阅读说明：本技术 自动门控制方法、系统和设备 (Automatic door control method, system and equipment ) 是由 袁超 李元金 李丹 于 2021-08-04 设计创作，主要内容包括：本申请公开一种自动门控制方法、系统和设备,其中自动门控制方法包括：采用ToF设备探测目标对象分别在至少两个时刻距离自动门的第一距离；所述ToF设备用于探测位于所述自动门至少一侧的进出区域出现的对象；根据各个第一距离确定所述目标对象与所述自动门的第一相对状态；根据所述第一相对状态控制所述自动门开启或者关闭。本申请能够提高自动门的控制效果,减少自动门内外空气对流,提升相应场所对应的节能环保性能。(The application discloses a method, a system and equipment for controlling an automatic door, wherein the method for controlling the automatic door comprises the following steps: detecting first distances from a target object to an automatic door at least two moments by adopting a ToF device; the ToF device is used for detecting objects in an access area on at least one side of the automatic door; determining a first relative state of the target object and the automatic door according to the respective first distances; and controlling the automatic door to be opened or closed according to the first relative state. The control effect of automatically-controlled door can be improved to this application, reduces the inside and outside air convection of automatically-controlled door, promotes the energy-concerving and environment-protective performance that corresponding place corresponds.)

1. An automatic door control method, characterized in that the automatic door control method comprises:

detecting first distances from a target object to an automatic door at least two moments by adopting a ToF device; the ToF device is used for detecting objects in an access area on at least one side of the automatic door;

determining a first relative state of the target object and the automatic door according to the respective first distances;

and controlling the automatic door to be opened or closed according to the first relative state.

2. The method of automatic door control of claim 1 wherein said first relative condition includes approaching, departing or stationary; the controlling the automatic door to open or close according to the first relative state comprises:

opening the automatic door when the target object is currently approaching relative to the automatic door.

3. The method of automatic door control of claim 2 wherein said first distance characterizes a distance between a point in said target object closest to said automatic door and said automatic door; the opening of the automatic door includes:

calculating the arrival time of the target object to the automatic door according to the first distances;

and determining the opening time according to the arrival time, and opening the automatic door at the opening time.

4. The method of automatic door control of claim 2 wherein said ToF device is adapted to detect the presence of an object in an entry area on each side of said automatic door; after the automatic door is opened, the automatic door control method further comprises the following steps:

detecting second distances from the target object to the automatic door at least two moments by using the ToF device;

determining a second relative state of the target object and the automatic door according to the respective second distances;

and controlling the automatic door to be kept open or closed according to the second relative state.

5. The method of automatic door control of claim 4 wherein said second relative condition includes approaching, passing or departing; the controlling the automatic door to be kept open or closed according to the second relative state comprises:

closing the automatic door when the target object is currently distant relative to the automatic door.

6. The method of automatic door control of claim 5 wherein said second distance is indicative of the distance between the point of said target object closest to said automatic door when away from said automatic door and said automatic door; the closing the automatic door includes:

closing the automatic door after detecting that the second distance is greater than or equal to a preset distance threshold.

7. The method of automatic door control of claim 4 wherein said ToF device is adapted to emit infrared laser pulses towards said target object and to collect energy reflected by said target object from said infrared laser pulses towards said ToF device; the determining of the first distance or the second distance comprises:

acquiring first energy acquired by the ToF device at a first acquisition moment and second energy acquired by the ToF device at a second acquisition moment;

calculating the distance between the target object and the automatic door according to the first energy, the second energy and a distance calculation formula; the distance calculation formula is used to define a relationship between the first energy, the second energy, and a distance between the target object and the automatic door.

8. The method of automatic door control of claim 7 wherein said distance calculation formula comprises:

wherein d denotes the distance between the target object and the automatic door, c denotes the speed of light, Δ t denotes the time interval between the first acquisition instant and the second acquisition instant, Q₁Representing a first energy, Q₂Representing a second energy.

9. The automatic door control method according to any one of claims 1 to 8, wherein before said controlling of said automatic door to open or close according to said first relative state, said automatic door control method further comprises:

acquiring an area array image shot by the ToF equipment aiming at the target object;

identifying a first key point and a second key point which represent the transverse maximum size of the target object on the area array image; wherein the transverse direction is a direction parallel to the automatic door;

and determining the transverse maximum size of the target object according to the first key point and the second key point so as to open the automatic door according to the transverse maximum size.

