role for the person; The emergency protection device also includes a brake part installed on one side of the nut, and the brake part includes a fixed rod fixed on the frame, and a brake block that cooperates with the fixed rod for braking is provided below the fixed rod. The brake block is movably sleeved on the surface of the vertical rod connecting the nut and the Sierra door, and the bottom of the brake block is fixed to the telescopic end of the electric telescopic rod; the electric telescopic rod is fixed on the side of the vertical rod, and the electric telescopic rod is connected to the control module signal. Through the design of the brake block and the fixed rod, the nut is braked, that is, the Sierra door is braked. In an emergency, the Sierra door can be stopped in time to protect special personnel and older personnel who suddenly accelerate through the Sierra door.
[0011] Preferably, the rubber strip is made of hard rubber, and the edge of the rubber strip fits tightly against the side of the Sierra door. The connection between the rubber strip and the edge of the Sierra door is chamfered. Since the rubber strip is made of hard rubber, it has a certain hardness and a certain softness and toughness. Therefore, the flexible movable part composed of the rubber strip and the connecting rod will also be subject to reverse resistance when rotating, which has a certain limiting effect on the rotation of the flexible movable part, and after the external force disappears, the flexible movable part will gradually return to its original position under the action of the restoring force of the rubber strip. Therefore, while ensuring that the flexible movable part composed of the rubber strip and the aluminum connecting rod plays a role in protecting personnel, it can also ensure the sealing and closure of the Sierra door, making the structure reasonable.
[0012] Preferably, the emergency protection device also includes a locking member for fixing or releasing the flexible movable member, the locking member includes a support rod fixed to the top of the connecting rod, the surface of the support rod is tightly clamped with an arc-shaped clamping claw, the clamping claw is installed on a nut that drives the Sierra door to move, the outer surface of the support rod is provided with a torsion spring, one end of the torsion spring is fixed to the support rod, and the other end of the torsion spring is fixed to the top of the Sierra door; a docking rod is inserted at the bottom of the brake block, the docking rod is fixed to the side of the vertical rod, the clamping claw is hinged on both sides of the bottom of the docking rod, and the outer side of the clamping claw is hingedly connected to the brake block; so that the flexible movable member is fixed in place under normal circumstances and the Sierra door is kept tightly closed. When a special situation is detected, the brake block can brake the Sierra door while releasing the fixation of the flexible movable member, so that the flexible movable member can move flexibly. At the same time, after the special situation is eliminated, the flexible movable member is restored to its original position under the action of the torsion spring, and the locking of the flexible movable member is synchronously achieved while releasing the braking of the Sierra door.
[0013] A plug-and-sliding door structure includes a plug-and-sliding door assembly, on which an adaptive plug-and-sliding door anti-pinch system is installed. Through the design of an adaptive plug-and-sliding door anti-pinch system, the plug-and-sliding door assembly using the system is improved and designed simultaneously.
[0014] Compared with the prior art, the present invention has the following beneficial effects: The present invention can detect in real time the image of people or objects in the area around the plug door, their age, whether they are moving towards the plug door, whether the position distance is decreasing, the moving speed, and the time it takes to pass through the plug door, etc., through the design of a detection module, a control module, a plug door driving module, and a timing module composed of a camera and a laser radar device, thereby screening out people who are actually heading towards the plug door, determining the specific people entering and exiting, and comparing the time it takes for people to pass through the plug door with the sum of the timing setting time plus the plug door closing time to determine whether it is a normal or abnormal situation, thereby controlling whether the plug door is opened or closed to ensure the safe passage of people; The present invention uses the design of the alarm prompt device. After the timing module starts timing, the person who has not passed through the plug sliding door is prompted that the plug sliding door is about to close, so that the person passes through faster and reduces the risk of being trapped. At the same time, the alarm prompt device sets the alarm gradually and continuously as the timing module starts timing, thereby increasing the psychological urgency of the person passing through, and thus allowing the person to pass through the plug sliding door more quickly. The present invention adopts the design of an electric telescopic rod, a brake block and a fixed rod, so that when an abnormal situation is detected [i.e., a person who suddenly accelerates and rushes towards the plug-in door or an older person], the plug-in door can be braked in time to stop closing, thereby preventing the person who suddenly