CN107816290B - Automatic door control method - Google Patents
Automatic door control method Download PDFInfo
- Publication number
- CN107816290B CN107816290B CN201711006417.9A CN201711006417A CN107816290B CN 107816290 B CN107816290 B CN 107816290B CN 201711006417 A CN201711006417 A CN 201711006417A CN 107816290 B CN107816290 B CN 107816290B
- Authority
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- China
- Prior art keywords
- signal
- control centre
- control
- module
- door
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000002159 abnormal effect Effects 0.000 claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 230000004888 barrier function Effects 0.000 claims description 16
- 239000000523 sample Substances 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 abstract description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/79—Power-operated mechanisms for wings with automatic actuation using time control
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/518—Application of doors, windows, wings or fittings thereof for vehicles for working vehicles
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
- E05Y2900/531—Doors
Landscapes
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The present invention relates to unmanned vehicle technology fields, it is related to a kind of automatic door control method, it applies in automatic driving vehicle, automatic driving vehicle includes navigation module, control centre, traffic lights identification module, detection of obstacles module, fault monitor module, brake module, the following steps are included: S1: the control centre receives abnormal signal, is judged；S2: judge whether the abnormal signal is the fault-signal for causing vehicle that can not travel, if it is not, then carrying out step S3；S3: judge whether the abnormal signal is to reach specified parking site signal, if it is not, then carrying out step S4；S4: judge whether the abnormal signal is obstacle signal, if it is not, then carrying out step S5；S5: step S1 is returned to.The present invention effectively can control car door according to the state of unmanned vehicle.
Description
Technical field
The present invention relates to car door technical fields, specifically, being related to a kind of automatic door control method.
Background technique
In current public transport, the construction cost and operation cost of subway are too high, and transport power also early can't bear the heavy load, current
Bus cannot fully meet enterprise and the demand of passenger both sides, especially in industrial zone, tourist attractions, universities and colleges, university, machine
Place as field harbour, large-scale community and stadiums, needs a kind of free mode of transportation of environmental protection and economy, therefore nobody drives
Sailing bus its application field will be gradually expanded, and have wide development space.It, cannot be effectively in unmanned bus
Door contact interrupter is controlled with the driving status in bus, there is deficiencies.
Summary of the invention
In order to overcome the deficiencies of existing technologies, the present invention provides a kind of automatic door control methods.
A kind of automatic door control method according to the present invention, is applied in automatic driving vehicle, automatic driving vehicle includes
Navigation module, control centre, traffic lights identification module, detection of obstacles module, fault monitor module, brake module, in control
The heart receives the route of navigation module planning, and control centre controls automatic driving vehicle normally travel, malfunction monitoring according to route
Fault-signal can be transmitted to control centre in module, and obstacle signal can be transmitted in detection of obstacles module, barrier removes signal and gives
Red signal, steady yellow, green light signals can be transmitted to control centre, control centre's control in control centre, traffic lights identification module
Brake module processed makes vehicle braking, comprising the following steps:
S1: control centre receives abnormal signal, is judged；
S2: judge whether abnormal signal is the fault-signal for causing vehicle that can not travel, if it is not, then carrying out step S3；
S3: judge whether abnormal signal is to reach specified parking site signal, if it is not, then carrying out step S4；
S4: judge whether abnormal signal is obstacle signal, if it is not, then carrying out step S5；
S5: step S1 is returned to.
Preferably, in step s 2, if abnormal signal is the fault-signal for causing vehicle that can not travel, step is carried out
S21,
S21: control centre sends stop sign to brake module, after brake module judges that vehicle stops, to control centre
Stop sign is sent, control centre controls car door opening.
Preferably, in step s3, if abnormal signal is to reach specified parking site signal, step S21 is carried out.
Preferably, after carrying out step S21,
The following steps are carried out again:
S311: waiting one section of preset time, is closed at the appointed time by control centre's control car door；
S312: during closing of the door, if control centre does not receive shutdown signal, i.e. car door does not close at the appointed time
It closes, is then judged as that car door has foreign matter, carry out step S313 if control centre receives shutdown signal and carry out step S311；
S313: it does not continue to close by control centre's control car door, and controls car door opening again, return step
S311。
Preferably, in step s 4, if abnormal signal is obstacle signal, step S41 is carried out:
S41: control centre's control car door holding is closed, and is waited control centre to receive barrier at the appointed time and is removed letter
Number, if receiving barrier removes signal, carry out step S5；If not receiving barrier at the appointed time removes signal, into
Row step S42；
S42: control centre's control navigation module plans that travel route, navigation module send the route planned again again
To control centre, step S5 is carried out.
