Door opening and closing device and method for controlling door opening and closing

Abstract

The present disclosure relates to the field of automatic control technology, and in particular to a door opening and closing device and a method for controlling the opening and closing of a door. A door opening and closing device includes: a base plate, the base plate is used to be fixed to the bottom of the door close to the ground; a wheel, fixed to the lower end of the base plate through a bracket, for contacting the ground; a power assembly, arranged in at least one of the base plate and the bracket, for driving the wheel to rotate or brake; and a host, detachably mounted on the base plate, electrically connected to the power assembly; wherein the host includes: a wireless transceiver, for receiving a first instruction; and a processor, based on the first instruction, controlling the power assembly to drive the wheel. The technical solution provided by the embodiment of the present disclosure may include the following beneficial effects: it can realize intelligent control of automatic doors, has a simple structure, a small size, and can be applied to room doors in offices or homes. The drive device does not require a large torque to drive the automatic door to open and close. The automatic door can be positioned at a specified angle or opening and closing degree.

Description

Technical Field

[0001] The present disclosure relates to the field of automatic control technology, and in particular to a door opening and closing device and a method for controlling the opening and closing of a door. Background Art

[0002] Automatic doors have been widely used in the main doors of various office buildings, providing convenience for users to enter and exit the buildings. Ordinary automatic doors detect human approach information through infrared devices. When the infrared device detects that the distance between the human body and the door reaches a certain distance, it sends a signal to drive the door opening and closing mechanism to start and open the door. When the infrared device detects that the distance between the human body and the door exceeds a certain distance, it sends a signal to drive the door opening and closing mechanism to start and close the door. Some doors also use cameras to collect human images to drive the door opening and closing.

[0003] Usually, automatic doors are opened and closed by driving the motor through the control system. The device is large in size and complex in structure, and is not suitable for homes or offices. If the automatic door is opened and closed by the driving force alone, the driving device needs a large torque to drive the automatic door to open and close. The automatic door needs to switch between fully open and fully closed, and cannot be positioned at a certain angle or opening and closing degree. When an external force acts on the automatic door, it will cause the automatic door to increase its instantaneous acceleration, causing the automatic door to collide with the door frame, etc., and damage the automatic door. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides an automatic door switch device, an automatic door control method and a control device.

[0005] According to a first aspect of an embodiment of the present disclosure, a door opening and closing device is provided, which includes: a base plate, which is used to be fixed to the bottom of the door close to the ground; wheels, which are fixed to the lower end of the base plate through a bracket and are used to contact the ground; a power component, which is arranged on at least one of the base plate and the bracket, and is used to drive the wheels to rotate or brake; and a host, which is detachably mounted on the base plate and is electrically connected to the power component; wherein the host includes: a wireless transceiver, which is used to receive a first instruction; and a processor, which controls the power component to drive the wheels based on the first instruction.

[0006] In one embodiment, the host further includes: a human body detection device for detecting a human body object; and the processor is further configured to: control the power assembly to drive the wheels when the human body detection device detects a human body object.

[0007] In one embodiment, the host further comprises:

[0008] The image acquisition device is used to acquire images of people; the processor is also used to: control the power component to drive the wheels based on a second instruction corresponding to the recognition result of the image of the person.

[0009] In one embodiment, the wireless transceiver is also used to send an unlocking instruction to the smart door lock.

[0010] In one embodiment, the host further includes: a human body detection device for detecting a human body object; and an image acquisition device for acquiring a person image when the human body detection device detects a human body object.

[0011] In one embodiment, the host further includes: an infrared light for supplementing light for the image acquisition device under dark light conditions.

[0012] In one embodiment, the door opening and closing device further includes: an acceleration sensor for monitoring the acceleration of the door opening and closing device; the processor is also used to: when the acceleration detected by the acceleration sensor exceeds a threshold value, control the power assembly to drive the wheel to rotate in the opposite direction of the acceleration.

[0013] In one embodiment, the door opening and closing device also includes: an acceleration sensor for monitoring the acceleration of the door opening and closing device; and a damping device for increasing the rotational resistance of the wheel; the processor is also used to: when the acceleration detected by the acceleration sensor exceeds a threshold value, control the damping device to increase the rotational resistance of the wheel.

[0014] In one embodiment, a slide rail is provided on the bottom plate; a slide groove matched with the slide rail is provided on the main unit, and the main unit can be detachably mounted on the bottom plate through the matching connection between the slide rail and the slide groove.

