Intelligent door control method and device, storage medium and electronic equipment

Abstract

The invention relates to the technical field of intelligent door control, in particular to an intelligent door control method and device, a storage medium and electronic equipment. The method is applied to a controller and comprises the steps that when a signal transmitted by a human-shaped sensor is received, a motor is controlled to open an intelligent door; waiting for a door sensor to transmit a signal; if the waiting time for waiting the door sensor to transmit the signal reaches the waiting duration or the signals transmitted by the anti-pinch sensor and the correlation sensor are sequentially received under the condition that the signal transmitted by the door sensor is not received, the motor is controlled to stop opening the intelligent door; recording the opening duration of the intelligent door; and when the human-shaped sensor, the anti-pinch sensor and the correlation sensor all stop transmitting the signals, the motor is controlled to close the intelligent door according to the opening duration. By applying the method provided by the invention, the situation that the door is continuously controlled to be opened and closed under the condition that the door sensor is abnormal can be avoided, and the use safety of the intelligent door is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent door control, and particularly to an intelligent door control method, device, storage medium, and electronic device. Background Art

[0002] With the rapid development of technology and the increasing improvement of people's living standards, various automation devices have been widely used in many fields such as daily life and industrial production. The intelligent door with automatic opening and closing is one of the most representative technological achievements among them.

[0003] Currently, during the application of intelligent doors, usually the controller controls the motor to open or close the intelligent door. During the opening and closing process, door sensors installed on the door detect whether it is opened in place or closed in place. If it is opened in place or closed in place, the door sensor sends a signal, and at this time, the controller controls the motor to stop opening the door. In the actual application process, the door sensors installed on the door may have unstable signals or be not installed in place, resulting in inaccurate detection by the door sensors of whether the intelligent door is in place. If the door sensors cannot timely feedback whether the intelligent door is opened in place or closed in place, the motor will keep controlling the door to perform the opening or closing action. Therefore, in the prior art, if only the signals transmitted by the door sensors are used to control the opening and closing of the door, when the door sensors are abnormal, it is easy to cause damage to the intelligent door, and it also brings certain safety hazards if there are people passing by. Summary of the Invention

[0004] In view of this, the present invention provides an intelligent door control method. Through this method, it is possible to avoid continuously controlling the opening and closing of the door in the case of abnormal door sensors, and further improve the safety of using intelligent doors.

[0005] The present invention also provides an intelligent door control device to ensure the implementation and application of the above method in practice.

[0006] An intelligent door control method, the method is applied to a controller, and the method includes: When receiving a signal emitted by a humanoid sensor, control the motor to open the intelligent door, where the humanoid sensor is used to detect whether there are people in the detection area corresponding to the intelligent door; Wait for a signal emitted by a preset door sensor, where the signal emitted by the door sensor is used to indicate that the intelligent door has been opened or closed in place; If, in the case of not receiving the signal emitted by the door sensor, the first control condition or the second control condition corresponding to the intelligent door is triggered, then control the motor to stop opening the intelligent door. The first control condition is that the waiting time for waiting for the signal emitted by the door sensor reaches a preset waiting duration, and the second control condition is that signals emitted by a preset anti-pinch sensor and a preset opposed sensor are received in sequence. Record the opening duration of the intelligent door. When the humanoid sensor, the anti-pinch sensor, and the opposed sensor all stop emitting signals, control the motor to close the intelligent door according to the opening duration.

[0007] For the above method, optionally, the controlling the motor to open the intelligent door includes: Enable a preset image recognition device to collect the dynamic image of the person. Based on the dynamic image, identify the movement direction of the person. If the movement direction of the person indicates that the person needs to pass through the intelligent door, control the motor to open the intelligent door.

[0008] For the above method, optionally, the controlling the motor to open the intelligent door includes: Determine the average movement speed of the person. Set the motor speed of the motor based on the average movement speed. Control the motor to open the intelligent door at the motor speed.

[0009] For the above method, optionally, opposed regions are provided on both sides of the intelligent door, and a plurality of opposed sensors are included in the opposed regions. When the person passes through the opposed region on either side of the intelligent door, the controller receives the signals sequentially emitted by each of the opposed sensors in the opposed region according to the movement direction of the person. Among them, determining the average movement speed of the person includes: After the person first enters an opposed region, obtain the emission time of each of the opposed sensors in the opposed region emitting signals in sequence. Based on each of the emission times, determine the average movement speed of the person.