10. The method of automatic door control of claim 9 wherein said area array image includes infrared imaging information; the identifying, on the area array image, first and second keypoints characterizing a lateral maximum size of the target object comprises:

determining a target image surface representing the target object in the area array image according to the infrared imaging information;

obtaining a boundary line of the target image surface, and searching the first key point and the second key point corresponding to the maximum transverse size on the boundary line by adopting a transverse axis; the transverse axis is a line parallel to the automatic door.

11. The method of automatic door control of claim 9 wherein said determining a lateral maximum dimension of said target object based on said first and second keypoints comprises:

acquiring a first depth coordinate of the first key point in a depth coordinate system and a second depth coordinate of the first key point in the depth coordinate system; the depth coordinate system is used for limiting the coordinates of each point on the area array image;

mapping the first depth coordinate and the second depth coordinate to a world coordinate system respectively to obtain a first world coordinate corresponding to the first key point and a second world coordinate corresponding to the second key point; the world coordinate system is used for defining the coordinates of the target object;

calculating the transverse maximum dimension from the first world coordinate and the second world coordinate.

12. The method of automatic door control of claim 11 wherein said mapping between said depth coordinate system and said world coordinate system comprises:

wherein u represents a first-dimensional coordinate of the mapping point in the depth coordinate system, v represents a second-dimensional coordinate of the mapping point in the depth coordinate system, and Z_cDepth information representing a mapping point, f_xRepresenting a first internal parameter, f, of the ToF device_yRepresenting a second internal parameter, u, of the ToF device₀Representing a third internal parameter, v, of the ToF device₀A fourth internal parameter representing the ToF device, R representing a first external parameter of the ToF device, T representing a second external parameter of the ToF device,denotes the zero vector, X_WRepresenting the first-dimensional coordinate, Y, of a mapped point in the world coordinate system_WSecond-dimensional coordinates, Z, representing mapped points in the world coordinate system_WRepresenting the third coordinate of the mapped point in the world coordinate system.

13. An automatic door control system, comprising:

the detection module is used for detecting first distances between the target object and the automatic door at least two moments by adopting the ToF equipment; the ToF device is used for detecting objects in an access area on at least one side of the automatic door;

the determining module is used for determining a first relative state of the target object and the automatic door according to the first distances;

and the control module is used for controlling the automatic door to be opened or closed according to the first relative state.

14. An automatic door control device comprising a ToF device, a processor and a storage medium; the storage medium having program code stored thereon; the processor is configured to call the program code stored in the storage medium to execute the method of controlling an automatic door according to any one of claims 1 to 12.

Technical Field

The application relates to the technical field of intelligent control, in particular to a method, a system and equipment for controlling an automatic door.

Background

The automatic door is usually arranged in places such as elevators, some business halls and the like, can be automatically opened when a user approaches the corresponding place to enter, and can be kept in a closed state when no user approaches, so that the high convenience is provided for the user to enter and exit the corresponding place. The existing scheme usually utilizes a laser radar technology to detect the approaching state of a user, although the detection scheme can respond to the door opening requirement of the user to a certain extent, the detection scheme is difficult to accurately judge the target objects such as static people or objects, for example, when a person stands still on the side of an automatic door, the automatic door can be repeatedly opened and closed or the automatic door always keeps in a closed state, so that misjudgment easily occurs when the corresponding target object is in a specific state such as static state, and the control effect of the automatic door is poor.

Disclosure of Invention

In view of this, the present application provides a method, a system and a device for controlling an automatic door, so as to solve the problem of poor control effect of the existing automatic door control scheme.

In a first aspect, the present application provides a method for controlling an automatic door, including:

detecting first distances from a target object to an automatic door at least two moments by adopting a ToF device; the ToF device is used for detecting objects in an access area on at least one side of the automatic door;

determining a first relative state of the target object and the automatic door according to the respective first distances;

and controlling the automatic door to be opened or closed according to the first relative state.

Optionally, the first relative state comprises approaching, departing or stationary; the controlling the automatic door to open or close according to the first relative state comprises:

opening the automatic door when the target object is currently approaching relative to the automatic door.

Optionally, the first distance represents a distance between a point of the target object closest to the automatic door and the automatic door; the opening of the automatic door includes:

calculating the arrival time of the target object to the automatic door according to the first distances;

and determining the opening time according to the arrival time, and opening the automatic door at the opening time.

Optionally, the ToF device is configured to detect an object present in each side entry region of the automatic door; after the automatic door is opened, the automatic door control method further comprises the following steps:

detecting second distances from the target object to the automatic door at least two moments by using the ToF device;

determining a second relative state of the target object and the automatic door according to the respective second distances;

and controlling the automatic door to be kept open or closed according to the second relative state.

