LASER SENSORS FOR HUMAN BODY SAFETY PROTECTION FOR USE IN DRUM DOORS

专利摘要:
To address the deficiencies of the prior art, the present invention provides a laser sensor for safety protection of the human body, for use in a drum holder, which sensor comprises: a laser scanning range calculating section and a laser scanning section; application analysis. The laser scan range computation section comprises a laser emitter device, a laser deflector device, an optical signal receiver device, and an analysis and processing device. Here, the laser emitter device sends laser signals to the laser deflector device; the laser deflector device deflects the laser signals at a predefined angle and forms at least one laser scanning area; the optical signal receiving device receives reflected laser signals and transmits said signals to the analysis and processing device. The analysis and processing device includes a trip point distance analysis module, which analyzes to obtain trip point distance information according to signals sent from the optical signal receiving device. The application analysis section includes a security analysis module that controls a state of motion of the drum door, by a door control device, after analysis made on the basis of the distance information of the control point. trigger.
公开号:BE1025906B1
申请号:E2018/5435
申请日:2018-06-22
公开日:2019-08-12
发明作者:Dan Su；Jixiang Liu；Yuhe Xu
申请人:B.E.A. Electronics (Beijing) Co.,Ltd.；
IPC主号:

专利说明:

LASER SENSORS FOR SAFETY PROTECTION
HUMAN BODY, FOR USE
IN DRUM DOORS
Technical area
The present invention relates to the technical field of automatic door sensors, in particular a laser sensor for security protection of the human body, for use in a revolving door.
History of the invention
A revolving door is a kind of reception door in a place, a door that combines the advantages of various doors, and its spacious design and great style creates a luxurious atmosphere that is the final touch to the buildings. In addition, the revolving door, which can increase wind resistance and reduce the energy consumption of air conditioners, is the best choice for isolating air flows and saving energy.
Existing drum doors usually include automatic drum doors and passive drum doors, where the passive drum door does not have any driving device and no detection device, and it rotates under the effect of the thrust of the users, so that its safety, practicality and user experience are not as satisfactory as those of the automatic revolving door. The automatic revolving door rotates thanks to the drive device installed on said door and requires no pushing, by users, on the door leaf. In addition, the existing automatic revolving door usually has more than two sets of detection device installed on said door, where one set of detection device is used to detect if no person is to enter or exit
BE2018 / 5435 of the revolving door, and to control the revolving door so that it starts to rotate automatically according to the result of the detection, so that people can easily enter and exit; the other set of detection device is mainly a safety protection sensor which works above all to prevent the drum door leaf from striking or crushing a human body.
Currently, there are mainly the following types of safety protection sensors:
I. Contact pressure deformation sensor
Said sensor is usually a rubber bar comprising a pressure detection device, installed in said bar. When a human body is struck or crushed by a revolving door, pressure from contact between the door leaf or door frame, and the human body, is transmitted to the pressure sensing device through the rubber bar, and the pressure sensing device identifies the knock signal and sends a control signal to the drum carrier drive device, to temporarily stop the drum carrier, so that the purpose of protecting the safety of the human body is achieved.
The advantage of this type of sensor lies in the complete protection zone, since the rubber zone of the entire bar provides protection. However, said sensor operates only when the door leaf has struck or crushed the human body, this having a detrimental effect on the experience of the user. In addition, when the force of the shock or crushing reaches a certain degree, damage will be caused to the body of the user, especially for children or the elderly.
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II. Infrared trigonometric diffuse reflection optical safety protection sensor
Said sensor uses infrared optical technology to provide contactless protection at key positions of the revolving door. Said sensor is usually installed at key positions having potential security risks on the revolving door, and when the human body is in the key protective position, the infrared optical sensor will detect it and stop the operation of the machine. door, thus achieving contactless protection for the human body.
Disadvantages of said sensor are as follows:
1. In the sensors of the infrared optical product, the infrared light beam has a large angle of divergence, and the light point on the ground, formed by the light beam, can have a diameter of more than 2 centimeters, so that the size of the detectable object is limited to be at least more than 2 centimeters; 2. Compared with the contact pressure deformation sensor, the infrared optical sensor has an incomplete protection zone. Areas outside of the light beam and areas between light beams cannot be protected; 3. The maximum installation height of the sensor - existing optical safety protection by infrared trigonometric diffuse reflection, for use in revolving doors, is normally only 4 meters.
III. Infrared optical safety protection sensor with trigonometric range on door leaves
Since the infrared light beam has a relatively large angle of divergence, the diameter of the light beam is about several centimeters. In order to provide protection for
BE2018 / 5435 door leaves, said sensor uses multiple infrared light beams combined together, so as to provide rough protection for the entire door leaf. Light beams usually have an interval of tens of centimeters.
Disadvantages of said sensor are as follows:
1. said technique uses a combination of a plurality of infrared light beams, with light beams from different infrared light sources having an interval of tens of centimeters, so that the areas outside the light beams cannot be protected . If a human body is precisely in an area outside the light beams, the sensor cannot protect it adequately; 2. In order to avoid erroneous interference caused by changes in the emissivity of the floor during the movement of the sensor with the door leaf, the infrared optical sensor installed on the door leaf adopts a trigonometric range. However, because of the resolution of the optical chip, the sensor, at present, can hardly detect effectively any object which is less than 20 centimeters in height above the ground, that is to say that the ankle of the human body can not get any security protection;
3. said type of sensor existing for use in the revolving door has a fixed detection area, and the detection area must be smaller than the inside diameter of the revolving door, otherwise the light beam will detect the inside diameter of the door drum and will cause the sensor to trigger a detection, which results in the door machine being unable to operate normally. However, since the protection zone of the sensor is smaller than the inside diameter, at the entry and
BE2018 / 5435 exit, the edge of the door leaf, the outermost, can not be detected effectively, and bumps and crushes concerning the human body tend to occur; 4. the existing infrared product, on the revolving door, has a limited maximum installation which can optical height usually goes
In addition to drum door protection, other combined sensors of the type used only use up to 4 meters.
sensors of the aforementioned sensors, security can be formed by using the sensors on the leaf of a system also on the aforementioned of the or door, so with in the laser to laser sensors. Here, prior art laser sensors include single point beams or laser light sensors. However, whether one needs single-point laser sensors or those of the light screen type, they can have laser screen sensors installed drum, drum input, for and and
The arrangement, of a transmitter only on the framing to generally monitor the door positions of these in framing output of two types of consequence, of an optical signals the door sensors require group or groups and d For example, if an optical transmitter is optical signals.
arranged on a left upright of the door frame, at the entry and exit positions of the revolving door frame, an optical receiver must then be arranged on a right upright of the door frame, at the level of entry and exit positions of the drum door frame. Existing laser sensors generally determine if an intruder is in the monitored area, by detecting whether masking of optical signals occurs. However, since the sensor can only be installed on the frame of the revolving door, it can only
BE2018 / 5435 detect if an intruder is at the entry position, rather than detect if an intruder is at the gap between the door leaf and the door frame upright. If positions at the interval between the door leaf and the door frame upright are to be detected, the sensor must be arranged behind the door frame upright. At this point, it is necessary that the sensor is very small and thin, so that the technological requirements for the sensor will be very high. In addition, the sensor tends to be easily hit or struck by the door leaf, resulting in damage to the sensor. Therefore, existing laser sensors can hardly provide full protection.
Summary of the invention
We address at least one of the following problems: the sensor - existing - deformation by contact pressure can cause damage to the user's body, the infrared optical safety protection sensor cannot provide total protection, and a laser sensor can be installed only on the door frame and can hardly provide total protection, the present invention provides a laser sensor for security protection of the human body, for use in a revolving door, which sensor comprises: a section for calculating the laser scanning range and an application analysis section. The laser scanning range calculation section includes a laser emitting device, a laser deflecting device, an optical signal receiving device, and an analysis and processing device. Here, the laser emitting device sends laser signals to the laser deflecting device. Laser deflector deflects laser signals
BE2018 / 5435 at a predefined angle, under the control of the analysis and processing device, and forms at least one laser scanning zone. The optical signal receiving device is used to receive reflected laser signals and to transmit said signals to the analysis and processing device.
Furthermore, the analysis and processing device comprises a trigger point distance analysis module, which analyzes to obtain information on the distance from the trigger point according to signals sent from the optical signal receiving device and sends said distance information to a security analysis module.
in transmission, based on the calculation of time, said time difference t,
Information and
In addition, the trigger module measures time t between a laser signals on the say technology of multiplies the light, to obtain the trigger point
In addition, the triggering digital converter), a reflected signal transmission, a distance of light, i.e. between the point of said difference in
In addition, the includes a motion control module based on an information module calculates distance point analysis first a difference in and a reception of TOF technology (ie flight), then it by the speed of distance between the sensor.
distance analysis of the prime point, by means of a (TDC, time-converter of time between one and a reception of the computer, calculates vol) of the pulse the information of a distance and the sensor, according to the speed of light.
analysis and processing of laser deflection which laser deflector device, predefined, so that in time delay difference the laser pulse, then, by means of a flight (TOF, trigger time time and device control
BE2018 / 5435 laser deflector device can deflect laser signals in a predefined direction and angle.
Furthermore, the laser deflector device can deflect the laser light, to rotate at a certain angle along a predefined direction, to form the laser scanning area.
In addition, the laser deflector device includes a polygon mirror and a drive device for rotating the polygon mirror. One surface of the polygon mirror faces the laser emitting device.
Alternatively, the laser deflector device comprises a polygonal mirror and a corresponding drive device, one surface of said polygonal mirror facing the laser deflector device, and another surface of said mirror facing the device for receiving optical signals.
Alternatively, the laser deflector device comprises a first laser deflector and a second laser deflector. Said first and second laser deflectors are polygonal mirrors whose numbers of mirror surfaces correspond to each other.
In addition, said first and second laser deflectors can be fixed on the same rotation shaft and are driven in rotation by a drive device. They can also be fixed on different rotation shafts and be driven in rotation, respectively, by different drive devices.
Furthermore, said laser deflector device comprises: an optical feedback calibration module for calibrating optical feedback signals.
In addition, said analysis and processing device comprises a precision distance calibration device, which calibrates a result of a trigger point distance analysis, originating from
BE2018 / 5435 of the trigger point distance analysis module, after obtaining deflection control information from the laser deflection control module, and calibration information from the feedback calibration module optical.
In addition, said analysis and processing device sends the distance information from the calibrated trigger point to the application analysis section.
Of preference, an angle of rotation of the signals laser East lower or equal to 180 °. Of preference, 1'angle of rotation of the signals laser East lower or equal to 160 °. Of preference, 1'angle of rotation of the signals laser East lower or equal to 150 °. Of preference, 1'angle of rotation of the signals laser East lower or equal to 140 °. In addition, the scanning area laser is sure a side
door leaf and is at a distance leaf of door. Of preference, a distance between The area of scanning laser and the east door leaf lower or equal to 50cm. Of preference, the distance between The area of scanning laser and the east door leaf lower or equal to 30cm. Of preference, the distance between The area of scanning laser and the east door leaf lower or equal to 2 0cm. Of preference, the distance between The area of scanning laser and the east door leaf lower or
equal to 10cm.
In addition, the laser scanning area is on one side of the door leaf and forms an angle with the door leaf.
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In addition, a first angle is formed between the laser scanning area and the door leaf, along a perpendicular direction.
In addition, the first angle is less than or equal to 80 °.
In addition, a second angle is formed between the laser scanning area and the door leaf, along a horizontal direction.
In addition, the second angle is less than or equal to 80 °.
In addition, the laser scanning zone penetrates through the door leaf of the revolving door and forms, with the door leaf, an angle less than or equal to 80 °.
Furthermore, laser signals emitted by the laser emitting device are laser pulse signals.
In addition, the application analysis section includes a security analysis module.
Furthermore, said security analysis module is connected to a control device of the revolving door and checks the state of movement of the leaf of the revolving door after an analysis and a determination carried out on the basis of the distance information. of the trigger point received from the trigger point distance analysis module. Said door control device can be a device having drive and control functions, installed on the revolving door to control whether the door leaf of the revolving door must rotate relative to the door frame and to control a direction of rotation and a rotation speed.
In addition, the module includes: a trigger analysis which includes: distance information from the danger analysis analysis module from the point of first obtaining the trigger point, distance from the point of
BE2018 / 5435 trigger; then the comparison of the trigger point distance information, with information of a predefined distance from the scan point, and when the distance from the trigger point is greater than or equal to the preset distance from the scan point, the point trigger is a safe trigger point and no control signal will be generated; when the distance from the trigger point is less than the preset distance from the scan point, the trigger point is a dangerous trigger point and a corresponding control signal will be generated and sent to the door control device.