[0015] In one embodiment, a first terminal is provided on the bottom plate; a second terminal matching the first terminal is provided on the host, and when the host is installed on the bottom plate, the first terminal and the second terminal are connected, so that the host is electrically connected to the power component.

[0016] According to a second aspect of an embodiment of the present disclosure, a method for controlling a door opening and closing is provided, which is applied to a door opening and closing device according to the first aspect or any one of the embodiments of the first aspect, and the method includes:

[0017] receiving a first instruction;

[0018] Based on the first instruction, the wheels are rotated or braked accordingly.

[0019] In one embodiment, the method further comprises:

[0020] Sensing human targets;

[0021] When a human target is sensed, the wheels are rotated or braked accordingly.

[0022] In one embodiment, the method further includes: sensing a human target; when the human target is sensed, collecting a person image;

[0023] The character image is sent to the smart terminal or server and a second instruction based on the recognition result of the character image is received; based on the second instruction, the wheel is rotated or braked accordingly.

[0024] In one embodiment, the method further includes: in response to the second instruction, sending an unlocking instruction to the smart door lock to unlock the smart door lock.

[0025] In one embodiment, the method further includes: sensing a human target; when a human target is sensed, collecting a person image; performing recognition based on the person image; and rotating or braking the wheels accordingly according to the recognition result and preset permissions.

[0026] In one embodiment, the method further includes: sending an unlocking instruction to the smart door lock based on the recognition result and preset authority, so that the smart door lock is unlocked.

[0027] In one embodiment, the method further includes: providing supplementary light by infrared light under dark light conditions.

[0028] In one embodiment, the method further comprises: monitoring the acceleration of the door opening and closing device; and when the acceleration exceeds a threshold, rotating the wheel in a direction opposite to the acceleration.

[0029] In one embodiment, the method further comprises: monitoring the acceleration of the device; and when the acceleration exceeds a threshold, increasing the rotational resistance of the wheel by means of a damping device.

[0030] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0031] It can realize intelligent control of automatic doors, has simple structure and small size, and can be applied to room doors in offices or homes. The driving device does not need a large torque to drive the automatic door to open and close. The automatic door can be positioned at a specified angle or opening and closing degree.

[0032] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0034] Figure 1 is a perspective view illustrating a door opening and closing device according to an exemplary embodiment of the present disclosure.

[0035] Figure 2 is an exploded view illustrating a door opening and closing device according to an exemplary embodiment of the present disclosure.

[0036] Figure 32 is a schematic diagram showing the use of the door opening and closing device according to an exemplary embodiment of the present disclosure.

[0037] Figure 4 is an exploded view illustrating a door opening and closing device according to an exemplary embodiment of the present disclosure.

[0038] Figure 5 is a flowchart illustrating a control method according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0039] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0040] Figure 1 is a perspective view illustrating a door opening and closing device according to an exemplary embodiment of the present disclosure.

[0041] According to a first aspect of the embodiment of the present disclosure, referring to Figure 1 , a door opening and closing device is provided, which includes: a base plate 130, the base plate 130 is used to be fixed to the bottom of the door close to the ground; a wheel 103, fixed to the lower end of the base plate 130 through a bracket 133, and used to contact the ground; a power component, arranged in at least one of the base plate 130 and the bracket 133, and used to drive the wheel 103 to rotate or brake; and a host 120, which is detachably installed on the base plate 130 and electrically connected to the power component; wherein the host 120 includes: a wireless transceiver, used to receive a first instruction; and a processor, based on the first instruction, controls the power component to drive the wheel 103.

[0042] The wheel 103 is fixed to the lower end of the bottom plate 130 through the bracket 133, and the wheel 103 is in contact with the ground. The power assembly drives the wheel 103 to rotate, and the friction between the wheel 103 and the ground drives the door to open and close. When the door is to be kept still, the wheel 103 is braked by the power assembly. The wireless transceiver receives the command and sends the command to the processor, and the processor controls the power assembly according to the received command.

[0043] The automatic door switch device of the above structure can realize intelligent control of the automatic door, has a simple structure and a small size, and can be applied to the room door of an office or a home. The driving device does not need a large torque to drive the automatic door to open and close. The automatic door can be positioned at a specified angle or opening and closing degree.

[0044] Figure 2is an exploded view illustrating a door opening and closing device according to an exemplary embodiment of the present disclosure.

[0045] In one embodiment, the host 120 further includes: a human body detection device 101 for detecting a human body object; and the processor is further configured to: control the power assembly to drive the wheel 103 when the human body detection device 101 detects a human body object.