Optionally, the second relative state comprises approaching, passing or distancing; the controlling the automatic door to be kept open or closed according to the second relative state comprises:

closing the automatic door when the target object is currently distant relative to the automatic door.

Optionally, the second distance characterizes a distance between a point of the target object closest to the automatic door when away from the automatic door and the automatic door; the closing the automatic door includes:

closing the automatic door after detecting that the second distance is greater than or equal to a preset distance threshold.

Optionally, the ToF device is configured to emit an infrared laser pulse to the target object and collect energy reflected by the target object from the infrared laser pulse to the ToF device; the determining of the first distance or the second distance comprises:

acquiring first energy acquired by the ToF device at a first acquisition moment and second energy acquired by the ToF device at a second acquisition moment;

calculating the distance between the target object and the automatic door according to the first energy, the second energy and a distance calculation formula; the distance calculation formula is used to define a relationship between the first energy, the second energy, and a distance between the target object and the automatic door.

Optionally, the distance calculation formula includes:

wherein d denotes the distance between the target object and the automatic door, c denotes the speed of light, Δ t denotes the time interval between the first acquisition instant and the second acquisition instant, Q₁Representing a first energy, Q₂Representing a second energy.

Optionally, before the controlling the automatic door to open or close according to the first relative state, the automatic door control method further includes:

acquiring an area array image shot by the ToF equipment aiming at the target object;

identifying a first key point and a second key point which represent the transverse maximum size of the target object on the area array image; wherein the transverse direction is a direction parallel to the automatic door;

and determining the transverse maximum size of the target object according to the first key point and the second key point so as to open the automatic door according to the transverse maximum size.

Optionally, the area array image comprises infrared imaging information; the identifying, on the area array image, first and second keypoints characterizing a lateral maximum size of the target object comprises:

determining a target image surface representing the target object in the area array image according to the infrared imaging information;

obtaining a boundary line of the target image surface, and searching the first key point and the second key point corresponding to the maximum transverse size on the boundary line by adopting a transverse axis; the transverse axis is a line parallel to the automatic door.

Optionally, the determining the transverse maximum size of the target object according to the first and second keypoints comprises:

acquiring a first depth coordinate of the first key point in a depth coordinate system and a second depth coordinate of the first key point in the depth coordinate system; the depth coordinate system is used for limiting the coordinates of each point on the area array image;

mapping the first depth coordinate and the second depth coordinate to a world coordinate system respectively to obtain a first world coordinate corresponding to the first key point and a second world coordinate corresponding to the second key point; the world coordinate system is used for defining the coordinates of the target object;

calculating the transverse maximum dimension from the first world coordinate and the second world coordinate.

Optionally, the mapping relationship between the depth coordinate system and the world coordinate system includes:

wherein u represents a first-dimensional coordinate of the mapping point in the depth coordinate system, v represents a second-dimensional coordinate of the mapping point in the depth coordinate system, and Z_cDepth information representing a mapping point, f_xRepresenting a first internal parameter, f, of the ToF device_yRepresenting a second internal parameter, u, of the ToF device₀Representing a third internal parameter, v, of the ToF device₀A fourth internal parameter representing the ToF device, R representing a first external parameter of the ToF device, T representing a second external parameter of the ToF device,denotes the zero vector, X_WRepresenting the first-dimensional coordinate, Y, of a mapped point in the world coordinate system_WSecond-dimensional coordinates, Z, representing mapped points in the world coordinate system_WRepresenting the third coordinate of the mapped point in the world coordinate system.

A second aspect of the present application provides an automatic door control system comprising:

the detection module is used for detecting first distances between the target object and the automatic door at least two moments by adopting the ToF equipment; the ToF device is used for detecting objects in an access area on at least one side of the automatic door;

the determining module is used for determining a first relative state of the target object and the automatic door according to the first distances;

and the control module is used for controlling the automatic door to be opened or closed according to the first relative state.

A third aspect of the present application provides an automatic door control device comprising a ToF device, a processor and a storage medium; the storage medium having program code stored thereon; the processor is used for calling the program codes stored in the storage medium to execute any one of the automatic door control methods.

