A Method and System for Preventing Pinch on Electric Airtight Doors Based on Multi-Sensor Fusion

Abstract

This application relates to the field of airtight door function detection technology, and provides a method and system for preventing pinching in electric airtight doors based on multi-sensor fusion. The method includes: acquiring multiple anti-pinch sensor components installed on the electric airtight door; real-time acquisition of data from each anti-pinch sensor and fault identification to identify faulty sensor components; identifying associated sensor components corresponding to the faulty sensor components and activating a high-low frequency switching module; and adjusting the sampling frequency of the associated sensor components according to the associated high-frequency switching parameters. This application solves the technical problem of insufficient fault tolerance in existing electric airtight doors when a single anti-pinch sensor fails, leading to overall anti-pinch function failure. By identifying associated sensors and dynamically increasing their sampling frequency, it achieves the technical effect of maintaining high-precision anti-pinch detection even when some sensors fail, thereby improving the reliability and safety of the anti-pinch system.

Description

Technical Field

[0001] This application relates to the field of airtight door function detection technology, specifically to an anti-pinch method and system for electric airtight doors based on multi-sensor fusion. Background Technology

[0002] With the increasing demands for cleanliness and safety in modern medical, scientific research, and precision manufacturing industries, airtight doors with excellent sealing performance are widely used in special environments such as operating rooms, laboratories, pharmaceutical factories, and electronics plants. However, due to their complex structure and high frequency of use, electric airtight doors, if lacking effective anti-pinch safety measures, can easily cause squeezing, collisions, or even safety accidents to people or objects passing through when the door closes or opens.

[0003] Currently, most electric airtight doors on the market rely on a single or limited number of sensors to achieve their anti-pinch function, such as infrared or photoelectric sensors. If a single sensor experiences a blind spot, malfunctions, or sensitivity degradation, the effectiveness of the anti-pinch function decreases, making it impossible to accurately identify pedestrians or obstacles in a timely manner, thus posing a significant safety risk. To improve the anti-pinch performance of airtight doors, some solutions are beginning to employ multi-sensor parallel detection, such as installing infrared pyroelectric sensors on the door edge, distributing pressure sensor arrays on the door frame or panel, or adding millimeter-wave radar around the door, aiming to achieve more comprehensive safety monitoring through the collection of various physical quantities.

[0004] However, in real-world multi-sensor applications, an increase in the number of sensors inevitably leads to higher failure rates, interference, and maintenance costs. Without effective sensor fault-tolerance strategies, the overall anti-pinch function of the system remains at risk of failure when any sensor fails or degrades. Especially in traditional systems, the sampling frequencies of different sensors are often fixed. If a critical sensor malfunctions, the remaining sensors cannot promptly increase their sampling frequencies to provide compensation detection, potentially leaving the anti-pinch control in a blind spot.

[0005] Therefore, the key technical challenge in solving the failure problem of multi-sensor fusion anti-pinch systems is how to quickly identify faulty sensors and switch other sensors with high correlation to faulty sensors at high and low frequencies based on the analysis of data correlation on the basis of multi-sensor detection. Summary of the Invention

[0006] This application provides a method and system for preventing pinching in electric airtight doors based on multi-sensor fusion, aiming to solve the technical problem of insufficient fault tolerance in existing electric airtight doors, which leads to the failure of the overall anti-pinch function.

[0007] The first aspect disclosed in this application provides a method for preventing pinching of an electric airtight door based on multi-sensor fusion. The method includes: acquiring multiple anti-pinch sensor components installed on the electric airtight door; real-time acquisition of multiple anti-pinch sensor datasets corresponding to the multiple anti-pinch sensor components; fault identification of the multiple anti-pinch sensor components based on the multiple anti-pinch sensor datasets to acquire faulty anti-pinch sensor components; identifying associated anti-pinch sensor components corresponding to the faulty anti-pinch sensor components; activating a high-low frequency switching module; identifying associated high-frequency switching parameters corresponding to the associated anti-pinch sensor components based on the high-low frequency switching module; and adjusting the sampling frequency of the sensing signals of the associated anti-pinch sensor components using the associated high-frequency switching parameters.

[0008] Another aspect of this application discloses an anti-pinch system for electric airtight doors based on multi-sensor fusion. The system includes: a sensor component acquisition unit for acquiring multiple anti-pinch sensor components installed on the electric airtight door; a fault identification unit for real-time acquisition of multiple anti-pinch sensor datasets corresponding to the multiple anti-pinch sensor components, and for fault identification of the multiple anti-pinch sensor components based on the multiple anti-pinch sensor datasets to acquire faulty anti-pinch sensor components; and a sampling frequency adjustment unit for identifying associated anti-pinch sensor components corresponding to the faulty anti-pinch sensor components, activating a high-low frequency switching module, identifying associated high-frequency switching parameters corresponding to the associated anti-pinch sensor components based on the high-low frequency switching module, and adjusting the sampling frequency of the sensing signals of the associated anti-pinch sensor components using the associated high-frequency switching parameters.

