Multi-door linkage control method based on intelligent wardrobe

Abstract

The present invention provides a multi-door linkage control method based on an intelligent wardrobe. The intelligent wardrobe is provided with multiple doors, and each door is provided with a controller. One of the multiple controllers is the main controller, and the other controllers are slave controllers. The method includes: the main controller sends communication commands to all slave controllers at a preset time interval, and the communication command is a command for the target slave controller to return the first data; the slave controller determines whether it is the target slave controller. If so, the target slave controller returns the first data to each controller, and the first data includes the state of the door controlled by the target slave controller; after receiving the user control signal, the main controller sends the user control signal to each slave controller, and each controller controls the work of the door corresponding to the controller according to the user control signal and the recorded state of the door. In the intelligent wardrobe of the present invention, each door can know the state of each door, so as to avoid the doors sharing the same track position from being opened simultaneously.

Description

Technical Field

[0001] The present invention relates to the field of intelligent furniture, and specifically relates to a multi-door linkage control method based on an intelligent wardrobe. Background Art

[0002] When using an ordinary wardrobe, it is necessary to manually control the opening and closing of its cabinet doors. When some wardrobes have multiple cabinet doors, there is a corresponding relationship between two cabinet doors. Two cabinet doors form a group of cabinet doors, and a group of cabinet doors need to be opened and closed simultaneously. When a user has a large number of clothes, it is very difficult for the user to open all the cabinet doors in a group, and a large number of clothes may not be able to be put into the wardrobe at the same time.

[0003] There is a kind of existing intelligent storage cabinet, which includes a power supply module, a switch module, a programmable control module, a motor, a direction switching module, etc. The user controls the opening or closing of the cabinet door by touching the switch module to output an opening signal and a closing signal.

[0004] However, this intelligent storage cabinet only controls one door. When there are multiple cabinet doors, it cannot control multi-door linkage. When one door is opened, the doors at the positions sharing the same track around this door are not allowed to be opened. If a user signal is received at this time to open the door at the position sharing the same track, the door will be damaged at this time. Summary of the Invention

[0005] The first object of the present invention is to provide a multi-door linkage control method based on an intelligent wardrobe in which each door knows the state of each door.

[0006] To achieve the above first object, the present invention provides a multi-door linkage control method based on an intelligent wardrobe. The intelligent wardrobe is provided with multiple doors, and a controller is provided on each door. One of the multiple controllers is the main controller, and the other controllers are slave controllers. The method includes: the main controller sends a communication command to all slave controllers at a preset time interval. The communication command is a command for the target slave controller to return the first data. When the main controller sends the communication command, it also sends the information of the state of the door it controls. The slave controller judges whether it is the target slave controller. If so, the target slave controller returns the first data to each controller. The first data includes the state of the door controlled by the target slave controller. After receiving the user control signal, the main controller sends the user control signal to each slave controller, and each controller controls the work of the door corresponding to it according to the user control signal and the recorded state of the door.

[0007] As can be seen from the above solution, after the target slave controller receives the communication command sent by the master controller, it will send the data of the status information of the door controlled by the target slave controller to each controller. Each slave controller will receive the communication command that requires itself to return data, so each controller will receive the status information of the doors controlled by each controller; this enables the target slave controller to determine whether it can open the cabinet door based on the status of the doors controlled by each controller. The user control signal is the signal received by the wireless module from the remote control. Each door of the intelligent wardrobe of the present invention knows the status of each door, which can prevent the doors sharing the same track from being opened simultaneously and causing damage to the doors.

[0008] In a further solution, the current controller obtains the status of the doors corresponding to the other controllers, and determines whether the status of the door at the common track position of the door corresponding to the current controller is open or closed; if the status of the door at the common track position of the door corresponding to the current controller is open, the current controller confirms that it cannot open its corresponding door; if the status of the door at the common track position of the door corresponding to the current controller is closed, it is confirmed that its corresponding door can be opened.

[0009] As can be seen, when two doors share a common track position, when one of the doors is open, the other door cannot be opened. One of the controllers will receive the status information of the door sent by the controller of the other door, and determine whether the other door is open. If it is open, it is confirmed that its corresponding door cannot be opened. If the current controller receives the user control signal to open its corresponding door, and the status of the door at the common track position of the door corresponding to the current controller is open, the current controller also does not open its corresponding door.

