CN110863733A - A Trajectory-triggered Millimeter-Wave Radar Automatic Door Control Strategy and System - Google Patents

Abstract

The invention provides a track-triggered millimeter wave radar automatic door control strategy and a system, wherein the track-triggered millimeter wave radar automatic door control strategy comprises the following steps: s1) setting a detection area by taking the automatic door (3) as a center; s2) tracking the object (a) entering the detection zone; s3) analyzing the motion track (AB) of the target entering the detection area, and calculating the included angle theta of the motion track (AB) towards the automatic door (3); s4) if the theta 1 is less than theta 2 (-90 < theta 1 < 0 < theta 1 < theta 90 < theta 2 < theta 90 < theta), continuously analyzing the distance d between the target position (B) and the automatic door (3), and if d is less than or equal to a set threshold value d1, opening the automatic door (3); s5) the radar detects that the target passes through the automatic door (3) or leaves the detection area, and then a closing signal of the automatic door (3) is output.

Description

A Trajectory-triggered Millimeter-Wave Radar Automatic Door Control Strategy and System

technical field

The invention belongs to the technical field of radar control strategies, in particular to a trajectory-triggered millimeter-wave radar automatic door control strategy and system.

Background technique

The traditional access control strategies are all infrared sensing. The infrared sensing is to receive the infrared rays emitted by the human body through the pyroelectric element to trigger the work of the subsequent circuit. The sensing distance is short and the angle is small. The environment, temperature and dust can cause infrared errors. Triggered or not working, the infrared sensor control can only detect when the person is not within the range, and cannot judge the intention of the person. It can be turned on within the range, and the command action is not performed when it is not within the range. Moreover, the detection infrared sensor head needs to be exposed, which is inconvenient to install.

Compared with traditional infrared control, millimeter-wave radar control has the following advantages: it is not affected by the environment and temperature; the detection distance is long and the penetration is strong; it can identify the movement trajectory of objects, and independently judge the intention of people entering and leaving. However, how to identify the movement trajectories of objects and independently judge the intention of people entering and leaving requires special technology to support.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a trajectory-triggered millimeter-wave radar automatic door control strategy and system. The millimeter-wave radar recognizes the movement trajectory of an object, accurately judges the entry, exit and movement direction of the object, and executes relevant instructions according to the settings.

To achieve the above object, the present invention adopts the following technical solutions:

A trajectory-triggered millimeter-wave radar automatic door control strategy, comprising the following steps:

S1) Set the detection area with the automatic door (3) as the center;

S2) Track the target (A) entering the detection area;

S3) analyze the movement trajectory (AB) of the target entering the detection area, and calculate the included angle θ of the movement trajectory (AB) towards the automatic door (3);

S4) If θ1﹤θ﹤θ2 (-90º﹤θ1﹤0º, 0º﹤θ2﹤90º), continue to analyze the distance d between the target position (B) and the automatic door (3), if d is less than or equal to the set threshold d1, The automatic door (3) is opened.

Further, the trajectory-triggered millimeter-wave radar automatic door control strategy further includes: S5) if the radar detects that the target passes through the automatic door (3) or leaves the detection area, the automatic door (3) closing signal is output.

Further, in the trajectory-triggered millimeter-wave radar automatic door control strategy, the detection area can be set as a circle or a square.

Further, in the trajectory-triggered millimeter-wave radar automatic door control strategy, the detection area can also be set only on one side of the automatic door (3).

A trajectory-triggered millimeter-wave radar automatic door control system, comprising: a millimeter-wave radar (1), a controller (2), an automatic door (3), and a door-controlled motor (5), wherein the millimeter-wave radar (1) is connected to A controller (2), the controller (2) controls the gated motor (5) to drive the automatic door (3) to open or close; the millimeter wave radar (1) includes: a radio frequency front end (11), a signal processing module ( 12), the central processing unit (13), the control strategy as described above is set in the central processing unit (13), and its parameters (detection area, θ1, θ2, d1) are modified by the upper computer (6), through the central processing unit (13) Connect to the communication module (21) set in the controller (2), the communication module (21) is connected to the upper computer (6) by wired or wireless means, and the control module (22) set in the controller (2) also Connected to the central processing unit (13) to accept its control, the control module (22) controls the door control motor (5) which controls the opening and closing of the automatic door (3).

Further, the trajectory-triggered millimeter-wave radar automatic door control system further comprises: a manual switch button (4), the manual switch button (4) being connected to the controller (2).

Further, in the trajectory-triggered millimeter-wave radar automatic door control system, the radio frequency front end (11) includes 2 groups of transmitting antennas, 4 groups of receiving antennas, a synthesizer and a mixer, and outputs an intermediate frequency (IF) signal , the signal processing module (12) is a DSP processor, which is responsible for eliminating interference clutter, and the central processing unit (13) adopts an ARM processor, which is responsible for the analysis of radar detection information and target output.