[0010] For the above method, optionally, the controlling the motor to stop opening the intelligent door includes: Determine the number of people currently passing through the intelligent door. In the case where the number of people is less than the target threshold, if the first control condition or the second control condition is triggered, then control the motor to stop opening the intelligent door. When the number of people is not less than the target threshold and after the first control condition is triggered, control the motor to stop opening the intelligent door.

[0011] For the above method, optionally, the method further includes: If the intelligent door pauses opening based on the triggering of the first control condition, send a sensor fault message corresponding to the door sensor.

[0012] For the above method, optionally, the method further includes: If after controlling the motor to close the intelligent door according to the opening duration and no signal is received from the door sensor, send a sensor fault message corresponding to the door sensor.

[0013] An intelligent door control device, which is applied to a controller. The device includes: A first control unit, configured to control a motor to open an intelligent door when a signal is received from a humanoid sensor, where the humanoid sensor is used to detect whether there are people in a detection area corresponding to the intelligent door; A waiting unit, configured to wait for a signal emitted by a preset door sensor, where the signal emitted by the door sensor is used to indicate that the intelligent door has been opened or closed in place; A second control unit, configured to control the motor to stop opening the intelligent door if the first control condition or the second control condition corresponding to the intelligent door is triggered when no signal is received from the door sensor. The first control condition is that the waiting time for waiting for the signal from the door sensor reaches a preset waiting duration, and the second control condition is that signals emitted by a preset anti-pinch sensor and a preset opposed sensor are received in sequence; A recording unit, configured to record the opening duration of the intelligent door; A third control unit, configured to control the motor to close the intelligent door according to the opening duration when the humanoid sensor, the anti-pinch sensor, and the opposed sensor all stop emitting signals.

[0014] A storage medium, which includes stored instructions. When the instructions run, the device where the storage medium is located is controlled to execute the above intelligent door control method.

[0015] An electronic device includes a memory and one or more instructions, where one or more instructions are stored in the memory and are configured to be executed by one or more processors to execute the above intelligent door control method.

[0016] Compared with the prior art, the present invention has the following advantages: The present invention provides an intelligent door control method. The method is applied to a controller and includes: when a signal emitted by a humanoid sensor is received, controlling a motor to open the intelligent door, where the humanoid sensor is used to detect whether there is a person in the detection area corresponding to the intelligent door; waiting for a signal emitted by a preset door sensor, where the signal emitted by the door sensor is used to indicate that the intelligent door has been opened or closed in place; if, in the case of not receiving the signal emitted by the door sensor, a first control condition or a second control condition corresponding to the intelligent door is triggered, then controlling the motor to stop opening the intelligent door, where the first control condition is that the waiting time for waiting for the signal emitted by the door sensor reaches a preset waiting duration, and the second control condition is receiving signals emitted by a preset anti-pinch sensor and a preset opposed sensor in sequence; recording the opening duration of the intelligent door; when the humanoid sensor, the anti-pinch sensor, and the opposed sensor all stop emitting signals, controlling the motor to close the intelligent door according to the opening duration. By applying the method provided by the present invention, it is possible to avoid continuously controlling the opening and closing of the door in the case of abnormal door sensors, and further improve the safety of using the intelligent door. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0018] Figure 1 It is a spatial structure diagram of an intelligent door and various sensors provided by an embodiment of the present invention; Figure 2 It is a method flow chart of an intelligent door control method provided by an embodiment of the present invention; Figure 3 It is another method flow chart of an intelligent door control method provided by an embodiment of the present invention; Figure 4 It is a device structure diagram of an intelligent door control device provided by an embodiment of the present invention; Figure 5 It is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0020] In the present application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. The terms "comprising", "including" or any other variation thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0021] The present invention can be used in numerous general-purpose or special-purpose computing device environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multi-processor devices, distributed computing environments including any of the above devices or equipment, and so on.

