CN106946109A - A kind of elevator induction installation and method based on Laser Radar Scanning - Google Patents

Abstract

An elevator sensing device and method based on laser radar scanning, comprising a multi-line laser radar, a computer, an elevator door, a driving device, a communication and a control module. The multi-line laser radar and the communication and control module of the device are electrically connected with the computer at the same time. The communication and control module is electrically connected with the driving device. The driving device is connected with the elevator door and drives the elevator door. The working steps of this device are: the multi-line laser radar continuously scans the detection area and divides point clusters, and judges whether there are pedestrian point clusters according to the improved clustering algorithm of pedestrian width information, and transmits the relevant detection information to the computer . At the same time, the computer transmits the information to the communication and control module. The communication and control module compares the received detection information with the set startup threshold to obtain a control command, and transmits the control command to the drive device, which controls the connection of the elevator door and drives the elevator door.

Description

An elevator sensing device and method based on lidar scanning

technical field

The patent of the present invention relates to an elevator induction device and method, in particular to an elevator induction device based on laser radar scanning.

Background technique

At present, with the progress and development of the times, the rise of high-rise buildings makes the number of elevators more and more. And so many residential elevators or public lifts such as office buildings and hotels, people usually spend a lot of time waiting for the elevator. In modern times, the cost of human time is getting higher and higher. It is becoming more and more important to save people the time of waiting for the elevator. Today's society is highly competitive, people's life is getting faster and faster, and long waiting time is a major disadvantage of elevators today, so it is urgent to solve the optimal control of elevators. Invention patent "An Elevator Induction Door" (Application No. 201310371707.9) is based on the principle of an inductive sensor device, and the elevator door will be opened when someone is within its radius of 1 meter. However, there is still a lot of waiting time in this way, and there is no obvious effect of reducing the time cost. In addition, the passenger who can't press the up and down elevator buttons for hand luggage also has the problem of taking the elevator inconveniently.

Contents of the invention

In order to solve the above-mentioned problems, the object of the present invention is to overcome the wasted time cost of waiting for an elevator for a long time. An elevator sensing device for judging whether there are pedestrians through laser radar scanning is now provided.

In order to realize the content of the present invention, the present invention provides a laser radar scanning elevator sensing device and method, including a multi-line laser radar, a computer, an elevator door, a driving device, a communication and a control module. The multi-line laser radar and the communication and processing module are electrically connected to the computer at the same time. The communication and control module is electrically connected to the driving device, the driving device is connected to the elevator door and drives the elevator door, the driving device includes a stepping motor controller and a stepping motor, the multi-line laser radar, the driving device It is fixed above the elevator door, and the computer, communication and control modules are installed near the elevator door.

In order to judge whether there are pedestrians and start the elevator, the working steps are:

Step 1) The multi-line laser radar continuously scans the detection area with low resolution;

Step 2) When the virtual trigger line is touched, the multi-line laser radar continuously scans the detection area with high resolution, and transmits the laser data to the computer;

Step 3) when step 2) is not carried out, repeat step 1);

Step 4) The computer receives the laser data and performs preprocessing, segments point clusters belonging to pedestrians according to the improved clustering algorithm of pedestrian width information, judges whether there are pedestrian point clusters, and transmits relevant detection information to the communication and control module;

Step 5) The communication and processing module processes the received detection information and compares it with the set start threshold to obtain a control instruction, wherein the start threshold refers to whether there is a pedestrian;

Step 6) The communication and processing module transmits the control instruction to the stepper motor controller, and the stepper motor controller controls the operation of the stepper motor, and the stepper motor completes the opening and closing of the elevator door.

In the present invention, the processing algorithm in step 4) is an optimized clustering algorithm. Since the lidar acquires data points one by one, the target point of interest is distinguished from the background, and then the data is divided into groups through data segmentation, and each group represents an object. Pedestrians are identified through clustering judgment rules. In the pedestrian detection, when there are pedestrians walking side by side, the side-by-side pedestrians will be grouped into one group, and the behavior of pedestrians cannot be analyzed. In order to solve this problem, an improved clustering algorithm based on pedestrian width information is provided.

The invention is an elevator sensing device and method based on laser radar scanning. The device is not easily affected by the environment, and at the same time, it is easy to install and has strong robustness.

Description of drawings

Fig. 1 is a block diagram of the present invention;

Fig. 2 is a circuit connection diagram of the present invention;

Among them, 1 is a multi-line laser radar, 2 is a computer, 3 is a communication and processing module, 4 is a stepper motor controller, 5 is a stepper motor, 6 is an elevator door, and 7 is a virtual trigger line.

detailed description

As shown in FIG. 1 , this specific embodiment includes a multi-line laser radar 1 , a computer 2 , a communication and processing module 3 , a stepper motor controller 4 , a stepper motor 5 , an elevator door 6 , and a virtual trigger line 7 . The multi-line laser radar 1 of the device and the communication and processing module 3 are electrically connected to the computer 2 at the same time, the communication and control module 3 is electrically connected to the driving device, and the driving device is connected to the elevator door 6 and drives the elevator door 6. The driving device includes Stepping motor controller 4 and stepping motor 5.

The multi-line laser radar 1 of this specific embodiment, the driving device are fixed on the top of the elevator door 6, and the computer 2, communication and control module 3 are installed near the elevator door, and the virtual trigger line 7 is on the side of the multi-line laser radar 1 simultaneously. within the scope of work.

The multi-line laser radar 1 of this specific embodiment is a German IBEO-LUX 2010 four-line laser radar. Among them, computer 2 is an industrial control computer, the specific model is Advantech IPC-610L.