[0010] In a further solution, the number of doors is more than four, and two of the doors form a group. The controllers on the same group of doors form a group of controllers; a group of controllers controls the same group of doors to open or close simultaneously according to the user control signal sent by the master controller.

[0011] As can be seen, two doors form a group of doors, the controllers on the same group of doors form a group of controllers, and a group of controllers controls the same group of doors to open or close simultaneously according to the user control signal sent by the master controller. When one of the controllers in the current group of doors detects that the status of the door at the common track position of the door corresponding to this controller is open, this controller confirms not to open its corresponding door, and at the same time sends a signal indicating that the door cannot be opened to the other controller of the group of doors. If it receives the user control signal to open this group of doors, the controllers of this group of doors also control the motors of this group not to open this group of doors.

[0012] In a further solution, one controller in a group of controllers acquires the state of the door at the common track position of the door where another controller is located, determines whether the state of the door at the common track position of the door where another controller is located is open or closed. If it is in the open state, it is confirmed that the corresponding door cannot be opened, and information indicating that the group of doors cannot be opened is sent to the other controller.

[0013] Thus, in a group of controllers, one controller can not only acquire the state of the door at the common track position with itself, but also acquire the state of the door at the common track position of the door where another controller is located. If the state of the door at the common track position of the door where another controller is located is open, this group of controllers confirms that the corresponding door cannot be opened, and information indicating that the group of doors cannot be opened is sent to the other controller. If a user control signal is received to open this group of doors, the controller of this group of doors cannot control its corresponding motor to open this group of doors.

[0014] In a further solution, the method further includes: each controller identifies the numbers of the doors, sets the controller of the door with a specific number as the master controller, and sets the other controllers as slave controllers.

[0015] Thus, each controller sets the controller of the door with a specific number as the master controller and the rest as slave controllers by identifying the numbers of the doors.

[0016] In a further solution, before the master controller sends communication commands to all slave controllers at a preset time interval, it also performs: the target controller enters the learning state according to the user control signal; the target controller controls the target motor to rotate, so that the door corresponding to the target motor opens, and records the first Hall pulse number detected in the Hall detection circuit; controls the target motor to rotate, so that the door corresponding to the target motor closes and records the second Hall pulse number detected in the Hall detection circuit; adds the first Hall pulse number and the second Hall pulse number and then calculates the average value, and the average value is the stroke of the door corresponding to the target motor.

[0017] Thus, the main control chip can enter the learning state and record the stroke information of the door during the learning state. The strokes of each door when opening and closing are different. Recording the stroke information of each door prevents each door from hitting when closing or opening, causing great noise.

[0018] In a further solution, the method further includes: recording the Hall feedback time and the third Hall pulse number in the Hall detection circuit; calculating the actual rotation speed of the target motor, and the actual rotation speed is: 60 is divided by the product of the Hall feedback time and the third Hall pulse number to obtain the actual rotation speed. Subtract the set parameter of the target motor from the actual rotation speed to obtain a difference, and adjust according to the difference until the set rotation speed of the target motor is reached.

[0019] It can be seen that during the opening or closing process of the motor control door, the main control chip will record the Hall feedback time for one revolution of the motor in the Hall detection circuit and the number of the third Hall pulses, and then calculate the actual speed and adjust the rotation speed according to the actual speed.

[0020] In a further solution, each controller is respectively connected with a direction setting circuit, and there is a status switch on each direction setting circuit. When the status switch is closed, the target controller detects that the direction setting circuit is a low-level signal, and when the status switch is open, the target controller detects that the direction setting circuit is a high-level signal; when the target controller detects that the direction setting circuit is a high-level signal, it controls the target motor to rotate counterclockwise; before the target controller enters the learning state according to the user control signal, it further includes: after the intelligent wardrobe is powered on, the target controller determines whether the direction setting circuit is a high-level signal. If so, the target controller controls the target motor to rotate counterclockwise until the target motor is blocked; if not, the target controller controls the target motor to rotate clockwise until the target motor is blocked.

