CN103362393A - Automatic revolving door control system and method - Google Patents
Automatic revolving door control system and method Download PDFInfo
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- CN103362393A CN103362393A CN2012100894965A CN201210089496A CN103362393A CN 103362393 A CN103362393 A CN 103362393A CN 2012100894965 A CN2012100894965 A CN 2012100894965A CN 201210089496 A CN201210089496 A CN 201210089496A CN 103362393 A CN103362393 A CN 103362393A
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Abstract
An automatic revolving door control method includes the steps: acquiring a predetermined number of continuous scene images from a photographic device; detecting whether a human exists in the scene images or not; determining the change of the height of the human in two optional scene images and the walking/running direction and distance of the human according to a corresponding relationship between the change of the height of the human in the images and the walking/running distance of the human when the human exists in the scene images; determining the number of the scene images between the two optional scene images to determine the elapsed time of the predetermined number of scene images and the walking/running speed of the human according to the determined distance and time when the walking/running direction of the human faces an automatic revolving door; controlling the automatic revolving door to rotate at the determined walking/running speed of the human. The invention further provides an automatic revolving door control system, and crashing or jamming caused by the automatic revolving door can be prevented.
Description
Technical field
The present invention relates to a kind of automatic rotating door control system and method, relate in particular to a kind of automatic rotating door control system and the method that can automatically adjust the automatic revolving door rotary speed.
Background technology
Whether traditional automatic revolving door is detected by infrared sensor has personnel to enter automatic revolving door, and when personnel enter automatic revolving door with certain speed automatic rotating.But traditional automatic revolving door can not be adjusted velocity of rotation according to current personnel's speed, thereby can cause current personnel can't cooperate the rotary speed of automatic revolving door, and is collided or crush by automatic revolving door.
Summary of the invention
In view of above content, be necessary to provide a kind of automatic rotating door control system and method, can prevent from being collided or crushing by automatic revolving door.
A kind of automatic rotating door control system, this automatic rotating door control system are applied on the automatic revolving door, and this system comprises: an image acquiring module, and this image acquiring module is used for obtaining from least one camera head the continuous scene image of a predetermined quantity; Whether the continuous scene image that one detecting module, this detecting module are used for this predetermined quantity that obtains of detecting exists human-like; One apart from determination module, this is used for existing when human-like at the continuous scene image that this detecting module detects this predetermined quantity that obtains apart from determination module, height in human-like any two frame scene images in the continuous scene image of this predetermined quantity of determining, determine the variation of this human-like height in these any two frame scene images, and according to the variation of the predetermined height of people in image and the corresponding relation of the distance that the people walks/runs, determine this human-like direction of walking/running and distance; One computing module, this computing module is used in the direction of human-like walking/run for towards automatic revolving door the time, determine the quantity of the scene image between these any two frame scene images, determine that according to the image capture speed of this camera head of a storage this camera head takes the scene image institute elapsed time of this quantity of determining, and determine this human-like speed of walking/running according to this scene image institute elapsed time apart from the determined human-like distance of walking of determination module and this definite quantity of shooting of determining; And an Executive Module, this Executive Module is used for the speed of the human-like walking that this automatic revolving door of control determines with this computing module/run and rotates.
A kind of Automatic Rotating Gate Control method, the method comprises: the continuous scene image that obtains a predetermined quantity from least one camera head; Detect whether exist in the continuous scene image of this predetermined quantity that obtains human-like; In detecting the continuous scene image of this predetermined quantity that obtains, exist when human-like, height in human-like any two frame scene images in the continuous scene image of this predetermined quantity of determining, determine the variation of this human-like height in these any two frame scene images, and according to the variation of the predetermined height of people in image and the corresponding relation of the distance that the people walks/runs, determine this human-like direction of walking/running and distance; In the direction of human-like walking/run for towards automatic revolving door the time, determine the quantity of the scene image between these any two frame scene images, determine that according to the image capture speed of camera head of a storage this camera head takes the scene image institute elapsed time of this quantity of determining, and determine this human-like speed of walking/running according to the scene image institute elapsed time of this human-like distance of walking of determining and this this definite quantity of shooting of determining; And control one automatic revolving door rotates with the speed of this human-like walking of determining/run.
When the present invention is human-like by existing in detecting the continuous scene image of a predetermined quantity, determine the variation of a human-like height in any two frame scene images, thereby determine this human-like direction of walking/running and distance, and in definite this human-like direction of walking/running for towards automatic revolving door the time, determine to take this two frames scene image institute elapsed time, thereby determine this human-like speed of walking/running, and control an automatic revolving door and rotate with this speed of determining, thereby can prevent from being collided or crushing by automatic revolving door.