rushes towards the plug-in door from colliding with the plug-in door; at the same time, through the design of a connecting rod and a rubber strip rotatably connected to the plug-in door, even if a person who suddenly rushes towards the plug-in door still hits the plug-in door, he or she will hit the rubber strip at the edge of the plug-in door as much as possible. At this time, under the impact force, the flexible movable part composed of the connecting rod and the rubber strip will rotate, and the hard contact will be changed into an Flexible contact can reduce the force during collision to a certain extent; and with the cooperation of flexible movable parts and brake pads, it can better protect older people and prevent them from being caught by the plug door; at the same time, the control module will also control the plug door drive module to work in reverse, thereby driving the plug door to stop closing and move in the opposite direction to open. At this time, if the detection is normal, the control module will directly control the plug door drive module to drive the plug door to start closing, skipping the timing step and saving the closing time; in summary, it plays an emergency protection role for people who suddenly accelerate towards the plug door and older people; The present invention adopts the design of torsion spring, so that after being hit, the flexible movable part can cooperate with the restoring force of the rubber strip itself, so that the flexible movable part can quickly return to its original position, thereby ensuring the rationality of the structure and the normal closure of the sliding door; at the same time, through the docking rod plugged with the brake block, the clamping claw hinged to the docking rod, and the design of the clamping claw and the brake block being hinged, when the brake block moves upward for braking, the clamping claw is driven to open, thereby releasing the lock on the flexible movable part and ensuring the flexible operation of the flexible movable part; on the contrary, when the brake block is driven to move downward to release the brake, the clamping claw will re-clamp the flexible movable part that has returned to its original position, lock the flexible movable part and ensure the normal operation of the sliding door. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is a control flow diagram of the present invention; Figure 2 It is a schematic diagram of the structure of the plug sliding door assembly in the present invention; Figure 3 It is a schematic diagram of the local structure of the existing sliding plug door when it is closed; Figure 4 It is a top view schematic diagram of the local structure when the plug sliding door in the present invention is closed; Figure 5 It is a partial structural schematic diagram of the emergency protection device in the present invention; Figure 6 It is a schematic diagram of the process of the present invention.
[0016] Indicated in the figure: 100. Detection module; 110. Camera; 120. LiDAR device; 200. Control module; 300. Sierra door drive module; 400. Timing module; 500. Sierra door assembly; 510. Sierra door; 511. Connecting rod; 512. Rubber strip; 520. Frame; 530. Nut; 531. Vertical rod; 540. Support rod; 541. Clamp; 542. Torsion spring; 550. Fixed rod; 551. Brake block; 552. Electric telescopic rod; 560. Docking rod; 600. Alarm prompt device. DETAILED DESCRIPTION
[0017] To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them.
[0018] Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the invention claimed for protection, but merely represents some embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0019] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.
[0020] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.
[0021] The embodiments of the present invention are: See also Figure 1-6 As shown, an adaptive plug sliding door anti-pinch system includes a detection module 100, a control module 200 and a plug sliding door driving module 300; the detection module 100 is used to detect abnormal conditions of all personnel or object information in a preset detection area of the plug sliding door 510, determine the specific entry and exit personnel, make the plug sliding door 510 open and close effectively, and send out the detected results; the control module 200 is used to receive the information sent by the detection module 100 and send out control instructions; the plug sliding door driving module 300 is used to receive the control instructions sent by the control module 200 and control the plug sliding door 510 to open or close; the control module 200 is connected to the detection module 100 and the plug sliding door driving module 300 by signals; Among them, the detection module 100 includes a camera 110 and a lidar device 120; there are at least 2 groups of cameras 110, and the 2 groups of cameras 110 are respectively located on the front and rear sides of the top frame 520 of the sliding plug door 510; there are at least 3 groups of lidar devices 120, among which 2 groups of lidar devices 120 are arranged in one-to-one correspondence with the cameras 110, and the other 1 group of lidar devices 120 is arranged on the bottom surface of the frame 120 and emits a laser beam downward; among them; At the same time, the distance between the person or object to be detected and the sliding plug door 510 is set as X1, and the moving speed of the person or object to be detected is set as V1, and the time T1 for the person or object to be detected to reach the sliding plug door 510 is