[0021] It can be seen that after the motor is installed, due to different installation directions, the rotation directions of each motor for opening the door are different. Therefore, it is necessary to test the rotation direction of the motor for opening the door before use. After the controller is powered on for the first time, the user pulls the door to the half-open state, and the target controller controls the target motor to rotate according to whether the direction setting circuit is a high-level signal.

[0022] In a further solution, after the target controller controls the target motor to rotate counterclockwise until the target motor is blocked, it also performs: determining again whether the direction setting circuit is a high-level signal. If so, record the rotation direction of the target motor for closing its corresponding door as counterclockwise; if not, record the rotation direction of the target motor for closing its corresponding door as clockwise.

[0023] It can be seen that when the target controller controls the target motor to rotate counterclockwise, if the door is in the open state, the user closes the status switch. At this time, the controller detects that the direction setting circuit is a low-level signal; the target controller records the rotation direction of the target motor for closing its corresponding door as clockwise.

[0024] In a further solution, after the target controller controls the target motor to rotate clockwise until the target motor is blocked, it also performs: determining again whether the direction setting circuit is a high-level signal. If not, record the rotation direction of the target motor for closing its corresponding door as clockwise; if so, record the rotation direction of the target motor for closing its corresponding door as counterclockwise.

[0025] It can be seen that when the target controller controls the target motor to rotate clockwise, if the door is in the open state, the user turns on the switch of the direction setting circuit. At this time, the controller detects that the direction setting circuit is a high-level signal; the target controller records that the rotation direction of the target motor when controlling its corresponding door to close is counterclockwise. Brief Description of the Drawings

[0026] Figure 1 is a system structure block diagram of an intelligent wardrobe according to an embodiment of the multi-door linkage method based on an intelligent wardrobe of the present invention.

[0027] Figure 2 is a schematic diagram of the direction setting circuit in an intelligent wardrobe according to an embodiment of the multi-door linkage method based on an intelligent wardrobe of the present invention.

[0028] Figure 3 is a schematic diagram of the door number setting circuit in an intelligent wardrobe according to an embodiment of the multi-door linkage method based on an intelligent wardrobe of the present invention.

[0029] Figure 4 is a schematic structural diagram of an intelligent wardrobe according to an embodiment of the multi-door linkage method based on an intelligent wardrobe of the present invention.

[0030] Figure 5 is a flowchart of detecting the rotation direction of the motor when controlling the door to open according to an embodiment of the multi-door linkage method based on an intelligent wardrobe of the present invention.

[0031] Figure 6 is a flowchart of the intelligent wardrobe entering the learning state according to an embodiment of the multi-door linkage method based on an intelligent wardrobe of the present invention.

[0032] Figure 7 is a flowchart of the motor adjusting the rotation speed according to an embodiment of the multi-door linkage method based on an intelligent wardrobe of the present invention.

[0033] Figure 8 is a flowchart of an embodiment of the multi-door linkage method based on an intelligent wardrobe of the present invention.

[0034] Figure 9 is a flowchart of the controller determining whether the corresponding door can be opened according to an embodiment of the multi-door linkage method based on an intelligent wardrobe of the present invention.

[0035] Figure 10 is a flowchart of the controller determining whether a corresponding group of doors can be opened according to an embodiment of the multi-door linkage method based on an intelligent wardrobe of the present invention.

[0036] The present invention will be further described below with reference to the drawings and embodiments. Detailed Embodiments

[0037] See Figure 1 , Figure 1It is the system structure diagram of the intelligent wardrobe which is an embodiment of the multi-door linkage method based on the intelligent wardrobe of the present invention. The intelligent wardrobe is provided with multiple doors, and a controller is arranged on each door. One of the multiple controllers is the main controller 100, and the other controllers are slave controllers 110. The main controller 100 communicates with the slave controllers 110 through the RS485 circuit 117 and the RS485 circuit 107. The circuit of the main controller 100 includes the main controller 100, the motor drive circuit 101, the motor 105, the opto-isolation circuit 102, the Hall detection circuit 103, the current detection device 104, the wireless module 106, and the RS485 circuit 107. The circuit of the slave controller 110 includes the slave controller 110, the motor drive circuit 111, the motor 115, the opto-isolation circuit 112, the Hall detection circuit 113, the current detection device 114, the wireless module 116, and the RS485 circuit 117. The motors 105 and 115 are brushless DC motors. The wireless module 106 and the wireless module 116 can be 2.4G wireless modules or WIFI wireless modules. The circuit structures of the main controller 100 and the slave controller 110 are the same.

