Door comprehensive detection and recognition device and material carrying device

Abstract

The utility model provides a door comprehensive detection and recognition device and a material carrying device. The device comprises an electric discharging door, visual recognition equipment and signal transmission equipment. The visual identification device is installed above the electric discharging door and used for collecting video images of the electric discharging door and the first detection area and the second detection area in front of the discharging door. The electric discharging door comprises a discharging door body, a discharging door connecting shaft, a driving device and a control box. And the signal transmission equipment is used for sending the received discharge door control signal to the control box. The control box is connected with the driving device and used for sending a discharging door control signal to the driving device, and the discharging door control signal is generated based on the current state of the discharging door and the obstacle condition obtained through video image detection. The discharging door connecting shaft is connected with the discharging door body and the driving device and drives the electric discharging door to act according to the discharging door control signal. Accurate opening and closing of the discharging door can be achieved, and the safety of personnel and vehicles in the material discharging process is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent transport control, in particular to a door comprehensive detection and identification device and a material transport device. Background Art

[0002] The garbage unloading door, a critical component of a waste-to-energy plant, handles the unloading of various types of garbage. Within the door area, not only are workers diligently clearing the garbage, but drivers of garbage trucks also closely observe and perform related tasks. However, the door's frequent opening and closing often leaves workers working while they are still working, significantly increasing the risk of accidental injuries or entrapment. Further complicating matters, the door's opening and closing limiter is often interfered with by debris, preventing it from opening and closing accurately. Utility Model Content

[0003] The utility model provides a door comprehensive detection and identification device and a material handling device to solve the defect of the prior art that the discharge door cannot be opened and closed accurately, and realize the accurate opening and closing of the discharge door. The technical solution proposed by the utility model is as follows:

[0004] In a first aspect, the present invention provides a door comprehensive detection and identification device, comprising: an electric discharge door, a visual recognition device, and a signal transmission device;

[0005] The visual recognition device is installed above the electric discharge door and is used to collect video images of the electric discharge door and the first detection area and the second detection area in front of the electric discharge door;

[0006] The electric discharge door includes a discharge door body, a discharge door connecting shaft, a driving device and a control box;

[0007] The signal transmission device is used to send the received discharge door control signal to the control box;

[0008] The control box is connected to the driving device and is used to send a discharge door control signal to the driving device, wherein the discharge door control signal is generated based on the current state of the discharge door and the obstacle situation obtained by detecting the video images of the first detection area and the second detection area;

[0009] The discharge door connecting shaft is connected to the discharge door body, and the driving device is connected to the discharge door connecting shaft, and is used to drive the electric discharge door to move according to the discharge door control signal.

[0010] Optionally, there are two visual recognition devices, one visual recognition device is directed downward to cover the first detection area, and the other visual recognition device is directed toward the discharge door body to cover the second detection area.

[0011] Optionally, the discharge door body includes a door leaf, and the first detection area is an area formed by the position of the visual recognition device, the bottom position of the discharge door connecting shaft, and the target point position;

[0012] The second detection area is an area formed by the position of the visual recognition equipment and the edge lines of the door leaves on the side of the connecting axis of the two non-unloading doors.

[0013] Optionally, a data processing module is further included, which includes a door state recognition module. The door state recognition module is used to detect the video image of the second detection area based on a pre-established door state recognition model to obtain the current state of the discharge door.

[0014] Optionally, the data processing module includes a security identification and detection module, which is also used to identify key targets in the video images of the first detection area and the second detection area based on a pre-established security identification and detection model, and to issue an alarm message when the key targets are identified; wherein the key targets include vehicles, personnel or foreign objects.

[0015] Optionally, the data processing module is used to delineate the first detection area and the second detection area.

[0016] Optionally, the electric unloading door is one of a swing door, a rolling door, a lifting door, and a sliding door.

[0017] Optionally, the visual recognition device is one or more of an industrial camera, a video camera, a binocular camera and a TOF camera.

[0018] In a second aspect, the present invention further provides a material handling device, comprising the door comprehensive detection and identification device as described in the first aspect;

[0019] The material handling device also includes a vehicle and / or material handling equipment;

[0020] The door comprehensive detection and identification device is used to provide guidance information for vehicles and / or material handling equipment.

[0021] Optionally, the vehicle includes a cabin, and the cabin is one of a closed cabin, a compressed cabin, a semi-open cabin and an open cabin.

