Car door anti-trap protection device and method

Abstract

The application relates to a car door anti-pinch protection device and method. The car door anti-pinch protection device comprises a detection unit, a control unit and a communication unit. The detection unit comprises an infrared detection module and an ultrasonic detection module. The infrared detection module is installed on the door frame of the car door, and is used for acquiring infrared detection original data of the car door. The ultrasonic detection module is installed on the door frame of the car door, and is used for acquiring ultrasonic detection original data of the car door. The infrared detection module and the ultrasonic detection module are electrically connected with the control unit. The communication unit is electrically connected with the control unit and an elevator system. The car door anti-pinch protection device and method have the advantages of high detection precision and low misjudgment probability.

Description

Technical Field

[0001] This application relates to elevator control equipment, and in particular to a car door anti-pinch protection device and method. Background Technology

[0002] Currently, elevator car door anti-pinch protection devices commonly employ infrared light curtain detection technology. This involves installing an infrared detection module on the door frame, causing multiple beams of infrared light to form a light curtain in the doorway. The infrared detection module typically consists of a transmitter and a receiver. The transmitter generates a series of infrared beams, forming a light curtain. When an object passes through this light curtain, it partially blocks the beams. The receiver detects whether the beams are blocked and converts this information into electrical signals.

[0003] Furthermore, the infrared detection modules currently in use have limitations. Due to the relatively large spacing between the infrared beams, there may be areas that are missed during detection, and small objects are difficult to detect, resulting in insufficient detection accuracy. Moreover, the infrared beams only detect whether there is obstruction, and cannot detect intensity. Therefore, they are prone to misjudging transparent objects such as glass, or being interfered with by environmental factors such as strong light and dust, resulting in poor detection accuracy and a high risk of misjudgment. Summary of the Invention

[0004] Therefore, it is necessary to provide a car door anti-pinch protection device and method to address the problems of poor detection accuracy and easy misjudgment in car door anti-pinch protection devices.

[0005] In a first aspect, a car door anti-pinch protection device is provided, comprising:

[0006] The detection unit includes an infrared detection module and an ultrasonic detection module. The infrared detection module is installed on the door frame of the car door and is used to acquire the raw infrared detection data of the car door. The ultrasonic detection module is installed on the door frame of the car door and is used to acquire the raw ultrasonic detection data of the car door.

[0007] The control unit, wherein both the infrared detection module and the ultrasonic detection module are electrically connected to the control unit; and

[0008] A communication unit is provided for electrical connection to the control unit and the elevator system.

[0009] In one embodiment, the control unit includes a data acquisition module and a fusion algorithm module. The infrared detection module and the ultrasonic detection module are both electrically connected to the data acquisition module, and the fusion algorithm module is electrically connected to the data acquisition module. The data acquisition module is used to receive and process raw infrared detection data and raw ultrasonic detection data, and output infrared detection data and ultrasonic detection data. The fusion algorithm module is used to receive and process infrared detection data and ultrasonic detection data, and output obstacle information data.

[0010] In one embodiment, the control unit further includes a fault diagnosis module electrically connected to the acquisition module. The fault diagnosis module is used to receive and process infrared detection data and ultrasonic detection data, and output fault information data.

[0011] In one embodiment, the control unit further includes a built-in AI module electrically connected to the acquisition module and also electrically connected to the fusion algorithm module.

[0012] In one embodiment, the car door anti-pinch protection device further includes an interactive unit, which includes an audio-visual display module and a debugging module, both of which are electrically connected to the fusion algorithm module.

[0013] In one embodiment, the car door anti-pinch protection device further includes a power management unit, which is electrically connected to the detection unit and the control unit.

[0014] In one embodiment, the infrared detection module is installed on the side of the car door, and the ultrasonic detection module is installed on the side or top of the car door; or, the ultrasonic detection module includes two, and the two ultrasonic detection modules are respectively installed on the side and top of the car door.