In addition, said predefined distance information can be supplied to the sensor security analysis module, by means of factory settings or by performing an initialization operation on the installation site, or the information can be provided to the sensor by other means, such as an intelligent learning system, or the sensor can be controlled to adjust and change the preset distance information accordingly.
In addition, the abovementioned initialization operation has the following procedure: first, the sensor is actuated when no user passes the revolving door, so that the sensor scans at a predefined maximum scanning angle, and the leaf of the revolving door is rotated at a predefined speed and in a predefined direction; then the sensor uses the trigger point distance information received at respective scan points, as the predefined distance information.
In addition, during the initialization operation, when distance information of two or more trigger points appears at the same point of
BE2018 / 5435 scanning in the same scanning period, the distance information from the trigger point closest to the sensor is used as the preset distance information. When distance information of two or more trigger points appears at the same scanning point in the same scanning period, the information usually means that the sensor detects glass on the door leaf or on the frame of the revolving door .
Furthermore, during the initialization operation, when distance information of two or more trigger points appears at the same scan point in the same scan period, the distance information of the most distant trigger point of the sensor is used as the predefined distance information, and the rest of the distance information is recorded and stored, so that it can be called when deemed necessary. When distance information of two or more trigger points appears at the same scan point in the same scan period, the information usually means that the sensor detects stationary and other decorative objects placed in the drum holder.
Furthermore, said moment considered necessary is the moment when, in each of the scanning periods, the distance information of the scanning points is recorded at the level of which distance information of two or more trigger points appears, and for points of consecutive scanning of said trigger points, scanning point-distance curves having a certain rule of change in the corresponding scanning periods are drawn. When a certain sensor scan point scans a trigger signal, and several consecutive scan points that follow have scanned
BE2018 / 5435 scanning point-distance which comply with the above-mentioned change rule, the trigger will then be considered as a safe trigger. If several consecutive scanning points which follow have swept scanning point-distance curves which do not comply with the above-mentioned change rule, the trigger will then be considered as a dangerous trigger.
In addition, during the initialization operation, when a specular reflection occurs, i.e. there is a change in transition in the scanning point-distance curve, first of all values of curvatures of the scanning point-distance curves of a scanning point placed immediately before a start point of the transition change, and of a scanning point placed immediately after an end point of the transition change, are recorded as a minimum value and maximum value, and a difference ΔΧ between the minimum value and the maximum value is calculated; then, a number n of scanning points between the minimum value and the maximum value is counted, and an increase in mean curvature for each scanning point is calculated by Δχ = ΔΧ / η; thereafter, each of the scanning points between the start point and the end point of the transition change is assigned a calculated curvature value, and said calculated curvature value is k _n = k _n _i + Ax, where k _n is a calculated curvature of a current scan point, k _n _i is a calculated curvature of a scan point placed immediately before the current scan point, and k ₀ = the minimum value, and k _max = the value maximum; then, the scan point placed immediately before the start point of the transition change and the scan point placed immediately after the end point of the transition change are connected by a curve, and
BE2018 / 5435 curvatures of said curve at respective scanning points of the transition change are the calculated curvatures of said curve; finally, predefined values of respective scanning point distances during the transition change are assigned according to the drawn point-distance curve.
Alternatively, during the initialization operation, when a specular reflection occurs, i.e. when there is a transition change in the scanning point-distance curve, the sensor sends a stop instruction , to the door control system, and sends the user a fast sound, signal or light, to prompt the user to protect the positions, where specular reflection occurs, with a thin, non-mirror substance, such as paper or floor films, and continues the initialization process.
In addition, the application analysis section includes a scanning area range setting module.
In addition, the scanning area range setting module adjusts a maximum angle at which the laser light rotates along a predefined direction, by sending a rotation control instruction, to the laser deflector device, thereby controlling the range of scanning of the laser scanning area.
In addition, the scanning area range setting module includes scanning area monitoring analysis which includes the following steps:
51. determination of a work area.
52. formation of an extension zone.
S3 adjustment of the laser scanning area range, based on the area information obtained in steps S1 and S2.
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In addition, the approach for determining a work area, in step SI, comprises: forming the work area according to a predefined value. The preset value can be fixed when the sensor leaves the factory, or it can be fixed according to the initialization operation during installation of the sensor.
Furthermore, said predefined value is fixed as follows: according to an orientation of a predefined scanning area of the sensor, a vertical line is drawn taking the sensor as a base point, and the predefined scanning area is divided into two parts , by using said vertical line as a boundary. One side, which is predefined to face the rotation shaft of the door leaf, is defined as the working area.
Alternatively, the work area is formed in the following stages:
(1) performing laser scanning within the maximum scanning area range of the sensor, to form the predefined scanning area and to obtain a frame location on the ground;
the base of
The information obtained from the location of the ground frame, division into two parts, of the predefined scanning area, by
The use of a line between the sensor and
The framing on the ground, like a baseline, where one side starting from the baseline and facing the rotation shaft of the door leaf is the working area.
In addition, the approach for obtaining the framing location on the ground is: that we determine, first, if 2 or more distance values appear at the same scanning point, and if it is, the scanning point is also selected near an inflection point of the scanning point-distance curve and relatively closer to the sensor than the information of
BE2018 / 5435 framing area on the ground, and if it is not, according to a pre-setting, we draw a vertical line taking the position of the sensor as a base point, to divide the predefined scanning area into two parts, we select the scanning point-distance curve of the scanning area which is predefined to be in front of the door frame, and we take an inflection point on this curve, placed closest to the vertical line, as a starting point to extend towards the side of the curve whose distance gradually decreases, and m scanning points are selected, as the information of the area of framing on the ground, said m scanning points being selected according to a predefined value ; then select a scan point from the ground frame area information, such as the ground frame location.
Preferably, when selecting the frame area information on the ground, the scanning point corresponding to the minimum distance value or the scanning point corresponding to the intermediate distance value, is used as the frame locations. on the ground.
Alternatively, the approach for obtaining the framing location on the ground is: whether a trigger is used for the occurrence of non-continuous changes in distance or transition changes in the range of sweep area predefined as the frame location on the ground.
Furthermore, the approach of forming the extension zone, in step S2, comprises, on the basis of the working zone, an zone, which is the extension zone, formed by rotation and by increasing the '' a predefined angle towards the door frame direction, from the work area.
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Of preferably the angle preset extension East inferior or equal to 90 °. Of preferably the angle preset extension East inferior or equal to 70 °. Of preferably the angle preset extension East inferior or equal to 50 °. In addition, the approach to settle the area beach laser scanning, in step S3, is such: when the door leaf is in the range inside of door frame, the laser scanning area is the
Work zone ; when the door leaf is in the entry or exit range of the door frame, the laser scanning area is a sum of the working area and the extension area.
In addition, the approach for determining the location of the door leaf is such: when the sensor continuously receives trigger signals and the distance between the trigger point and the sensor is within a predefined range of the distance from floor frame, this means that the door leaf is inside the door frame; when the sensor cannot receive trigger signals in the range of predefined floor frame values, this means that the door leaf is in the entry or exit range of the door frame.
In addition, the laser scanning area forms, with the door leaf along the perpendicular direction, an angle less than or equal to 30 °, then the approach to determine the location of the door leaf is such: when the sensor continuously receives trigger signals conforming to a change curve of a first predefined distance, this means that the door leaf must pass at the level of the entry or
BE2018 / 5435 the exit of the door frame, from inside the door frame.
When the sensor continuously receives trigger signals conforming to a change curve of a second predefined distance, this means that the door leaf must pass inside
Door frame, from the entrance or exit of
Door frame.
In addition, the application analysis section includes an installation position analysis module, which is used to analyze an installation orientation of the sensor.
Furthermore, the installation position analysis module comprises an orientation analysis of the sensor, which consists first of all in performing a laser scanning with maximum scanning precision within the range of maximum scanning area of the sensor;
then determining a scan area orientation of the sensor according to a scan result.
In addition, the approach for determining the scanning orientation of the sensor according to the scanning result includes:
determine if a third predefined distance change curve appears, if it is yes, go to step (2), if it is not, the installation orientation of the sensor does not comply with a predefined condition ;
obtaining scan point information conforming to the third predefined distance change curve, and determining whether said scan point information conforms to a predefined range, if yes, go to no, installation orientation of the sensor does not comply with the predefined condition
BE2018 / 5435 step (3): count the number of scan points conforming to the third predefined distance change curve, and determine if said number is within a predefined range of numbers of scan points, if yes, that means that the sensor is installed correctly, if not, it means that the installation orientation of the sensor does not comply with the predefined condition;
step (4): repeat the cycle from steps (1) to (3) until the sensor is installed correctly.
Furthermore, the third predefined distance change curve is a scan point-distance change curve having, on said curve, a change in specular reflection transition.
In addition, the installation position analysis module further comprises: asking the user if the sensor, once installed, is correctly installed; and inviting the user to change the installation position or the installation orientation of the sensor when the installation orientation of the sensor does not comply with the predefined condition.
In addition, the application analysis section includes a scanning area resolution setting module. Said scanning area resolution setting module is used to divide the laser scanning area into at least two working areas having different resolutions, areas among which the higher resolution working area is on one side near the frame while the lower resolution work area is on one side near the door leaf rotation shaft. Here, the side near the door frame is a primary danger zone and is a main zone in which the revolving door is likely to crush or strike the human body;
BE2018 / 5435 the side near the rotation shaft of the door leaf is a secondary hazardous area and is an area in which the revolving door can crush or strike the human body.
In addition, the scan area resolution setting includes a sub-area analysis. The sub-area analysis approach is to draw a vertical line, taking the sensor as a base point, and to divide the sensor scanning area into one side near the door frame and one side near the rotation shaft of the door leaf, using the vertical line as a limit.
Furthermore, in said subzone analysis, the side near the door frame is defined as the primary danger zone, and the side near the rotation shaft of the door leaf is defined as the secondary danger zone.
Furthermore, said sub-area analysis can further differentiate scanning areas having different resolutions in the primary hazardous area or in the secondary hazardous area according to the predefined information.
Preferably, in the primary hazardous area, based on a line between the ground frame location and the sensor, a portion above the ground frame location can be classified as the area with the most high resolution, and an area between the line from the ground frame location to the sensor, and the vertical line, can be classified as a high resolution secondary area.
Preferably, in the secondary danger zone, according to the scanning point-distance curve corresponding to said zone, the secondary danger zone can be divided into two or more scanning zones having different resolutions, using
BE2018 / 5435 points of inflection of the curve as points of division.
Preferably, among the two or more scanning areas, in the secondary hazardous area, the area closer to the vertical line has higher resolution.
Preferably, among the two or more scanning zones, in the secondary danger zone, the zone closest to the vertical line has the highest resolution, while the other zones have decreasing resolutions, lower than the highest resolution , along the scanning direction.
Furthermore, said decrease may be a continuous decrease or a non-continuous decrease, or it may be a decrease in wave mode.
Preferably, the higher resolution working area has a scanning resolution of 0.01 ° -1.0 °, and the lower resolution working area has a scanning resolution of 0.015 ° -30.0 °.
In addition, the side near the door frame is a side on which the sensor detects specular reflection characteristics, and the side near the rotation shaft of the door leaf is a side on which the sensor is unable to detect specular reflection characteristics.
In addition, said laser sensor for security protection of the human body, for use in a revolving door, is installed at the top of the door leaf within 50 cm of the vertical outer frame of the door leaf.
In addition, the optical scanning apparatus described in patent document No. ZL200510129141.1 can be used to perform corresponding functions of the laser scanning range calculation section.
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The present invention has at least one of the following advantages:
1. The scanning technique and optical laser detection adopted in the technical solution of the present invention is used for the non-contact safety protection sensor, and, in comparison with the contact pressure deformation sensor, safety braking is performed before the door leaf hits or crushes the human body, so that a better user experience is achieved.
2. The technical solution of the present invention adopts the laser scanning and detection technique which, in comparison with the non-contact infrared optical technique, which exists, has a smaller divergence angle of the laser beam, and the width of the light beam. , at a distance of 2m, can be reduced to 0.8m, so that said technique can effectively detect objects with a diameter of about 1cm, such as a finger. Compared with the infrared optical technique, the detection accuracy is greatly improved.
3. The technical solution of the present invention adopts laser scanning and detection technique, and the light beams can have a very small interval between them, so that the detection resolution is increased so much that it can almost perform uninterrupted detection, total protection for the entire door can thus be achieved.
