Method, system and automatic door for judging force direction of automatic door

Abstract

The present invention discloses a method and system for judging the force direction of an automatic door and an automatic door. The judging method includes: a driver drives the automatic door to move, a collection module collects the total number of Hall signals and voltage values of the driver, and a processing module calculates the speed data and current data of the driver according to the collected total number of Hall signals and voltage values. When the present invention is used, the collection module collects the total number of Hall information and voltage values of the motor, and then the processing module calculates the real-time slope value during the movement of the automatic door through conversion. Then, the real-time slope value is respectively compared with the minimum value and the maximum value of the initial slope value. If the real-time slope value is less than the minimum value of the initial slope, the automatic door is subjected to a reverse force. If the real-time slope value is greater than the maximum value of the initial slope, the automatic door is subjected to a co-directional force. Thus, the co-directional and reverse forces acting on the automatic door during the opening and closing movement can be accurately identified, facilitating the control of the movement state of the automatic door.

Description

Technical Field

[0001] The present invention relates to the technical field of the force direction of automatic doors, and specifically to a method and system for judging the force direction of an automatic door and an automatic door. Background Art

[0002] The existing door control system mainly judges the direction of the acting force by the sudden change of current within a certain period. However, in reality, there are many factors affecting the force on the door. For example, the outside air is affected by the bumps and vibrations of vehicles, the unstable changes of air currents, and is prone to false detection phenomena under the influence of wind force and control current jitter, which affects the rotation process of the door body. Therefore, the present invention provides a method and system for judging the force direction of an automatic door and an automatic door to solve the above-mentioned problems. Summary of the Invention

[0003] The purpose of the present invention is to provide a method and system for judging the force direction of an automatic door and an automatic door to solve the problems raised in the above background art.

[0004] To achieve the above purpose, the present invention provides the following technical solutions:

[0005] A method for judging the force direction of an automatic door, the judging method includes: a driver drives the automatic door to move, and an acquisition module acquires the total number of Hall signals and voltage values of the driver. The driver can be a stepping motor, a servo motor or other motors. The driver provided in this application is a DC brushless motor equipped with 3 Hall sensors with a mechanical angle of 120°. The acquisition module includes Hall acquisition and high-speed ADC acquisition. Among them, Hall acquisition can be to capture the total number of Hall signals generated during the movement of the Hall sensor on the driver, capture the pulse width size triggered by the Hall or the PWM control period. The high-speed ADC acquisition can be an ADC with a rate of 8BIT, 12BIT, 14BIT, 16BIT, 1M\2M\5M. The Hall acquisition uses the capture function of a general timer and adopts the edge capture method. The total number of Hall signals per unit time, combined with the number of motor pole pairs and the processor clock frequency, is used to calculate the speed data at the current moment. The high-speed ADC acquisition is a 12BIT, 2M rate high-speed ADC. The sampling resistor R is sent to the ADC channel through a 10-fold operational amplifier and then through an RC filter. The current voltage value is obtained through calculation, and the current data at the current moment is obtained according to Ohm's law I = U / R;

[0006] The processing module calculates the speed data and current data of the driver based on the total number of Hall signals collected and the voltage value, establishes a mathematical model through the data (speed - current), and then calculates the real - time slope value through the mathematical model. The processing module includes a motor drive controller and an MCU. The motor drive controller is used to control the driver, and the MCU is used for speed conversion and current conversion. The value ranges of the speed data and current data in the mathematical model are 1 to Vmax and 0 to Imax;

[0007] Compare the real - time slope value with the initial slope value, and obtain the forces in the same and opposite directions during the movement of the automatic door through the comparison result;

[0008] Before comparing the real - time slope value with the initial slope value, the judgment method further includes: setting a slope preset value, introducing a wind - resistance compensation value to prevent false triggering, and introducing a control jitter compensation value to prevent jitter during the control process. The sum of the slope preset value, the wind - resistance compensation value, and the control jitter compensation value is the initial slope value;

[0009] In the embodiment of the present application, when the driver drives the automatic door to move, the acquisition module acquires the data of the driver. The processing module can obtain the real - time slope value through the mathematical model according to the acquired data, and then compare the real - time slope value with the initial slope value to obtain the forces in the same and opposite directions during the movement of the automatic door;

[0010] Specifically, the speed data provided in the present application is 1 to 2500R / M, using 100R / M as a gradient value to obtain the corresponding current curve, so that 25 gradient points (i.e., 25 real - time slope values) can be obtained, corresponding to fitting 25 step curves.

