CN107816290A - Automatic door control method - Google Patents
Automatic door control method Download PDFInfo
- Publication number
- CN107816290A CN107816290A CN201711006417.9A CN201711006417A CN107816290A CN 107816290 A CN107816290 A CN 107816290A CN 201711006417 A CN201711006417 A CN 201711006417A CN 107816290 A CN107816290 A CN 107816290A
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- China
- Prior art keywords
- signal
- control
- control centre
- module
- door
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000002159 abnormal effect Effects 0.000 claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000004888 barrier function Effects 0.000 claims description 16
- 230000000052 comparative effect Effects 0.000 claims description 4
- 239000000523 sample Substances 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/79—Power-operated mechanisms for wings with automatic actuation using time control
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/518—Application of doors, windows, wings or fittings thereof for vehicles for working vehicles
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
- E05Y2900/531—Doors
Landscapes
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The present invention relates to unmanned vehicle technology field, it is related to a kind of automatic door control method, apply includes navigation module, control centre, traffic lights identification module, detection of obstacles module, fault monitor module, brake module, comprises the following steps in automatic driving vehicle, automatic driving vehicle：S1：The control centre receives abnormal signal, is judged；S2：Judge whether the abnormal signal is the fault-signal for causing vehicle not travel, if it is not, then carrying out step S3；S3：Judge whether the abnormal signal is to reach to specify parking site signal, if it is not, then carrying out step S4；S4：Judge whether the abnormal signal is obstacle signal, if it is not, then carrying out step S5；S5：Return to step S1.The present invention effectively can control car door according to the state of unmanned vehicle.
Description
Technical field
The present invention relates to car door technical field, specifically, is related to a kind of automatic door control method.
Background technology
In current public transport, the construction cost and operation cost of subway are too high, and transport power also early can't bear the heavy load, current
Bus can not fully meet enterprise and the demand of passenger both sides, particularly in industrial zone, tourist attractions, universities and colleges of university, machine
Place as harbour, large-scale community and stadiums is, it is necessary to a kind of free mode of transportation of environmental protection and economy, therefore nobody drives
Sailing bus its application field will gradually expand, and have wide development space.In unmanned bus, it is impossible to effectively
Controlling door contact interrupter, there is deficiency with the transport condition in bus.
The content of the invention
The defects of in order to overcome prior art, the invention provides a kind of automatic door control method.
According to a kind of automatic door control method of the present invention, apply includes in automatic driving vehicle, automatic driving vehicle
Navigation module, control centre, traffic lights identification module, detection of obstacles module, fault monitor module, brake module, in control
The heart receives the route of navigation module planning, and control centre controls automatic driving vehicle normally travel, malfunction monitoring according to route
Fault-signal can be transmitted to control centre in module, and obstacle signal can be transmitted in detection of obstacles module, barrier removes signal and given
Red signal, steady yellow, green light signals can be transmitted to control centre, including following step in control centre, traffic lights identification module
Suddenly：
S1：Control centre receives abnormal signal, is judged；
S2：Judge whether abnormal signal is the fault-signal for causing vehicle not travel, if it is not, then carrying out step S3；
S3：Judge whether abnormal signal is to reach to specify parking site signal, if it is not, then carrying out step S4；
S4：Judge whether abnormal signal is obstacle signal, if it is not, then carrying out step S5；
S5：Return to step S1.
Preferably, in step s 2, if abnormal signal is the fault-signal for causing vehicle not travel, step is carried out
S21,
S21：Control centre sends stop sign to brake module, after brake module judges that vehicle stops, to control centre
Send stop sign, control centre's control car door opening.
Preferably, in step s3, if abnormal signal specifies parking site signal to reach, step S21 is carried out.
Preferably, after step S21 is carried out,
The following steps are carried out again：
S311：One section of preset time is waited, is closed at the appointed time by control centre's control car door；
S312：During closing of the door, if control centre does not receive shutdown signal, i.e. car door does not close at the appointed time
Close, be then judged as that car door has foreign matter, carry out step S313, if control centre receives shutdown signal, carry out step S311；
S313：Do not continue to close by control centre's control car door, and control car door opening again, return step
S311。
Preferably, in step s 4, if abnormal signal is obstacle signal, step S41 is carried out：
S41：Control centre's control car door keeps closing, and waits control centre to receive barrier at the appointed time and removes letter
Number, if receiving barrier removes signal, carry out step S5；If not receiving barrier at the appointed time removes signal, enter
Row step S42；
S42：Control centre's control navigation module plans travel route again, and navigation module sends the route planned again
To control centre, step S5 is carried out.