4. The technical solution of the present invention adopts the laser pulse scanning and detection technique. Since the laser pulse can have a very high energy, in comparison with the infrared optical technology of triangular reflection without contact, and with the
BE2018 / 5435 infrared optical technology with trigonometric range, which exist, the laser working distance of said pulse can be a few tens of meters, so that the working distance is greatly increased compared to infrared technology.
5. By comparison with existing sensors, the laser sensor provided by the present invention solves the technical problem that existing laser sensors can be installed only on the door frame. In addition, said laser sensor automatically adjusts the detection range.
When the door leaf of the revolving door turns to the entry and exit position, the detection range of the sensor can be automatically increased by a certain distance, so as to achieve effective detection and protection to the edge outermost of the door leaf. When the door leaf of the revolving door turns towards the inside of the door frame, the detection range of the sensor is retracted in order to reduce energy consumption, while avoiding that false detection is triggered by the diameter inside of the revolving door. Thus, the monitoring and protection range of the laser sensor is further improved.
6. The laser sensor provided by the present invention also has the functions of automatically identifying its installation position on the revolving door and automatically selecting the working mode and the detection zone according to the identified installation position. At the same time, the laser sensor of the present invention also has the function of automatically configuring the detection zone and the corresponding resolutions.
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Brief description of the drawings
Figure 1 is a structural diagram of a sensor of the present invention;
Figure 2 is a schematic drawing of a location of a laser scanning area of the sensor of the present invention;
Figure 3 is a schematic drawing of a manner of tilting the laser scanning area of the sensor of the present invention;
Figure 4 shows a scanning point-distance curve when non-specular reflection from the sensor of the present invention occurs;
Figure 5 shows a scanning point-distance curve when specular reflection from the sensor of the present invention occurs;
Figure 6 is a schematic drawing of resolutions of a sub-area of a laser scanning area of the sensor of the present invention;
Figure 7 is a schematic drawing of a predefined distance information of a security analysis module of the sensor of the present invention.
Detailed description of the invention
To further clarify the object, the technical solution and the advantages of the present invention, a more detailed description of the present invention will be taken into account, with reference to the drawings. It is understood that the specific embodiments described herein are provided simply to explain the invention, rather than to limit the present invention.
Embodiment 1
A laser sensor for safety protection of the human body, for use in a revolving door, as shown in Figures 1 and 2, includes a laser scanning range calculation section and an application analysis section. The calculation section of
BE2018 / 5435 laser scanning range includes a laser emitting device, a laser deflecting device, an optical signal receiving device and an analysis and processing device. The sensor is installed at the top of a leaf 2 of the drum door, less than 20cm from the vertical outer frame of leaf 2 of the drum door. Here, the laser transmitter device transmits laser pulse signals to the laser deflector device. The laser deflector device deflects directional pulsed laser signals at a predefined angle, under the control of the analysis and processing device, and forms a laser scanning area 3. The laser scanning area 3 has a rotation angle of 110 °. The laser scanning zone 3 is opposite the zone of the door leaf 2 and is at a distance of 0.05 cm from the door leaf, along the direction of rotation of the leaf 2 of the revolving door. The optical signal receiving device is used to receive reflected laser signals and to transmit said signals to the analysis and processing device. The analysis and processing device includes a laser deflection control module and a trigger point distance analysis module.
The laser deflection control module is connected, by signals, with the laser deflector device, to control a deflection angle of the laser deflector device.
The trigger point distance analysis module first measures a time difference t between a transmission and a reception of a laser signal, on the basis of a TOF technology, i.e. calculation of time of flight, then said time difference t is multiplied by the speed of light v, so as to obtain the distance information between the optical trigger signal and the sensor,
BE2018 / 5435 and said time difference is analyzed to obtain distance information from the trigger point, and sent to the security analysis module.
The application analysis section includes a security analysis module. The safety analysis module is connected to a device for controlling the revolving door and checks the state of movement of the revolving door leaf after an analysis and a determination made on the basis of the distance point information. trigger, received from the trigger point distance analysis module. Said door control device may be a device having drive and control functions installed on the revolving door, to control whether the door leaf of the revolving door must rotate relative to the door frame and to control a direction of rotation and a rotation speed.
The security analysis module comprises: a trigger point danger analysis, which consists in: first obtaining the trigger point distance information coming from the trigger point distance analysis module; then compare the information of the distance from the trigger point and the information of a preset distance from the trigger point, when the distance from the trigger point is greater than or equal to the preset distance from the trigger point, the trigger point is a safe trigger point, and no control signal will be generated; when the distance from the trigger point is less than the preset distance from the trigger point, the trigger point is a dangerous trigger point, and a corresponding control signal will be generated and sent to the door control device. Said corresponding signal is a control signal so that the
BE2018 / 5435 door leaf stops turning or turns more slowly.
The information of the predefined distance, as shown in figure 7, usually includes a distance from the sensor to the rotation shaft of the door leaf of the revolving door, a distance from the sensor to the ground, a distance from the sensor to a frame on the ground, a distance from the sensor to an upright and a distance from the sensor to a fixed equipment or decoration in the revolving door when there are no people or intruders in the revolving door, etc. Each of the scanning points is provided with corresponding predefined distance information, by means of a simulated focus at the time of ex-works, based on the predefined installation position and installation height, as well as of the desired work area.
The applicant has discovered, based on research, that the main reason why the existing laser sensor can only be installed in a fixed position on the revolving door, so as to receive optical signals at one end, and to transmit optical signals at the other end, is due to the fact that, since the revolving door has a complex internal structure, the existing laser sensor based on TOF technology will be easily triggered, wrongly, during the operation of the revolving door , such as when the floor frame of the revolving door is scanned, etc., a laser sensor of the light-shielding type is thus usually used in cooperation with other sensors, or other sensors are used directly such as safety protection sensors. The present invention, however, using the predefined distance information based on TOF technology, defines an area of
BE2018 / 5435 monitoring asking the sensor to generate effective response signals, thus largely avoiding the occurrence of an erroneous trigger.
Embodiment 2
Laser sensor for safety protection of the human body, for use in the revolving door as described according to embodiment 1, where the trigger point distance analysis module first calculates a time difference between a transmission of the laser pulse and reception of the reflected signal, using a time delay converter (TDC: digital time converter), then, using a computer, calculates a time of flight (TOF) of the pulse luminous (that is to say information of a distance between the trigger point and the sensor) from said time difference and the speed of light.
Embodiment 3
Laser sensor for safety protection of the human body, for use in the revolving door as described according to embodiment 1, where the predefined distance information is provided by an initialization operation which has the following procedure: first , the sensor is actuated when no user passes the revolving door, so that said sensor scans at a predefined maximum scanning angle, and the leaf of the revolving door starts to rotate at a predefined speed and in a predefined direction; then the sensor uses the trigger point distance information received at respective scan points as the preset distance information.
Here, during the initialization operation, when distance information of two or more trigger points appears at the same point of
BE2018 / 5435 scanning in the same scanning period, the distance information from the trigger point closest to the sensor is used as the preset distance information. When distance information of two or more trigger points appears at the same scanning point in the same scanning period, this usually means that the sensor detects glass on the door leaf or on the frame of the revolving door.
During the initialization operation, when distance information of two or more trigger points appears at the same scan point in the same scan period, the distance information of the trigger point furthest from the sensor is used as the predefined distance information, and the rest of the distance information is recorded and stored, so that it is called when deemed necessary. When distance information of two or more trigger points appears at the same scan point in the same scan period, it usually means that the sensor detects stationary and other decorative objects placed in the drum holder.
Embodiment 4
Laser sensor for safety protection of the human body, for use in the revolving door as described according to embodiment 3, where when distance information of two or more trigger points appears at the same scanning point in the same scanning period, the distance information from the trigger point furthest from the sensor is used as the preset distance information, and the rest of the distance information is recorded and stored, so that it is called at the moment deemed necessary. Said moment deemed necessary is the moment when
BE2018 / 5435 is recorded, in each of the scanning periods, the distance information of the scanning points at which distance information of two or more trigger points appears, and, for their consecutive scanning points, are plotted scan point-distance curves having a certain rule of change in the corresponding scan periods. When a certain sensor scan point scans a trigger signal, and the subsequent consecutive scan points have scanned scan point-distance curves which conform to the above change rule, then the trigger will be considered as safe triggering. If the following consecutive scanning points have swept scanning point-distance curves which do not comply with the above-mentioned change rule, then the trigger will be considered as a dangerous trigger. By means of the above settings, an abnormal or risky stopping or slowing down of the revolving door resulting from an incorrect triggering of the sensor, caused by decorative objects in the revolving door, can also be avoided, thus improving the experience of the user.
Embodiment 5
Laser sensor for safety protection of the human body, for use in the revolving door as described according to embodiment 3, where during the initialization operation, when a specular reflection occurs, i.e. when there is a transition change in the scan point-distance curve, first of the curvature values of the scan point-distance curves of a scan point placed immediately before a start point of the transition change, and a scan point placed immediately after an end point of the change in
BE2018 / 5435 transition, are recorded as a minimum value and a maximum value, and a difference ΔΧ between the minimum value and the maximum value is calculated; then a number n of scanning points between the minimum value and the maximum value is counted, and an increase in mean curvature for each scanning point is calculated by Δχ = ΔΧ / η; thereafter, each of the scanning points between the start point and the end point of the transition change is assigned a calculated curvature value, and said calculated curvature value is k _n = k _n _i + Ax, where k _n is a calculated curvature of a current scan point, k _n _i is a calculated curvature of a scan point placed immediately before the current scan point, and k ₀ = the minimum value, and k _max = the value maximum; then the sweep point placed immediately before the start point of the transition change and the sweep point placed immediately after the end point of the transition change are connected by a curve, and curvatures of said curve at scan points respective of the transition change are the calculated curvatures of said curve; finally, predefined values of respective scanning point distances during the transition change are assigned according to the plotted scanning point-distance curve. By means of such a setting, the problem of the predefined distance, which is too long due to the phenomenon of specular reflection, can be automatically eliminated, and an erroneous triggering of the sensor caused by a disappearance of the specular reflection points can be avoided .
The applicant has discovered, based on research, that, when there is no specular reflection of the amount, surfaces of an object are successive, and distances between adjacent points also change continuously. In cases
BE2018 / 5435 normal, a detection distance corresponding to each light point is a round trip distance of the pulsed light beam, and the monitored point-distance curve is as shown in Figure 4. The detection distance of two adjacent points changes relatively little, and the change is continuous. When a reflection occurs, the monitored point-distance curve is as shown in Figure 5, the pulsed light beam is reflected by the upright, the light beam is retroreflected by the ground and returns to the sensor, so that the Total distance of flight (TOF) of the pulsed laser beam increases, and the increased distance is generally twice, or more, the distance from the point of detection to the ground. At this time, the detection distance from the detection point will be subject to a transition change compared to adjacent detection points, and sometimes the change in scanning point distance tends to 0 within a range of multiple points. line after the transition change, i.e. the point-distance line curve tends to be a straight line. Generally, the scan point, which first has the transition change, is used as the scan start point for specular reflection, and the scan point, which begins with a change in distance, increasing or decreasing regularly, relative to adjacent scan points, is used as the end point of specular reflection scan.
Embodiment 6
Laser sensor for safety protection of the human body, for use in the revolving door as described according to embodiment 3 where, during the initialization operation, when a specular reflection occurs, i.e. when there is a
BE2018 / 5435 transition change in the scanning point-distance curve, the sensor sends a stop instruction to the door control system and sends the user a rapid sound, signal or light to invite the the user to protect the positions where a specular reflection occurs with a thin non-mirror substance, such as paper or films on the ground, and the sensor continues the initialization operation.
Embodiment 7
Laser sensor for safety protection of the human body, for use in the revolving door as described in Embodiment 1, where the application analysis section includes a scanning area range setting module. The scanning area range adjustment module is in connection, by signals, with the trigger point distance analysis module, and compares the distance information received, with the predefined trigger information, to make an analysis and a determination according to the trigger point distance information obtained, then the module sets a maximum angle at which the laser light rotates along a predefined direction, by sending a command to rotate, to the deflector device laser, thereby controlling the scanning range of the laser scanning area.
Embodiment 8
