[0061] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings.
[0062] like figure 1 As shown in the figure, the intelligent door control device disclosed in the present invention includes a controller, an inner door radar, an outer door radar, an optical sensor, a torque sensor, a displacement sensor, and an intelligent lock. The inner door radar, the outer door radar, and the optical sensor , torque sensor and displacement sensor are all connected to the controller, and the controller is connected to the smart lock; it also includes an intelligent terminal, the controller includes a processor, an interactive interface, the processor is connected to the interactive interface, and the interactive interface is connected to the intelligent terminal; the interactive interface includes serial ports, SPI, I 2 C, USB or Ethernet; the controller further includes an alarm, which is connected to the processor; also includes a door-opening button, which is wirelessly connected to the controller; and also includes a door motor, which is connected to the controller.
[0063] The invention also discloses a control method adopted by the intelligent door control device, including an automatic mode, a safety mode and a manual mode;
[0064] The automatic mode includes:
[0065] Automatically open the door when an approaching person is detected inside or outside the door by radar inside the door, radar outside the door and/or optical sensors;
[0066] Automatic locking: After the door is closed in place, the controller controls the lock body to automatically lock;
[0067] The safety mode includes: opening the door by unlocking the door, commanding the door to open the door, and opening the door with an intelligent button, and automatically closing the door after a certain door-closing delay when the door is opened;
[0068] The manual mode includes:
[0069] Use external force to push the door to any position, and the door will remain in the pushed position;
[0070] Return to the previous working mode by clicking the door open button;
[0071] During the process of opening and closing the door, long press the door opening button, it will enter the manual mode;
[0072] In automatic mode, safe mode and manual mode, the controller can be set to other working modes through the interactive interface;
[0073] The control method also includes smart button to open the door: when it is necessary to go out or someone requests to open the door, after the pedestrian inside the door confirms the safety of the door and outside, the door can be opened by clicking the smart button;
[0074] When the controller receives the signal of clicking the smart button, it will send an unlock command to the lock body through the intelligent interactive interface. After the lock body is successfully unlocked, it will send a door opening command through the intelligent interactive interface, and the controller will execute the door opening action after receiving the door opening command.
[0075] The control method also includes intelligent induction to open the door, and the intelligent induction to open the door includes: when the radar inside the door or the radar outside the door and/or the optical sensor detects that someone has passed through the door outside the door or inside the door, sending a signal to the controller, the controller receives the signal. Someone signals to control the smart lock to unlock and control the door motor to open the door, and control the door motor to close the door after the door closing delay time.
[0076] The control method also includes intelligent anti-pinch, and the intelligent anti-pinch includes clamping determination and clamping processing;
[0077] Clamping determination includes: in the process of opening or closing the door, the controller receives the torque signal detected by the torque sensor, when the torque signal is greater than the set safety value; the displacement signal detected by the displacement sensor, the door moves a certain distance in the opposite direction of movement; optical When the sensor senses a pedestrian, the controller determines that clamping occurs;
[0078] The clamping process includes: when clamping occurs, use one of the following methods to process:
[0079] Method 1. When the door is being opened, the controller controls the door to move a certain distance in the closing direction, and then opens the door again after a delay of 3S;
[0080] Method 2: When the door is closing, the controller controls the door to reopen, and closes the door again after a delay of 3S;
[0081] If three clamping events occur continuously within 10 minutes, the controller controls the door to move a certain distance in the opposite direction and keep it, and sends out an alarm signal until it detects that the door button is pressed.
[0082] The control method also adopts intelligent interaction: APP, host computer software, intelligent lock and/or other external terminals interact with the controller through the serial port, SPI, I2C, USB, Ethernet and other interfaces of the controller, and send running commands, query commands and/or Set the command, the external device of the controller executes the corresponding action according to the remote command, and the following functions can be realized through the interactive interface:
[0083] Locking instruction: APP, host computer software, smart lock, and other external terminals request the controller to control the smart lock to lock through the intelligent interaction function;
[0084] Unlock command: APP, host computer software, smart lock, and other external terminals request the controller to control the smart lock to unlock through the smart interaction function;
[0085] Door opening command: APP, host computer software, smart lock, and other external terminals request the controller to control the smart lock to unlock through the intelligent interaction function, and then control the door motor to open the door;
[0086] Door closing command: APP, host computer software, smart lock, and other external terminals request the controller to control the smart lock to unlock through the intelligent interaction function, and then control the door motor to close the door;
[0087] Unlock and open the door: After successful unlocking, the smart lock sends a door opening request to the controller through the intelligent interaction function, and the controller controls the door to open after receiving the request;
[0088] Query firmware version command: You can query the firmware version of the controller through the interactive interface.