Description of drawings
Fig. 1 is the block diagram of an automatic rotating door control system of an embodiment of the present invention.
Fig. 2 is the schematic diagram of an automatic revolving door of an embodiment of the present invention.
Fig. 3 is the flow chart of an Automatic Rotating Gate Control method of an embodiment of the present invention.
The critical element symbol description
| Automatic rotating door control system | ?10 |
| Automatic revolving door | ?1 |
| Camera head | ?2 |
| Central processing unit | ?20 |
| Memory | ?30 |
| Image acquiring module | ?101 |
| Detecting module | ?102 |
| Apart from determination module | ?103 |
| Computing module | ?104 |
| Executive Module | ?105 |
The following specific embodiment further specifies the present invention in connection with above-mentioned accompanying drawing.
The specific embodiment
As shown in Figures 1 and 2, be the block diagram of the automatic rotating door control system 10 of an embodiment of the present invention.This automatic rotating door control system 10 is applied on the automatic revolving door 1, this automatic revolving door 1 is connected with a camera head 2, according to the image of these camera head 2 picked-ups, determine the human-like speed of travel, thereby control this automatic revolving door 1 with this human-like speed of travel rotation of determining.Wherein, this automatic revolving door 1 can be two wings rotary door, Three-wing revolving door, Four-wing revolving door, annulated column revolving door or quartzy revolving door.This automatic revolving door 1 also comprises a central processing unit 20 and a memory 30.
In the present embodiment, the quantity of this camera head 2 is two, and this camera head 2 is fixedly installed in respectively the top of the access, both sides of this automatic revolving door 1, is used for the image at this automatic revolving door 1 the place ahead of picked-up and rear.In other embodiments, the quantity of this camera head 2 is one, can be installed on the top of any side access of this automatic revolving door 1, is used for the image at this automatic revolving door 1 the place ahead of picked-up or rear.Wherein, the camera head of this camera head 2 for having the shooting at night function.
In the present embodiment, this automatic rotating door control system 10 comprises that an image acquiring module 101, a detecting module 102, are apart from determination module 103, a computing module 104 and an Executive Module 105.The alleged module of the present invention refers to a kind of can be by the central processing unit 20 of automatic revolving door 1 performed and can finish the series of computation machine program block of specific function, and it is stored in the memory 30 of automatic revolving door 1.
Wherein, also store the image capture speed of several different people's section mould plates, a form and this camera head 2 in this memory 30.These several different people's section mould plate is that the type camera head 2 absorbs before carrying out the present invention, and it comprises three classes according to the posture of taking pictures: positive human-like image, the human-like image of the human-like image in side and the back side.The corresponding relation of the distance that the variation of the height of recorder in image and people walk/run in this form.Wherein, the corresponding relation of the distance that the variation of the height of this people in image and people walk/run can represent by a ratio value, as the height of people in image be changed to 3cm the time, the distance that the people walks/runs is 15m, then the ratio value of the variation of the height of people in image and the people distance of walking/running is 1/500, perhaps represent by the different distance of the different heights of this people in image corresponding to this people and this automatic revolving door 1, when being 5cm such as the height of people in image, the distance of people and this automatic revolving door 1 is 10.5m, when the height of people in image was 3cm, the distance of people and this automatic revolving door 1 was 0.5m.In the present embodiment, the image capture speed of this camera head 2 was 25 frame/seconds.
This image acquiring module 101 is used for obtaining from this camera head 2 the continuous scene image of a predetermined quantity.
Whether the continuous scene image that this detecting module 102 is used for this predetermined quantity that obtains of detecting exists human-like.Be specially: this detecting module 102 compares each scene image in the continuous scene image of this predetermined quantity that obtains from several different people's section mould plates in being stored in memory 30, judge whether exist in the continuous scene image of this predetermined quantity human-like.If exist at least in this each scene image with this several different people's section mould plate in an identical part, then exist human-like in the continuous scene image of these detecting module 102 definite these predetermined quantities.If there is not any one part identical with people's section mould plate in this each scene image, then do not exist human-like in the continuous scene image of these detecting module 102 definite these predetermined quantities.