Laser sensor for safety protection of the human body, for use in the revolving door as described in Embodiment 1, wherein the application analysis section further includes a scanning area range setting module. The scanning area range adjustment module is connected, by signals, with the safety analysis module. At this stage, the security analysis module also includes a trigger analysis which consists of:
BE2018 / 5435 first, to compare the distance information received, with the predefined tripping information, then, according to the result of the comparison, when the door leaf 2 is inside the door frame 1, sending an instruction A to the scanning area range setting module which, upon receipt of said instruction A, controls the laser scanning area 3 to be a working area 301; when the door leaf 2 is in the entry or exit range of the door frame 1, to send an instruction B to the scanning area range adjustment module, which, on receipt of said instruction B, commands the laser scanning area 3 must be a sum of the working area 301 and an extension area 302.
Embodiment 9
Laser sensor for safety protection of the human body, for use in the revolving door as described according to embodiment 7 or 8, where the scanning area range adjustment module comprises a scanning area monitoring analysis, which includes the following steps:
51. determination of the working area 301.
The approach for determining the work area 301, in step S1, consists in: forming the work area 301 according to a value predefined in the factory. The preset value is an area formed by 90 ° rotation, using the direction horizontally facing the rotation shaft of the door leaf 2, as a horizontal line, while using the sensor as the base point, and the pulse signal emitted vertically downwards, such as the vertical line, i.e. work area 301.
52. formation of the extension zone 302.
The approach for forming the extension zone 302, in step S2, consists in: forming a zone by increase
BE2018 / 5435 by 20 ° to the door frame, from the work area, based on the work area
301 and according to the factory preset value, which is the extension zone 302.
S3.
adjustment of the range of the laser scanning zone 3, based on the zone information obtained in steps S1 and S2.
The approach to adjusting the range of the laser scanning area
3, in step S3, consists in comparing
The distance information received, at the predefined trigger information, for analysis and determination, and when the door leaf is in
Door frame
1, the laser scanning zone is the working zone 301 when the door leaf is in the entry or exit range of the door frame 1, the laser scanning zone 3 is the sum of the working zone 301 and extension zone 302.
The applicant has discovered, on the basis of research, that: as with the existing sensors for use in the revolving door, their detection zones are fixed once the installation is complete, and, in order to prevent the light beam detect the inside diameter of the revolving door so as to trigger the sensor detection mode, which makes the revolving door incapable of functioning normally, all the detection zones of existing sensors must be smaller than the internal diameter of the revolving door , so when the door leaf moves to the entry and exit position, the outer edge of the door leaf cannot be detected and protected, and it will easily strike or crush the human body. The present invention, however, can dynamically adjust the detection area, i.e. when the leaf moves to the inner side of the revolving door, the detection range
BE2018 / 5435 of the sensor is working area 301, thus avoiding triggering of the sensor by the inside diameter of the drum door; when the leaf moves to the entry and exit position of the revolving door, the sensor detection range is the sum of the working zone 301 and the extension zone 302. The protection zone, at this time, goes beyond the outer edge of the door leaf 2, thus preventing the outer edge of the door leaf 2 from striking or crushing the human body.
Embodiment 10
Laser sensor for safety protection of the human body, for use in the revolving door as described according to embodiment 7 or 8, where the scanning area range adjustment module comprises a scanning area monitoring analysis, which includes the following steps:
IF. determination of the working area 301.
The approach for determining the work area 301, in step S1, consists in: forming the work area 301 according to the predefined value. The preset value is obtained by an initialization operation, i.e. the sensor is used as a base point, a maximum scanning angle of the scanning area 3 facing the door leaf 2 is used as a limit of one side, and a vertical line under the sensor is
used as a boundary on the other side, the zoned of sweep formed between the two limits is the zoned of work 301. S2. formation of extension zone 302 • The approach for form the extension area 302, at
step S2, consists of: carrying out the initialization operation according to the predefined value: on the basis of the working area 301, an area formed by a maximum scanning angle, extending from the working area
BE2018 / 5435
towards the door frame, up to a side of sensor facing the framing of door 1 East The area extension 302.S3, range adjustment The area of scanning information-based laser 3 zone obtained to the stages SI and S2.The approach to adjusting the beach of the zoned of laser scanning 3, in step S3, consists of: at compare distance information received, at . 1'information of preset trigger, for a analysis and a determination, when the leaf of door 2 East at inside the frame of door 1 the zoned of laser scan 3 is work area 301 r when the door leaf 2 is in the beach to come e or of
leaving the door frame 1, the laser scanning area 3 is the sum of the working area 301 and the extension area 302.
Embodiment 11
Laser sensor for safety protection of the human body, for use in the revolving door as described according to one of embodiments 9-10, where the working area can be formed in the following steps:
(1) performing laser scanning in the range of the sensor's maximum scanning area, to form the predefined scanning area and to obtain a frame location on the ground;
(2) based on the information - obtained from ground frame location, split into two parts, of the predefined scanning area, using a line between the sensor and the ground frame, like a line base, where one side starting from the base line and facing the rotation shaft of the door leaf is the working area.
BE2018 / 5435
The approach for obtaining the framing location on the ground is: first, to determine if 2 or more distance values appear at the same scan point; if yes, then select the scanning point near an inflection point of the scanning point-distance curve and relatively closer to the sensor, as ground frame area information; if not, according to a pre-setting, draw a vertical line, taking the position of the sensor as the base point, to divide the predefined scanning area into two parts, select the scanning point-distance curve of the area of sweep which is at a predefined location to face the door frame, and take on said curve, an inflection point closest to the vertical line, as a starting point, to extend towards the side of the curve, the distance of which is gradually reduced, selecting m scanning points as the information on the ground frame area, said m scanning points being selected according to a predefined value; then selecting a scan point of the ground frame area information, such as the ground frame location. Here, the scan point corresponding to the minimum value or the scan point corresponding to the intermediate value is preferably used as the frame location on the ground.
The ground frame location can also be obtained by the trigger point setting approach that appears in the predefined scan area range, and the distance of which has non-continuous changes or a transition change, such as l '' ground frame location.
Embodiment 12
Laser sensor for safety protection of the human body, for use in the revolving door
BE2018 / 5435 as described in one of embodiments 7-11, where the approach for comparing the received distance information and the predefined trigger information for analysis and determination is such that: when the sensor continuously receives trigger signals and the distance from the trigger point to the sensor is in the predefined range of values for the distance from the frame to the floor, this means that the door leaf is inside door frame; when the sensor cannot receive trigger signals in the range of predefined values for the floor framing distance, this means that the door leaf is in the range of the framing entry or exit door.
Embodiment 13
Laser sensor for safety protection of the human body, for use in the revolving door as described according to one of embodiments 7-11 where, as shown in FIG. 3, the laser scanning zone 3 is opposite the door leaf 2, along a direction of rotation of door leaf 2, and forms an angle of 1 ° with door leaf 2 along a perpendicular direction, and the top of the laser scanning zone 3 is far from door leaf 2, while the bottom of said zone is near door leaf 2. At this stage, the approach for determining the position of door leaf is such that: when the sensor continuously receives signals release in accordance with a first predefined distance change curve, this means that the door leaf must pass the entry or exit of the door frame, from inside the door frame; when the sensor continuously receives trigger signals conforming to a second distance change curve
BE2018 / 5435 predefined, this means that the door leaf must pass inside the door frame, from the entrance or exit of the door frame.
The first predefined distance change curve is such that: the sensor first detects the top of the door frame 1, and driven by the door leaf 2, the light beam of the sensor detects from the top of the door frame door 1 to the bottom of the door frame 1, and the distance change is in accordance with a predefined change rule, at the same time the sensor cannot detect the floor frame 4.
The second predefined distance change curve is such that: the sensor first detects the top of the door frame 1, and driven by the door leaf 2, the light beam of the sensor detects from the top of the door frame door 1 to the bottom of the door frame 1, and the distance change complies with a predefined change rule, in parallel the sensor can detect the floor frame 4.
The applicant has discovered that there are no obstacles, such as glass, at the top and bottom of the entrance and exit of the revolving door, and so that people can easily pass through the entrance and the exit from the drum door, no frame on the floor to fix the door frame will be arranged, the measurement and determination of the entry and exit position of the drum door can thus be obtained. By installing the sensor, the laser light is installed to be slightly tilted at an angle, so that the light curtain and the light beam will detect the top of the door frame first, when we see that the corresponding light beam regularly detects the door frame and that the distance
BE2018 / 5435 is just the radius of the door, the door leaf can be considered as leaving the entry and exit position of the revolving door, and the detection zone must retract. After passing inside the door, since metal lower frames of the revolving door can be detected on the floor, it can be determined that the sensor has turned towards the inside of the door. When a regularly changing curve, with a distance equal to the door frame 1, is detected again, and the floor frame cannot be detected, it can be determined that the revolving door reaches the position of entrance and exit, and the range of the protected area needs to be enlarged for the light curtain.
At this time, when the door leaf moves towards the entry and exit of the door frame 1, since the monitored area is enlarged, the sensor can detect trigger signals in a range from ground up to a certain height. When the user stands or leans against the upright of the door frame 1 or puts his foot inside the door frame 1, the sensor can detect signals triggered by fingers of the machine in time. user in the risky area on the upright, or signals triggered by the user's feet in the risky area, then the sensor controls to brake the door leaf, so as to avoid hitting or crushing the fingers and the feet of the user, thereby achieving improved safety protection.
Embodiment 14
Laser sensor for safety protection of the human body, for use in the revolving door as described according to one of embodiments 7-11, where the laser scanning zone 3 is opposite the door leaf 2, along a direction of rotation of the leaf
BE2018 / 5435 of door 2, and forms an angle of 5 ° with door leaf 2 along a perpendicular direction, and the top of laser scanning area 3 is near door leaf 2, and the bottom of said zone is distant from door leaf 2. At this stage, the approach for determining the position of door leaf is such that: when the sensor continuously receives trigger signals conforming to the first predefined distance change curve, this means that the door leaf must pass through the entry or exit of the door frame, from inside the door frame; when the sensor continuously receives trigger signals in accordance with the second predefined distance change curve, this means that the door leaf must pass inside the door frame, from the entry or exit of the door door frame.
The first predefined distance change curve is such that: the sensor first detects the bottom of the door frame 1, and driven by the door leaf 2, the light beam of the sensor detects from the bottom of the door frame door 1 to the top of the door frame 1, and the distance change is in accordance with a predefined change rule, at the same time the sensor cannot detect the floor frame 4.
The second predefined distance change curve is such that: the sensor first detects the bottom of the door frame 1, and driven by the door leaf 2, the light beam of the sensor detects from the bottom of the door frame door 1 to the top of the door frame 1, and the distance change complies with a predefined change rule, in parallel the sensor can detect the floor frame 4.
BE2018 / 5435
Embodiment 15
Laser sensor for safety protection of the human body, for use in the revolving door as described according to Embodiment 1, where the application analysis section further comprises an installation position analysis module for analyze a sensor installation orientation. Said device can be used to help the user determine if the position and orientation of installation of the sensor are correct, thus preventing the sensor from functioning normally due to an improper installation position or incorrect installation orientation. Existing sensors, however, usually require the user to determine the installation position and installation orientation on their own, and it is quite common that the sensor cannot operate normally due to improper installation position or incorrect installation orientation or that false alarms are frequently triggered, which seriously affects the user experience.
Embodiment 16
Laser sensor for safety protection of the human body, for use in the revolving door as described according to embodiment 15, where the installation position analysis module comprises an analysis of the orientation of the sensor which consists of: first, to carry out a laser scan according to maximum scanning precision, within the range of
maximum scan of sensor ; then at determine a zone orientation of sensor scan according to a scan result.Mode of realization 17 Laser sensor for a protection of security of
human body, for use in the revolving door
BE2018 / 5435 as described in embodiment 16, where the approach for determining the scanning area orientation of the sensor according to the scanning result is:
step (1): to determine if a third predefined distance change curve appears, if it is yes, if it is no, the installation orientation of the sensor does not comply with a predefined condition obtain information of scan points conforming to the third predefined distance change curve, and determining whether said scan point position information conforms to a predefined range, if yes, go to step and if it is no ,
The installation orientation of the sensor does not comply with the predefined condition to count the number of scanning points in accordance with the third predefined distance change curve, and to determine whether said number is within a predefined range of numbers of scan points, if it is yes, the sensor is installed correctly, and if it is not,
The installation orientation of the sensor does not comply with the predefined condition until the sensor is correctly installed.
Mode of realization
Laser sensor for safety protection of the human body, as described for use in the revolving door according to embodiment 17, where the third predefined distance change curve is a scan point-distance change curve having, on said curve, a change in specular reflection transition.
BE2018 / 5435