[0046] The human body is detected by the human body detection device 101, and the power assembly is controlled by the processor to drive the wheel 103 to rotate, thereby realizing the opening and closing of the door.

[0047] In one embodiment, the host 120 further includes: an image acquisition device 104 for acquiring a person image; and the processor is further configured to: control the power assembly to drive the wheel 103 based on a second instruction corresponding to a recognition result of the person image.

[0048] The image of the current scene is collected by the image collection device 104 and sent to the processor, and the processor drives the power component according to the received image of the current scene.

[0049] In this embodiment, the image acquisition device 104 includes a camera 1041. The camera 1041 needs to be able to collect image information with the largest area possible, so in this embodiment, the camera 1041 uses a fisheye lens with a viewing angle of nearly 180°.

[0050] As an example, for example, children are allowed to enter the bathroom, but not the kitchen, pets are not allowed to enter the bedroom, and pets are allowed to enter the balcony, etc. This effectively controls the entry and exit of different people and animals into and out of each room. Setting door opening permissions effectively prevents children from entering and exiting dangerous rooms at will, such as the kitchen, and prevents pets from entering the bedroom and other rooms at will, allowing children to enter the bathroom, and allowing pets to enter the balcony, etc. The acquisition module collects images of people or animals near the door, and the judgment module judges the level of the person, i.e., the elderly, children, adults, etc., and whether the door is opened or closed by an animal, and determines whether to open or close the door according to the set safety level. This effectively realizes the intelligent management of people and animals entering and leaving the room.

[0051] Figure 3 2 is a schematic diagram showing the use of the door opening and closing device according to an exemplary embodiment of the present disclosure.

[0052] In one embodiment, referring to Figure 3 The wireless transceiver is also used to send an unlocking instruction to the smart door lock 200.

[0053] In this embodiment, when the door opening and closing device 100 senses a human target through the human detection device 101, the door opening and closing device 100 controls the smart door lock 200 to unlock through the wireless transceiver regardless of the security level of the person.

[0054] In one embodiment, the host further includes: a human body detection device 101 for detecting a human body object; and an image acquisition device 104 for acquiring a person image when the human body detection device 101 detects a human body object.

[0055] In this embodiment, on the basis of the human detection device 101 sensing the human target, it is also necessary to collect images through the image acquisition device 104, identify the person through the collected image, determine the person's operation authority, and control the power component to drive the wheel 103 according to the judgment result, so as to effectively avoid the danger of the person, such as a child.

[0056] There are many types of sensors for detecting human bodies, such as thermal sensors, ultrasonic sensors, and infrared camera sensors.

[0057] Thermistors are temperature sensing devices that change their own resistance according to changes in ambient temperature. Ultrasonic sensors are sensors that convert ultrasonic signals into other energy signals (usually electrical signals).

[0058] Ultrasonic waves are mechanical waves with a vibration frequency higher than 20kHz. They have the characteristics of high frequency, short wavelength, small diffraction, and especially good directivity, and can be directional propagation as rays. When ultrasonic waves hit impurities or interfaces, they will produce significant reflections to form reflected echoes, and when they hit moving objects, they can produce the Doppler effect. Therefore, ultrasonic waves are emitted to the human body, reflected by the human body, and can sense the movement and distance of the human body.

[0059] Infrared camera sensors use infrared lamps to emit infrared rays to illuminate objects. The infrared rays are diffusely reflected and received by the surveillance camera to form video images.

[0060] In one embodiment, the wireless transceiver is also used to send an unlocking instruction to the smart door lock 200 based on the recognition result and preset permissions.

[0061] According to the recognition result and the preset authority, the smart door lock 200 is controlled to further avoid danger to the person.

[0062] In one embodiment, the host 120 further includes: an infrared light module 1042 for supplementing light to the image acquisition device 104 under dark light conditions.

[0063] In the case of relatively dark ambient light, in order to ensure that the image acquisition device 104 acquires a clear image, an infrared light module 1042 is arranged around the camera 1041 to provide supplementary light for the camera 1041 in a dark environment.

[0064] In addition to the above solutions, you can also use infrared cameras directly, which can also capture clear images under dark conditions. The working principle of infrared cameras is that infrared lamps emit infrared rays to illuminate objects, and the infrared rays are diffusely reflected and received by the surveillance camera to form video images. Infrared cameras have the following characteristics: they are sensitive to temperature, form images based on temperature, and can quantitatively identify temperature data. Visible light is not required, and the image clarity at night is even better than during the day. The response speed is fast, with 50HZ image output per second. The monitoring area is large. When the infrared thermal imaging monitoring head is in working state, it passively detects the infrared heat radiation of all targets in the picture. It has 76,800 detector units and measures the temperature data of 76,800 pixels in the full picture at the same time to form a temperature distribution thermal image. The detection angle is 24° horizontally and 18° vertically. The effective detection area is related to the distance. The infrared thermal imaging monitoring head is a planar array detection device with a very large monitoring area.