Preferably, in step s 4, obstacle signal also includes red signal, steady yellow, and barrier removes signal also
Including green light signals.
Preferably, door position sensor is installed, door position sensor is used for the closing letter for detecting car door on car door
Number and open signal, and shutdown signal or open signal are sent to control centre.
Preferably, brake module is movable motor controller, and control centre receives obstacle signal and to movable motor control
Device processed sends speed-regulating instruction, and movable motor controller controls the movable motor of automobile to be progressively decelerated to stopping fortune according to speed-regulating instruction
OK.
Preferably, car body be provided be used for detect wheel tach signal speed probe, and send tach signal to
Control centre, is preset with least one rotary speed threshold value in control centre, and control centre receives tach signal and by itself and rotating speed threshold
Value is compared, and is judged according to comparative result in normally travel, and whether car body the failure that can not continue traveling occurs, and generates
Fault-signal.
Preferably, timer is provided with car body, timer is used to generate preset time or stipulated time and is sent to control
Center.
Preferably, detection of obstacles module includes binocular camera and laser scanner, binocular camera and laser are swept
Retouch the obstacle signal that instrument is used to detect vehicle front.
In a kind of automatic door control method of the present invention, the unlatching of car door and pass in unmanned vehicle can be effectively automatically controlled
Close, facilitate unmanned occupant to pass in and out unmanned vehicle.Specific effectively effect is as follows：
(1), speed probe detects whether wheel rotates by detecting tach signal, if fast without rotating or rotating
When degree has relatively large deviation with actual rotation speed, then vehicle stops, and control centre's control car door automatically turns on, convenient to take people
Member is got off, and maintenance personal, which gets on the bus, to be repaired；
(2) if, vehicle reach parking site, vehicle stop, control centre control car door opening, facilitate passenger
Get on or off the bus；
(3), car door can detect whether foreign matter in closing process, if then phase down and reopen, prevent
Clamp passenger and article；
(4), detection of obstacles module can detect the obstacle signal in front, when obstacle signal exceedes in control centre
During predetermined threshold value, control centre's control unmanned vehicle stops, and car door remains off.
Brief description of the drawings
Fig. 1 is the flow chart of automatic door control method in embodiment 1.
Embodiment
To further appreciate that present disclosure, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.It should be understood that
, embodiment be only the present invention is explained and and it is non-limiting.
Embodiment 1
As shown in figure 1, present embodiments providing a kind of automatic door control method, comprise the following steps：
According to a kind of automatic door control method of the present invention, apply includes in automatic driving vehicle, automatic driving vehicle
Navigation module, control centre, traffic lights identification module, detection of obstacles module, fault monitor module, brake module, the control
Center processed receives the route of navigation module planning, and control centre controls automatic driving vehicle normally travel according to the route,
The fault monitor module can be transmitted fault-signal to control centre, the detection of obstacles module can be transmitted obstacle signal,
Barrier removes signal and red signal, steady yellow, green light signals can be transmitted and give to control centre, the traffic lights identification module
Control centre, comprise the following steps：
S1：The control centre receives abnormal signal, is judged；
S2：Judge whether the abnormal signal is the fault-signal for causing vehicle not travel, if it is not, then carrying out step
S3；
S3：Judge whether the abnormal signal is to reach to specify parking site signal, if it is not, then carrying out step S4；
S4：Judge whether the abnormal signal is obstacle signal, if it is not, then carrying out step S5；
S5：Return to step S1.
Preferably, in step s 2, if the abnormal signal is the fault-signal for causing vehicle not travel, walked
Rapid S21,
S21：Control centre sends stop sign to the brake module, after brake module judges vehicle stopping, to described
Control centre sends stop sign, control centre's control car door opening.
Preferably, in step s3, if the abnormal signal specifies parking site signal to reach, step S21 is carried out.
Preferably, after step S21 is carried out,
The following steps are carried out again：
S311：One section of preset time is waited, is closed at the appointed time by control centre's control car door；
S312：During closing of the door, if control centre does not receive shutdown signal, i.e. car door does not close at the appointed time
Close, be then judged as that car door has foreign matter, carry out step S313, if control centre receives shutdown signal, carry out step S311；
S313：Do not continue to close by control centre's control car door, and control car door opening again, return step
S311。
Preferably, in step s 4, if the abnormal signal is obstacle signal, step S41 is carried out：
S41：Control centre's control car door keeps closing, and waits control centre to receive barrier at the appointed time and removes letter
Number, if receiving barrier removes signal, carry out step S5；If not receiving barrier at the appointed time removes signal, enter
Row step S42；
S42：Control centre's control navigation module plans travel route again, and navigation module sends the route planned again
To control centre, step S5 is carried out.