[0022] An embodiment of the present invention provides an intelligent door control method, which is applied to a controller that is connected to multiple sensors and is used to receive the signals emitted by the sensors in real time. Refer to Figure 1 , Figure 1It is a schematic diagram of the spatial structure of each sensor. There are door sensors, human sensors, picture recognition devices and anti-pinch sensors installed on the intelligent door. The door sensors are mainly used to sense whether the intelligent door is in place during the opening or closing process. If the intelligent door is a left-right sliding door, door sensors can be installed only on one side of the door, or on both the left and right sides of the door. The door sensor is composed of two sensors. One is used to detect whether the intelligent door is fully opened, and the other is used to detect whether the intelligent door is fully closed. The human sensor is mainly used to identify whether there is human activity in the specified area inside and outside the door, and in combination with the picture recognition device, to determine whether the people in the specified area want to enter or exit the intelligent door. The anti-pinch sensor is used to prevent people from being pinched when the intelligent door is closing. There are multiple pairs of sensors installed on both sides of the intelligent door when entering and exiting. The pair of sensors includes a transmitting end and a receiving end. When a person has not passed through the detection area of the pair of sensors, the transmitting end continuously sends rays to the receiving end. When a person passes through the detection area of the pair of sensors, the rays emitted by the transmitting end will be blocked. At this time, the receiving end interrupts the reception of the rays and triggers the receiving end to send a signal to the controller.

[0023] In the present invention, the flowchart of the method for the controller to control the opening, stopping the opening and closing of the intelligent door is as Figure 2 shown, specifically including: S1: When receiving the signal emitted by the human sensor, control the motor to open the intelligent door.

[0024] S2: Wait for the preset signal emitted by the door sensor.

[0025] S3: If, in the case of not receiving the signal emitted by the door sensor, the first control condition or the second control condition corresponding to the intelligent door is triggered, then control the motor to stop opening the intelligent door.

[0026] S4: Record the opening duration of the intelligent door.

[0027] S5: When the human sensor, the anti-pinch sensor and the pair of sensors all stop emitting signals, control the motor to close the intelligent door according to the opening duration.

[0028] The following explanations are made for the content of steps S1 to S5: S1: When receiving the signal emitted by the human sensor, control the motor to open the intelligent door.

[0029] Among them, the human sensor is used to detect whether there are people in the detection area corresponding to the intelligent door.

[0030] In the present invention, the way for the motor to control the opening or closing of the intelligent door can be to translate to the left and right sides, or to push and pull to the front and back sides.

[0031] In one embodiment, when a person is within the detection area, the controller can directly control the motor to open the smart door.

[0032] In another embodiment, a humanoid sensor and an image recognition device are combined. When it is determined that a person in the detection area corresponding to the humanoid sensor needs to enter or exit the smart door, the controller controls the motor to open the smart door.

[0033] The process of combining the humanoid sensor and the image recognition device to control the motor to turn on the smart phone is as follows: Activate a preset image recognition device to capture a dynamic image of a person; based on the dynamic image, identify the person's movement direction; if the person's movement direction indicates that the person needs to pass through the smart door, control the motor to open the smart door.

[0034] The image recognition device may specifically be a portrait camera. The dynamic images of the person collected by the image recognition device are continuous animated images. The controller determines the movement direction of the person by analyzing the movement trajectory of the person in the continuous images.

[0035] In an optional embodiment, if the movement trajectory of the person's displacement indicates that the person has been stationary within the detection area corresponding to the image recognition device, the controller will not control the motor to open the smart door. For example: if the person stops walking the moment he enters the detection area, the image captured by the image recognition device each time cannot identify the person's true intention. At this time, the controller will not control the motor to open the smart door; if the person stops at a certain position after entering the detection area, the image captured by the image recognition device can still identify the person's movement trajectory. The controller determines the direction of movement based on the movement trajectory, and then determines whether the person wants to enter or exit the smart door. If so, the controller controls the motor to open the smart door.

[0036] For the smart doors currently on the market, when a person is detected to need to pass through, the smart door will open at a set speed. However, due to the differences in the movement speed of people entering and exiting the smart door, sometimes when the person's movement speed is slow, the door is already open before they enter the smart door, and automatically closes after waiting for a short period of time, which can easily pinch the person entering and exiting the smart door; and when the person's movement speed is fast, the degree of opening of the smart door is not enough for the person to enter and exit, and the person needs to wait in front of the door to open, which brings a bad experience to the person entering and exiting the smart door. Therefore, for different people entering and exiting the smart door, the present invention needs to pre-determine the average movement speed of the person when controlling the motor to open the smart door, and set the motor speed based on the average movement speed to control the motor to open the smart door according to the motor speed.