In this specific embodiment, the concrete model of communication and processing module is STC89C52, and computer 2 is connected with STC89C52 through I/O port, and STC89C52 is electrically connected with stepping motor controller 4, and stepping motor controller 4 outputs pulse signal control stepping Motor 5 runs.

In order to achieve the goal of starting the elevator for whether there are pedestrians, this specific embodiment includes the following working steps:

Step 1) Multi-line laser radar 1 continuously scans the detection area with low resolution;

Step 2) When the virtual trigger line 7 is touched, the multi-line laser radar 1 continuously scans the detection area with high resolution, and transmits the laser data to the computer 2;

Step 3) when step 2) is not carried out, repeat step 1);

Step 4) The computer 2 receives the laser data and performs preprocessing, segmenting the point clusters belonging to pedestrians according to the improved clustering algorithm of pedestrian width information, judging whether there are pedestrian point clusters, and passing the relevant detection information to the communication and control module 3 ;

Step 5) The communication and processing module 3 processes the received detection information and compares it with the set activation threshold to obtain a control instruction, wherein the activation threshold refers to whether there are pedestrians.

Step 6) The communication and processing module 3 transmits the control instruction to the stepper motor controller 4, and the stepper motor controller 4 controls the operation of the stepper motor 5, and the stepper motor completes the switch of the elevator door 6.

In this specific embodiment, when the multi-line laser radar 1 works at high resolution, the angular resolution is 0.1 mard, the distance resolution is 0.1 m and the velocity resolution is 10 m/s. When the multi-line lidar 1 works at a low resolution, the angular resolution is 1 mard, the distance resolution is 1 m and the velocity resolution is 3 m/s.

In this specific embodiment, in order to divide the pedestrian area, it is necessary to cluster the lidar data. Clustering divides a frame of lidar data into several point clusters, which contain possible pedestrians and non-pedestrians. The judgment rules for clustering are as follows:

In this specific embodiment:

In this specific embodiment, r _min ={r _k , r _k +1}, r _{k, k} +1=|r _k -r _k +1| is the distance between two adjacent lidars. φ is the angular resolution of the laser radar. In this paper, φ = 0.25°, and C0 is used to adjust the longitudinal error of the laser radar. Given by the empirical value, set C0=0.001 here. The physical meaning of formula (1) is: when the distance between two adjacent lidars is less than a certain threshold, they can be set as the same object.

In this specific embodiment, the number of corresponding collection points is different when the distance between the pedestrian and the lidar is different. At this time, different forms of pedestrians will also affect the number of collection points, so an improved clustering algorithm based on pedestrian width information is provided. The pedestrian width is calculated as follows:

w＝(r ² _left +r ² _right -2r _left r _right cosθ) ^1/2 (2)

In this specific embodiment, rleft and rright are the distances on the left and right boundaries of a point set respectively; θ is the angle from the left boundary to the right boundary. Due to the limited width of pedestrians. According to empirical values, the width of pedestrians is generally not greater than 0.6m, and 0.6m is used as the threshold here. Therefore, according to the improved clustering algorithm of pedestrian width information, it can be solved whether there are pedestrians in the lidar scanning area.

It should be understood that the above description is only an exemplary description of the present invention, and does not limit the present invention in any form. Without departing from the design concept of the present invention, various modifications and improvements made to the technical solution of the present invention by those skilled in the art shall fall within the protection scope of the appended claims of the present invention.

Claims (4)

1. a kind of elevator induction installation and method based on Laser Radar Scanning, including multi-line laser radar, computer, elevator Door, drive device, communication and control module, it is characterised in that the multi-line laser radar and communication and processing module simultaneously with Computer by being electrically connected, the communication and control module with drive device by being electrically connected, the drive device with it is electric Terraced door is connected and drives elevator door, and the drive device includes controllor for step-by-step motor and stepper motor, many line laser thunders Reach, drive device is fixed on the top of elevator door, the computer, communication and control module are arranged on the vicinity of elevator door.

2. according to the elevator induction installation and method of a kind of Laser Radar Scanning described in claims 1, it is characterised in that institute Multi-line laser radar is stated to be operated when virtual firing line starts, and the light curtain of multi-line laser radar is vertical with pedestrian, institute The position of virtual firing line is stated within the scope of multi-line laser radar.

3. according to the elevator induction installation and method of a kind of Laser Radar Scanning described in claims 1 or 2, its feature exists In the computer is industrial control computer or embedded microprocessor.

4. according to the elevator induction installation and method of a kind of Laser Radar Scanning described in claims 1 or 2 or 3, its feature It is that the present apparatus performs following steps to discriminate whether there is pedestrian：

Step 1) multi-line laser radar with it is low resolution detection zone is persistently scanned；

Step 2) when virtual firing line is touched, multi-line laser radar is persistently scanned to detection zone with high-resolution, and Laser data is passed into computer；

Step 3) when step 2) when not carrying out, repeat step 1)；

Step 4) computer receives and laser data and pre-processed, split according to the improved clustering algorithm of pedestrian's width information Go out to belong to the point cluster of pedestrian, judge whether the point cluster of pedestrian, and coherent detection information transmission is to communication and control module；

Step 5) communication and processing module handled the detection information received, after being compared with the startup threshold values of setting To control instruction, wherein startup threshold values refer to whether there is pedestrian；

Step 6) control instruction passes to controllor for step-by-step motor by communication and processing module, controllor for step-by-step motor control stepping The operation of motor, stepper motor completes the switch of elevator door.