[0009] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0010] The aforementioned multi-sensor fusion-based anti-pinch method for electric airtight doors first acquires data from multiple anti-pinch sensors installed on the door, collecting data from each sensor in real time. Based on this data, sensor fault detection is performed, and the faulty sensor is identified. Subsequently, other sensors related to the faulty sensor are identified, and a high-low frequency switching module is activated. This module identifies the high-frequency switching parameters that need to be adjusted for the associated sensors, thereby increasing the sampling frequency of these associated sensors. This ensures that the anti-pinch function is not affected by the faulty sensor, maintaining the safety and stability of the anti-pinch system.

[0011] The above description is merely an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a flowchart illustrating an anti-pinch method for an electric airtight door based on multi-sensor fusion in one embodiment.

[0014] Figure 2 This is an architecture diagram of an electric airtight door anti-pinch system based on multi-sensor fusion in one embodiment.

[0015] Explanation of reference numerals in the attached figures: Sensor component acquisition unit 11, fault identification unit 12, sampling frequency adjustment unit 13. Detailed Implementation

[0016] This application provides a method and system for preventing pinching in electric airtight doors based on multi-sensor fusion, which solves the technical problem of insufficient fault tolerance in existing electric airtight doors, leading to the failure of the overall anti-pinch function.

[0017] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0018] It should be noted that the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or modules that are not explicitly listed or that are inherent to such process, method, product, or device.

[0019] Example 1, as Figure 1 As shown, this application provides a method for preventing pinching of electric airtight doors based on multi-sensor fusion, the method comprising:

[0020] Acquire multiple anti-pinch sensor assemblies installed on the electric airtight door.

[0021] In this embodiment, based on the design drawings of the electric airtight door, multiple anti-pinch sensor assemblies are obtained and identified from the structure of the electric airtight door. These sensor assemblies are typically arranged at different locations on the door body, such as the door frame, door panel edges, or central area, to monitor whether any objects or people are trapped during the opening and closing of the door. These sensors can be of various types, such as infrared pyroelectric sensors, millimeter-wave radar, and pressure sensor arrays, and their function is to sense objects or people around the door in real time, ensuring safety during door operation.

[0022] Furthermore, this application provides that the plurality of anti-pinch sensor components include at least an infrared pyroelectric sensor, a millimeter-wave radar, and a pressure sensor array; wherein, the infrared pyroelectric sensor is installed at the edge of the electric airtight door, the millimeter-wave radar is installed at the center of the electric airtight door, and the pressure sensor array is distributed on the door frame of the electric airtight door.

[0023] Preferably, these anti-pinch sensor components include three main types of sensors: infrared pyroelectric sensors, millimeter-wave radar, and pressure sensor arrays. The infrared pyroelectric sensors are installed at the edges of the electric airtight door, such as inside the sealing strip on the door leaf edge, to detect temperature changes near the door and sense the approach of objects or people. The millimeter-wave radar is installed in the central area of ​​the door, such as on the central panel; it detects obstacles or people in front of the door by emitting and receiving electromagnetic waves (such as in the 24GHz or 60GHz bands), possessing strong penetration capabilities and a wide detection range. The pressure sensor array is distributed on the door frame, such as inside the sealing strip around the door frame, mainly used to monitor pressure changes around the door and detect whether an object is trapped during door closing. These three different types of sensors enable real-time monitoring of the electric airtight door's operating status from multiple angles, ensuring timely detection of the risk of trapping people or objects under any circumstances.

[0024] Multiple anti-pinch sensor datasets corresponding to the multiple anti-pinch sensor components are collected in real time. Fault identification is performed on the multiple anti-pinch sensor components based on the multiple anti-pinch sensor datasets to obtain faulty anti-pinch sensor components.

[0025] In one embodiment, data from multiple anti-pinch sensors is collected in real time. These sensors continuously measure and record environmental information around the door, such as temperature, pressure, and distance. This data is used to determine the working status of each sensor. By analyzing the data collected by the sensors for anomalies, it is possible to identify which sensors may have malfunctioned. Specifically, fault identification is performed from three aspects: signal range, data continuity, and noise level. Regarding signal range, the sensor signal values ​​are detected to determine whether signal values ​​outside the preset normal range appear in multiple consecutive sampling periods (which can be set according to actual needs, such as three sampling periods). For example, for a temperature sensor, its output value should be within a preset normal temperature range; the output of a pressure sensor array should be within a preset normal pressure range. If the sensor data exceeds the normal range, it indicates that the sensor may be malfunctioning. Regarding data continuity, the continuity of sensor data changes is checked. Under normal circumstances, sensor data should show a certain trend (such as gradual changes in temperature, gradual changes in distance signal, etc.). If significant jumps, prolonged periods of inactivity, or data loss are found in multiple consecutive sampling periods, it indicates that the sensor may have malfunctioned or lost response. Regarding noise levels, the signal noise level is analyzed. This involves using filters to remove low-frequency or high-frequency components from the signal, treating the remaining portion as noise, and obtaining the noise intensity. The signal-to-noise ratio (SNR) is then calculated by comparing the signal intensity and noise intensity. If the sensor's output SNR is lower than the preset SNR across multiple sampling periods, this may indicate a sensor malfunction. This is because a sensor signal should fluctuate with changes in external conditions during normal operation; excessively low noise levels may indicate that the sensor has failed to effectively acquire the signal or that its output is distorted. Through these three analyses, faulty sensors can be identified and marked as faulty sensors. These sensors with faulty sensor markings collectively form a faulty anti-pinch sensor assembly, used for subsequent matching and adjustment of related anti-pinch sensor assemblies. This prevents the failure of a single sensor from affecting the normal operation of the entire anti-pinch function.