[0038] The main controller 100 receives the user control signal of the wireless module 106, and sends the user control signal to each slave controller. Each controller controls the work of the door corresponding to the controller according to the user control signal and the recorded state of the door. The Hall detection circuit is a Hall sensor. The Hall detection circuit 103 and the Hall detection circuit 113 receive the Hall pulse number and the Hall feedback time when the motor works. The main controller 100 and the slave controller 110 determine the stroke when the door corresponding to the motor opens and closes according to the Hall pulse number when opening and closing the door, and determine the rotation speed of the motor according to the Hall feedback time and the Hall pulse number and the Hall feedback time when the motor rotates one circle. The opto-isolation circuits 102 and 112 can effectively suppress the noise of the signal. The main controller 100 receives the current detected by the current detection circuit 104 for the motor 105, and can judge whether the current is normal to judge whether the motor is blocked. The slave controller 110 receives the current detected by the current detection circuit 114 for the motor 115, and can judge whether the current is normal to judge whether the motor is blocked.

[0039] The user control signal can be the user control signal received by the wireless module received by the main controller, or when the door has been opened or closed, the current controller receives the Hall pulse number detected in the Hall detection circuit. When the door has been opened or closed, at this time the door and the motor are in a non-working state, and the Hall pulse number is 0 at this time. If the Hall pulse number is detected in the Hall detection circuit at this time, it proves that the user has an action of opening or closing the door. The current controller can control the work of the door corresponding to the current controller according to the user control signal and the recorded state of the door. At the same time, the controllers in the same group as the current controller will also control the corresponding doors to work synchronously.

[0040] See Figure 2 , Figure 2 FIG. is a schematic diagram of a direction setting circuit in an intelligent wardrobe according to an embodiment of the multi-door linkage method based on an intelligent wardrobe of the present invention. A resistor R5 and a status switch K5 are connected in series in the direction setting circuit. The first end of the direction setting circuit is connected to the DC voltage VCC, and the other end of the direction setting circuit is connected to the ground terminal. The pin of the controller 1 is connected between the resistor R5 and the status switch K5. When the status switch K5 is closed, the controller 1 detects the level of the ground terminal at this time, so the level status detected by the controller 1 is low level at this time. When the status switch K5 is open, the direction setting circuit is in an open circuit state at this time, and both ends of the resistor R5 are in an equipotential state. At this time, the pin of the controller 1 detects that the level status is high level. The controller 1 determines the rotation direction of the motor by detecting the level status of the direction setting circuit 118. The controller 1 can be any controller in the intelligent wardrobe.

[0041] See Figure 3 , Figure 3 FIG. is a schematic diagram of a door number setting circuit in an intelligent wardrobe according to an embodiment of the multi-door linkage method based on an intelligent wardrobe of the present invention. The door number setting circuit 119 has multiple circuits. The first end of each circuit is connected to the DC power supply VCC, and the other end is connected to the ground terminal. A resistor R1 is also connected in series between the first end of each circuit and the DC power supply VCC. A resistor and a switching device are connected in series in each circuit: resistor R2 is connected in series with switching device K1, resistor R3 is connected in series with switching device K2, resistor R4 is connected in series with switching device K3, and resistor R6 is connected in series with switching device K4. The pin of the controller 1 is connected to the first end of each circuit. The pin is connected to the analog-to-digital converter in the controller 1. The number of circuits depends on the number of doors. The resistance values of resistor R2, resistor R3, resistor R4, and resistor R6 are all different. For example, the resistance value of resistor R2 can be 47K, the resistance value of resistor R3 can be 20K, the resistance value of resistor R4 can be 5.1K, and the resistance value of resistor R6 can be 1K. The controller 1 sets this pin to the analog input mode, receives the voltage of this pin, and converts the voltage into a voltage value through the analog-to-digital converter. Since the resistance values of the resistors in each circuit are all different, when any switch is closed, the voltage value received by the controller 1 is also different. The numerical value of the voltage value at the first end of each circuit is recorded in the controller 1. The voltage value of each circuit corresponds to a door number. When the controller 1 receives the voltage value corresponding to a door number, the controller 1 will record the controlled door as this door number. For example, when the voltage value when K1 is closed corresponds to door number one, and the controller 1 receives the voltage value when K1 is closed, the controller 1 records the controlled door as door number one. If the controller 1 receives the voltage value corresponding to a specific number, the controller 1 can be set as the main controller.