This is used for existing when human-like at the continuous scene image that detects this predetermined quantity (such as 75 frames) apart from determination module 103, height in human-like any two frame scene images in the continuous scene image of this predetermined quantity of determining, and determine the variation of this human-like height in these any two two field pictures, and determine this human-like direction of walking/running and distance according to the form of storage in this memory 30.Wherein, this camera head 2 same human-like from afar to the quantity that enters the captured scene image of this automatic revolving door 1 greater than this predetermined quantity, and when this human-like height becomes large, this determines that apart from determination module 103 this human-like direction of walking/running is away from this automatic revolving door 1, when this human-like height diminished, this determined that apart from determination module 103 this human-like direction of walking/running is close this automatic revolving door 1.In the present embodiment, this also determines this human-like quantity apart from determination module 103, when this human-like quantity surpasses one, determines those top human-like in human-like, and those top human-like human-like for what determine in human-like of determining that this determines.When this human-like quantity was one, this was human-like then human-like for what determine.
This computing module 104 is used in the direction of human-like walking/run for towards automatic revolving door 1 time, determine the quantity of the scene image between these any two frame scene images, determine the scene image institute elapsed time of these camera head 2 these quantity of determining of shooting according to the image capture speed of this camera head 2, and determine this human-like speed of walking/running according to this scene image institute elapsed time apart from determination module 103 determined human-like distances of walking and this quantity of determining of shooting of determining, wherein, this computing module 104 is determined the speed of this human-like walking/run according to formula V=S/T, S for this apart from the determination module 103 determined human-like distances of walking/running, T is these 104 determined times of computing module.As: the quantity of the scene image between these any two frame scene images that this computing module 104 is determined is 50 frames, when the human-like distance of walking/running is 6m, this computing module 104 determines that the time that these camera heads 2 are taken the scene image of these quantity of determining is 2s, and determines that according to formula V=S/T the speed of this human-like walking/run is 3m/s.
This Executive Module 105 is used for the speed of the human-like walking that this automatic revolving door 1 of control determines with this computing module 104/run and rotates.Thereby so that the people is when this automatic revolving door 1, the speed of the speed of this automatic revolving door 1 rotation and human-like walking/run is consistent, has prevented that the people from being collided or crushing by automatic revolving door 1.
Please refer to Fig. 3, be the flow chart of the Automatic Rotating Gate Control method of an embodiment of the present invention.
In step S301, this image acquiring module 101 is obtained the continuous scene image of a predetermined quantity from this camera head 2.
In step S302, whether exist human-like in the continuous scene image of these detecting module 102 these predetermined quantities that obtain of detecting.Be specially: this detecting module 102 compares each scene image in the continuous scene image of this predetermined quantity that obtains from several different people's section mould plates in being stored in memory 30, judge whether exist in the continuous scene image of this predetermined quantity human-like.If exist at least in this each scene image with this several different people's section mould plate in an identical part, then exist human-like in the continuous scene image of these detecting module 102 definite these predetermined quantities.If there is not any one part identical with people's section mould plate in this each scene image, then do not exist human-like in the continuous scene image of these detecting module 102 definite these predetermined quantities.When there being when human-like execution in step S303 in the continuous scene image that detects this predetermined quantity.When there not being when human-like execution in step S301 in the continuous scene image that detects this predetermined quantity.
In step S303, height in these human-like any two frame scene images in the continuous scene image of this predetermined quantity of determining apart from determination module 103, determine the variation of this human-like height in these any two frame scene images, and determine this human-like direction of walking/running and distance according to the form of storage in this memory 30.In the present embodiment, this also determines this human-like quantity apart from determination module 103, when this human-like quantity surpasses one, determines those top human-like in human-like, and those top human-like human-like for what determine in human-like of determining that this determines.When this human-like quantity was one, this was human-like then human-like for what determine.
In step S304, this computing module 104 in the direction of human-like walking/run for towards automatic revolving door 1 time, determine the quantity of the scene image between these any two frame scene images, determine the scene image institute elapsed time of these camera head 2 these quantity of determining of shooting according to the image capture speed of this camera head 2 of storage in the memory 30, and determine this human-like speed of walking/running according to this apart from the scene image institute elapsed time that determination module 103 determined human-like distances of walking reach this quantity of determining of shooting of determining.
In step S305, the speed of the human-like walking that this Executive Module 105 these automatic revolving doors 1 of control are determined with this computing module 104/run is rotated.
It should be noted that at last, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although with reference to preferred embodiment the present invention is had been described in detail, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not break away from the spirit and scope of technical solution of the present invention.