Preferably, in step s 4, the obstacle signal also includes red signal, steady yellow, and the barrier moves
Except signal also includes green light signals.The red signal, steady yellow, green light signals are identified by traffic lights identification module,
The traffic lights identification module can be photoelectric sensor etc..
Preferably, door position sensor is installed, door position sensor is used for the closing letter for detecting car door on car door
Number and open signal, and shutdown signal or open signal are sent to control centre.Door position sensor and control centre's electricity
Property connection.
Preferably, the brake module is movable motor controller, and control centre's reception obstacle signal is simultaneously electric to walking
Machine controller sends speed-regulating instruction, and movable motor controller is progressively decelerated to according to the movable motor of speed-regulating instruction control automobile to stop
Only run.
Preferably, car body be provided be used for detect wheel tach signal speed probe, and send tach signal to
Control centre, is preset with least one rotary speed threshold value in control centre, and control centre receives tach signal and by itself and rotating speed threshold
Value is compared, and according to comparative result, is judged in normally travel, and whether car body the failure that can not continue traveling occurs, and raw
Into fault-signal.Described comparative result, if tach signal is more than or less than the error range of rotary speed threshold value, illustrate that car body occurs
The failure of traveling can not be continued.
Preferably, timer is provided with car body, timer is used to generate preset time or stipulated time and is sent to control
Center.Set preset time is preferably 10 seconds, and the set stipulated time is preferably 5 minutes.
Preferably, detection of obstacles module includes binocular camera and laser scanner, the binocular camera and swash
Photoscanner is used for the obstacle signal for detecting vehicle front.
Embodiment 2
The present embodiment and the difference of embodiment 1 are：Continue to judge that the emergency stop push button in car body is after step S4
It is no to press.If so, then control centre's control vehicle stops, and control car door opening；If it is not, then door position sensor detects car
Whether door closes, if turned off then normally travel, if car door is not turned off, performs step S311, control centre is receiving car
After the shutdown signal of door, continue to travel.
The emergency case that emergency stop push button is used in unmanned vehicle, for example burst disease need to send to hospital, thus can and
When processing.
Embodiment 3
The present embodiment and the difference of embodiment 1 are：In step s 2, car door opening, unmanned wait vehicular rescue.
If being repaired successfully in the vehicle short time, fault monitor module sends failture evacuation signal to control centre, then returns in step S5,
Vehicle keeps normally travel.
Schematically the present invention and embodiments thereof are described above, this describes no restricted, institute in accompanying drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited thereto.So if common skill of this area
Art personnel are enlightened by it, without departing from the spirit of the invention, without designing and the technical scheme for creativeness
Similar frame mode and embodiment, protection scope of the present invention all should be belonged to.
Claims (10)
1. a kind of automatic door control method, apply in automatic driving vehicle, automatic driving vehicle is included in navigation module, control
The heart, traffic lights identification module, detection of obstacles module, fault monitor module, brake module, the control centre receive navigation
The route of module planning, control centre control automatic driving vehicle normally travel, the fault monitor module according to the route
Transmittable fault-signal is to control centre, and obstacle signal can be transmitted in the detection of obstacles module, barrier removes signal and given
Red signal, steady yellow, green light signals can be transmitted to control centre in control centre, the traffic lights identification module；
It is characterised in that it includes following steps：
S1：The control centre receives abnormal signal, is judged；
S2：Judge whether the abnormal signal is the fault-signal for causing vehicle not travel, if it is not, then carrying out step S3；
S3：Judge whether the abnormal signal is to reach to specify parking site signal, if it is not, then carrying out step S4；
S4：Judge whether the abnormal signal is obstacle signal, if it is not, then carrying out step S5；
S5：Normal vehicle operation.
2. automatic door control method according to claim 1, it is characterised in that：In step s 2, if the abnormal letter
Number to cause the fault-signal that vehicle can not travel, then step S21 is carried out,
S21：Control centre sends stop sign to the brake module, after brake module judges that vehicle stops, to the control
Center sends stop sign, control centre's control car door opening.
3. automatic door control method according to claim 1, it is characterised in that：In step s3, if the abnormal letter
Number parking site signal is specified to reach, then carry out step S21.
4. automatic door control method according to claim 3, it is characterised in that after step S21 is carried out,
The following steps are carried out again：
S311：One section of preset time is waited, is closed at the appointed time by control centre's control car door；
S312：During closing of the door, if control centre does not receive shutdown signal, i.e. car door is not closed at the appointed time,
Then it is judged as that car door has foreign matter, carries out step S313, if control centre receives shutdown signal, carries out step S311；
S313：Do not continue to close by control centre's control car door, and control car door opening again, return step S311.