[0026] Identify the associated anti-pinch sensor component corresponding to the fault anti-pinch sensor component, activate the high-low frequency switching module, identify the associated high-frequency switching parameters corresponding to the associated anti-pinch sensor components according to the high-low frequency switching module, and adjust the sensing signal sampling frequency of the associated anti-pinch sensor component according to the associated high-frequency switching parameters.

[0027] In one embodiment, after identifying a faulty anti-pinch sensor component, other associated sensor components are found based on the pre-Pearson coefficient. These associated sensors are typically those that share similarities or overlaps with the faulty sensor in terms of operating principle or installation location. Subsequently, a high-low frequency switching module is activated. This module dynamically adjusts the sampling frequency of the associated sensors based on the faulty sensor's condition. Specifically, the high-low frequency switching module assigns corresponding high-frequency or low-frequency switching parameters to the associated anti-pinch sensor components. These switching parameters determine the sampling frequency of the associated sensors; increasing the sampling frequency improves the data acquisition capabilities of these sensors, thereby enhancing data validity and reducing false alarm rates, while decreasing the sampling frequency reduces power consumption and system load. By adjusting the sampling frequency, the functionality of the faulty sensor can be compensated, ensuring that the anti-pinch function continues to operate normally even if some sensors fail.

[0028] Furthermore, this application provides a method for identifying the associated frequency switching parameters corresponding to the associated anti-pinch sensor components based on the high-low frequency switching module, including:

[0029] Calculate the data correlation degree between the fault anti-pinch sensor component and the associated anti-pinch sensor component; perform frequency switching conversion based on the magnitude of the data correlation degree, and output the frequency adjustment correlation coefficient corresponding to the associated anti-pinch sensor component; input the frequency adjustment correlation coefficient into the high-low frequency switching module for adjustment, and update the associated high-frequency switching parameters.

[0030] Optionally, firstly, based on the distribution location, data type, and data function of the faulty anti-pinch sensor component and other anti-pinch sensor components, feature vector groups for the faulty anti-pinch sensor component and feature vector groups for other anti-pinch sensor components are constructed. The Pearson coefficient is then used to calculate the data correlation degree between the faulty anti-pinch sensor component and other anti-pinch sensor components. All calculated data correlation degrees are then compared with preset data correlation degrees to obtain the data correlation degree of the associated anti-pinch sensor components. These data correlation degrees reflect the similarity between the two. Subsequently, based on the calculated data correlation degree, frequency switching conversion is performed using a frequency adjustment correlation coefficient mapping table to match the frequency adjustment correlation coefficient corresponding to the associated anti-pinch sensor component. If the data correlation degree is high, it indicates that the data change trends of these sensors are similar; therefore, a larger frequency adjustment correlation coefficient can be set to compensate for the role of the faulty sensor. Afterward, this frequency adjustment correlation coefficient is input into the high-low frequency switching module. The module updates the fixed sensing signal sampling frequency of the associated anti-pinch sensor component based on this parameter and uses the updated sampling frequency as the associated high-frequency switching parameter. Through this adjustment, it can be ensured that even if some sensors fail, the remaining sensors can undertake more data acquisition tasks, guaranteeing the stable operation of the anti-pinch function.

[0031] Furthermore, this application provides the data correlation between the fault anti-pinch sensor assembly and the associated anti-pinch sensor assembly, the method including:

[0032] The distribution location, sensing data type, and sensing data function of the fault anti-pinch sensor component are obtained; using the Pearson coefficient, the distribution location, sensing data type, and sensing data function of the fault anti-pinch sensor component are used as input feature vector groups to perform correlation analysis on the remaining anti-pinch sensor components, and the data correlation degree sets corresponding to the remaining anti-pinch sensor components are obtained; sensor components with a data correlation degree greater than a preset data correlation degree in the data correlation degree set are selected as the associated anti-pinch sensor components output.

