Automatic door self-learning method and device, computer device and storage medium

Abstract

The application relates to an automatic door self-learning method and device, computer equipment and a storage medium. The method comprises the following steps: S1, acquiring a door closing direction and a door opening direction of an automatic door; S2, acquiring a final door width of the automatic door; S3, driving the automatic door to perform at least one uniform acceleration motion along the door opening direction and / or the door closing direction, acquiring an actual driving force of the automatic door in the process of the uniform acceleration motion, and determining a door opening mass and / or a door closing mass of the automatic door based on the kinetic energy theorem according to the actual driving force, an acceleration distance of the automatic door, a preset maximum door speed and a preset minimum door speed, and determining a final door mass based on the door opening mass and / or the door closing mass. By using the method, various parameters of the automatic door can be comprehensively self-learned, the self-learning efficiency is improved, the control precision of an automatic door controller can be improved, and the installation and maintenance difficulty of the automatic door is reduced.

Description

Technical Field

[0001] This application relates to the field of automatic door technology, and in particular to an automatic door self-learning method, device, computer equipment, and storage medium. Background Technology

[0002] With the continuous development of automation technology, automatic doors are frequently seen in daily life, bringing convenience to all aspects of people's lives. However, compared with ordinary automatic doors, automatic doors in rail transit have their own specific requirements, such as train doors, platform doors, safety doors, and screen doors. These automatic doors have strict requirements for overall safety, smoothness, and reliability.

[0003] In rail transit applications, the parameters of automatic doors are crucial to the control accuracy of their door controllers, directly impacting the safety, smoothness, and reliability of the automatic doors. For example, inaccurate control by the door controller can easily lead to safety issues such as passengers being pinched by the door or incomplete door opening and closing. It can also cause uneven door opening and closing, excessive force that accelerates mechanical wear and further endangers passenger safety, and directly cause delays or premature opening and closing actions. Conventional automatic door controllers generally operate based on preset information. However, in reality, factors such as the motor's installation location, differences in door manufacturing processes, and long-term changes in operating parameters can all lead to discrepancies between actual and preset parameters, affecting the final control effect of the automatic door. Summary of the Invention

[0004] Therefore, it is necessary to provide an automatic door self-learning method, device, computer equipment, and storage medium that can improve the control accuracy of automatic door controllers and reduce the difficulty of automatic door installation and maintenance, in order to address the above-mentioned technical problems.

[0005] Firstly, this application provides a self-learning method for automatic doors, comprising the following steps:

[0006] S1: Obtain the closing and opening directions of the automatic door;

[0007] S2: Get the final door width of the automatic door;

[0008] S3: Determine the final door mass of the automatic door. S3 includes driving the automatic door to perform at least one uniform acceleration motion along the opening direction and / or closing direction and obtaining the actual driving force of the automatic door during the uniform acceleration motion. Based on the kinetic energy theorem, the opening mass and / or closing mass of the automatic door are determined according to the actual driving force, the acceleration distance of the automatic door, the preset maximum door speed, and the preset minimum door speed. The final door mass is determined based on the opening mass and / or closing mass. The acceleration distance and acceleration of the automatic door are obtained based on the displacement formula according to the preset maximum door speed, the preset minimum door speed, and the final door width.

[0009] In one embodiment, step S2 includes: driving the automatic door to move at least once from the initial position along the opening direction and / or closing direction, and acquiring the positional change between the moving position and the initial position during the movement, and recording it as the displacement ΔP. w And based on the displacement ΔP w Determine the final door width of the automatic door, wherein the initial position is either the door open position or the door closed position, and the initial position is opposite to the movement direction of the automatic door.

[0010] In one embodiment, in step S3, the formula for the kinetic energy theorem is:

[0011] mV max 2 -mV min 2 =2(Ff)*S

[0012] Where (Ff) is the actual driving force, F is the motor driving force of the automatic door, f is the frictional force of the automatic door, S is the acceleration distance, and V is the acceleration distance. max For the maximum gate speed, V min Let m be the minimum door speed of the automatic door, and m be the opening or closing mass of the automatic door. The actual driving force is obtained based on the motor driving force and the motion friction force. The motion friction force is obtained based on step S2. The motion in S2 is uniform motion, and the motion friction force is the friction force or average friction force obtained during the uniform motion in S2.

[0013] In one embodiment, in step S3, determining the opening mass and / or closing mass of the automatic door based on the kinetic energy theorem, the actual driving force, the acceleration distance of the automatic door, the preset maximum door speed, and the preset minimum door speed, and determining the final door mass based on the opening mass and / or closing mass includes:

[0014] Based on the kinetic energy theorem, the opening mass corresponding to the opening direction and / or the closing mass corresponding to the closing direction are calculated according to the actual driving force, acceleration distance, maximum door speed and minimum door speed of the automatic door. The reasonableness of the opening mass and / or closing mass is determined based on the deviation between the opening mass and / or closing mass and the corresponding preset mass threshold.

[0015] The final door quality is obtained based on the opening quality and / or closing quality, and the reasonableness of the final door width is determined based on the deviation between the opening quality and closing quality and / or the deviation between the final door quality and the quality threshold.

[0016] In one embodiment, in step S3, driving the automatic door to perform at least one uniformly accelerated motion along the opening direction and / or closing direction and obtaining the actual driving force of the automatic door during the uniformly accelerated motion includes:

[0017] The acceleration distance and acceleration of the uniformly accelerated motion are set based on the final door width and the maximum door speed of the automatic door;

[0018] The automatic door is driven to move with uniform acceleration along the closing direction and / or opening direction by acceleration and acceleration distance, so that the automatic door accelerates to the maximum door speed, wherein the actual driving force of the automatic door is obtained during the uniform acceleration motion.

[0019] In one embodiment, after determining the opening and / or closing mass of the automatic door based on the kinetic energy theorem according to the actual driving force, the acceleration distance of the automatic door, the preset maximum door speed, and the preset minimum door speed, and further determining the final door mass based on the opening and / or closing mass, the method further includes:

[0020] The preset maximum door speed is adjusted based on the final door mass and the maximum kinetic energy of the automatic door.

[0021] In one embodiment, in step S2, based on the displacement ΔP w Determining the final door width of an automatic door includes:

[0022] Through displacement ΔP w Determine the opening width of the automatic door when it is fully open and / or the closing width of the automatic door when it is fully closed, based on the displacement ΔP. w The comparison with the corresponding preset width threshold determines whether the opening width and / or closing width are reasonable;

[0023] The final door width is obtained based on the opening width and / or closing width, and whether the final door width is reasonable is determined based on the deviation between the opening width and the closing width and / or the comparison between the final door width and the width threshold.

[0024] In one embodiment, step S2, during the movement of the automatic door, further includes:

[0025] When the automatic door moves to its sensing position by the position sensor, the position information of the automatic door at this time is recorded. The position information serves as the initial information for position calibration during normal operation of the automatic door, and the sensing position is a fixed position on the movement path of the automatic door.

[0026] In one embodiment, the method further includes: when the automatic door is operating normally, when the automatic door moves to the sensing position by the position sensor, the current position of the automatic door is obtained, and the current position is compared with the position information to determine the movement position deviation of the automatic door: if the movement position deviation is less than a preset deviation threshold, the current position is updated to the position information; otherwise, the abnormal movement position of the automatic door is reported.