[0022] Based on the above technical solution, the beneficial effects of the present invention compared with the prior art are as follows:

[0023] The comprehensive door detection and identification device and material handling device provided by the present invention collect video images through visual recognition equipment. Based on the collected video images, the status of the discharge door and the presence of obstacles and personnel in the detection area can be monitored in real time. The discharge door control signal is generated based on the image analysis results and transmitted through the signal transmission device and control box, thereby ensuring the precise opening and closing of the discharge door and avoiding errors and waste during the material unloading process. When there is a safety hazard, the operation of the discharge door can be stopped in time to ensure the safety of personnel and materials. The device realizes automated control of the discharge door through the signal transmission device and control box, reducing the possibility of manual intervention and misoperation, and improving work efficiency and the degree of automation.

[0024] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The objectives and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 It is a structural diagram of the door comprehensive detection and identification device provided by the utility model.

[0028] Figure 2 This is one of the structural schematic diagrams of the electric unloading door (swing door) provided by the utility model in the closed state.

[0029] Figure 3 This is the second structural diagram of the electric unloading door (swing door) provided by the utility model in the closed state.

[0030] Figure 4 It is a structural schematic diagram of the electric unloading door (swing door) provided by the utility model in the open state.

[0031] Figure 5 It is a structural schematic diagram of the electric unloading door (rolling door) provided by the utility model in a closed state.

[0032] Figure 6It is a structural schematic diagram of the electric unloading door (rolling door) provided by the utility model in the open state.

[0033] Reference numerals:

[0034] 100. Visual recognition equipment; 200. Electric unloading door; 210. Unloading door body; 220. Unloading door connecting shaft; 230. Driving device; 240. Control box; 300. Signal transmission equipment; 400. Data processing module; 500. Computer equipment; 600. First detection area; 700. Second detection area; 800. Garbage bin. DETAILED DESCRIPTION

[0035] To make the purpose, technical solutions, and advantages of the present invention more clear, the following will be combined with the accompanying drawings to clearly and completely describe the technical solutions of the present invention. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] The following combination Figures 1-6 The present invention describes a comprehensive door detection and identification device and a material handling device.

[0037] The door comprehensive detection and identification device provided by the utility model refers to Figure 1 As shown, it includes: an electric discharge door 200, a visual recognition device 100 and a signal transmission device 300;

[0038] The visual recognition device 100 is installed above the electric discharge door 200 to collect visual information about the door, personnel, vehicles, and foreign objects, and transmit it to various systems for processing. One or more visual recognition devices 100 can be installed based on the recognition angle range, and the detection area covers the discharge door and the area in front of the discharge door.

[0039] The visual recognition device 100 is specifically configured to capture video images of the electric discharge door 200 and the first and second detection areas 600 and 700 in front of the electric discharge door 200. These video images are used to analyze the state of the discharge door, the presence of obstacles within the detection area, and the discharge status of materials. The visual recognition device 100 includes components such as an industrial camera, a lens, and a light source to ensure the capture of clear and accurate video images.

[0040] Reference Figure 2 、 Figure 3 and Figure 4As shown, the electric unloading door 200 includes a unloading door body 210 , a unloading door connecting shaft 220 , a driving device 230 and a control box 240 . The unloading door body 210 is the main part of the electric unloading door 200 .

[0041] The signal transmission device 300 is used to transmit received discharge door control signals to the control box 240. These signals can be derived from the analysis results of the video images captured by the visual recognition device 100, signals generated based on the video images of the first detection area 600 and the second detection area 700, or signals from other sensors or control systems. The signal transmission device 300 can use wired or wireless methods to ensure stable and reliable signal transmission.

[0042] The control box 240 is connected to the drive device 230 and is used for local and remote control of the electric discharge door 200, while also providing power and control for the visual recognition device 100. It is also used to receive discharge door control signals sent by the signal transmission device 300 and convert them into commands recognizable by the drive device 230, thereby controlling the opening and closing of the discharge door.

[0043] The discharge door connecting shaft 220 connects the discharge door body 210 with the drive device 230. The drive device 230 provides power to the electric discharge door 200 and drives the discharge door according to the discharge door control signal sent by the control box 240, ensuring that the discharge door can open and close smoothly and accurately. The electric discharge door 200 can also be configured with a remote control mode for remote control.