obtained as T1 = X1 / V1; the maximum distance that the single-sided sliding plug door 510 moves is set as X2, and the closing speed of the single-sided sliding plug door 510 is set as V2, and the closing time T2 of the single-sided sliding plug door 510 is obtained as T2 = X2 / V2; the preset time of the timing module 400 is set as T; from the above, the detection results are as follows: The first type: T1≥T + T2, which is the normal state, and the sliding plug door 510 closes normally; The second type: T1 < T + T2, which is the abnormal state, and the sliding plug door 510 remains open; this abnormal state includes detecting a person or object during the timing process of the timing module 400 and detecting a person or object during the closing process of the sliding plug door 510; Through the settings of the camera 110 and the lidar device 120, the images of people or objects in the surrounding area of the sliding plug door 510, the age of people, whether they are moving towards the sliding plug door 510, whether the position distance is decreasing, the magnitude of the moving speed, etc. are detected and recognized in real time. At the same time, the time required for each detected person to pass through the sliding plug door 510 can be calculated in real time, and then the people who are really moving towards the sliding plug door 510 are screened out, the specific entering and leaving people are determined, and the effective opening and closing of the sliding plug door 510 are realized; and the time T1 required for a person to pass through the sliding plug door 510 is compared with the sum of the timing set time T and the closing time T2 of the sliding plug door 510 to judge whether it is normal or abnormal at this time, so as to control whether the sliding plug door opens or closes to ensure the safe passage of people; The anti-pinch system further includes a timing module 400, which is used to set the duration in the case of no abnormal state in the detection area of the sliding plug door 510 and feedback the signal to the control module 200; the control module 200 is signal-connected to the timing module 400. Through the design of the timing module 400, when the detection module 100 detects a normal state, it will transmit the information to the control module 200. After receiving the signal, the control module 200 controls the timing module 400 to start working. At this time, the timing module 400 starts timing. During the timing process, if it has always been in the normal state, it will time until the set time and feedback the information to the control module 200. At this time, the control module 200 will control the sliding plug door drive module 300 to work and drive the sliding plug door 510 to close; If it is abnormal, the timing is stopped and reset, and the signal is fed back to the control module 200. The control module 200 then sends a signal to control the plug-in door drive module 300 to maintain the original state, re-detect until it is normal, and repeat the above operation; the design of the timing module 400 changes the control module 200 to control the plug-in door drive module 300 to make the instantaneous rapid action of closing the plug-in door 510 into a time period action, retaining a certain buffer time so that people who are about to pass but have not been detected have enough time to pass. At the same time, it also avoids to a certain extent the situation where the plug-in door 510 is frequently opened and closed due to the sudden detection of people when the plug-in door 510 is closed, and further reduces the risk of people being trapped due to the sudden detection of people when the plug-in door 510 is closed; The anti-pinch system further comprises an alarm prompting device 600 disposed on the plug sliding door 510, which is used to remind the personnel when the timing module 400 starts timing and the plug sliding door 510 is about to close, so that the personnel can speed up to pass through the plug sliding door 510, and at the same time, the alarm prompting device 600 gradually and rapidly alarms continuously as the timing module 400 proceeds; the alarm prompting device 600 is connected to the control module 200 by signal; through the alarm prompting device 600 and the setting that the alarm prompting device 600 gradually and rapidly alarms continuously as the timing module 400 proceeds, the personnel who have not yet passed through the plug sliding door 510 are reminded that the plug sliding door 510 is about to close, and the psychological urgency of the personnel passing through is strengthened, so that the personnel can speed up to pass through the plug sliding door 510 quickly; That is, when the detection is normal, the control module 200 controls the timing module 400 to work, and the control module 200 controls the alarm prompt device 600 to work, and the alarm gradually becomes rapid and continuous until the timing ends. The timing module 400 feeds back a signal to the control module 200 and enables the control module 200 to control the plug sliding door drive module 300 to work, so that the plug sliding door 510 is closed. At the same time, the control module 200 also controls the alarm prompt device 600 to stop the alarm, and reminds the personnel who have not passed through the plug sliding door 510 that the plug sliding door 510 is about to close, and strengthens the psychological urgency of the personnel passing through, so as to prompt the personnel to speed up the passing speed; The anti-pinch system also includes a flexible movable