[0027] In one embodiment, in step S1, obtaining the closing direction and opening direction of the automatic door includes:

[0028] In the initial state of the automatic door, record the initial position. The motor driving the automatic door rotates in one direction, and the real-time position of the automatic door is recorded. The change in position between the real-time position and the initial position is recorded as the displacement ΔP. D Based on the displacement ΔP of the automatic door D The relationship between the motor and the position threshold, as well as the status of encountering obstacles, determines whether the current rotation direction of the motor is the closing or opening direction of the automatic door.

[0029] If the displacement ΔP D If the displacement is less than or equal to the position threshold and an obstacle is encountered, the current rotation direction of the motor matches the initial movement direction of the automatic door. If the displacement ΔP D If the position is greater than the position threshold and no obstruction is encountered, the current rotation direction of the motor matches the running direction that deviates from the initial state of the automatic door;

[0030] The initial state of an automatic door is either the closed position or the open position.

[0031] In one embodiment, in step S1, obtaining the closing direction and opening direction of the automatic door includes:

[0032] ① Initial inspection: In the initial state of the automatic door, record the initial position P0. The motor driving the automatic door rotates along the first direction, and the real-time position of the automatic door is recorded. The change in position between the real-time position and the initial position P0 is recorded as the displacement ΔP. D0 Based on the displacement ΔP of the automatic door D0 The relationship between the motor and the position threshold, as well as the status of encountering obstacles, determines whether the current rotation direction of the motor is the closing or opening direction of the automatic door.

[0033] If the displacement ΔP D0 If the displacement is less than or equal to the position threshold and an obstacle is encountered, the current rotation direction of the motor matches the initial motion direction of the automatic door. If the displacement ΔP D0 If the position is greater than the position threshold and no obstruction is encountered, the current rotation direction of the motor matches the running direction that deviates from the initial state of the automatic door, and a second check is performed.

[0034] The initial state of the automatic door is either closed or open, and the first direction is either clockwise or counterclockwise.

[0035] ② Secondary inspection: Record the position where the automatic door stops after the initial inspection and denote it as the initial position P1. Drive the motor to rotate in the second direction, which is opposite to the first direction, and record the real-time position of the automatic door. Record the change in position between the real-time position and the initial position P1 as the displacement ΔP. D1 If the displacement ΔP D1 If the position threshold is less than or equal to twice the position threshold, then the second direction of the motor matches the running direction of the automatic door at the initial position P0.

[0036] Secondly, this application provides an automatic door self-learning device, comprising:

[0037] The door direction module is used to obtain the closing and opening directions of the automatic door;

[0038] The door width module is used to drive the automatic door to move at least once at a constant speed from its initial position along the opening direction and / or closing direction, and to acquire the change in position between the automatic door's final position and its initial position during the constant speed movement, which is recorded as the displacement ΔP. w And obtain the kinetic friction force f during uniform motion, and based on the displacement ΔP w Determine the final door width of the automatic door, wherein the initial position is either the door fully open or the door fully closed, and the initial position is opposite to the direction of movement of the automatic door;

[0039] The door mass module is used to drive the automatic door to perform at least one uniform acceleration motion along the opening direction and / or closing direction and to obtain the actual driving force of the automatic door during the uniform acceleration motion. Based on the kinetic energy theorem, the module determines the final door mass of the automatic door according to the actual driving force, the acceleration distance of the automatic door, the preset maximum door speed, and the preset minimum door speed. The actual driving force is obtained based on the motor driving force and the motion friction force f. The acceleration distance and acceleration of the automatic door are obtained based on the displacement formula according to the preset maximum door speed, the preset minimum door speed, and the final door width.

[0040] Thirdly, this application provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the automatic door self-learning method in any of the above embodiments.

[0041] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the automatic door self-learning method in any of the above embodiments.

[0042] The aforementioned automatic door self-learning method, device, computer equipment, and storage medium, by driving the automatic door to open and close, accurately and comprehensively learn the door's opening and closing direction, door width, and door mass parameters. Specifically, it can learn the door's opening and closing method without actually opening and closing the door. It learns the final door width based on uniform motion along the closing and / or opening directions, and learns the final door mass based on the kinetic energy theorem, using uniform acceleration motion along the closing and / or opening directions. Thus, firstly, by simultaneously learning information such as the automatic door's opening and closing direction, door width, and door mass, the comprehensiveness of self-learning is greatly improved, contributing to increased control accuracy of the door controller. Secondly, it reduces the difficulty of manually operating preset parameters, facilitating the installation and maintenance of the automatic door system. Thirdly, through continuous opening and closing processes, the self-learning of door parameters such as opening and closing direction, door width, and door mass can be completed, significantly improving the efficiency of automatic door self-learning. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is an overall flowchart of an automatic door self-learning method in one embodiment;

[0045] Figure 2 This is a flowchart of the door direction self-learning method of an automatic door self-learning method in one embodiment;

[0046] Figure 3 This is a flowchart illustrating the door width self-learning process of an automatic door self-learning method in one embodiment.

[0047] Figure 4 This is a flowchart of the door quality self-learning method of an automatic door self-learning method in one embodiment;

[0048] Figure 5 This is a structural block diagram of an automatic door self-learning device in one embodiment. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0051] It is understood that the terms "first," "second," etc., used in this application may be used to describe various parameters, but these parameters are not limited by these terms. These terms are only used to distinguish one parameter from another.

[0052] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, the term “and / or” as used in this specification includes any and all combinations of the associated listed items.

[0053] In one embodiment, such as Figure 1 As shown, an automatic door self-learning method is provided, including the following steps:

[0054] S1: Obtain the closing and opening directions of the automatic door;

[0055] Specifically, the closing and opening directions of an automatic door are generally determined based on the installation direction of the automatic door and its drive motor. Determining the closing and opening directions means determining the correspondence between the rotation direction of the automatic door's drive motor and the door's opening and closing actions. Preferably, when the closing and opening directions of the automatic door have been preset or self-learned, the closing and opening directions of the automatic door can be directly obtained. Preferably, when the closing and opening directions of the automatic door are unknown, the closing and opening directions of the automatic door are automatically identified by driving the motor to slowly rotate forward or reverse in either the closing or opening state. Specifically, in the closing state, if the motor rotates in the closing direction, it will stall because it cannot move; if it rotates in the opening direction, the motor will rotate normally. In the opening state, if the motor rotates in the opening direction, it will stall because it cannot move; if it rotates in the closing direction, the motor will rotate normally. Based on this characteristic, the closing and opening directions of the automatic door can be identified. Except in cases where the automatic door is disassembled or modified, the closing and opening directions of the automatic door generally only need to be self-learned once, and subsequent self-learning is based directly on the result of the first self-learning.

[0056] S2: Get the final door width of the automatic door;

[0057] Specifically, the final door width can be pre-set or obtained through self-learning; preferably, the final door width of the automatic door is determined by re-learning. Specifically, step S2 includes driving the automatic door from its initial position to move at least once at a constant speed along the opening direction and / or closing direction, and acquiring the positional change between the final position and the initial position during the constant speed movement, which is recorded as the displacement ΔP. w And to obtain the frictional force or average frictional force during uniform motion, based on the displacement ΔP w Determine the final door width of the automatic door, wherein the initial position is either the door fully open or the door fully closed, and the initial position is opposite to the direction of movement of the automatic door;

[0058] Specifically, in this embodiment, the automatic door can be driven to open slowly and uniformly in the opening direction from the closed position, that is, to move from the closed position to the open position, with the initial position being the closed position and the final position being the open position. Alternatively, it can be driven to close slowly and uniformly in the closing direction from the open position, that is, to move from the open position to the closed position, with the initial position being the open position and the final position being the closed position. It can also combine both actions to perform a single uniform opening and closing motion. In this case, the initial position is opposite to the direction of movement of the automatic door; that is, the initial position corresponding to the closing direction is the open position, and the initial position corresponding to the opening direction is the closed position.