[0042] SeeFigure 4 , Figure 4 It is a schematic structural diagram of an intelligent wardrobe implementing an embodiment of the multi-door linkage method based on the intelligent wardrobe of the present invention. The number of doors of the intelligent wardrobe is more than four, and two of them form a group, and the controls on the doors of the same group constitute a set of controllers. Door 22 and door 23 form a group of doors, and door 21 and door 24 form a group of doors. Door 21 and door 22 share a track position, and door 23 and door 24 share a track position. When door 21 is opened, it moves towards door 22, when door 22 is opened, it moves towards door 21, when door 23 is opened, it moves towards door 24, and when door 24 is opened, it moves towards door 23. Due to the limiting mechanism between door 22 and door 21, when door 22 is opened, door 21 cannot be opened. If door 21 moves towards door 22 at this time, door 21 will be damaged. Similarly, when door 23 is opened, due to the existence of the limiting mechanism, door 24 cannot be opened. If door 24 moves towards door 23 at this time, door 24 will be damaged.

[0043] See Figure 5 , Figure 5 It is a flowchart for detecting the rotation direction of the motor when controlling the door to open in an embodiment of the multi-door linkage method based on the intelligent wardrobe of the present invention. When the motor is installed, the installation direction of each motor may be different, and the rotation direction of the motor when closing the door is not the same. Therefore, the rotation direction when closing the door is judged by the level state of the direction setting circuit. When the target controller detects that the direction setting circuit is a high-level signal, it controls the target motor to rotate counterclockwise.

[0044] After the intelligent wardrobe is powered on, the user pulls the door to a half-open and half-closed state, and then step S61 is executed to judge whether the direction setting circuit is a high-level signal.

[0045] If the direction setting circuit is a high-level signal, step S62 is executed, and the target controller controls the target motor to rotate counterclockwise.

[0046] If the direction setting circuit is a low-level signal, then step S63 is executed, and the target controller controls the target motor to rotate clockwise.

[0047] After the target controller controls the target motor to rotate counterclockwise until the motor is blocked, step S64 is executed, and the target controller judges again whether the direction setting circuit is a high-level signal. If the direction setting circuit is a high-level signal, then step S66 is executed, and the target controller records that the rotation direction of the target motor when controlling its corresponding door to close is counterclockwise. After the target controller controls the target motor to rotate counterclockwise, the user judges whether the door is closed when the target motor rotates counterclockwise. If the door is normally closed, the user does not need to change the state of the state switch on the direction setting circuit.

[0048] If the direction setting circuit is at a low level signal, step S65 is executed, and the target controller records that the rotation direction when the target motor controls its corresponding door to close is clockwise. After the target controller controls the target motor to rotate counterclockwise, the user determines whether the door of the target motor is closed or open. If the door of the target motor is open, the user closes the status switch on the direction setting circuit. At this time, the status switch of the direction setting circuit is closed, so the level signal received by the controller is a low level, and the target controller records that the rotation direction when the target motor controls its corresponding door to close is clockwise.

[0049] After the target controller controls the target motor to rotate clockwise, step S67 is executed, and the target controller determines again whether the direction setting circuit is at a high level signal.

[0050] If the direction setting circuit is at a high level signal, step S68 is executed, and the target controller records that the rotation direction when the target motor controls its corresponding door to close is counterclockwise. After the target controller controls the target motor to rotate clockwise, the user determines whether the door of the target motor is closed or open. If the door of the target motor is open, the user opens the status switch on the direction setting circuit. At this time, the status switch of the direction setting circuit is in the open state, and the controller can detect the high level signal of the direction setting circuit, and the target controller records that the rotation direction when the target motor controls its corresponding door to close is counterclockwise.