The applicant has discovered that when there is no specular reflection of the amount, surfaces of an object are successive, and distances between adjacent points also change continuously. In normal cases, a detection distance corresponding to each light point is a round trip distance of the pulsed light beam, and the monitored point-distance curve is as shown in Figure 4. The detection distance of two adjacent points changes relatively little, and the change is continuous. When a reflection occurs, the monitored point-distance curve is as shown in Figure 5, the pulsed light beam is reflected by the upright, the light beam is retroreflected by the ground and returns to the sensor, so that the Total distance of flight (TOF) of the pulsed laser beam increases, and the increased distance is generally double, or more, the distance from the point of detection to the ground. Based on this change, the installation orientation of the sensor can be determined by detecting the specular reflection of the upright, thereby determining the orientation of the laser scanning area, so that the scanning area coincides with a working position. predefined. Therefore, faulty operation of the sensor due to improper installation can be avoided.
Embodiment 19
Laser sensor for safety protection of the human body, for use in the revolving door as described according to one of embodiments 17-18, where the installation position analysis module also consists in: inducing the 'user to tell if the installed sensor is correctly installed; and encourage the user to change the installation position or the installation orientation of the sensor when
BE2018 / 5435 the installation orientation of the sensor does not comply with the predefined condition.
Embodiment 20
Laser sensor for security protection of the human body, for use in the revolving door as described in Embodiment 1, wherein the application analysis section further includes a scanning area resolution adjustment module. Said scanning area resolution setting module is used to divide the laser scanning area into at least two working areas having different resolutions, areas among which the higher resolution working area is on one side near the frame while the lower resolution work area is on one side near the door leaf rotation shaft. Here, the side near the door frame is a primary danger area and is an area in which the revolving door tends to crush or strike the fingers or feet of the human body; the side near the rotation shaft of the door leaf is a secondary danger area and is an area in which the revolving door can crush or strike the human body. The higher the resolution, the smaller the angle of rotation between adjacent scan points. The side near the door frame is the side of the sensor that detects the specular reflection characteristic, and the side near the rotation shaft of the door leaf is the side of the sensor that cannot detect the reflection characteristic. specular.
By means of such a setting, the resolution of the sensor can be automatically adjusted according to different degrees of danger of the zones being monitored and according to different target objects being monitored, thus achieving precise monitoring of the primary danger zone, to
BE2018 / 5435 prevent the revolving door from crushing or striking the fingers or feet of the human body. At the same time, a lower monitoring intensity is applied to the secondary hazardous area, thereby reducing the total energy consumption of the sensor, while ensuring that monitoring of the human body is carried out, and by extending, to some extent, the lifetime of the sensor. Compared with the sensor that monitors all the time at high resolution, the sensor that uses the scanning area resolution adjustment module can save more than 10% of energy, and the lifespan of said sensor increases by more than 10 %.
Embodiment 21
Laser sensor for safety protection of the human body, for use in the revolving door as described in Embodiment 20, where the scan area resolution setting includes a sub-area analysis, as shown in Fig. 6 , and the approach for a sub-area analysis consists in: drawing a vertical line taking the sensor as a base point, and dividing the scanning area of the sensor in one side near the door frame and in one side near the rotation shaft of the door leaf, using the vertical line as a limit. The side near the door frame is defined as the primary danger zone, and the side near the rotation shaft of the door leaf is defined as the secondary danger zone. Here, the side near the door frame is a high resolution scanning area 3A, and the side near the rotation shaft of the door leaf is a low resolution scanning area 3B.
Embodiment 22
Laser sensor for safety protection of the human body, for use in the revolving door as described according to embodiment 21, where
BE2018 / 5435 the subzone analysis can further divide the primary danger zone or the secondary danger zone into scanning zones at different resolutions according to the predefined information. Here in the primary danger zone, based on a line between the ground frame location, and the sensor, a portion above the ground frame location can be classified as the most high resolution, and an area between the line from the ground frame location to the sensor, and the vertical line, can be classified as a high resolution secondary area. For example, the resolution of the highest resolution area is 0.1 °, and the resolution of the high resolution secondary area is 1.0 °.
Embodiment 23
Laser sensor for safety protection of the human body, for use in the revolving door as described according to embodiment 21, where the sub-zone analysis can further divide the primary danger zone or the secondary danger zone, into scanning zones at different resolutions according to the predefined information. Here, in the secondary danger zone, according to the scanning point-distance curve corresponding to said zone, the secondary danger zone can be divided into two or more sub-zones at different resolutions, using inflection points of the curve as dividing points.
Embodiment 24
Laser sensor for safety protection of the human body, for use in the revolving door as described according to embodiment 23, where among the two or more scanning sub-zones, in the secondary dangerous zone, the sub-zone closer to the vertical line has higher resolution.
BE2018 / 5435
Embodiment 25
Laser sensor for safety protection of the human body, for use in the revolving door as described according to embodiment 23, where among the two or more scanning sub-zones, in the secondary dangerous zone, the sub-zone the one closest to the vertical line has the highest resolution, while the other areas have decreasing resolutions, lower than the highest resolution, along the scanning direction.
Embodiment 26
Laser sensor for safety protection of the human body, for use in the revolving door as described in embodiment 25, wherein said decrease may be a continuous decrease. Taking four sub-zones as an example, the sub-zone closest to the vertical line is A, and the three sub-zones B, C and D are arranged successively along the direction of the leaf rotation shaft door. Here, the resolution of Subarea A is the highest, and a rotation angle between its adjacent scan points is 1 °. The resolution of sub-area B comes next, and a rotation angle between its adjacent scanning points is 2 °. Then comes the resolution of sub-area C, and a rotation angle between its adjacent scanning points is 3 °. The resolution of sub-area D is the lowest, and a rotation angle between its adjacent scanning points is 4 °.
Said decrease may also be a non-continuous decrease. Taking four sub-zones as an example, the sub-zone closest to the vertical line is A, and the three sub-zones B, C and D are arranged successively along the direction of the leaf rotation shaft door. The resolution of the
BE2018 / 5435 sub-area A is the highest, and a rotation angle between its adjacent scanning points is 1 °. The resolution of sub-area B comes next, and a rotation angle between its adjacent scanning points is 2 °. Then comes the resolution of sub-area C, and a rotation angle between its adjacent scanning points is 5 °. The resolution of sub-area D is the lowest, and a rotation angle between its adjacent scanning points is 10 °.
Said decrease may also be a decrease in wave mode. Taking four sub-zones as an example, the sub-zone closest to the vertical line is A, and the three sub-zones B, C and D are arranged successively along the direction of the shaft of rotation of the leaf of door. The resolution of Subarea A is the highest, and a rotation angle between its adjacent scan points is 1 °. The resolution of sub-area B comes next, and a rotation angle between its adjacent scanning points is 7 °. Then comes the resolution of sub-area C, and a rotation angle between its adjacent scanning points is 4 °. The resolution of sub-area D is the lowest, and a rotation angle between its adjacent scanning points is 8 °.
Embodiment 27
Laser sensor for security protection of the human body, for use in the revolving door as described according to embodiment 1, where the application analysis section comprises a security analysis module and at least one of these modules: scanning area range setting module, installation position analysis module and scanning area resolution setting module.
The security analysis module monitors the movement state of the revolving door, by the
BE2018 / 5435 door control after analysis made on the basis of the trip point distance information. The scan area range adjuster is used to automatically adjust the scan area range. The installation position analysis module is used to analyze the installation orientation of the sensor. The scanning area resolution setting module is used to divide the laser scanning area into at least two working areas at different resolutions, areas among which the higher resolution working area is on one side near the frame while the lower resolution work area is on one side near the door leaf rotation shaft.
Embodiment 28
Laser sensor for safety protection of the human body, for use in the revolving door as described according to embodiment 1 where, as shown in FIG. 1, the laser deflector device comprises a first laser deflector and a second laser deflector. The first laser deflector is used to deflect laser signals emitted by the laser emitting device. The second laser deflector is used to divert optical trigger signals to the optical signal receiving device.
Embodiment 29
Laser sensor for safety protection of the human body, for use in the revolving door as described according to embodiment 28, where the first laser deflector and the second laser deflector are synchronized and rotate accordingly under the control of the control module laser deflection. The corresponding rotation means that the second laser deflector can deflect the optical trigger signals generated from the deflection by the first
BE2018 / 5435 laser deflector to the optical signal receiving device.
Embodiment 30
Laser sensor for safety protection of the human body, for use in the revolving door as described according to one of embodiments 28 and 29, where the first laser deflector and the second laser deflector are polygonal mirrors whose numbers are mirror surfaces match each other. The first laser deflector and the second laser deflector are fixed on the same rotation shaft and are driven in rotation by the same drive device.
Embodiment 31
Laser sensor for safety protection of the human body, for use in the revolving door as described according to one of embodiments 28 and 29, where the first laser deflector and the second laser deflector are polygonal mirrors whose numbers are mirror surfaces match each other. The first laser deflector and the second laser deflector are fixed respectively on different rotation shafts and are driven in rotation by different driving devices.
Embodiment 32
Laser sensor for safety protection of the human body, for use in the revolving door as described according to embodiment 1, where the laser deflector device comprises a polygonal mirror and a corresponding drive device, a surface of said polygonal mirror forming facing the laser deflector device and being used to deflect laser signals to a target area, its other mirror surface facing the optical signal receiving device and being used to deflect laser signals
BE2018 / 5435 optical feedback to the optical signal receiving device.
Embodiment 33
Laser sensor for safety protection of the human body, for use in the revolving door as described in Embodiment 1, wherein the laser deflector device includes an optical feedback calibration module for calibrating optical feedback signals.
The depositor discovered that performances such as response time, gain, etc. of an item are affected by factors such as ambient temperature and therefore the accuracy of the product will be affected. By adding, by the applicant, an optical feedback calibration module, the product accuracy error resulting from the above influence factors can be reduced, and the detection accuracy and alarm accuracy of the product can be improved.
The optical feedback calibration module can be an optical feedback loop installed inside a product, and the length of the loop is a predefined value. At this stage, during product operation, the response time of the laser emitting device-optical feedback loop-optical signal receiving device elements can be calculated in real time or regularly, and given that the length of the feedback loop optical is fixed, said response time depends mainly on differences between elements. The delay time of the elements can be calculated based on said response time, and by calculating the distance from each light point, said delay time can be deduced in real time, so as to obtain a calibration of the calculation of optical feedback.
BE2018 / 5435
Embodiment 34
Laser sensor for safety protection of the human body, for use in the revolving door as described in embodiment 33, wherein said analysis and processing device comprises a distance precision calibration module which calibrates a result trigger point distance analysis, from the trigger point distance analysis module, after obtaining deflection control information from the laser deflection control module, and calibration information of the optical feedback calibration module. Said analysis and processing device sends to the application analysis section, the distance information from the calibrated trigger point.
The distance precision calibration module can calibrate to obtain a set of compensation parameters for background objects of different distances and different reflectivities, and said set of parameters to be stored in memory will be stored in the memory of the laser sensor. When the laser sensor is operating normally, once the original values have been calculated at each point, said compensation parameters must be added.
The Applicant has discovered that the pulse width at the receiving end of the product is several nanoseconds, and the pulse width is relative to the energy received at the receiving end, encompassing factors such as than reflectivity and distance. The sensor used can make a distance calculation error due to the above factors, while the above method can compensate for this error, so as to improve the distance calculation accuracy of the product.
BE2018 / 5435
Embodiment 35
Laser sensor for safety protection of the human body, for use in the revolving door as described according to one of embodiments 1-34, where the total scanning area generated by the sensor 5 is a sum of the area of laser scanning 3 and an invalid triggering zone 6. The laser scanning zone 3 and the invalid triggering zone 6 are separated by the predefined distance information. The sensor only performs feedbacks to the trigger signals in the laser scanning area 3.
In addition to the above embodiments, the present invention comprises at least the following technical and alternative combinations:
According to an embodiment of the present invention, the laser deflector device can deflect the laser light, to rotate at a certain angle along a predefined direction, to form the laser scanning area. The laser light is deflected to rotate at an angle of 180 °.
According to an embodiment of the present invention, the laser deflector device can deflect the laser light, to rotate at a certain angle along a predefined direction, to form the laser scanning area. The laser light is deflected to rotate at an angle of 160 °.
According to an embodiment of the present invention, the laser deflector device can deflect the laser light to rotate at a certain angle along a predefined direction, to form the laser scanning area. The laser light is deflected to rotate at an angle of 150 °.
According to an embodiment of the present invention, the laser deflector device can deflect the laser light to rotate at a certain angle the
BE2018 / 5435 along a predefined direction, to form the laser scanning area. The laser light is deflected to rotate at an angle of 140 °.
According to an embodiment of the present invention, the laser deflector device can deflect the laser light to rotate at a certain angle along a predefined direction, to form the laser scanning area. The laser light is deflected to rotate at an angle of 130 °.
According to an embodiment of the present invention, the laser deflector device can deflect the laser light to rotate at a certain angle along a predefined direction, to form the laser scanning area. The laser light is deflected to rotate at an angle of 120 °.
According to an embodiment of the present invention, the laser deflector device can deflect the laser light, to form two laser scanning zones forming an angle between them.