Claims (8)
1. automatic rotating door control system, this automatic rotating door control system be applied to it is characterized in that on the automatic revolving door, and this system comprises:
One image acquiring module, this image acquiring module is used for obtaining from least one camera head the continuous scene image of a predetermined quantity;
Whether the continuous scene image that one detecting module, this detecting module are used for this predetermined quantity that obtains of detecting exists human-like;
One apart from determination module, this is used for existing when human-like at the continuous scene image that this detecting module detects this predetermined quantity that obtains apart from determination module, height in human-like any two frame scene images in the continuous scene image of this predetermined quantity of determining, determine the variation of this human-like height in these any two frame scene images, and according to the variation of the predetermined height of people in image and the corresponding relation of the distance that the people walks/runs, determine this human-like direction of walking/running and distance;
One computing module, this computing module is used in the direction of human-like walking/run for towards automatic revolving door the time, determine the quantity of the scene image between these any two frame scene images, determine that according to the image capture speed of this camera head of a storage this camera head takes the scene image institute elapsed time of this quantity of determining, and determine this human-like speed of walking/running according to this scene image institute elapsed time apart from the determined human-like distance of walking of determination module and this definite quantity of shooting of determining; And
One Executive Module, this Executive Module are used for the speed of the human-like walking that this automatic revolving door of control determines with this computing module/run and rotate.
2. automatic rotating door control system as claimed in claim 1 is characterized in that, the concrete operations of this detecting module are:
Each scene image in the continuous scene image of this predetermined quantity is compared from several different people's section mould plates in being stored in this memory, judge whether exist in the continuous scene image of this predetermined quantity human-like;
If exist at least in this each scene image from this several different people's section mould plate in an identical part, then this detecting module is determined to exist in the continuous scene image of this predetermined quantity human-like;
If there is not any one part identical with people's section mould plate in this each scene image, then this detecting module is determined not exist in the continuous scene image of this predetermined quantity human-like.
3. automatic rotating door control system as claimed in claim 1 is characterized in that:
When this determines that apart from determination module human-like quantity in this scene image surpasses one, this determines that apart from determination module in this scene image those foremost in human-like is human-like, and those foremosts in human-like of determining that this determines are human-like definite human-like for this.
4. automatic rotating door control system as claimed in claim 1 is characterized in that:
When this determines that apart from determination module human-like quantity in this scene image is one, this apart from determination module determine this human-like for this determine human-like.
5. an Automatic Rotating Gate Control method is characterized in that, the method comprises:
From at least one camera head, obtain the continuous scene image of a predetermined quantity;
Detect whether exist in the continuous scene image of this predetermined quantity that obtains human-like;
In detecting the continuous scene image of this predetermined quantity that obtains, exist when human-like, height in human-like any two frame scene images in the continuous scene image of this predetermined quantity of determining, determine the variation of this human-like height in these any two frame scene images, and according to the variation of the predetermined height of people in image and the corresponding relation of the distance that the people walks/runs, determine this human-like direction of walking/running and distance;
In the direction of human-like walking/run for towards automatic revolving door the time, determine the quantity of the scene image between these any two frame scene images, determine that according to the image capture speed of camera head of a storage this camera head takes the scene image institute elapsed time of this quantity of determining, and determine this human-like speed of walking/running according to the scene image institute elapsed time of this human-like distance of walking of determining and this this definite quantity of shooting of determining; And
Controlling an automatic revolving door rotates with the speed of this human-like walking of determining/run.
6. Automatic Rotating Gate Control method as claimed in claim 5 is characterized in that, step " detect whether exist in the continuous scene image of a predetermined quantity of this at least one camera head picked-up human-like " specifically comprises:
Each scene image in the continuous scene image of this predetermined quantity is compared from several different people's section mould plates in being stored in this memory, judge whether exist in the continuous scene image of this predetermined quantity human-like;
If exist at least in this each scene image with this several different people's section mould plate in an identical part, then exist human-like in the continuous scene image of definite this predetermined quantity;
If there is not any one part identical with people's section mould plate in this each scene image, then do not exist human-like in the continuous scene image of definite this predetermined quantity.
7. Automatic Rotating Gate Control method as claimed in claim 5 is characterized in that, the method also comprises:
When the human-like quantity in determining this scene image surpasses one, determine that in this scene image those foremost in human-like is human-like, and those foremosts in human-like of determining that this determines are human-like definite human-like for this.
8. Automatic Rotating Gate Control method as claimed in claim 5 is characterized in that, the method also comprises:
When the human-like quantity in determining this scene image is one, determine that this is human-like definite human-like for this.