[0033] Optionally, to achieve coordinated response between faulty sensors and nearby sensors, basic information about the fault-prevention anti-pinch sensor assembly is acquired, including its distribution location, sensor data type, and sensor data function. The distribution location refers to the specific coordinates of the sensor installation; the sensor data type refers to the types of data collected by the sensors, such as pressure, temperature, and distance; and the sensor data function refers to the sensor's purpose and function. For example, a pressure sensor array monitors the pressure level between a door and a person or obstacle (contact detection); an infrared pyroelectric sensor detects the proximity of a person or obstacle (proximity detection); and a millimeter-wave radar detects whether there are obstacles or people in front of the door (penetration detection). Subsequently, one-hot encoding is used to quantify the non-numerical data, and this data is concatenated with the coordinate information to form the feature vector of each sensor in the fault-prevention anti-pinch sensor assembly. These feature vectors are then stored uniformly to obtain the feature vector group of the fault-prevention anti-pinch sensor assembly. Next, the feature vector set of the remaining anti-pinch sensor components is constructed using the same method. Then, the correlation degree between each feature vector in the feature vector set of the faulty anti-pinch sensor component and the feature vector set of the remaining anti-pinch sensor components is calculated using the Pearson coefficient. This correlation degree is then stored according to each faulty sensor in the faulty anti-pinch sensor component, resulting in a data correlation degree set. Then, for each faulty sensor in the faulty anti-pinch sensor component, sensors with a correlation degree greater than a preset value are selected from the data correlation degree set to form an associated anti-pinch sensor component. These sensors are considered to have a high correlation with the faulty sensor and can effectively replace or supplement its function, thereby ensuring that even if some sensors fail, sufficient safety protection can still be provided by increasing the sampling frequency.

[0034] Furthermore, this application provides a method for inputting the frequency adjustment correlation coefficient into the high-low frequency switching module for identification and outputting the correlated high-frequency switching parameters, comprising:

[0035] Obtain the sensor type of the associated anti-pinch sensor component; configure a fixed sensing signal sampling frequency according to the sensor type of the associated anti-pinch sensor component; calculate the fixed sensing signal sampling frequency by adjusting the correlation coefficient with the frequency, and output the associated high-frequency switching parameter.

[0036] Optionally, after obtaining the associated anti-pinch sensor components, the type information of the associated anti-pinch sensor components will be identified. Each sensor type (such as infrared pyroelectric sensors, millimeter-wave radar, and pressure sensor arrays) has its specific working principle and application scenarios, therefore different types of sensors require different sampling frequencies. Subsequently, based on the identified sensor type, a fixed sensing signal sampling frequency will be configured for each type of sensor. This fixed frequency is set based on the sensor's performance requirements and actual application needs, aiming to ensure that the sensor can efficiently collect the required data under normal conditions. For example, a pressure sensor array may require a lower sampling frequency, while an infrared pyroelectric sensor may require a higher frequency to detect the approach of an object in real time. Afterward, the fixed sampling frequency is adjusted according to the previously calculated frequency adjustment correlation coefficient. The frequency adjustment correlation coefficient is an adjustment factor that reflects the degree of correlation between the faulty sensor and the associated sensor. If the data of the associated sensor is highly correlated with the faulty sensor, the correlation coefficient is large, and the sampling frequency of the associated sensor will be increased. That is, the product of the fixed sensing signal sampling frequency and the frequency adjustment correlation coefficient is added to the fixed sensing signal sampling frequency; conversely, if the correlation coefficient is small, the fixed sensing signal sampling frequency will be maintained. Finally, by applying the frequency adjustment correlation coefficient to the fixed sensor signal sampling frequency, the correlation high-frequency switching parameters of the correlation anti-pinch sensor assembly are calculated. These high-frequency switching parameters are used to dynamically adjust the sampling frequency of the correlation sensors to ensure that even if some sensors fail, the sampling frequency of the remaining sensors can be effectively increased to guarantee the stability and accuracy of the anti-pinch function.

[0037] Furthermore, this application provides a method that, after adjusting the sensing signal sampling frequency of the associated anti-pinch sensor assembly using the associated high-frequency switching parameter, further includes:

[0038] Before the high-low frequency switching module identifies the associated high-frequency switching parameters corresponding to the associated anti-pinch sensor components, it records the initial sensing signal sampling frequency of the associated anti-pinch sensor components before switching; it detects whether the real-time status of the faulty anti-pinch sensor component has been repaired; if the real-time status of the faulty anti-pinch sensor component is in the repaired state, it obtains the associated low-frequency switching parameters; the high-low frequency switching module restores the associated anti-pinch sensor components to the initial sensing signal sampling frequency according to the associated low-frequency switching parameters.

[0039] Preferably, before adjusting the sampling frequency of the associated anti-pinch sensors, the initial sensing signal sampling frequency of each associated sensor under normal operating conditions is recorded. This initial sensing signal sampling frequency is the sensor's default operating frequency, usually a standard frequency set during sensor installation. Recording this initial frequency ensures that the sampling frequency can be restored to its original value when the sensor returns to normal operation, thus avoiding any impact on sensor performance due to frequency adjustment. Subsequently, the maintenance status of faulty sensors is monitored in real time. When a faulty sensor malfunctions, it is flagged, and alternative strategies (such as increasing the sampling frequency of associated sensors) are implemented. Once a sensor has completed maintenance, its status is checked to ensure it has returned to the maintenance-completed state. If the faulty sensor has been repaired and returned to normal, preparations are made to restore the sampling frequency of all associated sensors. At this point, the low-frequency switching parameters of the faulty sensor are acquired. These parameters represent the sampling frequency set when the faulty sensor returns to normal operation, typically lower than the high-frequency sampling frequency. The low-frequency switching parameters ensure that the sensor can be restored to its original low-frequency operating mode after repair, reducing unnecessary resource consumption and extending sensor lifespan. Finally, the high-low frequency switching module restores the sampling frequency of the associated anti-pinch sensors to its initial value (i.e., the initial sensor signal sampling frequency) based on the acquired low-frequency switching parameters. This stops excessively frequent sampling of these sensors, saving computing resources and reducing the sensor load. This process ensures that once the faulty sensor is repaired, it can smoothly return to normal operation, while avoiding unnecessary performance waste or resource consumption caused by frequent sensor sampling.