[0065] In this embodiment, in order to facilitate capturing of clear images and enable the sensor module (eg, infrared sensor) to effectively sense the approach of a human body, a transparent plate 121 is provided on the housing of the host 120 .

[0066] In one embodiment, the door opening and closing device further includes: an acceleration sensor for monitoring the acceleration of the door opening and closing device; the processor is also used to: when the acceleration detected by the acceleration sensor exceeds a threshold, control the power assembly to drive the wheel 103 to rotate in the opposite direction of the acceleration.

[0067] In one embodiment, the door opening and closing device also includes: an acceleration sensor for monitoring the acceleration of the door opening and closing device; and a damping device for increasing the rotational resistance of the wheel; the processor is also used to: when the acceleration detected by the acceleration sensor exceeds a threshold value, control the damping device to increase the rotational resistance of the wheel 103.

[0068] When braking is required, for example, under the action of strong winds, or when the door is opened and closed with excessive force, the door moves too fast, which causes the door to collide with the door frame, etc. and damage the automatic door. A damping device can be set on the wheel 103 to apply a damping force to the wheel 103. For example, a device similar to a brake pad is installed on the wheel 103 or on the axle to apply a force to the rotation of the wheel 103, so that the rotation speed of the wheel 103 is slowed down. The wheel 103 can also be installed on the bottom plate 130 movably up and down. When braking is required, the wheel 103 is moved downward by the power component to increase the pressure of the wheel 103 on the ground, so as to increase the friction between the wheel and the ground and play a braking role. The power component can also be used to change the direction of the two wheels 103 to make them rotate in the opposite direction, or change the direction of one wheel 103 so that one wheel has an obstructive effect on the wheel on the other side.

[0069] On the basis of the above scheme, when someone opens and closes the door with too much force, for example, when someone is in a hurry to go out or closes the door in a hurry in cold weather, the above damping method will affect the rapid opening and closing of the door. The image acquisition device can collect images to determine whether the door is opened and closed manually, causing the door movement speed to exceed the threshold. If it is determined that the door moves too fast due to human factors, and the acceleration sensor detects that the acceleration of the door movement exceeds the threshold, there is a possibility of damage. Based on the collected images and the acceleration sensor's judgment on the acceleration, the processor controls not to add damping force to the door, or to minimize the damping force.

[0070] Figure 4 is an exploded view illustrating a door opening and closing device according to an exemplary embodiment of the present disclosure.

[0071] In one embodiment, referring to Figure 4 The host 120 also includes: a battery module and a charging interface 123 for charging the battery module.

[0072] In this embodiment, the charging interface 123 is disposed on a wall plate opposite to the host 120 and the bottom plate 130 . When the host 120 is mounted on the bottom plate 130 , the charging interface 123 is not visible from the outside, thereby improving the appearance of the host 120 .

[0073] In one embodiment, a slide rail 131 is disposed on the bottom plate 130 ; a slide groove 122 cooperating with the slide rail 131 is disposed on the host 120 , and the host 120 can be detachably mounted on the bottom plate 130 through the cooperation and connection between the slide rail 131 and the slide groove 122 .

[0074] The cooperation between the slide rail 131 and the slide groove 122 facilitates the assembly and disassembly of the host 120 and the bottom plate 130 .

[0075] In one embodiment, a first terminal 132 is disposed on the base plate 130; a second terminal 124 matching the first terminal 132 is disposed on the host 120. When the host 120 is installed on the base plate 130, the first terminal 132 is connected to the second terminal 124, so that the host 120 is electrically connected to the power component.

[0076] In order to facilitate the good connection between the first terminal 132 and the second terminal 124, in the present embodiment, the slide groove 122 is a structure with one end (lower end) being open and the other end (upper end) being closed, and the connection position between the first terminal 132 and the second terminal 124 is positioned by contacting the closed end with the slide rail 131.

[0077] The automatic door switch device of the above structure disclosed in the present invention can be installed one on each side of the inner and outer sides of the door. When in use, the two wheels 103 rotate in the same direction, making the door opening and closing smoother and the reaction force borne by the automatic door switch device smaller.