[0015] Secondly, a method for preventing car door pinching is provided, applicable to the car door anti-pinch protection device described in any of the above embodiments, comprising the following steps:

[0016] Acquire infrared and ultrasonic detection data of the car door;

[0017] The dynamic weighting parameters are dynamically adjusted based on infrared and ultrasonic detection data.

[0018] The predicted and current state data of the obstacle are calculated based on infrared detection data, ultrasonic detection data, and dynamic weighting parameters.

[0019] Based on the predicted and current status data of the obstacles, determine whether there are obstacles in the car door;

[0020] If there is an obstacle, keep the car door open;

[0021] If there are no obstacles, control the car door to perform the closing procedure.

[0022] In one embodiment, the steps of acquiring infrared detection data and ultrasonic detection data of the car door further include the following steps:

[0023] The infrared detection module acquires the raw infrared detection data of the car door, and the ultrasonic detection module acquires the raw ultrasonic detection data.

[0024] The acquisition module uses low-pass filtering to remove high-frequency noise and sudden interference signals from the raw infrared and ultrasonic detection data.

[0025] The infrared detection data and the ultrasonic detection data are aligned with the signal timestamp by the acquisition module to obtain the infrared detection data and the ultrasonic detection data.

[0026] In one embodiment, the step of calculating the predicted state data of the obstacle based on infrared detection data and ultrasonic detection data further includes the following step:

[0027] Initialize the current state vector of the obstacle based on the initial measurement results of infrared and ultrasonic detection data. and current error covariance ;

[0028] Based on the current state vector of the obstacle at the previous moment Calculate the predicted state vector of the obstacle ;

[0029] Based on the current error covariance of the obstacle at the previous moment Calculate the prediction error covariance of obstacles .

[0030] In one embodiment, the step of calculating the current state data of the obstacle based on infrared detection data and ultrasonic detection data further includes the following step:

[0031] The measured value of the obstacle is calculated based on infrared and ultrasonic detection data. and measurement noise covariance Based on the predicted state vector The measurement matrix is ​​calculated. ;

[0032] Based on the prediction error covariance and measurement matrix The Kalman gain was calculated. ;

[0033] Based on the predicted state vector of the obstacle Measured values Measurement matrix and Kalman gain Calculate the current state vector ;

[0034] Based on the prediction error covariance of obstacles Measurement matrix and Kalman gain Calculate the current error covariance .

[0035] In one embodiment, the measurement noise covariance is calculated based on infrared detection data and ultrasonic detection data. The process also includes the following steps:

[0036] The acquired infrared detection data includes infrared noise variance. and infrared environmental interference value Ultrasonic testing data includes ultrasonic noise variance. and ultrasonic environmental interference value According to infrared noise variance Infrared environmental interference value Ultrasonic noise variance Ultrasonic environmental interference value Calculate the measurement noise covariance .

[0037] The aforementioned anti-pinch protection device and method for car doors includes an infrared detection module and an ultrasonic detection module in the detection unit. By installing these two modules on the car door, they jointly detect obstacles passing through the door. The raw ultrasonic and infrared detection data are transmitted to the control unit, where they are fused and analyzed. The more reliable detection data is selected as the primary basis for a comprehensive judgment and prediction of the obstacle's presence, type, and location. The analyzed data is then transmitted to the elevator system via a communication unit, enabling the elevator system to control the opening and closing of the car door based on the analyzed data. This application avoids relying solely on either the infrared or ultrasonic detection module for judgment, thus preventing missed detection areas. Furthermore, it dynamically adjusts the weight of different data, increasing the weight of more reliable data and reducing the impact of environmental factors on the data. This results in high detection accuracy and a low probability of false positives. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the anti-pinch protection device for the car door described in an embodiment of this application.

[0039] Figure 2 This is a schematic diagram of the installation of the infrared detection module of the car door anti-pinch protection device described in the embodiments of this application.