[0059] Specifically, during the uniform opening and closing process, the displacement ΔP of the automatic door is determined by detecting the positional change between the final position and the initial position of the automatic door during the uniform motion. w Simultaneously, the frictional force during uniform motion is recorded (this frictional force can be the frictional force recorded during a single uniform motion, or the average frictional force recorded during two or more uniform motions), to prepare for the self-learning of the door's quality, based on the displacement ΔP of the automatic door moving along the opening and closing directions. w To determine the width of an automatic door, one can base it on the displacement ΔP corresponding to the opening or closing direction. w The final door width can also be determined by combining the displacement ΔP of both the opening and closing directions. w The final door width is determined by taking the average value. The displacement can be obtained based on the encoder on the motor, or the displacement sensor or position sensor on the automatic door, to determine the final door width of the automatic door.

[0060] S3: Determine the final door mass of the automatic door. S3 includes driving the automatic door to perform at least one uniform acceleration motion along the opening direction and / or closing direction and obtaining the actual driving force of the automatic door during the uniform acceleration motion. Based on the kinetic energy theorem, the final door mass of the automatic door is determined according to the actual driving force, the acceleration distance of the automatic door, the preset maximum door speed, and the preset minimum door speed. The actual driving force is obtained based on the motor driving force and the motion friction force f. The acceleration distance and acceleration of the automatic door are obtained based on the displacement formula according to the preset maximum door speed, the preset minimum door speed, and the final door width.

[0061] Specifically, in this embodiment, the automatic door can be driven to accelerate uniformly in the opening direction to the maximum door speed while in the closed state, and then decelerate to the fully opened position. Alternatively, it can accelerate uniformly in the closing direction to the maximum door speed while in the opening state, and then decelerate to the fully closed position. It can also combine both actions, performing a single uniform acceleration and deceleration opening / closing motion. In this embodiment, the closed and open states refer to the initial positions being the fully closed and fully opened positions, respectively. During the uniform acceleration opening and closing process, based on the final door width, preset maximum door speed, and preset minimum door speed obtained through self-learning, the acceleration distance and acceleration of the uniform acceleration motion are calculated and set according to the displacement formula. The final door width can also be obtained through previous self-learning. Preferably, the acceleration distance should be less than the final door width, and preferably, it can be two-thirds of the final door width. The preferred acceleration is the acceleration corresponding to this acceleration distance, but it is not limited to this; the acceleration distance can also be one-half or three-quarters of the final door width, and the acceleration can also be set based on this acceleration distance, the maximum door speed, the minimum door speed, etc.

[0062] Specifically, during the uniformly accelerated opening and closing processes, the actual driving force of the automatic door is detected. The actual driving force is obtained based on the motor driving force and the motion friction. Specifically, the actual driving force of the automatic door is obtained by subtracting the motion friction from the motor driving force output by the automatic door's drive motor. Preferably, during the uniform speed opening and closing processes, the average friction force is recorded throughout the entire process. That is, the average friction force during the opening process is used to obtain the opening motion friction force, and the average friction force during the closing process is used to obtain the closing motion friction force. This motion friction force can also be obtained from previous self-learning to facilitate the acquisition of the actual driving force during the separate self-learning of door quality. Based on this, the final door mass of the automatic door is determined according to the kinetic energy theorem, the actual driving force, the acceleration distance of the automatic door, the preset maximum door speed, and the preset minimum door speed. Furthermore, the final door mass can be calculated based on the actual driving force corresponding to the opening or closing direction, or the opening and closing masses can be calculated by averaging the actual driving forces of both the opening and closing directions to determine the final door mass.

[0063] The automatic door self-learning method of this embodiment learns the door's opening and closing direction, width, and mass parameters accurately and comprehensively by driving the automatic door to open and close. It can learn the door's opening and closing method without actually opening or closing the door. The final door width is learned based on uniform motion along the closing and / or opening directions, and the final door mass is learned based on the kinetic energy theorem, using uniform acceleration along the closing and / or opening directions. Thus, firstly, by simultaneously learning the door's opening and closing direction, width, and mass, the comprehensiveness of the self-learning is greatly improved, contributing to the control accuracy of the door controller. Secondly, it reduces the difficulty of manually operating preset parameters, facilitating the installation and maintenance of the automatic door system. Thirdly, by continuously opening and closing the door, the self-learning of door parameters such as opening and closing direction, width, and mass can be completed, greatly improving the efficiency of the automatic door's self-learning.

[0064] Regarding the efficiency of self-learning in this embodiment, the door direction, door width, and door mass can be learned in as little as one door opening and closing process. That is, the door width is obtained by performing one uniform opening motion and the door mass is obtained by performing one uniform acceleration motion. The door direction does not need to be opened and closed. In this way, the self-learning of these three parameters can be completed in one door opening and closing process, which greatly improves efficiency. In addition, in order to ensure a certain degree of self-learning accuracy, the door direction, door width, and door mass can be learned in only two door opening and closing processes. That is, the door width is obtained by performing one uniform opening and closing motion and the door mass is obtained by performing one uniform acceleration motion. The door direction does not need to be opened and closed. In this way, the self-learning accuracy is improved.

[0065] 1) Regarding step S1 above:

[0066] In one embodiment, obtaining the closing and opening directions of the automatic door includes: recording the initial position of the automatic door in its initial state, rotating the motor driving the automatic door in one direction, recording the real-time position of the automatic door, and recording the position change between the real-time position and the initial position as the displacement ΔP. D Based on the displacement ΔP of the automatic door D The relationship between the motor and the position threshold, as well as the status of encountering obstacles, determines whether the current rotation direction of the motor is the closing or opening direction of the automatic door.

[0067] If the displacement ΔP D If the displacement is less than or equal to the position threshold and an obstacle is encountered, the current rotation direction of the motor matches the initial movement direction of the automatic door. If the displacement ΔP DIf the position threshold is greater than the threshold and no obstruction is encountered, the current rotation direction of the motor matches the running direction that deviates from the initial state of the automatic door. The initial state of the automatic door is either the closed position or the open position. The position threshold is usually preset at the factory and is generally small. It is generally understood that the position threshold must be less than the distance the automatic door travels from the closed position to the open position. However, in actual operation, it can also be set separately according to the actual situation.

[0068] Specifically, the displacement ΔP D The displacement is the amount of displacement relative to the initial position of the automatic door in the closed or open state. The displacement can be obtained based on the encoder on the motor or the displacement sensor or position sensor on the automatic door. The determination of encountering an obstacle can be achieved by sensing the sensor or by judging the driving speed and driving current. The driving speed is the speed of the automatic door or the driving speed of the motor, and the driving current is the driving current of the automatic door motor. If the driving speed is less than the preset speed threshold or the driving current is greater than the preset current threshold, it can be considered that an obstacle has been encountered.