[0044] The working process of the door comprehensive detection and identification device provided by the utility model is as follows:

[0045] The visual recognition device 100 acquires video images of the electric unloading door 200 and the detection area in real time. The video images are analyzed by a pre-set image processing algorithm to identify the state of the unloading door (such as open, closed, half-open, etc.) and the obstacles in the detection area. Based on the analysis results of the video image, a corresponding unloading door control signal is generated. These signals may include parameters such as the opening angle, opening speed, and closing time of the unloading door. The signal transmission device 300 sends the unloading door control signal to the control box 240. After receiving the signal, the control box 240 converts the signal into an instruction that can be recognized by the drive device 230. The drive device 230 drives the unloading door connecting shaft 220 and the unloading door body 210 to move according to the instruction, thereby realizing the precise opening and closing of the unloading door.

[0046] The comprehensive door detection and identification device provided by the present invention uses a visual recognition device 100 to capture video images. Based on the captured video images, it can monitor the status of the discharge door and the presence of obstacles and personnel within the detection area in real time. Based on the image analysis results, a discharge door control signal is generated and transmitted through the signal transmission device 300 and the control box 240, thereby ensuring the precise opening and closing of the discharge door and avoiding errors and waste during the material unloading process. When a safety hazard exists, the operation of the discharge door can be stopped in a timely manner to ensure the safety of personnel and materials. The device realizes automated control of the discharge door through the signal transmission device 300 and the control box 240, reducing the possibility of manual intervention and misoperation, and improving work efficiency and the degree of automation.

[0047] In an optional embodiment, two visual recognition devices 100 are provided, one facing downward and covering the first detection area 600. This device primarily detects whether foreign objects or people have strayed into this area. This helps ensure safety and accuracy during the unloading process. By monitoring material accumulation with the first visual recognition device 100, the unloading speed and frequency can be adjusted in real time to avoid waste or inefficiency caused by excessive or insufficient material accumulation. This helps optimize material management and improve production efficiency.

[0048] Another visual recognition device 100 faces the discharge door body 210, covering the second detection area 700. This device primarily monitors the status of the discharge door body 210, such as the degree of door opening, whether there is damage or foreign objects stuck in the door gap, and the dynamics around the door. This helps to promptly detect and address issues that may affect the normal operation of the discharge door.

[0049] The present invention realizes comprehensive monitoring of the unloading door and the surrounding environment through the layout of two visual recognition devices 100. This helps to more accurately identify abnormal situations in the unloading process, such as excessive material accumulation, foreign objects stuck in the door gap, etc., so that timely measures can be taken to avoid potential safety hazards. The first visual recognition device 100 can monitor the material situation under the unloading door in real time to prevent accidents caused by foreign objects or people accidentally entering. The second visual recognition device 100 focuses on the status of the unloading door body 210, promptly discovers and handles potential problems that may affect the normal operation of the unloading door, and ensures the safety of the unloading process. The device realizes automatic control of the unloading door through the cooperation of the visual recognition device 100 and the signal transmission device 300. This reduces the need for manual intervention and improves work efficiency and automation level.

[0050] Taking the installation of two visual recognition devices 100 as an example, the comprehensive door detection and recognition process is described as follows:

[0051] The first visual recognition device 100 is oriented downward, covering a first detection area 600. It primarily monitors the area below the discharge door to prevent people, vehicles, or foreign objects from entering when the discharge door is open. The second visual recognition device 100 is oriented toward the discharge door, covering a second detection area 700. When the door is open, the second detection area 700 expands to illuminate the interior of the waste bin 800, expanding the required detection area within the waste bin 800.

[0052] First, the working process of the swing door type unloading door is explained:

[0053] 1. Discharge door opening process:

[0054] The signal transmission device 300 receives a working signal indicating that the discharge door needs to be opened. The control box 240 prepares to control the discharge door drive device 230 to open the discharge door. The data processing module 400 begins processing the video or image data sent by the two visual recognition devices 100 to determine whether there are people, vehicles, or foreign objects in the first detection area 600 and the second detection area 700. If there are no people, vehicles, or foreign objects in the first detection area 600 and the second detection area 700, the data processing module 400 notifies the control box 240 to open the discharge door. The discharge door begins to open toward the garbage bin 800, while the data processing module 400 continues to process data from the two visual recognition devices 100. During the opening process, the first visual recognition device 100 continuously detects people, vehicles, and foreign objects in the first detection area 600 to ensure that no objects accidentally enter. The second visual recognition device 100 monitors the opening process of the discharge door and detects people, vehicles, and foreign objects in the first detection area 600 (including the expanded area inside the garbage bin 800). Once an abnormality is detected (such as a person, vehicle or foreign object entering the detection area), the data processing module 400 will immediately issue an alarm and stop the opening of the discharge door.