[0040] Figure 3 This is a schematic diagram of the installation of the ultrasonic detection module of the car door anti-pinch protection device according to an embodiment of this application.

[0041] Figure 4 This is a schematic diagram of the installation of the ultrasonic detection module of the car door anti-pinch protection device according to another embodiment of this application.

[0042] Figure 5 This is a flowchart illustrating the anti-pinch protection method for car doors described in an embodiment of this application.

[0043] Icon labels:

[0044] 100. Detection unit; 110. Infrared detection module; 120. Ultrasonic detection module; 200. Control unit; 210. Acquisition module; 220. Fusion algorithm module; 230. Fault diagnosis module; 240. Built-in AI module; 300. Communication unit; 400. Interaction unit; 410. Audio-visual display module; 420. Debugging module; 10. Car door. Detailed Implementation

[0045] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0046] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0047] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0048] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0049] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0050] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0051] See Figures 1 to 4This document illustrates a structural and installation schematic diagram of an anti-pinch protection device for car doors according to an embodiment of this application. The anti-pinch protection device includes a detection unit 100, a control unit 200, and a communication unit 300. The detection unit 100 includes an infrared detection module 110 and an ultrasonic detection module 120. The infrared detection module 110 is installed on the door frame of the car door 10 and is used to acquire raw infrared detection data of the car door 10. The ultrasonic detection module 120 is installed on the door frame of the car door 10 and is used to acquire raw ultrasonic detection data of the car door 10. Both the infrared detection module 110 and the ultrasonic detection module 120 are electrically connected to the control unit 200. The communication unit 300 is electrically connected to the control unit 200 and the elevator system.

[0052] In an optional embodiment, the communication unit 300 supports multiple communication protocols, including UART, I2C, SPI, 485, RS232, etc., facilitating integration with different control systems. Furthermore, the communication unit 300 also includes a wireless communication module, such as a Bluetooth module or a Wi-Fi module, which can be used for remote data monitoring.

[0053] The anti-pinch protection device for the car door described in this application embodiment includes an infrared detection module 110 and an ultrasonic detection module 120 in its detection unit 100. By installing the infrared detection module 110 and the ultrasonic detection module 120 on the car door 10, the infrared detection module 110 forms a light curtain detection field covering the door gap area, and the ultrasonic detection module 120 forms a sound wave detection field covering the door gap area. The sound wave detection field can compensate for the gaps in the infrared beam, detect small objects, and is unaffected by dust and light. The infrared detection module 110 and the ultrasonic detection module 120 jointly detect obstacles passing through the car door 10. The infrared detection module 110 has the advantage of high sensitivity, and the ultrasonic detection module 120 has the advantage of strong resistance to environmental interference. The raw data from ultrasonic and infrared detections are transmitted to the control unit 200. The control unit 200 performs fusion processing and analysis on the raw data from ultrasonic and infrared detections, and selects the more reliable detection data as the main basis according to the situation, so as to comprehensively judge and predict the existence, type and location of obstacles. Then, the analyzed data is transmitted to the elevator system through the communication unit 300, so that the elevator system can control the opening or closing of the car door 10 based on the analyzed data.

[0054] The car door anti-pinch protection device described in this application embodiment integrates and analyzes raw ultrasonic and infrared detection data, avoiding the use of either the infrared detection module 110 or the ultrasonic detection module 120 for judgment, thereby avoiding areas that are missed. Furthermore, it dynamically adjusts the weight of the data, increasing the weight of more reliable data and reducing the impact of environmental factors on the data. It has the advantages of high detection accuracy and low probability of misjudgment.