[0040] Furthermore, this application provides that the high-low frequency switching module includes a D / A converter and a multiplexer; wherein, the D / A converter is used to output an analog voltage signal to adjust the sampling frequency of the sensing signal of the associated anti-pinch sensor component, and the multiplexer is used to transmit the sampling signal output by the associated anti-pinch sensor component.

[0041] Preferably, the high-low frequency switching module uses a D / A converter and a multiplexer to adjust the sampling frequency and transmit data of the associated anti-pinch sensor. The D / A converter (digital-to-analog converter) converts calculated digital signals (such as frequency adjustment parameters) into corresponding analog voltage signals. This analog signal controls the sampling frequency of the associated anti-pinch sensor; that is, the sensor's operating frequency is adjusted by changing the magnitude of the analog voltage. If the sensor's sampling frequency needs to be increased, the D / A converter outputs a higher analog voltage signal; conversely, it outputs a lower voltage signal to reduce the sampling frequency. By precisely adjusting these voltage signals, the sensor's data acquisition speed can be dynamically changed. The multiplexer (MUX) is used to transmit the sampling signals output by the associated anti-pinch sensor assembly. Its function is to transmit the sampling data from multiple sensors to the system. Through the multiplexer, signals from different sensors can be flexibly selected and transmitted, ensuring that data from each sensor is delivered in a timely manner. For example, data may be acquired simultaneously from multiple sensors (such as infrared, pressure, millimeter-wave radar, etc.). The multiplexer selects the signal that needs to be processed and transmits it to the next processing unit. When a faulty sensor is detected, the D / A converter adjusts its parameters according to the frequency and outputs an appropriate analog voltage signal to control the sampling frequency of the associated sensor and compensate for the faulty sensor's function. At the same time, the multiplexer selects the sensor data to be transmitted according to the control signal to ensure that the sampling data of each sensor can be transmitted to the system in a timely and accurate manner for analysis and judgment, thereby ensuring that the system can respond to the door's anti-pinch monitoring requirements in real time.

[0042] Furthermore, this application provides a method for adjusting the frequency adjustment correlation coefficient by inputting it into the high-low frequency switching module, comprising:

[0043] The frequency adjustment correlation coefficient is encoded into a frequency adjustment digital signal, which is transmitted to the high-low frequency switching module via the UART communication protocol and stored in the content register. When the correlation high-frequency switching parameter is received, the signal is adjusted according to the digital signal, and the updated correlation high-frequency switching parameter is output.

[0044] Optionally, after obtaining the frequency adjustment correlation coefficient, this coefficient is encoded into a digital signal. The encoding process converts the value into a binary format that the computer system can process, typically through numerical quantization or normalization methods, converting it into a digital signal of a certain precision (such as an 8-bit or 16-bit digital signal). The encoded digital signal is transmitted via the UART (Universal Asynchronous Receiver / Transmitter) communication protocol. UART is a commonly used serial communication protocol for data transmission between devices. This protocol uses two lines (TX and RX) to transmit data and is suitable for short-distance data exchange. During transmission, the encoded digital signal is encapsulated into a data packet and transmitted from the system to the high-low frequency switching module via the UART interface. At this point, the data packet includes the frequency adjustment correlation coefficient and some protocol control information. After receiving the digital signal, the high-low frequency switching module stores it in a content register. The register is a small storage unit used to store data. In this process, it is used to save the digital signal of the frequency adjustment correlation coefficient, preparing for subsequent signal adjustment operations. After storing the digital signal, it waits for and receives the correlation high-frequency switching parameters from the system. These parameters are calculated based on previous processing and settings, reflecting the sampling frequency that the correlation sensor needs to achieve. When the high-low frequency switching module receives the associated high-frequency switching parameters, it adjusts the parameters based on the digital signal of the frequency correlation coefficient, which has been stored. During the adjustment process, since the output signal formats of different sensor types may differ (e.g., analog signals, digital signals), these signal formats need to be converted into a unified digital format. This means that the signals from different sensors need to be formatted, for example, by using an A / D converter or digital encoder to standardize the signals for subsequent processing. Once the signal is converted into a unified digital signal, new associated high-frequency switching parameters are calculated using a method similar to that described above for obtaining the associated high-frequency switching parameters. These parameters are used to control the sampling frequency of the associated sensors in real time, ensuring effective compensation for faulty sensors and maintaining the normal operation of the anti-pinch function.

[0045] Furthermore, this application provides a method for adjusting the sensing signal sampling frequency of the associated anti-pinch sensor assembly using the associated high-frequency switching parameter, comprising:

[0046] The associated high-frequency switching parameter or the associated low-frequency switching parameter is segmented by the PWM signal to output multiple segments of associated high-frequency switching parameters and multiple segments of associated low-frequency switching parameters; the sensing signal sampling frequency of the associated anti-pinch sensor component is gradually increased according to the multiple segments of associated high-frequency switching parameters; the sensing signal sampling frequency of the associated anti-pinch sensor component is gradually decreased according to the multiple segments of associated low-frequency switching parameters.