Further, in the track-triggered millimeter-wave radar automatic door control system, the automatic door is one of a sliding door, a swing door, a folding door, a sliding door, and one of a single door and a double door.

Further, in the trajectory-triggered millimeter-wave radar automatic door control system, the millimeter-wave radar (1) is installed on the side or top of the automatic door (3), and installed inside the automatic door frame.

Further, in the trajectory-triggered millimeter-wave radar automatic door control system, the controller (2) is installed on the side or the top of the automatic door (3).

The beneficial effects of the present invention include: the present invention, as a millimeter-wave radar automatic door control, installs the radar on the side or top of the automatic door, and within the range of the radar detection field of view, if a moving target appears, the radar will immediately capture the target Position, according to the azimuth information feedback of the target movement, the direction and trajectory of the target movement are described in the algorithm, and the expected value of the movement tendency of the target is calculated according to the movement trajectory of the target. When the target moves to the signal output area, the radar can output the door opening signal, Automatic door opening; if the target does not have a trajectory tendency to move towards the door, the target will not output any signal even if the target is active in the field of view detected by the radar; the millimeter wave radar has a long triggering distance, a wide angle, and is not limited by temperature It can identify the movement trajectory of the object, accurately judge the entry, exit and movement direction of the object, and carry out relevant instructions according to the setting; the invention enhances the environmental anti-interference of the product and the accuracy of target recognition The multi-directional real-time monitoring of the present invention increases the selectivity of automatic door opening.

Description of drawings

Figure 1 is a schematic diagram of a trajectory-triggered millimeter-wave radar access control system;

2 is a schematic diagram of the circuit connection structure of a trajectory-triggered millimeter-wave radar access control system;

In the picture: 1-millimeter wave radar; 2-controller; 3-automatic door; 4-manual switch button.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings, so as to facilitate the understanding of the present invention by those skilled in the art.

Embodiment 1: As shown in Figures 1 and 2, a trajectory-triggered millimeter-wave radar automatic door control system includes: a millimeter-wave radar (1), a controller (2), an automatic door (3), and a manual switch button (4), a gated motor (5), the millimeter-wave radar (1) is installed on the side or top of the automatic door (3), the millimeter-wave radar (1) is connected to the controller (2), and the controller (2) Control the door control motor (5) to drive the automatic door (3) to open or close, and the manual switch button (4) is connected to the controller (2) as a supplement to the automatic control; The automatic door control strategy of the millimeter wave radar is: S1) Set a detection area with a radius R with the automatic door (3) as the center; S2) Track the target (A) entering the detection area; S3) Analyze the target entering the detection area Motion trajectory (AB), calculate the angle θ of the motion trajectory (AB) towards the automatic door (3); S4) If θ1﹤θ﹤θ2 (-90º﹤θ1﹤0º, 0º﹤θ2﹤90º), then continue Analyze the distance d between the target position (B) and the automatic door (3), if d is less than or equal to the set threshold d1, open the automatic door (3); S5) The radar detects that the target passes through the automatic door (3) or leaves the detection area, Then the automatic door (3) closing signal is output; in another embodiment, the detection area can also be set to be square, or the detection area can be set only on one side of the automatic door (3); for the use of the automatic door (3) Different places, the setting parameters of the above strategies are best determined after on-site installation and testing. The radar is small in size and installed in the automatic door frame. The parameter setting is realized through the communication module (21) in the controller (2). The system structure is relatively reasonable. To this end, as shown in FIG. 2, the trajectory-triggered millimeter-wave radar automatic door control system is further optimized. The millimeter-wave radar (1) includes: a radio frequency front end (11), a signal processing module (12), A central processing unit (13), the radio frequency front end (11) includes 2 groups of transmitting antennas, 4 groups of receiving antennas, a synthesizer and a mixer, and outputs an intermediate frequency (IF) signal, and the signal processing module (12) is a DSP The processor is responsible for eliminating interference clutter. The central processing unit (13) adopts an ARM processor and is responsible for the analysis of radar detection information and target output. The control strategy and parameters (R, θ1, R, θ1, θ2, d1) accept the modification of the host computer (6), connect the communication module (21) set in the controller (2) through the central processing unit (13), and the communication module (21) is connected to the host computer ( 6) Receive the parameter modification instruction of the upper computer (6) and send it to the central processing unit (13), and the corresponding parameters are allowed to be modified through the specific instruction verification, and the control module (22) set in the controller (2) is also connected. To the central processing unit (13) to accept its control, the control module (22) controls the door control motor (5), and the door control motor (5) controls the opening and closing of the automatic door (3).