[0055] In some embodiments, such as Figure 1 As shown, the control unit 200 includes a data acquisition module 210 and a fusion algorithm module 220. The infrared detection module 110 and the ultrasonic detection module 120 are both electrically connected to the data acquisition module 210, and the fusion algorithm module 220 is electrically connected to the data acquisition module 210. The data acquisition module 210 receives and processes raw infrared and ultrasonic detection data, and outputs infrared and ultrasonic detection data. The fusion algorithm module 220 receives and processes the infrared and ultrasonic detection data, and outputs obstacle information data. Specifically, the data acquisition module 210 has a first interface and a second interface. The first interface is electrically connected to the infrared detection module 110, and the second interface is electrically connected to the ultrasonic detection module 120.

[0056] In this embodiment, the acquisition module 210 receives raw infrared detection data from the infrared detection module 110 via a first interface, and simultaneously receives raw ultrasonic detection data from the ultrasonic detection module 120 via a second interface, supporting parallel processing. The acquisition module 210 uses low-pass filtering to remove high-frequency noise and sudden interference signals from both the raw infrared and ultrasonic detection data, and aligns the signal timestamps of the infrared and ultrasonic detection modules 110 and 120 for subsequent data fusion processing. After processing, the infrared and ultrasonic detection data are obtained, and the processed data is output to the fusion algorithm module 220 for further processing. The fusion algorithm module 220, based on the detection results from different detection modules, uses a fusion algorithm to comprehensively determine the presence, type, and location of obstacles, and uses an obstacle prediction algorithm to predict and update the obstacle's location, providing the most probable obstacle location estimate, thereby improving detection accuracy and reducing false positives. The fusion algorithm module 220 can also dynamically adjust the weights of the infrared and ultrasonic detection data, giving higher weights to more reliable data, further optimizing detection accuracy.

[0057] In an optional embodiment, the communication unit 300 is further configured to acquire door width data of the car door 10 that is opening or closing in the elevator system, and transmit the door width data to the fusion algorithm module 220, so that the fusion algorithm module 220 can process the door width data in combination, thereby shielding the influence of the moving car door 10 during opening and closing on the detection accuracy.

[0058] In an optional embodiment, such as Figure 1 As shown, the control unit 200 also includes a fault diagnosis module 230, which is electrically connected to the acquisition module 210. The fault diagnosis module 230 is used to receive and process infrared detection data and ultrasonic detection data, and output fault information data.

[0059] In this embodiment, the fault diagnosis module 230 monitors the operating status of the infrared detection module 110 and the ultrasonic detection module 120 in real time, detects and diagnoses potential faults in the infrared and ultrasonic detection data, and outputs fault information data to the fusion algorithm module 220. This allows the fusion algorithm module 220 to send the data to the elevator system via the communication unit 300, enabling the elevator system to promptly issue a fault signal.

[0060] In an exemplary embodiment, the fault diagnosis module 230 periodically collects the operating parameters of the infrared detection module 110 and the ultrasonic detection module 120, such as signal strength and power consumption, and compares them with preset thresholds. It uses rule logic (such as threshold judgment) and pattern recognition technology to distinguish whether it is a normal signal fluctuation or a hardware fault. If it is a hardware fault, it provides diagnostic results and outputs fault information data.

[0061] In an optional embodiment, such as Figure 1 As shown, the control unit 200 also includes a built-in AI module 240, which is electrically connected to the acquisition module 210 and also electrically connected to the fusion algorithm module 220. By adding the built-in AI module 240, it supports the operation of a lightweight machine learning model, used to identify complex obstacles based on infrared and ultrasonic detection data, and to adjust the obstacle prediction model based on information such as day / night and season, thereby improving detection accuracy.

[0062] In an optional embodiment, such as Figure 1 As shown, the car door anti-pinch protection device also includes an interactive unit 400, which includes an audio-visual display module 410 and a debugging module 420. Both the audio-visual display module 410 and the debugging module 420 are electrically connected to the fusion algorithm module 220.