According to the automatic door control method, the system and the equipment, the ToF equipment is adopted to detect the first distance between the target object and the automatic door at least two moments, the first relative state of the target object and the automatic door is determined according to each first distance, the automatic door is opened or closed according to the first relative state, the automatic door is opened when the target object is in a close state, the automatic door is closed in time in other states needing to be closed, such as a far state and the like, and the situation that the control effect is influenced due to repeated opening and closing and the like can be avoided. In addition, the method and the device can also acquire an area array image shot by the ToF equipment aiming at the target object, determine a target image surface representing the target object in the area array image according to infrared imaging information included by the area array image, determine the transverse maximum size of the target object according to the target image surface, and determine the opening and closing amplitude of the corresponding automatic door according to the transverse maximum size, so that the opening and closing process of the automatic door and the size of the target object are taken as the basis, the problem that the user experience is influenced due to the fact that the opening and closing amplitude is too small is avoided, and the problems that the energy consumption is increased due to too large opening and closing amplitude and the environment is influenced are also avoided. It can be seen that this application can improve the control effect of automatically-controlled door from many aspects, reduces the interior outer air convection of automatically-controlled door, promotes the energy-concerving and environment-protective performance that corresponding place corresponds.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic flow chart illustrating a method for controlling an automatic door according to an embodiment of the present disclosure;

FIG. 2 is a waveform diagram illustrating the emission and reflection of infrared laser pulses in an embodiment of the present application;

3a, 3b and 3c are schematic diagrams of the position relationship between the crowd and the automatic door in an embodiment of the present application;

FIG. 4 is a schematic view of an automatic door control system according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of an automatic door control apparatus according to an embodiment of the present application.

Detailed Description

As described in the background art, in the existing scheme, a laser radar technology is used for detecting a user approaching state, and in some specific scenes, it is difficult to control an automatic door to open and close accurately, for example, when a target object is stationary at the edge of the automatic door, repeated opening and closing of the automatic door can be caused, so that the control process is unstable, convection of air inside and outside the automatic door (such as outflow of cold air in summer or outflow of warm air in winter) can be formed, and the corresponding energy-saving and environment-friendly performance of a corresponding place is affected.

In view of the above problems, according to the present application, a ToF (time of flight) device is adopted to detect first distances between a target object and an automatic door at least two moments, a first relative state between the target object and the automatic door is determined according to each first distance, so as to open or close the automatic door according to the first relative state, so that the automatic door is opened when the target object is in a close state, and is closed in time when the target object is in a far state or in other states needing to be closed, and conditions that control effects are affected by repeated opening and closing and the like can be avoided, thereby improving the control effect of the automatic door, reducing air convection inside and outside the automatic door, and realizing energy conservation and emission reduction.

The technical solutions in the embodiments of the present application are clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. The following embodiments and their technical features may be combined with each other without conflict.

In a first aspect of the present application, there is provided an automatic door control method, as shown in fig. 1, the automatic door control method includes:

s110, detecting first distances between a target object and an automatic door at least two moments by adopting a ToF device; the ToF device is used to detect objects present in an access area located on at least one side of the automatic door.

The places where the automatic doors are arranged can comprise places such as elevators, rooms where self-service bank depositing and withdrawing equipment is arranged, certain business halls and/or shopping malls. Areas where the two sides of the automatic door enter and exit corresponding places are corresponding entering and exiting areas, and objects appearing in the entering and exiting areas are target objects. When a target object passes through the automatic door, the target object needs to move from the access area on one side to the access area on the other side, and then gradually get away from the corresponding automatic door from the access area on the other side so as to enter or leave a corresponding place. Objects (e.g., target objects) present in the access area may include people, automatic delivery machines, intelligently movable robots, and the like that need to access the corresponding location. The ToF device is disposed corresponding to the automatic door, and may be disposed at a position where the ToF device can comprehensively detect an object appearing in a corresponding access area, such as a position directly above the automatic door. The ToF device can be arranged on one side of the automatic door which needs to be automatically opened and closed, for example, in some business halls, the automatic door needs to be automatically opened and closed only when a user enters, the automatic door can be controlled by other control modes when the user leaves, and the ToF device can be arranged on the outer side of the corresponding automatic door; the ToF device can detect objects appearing in the access areas on the two sides respectively so as to control the corresponding automatic door according to the access requirements of various objects on the two sides.