[0011] As a further solution of the present invention, the digital model is K = V / I, the real - time slope value is Kn = Vn / In, and the judgment method further includes: the initial slope value is K = Knx + Kn1+Kn2;

[0012] It should be noted that Knx is the slope preset value, Kn1 is the control jitter compensation value, Kn2 is the wind - resistance compensation value, and the initial slope value includes the minimum initial slope value and the maximum initial slope value;

[0013] Specifically, Knx provided in the present application is the test data in an ideal environment, that is, the real - time slope value under the conditions of no external force, no wind force, and uniform control. Compare the real - time slope value with the minimum initial slope value and the maximum initial slope value respectively, so as to obtain the forces in the positive and negative directions during the movement of the automatic door.

[0014] As a further solution of the present invention, the minimum value of the initial slope is Kmin = Knx + Kn1min + Kn2min, and the maximum value of the initial slope is Kmax = Knx + Kn1max + Kn2max. The minimum value and the maximum value of the initial slope are used to compare with the real-time slope value, so as to judge the forces in the same and opposite directions during the movement of the automatic door;

[0015] It should be noted that Kn1min is the minimum value of the wind resistance compensation value, Kn2min is the minimum value of the control jitter compensation value, Kn1max is the maximum value of the wind resistance compensation value, and Kn2max is the maximum value of the control jitter compensation value. The value range of the wind resistance compensation value is from 0 to 4 levels of wind force, and the value range of the control jitter compensation value is the fluctuation range value Imin~Imax of the current at the current speed, so as to determine the minimum value and the maximum value of the initial slope. The minimum value and the maximum value of the initial slope are used to compare with the real-time slope value;

[0016] Specifically, Kn1min provided in this application is the wind force of level 1, Kn1max is the wind force of level 4, Kn2min is the minimum fluctuation value of I at a certain V, and Kn2max is the maximum fluctuation value of I at a certain V.

[0017] As a further solution of the present invention, compare the real-time slope value with the minimum value of the initial slope. If the real-time slope value is less than the minimum value of the initial slope, the speed of the driver becomes smaller, the current of the driver becomes larger, and the automatic door is subject to resistance. Then the automatic door is subject to a reverse force, the driver is directly powered off, the movement of the automatic door stops, and the automatic door switches to the manual mode. If the real-time slope value is greater than the minimum value of the initial slope and less than the maximum value of the initial slope, the automatic door continues to move to the target position and then stops;

[0018] Among them, when the automatic door is subject to a reverse force, for the safety consideration during the movement of the automatic door, the driver is directly powered off, the movement of the automatic door stops, and the automatic door switches to the manual mode.

[0019] As a further solution of the present invention, compare the real-time slope value with the maximum value of the initial slope. If the real-time slope value is greater than the maximum value of the initial slope, the speed of the driver becomes larger, the current of the driver becomes smaller, and the automatic door is subject to a co-directional thrust. Then the automatic door is subject to a co-directional force, the driver and the automatic door are braked, the driver is powered off, and the automatic door switches to the manual mode. If the real-time slope value is less than the maximum value of the initial slope and greater than the minimum value of the initial slope, the automatic door continues to move to the target position and then stops;

[0020] Among them, when the automatic door is subject to a co-directional force, for the safety consideration during the movement of the automatic door, after the driver and the automatic door are braked, the driver is powered off, and the automatic door switches to the manual mode.