[0063] This embodiment includes an audio-visual display module 410 and a debugging module 420. The audio-visual display module 410 can provide real-time feedback on obstacle detection. The debugging module 420 can be connected to a manager's computer to view the data detected by the car door anti-pinch protection device and set detection strategies, such as adjusting the light intensity control strategy of the infrared detection module 110, adjusting the emission angle and intensity of the ultrasonic detection module 120, and adjusting the dynamic emission mode of the ultrasonic detection module 120.

[0064] In an optional embodiment, the car door anti-pinch protection device further includes a power management unit electrically connected to the detection unit 100 and the control unit 200. The power management unit provides regulated power to the detection unit 100 and the control unit 200 to ensure stable operation of the infrared detection module 110, the ultrasonic detection module 120, and the control unit 200.

[0065] In an optional embodiment, such as Figures 2 to 4 As shown, the infrared detection module 110 is installed on the side of the car door 10, and the ultrasonic detection module 120 is installed on the side or top of the car door 10. The ultrasonic detection module 120 adopts a modular design, which can meet the needs of retrofitting existing elevators with ultrasonic detection modules 120. In the detection unit 100, the infrared detection module 110 can be used in conjunction with the ultrasonic detection module 120 installed on the side or on the top, depending on customer needs and actual scenarios. This allows the infrared detection module 110 and the ultrasonic detection module 120 to jointly detect obstacles, thereby improving the detection accuracy of the car door anti-pinch protection device.

[0066] In other embodiments, such as Figure 3 and Figure 4 As shown, the ultrasonic detection module 120 includes two modules, which are respectively installed on the side and top of the car door 10. Depending on customer needs and the actual scenario, ultrasonic detection modules 120 can be installed on both the side and top of the car door 10, allowing the infrared detection module 110 to be used in conjunction with both the side and top ultrasonic detection modules 120, thereby improving the detection accuracy of the car door anti-pinch protection device.

[0067] On the other hand, this application also provides a method for preventing car door pinching, applicable to the car door pinching protection device described in any of the above embodiments, such as... Figure 5 As shown, it includes the following steps:

[0068] Step S100: Acquire infrared detection data and ultrasonic detection data of the car door 10;

[0069] Step S200: Dynamically adjust the dynamic weighting parameters based on the infrared detection data and the ultrasonic detection data;

[0070] Step S300: Calculate the predicted state data and current state data of the obstacle based on the infrared detection data, ultrasonic detection data, and dynamic weight parameters;

[0071] Step S400: Based on the predicted state data and current state data of the obstacle, determine whether there is an obstacle in the car door 10;

[0072] Step S510: If there is an obstacle, control the car door 10 to remain open;

[0073] Step S520: If there is no obstacle, control the car door 10 to perform the closing procedure.

[0074] It should be noted that when determining whether there is an obstacle on the car door 10 based on the predicted state data and the current state data of the obstacle, if either the predicted state data or the current state data shows that there is an obstacle, it is determined that there is an obstacle, and the car door 10 is controlled to remain open; if both the predicted state data and the current state data show that there is no obstacle, it is determined that there is no obstacle, and the car door 10 is controlled to execute the closing procedure.

[0075] The car door anti-pinch protection method described in this application integrates infrared detection data and ultrasonic detection data of the car door 10 through a fusion algorithm to comprehensively determine the state of the obstacle, dynamically adjusts the weight of the data, and increases the weight of infrared or ultrasonic detection according to dynamic weight parameters. The current state data and predicted state data of the obstacle are calculated based on the dynamic weight parameters, reducing the influence of environmental factors on the data. The current state data reflects the current position of the obstacle, and the predicted state data predicts the position of the obstacle at the next moment. Only when both the current state data and the predicted state data indicate that there is no obstacle can the car door 10 be controlled to close. This embodiment avoids using only ultrasonic and infrared detection data for judgment by fusing and analyzing ultrasonic and infrared detection data. Furthermore, by increasing the weight of more reliable data through dynamic weight parameters, it avoids obtaining incorrect results from misjudged data, reduces the influence of environmental factors on the data, and has the advantages of high detection accuracy and low probability of misjudgment.