[0051] If the direction setting circuit is at a low level signal, step S69 is executed, and the target controller records that the rotation direction when the target motor controls its corresponding door to close is clockwise. After the target controller controls the target motor to rotate clockwise, when the target motor rotates clockwise, the user determines whether the door is closed. If the door is normally closed, the state of the status switch on the direction setting circuit does not need to be changed.

[0052] After recording the rotation direction of the motor, the main control chip receives the user control signal and enters the learning state. The main control chip enters the learning state to learn the travel of the door. Learning the travel information of the door can accurately control when the intelligent wardrobe opens and closes the door, reducing the noise.

[0053] See Figure 6 , Figure 6 is the flowchart of the intelligent wardrobe entering the learning state in the embodiment of the multi-door linkage method based on the intelligent wardrobe of the present invention. First, step S41 is executed, and the target controller enters the learning state according to the user control signal received by the wireless module. After the main control chip enters the learning state, it can learn the travel from the door opening to the door closing. Since the widths of each door are different, the travels from the door opening to the door closing of each door are also different. Therefore, before the initial use, the intelligent wardrobe needs to learn the travels of each door.

[0054] After the master control chip enters the learning state, step S42 is executed to control the target motor to rotate, open the door corresponding to the target motor, and record the first Hall pulse count detected by the Hall detection circuit. The first Hall pulse count is the number of pulses detected by the Hall detection circuit during the door opening process of the motor.

[0055] After step S42 is executed, step S43 is executed to control the target motor to rotate, close the door corresponding to the target motor, and record the second Hall pulse count detected by the Hall detection circuit. The second Hall pulse count is the number of pulses detected by the Hall detection circuit during the door closing process of the motor. Since there will be a slight deviation in the recorded travel for opening and closing the door, the travel of a door is confirmed by the Hall pulse count for opening and the Hall pulse count for closing.

[0056] After step S43 is executed, step S44 is executed. The first Hall pulse count and the second Hall pulse count are added and then averaged. The average value is the travel of the door corresponding to the target motor.

[0057] See Figure 7 , Figure 7 Refer to

[0058] which is the flowchart of the motor speed adjustment in the embodiment of the multi - door linkage method based on the intelligent wardrobe of the present invention. During the use of the intelligent wardrobe, the actual speed is calculated to adjust the speed so that the motor reaches the target speed. First, step S51 is executed to record the Hall feedback time and the third Hall pulse count detected by the Hall detection circuit. The third Hall pulse count is the number of pulses for one revolution of the motor.

[0058] After recording the Hall feedback time and the third Hall pulse count detected by the Hall detection circuit, step S52 is executed to calculate the actual speed of the target motor. The third Hall pulse count is the number of pulses for one revolution of the target motor, and the actual speed of the target motor is 60 divided by the product of the Hall feedback time and the third Hall pulse count.

[0059] After calculating the actual speed of the target motor, step S53 is executed. The actual speed is subtracted from the set parameter of the target motor to obtain a difference, and the target motor speed is adjusted according to the difference. The duty cycle output by the master control chip can be changed through the difference, thereby driving the motor to adjust its own speed. Precise control of the motor speed can make the motor vibrate less, and the vibration of the door is also reduced, without causing excessive noise.

[0060] See Figure 8 , Figure 8 which is the flowchart of the embodiment of the multi - door linkage method based on the intelligent wardrobe of the present invention. First, step S10 is executed, and the main controller sends communication commands to all slave controllers at a preset time interval. The communication command is a command for the target slave controller to return the first data, and when sending the communication command, the main controller also sends the status information of the door corresponding to itself.

[0061] After the master controller sends a communication command to all slave controllers at a preset time, step S11 is executed, and each slave controller determines whether it is the target slave controller. After receiving the communication command sent by the master controller, the slave controller will determine whether it is the target slave controller. The communication command of the master controller contains the address of the target slave controller. When the target slave controller receives the communication command, it compares its own address with the address in the communication command. If they are equal, it proves that it is the target slave controller.