[0021] As a further solution of the present invention, an embodiment of the present invention provides a system for judging the force direction of an automatic door, which is characterized in that the judging system includes:

[0022] A driver for driving the automatic door to move;

[0023] An acquisition module for acquiring the total number of Hall signals and voltage values of the driver;

[0024] A processing module for obtaining speed data and current data through conversion of the acquired total number of Hall signals and voltage values, then establishing a mathematical model through the data (speed - current), and obtaining a real - time slope value through the established mathematical model;

[0025] By comparing the real - time slope value with the initial slope value, the positive and negative direction forces received during the movement of the automatic door are obtained through the comparison result;

[0026] Before comparing the real - time slope value with the initial slope value, it further includes: setting a slope preset value, introducing a wind - resistance compensation value to prevent false triggering, and introducing a control jitter compensation value to prevent jitter during the control process. The sum of the slope preset value, the wind - resistance compensation value, and the control jitter compensation value is the initial slope value;

[0027] Among them, the driver drives the automatic door to move, the acquisition module acquires the total number of Hall signals and voltage values of the driver, the processing module obtains the speed data and current data of the driver through conversion according to the acquired total number of Hall signals and voltage values, and obtains a real - time slope value through conversion by the mathematical model, and compares the real - time slope value with the initial slope value to obtain the same and opposite direction forces received during the movement of the automatic door;

[0028] It should be noted that the driver can be a stepping motor, a servo motor or other motors. The acquisition module includes Hall acquisition and high - speed ADC acquisition. Among them, Hall acquisition can capture the total number of Hall signals generated during the movement of the Hall sensor on the driver, capture the pulse width size of Hall triggering or the PWM control period. High - speed ADC acquisition can be 8BIT, 12BIT, 14BIT, 16BIT, and the ADC with a rate of 1M\2M\5M. The value ranges of the speed data and current data in the mathematical model are 1~Vmax and 0~Imax. The processing module includes a motor drive controller and an MCU. Among them, the motor drive controller is used to control the driver, and the MCU is used for speed conversion and current conversion;

[0029] Specifically, the driver provided in this application is a DC brushless motor equipped with three 120° mechanical angle Hall sensors. The Hall acquisition uses the capture function of a general timer and adopts the edge capture method. The total number of Hall signals within a unit time, combined with the number of motor pole pairs and the processor clock frequency, is used to calculate the speed data at the current moment. The high-speed ADC acquisition is a 12BIT, 2M rate high-speed ADC. The sampling resistor R is sent to the ADC channel through a 10-fold operational amplifier and then through an RC filter. The current voltage value is obtained through calculation, and the current data at the current moment is obtained according to Ohm's law I = U / R. The speed data provided in this application ranges from 1 to 2500R / M, with 100R / M as a gradient value to obtain the corresponding current curve, thereby obtaining 25 gradient points (i.e., 25 real-time slope values), corresponding to fitting 25 step curves.

[0030] As a further aspect of the present invention, the digital model is K = V / I, and the real-time slope value is Kn = Vn / In. The judgment system further includes: the initial slope value K = Knx + Kn1 + Kn2;

[0031] Among them, Knx is the preset slope value, Kn1 is the control jitter compensation value, Kn2 is the anti-wind force compensation value. The initial slope value includes the minimum initial slope value and the maximum initial slope value. The real-time slope value is compared with the minimum initial slope value and the maximum initial slope value respectively, so as to obtain the positive and negative direction forces acting on the automatic door during the movement process.