part installed on the side of the Sierra door 510; the flexible movable part includes an aluminum connecting rod 511 rotatably connected to the side of the Sierra door 510, and the outer surface of the connecting rod 511 is limitedly wrapped with a rubber strip 512 that makes the two groups of Sierra doors 510 tightly closed, so that when a person hits the edge of the Sierra door 510, the hard contact is changed into a flexible contact, which reduces the force during the collision to a certain extent and plays a protective role for the person, wherein the rubber strip 512 is made of hard rubber; the edge of the rubber strip 512 is tightly fitted with the side of the Sierra door 510, and the connection between the rubber strip 512 and the edge of the Sierra door 510 is chamfered Since the rubber strip 512 is made of hard rubber, the rubber strip 512 has a certain hardness, and at the same time has a certain softness and toughness. Therefore, when the flexible movable part composed of the rubber strip 512 and the connecting rod 511 rotates, it will also be subject to reverse resistance, which plays a certain role in limiting the rotation of the flexible movable part. After the external force disappears, the flexible movable part will gradually return to its original position under the restoring force of the rubber strip 512. Therefore, while ensuring that the flexible movable part composed of the rubber strip 512 and the aluminum connecting rod 511 plays a role in protecting personnel, it can also ensure the sealing closure of the plug door 510, making the structure reasonable. The anti-pinch system also includes a brake component installed on one side of the nut 530, and the brake component includes a fixed rod 550 fixed on the frame 520, and a brake block 551 is provided below the fixed rod 550 for braking with the fixed rod 550, and the brake block 551 is movably sleeved on the surface of the vertical rod 531 connecting the nut 530 and the plug sliding door 510, and the bottom of the brake block 551 is fixed to the telescopic end of the electric telescopic rod 552; the electric telescopic rod 552 is fixed to the side of the vertical rod 531, and the electric telescopic rod 552 is connected to the control module 200 by signal. Through the design of the brake block 551 and the fixed rod 550, the nut 530 is braked, that is, the plug sliding door 510 is braked, so that the plug sliding door 510 can be stopped in time in an emergency, so as to protect special personnel and older personnel who suddenly accelerate through the plug sliding door 510; The anti-pinch system also includes a locking member for fixing or releasing the flexible movable member, the locking member includes a support rod 540 fixed to the top of the connecting rod 511, an arc-shaped clamping claw 541 is tightly clamped on the surface of the support rod 540, the clamping claw 541 is installed on the nut 530 that drives the plug sliding door 510 to move, a torsion spring 542 is provided on the outer surface of the support rod 540, one end of the torsion spring 542 is fixed to the support rod 540, and the other end of the torsion spring 542 is fixed to the top of the plug sliding door 510; a docking rod 560 is inserted at the bottom of the brake block 551, the docking rod 560 is fixed to the side of the vertical rod 531, and the clamping claw 541 is hinged on the docking rod 5 On both sides of the bottom 60, the outer side of the clamping claw 541 and the brake block 551 are hingedly connected; so that the flexible movable part is fixed in a normal situation to keep the plug sliding door 510 tightly closed. When a special situation is detected, the brake block 551 can brake the plug sliding door 510 and release the fixation of the flexible movable part, so that the flexible movable part can move flexibly. At the same time, after the special situation is eliminated, the flexible movable part is restored to its original position under the action of the restoring force of the torsion spring 542 and the rubber strip 512, and the flexible movable part is locked while the brake on the plug sliding door 510 is released. When a person is detected passing through the plug sliding door 510, the control module 200 will control the electric telescopic rod 552 to work, drive the brake block 551 to move downward to release the brake on the plug sliding door 510. At this time, when the brake block 551 moves downward, it will drive the clamping claw 541 to clamp the support rod 540, and re-lock the flexible movable part; and at this time, under the action of the plug sliding door driving module 300, the plug sliding door 510 will open first, and then under the detection of normal conditions, the control module 200 directly controls the plug sliding door driving module 300 to work and drive the plug sliding door 510 to gradually close, skipping the timing step of the timing module 400, saving time; Reference Figure 6 It can be seen that the anti-pinch method steps of the anti-pinch system are as follows: The detection module 100 determines whether there is an abnormality at this time under the comprehensive detection of the camera 110 and the laser radar device 120 and transmits the information to the control module 200; If it is abnormal, it means that people continue to pass by, and the control module 200 will control the detection module 100 to continue detection; If it is normal, the control module 200 will control the timing module 400 to work, and the timing module 400 will start timing. At the same time, the control module 200 will