[0047] Optionally, the PWM (Pulse Width Modulation) signal controls the output frequency or voltage by adjusting the signal's duty cycle. The PWM signal is used to segment the associated high-frequency and low-frequency switching parameters. Frequency segmentation aims to more precisely control changes in the sampling frequency. Depending on the sensor's requirements, the high-frequency and low-frequency switching parameters are divided into multiple segments. For example, high-frequency parameters can be divided into several levels (e.g., low, medium, high) or divided according to certain time intervals to gradually adjust the sensor's sampling frequency. After segmentation, multiple segments of associated high-frequency and low-frequency switching parameters are output. Each segment represents the sensor's operating conditions at different sampling frequencies. Each segment is adjusted via the PWM signal to control the sensor's frequency change at a specific time point. These parameters ensure a smooth transition to different operating frequencies, rather than abrupt jumps, thus avoiding excessive impact on performance. Subsequently, when it is necessary to increase the sensor's sampling frequency, the sensor's sampling frequency is gradually increased according to the multiple high-frequency switching parameters. For example, the sampling frequency of associated sensors is gradually increased in a preset order to better compensate for the function of faulty sensors. The magnitude of each increase is determined by the duty cycle of the PWM signal; a higher duty cycle indicates a higher sampling frequency. Guided by the control signal, the sampling frequency is increased step by step to ensure the sensor can monitor environmental changes in real time at a higher frequency. After the faulty sensor is repaired, the sampling frequency of the associated sensors needs to be gradually reduced to return to the initial state. To ensure a smooth transition, the sampling frequency is gradually reduced based on the switching parameters of multiple associated low-frequency segments. Similar to the frequency increase process, the duty cycle of each low-frequency segment is adjusted by the PWM signal to gradually reduce the sampling frequency, ensuring that there are no sudden changes when the sensor returns to the low-frequency operating state, thus avoiding interference with data acquisition and performance. During the process of increasing or decreasing the sampling frequency, the adjustment of the PWM signal ensures a smooth change in the sampling frequency, avoiding sudden frequency changes that could affect the anti-pinch system. By adjusting the sampling frequency step by step, efficient and stable management of the associated anti-pinch sensors can be achieved, ensuring the smooth recovery of the anti-pinch function after the faulty sensor is repaired, and providing sufficient frequency support when the faulty sensor is not repaired. This not only improves the dynamic adjustment capability of the sensor sampling frequency but also optimizes the system's response time and stability.

[0048] In summary, the embodiments of this application have at least the following technical effects:

[0049] This application first acquires multiple anti-pinch sensor assemblies installed on the electric airtight door; then, it collects multiple anti-pinch sensor datasets corresponding to the multiple anti-pinch sensor assemblies in real time, identifies faulty anti-pinch sensor assemblies based on the datasets, and identifies faulty anti-pinch sensor assemblies; finally, it identifies associated anti-pinch sensor assemblies corresponding to the faulty ones, activates a high-low frequency switching module, identifies associated high-frequency switching parameters for each associated anti-pinch sensor assembly based on the high-low frequency switching module, and adjusts the sampling frequency of the sensing signals of the associated anti-pinch sensor assemblies using these parameters. These technical effects collectively solve the technical problem of insufficient fault tolerance in existing electric airtight doors leading to overall anti-pinch function failure when a single anti-pinch sensor fails. By identifying associated sensors and dynamically increasing their sampling frequency, it achieves the technical effect of maintaining high-precision anti-pinch detection even when some sensors fail, improving the reliability and safety of the anti-pinch system.

[0050] Example 2 is based on the same inventive concept as the multi-sensor fusion-based anti-pinch method for electric airtight doors in the previous examples, such as... Figure 2 As shown, this application provides an anti-pinch system for electric airtight doors based on multi-sensor fusion. The system includes: a sensor component acquisition unit 11 for acquiring multiple anti-pinch sensor components installed on the electric airtight door; a fault identification unit 12 for real-time acquisition of multiple anti-pinch sensor datasets corresponding to the multiple anti-pinch sensor components, and for fault identification of the multiple anti-pinch sensor components based on the multiple anti-pinch sensor datasets to acquire faulty anti-pinch sensor components; and a sampling frequency adjustment unit 13 for identifying associated anti-pinch sensor components corresponding to the faulty anti-pinch sensor components, activating a high-low frequency switching module, identifying associated high-frequency switching parameters corresponding to the associated anti-pinch sensor components based on the high-low frequency switching module, and adjusting the sampling frequency of the sensing signals of the associated anti-pinch sensor components using the associated high-frequency switching parameters.

[0051] Furthermore, the sensor assembly acquisition unit 11 is also configured to perform the following method:

[0052] The plurality of anti-pinch sensor components include at least an infrared pyroelectric sensor, a millimeter-wave radar, and a pressure sensor array; wherein, the infrared pyroelectric sensor is installed at the edge of the electric airtight door, the millimeter-wave radar is installed at the center of the electric airtight door, and the pressure sensor array is distributed on the door frame of the electric airtight door.