Preferably, in step s 4, obstacle signal further includes red signal, steady yellow, and barrier removes signal also
Including green light signals.
Preferably, door position sensor is installed, door position sensor is used to detect the closing letter of car door on car door
Number and open signal, and shutdown signal or open signal are sent to control centre.
Preferably, brake module is movable motor controller, and control centre receives obstacle signal and to movable motor control
Device processed sends speed-regulating instruction, and movable motor controller is gradually decelerated to stopping fortune according to the movable motor that speed-regulating instruction controls automobile
Row.
Preferably, car body is equipped with speed probe for detecting the tach signal of wheel, and send tach signal to
Control centre, is preset at least one rotary speed threshold value in control centre, and control centre receives tach signal and by itself and revolving speed threshold
Value is compared, and is judged according to comparison result in normally travel, and whether car body occurs that the failure of traveling can not be continued, and generates
Fault-signal.
Preferably, timer is equipped in car body, timer is for generating preset time or stipulated time and being sent to control
Center.
Preferably, detection of obstacles module includes binocular camera and laser scanner, binocular camera and laser are swept
Instrument is retouched for detecting the obstacle signal of vehicle front.
In a kind of automatic door control method of the invention, the unlatching of car door and pass in unmanned vehicle can be effectively automatically controlled
It closes, unmanned occupant is facilitated to pass in and out unmanned vehicle.Specific effectively effect is as follows:
(1), speed probe detects whether wheel rotates by detection tach signal, if without rotation or rotation speed
Degree is with actual rotation speed there are when relatively large deviation, then vehicle stops, and control centre controls car door and automatically turns on, and facilitates and takes people
Member gets off, and maintenance personal, which gets on the bus, to be repaired；
(2) if, vehicle reach parking site, vehicle stop, control centre control car door opening, facilitate passenger
It gets on or off the bus；
(3), car door can detect whether foreign matter during the shutdown process, if there is then phase down and reopen, prevent
Clamp passenger and article；
(4), detection of obstacles module can detect the obstacle signal in front, when obstacle signal is more than in control centre
When preset threshold, control centre controls unmanned vehicle and stops, and car door remains off.
Detailed description of the invention
Fig. 1 is the flow chart of automatic door control method in embodiment 1.
Specific embodiment
To further appreciate that the contents of the present invention, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.It should be understood that
, embodiment be only to the present invention explain and and it is non-limiting.
Embodiment 1
As shown in Figure 1, present embodiments providing a kind of automatic door control method, comprising the following steps:
A kind of automatic door control method according to the present invention, is applied in automatic driving vehicle, automatic driving vehicle includes
Navigation module, control centre, traffic lights identification module, detection of obstacles module, fault monitor module, brake module, the control
Center processed receives the route of navigation module planning, and control centre controls automatic driving vehicle normally travel according to the route,
The fault monitor module can be transmitted fault-signal to control centre, the detection of obstacles module can be transmitted obstacle signal,
Barrier removes signal to control centre, and the traffic lights identification module can be transmitted red signal, steady yellow, green light signals and give
Control centre, control centre's control brake module make vehicle braking, comprising the following steps:
S1: the control centre receives abnormal signal, is judged；
S2: judge whether the abnormal signal is the fault-signal for causing vehicle that can not travel, if it is not, then carrying out step
S3；
S3: judge whether the abnormal signal is to reach specified parking site signal, if it is not, then carrying out step S4；
S4: judge whether the abnormal signal is obstacle signal, if it is not, then carrying out step S5；
S5: step S1 is returned to.
Preferably, in step s 2, it if the abnormal signal is the fault-signal for causing vehicle that can not travel, is walked
Rapid S21,
S21: control centre sends stop sign to the brake module, after brake module judges that vehicle stops, Xiang Suoshu
Control centre sends stop sign, and control centre controls car door opening.
Preferably, in step s3, if the abnormal signal is to reach specified parking site signal, step S21 is carried out.