also control the alarm prompt device 600 to start working and give an alarm prompt. During this process, the detection module 100 continues to detect; If it is abnormal, it means that another person has passed through the plug sliding door 510, then the control module 200 controls the timing module 400 to stop timing, controls the alarm prompt device 600 to stop the alarm, and controls the detection module 100 to continue detection; If normal, the timing module 400 will count to the set time, and then the signal will be fed back to the control module 200, and the control module 200 will control the alarm prompt device 600 to stop working, and start to control the plug sliding door driving module 300 to work, driving the plug sliding door 510 to start closing; During the closing process of the Sierra door 510, the detection module 100 continues to detect. If it is normal, the Sierra door 510 is completely closed; if it is abnormal, the control module 200 controls the Sierra door drive module 300 to rotate in the opposite direction. At the same time, the electric telescopic rod 552 is controlled to work, driving the brake block 551 to move up and fit tightly with the fixed rod 550, thereby braking the Sierra door 510 to prevent the Sierra door 510 from continuing to close and clamping older people or increasing the probability of people who suddenly accelerate towards the Sierra door 510 colliding with the Sierra door 510, thereby protecting such people. At this time, the upward movement of the brake block 551 will drive the clamping claw 541 to open, thereby releasing the lock on the support rod 540, that is, The personnel who suddenly rush toward the plug sliding door 510 still collide with the plug sliding door 510, so that they can contact the flexible movable part at the edge of the plug sliding door 510 as much as possible. At this time, the rubber strip 512 and the connecting rod 511 can rotate due to the collision, and the original hard contact is changed into a flexible contact, thereby reducing the degree of force. After the personnel pass through, the rubber strip 512 and the connecting rod 511 will return to their original positions under the restoring force of the torsion spring 542 and the rubber strip 512. At this time, the control module 200 controls the electric telescopic rod 552 to work, driving the brake block 551 to move downward, releasing the brake on the plug sliding door 510. The downward movement of the brake block 551 will drive the clamping claw 541 to clamp the support rod 540, and re-lock the flexible movable part. After the brake is released, the Sierra door 510 will open driven by the Sierra door driving module 300. After it is fully opened, the control module 200 will control the Sierra door driving module 300 to work, driving the Sierra door 510 to close directly without going through the timing steps of the timing module 400, thus saving the door closing time. If someone appears at this time, the above actions will be repeated for emergency protection until it returns to normal and the Sierra door 510 is fully closed.
[0022] A plug-and-sliding door structure includes a plug-and-sliding door assembly 500. An adaptive plug-and-sliding door anti-pinch system is installed on the plug-and-sliding door assembly 500. Through the design of the adaptive plug-and-sliding door anti-pinch system, the plug-and-sliding door assembly 500 using the system is improved and designed simultaneously.
[0023] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings, or is the orientation or positional relationship commonly understood by those skilled in the art. Such terms are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.
[0024] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the above specific implementation methods. Therefore, any modification or equivalent replacement of the present invention; and all technical solutions and improvements thereof that do not depart from the spirit and scope of the invention are included in the scope of the claims of the present invention.
Claims
1. An adaptive sliding plug door anti-pinch system, characterized in that: Including: A detection module (100) for detecting abnormal conditions of all personnel or object information within a preset detection area of the sliding plug door (510), determining specific entering and exiting personnel, enabling the effective opening and closing of the sliding plug door (510), and sending out the detected results; A control module (200) for receiving the information sent by the detection module (100) and issuing control instructions; and A sliding plug door drive module (300) for receiving the control instructions sent by the control module (200) and controlling the opening or closing of the sliding plug door (510); The control module (200) is signal-connected to the detection module (100) and the sliding plug door drive module (300).
2. The adaptive sliding plug door anti-pinch system according to claim 1, characterized in that: The detection module (100) includes a camera (110) and a lidar device (120); at least 2 groups of the cameras (110) are provided, and the 2 groups of cameras (110) are respectively located on the front and rear sides of the top frame (520) of the sliding plug door (510); at least 3 groups of the lidar devices (120) are provided, wherein 2 groups of the lidar devices (120) are arranged in one-to-one correspondence with the cameras (110), and the other 1 group of the lidar devices (120) is arranged on the bottom surface of the frame (120) and emits laser beams downward.