[0053] Furthermore, the sampling frequency adjustment unit 13 is also used to perform the following method:

[0054] Calculate the data correlation degree between the fault anti-pinch sensor component and the associated anti-pinch sensor component; perform frequency switching conversion based on the magnitude of the data correlation degree, and output the frequency adjustment correlation coefficient corresponding to the associated anti-pinch sensor component; input the frequency adjustment correlation coefficient into the high-low frequency switching module for adjustment, and update the associated high-frequency switching parameters.

[0055] Furthermore, the sampling frequency adjustment unit 13 is also used to perform the following method:

[0056] The distribution location, sensing data type, and sensing data function of the fault anti-pinch sensor component are obtained; using the Pearson coefficient, the distribution location, sensing data type, and sensing data function of the fault anti-pinch sensor component are used as input feature vector groups to perform correlation analysis on the remaining anti-pinch sensor components, and the data correlation degree sets corresponding to the remaining anti-pinch sensor components are obtained; sensor components with a data correlation degree greater than a preset data correlation degree in the data correlation degree set are selected as the associated anti-pinch sensor components output.

[0057] Furthermore, the sampling frequency adjustment unit 13 is also used to perform the following method:

[0058] Obtain the sensor type of the associated anti-pinch sensor component; configure a fixed sensing signal sampling frequency according to the sensor type of the associated anti-pinch sensor component; calculate the fixed sensing signal sampling frequency by adjusting the correlation coefficient with the frequency, and output the associated high-frequency switching parameter.

[0059] Furthermore, the sampling frequency adjustment unit 13 is also used to perform the following method:

[0060] Before the high-low frequency switching module identifies the associated high-frequency switching parameters corresponding to the associated anti-pinch sensor components, it records the initial sensing signal sampling frequency of the associated anti-pinch sensor components before switching; it detects whether the real-time status of the faulty anti-pinch sensor component has been repaired; if the real-time status of the faulty anti-pinch sensor component is in the repaired state, it obtains the associated low-frequency switching parameters; the high-low frequency switching module restores the associated anti-pinch sensor components to the initial sensing signal sampling frequency according to the associated low-frequency switching parameters.

[0061] Furthermore, the sampling frequency adjustment unit 13 is also used to perform the following method:

[0062] The high-low frequency switching module includes a D / A converter and a multiplexer; wherein, the D / A converter is used to output an analog voltage signal to adjust the sampling frequency of the sensing signal of the associated anti-pinch sensor component, and the multiplexer is used to transmit the sampling signal output by the associated anti-pinch sensor component.

[0063] Furthermore, the sampling frequency adjustment unit 13 is also used to perform the following method:

[0064] The frequency adjustment correlation coefficient is encoded into a frequency adjustment digital signal, which is transmitted to the high-low frequency switching module via the UART communication protocol and stored in the content register. When the correlation high-frequency switching parameter is received, the signal is adjusted according to the digital signal, and the updated correlation high-frequency switching parameter is output.

[0065] Furthermore, the sampling frequency adjustment unit 13 is also used to perform the following method:

[0066] The associated high-frequency switching parameter or the associated low-frequency switching parameter is segmented by the PWM signal to output multiple segments of associated high-frequency switching parameters and multiple segments of associated low-frequency switching parameters; the sensing signal sampling frequency of the associated anti-pinch sensor component is gradually increased according to the multiple segments of associated high-frequency switching parameters; the sensing signal sampling frequency of the associated anti-pinch sensor component is gradually decreased according to the multiple segments of associated low-frequency switching parameters.

[0067] It should be noted that the order of the embodiments described above is for descriptive purposes only and does not represent the superiority or inferiority of the embodiments. Furthermore, the above description focuses on specific embodiments of this specification. The processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired results. In some implementations, multitasking and parallel processing are possible or may be advantageous.

[0068] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0069] This specification and accompanying drawings are merely illustrative examples of this application and are intended to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from its scope. Therefore, if such modifications and modifications fall within the scope of this application and its equivalents, this application intends to include such modifications and modifications.

Claims

1. A method for preventing pinching of electric airtight doors based on multi-sensor fusion, characterized in that, The method includes: Acquire multiple anti-pinch sensor assemblies installed on the electric airtight door; The system collects multiple anti-pinch sensor datasets corresponding to the multiple anti-pinch sensor components in real time, identifies faults in the multiple anti-pinch sensor components based on the multiple anti-pinch sensor datasets, and obtains faulty anti-pinch sensor components. Identify the associated anti-pinch sensor component corresponding to the fault anti-pinch sensor component, activate the high-low frequency switching module, identify the associated high-frequency switching parameters corresponding to the associated anti-pinch sensor components according to the high-low frequency switching module, and adjust the sensing signal sampling frequency of the associated anti-pinch sensor component according to the associated high-frequency switching parameters. The method for identifying the associated frequency switching parameters corresponding to the associated anti-pinch sensor components based on the high-low frequency switching module includes: Calculate the data correlation degree between the fault anti-pinch sensor assembly and the associated anti-pinch sensor assembly; Based on the magnitude of the data correlation, frequency switching is performed, and the frequency adjustment correlation coefficient corresponding to the associated anti-pinch sensor component is output. The frequency adjustment correlation coefficient is input into the high-low frequency switching module for adjustment, and the correlation high-frequency switching parameters are updated.