[0069] Specifically, when the automatic door is closed, the motor driving the automatic door rotates in one direction. If it is in the closing direction, the automatic door will move a very small distance before encountering an obstacle, i.e., the displacement ΔP. D Within a certain position threshold range, and with the automatic door's drive speed also less than a speed threshold, the automatic door's drive motor stalls, causing its drive current to exceed a current threshold. If the door is in the opening direction, the moving door will not encounter the aforementioned obstacle, meaning the displacement ΔP will be less than the threshold. D If the position value exceeds the aforementioned threshold range, the automatic door's driving speed will also exceed the aforementioned speed threshold, the drive motor will not stall, and its driving current will be less than the aforementioned current threshold. Where the displacement ΔP D If the position is less than or equal to the position threshold and an obstacle is encountered, then that direction is considered the closing direction, and the opening direction is its opposite. Conversely, if the displacement ΔP D If the position is greater than the position threshold and no obstruction is encountered, the direction is identified as the opening direction, and the closing direction is the opposite direction. In this way, the closing direction and the corresponding opening direction of the automatic door can be accurately determined.

[0070] Preferably, in this embodiment, the closing direction is the primary judgment object. The motor driving the automatic door rotates in one direction for an initial test. The change in position between the real-time position of the automatic door and the initial position P0 corresponding to the initial state of the automatic door is recorded as the displacement ΔP. D0 Based on the displacement ΔP of the automatic door D0The relationship between the current position and the position threshold, as well as the presence or absence of an obstacle, determines whether the current direction is the closing direction. If it is, the opposite direction is the opening direction; otherwise, the motor driving the automatic door rotates in another direction for a secondary check. The change in position between the real-time position and the initial position P1 is recorded as the displacement ΔP. D1 The initial position P1 is the position where the movement stops at the end of the first inspection, based on the displacement ΔP of the automatic door. D1 The relationship between the current direction and the position threshold (twice as high as 2), as well as the status of whether an obstacle is encountered, determines whether the direction is the closing direction. If it is, the opposite direction of the current direction is the opening direction; otherwise, a self-learning error is reported.

[0071] Specifically, during the initial inspection, the condition for determining the closing direction is the displacement ΔP. D0 If the position is below a preset threshold and an obstacle is encountered (i.e., the driving speed is less than a preset speed threshold or the driving current is greater than a preset current threshold), the closing direction is determined during the secondary check by the displacement ΔP. D1 The distance is less than twice the position threshold and an obstacle is encountered. Since the automatic door has already moved a certain distance during the first judgment of the closing direction, and this distance exceeds the position threshold, the displacement ΔP during the second judgment of the closing direction will be less than the position threshold. D1 The baseline is based on a position threshold of 2, but obviously, it can also be based on position thresholds of other multiples.

[0072] In this embodiment, for directions that do not meet the closing direction conditions, it can be initially determined that this direction is the opening direction and the other direction is the closing direction. Furthermore, the drive motor rotates in the other direction to re-determine the closing direction conditions, which can verify whether the preliminary determination result is accurate. In this way, the accuracy of the automatic door's self-learning of the opening and closing direction is greatly improved.

[0073] Based on the same principle used to determine the opening and closing direction of an automatic door in its closed state, this embodiment can also, in the open state of the automatic door, have the motor driving the automatic door rotate in one direction: if the displacement is less than a preset position threshold and an obstacle is encountered, then the current rotation direction of the motor is the opening direction, and the opposite direction is the closing direction; conversely, if the displacement is greater than twice the position threshold and an obstacle is encountered, then the current rotation direction of the motor is the opening direction, and the opposite direction is the closing direction. The specific principles are described above and will not be repeated here.

[0074] 2) Regarding step S2 above:

[0075] In one embodiment, based on the displacement ΔP w Determining the final door width of an automatic door includes: using the displacement ΔP wDetermine the opening width of the automatic door when it is fully open and / or the closing width of the automatic door when it is fully closed, based on the displacement ΔP. w The comparison between the opening width and / or closing width and the corresponding preset width threshold determines whether the opening width and / or closing width are reasonable; the final door width is obtained based on the opening width and / or closing width, and the final door width is determined to be reasonable based on the deviation between the opening width and closing width and / or the comparison between the final door width and the width threshold.

[0076] Specifically, the displacement ΔP w The distance an automatic door travels from the open state to the closed state, or from the closed state to the open state, can be measured in real time by a position sensor based on the displacement ΔP of the automatic door. w Through displacement ΔP w The corresponding distance determines the opening width of the door during uniform opening motion and the closing width during uniform closing motion. Furthermore, a preset width threshold for the automatic door is provided, which can be the final door width uploaded from the learning process. If the displacement ΔP... w If the automatic door has already opened to its full position when the width is less than the corresponding width threshold, it indicates that the door width is reasonable and the displacement ΔP will be adjusted accordingly. w Record the opening width as the door width, and conversely, record the displacement ΔP. w If the automatic door fails to open fully when the width exceeds a certain threshold, it indicates an error in the door width self-learning process and an error message will be displayed. This width threshold is set based on the initial actual door width.

[0077] Specifically, the final door width can be obtained based on the opening width and / or closing width. This final door width can be obtained directly from either the opening or closing width, or it can be the average of the opening and closing widths, with the latter being more accurate. Furthermore, the reasonableness of the final door width is simultaneously assessed: it can be determined based on the deviation between the opening and closing widths; if the deviation exceeds the allowable range, the self-learning of the final door width is deemed unreasonable, otherwise, the self-learning is normal. Alternatively, it can be determined based on a comparison between the final door width and a width threshold; if the final door width exceeds the allowable range of the width threshold, the self-learning of the final door width is deemed unreasonable, otherwise, the self-learning is normal.

[0078] In one embodiment, during the uniform motion process, the method further includes: when the automatic door moves to its sensing position by a position sensor, recording the position information of the automatic door at this time, wherein the position information serves as the initial information for position calibration during normal operation of the automatic door, and the sensing position is a fixed position on the movement path of the automatic door.

[0079] Among them, the position sensor is a sensor that senses a fixed position on the path of the automatic door. When the automatic door passes the position sensor during the closing or opening process, the signal will generate a rising edge or a falling edge due to the change in the sensing state. For example, for a laser sensor, there is one sensing state when the automatic door blocks the laser and another sensing state when the automatic door does not block the laser. When the automatic door passes the laser sensor during the closing or opening process, the two states will switch, so that the signal generates a rising edge or a falling edge.

[0080] Specifically, during the uniform opening and closing movements of the automatic door, when the automatic door moves to its sensing position, the position information of the position sensor is recorded. Based on the position information, the position of the automatic door can be calibrated during normal operation. Specifically, the position information is compared with the current position of the automatic door when it passes the sensing position of the position sensor during normal operation to determine the position deviation of the automatic door for position calibration.

[0081] In one embodiment, when the automatic door is operating normally, the position sensor detects when the automatic door moves to the sensing position, obtains the current position of the automatic door, and compares the current position with the position information to determine the movement position deviation of the automatic door: if the movement position deviation is less than a preset deviation threshold, the current position is updated to the position information; otherwise, the movement position of the automatic door is abnormal.

[0082] Specifically, during the normal operation of an automatic door, cumulative positional deviations may occur. This can be corrected by the position sensor. When the automatic door is opening normally, the position sensor detects the rising edge signal when the automatic door moves to the sensing position. It compares the current position of the automatic door with the previously learned position information to determine the positional deviation. If the deviation is less than a preset deviation threshold, it means that the deviation is within a reasonable range, and the current position is updated to the position information to achieve positional correction. Otherwise, it means that the deviation has exceeded the reasonable range, and a position error fault is reported. The same principle applies to the normal closing process of the automatic door, and will not be elaborated further.