[0055] When the discharge door is fully opened, the data processing module 400 processes the video or image data of the visual recognition device 100 and confirms that the door is fully opened. The data processing module 400 notifies the control box 240 to stop the discharge door opening signal, and the discharge door opening action ends.

[0056] 2. The closing process of the discharge door is similar to the opening process, but in the opposite direction. The data processing module 400 also needs to continuously process the data from the two visual recognition devices 100 to ensure that no people, vehicles, or foreign objects accidentally enter the detection area during the closing process. If any abnormality is detected, an alarm will be immediately issued and the closing action of the discharge door will be stopped.

[0057] Next, the working process of the rolling door type unloading door is explained:

[0058] The operating process of a rolling door is similar to that of a swing door, but there are some differences. During the opening process, the data processing module 400 monitors the speed and position of the rolling door to ensure a smooth and even rise. During the closing process, the data processing module 400 monitors the speed and position of the rolling door, and monitors whether any objects are obstructing its closure.

[0059] In an optional embodiment, to improve the accuracy and efficiency of detection, the detection area is clearly divided on the original basis. The discharge door body 210 also includes components such as door leaves. The discharge door connecting shaft 220 connects the door leaves to the drive device 230 to ensure the smooth operation of the discharge door. The first detection area 600 is the area formed by the position of the visual recognition device 100, the bottom position of the discharge door connecting shaft 220, and the target point position. The target point position refers to the location where the material should be accurately discharged, or the area that requires special attention during the discharge process.

[0060] The first detection area 600 is determined as follows:

[0061] First, determine the precise position of the visual recognition device 100 (such as a camera). This is usually done through a calibration process during installation to ensure that the position and angle of the device are accurately recorded. Next, obtain the edge lines of each non-door connection axis side door leaf. These edge lines represent the boundaries of the door leaf in the image and are an important basis for determining the detection area. With the position of the visual recognition device 100 and the edge lines of the two non-door connection axis side door leaves, an area containing these elements can be constructed, namely the first detection area 600. This area is a triangle or trapezoid, and its boundaries are determined by the position of the visual recognition device 100, the edge lines of the two door leaves, and possible ground or ceiling lines. The main purpose of the first detection area 600 is to monitor the opening and closing status of the door leaf and the activities of people and objects near the door leaf.

[0062] The first detection area 600 is primarily used to monitor the material condition during the unloading process, such as whether the material unloading position is accurate, whether the material stacking height is appropriate, and whether there is any foreign matter mixed in. By accurately monitoring the material unloading position and stacking condition, the material is ensured to be accurately and evenly distributed within the target area, avoiding material waste and low production efficiency caused by uneven stacking. Furthermore, by monitoring the material stacking condition in real time, safety accidents such as the unloading door being unable to close properly or collapsing due to excessive material accumulation can be prevented. Subsequently, the unloading speed and frequency are adjusted in real time based on the material stacking condition, realizing automated and intelligent material management.

[0063] The second inspection area 700 is defined by the location of the visual recognition device 100 and the edges of the two door panels on the sides not connected to the discharge door connecting shaft 220. This area primarily focuses on the door panel's open state, the presence of foreign objects stuck in the door gap, and the integrity of the door panel's edges. The process for determining the second inspection area 700 is as follows:

[0064] Determine the precise location of the bottom of the discharge door connecting shaft 220. Next, calculate the target point, which is a first predetermined distance from the bottom of the discharge door connecting shaft 220. This predetermined distance is determined based on factors such as safety regulations, the size and weight of the door leaf, and the location of possible obstacles. The target point is typically located on the extension line of the bottom of the discharge door connecting shaft 220, but can be offset depending on the specific situation.