[0076] In an optional embodiment, the steps of acquiring the infrared detection data and ultrasonic detection data of the car door 10 further include the following steps:

[0077] The infrared detection module 110 acquires the raw infrared detection data of the car door 10, and the ultrasonic detection module 120 acquires the raw ultrasonic detection data.

[0078] The acquisition module 210 uses low-pass filtering to remove high-frequency noise and sudden interference signals from the raw infrared and ultrasonic detection data.

[0079] The infrared detection data and the ultrasonic detection data are aligned with the signal timestamp by the acquisition module 210 to obtain the infrared detection data and the ultrasonic detection data.

[0080] This embodiment improves data accuracy by using low-pass filtering to remove high-frequency noise and sudden interference signals from the raw infrared and ultrasonic detection data of the car door 10. Furthermore, the timestamps of the two datasets are aligned for easier subsequent fusion analysis.

[0081] In an optional embodiment, the step of calculating the predicted state data of the obstacle based on the infrared detection data and the ultrasonic detection data further includes the following step:

[0082] Initialize the current state vector of the obstacle based on the initial measurement results of infrared and ultrasonic detection data. and current error covariance ;

[0083] Based on the current state vector of the obstacle at the previous moment Calculate the predicted state vector of the obstacle ;

[0084] Based on the current error covariance of the obstacle at the previous moment Calculate the prediction error covariance of obstacles .

[0085] In this embodiment, the predicted state data in the prediction step includes a predicted state vector. and prediction error covariance The current state data includes the current state vector. and current error covariance Predicting the state vector It can be based on the current state vector from the previous time step. The prediction error covariance was calculated. It can be based on the current error covariance at the previous time step. The predicted state data is calculated based on the state data at the previous moment, thus ensuring the accuracy of the predicted state data.

[0086] In an exemplary embodiment, based on the current state vector of the obstacle at the previous time step... Calculate the predicted state vector of the obstacle The formula is as follows:

[0087]

[0088] in, Let be the state transition matrix. It is determined based on the motion model. To control the impact of input, The value is determined based on the motion model; if there is no control input, the value is 0.

[0089] In one exemplary embodiment, based on the current error covariance of the obstacle at the previous time step... Calculate the prediction error covariance of obstacles The formula is as follows:

[0090]

[0091] in, This refers to the process noise covariance, which refers to the random disturbance factors in a system that cannot be accurately modeled or predicted. Statistical properties used to describe these noises.

[0092] In an exemplary embodiment, the step of calculating the current state data of the obstacle based on infrared detection data and ultrasonic detection data further includes the following step:

[0093] The measured value of the obstacle is calculated based on infrared and ultrasonic detection data. and measurement noise covariance Based on the predicted state vector The measurement matrix is ​​calculated. ;

[0094] Based on the prediction error covariance and measurement matrix The Kalman gain was calculated. ;

[0095] Based on the predicted state vector of the obstacle Measured values Measurement matrix and Kalman gain Calculate the current state vector ;

[0096] Based on the prediction error covariance of obstacles Measurement matrix and Kalman gain Calculate the current error covariance .

[0097] In this embodiment, the correction step completes the adjustment of the current state vector. The update not only considers the predicted state vector from the previous time step. The measured values ​​were also taken into consideration. And the noise of the entire system, and according to the Kalman gain Updated current error covariance This data is used for calculations in the next cycle. By continuously iterating through predicted and current state data, the system state can be optimally estimated in real time based on dynamic changes and new measurement data, thereby improving detection accuracy.

[0098] In one exemplary embodiment, based on the prediction error covariance and measurement matrix Calculate Kalman gain The formula is as follows:

[0099]

[0100] Among them, Kalman gain Used to determine measured values Weights relative to the current state data. It is a measurement matrix, a measurement matrix The measurement matrix describes the relationship between the system state and the measured values. The measurement matrix can be derived based on the system's structure, kinematic relationships, and measurement principles. It measures the noise covariance, which reflects the uncertainty in the measurement process and is dynamically adjusted by infrared and ultrasonic detection data.