The ToF device includes devices such as a ToF camera, which can capture images of corresponding access areas, obtain an area array image including information of each object in the access areas, where the area array image includes infrared imaging information and depth map information, and obtain data of each point corresponding to a target object such as a person in the area array image, where the data of each point may include coordinates of each point (e.g., image coordinates, upward coordinates, and/or depth coordinates, etc.), depth information, a membership relationship between each point and the target object, and which feature specifically belongs to the target object (e.g., a point on a boundary of a certain edge of the target object), and so on. Specifically, the infrared imaging information is intelligently identified, a target image plane representing target objects such as people and the like can be determined, and sub-images representing the target objects such as user images in the target image plane can be determined; and the depth parameter corresponding to each sub-image in the target image plane can be obtained according to the depth map information, and the distance between the object represented by each sub-image and the automatic door can be obtained according to the depth parameter. The ToF equipment can also comprise structures such as an infrared laser emitter and a photosensitive sensor, wherein the infrared laser pulse is actively and continuously emitted by the external laser emitter, the energy of reflected light at a plurality of moments is collected by the photosensitive sensor, the distance between the target object and the automatic door is determined according to collected energy and other parameters, and the detection of the distance between the target object and the automatic door at each moment is realized.

And S120, determining a first relative state of the target object and the automatic door according to the first distances.

After the first distances between the target object and the automatic door at a plurality of moments are obtained, the target object can be identified according to each first distance, so that a first relative state between the current target object and the automatic door can be identified. Specifically, if the first distances are consistent or the phase difference is within a smaller range, representing that the target object is static relative to the automatic door currently; if the first distances are sequentially reduced according to the time sequence, representing that the target object is close to the automatic door currently; and if the first distances are sequentially increased according to the time sequence, representing that the target object is far away from the automatic door currently.

And S130, controlling the automatic door to be opened or closed according to the first relative state.

The first relative state may include a static state, a close state or a far state, and the step may control the automatic door to open or close according to the current specific state of the target object relative to the automatic door. For example, if the target object is close to the automatic door, the automatic door is controlled to be opened; and when the automatic door is in an opening state, if the target object is far away from the automatic door, controlling the automatic door to close, and the like.

This embodiment adopts the ToF equipment to detect the first distance that the target object is apart from the automatically-controlled door respectively at two at least moments, confirm the first relative state of target object and automatically-controlled door according to each first distance, open or close the automatically-controlled door according to the first relative state between target object and the automatically-controlled door, make the automatically-controlled door just open when the target object is in the state of being close to, in time close under other states that need to close such as keeping away from the state, can avoid appearing the situation that influences control effect such as repetitive switch, improve the control effect of automatically-controlled door, can also reduce the inside and outside air convection of automatically-controlled door, promote the energy-concerving and environment-protective properties that corresponding place corresponds.

In one embodiment, the first relative state comprises approaching, departing, or stationary; the controlling the automatic door to open or close according to the first relative state comprises: opening the automatic door when the target object is currently approaching relative to the automatic door. According to the embodiment, when the target object is close to the automatic door currently, the automatic door is opened in time, so that the target object can pass through quickly, and the corresponding passing efficiency can be improved.

In one example, the first distance characterizes a distance between a point in the target object closest to the automatic door and the automatic door; the opening of the automatic door includes:

calculating the arrival time of the target object to the automatic door according to the first distances;

and determining the opening time according to the arrival time, and opening the automatic door at the opening time.

The first distance between the target object and the automatic door can be continuously detected at a certain frequency, the approaching speed of the target object relative to the automatic door is calculated according to parameters such as the detection frequencies of the first distances detected for multiple times, and the arrival time of the target object at the automatic door is calculated according to the latest first distance and approaching speed so as to determine the opening time, open the automatic door and improve the accuracy in the control process of the automatic door. Specifically, the opening time may be set as an arrival time, or may be set as a time point before the arrival time, such as one minute before the arrival time, and the automatic door is opened accurately in time, so as to improve user experience brought by the automatic door.

In one embodiment, the ToF device is configured to detect the presence of an object in an entry region on each side of the automatic door; after the automatic door is opened, the automatic door control method further comprises the following steps:

detecting second distances from the target object to the automatic door at least two moments by using the ToF device;

determining a second relative state of the target object and the automatic door according to the respective second distances;

and controlling the automatic door to be kept open or closed according to the second relative state.

After the second distances between the target object and the automatic door at multiple moments are obtained, the target object is identified according to the second distances, so that the second relative state between the current target object and the automatic door is identified, the automatic door is controlled to be opened or closed according to the second relative state, the automatic door can be opened in the process that the target object passes through, the safety in the control process is guaranteed, the target object is closed in time after passing through the automatic door, the closed environment required by the corresponding place is further maintained, and the place can respond to other requirements of the target object in time. Specifically, if the second distances are sequentially reduced according to the time sequence, the target object is represented to move to the automatic door, and the automatic door can be controlled to be opened at the moment when the target object approaches the automatic door; if the second distances are distributed near the value of 0, no obvious monotonicity exists, if some second distances are larger than 0, and other second distances are smaller than or equal to 0, the target object is represented to pass through the automatic door currently, and the automatic door can be controlled to be kept open at the moment; if the first distances are sequentially increased according to the time sequence, the representation target object passes through the automatic door, and the automatic door can be controlled to be closed when the representation target object is far away from the automatic door.