[0037] It is understandable that the corresponding motor speed can be set for different people according to their different movement speeds to ensure that when people enter and exit the smart door, the degree of opening of the door can meet the people's entry and exit needs.

[0038] It should be noted that if the smart door is opened at a certain motor speed, then when the smart door is closed, the motor speed of the motor is consistent with the motor speed when the smart door is opened.

[0039] Specifically, the process of determining the average movement speed of personnel is as follows: After a person enters a radio area for the first time, the emission time of each radio sensor in the radio area transmitting a signal in sequence is obtained; based on each emission time, the average movement speed of the person is determined.

[0040] Among them, there are shooting areas on both sides of the smart door, which contain multiple shooting sensors. When a person passes through the shooting area on either side of the smart door, the controller receives the signals emitted by each shooting sensor in the shooting area in sequence according to the direction of the person's movement.

[0041] In the present invention, the detection areas on both sides of the smart door can be adjacent to the corresponding beam area, or the detection areas can overlap with the corresponding beam area. If the detection areas on both sides of the smart door completely overlap with the corresponding beam area, the human sensor and the corresponding beam sensor at the front end of the corresponding beam area will simultaneously transmit signals to the controller.

[0042] It should be noted that if there are multiple people entering the detection area of the humanoid sensor, the humanoid sensor will emit signals in sequence according to the order in which each person enters the detection area. When the controller receives the signal corresponding to the first person entering the detection area and determines that he or she needs to pass through the smart door, it sets the motor speed according to the average movement speed of the person.

[0043] In the smart door control method provided by an embodiment of the present invention, a person's movement direction is determined through a humanoid sensor and an image recognition device. If the movement direction indicates that the person needs to enter or exit the smart door, the person's average movement speed is determined, and the motor speed is set according to the average movement speed; the motor is controlled according to the motor speed to open the smart door. Through the method provided by the present invention, the opening and closing speed of the smart door can be set according to the movement speed of different people. When people enter or exit the smart door, the smart door can be opened to a degree that allows people to enter and exit, avoiding the risk of people being pinched by the door when entering or exiting, and also avoiding people having to wait for the smart door to open after reaching the door.

[0044] S2: Wait for the preset door sensor to transmit a signal.

[0045] The signal emitted by the door sensor is used to indicate whether the smart door has been opened or closed.

[0046] Optionally, during the opening process of the intelligent door, if the motor speed of the motor is set, the waiting duration required for the intelligent door to open in place can be calculated based on the motor speed. The door sensor can be waited to emit a signal according to the waiting duration.

[0047] S3: If, when the signal emitted by the door sensor is not received, the first control condition or the second control condition corresponding to the intelligent door is triggered, the motor is controlled to stop opening the intelligent door.

[0048] Wherein, the first control condition is that the waiting time for waiting for the door sensor to emit a signal reaches a preset waiting duration, and the second control condition is that the signals emitted by a preset anti-pinch sensor and a preset opposed sensor are received in sequence.

[0049] The waiting duration is the duration required for the intelligent door to move from the closed state to the fully open state, and this waiting duration can be obtained by calculating based on the motor speed and the distance that the intelligent door needs to move. If the signal emitted by the door sensor is still not received after the waiting time for waiting for the door sensor to emit a signal reaches the waiting duration, it indicates that the door sensor may malfunction. Therefore, if the first control condition is triggered when the signal emitted by the door sensor is not received, a fault message corresponding to the door sensor is sent.

[0050] Similarly, if the controller does not receive the signal emitted by the door sensor when the intelligent door is in the fully closed state, a fault message corresponding to the door sensor is also sent.

[0051] When the second control condition is triggered when the waiting time for waiting for the door sensor does not reach the waiting duration, it indicates that the current opening degree of the intelligent door already meets the opening degree for personnel to enter and exit, and the personnel have completed the need to enter and exit the intelligent door, and there is no need to continue opening the intelligent door. At this time, the motor can be controlled to stop opening the intelligent door.

[0052] Based on the method provided in the above embodiments, referring to Figure 3 the flowchart shown, the specific process of the controller in the present invention for controlling the intelligent door to open and then stop opening is as follows: (1) The controller receives the signal emitted by the humanoid sensor, and determines that a person needs to pass through the intelligent door through the image recognition device.