Preferably, after carrying out step S21,
The following steps are carried out again:
S311: waiting one section of preset time, is closed at the appointed time by control centre's control car door；
S312: during closing of the door, if control centre does not receive shutdown signal, i.e. car door does not close at the appointed time
It closes, is then judged as that car door has foreign matter, carry out step S313 if control centre receives shutdown signal and carry out step S311；
S313: it does not continue to close by control centre's control car door, and controls car door opening again, return step
S311。
Preferably, in step s 4, if the abnormal signal is obstacle signal, step S41 is carried out:
S41: control centre's control car door holding is closed, and is waited control centre to receive barrier at the appointed time and is removed letter
Number, if receiving barrier removes signal, carry out step S5；If not receiving barrier at the appointed time removes signal, into
Row step S42；
S42: control centre's control navigation module plans that travel route, navigation module send the route planned again again
To control centre, step S5 is carried out.
Preferably, in step s 4, the obstacle signal further includes red signal, steady yellow, and the barrier moves
Except signal further includes green light signals.The red signal, steady yellow, green light signals are identified by traffic lights identification module,
The traffic lights identification module can be photoelectric sensor etc..
Preferably, door position sensor is installed, door position sensor is used to detect the closing letter of car door on car door
Number and open signal, and shutdown signal or open signal are sent to control centre.Door position sensor and control centre's electricity
Property connection.
Preferably, the brake module is movable motor controller, and control centre's reception obstacle signal is simultaneously electric to walking
Machine controller sends speed-regulating instruction, and movable motor controller is gradually decelerated to according to the movable motor that speed-regulating instruction controls automobile to stop
Only run.
Preferably, car body is equipped with speed probe for detecting the tach signal of wheel, and send tach signal to
Control centre, is preset at least one rotary speed threshold value in control centre, and control centre receives tach signal and by itself and revolving speed threshold
Value is compared, and according to comparison result, is judged in normally travel, and whether car body occurs that the failure of traveling can not be continued, and raw
At fault-signal.The comparison result illustrates that car body occurs if tach signal is more than or less than the error range of rotary speed threshold value
It can not continue the failure of traveling.
Preferably, timer is equipped in car body, timer is for generating preset time or stipulated time and being sent to control
Center.Set preset time is preferably 10 seconds, and the set stipulated time is preferably 5 minutes.
Preferably, detection of obstacles module includes binocular camera and laser scanner, the binocular camera and swash
Photoscanner is used to detect the obstacle signal of vehicle front.
Embodiment 2
The present embodiment the difference from embodiment 1 is that: continue to judge that the intracorporal emergency stop push button of vehicle is after step S4
It is no to press.If so, control centre's control vehicle stops, and control car door opening；If it is not, then door position sensor detects vehicle
Whether door closes, if closed, normally travel thens follow the steps S311 if car door is not turned off, and control centre is receiving vehicle
After the shutdown signal of door, continue to travel.
Emergency stop push button need to send to hospital for the emergency case in unmanned vehicle, such as burst disease, thus can and
When processing.
Embodiment 3
The present embodiment the difference from embodiment 1 is that: in step s 2, car door opening, unmanned waiting vehicular rescue.
If repairing successfully in the vehicle short time, fault monitor module issues troubleshooting signal to control centre, then returns in step S5,
Vehicle keeps normally travel.
Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited to this.So if the common skill of this field
Art personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution
Similar frame mode and embodiment, are within the scope of protection of the invention.
Claims (10)
1. a kind of automatic door control method is applied in automatic driving vehicle, automatic driving vehicle includes navigation module, in control
The heart, traffic lights identification module, detection of obstacles module, fault monitor module, brake module, the control centre receive navigation
The route of module planning, control centre control automatic driving vehicle normally travel, the fault monitor module according to the route
Fault-signal can be transmitted to control centre, obstacle signal can be transmitted in the detection of obstacles module, barrier removes signal and gives
Red signal, steady yellow, green light signals can be transmitted to control centre, the control in control centre, the traffic lights identification module
Center processed, which controls the brake module, makes vehicle braking；
Characterized by comprising the following steps:
S1: the control centre receives abnormal signal, is judged；
S2: judge whether the abnormal signal is the fault-signal for causing vehicle that can not travel, if it is not, then carrying out step S3；
S3: judge whether the abnormal signal is to reach specified parking site signal, if it is not, then carrying out step S4；
S4: judge whether the abnormal signal is obstacle signal, if it is not, then carrying out step S5；
S5: normal vehicle operation.