[0083] 3) Regarding step S3 above:

[0084] In one embodiment, determining the final door mass of an automatic door based on the kinetic energy theorem, considering the actual driving force, the acceleration distance of the automatic door, the preset maximum door speed, and the preset minimum door speed, includes: calculating the opening mass corresponding to the opening direction and / or the closing mass corresponding to the closing direction based on the actual driving force, acceleration distance, maximum door speed, and minimum door speed of the automatic door using the kinetic energy theorem; determining whether the opening mass and / or closing mass are reasonable based on the deviation between the opening mass and / or closing mass and the corresponding preset mass threshold; obtaining the final door mass based on the opening mass and / or closing mass; and determining whether the final door width is reasonable based on the deviation between the opening mass and closing mass and / or the deviation between the final door mass and the mass threshold.

[0085] Specifically, based on the kinetic energy theorem, the opening mass corresponding to the opening direction and / or the closing mass corresponding to the closing direction are calculated according to the actual driving force, acceleration distance, maximum door speed, and minimum door speed of the automatic door:

[0086] mV max 2 -mV min 2 =2(Ff)*S

[0087] Where (Ff) is the actual driving force, F is the motor driving force of the automatic door, f is the frictional force of the automatic door, S is the acceleration distance, and V is the acceleration distance. max For the maximum gate speed, V min Let m be the minimum door speed of the automatic door, and m be the opening or closing mass. Since the automatic door starts moving from rest, its minimum door speed is zero. Furthermore, based on the deviation between the opening mass and / or closing mass and the corresponding preset mass threshold, if the deviation exceeds the allowable range, the self-learning of the opening or closing mass is determined to be unreasonable; otherwise, the self-learning is normal.

[0088] Preferably, the average frictional force during the entire uniform motion process is detected as the motion frictional force. Specifically, during the uniform door opening and closing processes, the average frictional force during the entire process is recorded. That is, the average frictional force during the door opening process is obtained by averaging the frictional force during the door opening process, and the average frictional force during the door closing process is obtained by averaging the frictional force during the door closing process. This motion frictional force can also be obtained from the previous self-learning process, so as to obtain the actual driving force in the separate self-learning of the door quality.

[0089] Correspondingly, during the uniform acceleration process of the door opening, the opening driving force F of the automatic door motor is recorded. open And combined with the door opening friction force f obtained from the previous uniform door opening motion. open To obtain the actual driving force (F) open -f open), calculate the opening mass m1 according to the above kinetic energy theorem:

[0090] mV max 2 -mV min 2 =2(F open -f open )*S

[0091] Correspondingly, during the uniform acceleration process of closing the door, the closing driving force F of the automatic door motor is recorded. close And combined with the frictional force f obtained from the previous uniform door closing motion, close To obtain the actual driving force (F) close -f close ), calculate the closing mass m2 according to the above kinetic energy theorem:

[0092] mV max 2 -mV min 2 =2(F close -f close )*S

[0093] Specifically, this embodiment can obtain the final door quality based on either the opening quality or the closing quality, or it can determine the final door quality by averaging the opening and closing qualities; the latter is more accurate. Furthermore, the reasonableness of the final door quality is simultaneously judged: it can be determined based on the deviation between the opening and closing qualities; if the deviation exceeds the allowable range, the self-learning of the final door quality is deemed unreasonable, otherwise, the self-learning is normal. Alternatively, it can be determined based on the deviation between the final door quality and a quality threshold; if the deviation exceeds the allowable range, the self-learning of the final door quality is deemed unreasonable, otherwise, the self-learning is normal.

[0094] In one embodiment, driving the automatic door to perform at least one uniformly accelerated motion along the opening direction and / or closing direction and obtaining the actual driving force of the automatic door during the uniformly accelerated motion includes: setting the acceleration distance and acceleration of the uniformly accelerated motion based on the final door width and the maximum door speed of the automatic door; driving the automatic door to perform uniformly accelerated motion along the closing direction and / or opening direction with the acceleration and acceleration distance, so that the automatic door accelerates to the maximum door speed, wherein the actual driving force of the automatic door is obtained during the uniformly accelerated motion; and driving the automatic door to decelerate motion after the automatic door reaches the maximum door speed, until the automatic door is completely closed in the closing direction or completely opened in the opening direction.

[0095] Specifically, this embodiment is based on the displacement calculation formula V max 2 -V min 2=2aS, calculate and set the acceleration distance and acceleration of the uniformly accelerated motion based on the final door width and the preset maximum door speed. The acceleration distance S is preferably set to two-thirds of the final door width, and the corresponding acceleration is determined accordingly.

[0096] Specifically, during the uniform acceleration motion along the closing and opening directions, the automatic door is driven to accelerate uniformly to the maximum door speed, which is two-thirds of the final door width, with constant acceleration and acceleration distance. Then, it begins to decelerate until the door is completely closed or fully open. During the uniform acceleration phase, the driving force output by the motor is obtained by collecting the motor's driving information, and the actual driving force is obtained by combining the motion friction force.

[0097] In one embodiment, after determining the final door mass of the automatic door based on the kinetic energy theorem according to the actual driving force, the acceleration distance of the automatic door, the preset maximum door speed, and the preset minimum door speed, the method further includes: adjusting the preset maximum door speed according to the final door mass and the maximum kinetic energy of the automatic door.

[0098] Specifically, the maximum door speed in this embodiment is optimized based on the door mass. For example, relevant standards for platform screen doors stipulate that the maximum kinetic energy of a sliding door should not exceed 10J, while according to E=mV 2 As shown in / 2, the kinetic energy of a sliding door is related to its mass and speed. Different models of doors have different masses. Generally, this parameter is also preset. Based on the final door mass learned by the above self-learning, after long-term operation and wear, the sliding door mass parameter can be self-learned and updated again. Then, the maximum output door speed is calculated based on the latest sliding door mass to ensure that the sliding door does not exceed the kinetic energy limit during the entire operation.

[0099] This embodiment will now be described in detail with reference to a specific application scenario, but it is not limited thereto.

[0100] Taking subway platform screen doors as an example, the following section explains how the closing direction, width, and quality of the screen doors are achieved using the aforementioned technical solution. Through two opening and closing processes, the parameters of the screen door are accurately and comprehensively learned.

[0101] 1) See Figure 2 The closing direction of the platform screen doors is self-learned.

[0102] a. With the door closed, record the current initial position P0. Drive the motor to rotate slowly clockwise at a fixed speed. Calculate the displacement ΔP0 between the current position and the initial position P0 in real time. When the displacement ΔP0 is within the position threshold range, and its speed is less than the speed threshold, and the current is greater than the current threshold (when encountering an obstacle), it is determined that the clockwise rotation of the motor is the closing direction, and the opposite direction is the opening direction.

[0103] b. If the displacement ΔP0 is greater than the position threshold and no obstacle has been encountered, i.e. the above conditions are not met, it means that the direction is the door opening direction, and then the door stops and the current initial position P1 is recorded.

[0104] c. Drive the motor to rotate slowly counterclockwise at a fixed speed. Calculate the displacement ΔP1 between the current position and the initial position P1 in real time. When the displacement ΔP1 is within twice the position threshold, and the speed is less than the speed threshold, and the current is greater than the current threshold (when encountering an obstacle), it is determined that the counterclockwise rotation of the motor is the closing direction, and the opposite direction is the opening direction; otherwise, it indicates that the self-learning of the closing direction has failed and ends the self-learning process.