[0062] If the slave controller determines that it is the target slave controller, step S12 is executed, and the target slave controller returns the first data to each controller. The first data returned by the target slave controller includes the status information of the door controlled by the target slave controller. Each slave controller can receive the communication command sent by the master controller, and each slave controller will send the status of the door it controls to each controller, and each controller knows the status of each door.

[0063] After the target slave controller returns the first data to each controller, step S13 is executed. After receiving the user control signal, the master controller sends the user control signal to each slave controller, and each controller controls the work of the door corresponding to it according to the user control signal and the recorded status of the door.

[0064] See Figure 9 , Figure 9 Figure, is the flowchart of the controller in the embodiment of the multi-door linkage method based on the intelligent wardrobe of the present invention to judge whether the corresponding door can be opened. First, step S20 is executed, and the current controller obtains the status of the doors corresponding to the other controllers. When the master controller sends a communication command, the target slave controller will send the status of the door it controls to each controller, so each controller can receive the status of each door.

[0065] After the current controller obtains the status of the doors corresponding to the other controllers, step S21 is executed to judge whether the status of the door at the common track position corresponding to the door of the current controller is open.

[0066] If the status of the door at the common track position corresponding to the door of the current controller is open, step S22 is executed, and the current controller confirms that it cannot open its corresponding door. If the current controller receives a user control signal to open its corresponding door, and the status of the door at the common track position corresponding to the door of the current controller is open, the current controller also does not open its corresponding door.

[0067] In another embodiment, if the state of the door at the common track position corresponding to the current controller is open, and the current controller confirms that the motor cannot open its corresponding door, it also sends a signal indicating that the door cannot be opened to another controller in a group of controllers. Since the door at the common track position corresponding to the current controller is already open, if the door corresponding to the current controller is opened, it may cause damage to the door. If a user control signal is received to open this group of doors, the controllers of this group also control the motors of this group not to open the doors.

[0068] If the state of the door at the common track position corresponding to the current controller is closed, then step S23 is executed, and the current controller confirms that it can open its corresponding door. In another embodiment, if the state of the door at the common track position corresponding to the current controller is closed, the current controller confirms that it can open its corresponding door, and also sends information indicating that the door can be opened to another controller in a group of controllers.

[0069] See Figure 10 , Figure 10 FIG. is a flowchart for a controller in an embodiment of the multi-door linkage method based on an intelligent wardrobe of the present invention to determine whether it can open a corresponding group of doors. First, step S30 is executed, and a controller in a group of controllers obtains the state of the door at the common track position of the door where another controller is located. Among a group of doors, one controller can also obtain the state of the door at the common track position of the door where another controller is located.

[0070] After step S30 is executed, step S31 is executed to determine whether the state of the door at the common track position of the door where another controller is located is open. If it is in the open state, then step S32 is executed, and the current controller confirms that it cannot open its corresponding door. If a user control signal is received to open this group of doors, the controllers of this group also do not open the doors.

[0071] If it is in the closed state, then step S33 is executed, and the current controller can open its corresponding door. If a user control signal is received to open this group of doors, the controllers of this group can open the doors.

[0072] Each door of the intelligent wardrobe of the present invention knows the state of each door, and controls the operation of the doors through user control signals and the recorded door states, preventing the doors sharing a common track from being opened simultaneously and causing damage to the doors.

[0073] The above is only a preferred embodiment of the present invention, but the design concept of the invention is not limited thereto. Without departing from the concept of the present invention, there can be more other equivalent embodiments, and those skilled in the art can make various obvious changes, re-adjustments and substitutions without departing from the protection scope of the present invention.

Claims

1. A multi-door linkage control method based on an intelligent wardrobe, characterized in that: The intelligent wardrobe is provided with multiple doors, and a controller is arranged on each door. One of the multiple controllers is the main controller, and the other controllers are slave controllers; The method includes: The main controller sends communication commands to all the slave controllers at a preset time interval. The communication commands are commands for the target slave controller to return the first data. When the main controller sends the communication commands, it also sends information about the state of the door it controls; The slave controller determines whether it is the target slave controller. If so, the target slave controller sends the first data to each controller. The first data includes the state of the door controlled by the target slave controller; After receiving the user control signal through the wireless module, the main controller sends the user control signal to each slave controller, and each controller controls the work of the door corresponding to it according to the user control signal and the recorded state of the door.