In particular, the second relative state comprises approaching, passing or distancing; the controlling the automatic door to be kept open or closed according to the second relative state comprises: closing the automatic door when the target object is currently distant relative to the automatic door. When the target object is far away from the automatic door currently, the automatic door is closed in time to maintain a closed environment required by the corresponding place, so that the energy-saving and environment-friendly performance of the place is contributed, the place can respond to other requirements of the target object in time (such as the requirements of a user for going upstairs and downstairs through an elevator and the like), and the efficiency of the place for responding to other requirements of the target object is improved.

In one example, the second distance characterizes a distance between a point of the target object closest to the automatic door when away from the automatic door and the automatic door; the closing the automatic door includes: closing the automatic door after detecting that the second distance is greater than or equal to a preset distance threshold.

The distance threshold may be set according to a safety distance between the target object and the automatic door, and may be set to the safety distance or a value slightly larger than the safety distance. The second distance is larger than or equal to a preset distance threshold value, the surface target object passes through the automatic door in a whole manner, and the distance between the surface target object and the automatic door is larger than or equal to a corresponding safety distance, the automatic door is controlled to be closed at the moment, various experiences of the target object cannot be influenced, and the timeliness of closing the automatic door can also be guaranteed.

In one embodiment, the ToF device is configured to emit infrared laser pulses towards the target object and collect energy reflected by the target object from the infrared laser pulses towards the ToF device; the determining of the first distance or the second distance comprises:

acquiring first energy acquired by the ToF device at a first acquisition moment and second energy acquired by the ToF device at a second acquisition moment;

calculating a distance (first distance or second distance) between the target object and the automatic door according to the first energy, the second energy and a distance calculation formula, wherein the distance is generally a distance corresponding to a later one of a first acquisition time and a second acquisition time; the distance calculation formula is used to define a relationship between the first energy, the second energy, and a distance between the target object and the automatic door.

In this embodiment, the ToF device is used to emit infrared laser pulses to the target object, and the energy of the infrared laser pulses reflected by the target object to the ToF device is collected, so as to calculate the required distance, thereby ensuring the accuracy, continuity and timeliness of the distance acquisition process,

The ToF device may include an infrared laser emitter and a photosensitive sensor, so as to emit an infrared laser pulse to the target object by using the infrared laser emitter, and collect energy corresponding to the infrared laser pulse reflected by the target object by using the photosensitive sensor; the waveform diagram in this process can be referred to as shown in fig. 2. Wherein the infrared laser emitter actively and continuously emits infrared laser pulses, and the photosensitive sensor collects the energy of the reflected light at each moment to obtain a first energy Q₁And a second energy Q₂(ii) a First energy Q₁And a second energy Q₂Corresponding to the total amount of reflected light, and Q₂The ratio with respect to the total amount is exactly equal to a delay of the reflected light with respect to the emitted light, so that the distance between the ToF device and the target object is obtained by multiplying this delay by the speed of light and dividing by 2. Accordingly, the above distance calculation formula includes:

wherein d denotes the distance between the target object and the automatic door, c denotes the speed of light, Δ t denotes the time interval between the first acquisition instant and the second acquisition instant, Q₁Representing a first energy, Q₂Representing a second energy.

In one embodiment, before the controlling the automatic door to open or close according to the first relative state, the automatic door control method further includes:

acquiring an area array image shot by the ToF equipment aiming at the target object;

identifying a first key point and a second key point which represent the transverse maximum size of the target object on the area array image; wherein the transverse direction is a direction parallel to the automatic door;

and determining the transverse maximum size of the target object according to the first key point and the second key point so as to open the automatic door according to the transverse maximum size.

The area array image can comprise infrared imaging information and depth map information, the infrared imaging information is identified by adopting a related artificial intelligence identification technology, data points corresponding to target objects such as people in the infrared imaging information can be identified, the depth map information is analyzed, and information such as coordinates of each data point corresponding to the target objects and distances between the data points and the automatic door can be determined.