[0065] After obtaining the position of the visual recognition device 100, the bottom position of the discharge door connecting shaft 220 and the target point position, an area containing these elements can be constructed, namely the second detection area 700. This area is usually a triangle or trapezoid (refer to Figure 3 、 Figure 4 、 Figure 5 and Figure 6 , one vertex is located at the location of the visual recognition device 100, the other vertex is located at the target point, and the base is formed by the bottom of the discharge door connecting shaft 220 and the projection point of the visual recognition device 100 on the ground (or another fixed point). The main purpose of the second detection area 700 is to monitor possible obstacles or abnormal activities near the discharge door connecting shaft 220 to ensure that the door leaf does not collide with these obstacles or cause other safety issues when opening or closing.

[0066] The second detection area 700 is primarily used to monitor the status of the discharge door body 210, such as the degree of door opening, the presence of foreign objects stuck in the door gap, and the integrity of the door edges. By real-time monitoring of the door's opening status and edge integrity, potential issues that could affect the door's normal operation, such as foreign objects stuck in the door or door deformation, can be promptly identified and addressed. This prevents safety incidents caused by door malfunctions, such as injuries caused by the door suddenly closing or the inability to unload materials smoothly.

[0067] By clearly dividing the first detection area 600 and the second detection area 700, each monitored by two visual recognition devices 100, the integrated door detection and recognition device achieves comprehensive and accurate monitoring of the discharge door and its surroundings. This helps improve discharge accuracy, enhance safety, optimize material management, and extend equipment life, providing a more reliable and efficient solution for the material discharge process.

[0068] In an optional embodiment, a data processing module 400 is further included. This module is responsible for processing and analyzing the video image data from the two visual recognition devices 100, further enhancing the intelligence and automation level of the device. The data processing module 400 includes a door status recognition module. The door status recognition module is specifically configured to detect the video image of the second detection area 700 based on a pre-established door status recognition model to obtain the current state of the discharge door, including the door closed state, door closed tracking, door open state, door open tracking, and door fault signal.

[0069] The visual recognition device 100 collects video image data from the first detection area 600 and the second detection area 700, respectively. This data is transmitted in real time to the data processing module 400 via the signal transmission device 300. The data processing module 400 receives the video image data from the second detection area 700 and analyzes the video image using a pre-established door state recognition model to identify the current state of the discharge door. Based on the recognition results, the data processing module 400 sends corresponding control signals to the control box 240 to adjust the operating state of the discharge door.

[0070] The apparatus also includes a computer device 500, which is configured to host the data processing module 400 and perform data processing, as well as receive, store, and process video image data from the visual recognition device 100. The computer device 500 can be deployed locally or remotely. The computer device 500 is a visual industrial computer, an edge industrial computer, or a computer.

[0071] In an optional embodiment, the data processing module 400 includes a security identification and detection module, which is also used to identify key targets in the video images of the first detection area 600 and the second detection area 700 based on a pre-established security identification and detection model, perform personnel intrusion detection, vehicle intrusion detection, and foreign object detection, and determine whether there are potential safety hazards such as vehicles, personnel or foreign objects.

[0072] The above-mentioned visual recognition device 100 collects video image data of the first detection area 600 and the second detection area 700 respectively. The data is transmitted to the data processing module 400 in real time through the signal transmission device 300. The data processing module 400 receives the video image data of the first detection area 600 and the second detection area 700 at the same time. Using the pre-established safety recognition detection model, the video image is identified to determine whether there are potential safety hazards such as vehicles, personnel or foreign objects. And key targets (such as vehicles, personnel, materials, etc.) are identified. Once a safety hazard is discovered, the data processing module 400 sends a control signal to the electric unloading door 200 to adjust the operating status of the electric unloading door 200, and the operator sends an alarm message to avoid accidents.

[0073] The aforementioned safety detection and identification model includes a personnel identification model, a vehicle identification model, and a foreign object identification model. The safety detection and identification model establishes a personnel identification model to perform real-time detection and identification of personnel within the safety detection area. By verifying and verifying multiple sets of data, it identifies whether any personnel have intruded into the safety area and provides an alarm. It also establishes a vehicle identification model to perform real-time detection of vehicles within the first and second detection areas 700, identify whether any vehicles have intruded into the work area, and provide a vehicle intrusion alarm signal. Furthermore, by establishing a foreign object identification model, it demarcates the safety detection area or other required range, detects and identifies foreign objects within the demarcated area, and uses single or multiple sets of data to perform real-time detection of foreign object status. If a foreign object is detected, an alarm is generated.