[0053] (2) According to the movement speed of the person, the motor speed is set, and the motor is controlled to open the intelligent door at the motor speed.

[0054] (3) During the opening process of the intelligent door, the controller waits for the door sensor to emit a signal.

[0055] (4) When one of the following conditions is met, the intelligent door is controlled to stop opening: Condition 1: A signal emitted by the door sensor is received; Condition 2: When no signal emitted by the door sensor is received and the waiting time reaches a preset waiting duration; Condition 3: When no signal emitted by the door sensor is received and the waiting time does not reach the waiting duration, signals emitted by the anti-pinch sensor and the opposed-beam sensor are received in sequence.

[0056] Optionally, during the process of the intelligent door opening and then stopping, the interaction process among the controller, the human presence sensor, the anti-pinch sensor, the opposed-beam sensor, the door sensor, the motor, and the human portrait camera can be as follows: (1) The human presence sensor detects a person; (2) The human portrait camera detects the walking direction and speed of the person and determines whether the person is going to enter the intelligent door; (3) If it is determined that the person needs to enter the intelligent door, the human presence sensor sends a signal to the controller; (4) The controller sends an open door signal to the motor according to the signal; (5) The motor receives the open door signal and controls the intelligent door to open; (6) The controller detects whether the door sensor emits a signal. If so, jump to (11); otherwise, jump to (7); (7) Does the anti-pinch sensor detect that someone has passed by the intelligent door? If so, jump to (8); otherwise, jump to (9); (8) Does the opposed-beam sensor detect that someone has passed through the intelligent door? If so, jump to (11); otherwise, jump to (9); (9) Has the detection count of the anti-pinch sensor or the opposed-beam sensor exceeded N times (for example: 3 times)? If so, jump to (10); otherwise, jump to (6) (10) Determine the entry time of the person according to the image recognition in (2), and automatically determine that the door opening is in place in about M seconds (for example: 5 seconds), then jump to (11); (11) The controller sends an open door in-place message to the motor; (12) The motor stops opening the intelligent door, and the process ends.

[0057] In an optional embodiment, the controller can set the trigger condition for controlling the motor to stop opening the intelligent door according to the actual scenario of the current person entering and leaving the intelligent door. Among them, when no signal emitted by the door sensor is received, determine the number of people currently passing through the intelligent door; when the number of people is less than the target threshold, if the first control condition or the second control condition is triggered, then control the motor to stop opening the intelligent door; when the number of people is not less than the target threshold, after the first control condition is triggered, control the motor to stop opening the intelligent door.

[0058] It can be seen from this that the present invention can set trigger conditions according to the number of people entering and leaving the intelligent door; if the number of people entering and leaving the intelligent door is less than the target threshold (for example: 3 people), since the number of people entering and leaving the intelligent door is small, the intelligent door does not need to be opened fully, and each person entering and leaving the intelligent door can pass through smoothly. Therefore, if the number of people entering and leaving the intelligent door is less than the target threshold and the second control condition is triggered first (at this time the intelligent door is not opened fully), the opening of the intelligent door can be controlled to stop. If the number of people entering and leaving the intelligent door is not less than the target threshold and the intelligent door is opened to a small extent, congestion may occur. Therefore, if the number of people entering and leaving the intelligent door is not greater than the target threshold and the second control condition is triggered first (at this time the intelligent door is not opened fully), the intelligent door will not be controlled to stop opening until the first control condition is triggered after the second control condition is triggered (at this time the intelligent door is opened fully), or, after receiving the signal emitted by the door sensor, the controller controls the motor to stop opening the intelligent door.

[0059] In the present invention, if the trigger conditions for controlling the intelligent door to stop opening are set according to the number of people entering and leaving the intelligent door, on the one hand, the running time of the motor can be reasonably planned, and on the other hand, it can also avoid overcrowding of people entering and leaving the intelligent door.

[0060] It should be noted that pair sensors are provided on both sides of the intelligent door. When a person passes through the intelligent door, the sensors that emit signals are in turn: a humanoid sensor - a pair sensor - an anti-pinch sensor - a pair sensor - a humanoid sensor. When the controller receives the signal emitted by the anti-pinch sensor and then receives the signal emitted by the pair sensor, it indicates that a person has completely passed through the intelligent door, and at the same time, it can also be determined that the opening degree of the intelligent door already allows people to enter and leave.