[0032] As a further aspect of the present invention, the minimum initial slope value is Kmin = Knx + Kn1min + Kn2min, and the maximum initial slope value is Kmax = Knx + Kn1max + Kn2max. The minimum initial slope value and the maximum initial slope value are respectively used to compare with the real-time slope value;

[0033] Among them, Kn1min is the minimum value of the anti-wind force compensation value, Kn2min is the minimum value of the control jitter compensation value, Kn1max is the maximum value of the anti-wind force compensation value, and Kn2max is the maximum value of the control jitter compensation value, so as to determine the minimum initial slope value and the maximum initial slope value, and the minimum initial slope value and the maximum initial slope value are respectively used to compare with the real-time slope value

[0034] As a further aspect of the present invention, when the real-time slope value is compared with the minimum initial slope value, if the real-time slope value is less than the minimum initial slope value, the automatic door is subjected to a reverse force, the driver is directly powered off, the movement of the automatic door stops, and the automatic door switches to the manual mode. If the real-time slope value is greater than the minimum initial slope value and less than the maximum initial slope value, the automatic door continues to move to the target position and then stops;

[0035] Compare the real-time slope value with the maximum initial slope value. If the real-time slope value is greater than the maximum initial slope value, the automatic door is subjected to a force in the same direction. After the driver brakes, the power is cut off, the movement of the automatic door stops, and the automatic door switches to the manual mode. If the real-time slope value is less than the maximum initial slope value and greater than the minimum initial slope value, the automatic door continues to move to the target position and then stops.

[0036] As a further solution of the present invention, an embodiment of the present invention provides an automatic door, which includes the judgment method and judgment system described in the above embodiment.

[0037] Compared with the prior art, the beneficial effects of the present invention are:

[0038] When the present invention is used, the total number of Hall information and voltage value of the motor are collected by the acquisition module, and then the real-time slope value of the automatic door during the movement is obtained through the conversion of the processing module. Then, the real-time slope value is compared with the minimum and maximum initial slope values respectively. If the real-time slope value is less than the minimum initial slope value, the automatic door is subjected to a reverse force. If the real-time slope value is greater than the maximum initial slope value, the automatic door is subjected to a force in the same direction. Thus, the same and reverse direction forces received by the automatic door during the opening and closing movement can be accurately identified, which is convenient for controlling the movement state of the automatic door. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the logical judgment of the reverse force in a method, system and automatic door for judging the force direction of an automatic door.

[0040] Figure 2 It is a schematic diagram of the logical judgment of the force in the same direction in a method, system and automatic door for judging the force direction of an automatic door.

[0041] Figure 3 It is a schematic diagram of the principle of a method, system and automatic door for judging the force direction of an automatic door.

[0042] Figure 4 It is a schematic diagram of the acquisition module in a method, system and automatic door for judging the force direction of an automatic door. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present invention.

[0044] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0045] In the present invention, the term "exemplary" is used to mean "serving as an example, illustration, or instance". Any embodiment described as "exemplary" in the present invention is not necessarily to be construed as more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use the present invention. In the following description, details are set forth for the purpose of explanation. It should be understood that those of ordinary skill in the art can recognize that the present invention can be practiced without these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of the present invention with unnecessary details. Therefore, the present invention is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.

[0046] Embodiment 1

[0047] Please refer to Figures 1 to 4, an embodiment of the present invention provides a method for judging the force direction of an automatic door. The judging method includes: a driver drives the automatic door to move, and an acquisition module acquires the total number of Hall signals and voltage values of the driver. The driver can be a stepping motor, a servo motor or other motors. The driver provided in this application is a DC brushless motor equipped with 3 Hall sensors with a mechanical angle of 120°. The acquisition module includes Hall acquisition and high-speed ADC acquisition. Among them, Hall acquisition can capture the total number of Hall signals generated during the movement of the Hall sensor on the driver, capture the pulse width size triggered by the Hall or the PWM control period. The high-speed ADC acquisition can be an ADC with rates of 8BIT, 12BIT, 14BIT, 16BIT, 1M\2M\5M. Hall acquisition uses the capture function of the general timer and adopts the edge capture method. The total number of Hall signals per unit time, combined with the number of motor pole pairs and the processor clock frequency, is used to calculate the speed data at the current moment. The high-speed ADC acquisition is a 12BIT, 2M rate high-speed ADC. The sampling resistor R is sent to the ADC channel through a 10-fold operational amplifier and then through an RC filter, and the current voltage value is obtained through calculation. According to Ohm's law I = U / R, the current data at the current moment is obtained;