2. automatic door control method according to claim 1, it is characterised in that: in step s 2, if the abnormal letter
Number for the fault-signal that causes vehicle that can not travel, then step S21 is carried out,
S21: control centre sends stop sign to the brake module, after brake module judges that vehicle stops, to the control
Center sends stop sign, and control centre controls car door opening.
3. automatic door control method according to claim 1, it is characterised in that: in step s3, if the abnormal letter
Number to reach specified parking site signal, then step S21 is carried out.
4. automatic door control method according to claim 3, which is characterized in that after carrying out step S21,
The following steps are carried out again:
S311: waiting one section of preset time, is closed at the appointed time by control centre's control car door；
S312: during closing of the door, if control centre does not receive shutdown signal, i.e. car door is not closed at the appointed time,
Then it is judged as that car door has foreign matter, carries out step S313 if control centre receives shutdown signal and carry out step S311；
S313: it does not continue to close by control centre's control car door, and controls car door opening again, return step S311.
5. automatic door control method according to claim 1, it is characterised in that: in step s 4, if the abnormal letter
Number be obstacle signal, then carry out step S41:
S41: control centre's control car door holding is closed, and is waited control centre to receive barrier at the appointed time and is removed signal,
If receiving barrier removes signal, step S5 is carried out；If not receiving barrier at the appointed time removes signal, walked
Rapid S42；
S42: control centre's control navigation module plans that the route planned again is sent to control by travel route, navigation module again
Center processed carries out step S5.
6. automatic door control method according to claim 1, it is characterised in that: in step s 4, the barrier letter
It number further include red signal, steady yellow, it further includes green light signals that the barrier, which removes signal,.
7. automatic door control method according to claim 2, it is characterised in that: be equipped with door position sensing on car door
Device, door position sensor is used to detect the shutdown signal and open signal of car door, and shutdown signal or open signal are sent
To control centre.
8. automatic door control method according to claim 1, it is characterised in that: the brake module is movable motor control
Device processed, control centre receive obstacle signal and to movable motor controller send speed-regulating instruction, movable motor controller according to
The movable motor of speed-regulating instruction control automobile is gradually decelerated to out of service.
9. automatic door control method according to claim 1, it is characterised in that: car body is equipped with for detecting wheel
The speed probe of tach signal, and tach signal is sent to control centre, at least one revolving speed threshold is preset in control centre
Value, control centre receive tach signal and are compared it with rotary speed threshold value, judged according to comparison result in normally travel,
Whether car body occurs that the failure of traveling can not be continued, and generates fault-signal.
10. automatic door control method according to claim 3, it is characterised in that: be equipped with timer, timer in car body
For generating preset time or stipulated time and being sent to control centre.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711006417.9A CN107816290B (en) | 2017-10-25 | 2017-10-25 | Automatic door control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711006417.9A CN107816290B (en) | 2017-10-25 | 2017-10-25 | Automatic door control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107816290A CN107816290A (en) | 2018-03-20 |
| CN107816290B true CN107816290B (en) | 2019-08-13 |
Family
ID=61608642
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711006417.9A Expired - Fee Related CN107816290B (en) | 2017-10-25 | 2017-10-25 | Automatic door control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107816290B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108769225A (en) * | 2018-06-05 | 2018-11-06 | 北京智行者科技有限公司 | Emergency vehicle processing method |
| JP7410764B2 (en) * | 2020-03-18 | 2024-01-10 | 本田技研工業株式会社 | Vehicle control device, vehicle control method, and vehicle control program |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3702710C2 (en) * | 1987-01-30 | 1996-04-11 | Wabco Gmbh | Power operated door locking system |
| DE102010030110B4 (en) * | 2010-06-15 | 2017-05-11 | Geze Gmbh | Automatic door system |
| CN206231478U (en) * | 2016-10-11 | 2017-06-09 | 深圳市招科智控科技有限公司 | A kind of unmanned bus |
| CN206501783U (en) * | 2016-10-12 | 2017-09-19 | 鄂尔多斯市普渡科技有限公司 | A kind of new pilotless automobile with safety guarantee |
| CN107067706A (en) * | 2017-03-05 | 2017-08-18 | 赵莉莉 | Command the traffic supervision system for vehicles of managing and control system in real time comprehensively based on intelligent transportation |
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2017
- 2017-10-25 CN CN201711006417.9A patent/CN107816290B/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN107816290A (en) | 2018-03-20 |
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