[0074] The personnel identification model, vehicle identification model and foreign object identification model are based on the safety detection area set in front of the unloading door, and model learning is performed within the safety detection area.

[0075] When training a model for personnel, basic personnel model information is first established. Personnel, helmets, reflective vests, clothing, and shoes are labeled, classified, and segmented. Image model machine learning training is then performed to enable the model to accurately identify these training objects. During personnel detection, personnel marking information is detected, including helmets, reflective vests, clothing, and shoes. If these do not meet the wearing standards, an alarm is triggered to ensure that personnel are dressed in accordance with safety requirements while working. Secondly, combined with door status information, it detects whether anyone has entered the safety detection area.

[0076] When learning models for vehicles and foreign objects, vehicle or foreign object model information can be prefabricated, a vehicle or foreign object model information database can be established, and vehicles or foreign objects can be identified; vehicles or foreign objects can also be marked, classified, and segmented, and image model machine learning training can be performed to increase vehicle or foreign object information and ensure the scalability and convenience of the vehicle or foreign object recognition model.

[0077] The size and shape of the safety detection area can be defined according to specific needs. The door detection range and working area can be defined according to specific scenarios and needs. Each model is scalable, making safety detection and identification highly adjustable and adaptable to meet various needs.

[0078] It should be noted that the above processes of identifying door states, vehicles, people and foreign objects can be implemented using door state recognition models and safety recognition detection models in the prior art.

[0079] The application of the data processing module 400 of the present utility model enables the device to automatically identify the status of the discharge door and the safety hazards within the detection area, reducing the need for manual intervention and improving the intelligence level of the device. Through the safety identification detection model, the device can promptly detect and deal with potential safety hazards, such as vehicle intrusion, personnel mistakenly entering, or foreign objects stuck in the door, effectively avoiding the occurrence of safety accidents. The application of the door status recognition model enables the device to accurately determine the current status of the discharge door, thereby adjusting the discharge speed and frequency according to actual needs, optimizing the discharge process, and improving production efficiency. By promptly detecting and dealing with potential problems with the discharge door and the detection area, the equipment failure rate is reduced and the service life of the equipment is extended.

[0080] The present utility model can timely detect and warn of potential safety hazards by real-time monitoring of the personnel, vehicles and foreign objects in the first detection area 600 and the second detection area 700, thereby effectively preventing the occurrence of safety accidents. The personnel, vehicle and foreign object detection model established using deep learning technology has powerful automatic recognition and judgment capabilities, which can reduce the burden on operators and improve work efficiency. The judgment logic of the safety detection area can be dynamically adjusted according to the current status of the unloading door to adapt to the safety requirements under different working conditions. Through timely alarms and reminders, it can help operators to promptly detect and deal with safety issues, avoid unnecessary losses and negative impacts caused by safety accidents, and thus improve the overall user satisfaction.

[0081] In an optional embodiment, the data processing module 400 is used to delineate the first detection area 600 and the second detection area 700, so that the door comprehensive detection and identification device can monitor the unloading door and the surrounding environment more flexibly and accurately, further improving the intelligence and automation level of the device.

[0082] During the installation and commissioning phase, the data processing module 400 presets a series of parameters based on the actual size of the discharge door, its installation location, and the surrounding environment. These parameters include the installation location, angle, and focal length of the visual recognition device 100, as well as the initial division of the detection area.

[0083] The visual recognition device 100 begins collecting video image data and transmits the data to the data processing module 400. The data processing module 400 preprocesses the received video images, including noise reduction, contrast enhancement, and grayscale conversion, to improve image quality and analysis accuracy. The data processing module 400 analyzes the preprocessed video images using preset parameters, door status recognition algorithms, and safety detection algorithms. Based on the analysis results, the data processing module 400 automatically defines a first detection area 600 and a second detection area 700. The first detection area 600 is defined as the area bounded by the visual recognition device 100, the bottom of the discharge door connecting shaft 220, and the target point. It is used to monitor the material condition during the discharge process. The second detection area 700 is defined as the area bounded by the visual recognition device 100 and the edges of the two door panels on the sides not connected to the discharge door connecting shaft 220. It is used to monitor the condition of the discharge door body 210. During actual operation, the data processing module 400 dynamically adjusts and optimizes the detection areas based on actual conditions. For example, when the position or angle of the discharge door changes, the data processing module 400 will automatically adjust the range and position of the detection area to ensure the accuracy and continuity of monitoring.