[0048] The processing module converts the acquired total number of Hall signals and voltage values into the speed data and current data of the driver, establishes a mathematical model through the data (speed - current), and then converts the real-time slope value through the mathematical model. The processing module includes a motor drive controller and an MCU. Among them, the motor drive controller is used to control the driver, and the MCU is used for speed conversion and current conversion. The value ranges of the speed data and current data in the mathematical model are 1 to Vmax and 0 to Imax;

[0049] Compare the real-time slope value with the initial slope value, and obtain the same and opposite direction forces during the movement of the automatic door through the comparison result;

[0050] Before comparing the real-time slope value with the initial slope value, the judging method further includes:

[0051] Set a slope preset value, introduce a wind resistance compensation value to prevent false triggering, and introduce a control jitter compensation value to prevent jitter during the control process;

[0052] The sum of the slope preset value plus the wind resistance compensation value plus the control jitter compensation value is the initial slope value.

[0053] In the embodiment of this application, when the driver drives the automatic door to move, the acquisition module acquires the data of the driver. The processing module can obtain the real-time slope value through the mathematical model according to the acquired data, and then compare the real-time slope value with the initial slope value to obtain the same and opposite direction forces during the movement of the automatic door;

[0054] Specifically, the speed data provided in this application is 1 - 2500 R / M. Using 100 R / M as a gradient value, the corresponding current curve is obtained, so that 25 gradient points (i.e., 25 real-time slope values) can be obtained, and 25 step curves are correspondingly fitted.

[0055] Further, the digital model is K = V / I, and the real-time slope value is Kn = Vn / In. The determination method further includes: the initial slope value is K = Knx + Kn1 + Kn2;

[0056] It should be noted that Knx is the preset slope value, Kn1 is the control jitter compensation value, Kn2 is the anti-wind force compensation value, and the initial slope value includes the minimum initial slope value and the maximum initial slope value;

[0057] Specifically, the Knx provided in this application is the test data in an ideal environment, that is, the real-time slope value under the condition of no external force, no wind force, and controlled uniform speed. The real-time slope value is compared with the minimum initial slope value and the maximum initial slope value respectively, so as to obtain the positive and negative direction forces during the movement of the automatic door.

[0058] Further, the minimum initial slope value is Kmin = Knx + Kn1min + Kn2min, and the maximum initial slope value is Kmax = Knx + Kn1max + Kn2max. The minimum initial slope value and the maximum initial slope value are used to compare with the real-time slope value, so as to judge the same and reverse direction forces during the movement of the automatic door;

[0059] It should be noted that Kn1min is the minimum value of the anti-wind force compensation value, Kn2min is the minimum value of the control jitter compensation value, Kn1max is the maximum value of the anti-wind force compensation value, Kn2max is the maximum value of the control jitter compensation value. The value range of the anti-wind force compensation value is 0 - 4 levels of wind force, and the value range of the control jitter compensation value is the current speed of the current fluctuation range value Imin - Imax, so as to determine the minimum initial slope value and the maximum initial slope value. The minimum initial slope value and the maximum initial slope value are used to compare with the real-time slope value;

[0060] Specifically, the Kn1min provided in this application is 1 level of wind force, Kn1max is 4 levels of wind force, Kn2min is the minimum fluctuation value of I when V is constant, and Kn2max is the maximum fluctuation value of I when V is constant.

[0061] Further, compare the real-time slope value with the minimum initial slope. If the real-time slope value is less than the minimum initial slope, the speed of the driver decreases, the current of the driver increases, and the automatic door is subjected to resistance. Then the automatic door is subjected to a reverse force, the driver is directly powered off, the movement of the automatic door stops, and the automatic door switches to the manual mode. If the real-time slope value is greater than the minimum initial slope and less than the maximum initial slope, the automatic door continues to move to the target position and then stops;

[0062] Among them, when the automatic door is subjected to a reverse force, for the safety consideration during the movement of the automatic door, the driver is directly powered off, the movement of the automatic door stops, and the automatic door switches to the manual mode.