According to an embodiment of the present invention, the laser deflector device can deflect the laser light, to form three laser scanning zones forming angles between them.
According to an embodiment of the present invention, the laser deflector device can deflect the laser light, to form four laser scanning zones forming angles between them.
According to an embodiment of the present invention, the laser deflector device can deflect the laser light, to form five laser scanning zones forming angles between them.
According to an embodiment of the present invention, the laser deflector device can deflect the laser light, to form six or more laser scanning zones, forming angles between them.
BE2018 / 5435
According to an embodiment of the present invention, the laser scanning zone is on one side of the door leaf and is at a distance from the door leaf. The distance between the laser scanning area and the door leaf is 50cm.
According to an embodiment of the present invention, the laser scanning zone is on one side of the door leaf and is at a distance from the door leaf. The distance between the laser scanning area and the door leaf is 30cm.
According to an embodiment of the present invention, the laser scanning zone is on one side of the door leaf and is at a distance from the door leaf. The distance between the laser scanning area and the door leaf is 20cm.
According to an embodiment of the present invention, the laser scanning zone is on one side of the door leaf and is at a distance from the door leaf. The distance between the laser scanning area and the door leaf is 10cm.
According to an embodiment of the present invention, the laser scanning zone is on one side of the door leaf and is at a distance from the door leaf. The distance between the laser scanning area and the door leaf is 5cm.
According to an embodiment of the present invention, the laser scanning zone is on one side of the door leaf and is at a distance from the door leaf. The distance between the laser scanning area and the door leaf is 3cm.
According to an embodiment of the present invention, the laser scanning zone is on one side of the door leaf and is at a distance from the door leaf. The distance between the laser scanning area and the door leaf is 1cm.
BE2018 / 5435
According to an embodiment of the present invention, the laser scanning zone is on one side of the door leaf and is at a distance from the door leaf. The distance between the laser scanning area and the door leaf is 0.5 cm.
According to an embodiment of the present invention, the laser scanning zone is on one side of the door leaf and is at a distance from the door leaf. The distance between the laser scanning area and the door leaf is 0.1cm.
According to an embodiment of the present invention, the laser scanning zone is on one side of the door leaf and is at a distance from the door leaf. The distance between the laser scanning area and the door leaf is 0.05cm.
According to an embodiment of the present invention, the laser scanning zone is on one side of the door leaf and is at a distance from the door leaf. The distance between the laser scanning area and the door leaf is 0.01 cm.
According to an embodiment of the present invention, the laser scanning zone is on one side of the door leaf and is at a distance from the door leaf. The distance between the laser scanning area and the door leaf is 0.005cm or less.
According to an embodiment of the present invention, the laser scanning zone is on one side of the door leaf and forms an angle with the door leaf.
According to an embodiment of the present invention, the laser scanning area is on one side of the door leaf and forms a first angle with the door leaf along a perpendicular direction. Said first angle is 80 °.
BE2018 / 5435
According to an embodiment of the present invention, the laser scanning area is on one side of the door leaf and forms a first angle with the door leaf along a perpendicular direction.
Said first angle is 60 °.
According to an embodiment of the present invention, the laser scanning area is on one side of the door leaf and forms a first angle with the door leaf along a perpendicular direction. Said first angle is 30 °.
According to an embodiment of the present invention, the laser scanning area is on one side of the door leaf and forms a first angle with the door leaf along a perpendicular direction. Said first angle is 20 °.
According to an embodiment of the present invention, the laser scanning area is on one side of the door leaf and forms a first angle with the door leaf along a perpendicular direction. Said first angle is 10 °.
According to an embodiment of the present invention, the laser scanning area is on one side of the door leaf and forms a first angle with the door leaf along a perpendicular direction. Said first angle is 5 °.
According to an embodiment of the present invention, the laser scanning area is on one side of the door leaf and forms a first angle with the door leaf along a perpendicular direction. Said first angle is 2 °.
According to an embodiment of the present invention, the laser scanning area is on one side of the door leaf and forms a first angle with the door leaf along a perpendicular direction. Said first angle is 1 °.
According to an embodiment of the present
BE2018 / 5435 invention, the laser scanning area is on one side of the door leaf and forms a first angle with the door leaf along a perpendicular direction.
Said first angle is 0.5 ° or less.
According to an embodiment of the present invention, the door leaf of the door zone and the long second angle is
According to the invention, the laser scanning door leaf is on one side in the form of a door zone mode and the long second angle is
According to the invention, the door leaf has a second angle with the horizontal direction leaf. Said embodiment of the present laser scanning is on one side in the form of a
60 ° a door zone mode and the long second angle is
According to the invention, the door leaf has a second angle with the horizontal direction leaf. Said embodiment of the present laser scanning is on one side in the form of a
30 ° a door zone mode and the long second angle is
According to the invention, the door leaf has a second angle with the horizontal direction leaf. Said embodiment of the present laser scanning is on one side in the form of a
20 ° a door zone mode and the long second angle is
According to the invention, the door leaf has a second angle with the horizontal direction leaf. Said embodiment of the present laser scanning is on one side in the form of a
10 ° a mode of the door zone and the long second angle is of a second angle with the leaf horizontal direction. Said embodiment of the present laser scanning is on one side of the form a second angle with the leaf of a horizontal direction. said
5 °.
According to an embodiment of the present
BE2018 / 5435 scanning area forms one of one
2 °.
invention, the door leaf and door along the second second corner is
According to one embodiment of the invention, the door leaf and the door along the second angle is
According to a scanning zone mode forms a 1 °.
laser is on one side of the second angle with the leaf horizontal direction. Said embodiment of the present laser is on one side of the second angle with the leaf in the horizontal direction. In this embodiment of the present invention, the laser scanning area is on one side of the door leaf and forms a second angle with the door leaf along a horizontal direction. Said second angle is 0.5 ° or less.
According to an embodiment of the present invention, the laser scanning zone penetrates through the door leaf of the revolving door and forms an angle with the door leaf, and said angle can be an angle along the horizontal direction or an angle along the perpendicular direction, or a smaller of these angles.
According to an embodiment of the present invention, the laser scanning zone penetrates through the door leaf of the revolving door and forms an angle of 80 ° with the door leaf.
According to an embodiment of the present invention, the laser scanning zone penetrates through the door leaf of the revolving door and forms an angle of 60 ° with the door leaf.
According to an embodiment of the present invention, the laser scanning zone penetrates through the door leaf of the revolving door and forms an angle of 30 ° with the door leaf.
BE2018 / 5435
According to an embodiment of the present
invention, the zone of scanning laser penetrates to through the leaf of the drum holder and form a 10 ° angle with the leaf of door. according to a way of achievement of the present invention, the zone of scanning laser penetrates to through the leaf of the drum holder and form a angle 5 ° with the leaf of door. according to a way of achievement of the present invention, the zone of scanning laser penetrates to through the leaf of the drum holder and form a angle 1 ° with the leaf of door.
According to an embodiment of the present invention, the laser scanning zone penetrates through the door leaf of the revolving door and forms an angle of 0.5 °, or less, with the door leaf.
According to an embodiment of the present invention, the approach for forming the extension zone consists: on the basis of the working zone, in forming a zone by rotation and by increasing a predefined angle, from the zone of work up to the direction of the door frame, said zone being the extension zone. The predefined extension angle is 90 °.
According to an embodiment of the present invention, the approach for forming the extension zone consists: on the basis of the working zone, in forming a zone by rotation and by increasing a predefined angle, from the zone of work up to the direction of the door frame, said zone being the extension zone. The predefined extension angle is 70 °.
According to an embodiment of the present invention, the approach for forming the extension zone consists: on the basis of the working zone, in forming a zone by rotation and by increasing a predefined angle, from the zone of work up to management
BE2018 / 5435 of the door frame, said zone being the extension zone. The predefined extension angle is 50 °.
According to an embodiment of the present invention, the approach for forming the extension zone consists: on the basis of the working zone, in forming a zone by rotation and by increasing a predefined angle, from the zone of work up to the direction of the door frame, said zone being the extension zone. The predefined extension angle is 30 °.
According to an embodiment of the present invention, the approach for forming the extension zone consists: on the basis of the working zone, in forming a zone by rotation and by increasing a predefined angle, from the zone of work up to the direction of the door frame, said zone being the extension zone. The predefined extension angle is 20 °.
According to an embodiment of the present invention, the approach for forming the extension zone consists: on the basis of the working zone, in forming a zone by rotation and by increasing a predefined angle, from the zone of work up to the direction of the door frame, said zone being the extension zone. The predefined extension angle is 10 °.
According to an embodiment of the present invention, the approach for forming the extension zone consists: on the basis of the working zone, in forming a zone by rotation and by increasing a predefined angle, from the zone of work up to the direction of the door frame, said zone being the extension zone. The predefined extension angle is 5 °.
According to an embodiment of the present invention, the approach for forming the extension zone consists: on the basis of the working zone, in forming a zone by rotation and by increasing a predefined angle, from the zone of work up to management
BE2018 / 5435 of the door frame, said zone being the extension zone. The predefined extension angle is 3 °.
According to an embodiment of the present invention, the approach for forming the extension zone consists: on the basis of the working zone, in forming a zone by rotation and by increasing a predefined angle, from the zone of work up to the direction of the door frame, said zone being the extension zone. The preset extension angle is 1 ° or smaller.
According to an embodiment of the present invention, the scanning resolution of the high resolution working area is 1.0 °, and the scanning resolution of the low resolution working area is 30.0 °. The resolution is the angle of rotation between adjacent scan points.
according to a fashion of production of the present invention, the resolution sweep of the zone of high work resolution is 0.01 °, and the resolution sweep of the low resolution work area is 0.5 °. according to a fashion of production of the present invention, the resolution sweep of the zone of high work resolution is 0.1 °, and the resolution sweep of the low resolution work area is 1.0 °. according to a fashion of production of the present invention, the resolution sweep of the zone of high work resolution is 0.5 °, and the resolution
the working area at low resolution is 10 °.
According to an embodiment of the present invention, the laser sensor for security protection of the human body, for use in the revolving door, is installed at the top of the door leaf to
BE2018 / 5435 less than 30cm from the vertical outer frame of the door leaf.
According to one embodiment of the present invention, the laser sensor for security protection of the human body, for use in the revolving door, is installed at the top of the door leaf within 10 cm of the vertical outer frame of the leaf door.
According to one embodiment of the present invention, the laser sensor for security protection of the human body, for use in the revolving door, is installed at the top of the door leaf within 5 cm of the vertical outer frame of the leaf door.
The present invention has at least one of the following advantages:
1. The scanning technique and optical laser detection adopted in the technical solution of the present invention is used for the non-contact safety protection sensor, and, in comparison with the contact pressure deformation sensor, safety braking is carried out before the door leaf hits or crushes the human body, so that a better user experience is achieved.
2. The technical solution of the present invention adopts the laser scanning and detection technique which, in comparison with the technique - existing infrared non-contact optics, has a small laser beam divergence angle, and the light beam width, at a distance of 2m can be reduced to 0.8m so that said technique can effectively detect objects with a diameter of about 1cm, such as a finger. Compared with the infrared optical technique, the detection accuracy is greatly improved.
BE2018 / 5435
3. The technical solution of the present invention adopts laser scanning and detection technique, and the light beams can have a very small gap between them, so that the detection resolution is increased so strongly that it can almost achieve a uninterrupted detection, total protection for the entire door can be achieved.
4. The technical solution of the present invention adopts the laser pulse scanning and detection technique. Since the laser pulse can have a very high energy, in comparison with the technology - existing - infrared optical non-contact triangular reflection and with infrared optical technology with trigonometric range, the laser working distance of said technique invention can be equal to tens of meters, so that the working distance is greatly increased compared to infrared technology.
5. By comparison with existing sensors, the laser sensor provided by the present invention solves the technical problem that existing laser sensors can be installed only on the door frame. In addition, said laser sensor automatically adjusts the detection range. When the door leaf of the revolving door turns to the entry and exit position, the detection range of the sensor can be automatically increased by a certain distance, so as to achieve effective detection and protection to the edge outermost of the door leaf. When the door leaf of the revolving door rotates to the inside of the door frame, the detection range of the sensor is retracted, so as to reduce energy consumption, while
BE2018 / 5435 avoiding an erroneous detection triggered by the inside diameter of the revolving door. Thus, the monitoring and protection range of the laser sensor is further improved.
6. The laser sensor provided by the present invention also has the functions of automatically identifying its installation position on the revolving door and automatically selecting the working mode and the detection zone according to the identified installation position. At the same time, the laser sensor of the present invention also has the function of automatically configuring the detection zone and the corresponding resolutions.
It should be noted and understood that the detailed descriptions of the present invention, mentioned above, can be modified and improved in various ways, without departing from the spirit and scope of the claims of the present invention. . Consequently, the scope of the technical solution claimed is not limited by any of the specific lessons given here by way of example.