[0061] During the process of the controller controlling the motor to open or close the intelligent door, if it receives the signal emitted by the door sensor, it controls the motor to stop opening or closing the intelligent door. However, in the case where the door sensor is in an abnormal state, the controller cannot know whether the door sensor is abnormal. Therefore, in the case where the signal emitted by the door sensor is not received, even if the intelligent door has been opened fully or closed fully, the motor will always control the intelligent door to be in a moving state, which is likely to cause damage to the intelligent door. Therefore, in the present invention, after a person passes through the intelligent door, it can be ensured that the current opening degree of the intelligent door allows people to enter and leave. Even if there are multiple people continuously entering and leaving the intelligent door currently, each person can pass through.

[0062] S4: Record the opening duration of the intelligent door.

[0063] Among them, the opening duration refers to the duration from the start of the intelligent door opening to the stop of the opening. If the controller controls the motor to stop opening the intelligent door when receiving the signal emitted by the door sensor or when the first control condition is triggered, the opening duration of the intelligent door is the waiting duration for waiting for the door sensor to emit a signal; if the controller controls the motor to stop opening the intelligent door when the second control condition is triggered, the opening duration of the intelligent door is the duration from the start of opening to the stop of opening, and the opening duration is less than the waiting duration.

[0064] It should be noted that if the opening duration of the intelligent door is the same as the waiting duration, and the condition for the intelligent door to pause opening is that the first control condition is triggered, a sensor fault message corresponding to the door sensor is sent.

[0065] S5: When the humanoid sensor, the anti-pinch sensor, and the opposed beam sensor all stop emitting signals, control the motor to close the intelligent door according to the opening duration.

[0066] When the humanoid sensor, the anti-pinch sensor, and the opposed beam sensor all stop emitting signals, it indicates that there will be no personnel passing through the intelligent door at present. Therefore, control the motor to close the intelligent door according to the opening duration.

[0067] In the present invention, after controlling the motor to close the intelligent door according to the opening duration, if the signal emitted by the door sensor is not received, a sensor fault message corresponding to the door sensor is sent. When the door sensor is in a normal operating state, if the intelligent door is opened in place or closed in place, it will emit a signal to the controller; when the door sensor is in an abnormal operating state, if the intelligent door is opened in place or closed in place, it will not emit a signal to the controller. [[ID=,14]]

[0068] Specifically, the door sensor may include a first door sensor and a second door sensor; the first door sensor is used to detect whether the intelligent door is opened in place, and the second door sensor is used to detect whether the intelligent door is closed in place; if the first control condition is triggered when the signal emitted by the door sensor is not received, a sensor fault message corresponding to the first door sensor is sent; if the signal emitted by the second door sensor is not received after controlling the motor to close the intelligent door according to the opening duration, a sensor fault message corresponding to the second door sensor is sent.

[0069] Applying the method provided in the above embodiments, when the door sensor does not detect that the smart door is in place, it is judged whether the person has left according to the signal condition of the human body sensor; according to the detection condition of the anti-pinch sensor, it is judged whether the person enters or exits; according to the opposed sensor, it is judged whether the person has entered the opposed area. When the three conditions are simultaneously satisfied, it can be judged that the door has been opened in place, and a in-place message is sent to the motor through the controller to forcibly stop the opening of the smart door, so as to avoid the motor controlling the smart door to continuously perform the opening action due to the door sensor failure, thereby avoiding damage to the smart door and improving the safety of personnel entering and exiting the smart door.

[0070] Corresponding to Figure 1 the method described above, an embodiment of the present invention further provides a smart door control device for specifically implementing the Figure 1 method in. The smart door control device provided in the embodiment of the present invention is applied to a controller, and its structural schematic diagram is as Figure 4 shown, and specifically includes: A first control unit 401, configured to control the motor to open the smart door when receiving a signal emitted by the human body sensor, where the human body sensor is used to detect whether there is a person in the detection area corresponding to the smart door; A waiting unit 402, configured to wait for a preset signal emitted by the door sensor, where the signal emitted by the door sensor is used to indicate that the smart door has been opened or closed in place; A second control unit 403, configured to control the motor to stop opening the smart door if a first control condition or a second control condition corresponding to the smart door is triggered when the signal emitted by the door sensor is not received, where the first control condition is that the waiting time for waiting for the signal emitted by the door sensor reaches a preset waiting duration, and the second control condition is that signals emitted by a preset anti-pinch sensor and a preset opposed sensor are received in sequence; A recording unit 404, configured to record the opening duration of the smart door; A third control unit 405, configured to control the motor to close the smart door according to the opening duration when the human body sensor, the anti-pinch sensor, and the opposed sensor all stop emitting signals.