After the target object is identified on the area array image, the boundary line of the target object can be determined, so that points representing the size of the target object can be obtained on the boundary line; and a group of points representing the maximum transverse size of the target object on the boundary line can be searched by adopting a mode of being parallel to the transverse axis of the automatic door, and the first key point and the second key point are respectively determined according to the group of points. Specifically, the area array image includes infrared imaging information; the identifying, on the area array image, first and second keypoints characterizing a lateral maximum size of the target object comprises: determining a target image surface representing the target object in the area array image according to the infrared imaging information; obtaining a boundary line of the target image surface, and searching the first key point and the second key point corresponding to the maximum transverse size on the boundary line by adopting a transverse axis; the horizontal axis is parallel to the line of the automatic door, and the target image surface comprises pixel points of the target object in the area array image.

Furthermore, the transverse maximum size of the target object can be obtained by mapping the distance between the first key point and the second key point to the time coordinate system of the target object, the opening range of the automatic door is determined according to the transverse maximum size, the opening range of the automatic door can be matched with the target object, the passing of the target object is not influenced by the excessively small opening range of the automatic door, space waste is not caused by the excessively large opening range of the automatic door, air convection inside and outside the automatic door can be further reduced, and the control effect of the automatic door is improved.

In one example, the determining the lateral maximum dimension of the target object from the first and second keypoints comprises:

acquiring a first depth coordinate of the first key point in a depth coordinate system and a second depth coordinate of the first key point in the depth coordinate system; the depth coordinate system is used for limiting the coordinates of each point on the area array image, and the depth coordinate system can comprise a first-dimension coordinate and a second-dimension coordinate which represent the pixel position of the corresponding point and can also comprise depth information of the corresponding point;

mapping the first depth coordinate and the second depth coordinate to a world coordinate system respectively to obtain a first world coordinate corresponding to the first key point and a second world coordinate corresponding to the second key point; the world coordinate system is used for defining the coordinates of the target object, namely the coordinates of the target object in the real space, which is generally a three-dimensional rectangular coordinate system;

calculating the transverse maximum dimension from the first world coordinate and the second world coordinate.

The points on the area array image may also correspond to a plurality of coordinate systems defining corresponding characteristics of each point, such as an image coordinate system and a pixel coordinate system, and each point may be mapped or transformed between the coordinate systems to obtain its parameters in other coordinate systems according to its parameters in one coordinate system, for example, any point in a world coordinate system is mapped into the image coordinate system by way of pinhole imaging, and transformation between the image coordinate system and the pixel coordinate system is realized by way of translation, and so on. Here, after obtaining the first world coordinate and the second world coordinate, the maximum lateral dimension may be calculated according to a correlation distance calculation formula, for example, if the first world coordinate is P (x)₁，y₁，z₁) Second world coordinate is P' (x)₂，y₂，z₂) Then the transverse maximum dimension is:

specifically, the mapping relationship between the depth coordinate system and the world coordinate system includes:

wherein u represents a first-dimensional coordinate of the mapping point in the depth coordinate system, v represents a second-dimensional coordinate of the mapping point in the depth coordinate system, and Z_cDepth information representing a mapping point, f_xRepresenting a first internal parameter, f, of the ToF device_yRepresenting a second internal parameter, u, of the ToF device₀Representing a third internal parameter, v, of the ToF device₀A fourth internal parameter indicative of the ToF device, a first external parameter indicative of the ToF device, T a second external parameter indicative of the ToF device,denotes the zero vector, X_WRepresenting the first-dimensional coordinate, Y, of a mapped point in the world coordinate system_WSecond-dimensional coordinates, Z, representing mapped points in the world coordinate system_WRepresenting the third coordinate of the mapped point in the world coordinate system. Wherein the first internal parameter f of the ToF device_xSecond internal parameter f_yThe third internal parameter u₀Fourth internal parameter v₀The first external parameter R and the second external parameter T may be determined by a relevant camera calibration algorithm.