[0063] Further, compare the real-time slope value with the maximum initial slope. If the real-time slope value is greater than the maximum initial slope, the speed of the driver increases, the current of the driver decreases, and the automatic door is subjected to a co-directional thrust. Then the automatic door is subjected to a co-directional force, the driver and the automatic door are braked, the driver is powered off, and the automatic door switches to the manual mode. If the real-time slope value is less than the maximum initial slope and greater than the minimum initial slope, the automatic door continues to move to the target position and then stops;

[0064] Among them, when the automatic door is subjected to a co-directional force, for the safety consideration during the movement of the automatic door, after the driver and the automatic door are braked, the driver is powered off, and the automatic door switches to the manual mode.

[0065] Embodiment 2

[0066] Combined with other aspects of the present invention, an embodiment of the present invention provides a system for judging the force direction of an automatic door, which is characterized in that the judging system includes:

[0067] A driver for driving the automatic door to move;

[0068] An acquisition module for acquiring the total number of Hall signals and voltage values of the driver;

[0069] A processing module for obtaining speed data and current data by converting the acquired total number of Hall signals and voltage values, and then establishing a mathematical model through the data (speed - current), and obtaining a real-time slope value through the established mathematical model;

[0070] Compare the real-time slope value with the initial slope value, and obtain the positive and negative direction forces acting on the automatic door during the movement through the comparison result;

[0071] Before comparing the real-time slope value with the initial slope value, it further includes:

[0072] Set a slope preset value, introduce a wind resistance compensation value to prevent false triggering, and introduce a control jitter compensation value to prevent jitter during the control process;

[0073] The sum value of the slope preset value plus the wind resistance compensation value plus the control jitter compensation value is the initial slope value;

[0074] Among them, the driver drives the automatic door to move. The acquisition module acquires the total number of Hall signals and the voltage value of the driver. The processing module converts the acquired total number of Hall signals and voltage value into the speed data and current data of the driver, and obtains the real-time slope value through mathematical model conversion. The real-time slope value is compared with the initial slope value to obtain the forces acting on the automatic door in the same and opposite directions during the movement;

[0075] It should be noted that the driver can be a stepping motor, a servo motor or other motors. The acquisition module includes Hall acquisition and high-speed ADC acquisition. Among them, Hall acquisition can capture the total number of Hall signals generated during the movement of the Hall sensor on the driver, capture the pulse width size triggered by the Hall or the PWM control period. The high-speed ADC acquisition can be an ADC with 8BIT, 12BIT, 14BIT, 16BIT, 1M\2M\5M rate. The value ranges of the speed data and current data in the mathematical model are 1~Vmax and 0~Imax. The processing module includes a motor drive controller and an MCU. Among them, the motor drive controller is used to control the driver, and the MCU is used for speed conversion and current conversion;

[0076] Specifically, the driver provided in this application is a DC brushless motor equipped with 3 120° mechanical angle Hall sensors. The Hall acquisition uses the capture function of the general timer and adopts the edge capture method. The total number of Hall signals within a unit time, combined with the number of motor pole pairs and the processor clock frequency, is used to calculate the speed data at the current moment. The high-speed ADC acquisition is a 12BIT, 2M rate high-speed ADC. The sampling resistor R is sent to the ADC channel through a 10-fold operational amplifier and then through an RC filter. The current voltage value is obtained through calculation. According to Ohm's law I = U / R, the current data at the current moment is obtained. The speed data provided in this application is 1~2500R / M, and 100R / M is used as a gradient value to obtain the corresponding current curve, so that 25 gradient points (i.e., 25 real-time slope values) can be obtained, corresponding to fitting 25 step curves.