[0071] In the device provided in the embodiment of the present invention, the first control unit 401 controls the motor to open the smart door, specifically: Enabling a preset image recognition device to collect a dynamic image of the person; based on the dynamic image, identifying the movement direction of the person; if the movement direction of the person indicates that the person needs to pass through the smart door, controlling the motor to open the smart door.

[0072] In the device provided by an embodiment of the present invention, the first control unit 401 controls the motor to open the intelligent door, specifically used for: Determine the average moving speed of the person; Set the motor speed of the motor based on the average moving speed; Control the motor to open the intelligent door according to the motor speed.

[0073] In the device provided by an embodiment of the present invention, there are opposed areas arranged on both sides of the intelligent door, and a plurality of opposed sensors are included in the opposed areas. When the person passes through the opposed area on any side of the intelligent door, the controller receives the signals sequentially emitted by each of the opposed sensors in the opposed area according to the moving direction of the person; Among them, the first control unit 401 determines the average moving speed of the person, specifically used for: After the person first enters an opposed area, obtain the emission time when each of the opposed sensors in the opposed area emits signals in sequence; Determine the average moving speed of the person based on each of the emission times.

[0074] In the device provided by an embodiment of the present invention, the second control unit 403 controls the motor to stop opening the intelligent door, specifically used for: Determine the number of people currently passing through the intelligent door; When the number of people is less than the target threshold, if the first control condition or the second control condition is triggered, then control the motor to stop opening the intelligent door; When the number of people is not less than the target threshold, after the first control condition is triggered, control the motor to stop opening the intelligent door.

[0075] In the device provided by an embodiment of the present invention, the device further includes: A fault prompt unit, used to issue a sensor fault message corresponding to the door sensor if the intelligent door pauses to open based on the triggering of the first control condition.

[0076] In the device provided by an embodiment of the present invention, the fault prompt unit is further used for: If after controlling the motor to close the intelligent door according to the opening duration, the signal emitted by the door sensor is not received, issue a sensor fault message corresponding to the door sensor.

[0077] For the specific working processes of each unit in the intelligent door control device disclosed in the above embodiments of the present invention, reference can be made to the corresponding content in the intelligent door control method disclosed in the above embodiments of the present invention, and details are not described herein again.

[0078] An embodiment of the present invention further provides a storage medium, which includes stored instructions. When the instructions run, the device where the storage medium is located is controlled to execute the above-mentioned intelligent door control method.

[0079] An embodiment of the present invention further provides an electronic device. The schematic structural diagram is as Figure 5 shown, and specifically includes a memory 501 and one or more instructions 502. One or more instructions 502 are stored in the memory 501 and are configured to be executed by one or more processors 503 to perform the following operations: When a signal is emitted by the humanoid sensor, control the motor to open the intelligent door. The humanoid sensor is used to detect whether there is a person in the detection area corresponding to the intelligent door; Wait for a signal emitted by a preset door sensor. The signal emitted by the door sensor is used to indicate that the intelligent door has been opened or closed in place; If, in the case of not receiving the signal emitted by the door sensor, the first control condition or the second control condition corresponding to the intelligent door is triggered, then control the motor to stop opening the intelligent door. The first control condition is that the waiting time for waiting for the signal emitted by the door sensor reaches a preset waiting duration, and the second control condition is that signals emitted by a preset anti-pinch sensor and a preset opposed sensor are received in sequence; Record the opening duration of the intelligent door; When the humanoid sensor, the anti-pinch sensor, and the opposed sensor all stop emitting signals, control the motor to close the intelligent door according to the opening duration.

[0080] Each embodiment in this specification is described in a progressive manner. The same or similar parts among the embodiments can be referred to each other, and the differences emphasized in each embodiment are different from those of other embodiments. In particular, for a system or a system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative work.

[0081] Those skilled in the art may further realize that the units and algorithm steps of each example described in connection with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two.

[0082] To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described in terms of function in the above description. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the present invention.