2. The multi-door linkage control method based on an intelligent wardrobe according to claim 1, characterized in that: The current controller obtains the states of the doors corresponding to the other controllers, and determines whether the state of the door at the common track position of the door corresponding to the current controller is open or closed; If the state of the door at the common track position of the door corresponding to the current controller is open, the current controller confirms that its corresponding door cannot be opened; If the state of the door at the common track position of the door corresponding to the current controller is closed, the current controller confirms that its corresponding door can be opened.

3. The multi-door linkage control method based on an intelligent wardrobe according to claim 1, characterized in that: The number of the doors is more than four, and two of the doors form a group. The controllers on the same group of doors form a group of controllers; The group of controllers controls the same group of doors to open or close simultaneously according to the user control signal sent by the main controller.

4. The multi-door linkage control method based on an intelligent wardrobe according to claim 3, characterized in that: One controller in a group of controllers obtains the state of the door at the common track position of the door where another controller is located, and determines whether the state of the door at the common track position of the door where another controller is located is open or closed. If it is in the open state, it confirms that its corresponding door cannot be opened, and sends information that the group of doors cannot be opened to the other controller.

5. The multi-door linkage control method based on an intelligent wardrobe according to any one of claims 1 to 4, characterized in that: The method further includes: each controller identifies the numbers of the doors, sets the controller of the door with a specific number as the main controller, and sets the other controllers as the slave controllers.

6. The multi-door linkage control method based on an intelligent wardrobe according to any one of claims 1 to 4, characterized in that: Before the main controller sends communication commands to all the slave controllers at a preset time interval, it also executes: The target controller enters the learning state according to the user control signal; The target controller controls the rotation of the target motor to open the door corresponding to the target motor, and records the number of first Hall pulses detected in the Hall detection circuit; Control the rotation of the target motor to close the door corresponding to the target motor and record the number of second Hall pulses detected in the Hall detection circuit; Add the number of first Hall pulses and the number of second Hall pulses and then calculate the average value, and the average value is the travel of the door corresponding to the target motor.

7. The multi-door linkage control method based on an intelligent wardrobe according to claim 6, characterized in that: The method further includes: Record the Hall feedback time and the number of third Hall pulses in the Hall detection circuit; Calculate the actual rotation speed of the target motor, and the actual rotation speed is: 60 is divided by the product of the Hall feedback time and the number of third Hall pulses to obtain the actual rotation speed; Subtract the set parameter of the target motor from the actual rotation speed to obtain a difference, and adjust according to the difference until the set rotation speed of the target motor is reached.

8. The multi-door linkage control method based on an intelligent wardrobe according to claim 6, characterized in that: Each of the controllers is respectively connected with a direction setting circuit, and there is a status switch on each direction setting circuit. When the status switch is closed, the target controller detects that the direction setting circuit is a low-level signal, and when the status switch is open, the target controller detects that the direction setting circuit is a high-level signal; When the target controller detects that the direction setting circuit is a high-level signal, it controls the target motor to rotate counterclockwise; Before the target controller enters the learning state according to the user control signal, it further includes: After the intelligent wardrobe is powered on, the target controller determines whether the direction setting circuit is a high-level signal. If so, the target controller controls the target motor to rotate counterclockwise until the target motor is blocked; if not, the target controller controls the target motor to rotate clockwise until the target motor is blocked.

9. The multi-door linkage control method based on an intelligent wardrobe according to claim 8, characterized in that: After the target controller controls the target motor to rotate counterclockwise until the target motor is blocked, it further performs: Determine again whether the direction setting circuit is a high-level signal. If it is, record that the rotation direction of the target motor when controlling its corresponding door to close is counterclockwise; if not, record that the rotation direction of the target motor when controlling its corresponding door to close is clockwise.

10. The multi-door linkage control method based on an intelligent wardrobe according to claim 8, characterized in that: After the target controller controls the target motor to rotate clockwise until the target motor is blocked, it further performs: Determine again whether the direction setting circuit is a high-level signal. If not, record that the rotation direction of the target motor when controlling its corresponding door to close is clockwise; if it is, record that the rotation direction of the target motor when controlling its corresponding door to close is counterclockwise.

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