[0078] Figure 5 is a flowchart illustrating a control method according to an exemplary embodiment of the present disclosure.

[0079] According to a second aspect of the embodiment of the present disclosure, referring to Figure 5 , provides a control method for an automatic door, which is applied to a door opening and closing device, the door opening and closing device is installed at the bottom end of the door and includes at least a wheel in contact with the ground, the method comprising:

[0080] In step S100, a first instruction is received;

[0081] In step S200, based on the first instruction, the wheels are rotated or braked accordingly.

[0082] When a person approaches the automatic door, the door opening and closing device receives a first instruction, such as opening or closing the door, and drives the wheel to rotate accordingly to open and close the door. Alternatively, the door opening and closing device applies force to the wheel according to the first instruction to brake the wheel. The intelligent control of the automatic door can be realized, and the structure is simple and the volume is small, and it can be applied to the room door of the office or home. The driving device does not need a large torque to drive the automatic door to open and close. The automatic door can be positioned at a specified angle or opening and closing degree.

[0083] In one embodiment, the method further comprises:

[0084] Sense a human target; when a human target is sensed, the wheel is caused to rotate or brake accordingly.

[0085] By sensing human targets, the door can be controlled to open and close. This prevents animals or other factors from causing the door to open and close. This prevents animals from running out of the room or entering a room that is not allowed to enter.

[0086] In one embodiment, the method further comprises:

[0087] Sensing a human target; when a human target is sensed, collecting a person image;

[0088] The character image is sent to the smart terminal or server and a second instruction based on the recognition result of the character image is received; based on the second instruction, the wheel is rotated or braked accordingly.

[0089] Based on the sensing of the human target, an image is captured by the image capture device and the image is sent to the terminal device 300. The captured image is recognized at the terminal device 300, and based on the recognition result, for example, children are allowed to enter the bathroom, a second instruction of "open the door" is sent, and the door opening and closing device drives the wheels to rotate to open the bathroom door. Or based on the recognition result, for example, dogs are not allowed to enter the bedroom, a second instruction of "brake" is sent, and the door opening and closing device drives the wheels to brake and close the bedroom door, or keeps the bedroom door closed so that the dog cannot open the bedroom door.

[0090] In one embodiment, the method further includes: in response to the second instruction, sending an unlocking instruction to the smart door lock to unlock the smart door lock.

[0091] The door lock is unlocked by the terminal device 300. In this embodiment, the terminal device 300 may be a mobile control device or a cloud server, and the mobile control device may be a mobile phone. However, in order to save space in the mobile phone, the door lock and the door opening and closing device may be controlled by the cloud server.

[0092] In one embodiment, the method further includes: sensing a human target; when a human target is sensed, collecting a person image; performing recognition based on the person image; and rotating or braking the wheels accordingly according to the recognition result and preset permissions.

[0093] In one embodiment, the method further includes: sending an unlocking instruction to the smart door lock based on the recognition result and preset authority, so that the smart door lock is unlocked.

[0094] Different from the above embodiment, the image captured by the image acquisition device is not sent to the mobile control device or the cloud server, and the image recognition is performed in the door opening and closing device. According to the recognition result, the door opening and closing device drives the wheel to rotate or brake accordingly, and controls the smart door lock to unlock. The method of this embodiment can be implemented without networking, but it makes the structure of the door opening and closing device complicated.

[0095] Therefore, when connected to the Internet, the wheels and smart door locks can be controlled through a mobile control device or a cloud server. When the network fails, the wheels and smart door locks can be controlled by a door opening and closing device, thereby achieving control of automatic doors and smart door locks at any time and under any network conditions.

[0096] In one embodiment, the method further includes: providing supplementary light by infrared light under dark light conditions.

[0097] By using infrared light to fill in the light, the camera can still capture clear images in dark conditions.

[0098] In one embodiment, the method further comprises: monitoring the acceleration of the door opening and closing device; and when the acceleration exceeds a threshold, rotating the wheel in a direction opposite to the acceleration.

[0099] In one embodiment, the method further comprises: monitoring the acceleration of the device; and when the acceleration exceeds a threshold, increasing the rotational resistance of the wheel by means of a damping device.

[0100] It effectively prevents the automatic door from being damaged by collision between the door and door frame caused by strong wind or excessive force in opening and closing the door.

[0101] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed in this disclosure. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present invention are indicated by the following claims.