[0083] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent door control method, characterized in that, The method is applied to a controller, and the method includes: When a signal emitted by a humanoid sensor is received, controlling a motor to open an intelligent door, where the humanoid sensor is used to detect whether there is a person in a detection area corresponding to the intelligent door; Waiting for a signal emitted by a preset door sensor, where the signal emitted by the door sensor is used to indicate that the intelligent door has been opened or closed in place; If, without receiving the signal emitted by the door sensor, a first control condition or a second control condition corresponding to the intelligent door is triggered, then controlling the motor to stop opening the intelligent door, where the first control condition is that the waiting time for waiting for the signal emitted by the door sensor reaches a preset waiting duration, and the second control condition is that signals emitted by a preset anti-pinch sensor and a preset opposed-beam sensor are received in sequence; Recording the opening duration of the intelligent door; When the humanoid sensor, the anti-pinch sensor, and the opposed-beam sensor all stop emitting signals, controlling the motor to close the intelligent door according to the opening duration.

2. The method according to claim 1, characterized in that, The controlling the motor to open the intelligent door includes: Enabling a preset image recognition device to collect a dynamic image of the person; Based on the dynamic image, identifying the movement direction of the person; If the movement direction of the person indicates that the person needs to pass through the intelligent door, controlling the motor to open the intelligent door.

3. The method according to claim 2, wherein The controlling the motor to open the intelligent door includes: Determining the average movement speed of the person; Setting the motor speed of the motor based on the average movement speed; Controlling the motor to open the intelligent door at the motor speed.

4. The method according to claim 3, wherein Opposed-beam areas are arranged on both sides of the intelligent door, and a plurality of opposed-beam sensors are included in the opposed-beam areas. When the person passes through the opposed-beam area on either side of the intelligent door, the controller receives signals sequentially emitted by each of the opposed-beam sensors in the opposed-beam area according to the movement direction of the person; Wherein, the determining the average movement speed of the person includes: After the person first enters an opposed-beam area, obtaining the emission time of signals sequentially emitted by each of the opposed-beam sensors in the opposed-beam area; Based on each of the emission times, determining the average movement speed of the person.

5. The method according to claim 1, wherein The controlling the motor to stop opening the intelligent door includes: Determining the number of people currently passing through the intelligent door; When the number of people is less than a target threshold, if the first control condition or the second control condition is triggered, then controlling the motor to stop opening the intelligent door; When the number of people is not less than the target threshold, after the first control condition is triggered, controlling the motor to stop opening the intelligent door.

6. The method according to claim 1 or 5, characterized in that The method further includes: If the intelligent door pauses opening due to the triggering of the first control condition, sending a sensor fault message corresponding to the door sensor.

7. The method according to claim 1, characterized in that, The method further includes: If, after controlling the motor to close the intelligent door according to the opening duration, the signal emitted by the door sensor is not received, sending a sensor fault message corresponding to the door sensor.

8. An intelligent door control device, characterized in that, The device is applied to a controller, and the device includes: A first control unit, configured to control a motor to open an intelligent door when a signal emitted by a humanoid sensor is received, where the humanoid sensor is used to detect whether there is a person in a detection area corresponding to the intelligent door; A waiting unit, configured to wait for a signal emitted by a preset door sensor, where the signal emitted by the door sensor is used to indicate that the intelligent door has been opened or closed in place; A second control unit, configured to control the motor to stop opening the intelligent door if a first control condition or a second control condition corresponding to the intelligent door is triggered when the signal emitted by the door sensor is not received, where the first control condition is that a waiting time for waiting for the signal emitted by the door sensor reaches a preset waiting duration, and the second control condition is that signals emitted by a preset anti-pinch sensor and a preset opposed-beam sensor are received in sequence; A recording unit, configured to record a duration of opening of the intelligent door; A third control unit, configured to control the motor to close the intelligent door according to the opening duration when the humanoid sensor, the anti-pinch sensor, and the opposed-beam sensor all stop emitting signals.

9. A storage medium, characterized in that, The storage medium includes stored instructions, where, when the instructions run, the device where the storage medium is located is controlled to execute the intelligent door control method according to any one of claims 1 to 7.

10. An electronic device, characterized in that, It includes a memory, and one or more instructions, where one or more instructions are stored in the memory and are configured to be executed by one or more processors to execute the intelligent door control method according to any one of claims 1 to 7.

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