2. The method as described in claim 1, characterized in that, The method for calculating the data correlation degree between the fault anti-pinch sensor assembly and the associated anti-pinch sensor assembly includes: The distribution location, sensing data type, and sensing data function of the fault anti-pinch sensor assembly are obtained. Using the Pearson coefficient, the distribution location, sensing data type, and sensing data function of the faulty anti-pinch sensor component are used as input feature vector groups to perform correlation analysis on the remaining anti-pinch sensor components, and obtain the data correlation degree set corresponding to the remaining anti-pinch sensor components respectively. Sensor components with a correlation degree greater than a preset correlation degree are selected from the data correlation set and output as the correlated anti-pinch sensor components.

3. The method as described in claim 1, characterized in that, The frequency adjustment correlation coefficient is input into the high-low frequency switching module for identification, and the correlation high-frequency switching parameter is output. The method includes: Obtain the sensor type of the associated anti-pinch sensor assembly; Configure a fixed sensing signal sampling frequency according to the sensor type of the associated anti-pinch sensor assembly; The correlation coefficient is adjusted based on the frequency to calculate the sampling frequency of the fixed sensor signal, and the correlation high-frequency switching parameter is output.

4. The method as described in claim 1, characterized in that, After adjusting the sensing signal sampling frequency of the associated anti-pinch sensor assembly using the associated high-frequency switching parameters, the method further includes: Before the high-low frequency switching module identifies the associated high-frequency switching parameters corresponding to the associated anti-pinch sensor components, it records the initial sensing signal sampling frequency of the associated anti-pinch sensor components before switching. Detect whether the real-time status of the fault anti-pinch sensor assembly has been repaired. If the real-time status of the fault anti-pinch sensor assembly is in the repair completed state, obtain the associated low-frequency switching parameters. The high-low frequency switching module restores the associated anti-pinch sensor component to its initial sensing signal sampling frequency according to the associated low-frequency switching parameters.

5. The method as described in claim 1, characterized in that, The high-low frequency switching module includes a D / A converter and a multiplexer; The D / A converter is used to output an analog voltage signal to adjust the sampling frequency of the sensing signal of the associated anti-pinch sensor component, and the multiplexer is used to transmit the sampling signal output by the associated anti-pinch sensor component.

6. The method as described in claim 1, characterized in that, The frequency adjustment correlation coefficient is input into the high-low frequency switching module for adjustment, and the method includes: The frequency adjustment correlation coefficient is encoded into a frequency adjustment digital signal, which is transmitted to the high-low frequency switching module via the UART communication protocol and stored in the content register. Upon receiving the associated high-frequency switching parameters, the signal is adjusted according to the digital signal, and the updated associated high-frequency switching parameters are output.

7. The method as described in claim 1, characterized in that, The plurality of anti-pinch sensor components include at least an infrared pyroelectric sensor, a millimeter-wave radar, and a pressure sensing array; The infrared pyroelectric sensor is installed at the edge of the electric airtight door, the millimeter-wave radar is installed at the center of the electric airtight door, and the pressure sensor array is distributed on the door frame of the electric airtight door.

8. The method as described in claim 4, characterized in that, The method for adjusting the sensing signal sampling frequency of the associated anti-pinch sensor assembly using the associated high-frequency switching parameters includes: The associated high-frequency switching parameter or the associated low-frequency switching parameter is segmented by the PWM signal to output multiple segments of associated high-frequency switching parameters and multiple segments of associated low-frequency switching parameters. The sampling frequency of the sensing signal of the associated anti-pinch sensor component is gradually increased according to the multi-segment associated high-frequency switching parameters; The sampling frequency of the sensing signal of the associated anti-pinch sensor component is gradually reduced according to the multi-segment associated low-frequency switching parameters.

9. An anti-pinch system for electric airtight doors based on multi-sensor fusion, characterized in that, The system is used to execute the multi-sensor fusion-based anti-pinch method for electric airtight doors as described in any one of claims 1-8, including: Sensor assembly acquisition unit: acquires multiple anti-pinch sensor assemblies installed on the electric airtight door; Fault identification unit: Real-time acquisition of multiple anti-pinch sensor datasets corresponding to the multiple anti-pinch sensor components, and fault identification of the multiple anti-pinch sensor components based on the multiple anti-pinch sensor datasets to obtain faulty anti-pinch sensor components; Sampling frequency adjustment unit: Identifies the associated anti-pinch sensor component corresponding to the fault anti-pinch sensor component, activates the high-low frequency switching module, identifies the associated high-frequency switching parameters corresponding to the associated anti-pinch sensor components according to the high-low frequency switching module, and adjusts the sampling frequency of the sensing signal of the associated anti-pinch sensor component with the associated high-frequency switching parameters.

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