权利要求:
Claims (10)
[1]
(1) performing a laser scan within a range of the sensor's maximum scan area, to form a predefined scan area and to obtain a frame location on the ground;
1. Laser sensor for security protection of the human body, for use in a revolving door, characterized in comprising: a section for calculating the laser scanning range and an application analysis section;
the laser scanning range calculating section includes a laser emitting device, a laser deflecting device, an optical signal receiving device and an analysis and processing device; wherein the laser emitting device transmits laser signals to the laser deflecting device; the laser deflector device deflects the laser signals at a predefined angle under the control of the analysis and processing device and forms at least one laser scanning zone; the optical signal receiving device is used to receive reflected laser signals and to transmit said signals to the analysis and processing device; the analysis and processing device comprises a trigger point distance analysis module, which analyzes to obtain information on the distance from the trigger point according to signals sent from the optical signal receiving device;
the application analysis section includes a security analysis module which controls the state of movement of the revolving door, by a door control device, after analysis made on the basis of the point distance information trigger; the security analysis module includes: a hazard analysis of the trigger point, which consists: first, of obtaining information from
BE2018 / 5435 distance from the trigger point from the trigger point distance analysis module; then comparing the information of the distance from the trigger point, to information of a predefined distance from the scan point, and, when the distance from the trigger point is greater than or equal to the predefined distance from the scan point, the point scanning point is a safe trigger point; when the distance from the trigger point is less than the preset distance from the scan point, the trigger point is a dangerous trigger point, and a corresponding control signal will be generated.
[2]
(2) based on the information - obtained from the ground frame location, division into two parts, of the predefined scanning area, using a line between the sensor and the ground frame, as a line of base, where one side starting from the baseline and facing a rotation shaft of the door leaf is the work area.
2. Laser sensor for safety protection of the human body, for use in a revolving door according to claim 1, characterized in that the laser scanning zone is on one side of a door leaf and is at a distance from the door leaf, or penetrates through the door leaf of the revolving door and forms an angle with the door leaf.
[3]
3, characterized in that the approach for step 2, consists of work, with an increase in framing forming on the form of one of said zone being
Human body laser sensor, an extension zone, base of the zone zone by rotation and predefined angle door from the zone to extension zone.
for a protection of the direction of work, safety of use in a revolving door according to claim 3, characterized in that the approach for adjusting the range of the laser scanning area, in step S3, consists in: comparing
BE2018 / 5435 the distance information received, at the predefined trigger information, for carrying out an analysis and a determination, and when the door leaf is inside the door frame, the laser scanning zone is the work area; when the door leaf is in the entry or exit range of the door frame, the laser scanning area is a sum of the working area and the extension area.
3. Laser sensor for safety protection of the human body, for use in a revolving door according to claim 1, characterized in that the application analysis section comprises a scanning area range adjustment module; the scan area range setting module includes a scan area control analysis which includes the steps of:
51. determination of a work area;
52. formation of an extension zone;
53. adjustment of the laser scanning zone range based on the zone information obtained in steps S1 and S2.
BE2018 / 5435
[4]
4. Laser sensor for safety protection of the human body, for use in a revolving door according to claim 3, characterized in that the approach for determining a work area, in step SI, consists of: forming the work area according to a predefined value, or to form the work area in the following steps:
[5]
5.
Laser sensor for safety protection of the
[6]
6.
human body, drum according to claim for use in a door
[7]
7.
Laser sensor for safety protection of the human body, for use in a revolving door according to claim 6, characterized in that the approach for determining the location of the door leaf is such that: when the sensor continuously receives trigger signals and that the distance between the trigger point and the sensor is within a predefined range of predefined distance values from the floor frame, this means that the door leaf is inside the door frame ; when the sensor cannot receive trigger signals in the range of predefined floor frame values, this means that the door leaf is in the entry or exit range of the door frame.
[8]
8. Laser sensor for safety protection of the human body, for use in a revolving door according to claim 6, characterized in that the laser scanning zone forms an angle with the door leaf, along a perpendicular direction , at this stage the approach for determining the location of the door leaf is such that: when the sensor continuously receives trigger signals conforming to a first
BE2018 / 5435 predefined distance change curve, this means that the door leaf must pass through the entry or exit of the door frame, from inside the door frame;
when the sensor continuously receives trigger signals according to a second predefined distance change curve, the door leaf must pass inside the door frame, from the entry or exit of the door frame door.
[9]
9. Laser sensor for safety protection of the human body, for use in a revolving door according to claim 1, characterized in that the application analysis section comprises an installation position analysis module, which is used to analyze a sensor installation orientation.
[10]
10. Laser sensor for security protection of the human body, for use in a revolving door according to claim 1, characterized in that the application analysis section comprises a scanning area resolution adjustment module, which is used to divide the laser scanning area into at least two working areas with different resolutions, areas among which the higher resolution working area is on one side near the door frame, while the working area at lower resolution is on one side near the rotation shaft of the door leaf.