[0077] Furthermore, the digital model is K = V / I, the real-time slope value is Kn = Vn / In, and the judgment system further includes: the initial slope value is K = Knx + Kn1 + Kn2;

[0078] Among them, Knx is the preset slope value, Kn1 is the control jitter compensation value, and Kn2 is the wind resistance compensation value. The initial slope value includes the minimum initial slope value and the maximum initial slope value. The real-time slope value is compared with the minimum initial slope value and the maximum initial slope value respectively, so as to obtain the positive and negative direction acting forces during the movement of the automatic door.

[0079] Further, the minimum initial slope value is Kmin = Knx + Kn1min + Kn2min, and the maximum initial slope value is Kmax = Knx + Kn1max + Kn2max. The minimum initial slope value and the maximum initial slope value are respectively used to compare with the real-time slope value;

[0080] Among them, Kn1min is the minimum value of the wind resistance compensation value, Kn2min is the minimum value of the control jitter compensation value, Kn1max is the maximum value of the wind resistance compensation value, and Kn2max is the maximum value of the control jitter compensation value, so as to determine the minimum initial slope value and the maximum initial slope value, and the minimum initial slope value and the maximum initial slope value are respectively used to compare with the real-time slope value.

[0081] Further, when comparing the real-time slope value with the minimum initial slope value, if the real-time slope value is less than the minimum initial slope value, the automatic door is subjected to a reverse force, the driver is directly powered off, the movement of the automatic door stops, and the automatic door switches to the manual mode. If the real-time slope value is greater than the minimum initial slope value and less than the maximum initial slope value, the automatic door continues to move to the target position and then stops;

[0082] When comparing the real-time slope value with the maximum initial slope value, if the real-time slope value is greater than the maximum initial slope value, the automatic door is subjected to a co-directional force, the driver brakes and then is powered off, the movement of the automatic door stops, and the automatic door switches to the manual mode. If the real-time slope value is less than the maximum initial slope value and greater than the minimum initial slope value, the automatic door continues to move to the target position and then stops.

[0083] Embodiment 3

[0084] Combined with various other aspects of the present invention, the embodiments of the present invention provide an automatic door, which includes the judgment method and judgment system described in the above embodiments.

[0085] The above is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent replacements or changes, and should be covered by the protection scope of the present invention.

Claims

1. A method for judging the force direction of an automatic door, characterized in that, the judging method includes: The driver drives the automatic door to move, and the acquisition module acquires the total number of Hall signals and voltage values of the driver; The processing module converts the acquired total number of Hall signals and voltage values to obtain the speed data and current data of the driver, establishes a mathematical model through the speed and current data, and then converts the real-time slope value through the mathematical model; Compare the real-time slope value with the initial slope value, and obtain the same or opposite direction forces during the movement of the automatic door through the comparison result; Before comparing the real-time slope value with the initial slope value, the judging method further includes: Set a slope preset value; Introduce a wind force compensation value to prevent mis-triggering; Introduce a control jitter compensation value to prevent jitter during the control process; The sum of the slope preset value plus the wind force compensation value plus the control jitter compensation value is the initial slope value; The mathematical model is K = V / I, the real-time slope value is Kn = Vn / In, and the judging method further includes: the initial slope value is K = Knx + Kn1 + Kn2; Wherein, Knx is the slope preset value, Kn1 is the control jitter compensation value, Kn2 is the wind force compensation value, the initial slope value includes the minimum initial slope value and the maximum initial slope value, compare the real-time slope value with the minimum initial slope value and the maximum initial slope value respectively, the minimum initial slope value is Kmin = Knx + Kn1min + Kn2min, the maximum initial slope value is Kmax = Knx + Kn1max + Kn2max, Kn1min is the minimum value of the wind force compensation value, Kn2min is the minimum value of the control jitter compensation value, Kn1max is the maximum value of the wind force compensation value, Kn2max is the maximum value of the control jitter compensation value, the minimum initial slope value and the maximum initial slope value are used to compare with the real-time slope value to judge the same or opposite direction forces during the movement of the automatic door.