3. The adaptive sliding plug door anti-pinch system according to claim 2, characterized in that: The anti-pinch system further includes a timing module (400) for setting the duration in the case of no abnormal state in the detection area of the sliding plug door (510) and feeding back a signal to the control module (200); the control module (200) is signal-connected to the timing module (400).
4. The adaptive sliding plug door anti-pinch system according to claim 3, characterized in that: Let the distance between the detected person or object and the sliding plug door (510) be X1, and the moving speed of the detected person or object be V1, then the time for the detected person or object to reach the sliding plug door (510) is T1 = X1 / V1; Let the maximum distance of the single-sided sliding plug door (510) move be X2, and the closing speed of the single-sided sliding plug door (510) be V2, then the closing time of the single-sided sliding plug door (510) is T2 = X2 / V2; Let the preset time of the timing module (400) be T; The following detection results are obtained from the above: The first type: T1≥T + T2, which is a normal state, and the sliding plug door (510) closes normally; The second type: T1 < T + T2, which is an abnormal state, and the sliding plug door (510) remains open; this abnormal state includes detecting a person or object during the timing process of the timing module (400) and detecting a person or object during the closing process of the sliding plug door (510).
5. The adaptive sliding plug door anti-pinch system according to claim 4, characterized in that: The anti-pinch system further includes an alarm prompt device (600) provided on the sliding plug door (510) for reminding people when the timing module (400) starts timing and the sliding plug door (510) is about to close, so that people can pass through the sliding plug door (510) faster. At the same time, the alarm of the alarm prompt device (600) becomes gradually rapid and continuous as the timing of the timing module (400) progresses; the alarm prompt device (600) is signal-connected to the control module (200).
6. The adaptive sliding plug door anti-pinch system according to claim 5, characterized in that: The anti-pinch system also includes an emergency protection device for reducing the force level of a special person who is pinched or hit when passing through the plug door (510) at a sudden acceleration during the closing process of the plug door (510), and a relatively old person who is pinched when passing through the plug door (510).
7. The adaptive sliding plug door anti-pinch system according to claim 6, characterized in that: The emergency protection device comprises a flexible movable part installed on the side of the sliding plug door (510); the flexible movable part comprises an aluminum connecting rod (511) rotatably connected to the side of the sliding plug door (510), and the outer surface of the connecting rod (511) is limitedly wrapped with a rubber strip (512) for tightly closing the two sets of sliding plug doors (510); The emergency protection device also includes a brake component installed on one side of the nut (530), the brake component includes a fixed rod (550) fixed on the frame (520), a brake block (551) is provided below the fixed rod (550) and cooperates with the fixed rod (550) in braking, the brake block (551) is movably sleeved on the surface of the vertical rod (531) connecting the nut (530) and the plug door (510), and the bottom of the brake block (551) is fixed to the telescopic end of the electric telescopic rod (552); the electric telescopic rod (552) is fixed to the side of the vertical rod (531), and the electric telescopic rod (552) is connected to the control module (200) by signal.
8. The adaptive sliding plug door anti-pinch system according to claim 7, characterized in that: The rubber strip (512) is made of hard rubber, the edge of the rubber strip (512) is tightly fitted to the side of the plug-type sliding door (510), and the connection between the edge of the rubber strip (512) and the plug-type sliding door (510) is chamfered.
9. The adaptive sliding plug door anti-pinch system according to claim 8, characterized in that: The emergency protection device also includes a locking member for fixing or releasing the flexible movable member, the locking member includes a support rod (540) fixed to the top of the connecting rod (511), an arc-shaped clamping claw (541) is tightly clamped on the surface of the support rod (540), and the clamping claw (541) is installed on a nut (530) that drives the plug sliding door (510) to move, and a torsion spring (542) is provided on the outer surface of the support rod (540), one end of the torsion spring (542) is fixed to the support rod (540), and the other end of the torsion spring (542) is fixed to the top of the plug sliding door (510); a docking rod (560) is inserted at the bottom of the brake block (551), and the docking rod (560) is fixed to the side of the vertical rod (531), and the clamping claw (541) is hinged to both sides of the bottom of the docking rod (560), and the outer side of the clamping claw (541) and the brake block (551) are hingedly connected.
10. A plug-sliding door structure, comprising a plug-sliding door assembly (500), characterized in that: An adaptive sliding plug door anti-pinch system as described in claims 1 to 9 is installed on the sliding plug door assembly (500).