[0084] The data processing module 400 of the present utility model can automatically define and adjust the detection area, can more accurately identify and analyze key information in the video image, and improve the accuracy and reliability of monitoring. Moreover, it enables the device to adapt to different scenarios and changing needs, thereby improving the flexibility and adaptability of the device. Automatically defining the detection area helps to reduce unnecessary monitoring areas, thereby reducing the resource consumption of the visual recognition device 100 and the data processing module 400 and improving resource utilization efficiency. Accurately defining the detection area enables the device to promptly detect and deal with potential safety hazards, such as excessive material accumulation, door leaf failure, etc., effectively avoiding the occurrence of safety accidents.

[0085] In an optional embodiment, the electric discharge door 200 is one of a swing door, a rolling door, a lifting door, and a sliding door. These types of doors have different opening methods and structural characteristics, and can be selected according to specific application scenarios and needs.

[0086] In an optional embodiment, the visual recognition device 100 is one or more of an industrial camera, a video camera, a binocular camera, and a time-of-flight camera. These devices have different imaging principles, resolutions, and measurement accuracies, and can be selected based on monitoring requirements and scene characteristics. They are used to collect video image data from the first detection area 600 and the second detection area 700, providing a basis for subsequent data processing and analysis. By selecting different types of visual recognition devices 100, flexible configuration can be achieved based on monitoring requirements and scene characteristics, improving monitoring accuracy and reliability.

[0087] The visual recognition device 100 further includes a mounting bracket for mounting the camera at a corresponding position.

[0088] The material handling device provided by the present invention is described below. The door comprehensive detection and identification device described below can be referenced to the above description.

[0089] The material handling device includes the door comprehensive detection and identification device as described above;

[0090] The material handling device also includes vehicles and / or material handling equipment, such as garbage collection vehicles, forklifts, conveyor belts, etc. These devices are responsible for transporting the garbage from the collection point to the discharge door for unloading and transfer.

[0091] The door comprehensive detection and identification device is used to provide guidance information for vehicles and / or material handling equipment.

[0092] The integrated door detection and recognition device collects video image data of the discharge door and its surroundings, performs preprocessing, feature extraction, and target recognition on the video image data. Guidance information is generated based on the recognition results. This guidance information is transmitted to vehicles and / or material handling equipment via signal transmission equipment 300. The vehicles and / or material handling equipment adjust their routes and operating methods based on the guidance information to ensure that materials such as garbage are safely and efficiently transported to the discharge door for unloading.

[0093] The integrated door detection and identification device can monitor the status of the discharge door and its surroundings in real time, providing accurate guidance information for vehicles and / or material handling equipment. This allows vehicles and / or material handling equipment to quickly find the optimal handling path, reducing waiting and travel time and improving handling efficiency. The integrated door detection and identification device can monitor the operating status of vehicles and / or material handling equipment in real time, promptly identifying and addressing potential safety hazards. For example, when a vehicle or material handling equipment is detected approaching the discharge door, the integrated door detection and identification device can automatically adjust the status of the discharge door to avoid collisions and accidents. The material handling equipment can flexibly adjust the number and type of vehicles and / or material handling equipment based on the needs and actual conditions of material handling.

[0094] This material handling device integrates key components such as a comprehensive door detection and identification device, vehicles, and / or material handling equipment to achieve efficient, safe, and intelligent material handling. This not only improves handling efficiency and safety, but also optimizes resource allocation, reduces maintenance costs, and promotes environmental protection and sustainable development.