[0089] Query production date command: You can query the production date of the controller through the interactive interface.
[0090] Query and set the starting point of opening the door: through the interactive interface, you can query and set the starting point of the door.
[0091] Query and set the door opening stroke command: You can query and set the door opening stroke through the interactive interface.
[0092] Move the door to the specified position command: the controller can be controlled to move the door to the specified position by command.
[0093] Query the current position of the door: query the current position of the door.
[0094] Stop movement command: The controller controls the door to stop moving.
[0095] Query and set door closing delay command: query and/or set door closing delay.
[0096] Query and set door opening and closing torque command: query and/or set door opening and closing torque.
[0097] Query and set door opening and closing speed command: query and/or set door opening and closing speed.
[0098] Query and set the door opening direction command: query and/or set the rotation direction of the door.
[0099] Query and set the anti-pinch torque command: query and/or set the anti-pinch torque of the door.
[0100] Query setting operation mode command: query the current working mode of the controller, and set the working mode to any mode among automatic mode, safe mode and manual mode.
[0101] Open timeout alarm command: if the door is not closed for more than 300S, an open timeout alarm will be sent to the outside.
[0102] Unplanned door opening alarm command: If the door is not unlocked, an open timeout alarm will be sent to the outside.
[0103] Starting point reset command: After receiving this command in the start mode, the controller will control the door to move to the starting point, and then run according to the method described in the starting point mode;
[0104] The startup mode includes: when the controller is powered on to start, reset, and restart, the current position of the door will be detected by the position sensor. If it is at the starting point and the lock body is detected to be locked, it will automatically switch to the corresponding mode according to the "start transition" condition; if When the lock body at the starting point is not locked or is near the starting point, the controller will control the door to move to the starting point automatically, and automatically confirm the starting point according to the conditions of the "Automatically set starting point" function, and then automatically lock and automatically switch according to the "start switching" condition. to the corresponding mode; if it is far away from the starting point, the door will remain in the current position until the door is manually pressed or the controller sends a "reset to starting point" command from the outside through the intelligent interactive interface, the controller will control the door to automatically move to the starting point. The starting point is moved, and the starting point is automatically confirmed according to the conditions of the "Automatically set starting point" function, and then automatically locked, and automatically converted to the corresponding mode according to the "Start transition" condition;
[0105] After leaving the boot mode, you cannot directly return to this mode. You can only enter this mode when the controller is reset and restarted.
[0106] The control method also includes automatically setting the starting point: when the door is powered on for the first time and not at the starting point, the controller will set the position when the first stall event occurs when moving to the starting point direction as the starting point; in automatic mode or safe mode, the controller will The position where the stall event occurs within the range from 2 degrees before the starting point to 180 degrees after the starting point is reset as the starting point position.
[0107] Specifically, the present invention controls the realization of the following functions:
[0108] 1. Startup conversion: When the controller is powered on, reset, and restarted, if the automatic mode setting switch is not installed, it will switch to safe mode; if the automatic mode setting switch is installed, it will switch to automatic mode or safe mode according to the switch state. .
[0109] 2. Automatically set the starting point: when the power-on door is not at the starting point for the first time, the controller will set the position of the first stall event when moving towards the starting point as the starting point; in automatic mode or safe mode, the controller will The position where the stall event occurs within the range from 2 degrees before the starting point to 180 degrees after the starting point is reset as the starting point position.
[0110] 3. Induction door opening: when pedestrians pass through the door from outside or inside the door, they will be sensed by some or all of the sensors in the door radar, the door outside radar, and the optical sensor and send a signal to the controller, and the controller receives the signal Afterwards, the control lock body is unlocked, and the door is automatically opened (if you want to open the door on one side, you can only connect the radar on this side).