In one example, the above-mentioned method for controlling an automatic door is further described by taking the target object of the crowd as an example. The ToF device in this example comprises an area ToF camera, and the positional relationship between the automatic door, the area ToF camera and the person population can be seen with reference to fig. 3a, in which the area ToF camera lines up persons entering and exiting the area in real timeObtaining an area array image, identifying points of the figure on the area array image, and further identifying a first key point P corresponding to the rightmost side of the figure₁Second key point P corresponding to the leftmost side₂According to the first key point P₁And a second key point P₂The lateral maximum size of the crowd is determined and thus the opening/closing amplitude (or L in fig. 3 a) as shown in fig. 3b and 3c is determined, whereby the opening of the automatic door is controlled. In some cases, the present example may identify points characterizing respective persons in the area-array image, and determine distances between the persons corresponding to the respective points and the area-array ToF camera according to depth information of the respective points, such as d1, d2, d3, d4, and d5, which are shown in fig. 3b and 3c, each characterizing the distance between the respective person and the area-array ToF camera. Referring to fig. 3b, in the process of the crowd approaching the automatic door, the area ToF camera may obtain first distances between a point of the crowd closest to the automatic door and the automatic door at a plurality of moments, and calculate arrival time of the crowd at the automatic door according to each first distance, so as to determine opening time to open the automatic door; as shown in fig. 3c, in the process that the crowd is far away from the automatic door after passing through the automatic door, the area-array ToF camera continues to acquire second distances between points, closest to the automatic door, of the current crowd and the automatic door at a plurality of moments, and after the second distance is detected to be greater than or equal to a preset distance threshold, the automatic door is closed in time, so that the control effect of the automatic door is improved, the convection of air inside and outside the corresponding place is reduced, and energy conservation and emission reduction are realized.

The automatic door control method comprises the steps of detecting first distances between a target object and an automatic door at least two moments by adopting the ToF equipment, determining a first relative state between the target object and the automatic door according to each first distance, opening or closing the automatic door according to the first relative state, enabling the automatic door to be opened when the target object is in a close state, and timely closing the automatic door in other states needing to be closed, such as a far state and the like, so that the situation that the control effect is influenced by repeated opening and closing and the like can be avoided, the control effect of the automatic door is improved, the convection of air inside and outside the automatic door can be reduced, and the energy-saving and environment-friendly performances corresponding to corresponding places are improved.

The present application provides in a second aspect an automatic door control system, as illustrated with reference to fig. 4, comprising:

a detection module 110, configured to detect, by using a ToF device, first distances from a target object to an automatic door at least two moments; the ToF device is used for detecting objects in an access area on at least one side of the automatic door;

a determining module 120, configured to determine a first relative state of the target object and the automatic door according to the respective first distances;

and the control module 130 is used for controlling the automatic door to be opened or closed according to the first relative state.

For the specific limitations of the automatic door control system, reference may be made to the limitations of the automatic door control method above, and details are not repeated here. The various modules in the automatic door control system described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent of an operation module in the computer equipment, and can also be stored in a memory in the computer equipment in a software form, so that the operation module of the computer equipment can call and execute the operation corresponding to each module.

The present application provides in a third aspect an automatic door control device, as shown with reference to fig. 5, comprising a ToF device 610, a processor 620 and a storage medium 630; the storage medium 630 has program code stored thereon; the processor 620 is configured to call the program code stored in the storage medium 630 to execute the method for controlling an automatic door provided in any of the above embodiments.

Specifically, the ToF device 610 may include a ToF camera to capture corresponding in-out areas and obtain area images including information of each object in the in-out areas; the system can also comprise an infrared laser emitter, a photosensitive sensor and other structures, wherein the infrared laser emitter actively and continuously emits infrared laser pulses, the photosensitive sensor collects the energy of reflected light at a plurality of moments, the distance between a target object and the automatic door is determined according to collected energy and other parameters, and the detection of the distance between the target object and the automatic door at each moment is realized.

The automatic door control equipment adopts the automatic door control method provided by any one of the embodiments to control the corresponding automatic door, and can improve the corresponding control effect.

Although the application has been shown and described with respect to one or more implementations, equivalent alterations and modifications will occur to others skilled in the art based upon a reading and understanding of this specification and the annexed drawings. This application is intended to embrace all such modifications and variations and is limited only by the scope of the appended claims. In particular regard to the various functions performed by the above described components, the terms used to describe such components are intended to correspond, unless otherwise indicated, to any component which performs the specified function of the described component (e.g., that is functionally equivalent), even though not structurally equivalent to the disclosed structure which performs the function in the herein illustrated exemplary implementations of the specification.

That is, the above description is only an embodiment of the present application, and not intended to limit the scope of the present application, and all equivalent structures or equivalent flow transformations made by using the contents of the specification and the drawings, such as mutual combination of technical features between various embodiments, or direct or indirect application to other related technical fields, are included in the scope of the present application.

In addition, in the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be considered as limiting the present application. In addition, structural elements having the same or similar characteristics may be identified by the same or different reference numerals. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, the word "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The previous description is provided to enable any person skilled in the art to make and use the present application. In the foregoing description, various details have been set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known structures and processes are not shown in detail to avoid obscuring the description of the present application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.