[0105] After the shielded door is installed, due to the different installation positions of the motor and the different orientations of the drive wheels, additional parameters need to be set to tell the automatic door controller whether the motor rotation in the forward direction matches the opening or closing action. In this embodiment, through the self-learning process, it can directly know whether the motor needs to rotate in the forward or reverse direction when closing, thus improving the adaptability and convenience of the automatic door controller.

[0106] 2) See Figure 3 Platform screen door width self-learning:

[0107] a. Assuming successful self-learning in the closing direction, perform self-learning in the door width. At this point, the platform screen door is in the closed state, and the self-learning result for the opening door width is initially cleared to 0. The drive motor opens the door slowly at a fixed speed, and the average door opening friction force f is recorded throughout the process. open During the door opening process, the displacement ΔP2 and position sensor signals are monitored in real time until the shielded door is fully open. When a rising edge of the position sensor is detected, the current position is recorded as open_end_up_position for position calibration during normal operation. If the shielded door is fully open when the displacement ΔP2 is less than the door width threshold, it indicates that the door opening width is reasonable and records the door opening width as open_width. Otherwise, if the shielded door is not fully open when the displacement ΔP2 is greater than the door width threshold, it indicates that the door opening width is unreasonable and terminates the self-learning process.

[0108] b. Clear the self-learned door width result to 0. Drive the motor to close the door slowly at a fixed speed, and record the average closing friction force f throughout the process. closeDuring the closing process, the displacement ΔP3 and position sensor signals are monitored in real time until the shielded door is fully closed. When a falling edge of the position sensor is detected, the current position is recorded as open_end_down_position, which is used for position calibration during normal operation. If the shielded door is fully closed when the displacement ΔP3 is less than the door width threshold, it indicates that the closing width is reasonable and records the closing width as close_width. Otherwise, if the shielded door is not fully closed when the displacement ΔP3 is greater than the door width threshold, it indicates that the closing width is unreasonable and terminates the self-learning process.

[0109] c. When both the opening and closing door width self-learning are successful, the final width of the shielded door is calculated as (open_width + close_width) / 2. At the same time, it is checked whether the final door width is within a reasonable range. If the deviation between the opening and closing door width self-learning results is within a reasonable range, the door width self-learning is indicated as successful. Otherwise, the door width self-learning is indicated as failed and the self-learning process ends.

[0110] The results of door width self-learning directly affect the control effect and accuracy of the door, because the curve control of the door controller of the shielded door is determined by the position information. Different positions calculate different speeds and obtain corresponding running curves. Insufficient position accuracy will affect the final effect of the curve.

[0111] In addition, due to the cumulative position deviation during operation, it can be corrected by the position of the open-end_up_positon sensor (i.e., the position sensor). The correction process is as follows: during normal operation, when the door opens and the rising edge of the open-end_up_positon signal appears, the deviation between the current position and the previously self-learned position (open_end_up_positon) is compared to see if it is too large. If the deviation is too large, a position error fault is reported; if the deviation is small, the current position is updated to open_end_up_positon. Similarly, when the door closes and the falling edge of the open-end_up_positon signal appears, the deviation between the current position and the previously self-learned position (open_end_down_positon) is compared to see if it is too large. If the deviation is too large, a position error fault is reported; if the deviation is small, the current position is updated to open_end_down_positon.

[0112] 3) See Figure 4 Platform screen door quality self-learning:

[0113] a. Assuming successful self-learning of door width, proceed with self-learning of door quality, starting with the displacement calculation formula V. max 2 -V min 2=2aS, using the set door quality self-learning speed parameters and door width, calculate the distance and acceleration of the door opening and closing acceleration phase. Drive the motor with a constant acceleration (i.e., constant driving force) to open the shielded door until the maximum door speed V is reached. max When the position is greater than 2 / 3 of the door width, decelerate until the door is fully open. During the uniform acceleration process, record the driving force F. open According to the momentum theorem, mV max 2 -mV min 2 =2(F open -f open )*S, calculate the self-learning result of the door opening quality as m1, and check whether m1 is within a reasonable range. Otherwise, indicate that the door opening quality is unreasonable and end the self-learning process.

[0114] b. Similar to the door opening self-learning process, the motor is driven to close the shielded door with constant acceleration (i.e., constant driving force) until the maximum door speed V is reached. max When the position is greater than 2 / 3 of the door width, decelerate until the door is completely closed. During the uniform acceleration process, record the driving force F. close According to the momentum theorem, mV max 2 -mV min 2 =2(F close -f close )*S, calculate the door opening self-learning quality m2, and check whether m2 is within a reasonable range. Otherwise, indicate that the door closing quality is unreasonable and end the self-learning process.

[0115] c. When both the opening and closing door quality self-learning are successful, the final door quality of the shielded door is calculated as (m1+m2) / 2. At the same time, it is checked whether the final door quality is within a reasonable range. If the deviation between the opening and closing door quality self-learning results is within a reasonable range, the door quality self-learning is indicated as successful. Otherwise, the door quality self-learning is indicated as failed and the self-learning process ends.

[0116] The relevant standards for platform screen doors stipulate that the maximum kinetic energy of a sliding door should not exceed 10J, while according to E=mV 2 As shown in / 2, the kinetic energy of a sliding door is related to its mass and speed. Different models of doors have different masses, and this parameter is usually preset. In this embodiment, the door controller can learn the mass of the shielded door, especially the sliding door. After long-term operation and wear, it can learn and update the sliding door mass parameter again. Then, based on the latest sliding door mass, it calculates the maximum output door speed to ensure that the sliding door does not exceed the kinetic energy limit during the entire operation.

[0117] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0118] Based on the same inventive concept, this application also provides an automatic door self-learning device for implementing the automatic door self-learning method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the automatic door self-learning device provided below can be found in the limitations of the automatic door self-learning method described above, and will not be repeated here.

[0119] In one embodiment, such as Figure 5 As shown, an automatic door self-learning device is provided, comprising:

[0120] Door direction module 10 is used to obtain the closing direction and opening direction of the automatic door;

[0121] The door width module 20 is used to drive the automatic door to move at least once at a constant speed from its initial position along the opening direction and / or closing direction, and to acquire the change in position between the current position and the initial position during the constant speed movement, which is recorded as the displacement ΔP. w And obtain the kinetic friction force f during uniform motion, and based on the displacement ΔP w Determine the final door width of the automatic door, wherein the initial position is either the door fully open or the door fully closed, and the initial position is opposite to the direction of movement of the automatic door;

[0122] The door mass module 30 is used to drive the automatic door to perform at least one uniform acceleration motion along the opening direction and / or closing direction and to obtain the actual driving force of the automatic door during the uniform acceleration motion. Based on the kinetic energy theorem, the module determines the final door mass of the automatic door according to the actual driving force, the acceleration distance of the automatic door, the preset maximum door speed, and the preset minimum door speed. The actual driving force is obtained based on the motor driving force and the motion friction force f. The acceleration distance and acceleration of the automatic door are obtained based on the displacement formula according to the preset maximum door speed, the preset minimum door speed, and the final door width.