[0095] Taking the unloading door of a waste incineration power plant as an example, control systems such as a programmable logic controller (PLC) and a distributed control system (DCS) send an instruction to open the unloading door to the information interaction module, and the door comprehensive detection and identification device starts working. The visual recognition device 100 transmits a video stream or takes a photo of the unloading door. The door state recognition module, the safety detection and identification module, and the foreign object detection and identification module respectively obtain the transmitted data, clean the data, and ensure the availability of the data. At the same time, multiple sets of data are obtained for verification to ensure the security and reliability of the data. The door state recognition algorithm uses a door state recognition model and a door opening and closing degree algorithm to sample, segment and calculate a single set of data or multiple sets of data, determine the operating range of the door, and judge the current state of the unloading door. If the door is in a closed state, prepare to open the door. The door state recognition module notifies the safety detection and foreign object recognition module to detect whether there is anyone. The safety detection and recognition algorithm performs safety detection and recognition within the designated opening and closing range of the discharge door. If there are no personnel, vehicles, or foreign objects within the opening and closing range, the discharge door begins to open; otherwise, an alarm is triggered. During the discharge door opening process, the door status recognition algorithm tracks the door opening process. If the door opens normally, no alarm is triggered. The safety detection and recognition algorithm continuously detects the presence of personnel, vehicles, and foreign objects. If so, the discharge door stops opening and an alarm is triggered. After the discharge door is fully opened, the control box 240 receives the discharge door opening signal. The door status recognition algorithm verifies whether the door is fully opened. If it is fully opened, it notifies the safety detection and recognition algorithm that the door is fully opened. The information exchange module then feeds back to the PLC, DCS, and other control systems that the discharge door is fully opened, and the door opening process ends. Alarm information during the process is fed back to the PLC, DCS, and other control systems through the information exchange module for confirmation. After confirmation, the process continues until completion. The discharge door closing process is the same as the discharge door opening process. The door comprehensive detection and identification device of the utility model provides unloading door guidance information for vehicles and / or material handling equipment, guides the vehicle to perform unloading work, and guides the material handling equipment to perform intelligent handling work.

[0096] In an optional embodiment, the vehicle includes a cabin, and the cabin is one of a closed cabin, a compressed cabin, a semi-open cabin and an open cabin.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A door comprehensive detection and identification device, characterized in that: include: Electric discharge doors, visual recognition equipment and signal transmission equipment; The visual recognition device is installed above the electric discharge door and is used to collect video images of the electric discharge door and the first detection area and the second detection area in front of the electric discharge door; The electric discharge door includes a discharge door body, a discharge door connecting shaft, a driving device and a control box; The signal transmission device is used to send the received discharge door control signal to the control box; The control box is connected to the driving device and is used to send a discharge door control signal to the driving device, wherein the discharge door control signal is generated based on the current state of the discharge door and the obstacle situation obtained by detecting the video images of the first detection area and the second detection area; The discharge door connecting shaft is connected to the discharge door body, and the driving device is connected to the discharge door connecting shaft and is used to drive the electric discharge door to move according to the discharge door control signal.

2. The door comprehensive detection and identification device according to claim 1, characterized in that: There are two visual recognition devices, one of which is directed downward and covers the first detection area, and the other is directed toward the discharge door body and covers the second detection area.

3. The door comprehensive detection and identification device according to claim 1, characterized in that: The discharge door body includes a door leaf, and the first detection area is an area formed by the position of the visual recognition device, the bottom position of the discharge door connecting shaft, and the target point position; The second detection area is an area formed by the position of the visual recognition equipment and the edge lines of the door leaves on the side of the connecting axis of the two non-unloading doors.

4. The door comprehensive detection and identification device according to claim 1, characterized in that: It also includes a data processing module, which includes a door state recognition module. The door state recognition module is used to detect the video image of the second detection area based on a pre-established door state recognition model to obtain the current state of the discharge door.

5. The door comprehensive detection and identification device according to claim 4, characterized in that: The data processing module includes a security identification and detection module, which is also used to identify key targets in the video images of the first detection area and the second detection area based on a pre-established security identification and detection model, and to issue an alarm message when the key targets are identified; wherein the key targets include vehicles, personnel or foreign objects.

6. The door comprehensive detection and identification device according to claim 4, characterized in that: The data processing module is used to delineate the first detection area and the second detection area.

7. The door comprehensive detection and identification device according to claim 1, characterized in that: The electric unloading door is one of a swing door, a rolling door, a lifting door and a sliding door.

8. The door comprehensive detection and identification device according to claim 1, characterized in that: The visual recognition device is one or more of an industrial camera, a video camera, a binocular camera and a TOF camera.

9. A material handling device, characterized in that: comprising a door comprehensive detection and identification device as described in any one of claims 1 to 8; The material handling device also includes a vehicle and / or material handling equipment; The door comprehensive detection and identification device is used to provide guidance information for vehicles and / or material handling equipment.

10. The material handling device according to claim 9, characterized in that: The vehicle includes a cabin, which is one of a closed cabin, a compressed cabin, a semi-open cabin and an open cabin.

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