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| CN2012100894965A CN103362393A (en) | 2012-03-30 | 2012-03-30 | Automatic revolving door control system and method |
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| CN2012100894965A CN103362393A (en) | 2012-03-30 | 2012-03-30 | Automatic revolving door control system and method |
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| CN103726739A (en) * | 2013-12-31 | 2014-04-16 | 深圳市捷顺科技实业股份有限公司 | Power-driven folding door protecting method and system and power-driven folding door |
| CN104912432A (en) * | 2014-03-13 | 2015-09-16 | 欧姆龙株式会社 | Automatic door control device and automatic door control method |
| CN105909117A (en) * | 2016-04-29 | 2016-08-31 | 奇瑞汽车股份有限公司 | Opening and closing door control device and opening and closing door control method |
| CN106401367A (en) * | 2016-12-09 | 2017-02-15 | 贵州大学 | Automatic induction door based on image recognition and control method of automatic induction door |
| CN108571252A (en) * | 2018-03-23 | 2018-09-25 | 滁州职业技术学院 | A kind of safety only stops rotary door system |
| CN109025649A (en) * | 2018-07-11 | 2018-12-18 | 北海和思科技有限公司 | A kind of control system and its control method of automatic sensing revolving door |
| CN110359810A (en) * | 2018-04-10 | 2019-10-22 | 深圳市亲邻科技有限公司 | For the intelligent control method of access door, control device and intelligent channel door |
| CN110390744A (en) * | 2018-04-19 | 2019-10-29 | 开利公司 | The seamless access to lock is managed by people/head detection |
| CN110439418A (en) * | 2019-08-14 | 2019-11-12 | 上海朗荣自动门科技有限公司 | A kind of control method of two wings rotary door |
| CN114135186A (en) * | 2021-12-01 | 2022-03-04 | 征博科技（深圳）有限公司 | Automatic door control method and device based on multipoint detection, vehicle and storage medium |
| CN114150963A (en) * | 2021-11-25 | 2022-03-08 | 征博科技（深圳）有限公司 | Front-back linkage automatic door control method and device, vehicle and storage medium |
| US11298820B2 (en) * | 2016-06-29 | 2022-04-12 | International Business Machines Corporation | Corpus curation for action manifestation for cognitive robots |
| CN116591575A (en) * | 2023-07-18 | 2023-08-15 | 山东锐泽自动化科技股份有限公司 | Rotary door safety control method and system based on machine vision |
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| CN103726739B (en) * | 2013-12-31 | 2016-04-27 | 深圳市捷顺科技实业股份有限公司 | A kind of guard method of motor-driven folding door, protection system and motor-driven folding door |
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| CN105909117A (en) * | 2016-04-29 | 2016-08-31 | 奇瑞汽车股份有限公司 | Opening and closing door control device and opening and closing door control method |
| CN105909117B (en) * | 2016-04-29 | 2017-08-04 | 奇瑞汽车股份有限公司 | Switch gate control device and switch door control method |
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| CN106401367A (en) * | 2016-12-09 | 2017-02-15 | 贵州大学 | Automatic induction door based on image recognition and control method of automatic induction door |
| CN106401367B (en) * | 2016-12-09 | 2018-10-19 | 贵州大学 | A kind of automatic sensing door and its control method based on image recognition |
| CN108571252A (en) * | 2018-03-23 | 2018-09-25 | 滁州职业技术学院 | A kind of safety only stops rotary door system |
| CN110359810A (en) * | 2018-04-10 | 2019-10-22 | 深圳市亲邻科技有限公司 | For the intelligent control method of access door, control device and intelligent channel door |
| CN110390744A (en) * | 2018-04-19 | 2019-10-29 | 开利公司 | The seamless access to lock is managed by people/head detection |
| CN109025649A (en) * | 2018-07-11 | 2018-12-18 | 北海和思科技有限公司 | A kind of control system and its control method of automatic sensing revolving door |
| CN110439418A (en) * | 2019-08-14 | 2019-11-12 | 上海朗荣自动门科技有限公司 | A kind of control method of two wings rotary door |
| CN114150963A (en) * | 2021-11-25 | 2022-03-08 | 征博科技（深圳）有限公司 | Front-back linkage automatic door control method and device, vehicle and storage medium |
| CN114135186A (en) * | 2021-12-01 | 2022-03-04 | 征博科技（深圳）有限公司 | Automatic door control method and device based on multipoint detection, vehicle and storage medium |
| CN116591575A (en) * | 2023-07-18 | 2023-08-15 | 山东锐泽自动化科技股份有限公司 | Rotary door safety control method and system based on machine vision |
| CN116591575B (en) * | 2023-07-18 | 2023-09-19 | 山东锐泽自动化科技股份有限公司 | Rotary door safety control method and system based on machine vision |
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