[0102] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A door opening and closing device, characterized in that: The door opening and closing device comprises: A bottom plate, the bottom plate is used to be fixed to the bottom of the door close to the ground, and a slide rail is arranged on the bottom plate; Wheels, fixed to the lower end of the bottom plate through brackets, for contacting the ground; a power assembly, disposed on at least one of the base plate and the bracket, for driving the wheel to rotate or brake; and, A host, which is detachably mounted on the bottom plate and electrically connected to the power assembly, is provided with a slide groove that cooperates with the slide rail, and the slide rail and the slide groove are connected to each other so that the host can be detachably mounted on the bottom plate; Wherein, the host comprises: A wireless transceiver, configured to receive a first instruction; and The processor controls the power assembly to drive the wheel based on the first instruction; An image acquisition device, used to acquire images of people, the image acquisition device comprising a camera for acquiring image information over a large area and a judgment module, the judgment module judging the level of a person based on the acquired image information; The processor is also used to control the power assembly to drive the wheel based on a second instruction corresponding to the recognition result of the character image.

2. The door opening and closing device according to claim 1, characterized in that: The host also includes: a human body detection device for detecting a human body object; The processor is also used to: when the human body detection device detects a human object, control the power component to drive the wheel.

3. The door opening and closing device according to claim 1, characterized in that: The wireless transceiver is also used to send an unlocking instruction to the smart door lock.

4. The door opening and closing device according to claim 1, characterized in that: The host also includes: A human body detection device, used to detect a human body object; The image acquisition device is used to acquire the person image when the human body detection device detects a human body object.

5. The door opening and closing device according to any one of claims 1 to 4, characterized in that: The host also includes: The infrared lamp is used to provide supplementary light to the image acquisition device under dark light conditions.

6. The door opening and closing device according to claim 1, characterized in that: The door opening and closing device further comprises: An acceleration sensor, used for monitoring the acceleration of the door opening and closing device; The processor is also used to: when the acceleration detected by the acceleration sensor exceeds a threshold, control the power assembly to drive the wheel to rotate in a direction opposite to the acceleration.

7. The door opening and closing device according to claim 1, characterized in that: The door opening and closing device further comprises: an acceleration sensor, used to monitor the acceleration of the door opening and closing device; and A damping device for increasing the rotational resistance of the wheel; The processor is further configured to: when the acceleration detected by the acceleration sensor exceeds a threshold, control the damping device to increase the rotational resistance of the wheel.

8. The door opening and closing device according to claim 1, characterized in that: The bottom plate is provided with a first terminal; The host is provided with a second terminal that matches the first terminal. When the host is installed on the bottom plate, the first terminal and the second terminal are connected, so that the host is electrically connected to the power component.

9. A method for controlling door opening and closing, characterized in that: Applied to the door opening and closing device according to any one of claims 1 to 8, the method comprises: receiving a first instruction; Based on the first instruction, the wheel is caused to rotate or brake accordingly; Sensing human targets; When a human target is sensed, an image of the person is collected; Sending the person image to a smart terminal or a server and receiving a second instruction based on a recognition result of the person image, wherein the recognition result includes a level of the person; Based on the second instruction, the wheel is rotated or braked accordingly.

10. The method for controlling door opening and closing according to claim 9, characterized in that: The method further comprises: Sensing human targets; When a human target is sensed, the wheels are rotated or braked accordingly.

11. The method for controlling door opening and closing according to claim 9, characterized in that: The method further comprises: In response to the second instruction, an unlocking instruction is sent to the smart door lock to unlock the smart door lock.

12. The method for controlling door opening and closing according to claim 9, characterized in that: The method further comprises: Sensing human targets; When a human target is sensed, an image of the person is collected; Performing recognition based on the person image; According to the recognition result and the preset authority, the wheel is rotated or braked accordingly.

13. The method for controlling door opening and closing according to claim 12, characterized in that: The method further comprises: According to the recognition result and the preset authority, an unlocking instruction is sent to the smart door lock to unlock the smart door lock.

14. The method for controlling door opening and closing according to any one of claims 9 to 13, characterized in that: The method further comprises: Infrared light is used for fill-in lighting in dark conditions.

15. The method for controlling door opening and closing according to claim 9, characterized in that: The method further comprises: monitoring the acceleration of the door opening and closing device; When the acceleration exceeds a threshold, the wheel is rotated in a direction opposite to the acceleration.

16. The method for controlling door opening and closing according to claim 9, characterized in that: The method further comprises: monitoring acceleration of the device; When the acceleration exceeds a threshold, the rotational resistance of the wheel is increased by a damping device.

Images