[0123] In one embodiment, the door direction module obtains the closing and opening directions of the automatic door by: recording the initial position of the automatic door in its initial state, driving the motor of the automatic door to rotate in one direction, recording the real-time position of the automatic door, and recording the position change between the real-time position and the initial position as the displacement ΔP. D Based on the displacement ΔP of the automatic door D The relationship between the motor's rotation and the position threshold, as well as the presence or absence of an obstacle, determines whether the motor's current rotation direction is the closing or opening direction of the automatic door: if the displacement ΔP D If the displacement is less than or equal to the position threshold and an obstacle is encountered, the current rotation direction of the motor matches the initial movement direction of the automatic door. If the displacement ΔP D If the position threshold is greater than the threshold and no obstruction is encountered, the current rotation direction of the motor matches the running direction that deviates from the initial state of the automatic door; wherein, the initial state of the automatic door is either the closed position or the open position, and the position threshold is less than the distance the automatic door travels from the closed position to the open position.

[0124] In one embodiment, the door direction module obtains the closing and opening directions of the automatic door by: ① Initial verification: In the initial state of the automatic door, the initial position P0 is recorded, the motor driving the automatic door rotates along the first direction, and the real-time position of the automatic door is recorded. The change in position between the real-time position and the initial position P0 is recorded as the displacement ΔP. D0 Based on the displacement ΔP of the automatic door D0 The relationship between the motor's rotation and the position threshold, as well as the presence or absence of an obstacle, determines whether the motor's current rotation direction is the closing or opening direction of the automatic door: if the displacement ΔP D0 If the displacement is less than or equal to the position threshold and an obstacle is encountered, the current rotation direction of the motor matches the initial motion direction of the automatic door. If the displacement ΔP D0 If the position is greater than the position threshold and no obstruction is encountered, the current rotation direction of the motor matches the running direction that deviates from the initial state of the automatic door, and a second check is performed. The initial state of the automatic door is either the closed or open position. The first direction is either clockwise or counterclockwise, and the position threshold is less than the distance the automatic door travels from the closed position to the open position. ② Secondary check: Record the position where the movement stops after the initial check and denote it as the initial position P1. Drive the motor to rotate along the second direction, which is opposite to the first direction. Record the real-time position of the automatic door and record the change in position between the real-time position and the initial position P1 as the displacement ΔP. D1 If the displacement ΔP D1 If the position threshold is less than or equal to twice the position threshold, then the second direction of the motor matches the running direction of the automatic door at the initial position P0.

[0125] In one embodiment, the door width module is based on the displacement ΔP w Determining the final door width of an automatic door includes:

[0126] Through displacement ΔP w Determine the opening width of the automatic door when it is fully open and / or the closing width of the automatic door when it is fully closed, based on the displacement ΔP. w The comparison between the opening width and / or closing width and the corresponding preset width threshold determines whether the opening width and / or closing width are reasonable; the final door width is obtained based on the opening width and / or closing width, and the final door width is determined to be reasonable based on the deviation between the opening width and closing width and / or the comparison between the final door width and the width threshold.

[0127] In one embodiment, during the uniform motion process, the door width module further includes: when the automatic door moves to its sensing position by a position sensor, recording the position information of the automatic door at this time, wherein the position information serves as the initial information for position calibration during normal operation of the automatic door, and the sensing position is a fixed position on the movement path of the automatic door.

[0128] In one embodiment, when the automatic door is operating normally, the position sensor detects when the automatic door moves to the sensing position, obtains the current position of the automatic door, and compares the current position with the position information to determine the movement position deviation of the automatic door: if the movement position deviation is less than a preset deviation threshold, the current position is updated to the position information; otherwise, the movement position of the automatic door is abnormal.

[0129] In one embodiment, the door quality module determines the final door quality of the automatic door based on the kinetic energy theorem, the actual driving force, the acceleration distance of the automatic door, the preset maximum door speed, and the preset minimum door speed. This includes: calculating the opening quality corresponding to the opening direction and / or the closing quality corresponding to the closing direction based on the kinetic energy theorem, the actual driving force, acceleration distance, maximum door speed, and minimum door speed of the automatic door; determining whether the opening quality and / or closing quality are reasonable based on the deviation between the opening quality and / or closing quality and the corresponding preset quality threshold; obtaining the final door quality based on the opening quality and / or closing quality; and determining whether the final door width is reasonable based on the deviation between the opening quality and closing quality and / or the deviation between the final door quality and the quality threshold.

[0130] In one embodiment, the door mass module calculates the opening mass corresponding to the opening direction and / or the closing mass corresponding to the closing direction based on the kinetic energy theorem, according to the actual driving force, acceleration distance, maximum door speed, and minimum door speed of the automatic door. This includes:

[0131] mV max 2 -mV min 2 =2(Ff)*S

[0132] Where (Ff) is the actual driving force, F is the motor driving force of the automatic door, f is the frictional force of the automatic door, S is the acceleration distance, and V is the acceleration distance. max For the maximum gate speed, V min denoted as the minimum door speed of the automatic door, and m as the opening or closing mass.

[0133] In one embodiment, the door mass module drives the automatic door to perform at least one uniform acceleration motion along the opening direction and / or closing direction and obtains the actual driving force of the automatic door during the uniform acceleration motion, including: setting the acceleration distance and acceleration of the uniform acceleration motion based on the final door width and the maximum door speed of the automatic door; driving the automatic door to perform uniform acceleration motion along the closing direction and / or opening direction with the acceleration and acceleration distance, so that the automatic door accelerates to the maximum door speed, wherein the actual driving force of the automatic door is obtained during the uniform acceleration motion; when the automatic door reaches the maximum door speed, driving the automatic door to perform deceleration motion until the automatic door is completely closed in the closing direction or completely open in the opening direction.

[0134] In one embodiment, after the door mass module determines the final door mass of the automatic door based on the kinetic energy theorem according to the actual driving force, the acceleration distance of the automatic door, the preset maximum door speed, and the preset minimum door speed, it further includes: adjusting the preset maximum door speed according to the final door mass and the maximum kinetic energy of the automatic door.

[0135] The modules in the aforementioned automatic door self-learning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0136] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement any of the automatic door self-learning methods described in the above embodiments. For detailed explanations, please refer to the corresponding descriptions of the methods; they will not be repeated here.

[0137] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When executed by a processor, the computer program implements any of the automatic door self-learning methods described in the above embodiments. For detailed explanations, please refer to the corresponding descriptions of the methods, which will not be repeated here.

[0138] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0139] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0140] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. An automatic door self-learning method, characterized in that, Includes the following steps: S1: Obtain the closing and opening directions of the automatic door; S2: Get the final door width of the automatic door; S3: Determine the final door mass of the automatic door. S3 includes driving the automatic door to perform at least one uniform acceleration motion along the opening direction and / or closing direction and obtaining the actual driving force of the automatic door during the uniform acceleration motion. Based on the kinetic energy theorem, the opening mass and / or closing mass of the automatic door are determined according to the actual driving force, the acceleration distance of the automatic door, the preset maximum door speed, and the preset minimum door speed. The final door mass is determined based on the opening mass and / or closing mass. The acceleration distance and acceleration of the automatic door are obtained based on the displacement formula according to the preset maximum door speed, the preset minimum door speed, and the final door width. Step S2 includes: driving the automatic door to move at least once at a constant speed from the initial position along the opening direction and / or closing direction, and acquiring the position change between the final position and the initial position during the constant speed movement, and recording it as the displacement ΔP. w And based on the displacement ΔP w Determine the final door width of the automatic door, wherein the initial position is either the door fully open or the door fully closed, and the initial position is opposite to the direction of movement of the automatic door; In step S3, the formula for the kinetic energy theorem is: mV max 2 -mV min 2 =2(Ff)*S Where (Ff) is the actual driving force, F is the motor driving force of the automatic door, f is the motion friction force of the automatic door, S is the acceleration distance, and V max V is the maximum gate speed. min Let m be the minimum door speed, and m be the opening or closing mass of the automatic door. The actual driving force is obtained based on the motor driving force and the motion friction force. The motion friction force is obtained based on step S2, and the motion friction force is the friction force or average friction force obtained during the uniform motion of S2.