2. The method for judging the force direction of an automatic door according to claim 1, characterized in that, When comparing the real-time slope value with the minimum initial slope value, if the real-time slope value is less than the minimum initial slope value, the automatic door is subjected to a reverse force, the driver is directly powered off, the movement of the automatic door stops, and the automatic door switches to the manual mode. If the real-time slope value is greater than the minimum initial slope value and less than the maximum initial slope value, the automatic door continues to move to the target position and then stops.

3. The method for judging the force direction of an automatic door according to claim 1 or 2, characterized in that, When comparing the real-time slope value with the maximum initial slope value, if the real-time slope value is greater than the maximum initial slope value, the automatic door is subjected to a same-direction force, the driver and the automatic door are braked, the driver is powered off, and the automatic door switches to the manual mode. If the real-time slope value is less than the maximum initial slope value and greater than the minimum initial slope value, the automatic door continues to move to the target position and then stops.

4. An automatic door force direction judging system according to the automatic door force direction judging method described in any one of claims 1-3, characterized in that, This judging system includes: A driver for driving an automatic door to move; An acquisition module for acquiring the total number of Hall signals and voltage values of the driver; A processing module for obtaining speed data and current data through conversion of the acquired total number of Hall signals and voltage values, then establishing a mathematical model based on the speed and current data, and obtaining a real-time slope value through the established mathematical model; Comparing the real-time slope value with the initial slope value, and obtaining the forces in the same and opposite directions during the movement of the automatic door based on the comparison result; Before comparing the real-time slope value with the initial slope value, it further includes: Setting a slope preset value; Introducing a wind force compensation value to prevent false triggering; Introducing a control jitter compensation value to prevent jitter during the control process; The sum of the slope preset value, the wind force compensation value, and the control jitter compensation value is the initial slope value.

5. An automatic door force direction judgment system according to claim 4, characterized in that the mathematical model is K = V / I, the real-time slope value is Kn = Vn / In, and the judgment system further includes: the initial slope value is K = Knx + Kn1 + Kn2 where Knx is the slope preset value, Kn1 is the control jitter compensation value, Kn2 is the wind force compensation value, the initial slope value includes an initial slope minimum value and an initial slope maximum value, the initial slope minimum value is Kmin = Knx + Kn1min + Kn2min, the initial slope maximum value is Kmax = Knx + Kn1max + Kn2max, the initial slope minimum value and the initial slope maximum value are respectively used to compare with the real-time slope value, Kn1min is the minimum value of the wind force compensation value, Kn2min is the minimum value of the control jitter compensation value, Kn1max is the maximum value of the wind force compensation value, Kn2max is the maximum value of the control jitter compensation value, so as to determine the initial slope minimum value and the initial slope maximum value, and the initial slope minimum value and the initial slope maximum value are respectively compared with the real-time slope value to compare the real-time slope value with the initial slope minimum value and the initial slope maximum value respectively, thereby obtaining the forces in the same and opposite directions during the movement of the automatic door.

6. An automatic door force direction judgment system according to claim 5, characterized in that When comparing the real-time slope value with the initial slope minimum value, if the real-time slope value is less than the initial slope minimum value, the automatic door is subjected to a reverse force, the driver is directly powered off, the movement of the automatic door stops, and the automatic door switches to the manual mode; if the real-time slope value is greater than the initial slope minimum value and less than the initial slope maximum value, the automatic door continues to move to the target position and then stops; When comparing the real-time slope value with the initial slope maximum value, if the real-time slope value is greater than the initial slope maximum value, the automatic door is subjected to a same-direction force, the driver and the automatic door are braked, the driver is powered off, and the automatic door switches to the manual mode; if the real-time slope value is less than the initial slope maximum value and greater than the initial slope minimum value, the automatic door continues to move to the target position and then stops.

7. An automatic door, characterized in that Including the method for judging the force direction of the automatic door according to any one of claims 1-3 or the system for judging the force direction of the automatic door according to any one of claims 4-6.

Images