[0101] In one exemplary embodiment, based on the predicted state vector of the obstacle... Measured values Measurement matrix and Kalman gain Calculate the current state vector The formula is as follows:

[0102]

[0103] Among them, the measured value It is calculated based on direct measurement data from infrared and ultrasonic detection data.

[0104] In one exemplary embodiment, the dynamic weighting parameter can be adjusted by adjusting the measurement noise covariance. To optimize the contribution weights of different detection data, the measurement noise covariance is calculated based on infrared and ultrasonic detection data. The process also includes the following steps:

[0105] The acquired infrared detection data includes infrared noise variance. and infrared environmental interference value Ultrasonic testing data includes ultrasonic noise variance. and ultrasonic environmental interference value According to infrared noise variance Infrared environmental interference value Ultrasonic noise variance Ultrasonic environmental interference value Calculate the measurement noise covariance .

[0106] Specifically, the reliability of the detection data is defined. The calculation formula is as follows:

[0107]

[0108] in, To detect the noise variance of the data, This refers to the environmental interference value of the detection data.

[0109] Therefore, measuring noise covariance The calculation formula is as follows:

[0110]

[0111] In other words, the high reliability of the detection data The higher the value, the higher the corresponding measurement noise covariance. The smaller the value, the more dominant it becomes in the calculation of the current state data. In this embodiment, the car door anti-pinch protection device dynamically adjusts based on the environmental adaptability and real-time measurement quality of the infrared detection module 110 and the ultrasonic detection module 120. When the reliability of the infrared detection module 110 is high (without strong light interference or with noise interference), the weight of the infrared detection data is greater; when the reliability of the ultrasonic detection module 120 is high (with strong light interference or in complex scenarios such as glass detection), the weight of the ultrasonic detection data is automatically increased.

[0112] The above measurement noise covariance The calculation formula is integrated into the current state vector. From the calculation formula, we obtain the following formula:

[0113]

[0114] From the above fusion formula, it can be seen that when... Less than When infrared detection data is present, its weight is increased; conversely, when it is absent, the weight of ultrasonic detection data is automatically increased. This reduces the impact of environmental factors such as strong light, dust, and noise, and decreases the probability of misjudgment.

[0115] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0116] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A car door anti-pinch protection device, characterized in that, include: The detection unit (100) includes an infrared detection module (110) and an ultrasonic detection module (120). The infrared detection module (110) is installed on the door frame of the car door (10) and is used to acquire the raw infrared detection data of the car door (10). The ultrasonic detection module (120) is installed on the door frame of the car door (10) and is used to acquire the raw ultrasonic detection data of the car door (10). Control unit (200), the infrared detection module (110) and the ultrasonic detection module (120) are both electrically connected to the control unit (200); and A communication unit (300) is provided for electrical connection to the control unit (200) and the elevator system.

2. The car door anti-pinch protection device according to claim 1, characterized in that: The control unit (200) includes a data acquisition module (210) and a fusion algorithm module (220). The infrared detection module (110) and the ultrasonic detection module (120) are both electrically connected to the data acquisition module (210). The fusion algorithm module (220) is electrically connected to the data acquisition module (210). The data acquisition module (210) is used to receive and process raw infrared detection data and raw ultrasonic detection data, and output infrared detection data and ultrasonic detection data. The fusion algorithm module (220) is used to receive and process infrared detection data and ultrasonic detection data, and output obstacle information data.

3. The car door anti-pinch protection device according to claim 2, characterized in that: The control unit (200) further includes a fault diagnosis module (230), which is electrically connected to the acquisition module (210). The fault diagnosis module (230) is used to receive and process infrared detection data and ultrasonic detection data, and output fault information data.