2. The method according to claim 1, characterized in that, In step S3, the opening and / or closing mass of the automatic door is determined based on the kinetic energy theorem, the actual driving force, the acceleration distance of the automatic door, the preset maximum door speed, and the preset minimum door speed. The final door mass is then determined based on the opening and / or closing mass, including: Based on the kinetic energy theorem, the opening mass corresponding to the opening direction and / or the closing mass corresponding to the closing direction are calculated according to the actual driving force, acceleration distance, maximum door speed, and minimum door speed of the automatic door. The reasonableness of the opening mass and / or closing mass is determined based on the deviation between the opening mass and / or closing mass and the corresponding preset mass threshold. The final door quality is obtained based on the opening quality and / or the closing quality, and the reasonableness of the final door width is determined based on the deviation between the opening quality and the closing quality and / or the deviation between the final door quality and the quality threshold.

3. The method according to claim 1 or 2, characterized in that, In step S3, driving the automatic door to perform at least one uniform acceleration motion along the opening direction and / or closing direction and obtaining the actual driving force of the automatic door during the uniform acceleration motion includes: The acceleration distance and acceleration of the uniformly accelerated motion are set based on the final door width and the maximum door speed of the automatic door; The automatic door is driven to make uniform acceleration motion along the closing direction and / or the opening direction with the acceleration and the acceleration distance, so that the automatic door accelerates to the maximum door speed, wherein the actual driving force of the automatic door is obtained during the uniform acceleration motion.

4. The method according to claim 1 or 2, characterized in that, In step S3, after determining the opening and / or closing mass of the automatic door based on the kinetic energy theorem according to the actual driving force, the acceleration distance of the automatic door, the preset maximum door speed, and the preset minimum door speed, and then determining the final door mass based on the opening and / or closing mass, the process further includes: The preset maximum door speed is adjusted based on the final door mass and the maximum kinetic energy of the automatic door.

5. The method according to claim 1, characterized in that, In step S2, based on the displacement ΔP w Determining the final door width of an automatic door includes: Through the displacement ΔP w Determine the opening width of the automatic door when it is fully open and / or the closing width of the automatic door when it is fully closed, and based on the displacement ΔP w The comparison between the opening width and / or closing width and the corresponding preset width threshold determines whether the opening width and / or closing width are reasonable; The final door width is obtained based on the opening width and / or the closing width, and whether the final door width is reasonable is determined based on the deviation between the opening width and the closing width and / or the comparison between the final door width and the width threshold.

6. The method according to claim 1 or 5, characterized in that, In step S2, during the movement of the automatic door, the following further steps are also included: When the automatic door moves to its sensing position by the position sensor, the position information of the automatic door at this time is recorded. The position information is used as the initial information for position calibration when the automatic door is running normally. The sensing position is a fixed position on the movement path of the automatic door.

7. The method according to claim 6, characterized in that, The method further includes: when the automatic door is operating normally, when the position sensor detects that the automatic door has moved to the sensing position, the current position of the automatic door is obtained, and the current position is compared with the position information to determine the movement position deviation of the automatic door: if the movement position deviation is less than a preset deviation threshold, the current position is updated to the position information; otherwise, the abnormal movement position of the automatic door is reported.

8. The method according to claim 1, characterized in that, In step S1, obtaining the closing direction and opening direction of the automatic door includes: In the initial state of the automatic door, record the initial position. The motor driving the automatic door rotates in one direction, and the real-time position of the automatic door is recorded. The change in position between the real-time position and the initial position is recorded as the displacement ΔP. D Based on the displacement ΔP of the automatic door D The relationship between the motor and the position threshold, as well as the status of encountering obstacles, determines whether the current rotation direction of the motor is the closing or opening direction of the automatic door. If the displacement ΔP D If the displacement ΔP is less than or equal to the position threshold and encounters an obstacle, then the current rotation direction of the motor matches the initial movement direction of the automatic door. D If the position is greater than the position threshold and no obstruction is encountered, the current rotation direction of the motor matches the running direction that deviates from the initial state of the automatic door; The initial state of an automatic door is either the closed position or the open position.

9. The method according to claim 1, 2, 5, or 8, characterized in that, In step S1, obtaining the closing direction and opening direction of the automatic door includes: ① Initial inspection: In the initial state of the automatic door, record the initial position P0. The motor driving the automatic door rotates along the first direction, and the real-time position of the automatic door is recorded. The change in position between the real-time position and the initial position P0 is recorded as the displacement ΔP. D0 Based on the displacement ΔP of the automatic door D0 The relationship between the motor and the position threshold, as well as the status of encountering obstacles, determines whether the current rotation direction of the motor is the closing or opening direction of the automatic door. If the displacement ΔP D0 If the displacement ΔP is less than or equal to the position threshold and encounters an obstacle, then the current rotation direction of the motor matches the initial movement direction of the automatic door. D0 If the position is greater than the position threshold and no obstruction is encountered, the current rotation direction of the motor matches the running direction that deviates from the initial state of the automatic door, and a second check is performed. The initial state of the automatic door is either closed or open, and the first direction is either clockwise or counterclockwise. ② Secondary inspection: Record the position where the automatic door stops after the initial inspection and denote it as the initial position P1. Drive the motor to rotate in the second direction, which is opposite to the first direction, and record the real-time position of the automatic door. Record the change in position between the real-time position and the initial position P1 as the displacement ΔP. D1 If the displacement ΔP D1 If the position threshold is less than or equal to twice the threshold value, then the second direction of the motor matches the running direction of the automatic door at the initial position P0.

10. An automatic door self-learning device, characterized in that, include: The door direction module is used to obtain the closing and opening directions of the automatic door; The door width module is used to drive the automatic door to move at least once at a constant speed from its initial position along the opening direction and / or closing direction, and to acquire the position change between the automatic door's final position and its initial position during the constant speed movement, and record it as the displacement ΔP. w And obtain the kinetic friction force f during the uniform motion process, and based on the displacement ΔP w The final door width of the automatic door is determined, wherein the initial position is the door open position or the door closed position and the initial position is opposite to the movement direction of the automatic door; the movement friction force is friction force or average friction force; A door mass module is used to drive an automatic door to perform at least one uniform acceleration motion along the opening direction and / or closing direction and to obtain the actual driving force of the automatic door during the uniform acceleration motion. Based on the kinetic energy theorem, the module determines the opening mass and / or closing mass of the automatic door according to the actual driving force, the acceleration distance of the automatic door, a preset maximum door speed, and a preset minimum door speed. The module also determines the final door mass of the automatic door based on the opening mass and / or closing mass. The actual driving force is obtained based on the motor driving force and the motion friction force f. The acceleration distance and acceleration of the automatic door are obtained based on the displacement formula according to the preset maximum door speed, the preset minimum door speed, and the final door width. The formula for the work-energy theorem: mV max 2 -mV min 2 =2(Ff)*S Where (Ff) is the actual driving force, F is the motor driving force of the automatic door, S is the acceleration distance, and V max V is the maximum gate speed. min Let m be the minimum door speed, and m be the opening or closing mass of the automatic door.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 9.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 9.

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