The present invention is used as a kind of automatic door control of millimeter wave radar. When a moving target appears within the detection field of view of the radar, the radar will immediately capture the target position, and according to the feedback of the azimuth information of the target movement, the direction of the target movement is depicted in the algorithm. And trajectory, according to the target's trajectory, calculate the expected value of the target's movement tendency. When the target moves to the signal output area, the radar can output the door opening signal, and the door will open automatically; if the target does not have a trajectory tendency to move towards the door, the target is counted in the radar. The radar will not output any signal if there is activity in the detected field of view.

Example 2: The millimeter-wave radar (1) is small in size and installed in the automatic door frame. The parameter setting is realized through the communication module (21) in the controller (2). The volume of the controller (2) can be set beside the door frame and The volume is large and the system structure is relatively reasonable, which is convenient to change the parameters of radar detection and control according to the needs of on-site use after the radar is installed.

The above examples are only used to illustrate the specific embodiments of the present invention, rather than to limit the present invention. On the premise of not departing from the principles of the present invention, several improvements and modifications can also be made, and these improvements and modifications should also be regarded as the present invention. the scope of protection of the invention.

Claims (10)

1. a millimeter wave radar automatic door control strategy triggered by a trajectory, is characterized in that, comprises the steps: S1) Set the detection area with the automatic door (3) as the center; S2) Track the target (A) entering the detection area; S3) analyze the movement trajectory (AB) of the target entering the detection area, and calculate the included angle θ of the movement trajectory (AB) towards the automatic door (3); S4) If θ1﹤θ﹤θ2 (-90º﹤θ1﹤0º, 0º﹤θ2﹤90º), continue to analyze the distance d between the target position (B) and the automatic door (3), if d is less than or equal to the set threshold d1, The automatic door (3) is opened. 2. A trajectory-triggered millimeter-wave radar automatic door control strategy according to claim 1, further comprising: S5) if the radar detects that the target passes through the automatic door (3) or leaves the detection area, the automatic door (3) is output. 3) Turn off the signal. 3 . The trajectory-triggered millimeter-wave radar automatic door control strategy according to claim 1 or 2 , wherein the detection area can be set as a circle or a square. 4 . 4. A trajectory-triggered millimeter-wave radar automatic door control strategy according to claim 1 or 2, characterized in that the detection area can also be set only on one side of the automatic door (3). 5. A trajectory-triggered millimeter-wave radar automatic door control system, characterized by comprising: a millimeter-wave radar (1), a controller (2), an automatic door (3), and a gated motor (5), the millimeter-wave radar (1), a controller (2), an automatic door (3), and a gated motor (5) The wave radar (1) is connected to the controller (2), and the controller (2) controls the gated motor (5) to drive the automatic door (3) to open or close; the millimeter wave radar (1) includes: a radio frequency front end (11) ), the signal processing module (12), the central processing unit (13), the control strategy according to any one of claims 1 to 4 is set in the central processing unit (13), and its parameters are subject to the modification of the host computer (6), through The central processing unit (13) is connected to the communication module (21) provided in the controller (2), the communication module (21) is connected to the upper computer (6) by wired or wireless means, and the control module (21) provided in the controller (2) 22) Also connected to the central processing unit (13) to accept its control, the control module (22) controls the door control motor (5) which controls the opening and closing of the automatic door (3). 6 . The trajectory-triggered millimeter-wave radar automatic door control system according to claim 5 , further comprising: a manual switch button ( 4 ), the manual switch button ( 4 ) being connected to the controller ( 2 ). 7 . 7. The trajectory-triggered millimeter-wave radar automatic door control system according to claim 5, wherein the radio frequency front end (11) comprises 2 groups of transmitting antennas, 4 groups of receiving antennas, a synthesizer and a mixer, An intermediate frequency (IF) signal is output, the signal processing module (12) is a DSP processor, responsible for eliminating interference clutter, and the central processing unit (13) adopts an ARM processor, responsible for the analysis of radar detection information and target output. 8. The millimeter-wave radar automatic door control system triggered by a trajectory according to any one of claims 5 to 7, wherein the automatic door is one of a sliding door, a swing door, a folding door, and a sliding door. One of the open doors and double doors. 9. A trajectory-triggered millimeter-wave radar automatic door control system according to any one of claims 5 to 7, wherein the millimeter-wave radar (1) is installed on the side or top of the automatic door (3), and is installed Inside the automatic door frame. 10 . The trajectory-triggered millimeter-wave radar automatic door control system according to claim 5 , wherein the controller ( 2 ) is installed on the side or the top of the automatic door ( 3 ). 11 .

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