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同族专利:

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公开号 | 公开日

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US20200224483A1|2020-07-16|

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EP3647886A1|2020-05-06|

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KR20200051576A|2020-05-13|

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CN107367961A|2017-11-21|

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CN107367961B|2020-01-24|

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WO2019000937A1|2019-01-03|

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BE1025906A1|2019-08-06|

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EP3647886A4|2021-05-05|

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CN107367961B|2017-06-28|2020-01-24|比业电子（北京）有限公司|Human body safety protection laser sensor for revolving door|CN107367961B|2017-06-28|2020-01-24|比业电子（北京）有限公司|Human body safety protection laser sensor for revolving door|

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CN109634129A|2018-11-02|2019-04-16|深圳慧安康科技有限公司|Implementation method, system and the device actively shown loving care for|

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CN109752731A|2019-01-10|2019-05-14|北京佳讯飞鸿电气股份有限公司|A kind of one-way revolving door foreign matter detecting method|

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DE102019208022A1|2019-05-31|2020-12-03|Geze Gmbh|Revolving door system|

法律状态:
2019-10-10| FG| Patent granted|Effective date: 20190812 |

优先权:

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申请号 | 申请日 | 专利标题

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CN201710506426.8|2017-06-28|

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CN201710506426.8A|CN107367961B|2017-06-28|2017-06-28|Human body safety protection laser sensor for revolving door|

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