4. The car door anti-pinch protection device according to claim 2, characterized in that: The control unit (200) also includes a built-in AI module (240), which is electrically connected to the acquisition module (210) and is also electrically connected to the fusion algorithm module (220).

5. The car door anti-pinch protection device according to claim 2, characterized in that: The car door anti-pinch protection device also includes an interactive unit (400), which includes an audio-visual display module (410) and a debugging module (420). Both the audio-visual display module (410) and the debugging module (420) are electrically connected to the fusion algorithm module (220).

6. The car door anti-pinch protection device according to claim 1, characterized in that: The car door anti-pinch protection device also includes a power management unit, which is electrically connected to the detection unit (100) and the control unit (200).

7. The car door anti-pinch protection device according to claim 1, characterized in that: The infrared detection module (110) is installed on the side of the car door (10), and the ultrasonic detection module (120) is installed on the side or top of the car door (10); or, the ultrasonic detection module (120) includes two, and the two ultrasonic detection modules (120) are respectively installed on the side and top of the car door (10).

8. A method for preventing car door pinching, applicable to the car door anti-pinch protection device according to any one of claims 1-7, characterized in that, Includes the following steps: Acquire infrared and ultrasonic detection data of the car door (10); The dynamic weighting parameters are dynamically adjusted based on infrared and ultrasonic detection data. The predicted and current state data of the obstacle are calculated based on infrared detection data, ultrasonic detection data, and dynamic weighting parameters. Based on the predicted state data and current state data of the obstacle, determine whether there is an obstacle in the car door (10); If there is an obstacle, control the car door (10) to remain open; If there is no obstruction, control the car door (10) to perform the closing procedure.

9. The method for preventing pinching of car doors according to claim 8, characterized in that, The steps of acquiring infrared detection data and ultrasonic detection data of the car door (10) also include the following steps: The infrared detection module (110) acquires the raw infrared detection data of the car door (10), and the ultrasonic detection module (120) acquires the raw ultrasonic detection data. The acquisition module (210) uses low-pass filtering to remove high-frequency noise and sudden interference signals from the raw infrared detection data and the raw ultrasonic detection data; The infrared detection data and the ultrasonic detection data are aligned with the signal timestamp by the acquisition module (210) to obtain the infrared detection data and the ultrasonic detection data.

10. The method for preventing pinching of car doors according to claim 8, characterized in that, The step of calculating the predicted state data of the obstacle based on infrared detection data and ultrasonic detection data also includes the following steps: Initialize the current state vector of the obstacle based on the initial measurement results of infrared and ultrasonic detection data. and current error covariance ; Based on the current state vector of the obstacle at the previous moment Calculate the predicted state vector of the obstacle ; Based on the current error covariance of the obstacle at the previous moment Calculate the prediction error covariance of obstacles .

11. The method for preventing car door pinching according to claim 10, characterized in that, The step of calculating the current state data of the obstacle based on infrared detection data and ultrasonic detection data also includes the following steps: The measured value of the obstacle is calculated based on infrared and ultrasonic detection data. and measurement noise covariance Based on the predicted state vector The measurement matrix is ​​calculated. ; Based on the prediction error covariance and measurement matrix The Kalman gain was calculated. ; Based on the predicted state vector of the obstacle Measured values Measurement matrix and Kalman gain Calculate the current state vector ; Based on the prediction error covariance of obstacles Measurement matrix and Kalman gain Calculate the current error covariance .

12. The method for preventing car door pinching according to claim 11, characterized in that, The measurement noise covariance was calculated based on infrared and ultrasonic detection data. The process also includes the following steps: The acquired infrared detection data includes infrared noise variance. and infrared environmental interference value Ultrasonic testing data includes ultrasonic noise variance. and ultrasonic environmental interference value According to infrared noise variance Infrared environmental interference value Ultrasonic noise variance Ultrasonic environmental interference value Calculate the measurement noise covariance .

Images