[0111] 4. Intelligent reopening: During the door closing process, if a pedestrian wants to go out or enter the door, it will be detected by the radar inside the door or the radar outside the door or optical sensor, and the controller will control the door to open again after receiving the signal. The door will automatically close after a certain closing delay.
[0112]5. Intelligent anti-pinch: When an object or pedestrian is caught in the process of opening and closing the door, the output torque will increase. When the torque exceeds the set safety value or the external force makes the door move a certain distance in the opposite direction of the door movement trajectory, the controller will determine for a gripping event to occur. When a clamping event occurs, if the door is being opened, the controller controls the door to move a certain distance in the closing direction, and opens the door again after a delay of 3S; if the door is being closed, the controller controls the door to reopen and closes again after a delay of 3S; When three clamping events occur, the door will move to the opposite direction for a certain distance, and then remain motionless, and an alarm sound will be issued through the horn, and an alarm signal can also be issued through the interactive interface. At this time, the current state must be returned to normal by pressing the door button. .
[0113] 6. Manual control: long press the door open button during the process of opening and closing the door, it will enter the manual mode, and click the door open button in the manual mode to return to the previous working mode.
[0114] 7. Automatic locking: After the door is closed in place, the controller will control the lock body to automatically lock.
[0115] 8. Unlock and open the door: After successfully unlocking, the smart lock will send a door opening request to the controller through the intelligent interaction function, and the controller will automatically control the door to open after receiving the request.
[0116] 9. Command to open and close the door: APP, host computer software, intelligent lock, and other external terminals can request the controller to automatically open the door through the intelligent interaction function, or request the controller to close the door and automatically lock the door.
[0117] 10. Smart button to open the door: When you need to go out or someone outside the door requests to open the door, after the pedestrian inside the door confirms the safety outside the door, you can click the smart button to open the door. When the controller receives the signal of clicking the smart button, it will send an unlock command to the lock body through the intelligent interactive interface. After the lock body is successfully unlocked, it will send a door opening command through the intelligent interactive interface, and the controller will execute the door opening action after receiving the door opening command.
[0118] 11. Intelligent interaction: APP, host computer software, intelligent lock, other external terminals, etc. can interact with the controller through the serial port, SPI, I2C, USB, Ethernet and other interfaces of the controller, and send the relevant commands to make the controller perform corresponding actions Or query the corresponding data, the controller can also send commands to control the actions of external devices or send data to them through the relevant interface. The following functions can be achieved through the interactive interface:
[0119] Lock and unlock command: Send a command to request the smart lock to lock or unlock.
[0120] Request to open the door command: After the smart lock is normally unlocked, it will send a command to request the controller to open the door.
[0121] Query firmware version: You can query the firmware version of the controller through the interactive interface.
[0122] Query production date: The production date of the controller can be queried through the interactive interface.
[0123] Query and set the starting point of opening the door: You can query and set the starting point of opening the door through the interactive interface.
[0124] Query and set the door opening itinerary: You can query and set the door opening itinerary through the interactive interface.
[0125] Move the door to the designated position: The controller can be controlled to move the door to the designated position by command.
[0126] Query the current position of the door: Query the current position of the door.
[0127] Stop moving: After receiving this command, the controller will control the door to stop moving.
[0128] Query and set the door closing delay: query or set the door closing delay through the interactive interface.
[0129] Query and set the door opening and closing torque: query or set the door opening and closing torque through the interactive interface.
[0130] Query and set the door opening and closing speed: query or set the door opening and closing speed through the interactive interface.
[0131] Query and set the opening direction: query or set the rotation direction of the opening and closing door through the interactive interface.
[0132] Query and set anti-pinch torque: query or set the anti-pinch torque of the door through the interactive interface.
[0133] Query setting operation mode: query the current working mode of the controller, and can set the working mode to any mode among automatic mode, safe mode and manual mode.
[0134] Open timeout alarm: In any mode, if the door is not closed for more than 300S, an open timeout alarm will be sent to the outside.
[0135] Unplanned door open alarm: If the door is not unlocked, an open timeout alarm will be sent to the outside.
[0136] Starting point reset: When commanded in start mode, the controller will control the door to move to the starting point, and then operate as described in the starting point mode.
[0137] Of course, the present invention can also have other various embodiments, without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and deformations according to the present invention, but these corresponding changes and deformation should belong to the protection scope of the appended claims of the present invention.