5. automatic door control method according to claim 1, it is characterised in that：In step s 4, if the abnormal letter
Number it is obstacle signal, then carries out step S41：
S41：Control centre's control car door keeps closing, and waits control centre to receive barrier at the appointed time and removes signal,
If receiving barrier removes signal, step S5 is carried out；If not receiving barrier at the appointed time removes signal, walked
Rapid S42；
S42：Control centre's control navigation module plans travel route again, and the route planned again is sent to control by navigation module
Center processed, carry out step S5.
6. automatic door control method according to claim 1, it is characterised in that：In step s 4, the barrier letter
Number also include red signal, steady yellow, the barrier, which removes signal, also includes green light signals.
7. automatic door control method according to claim 2, it is characterised in that：Door position sensing is installed on car door
Device, door position sensor is used for the shutdown signal and open signal for detecting car door, and shutdown signal or open signal are sent
To control centre.
8. automatic door control method according to claim 1, it is characterised in that：The brake module is movable motor control
Device processed, control centre receive obstacle signal and to movable motor controller send speed-regulating instruction, movable motor controller according to
The movable motor of speed-regulating instruction control automobile is progressively decelerated to out of service.
9. automatic door control method according to claim 1, it is characterised in that：Car body, which is provided with, to be used to detect wheel
The speed probe of tach signal, and tach signal is sent to control centre, it is preset with least one rotating speed threshold in control centre
Value, control centre receive tach signal and by it compared with rotary speed threshold value, judged according to comparative result in normally travel,
Whether car body there is the failure that can not continue traveling, and generates fault-signal.
10. automatic door control method according to claim 3, it is characterised in that：Timer, timer are provided with car body
For generating preset time or stipulated time and being sent to control centre.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711006417.9A CN107816290B (en) | 2017-10-25 | 2017-10-25 | Automatic door control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711006417.9A CN107816290B (en) | 2017-10-25 | 2017-10-25 | Automatic door control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107816290A true CN107816290A (en) | 2018-03-20 |
| CN107816290B CN107816290B (en) | 2019-08-13 |
Family
ID=61608642
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711006417.9A Expired - Fee Related CN107816290B (en) | 2017-10-25 | 2017-10-25 | Automatic door control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107816290B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108769225A (en) * | 2018-06-05 | 2018-11-06 | 北京智行者科技有限公司 | Emergency vehicle processing method |
| CN113494229A (en) * | 2020-03-18 | 2021-10-12 | 本田技研工业株式会社 | Vehicle control device, vehicle control method, and recording medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3702710A1 (en) * | 1987-01-30 | 1988-08-11 | Wabco Westinghouse Fahrzeug | Door closing system which is actuated by external force |
| EP2397381A2 (en) * | 2010-06-15 | 2011-12-21 | GEZE GmbH | Automatic door system |
| CN206231478U (en) * | 2016-10-11 | 2017-06-09 | 深圳市招科智控科技有限公司 | A kind of unmanned bus |
| CN107067706A (en) * | 2017-03-05 | 2017-08-18 | 赵莉莉 | Command the traffic supervision system for vehicles of managing and control system in real time comprehensively based on intelligent transportation |
| CN206501783U (en) * | 2016-10-12 | 2017-09-19 | 鄂尔多斯市普渡科技有限公司 | A kind of new pilotless automobile with safety guarantee |
-
2017
- 2017-10-25 CN CN201711006417.9A patent/CN107816290B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3702710A1 (en) * | 1987-01-30 | 1988-08-11 | Wabco Westinghouse Fahrzeug | Door closing system which is actuated by external force |
| EP2397381A2 (en) * | 2010-06-15 | 2011-12-21 | GEZE GmbH | Automatic door system |
| CN206231478U (en) * | 2016-10-11 | 2017-06-09 | 深圳市招科智控科技有限公司 | A kind of unmanned bus |
| CN206501783U (en) * | 2016-10-12 | 2017-09-19 | 鄂尔多斯市普渡科技有限公司 | A kind of new pilotless automobile with safety guarantee |
| CN107067706A (en) * | 2017-03-05 | 2017-08-18 | 赵莉莉 | Command the traffic supervision system for vehicles of managing and control system in real time comprehensively based on intelligent transportation |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108769225A (en) * | 2018-06-05 | 2018-11-06 | 北京智行者科技有限公司 | Emergency vehicle processing method |
| CN113494229A (en) * | 2020-03-18 | 2021-10-12 | 本田技研工业株式会社 | Vehicle control device, vehicle control method, and recording medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107816290B (en) | 2019-08-13 |
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