Automatic control method and device for smart door

Abstract

The application discloses an automatic control method and device of an intelligent door. In the control of the opening and closing of the intelligent door, based on the sensors, cameras and the like on the door frame and the top of the door leaf, data such as height data and image data in the preset anti-collision clamping area range matched with the control direction of the intelligent door, such as the opening direction or the closing direction, is collected. If it is judged according to the corresponding data of the intelligent door that there is a target object, such as a person, a pet, a chair and the like, in the preset anti-collision clamping area range, the real-time position and other parameters of the target object are determined automatically according to the corresponding data of the intelligent door, and then the intelligent door is controlled to stop closing or stop opening or slow down the opening and closing movement speed. Further, a prompt that the intelligent door may collide with a person, a pet, a chair and the like can be output, the occurrence of the collision with a person and the clamping of a person in the opening and closing process can be reduced, and even the occurrence of the collision of the intelligent door with a hard object and the damage caused by the collision can be reduced.

Description

Technical Field

[0001] This invention relates to the field of intelligent door control technology, and in particular to an automatic control method and device for intelligent doors. Background Technology

[0002] With the rapid development of IoT technology and social progress, the intelligence of smart doors on the market has also improved to some extent. However, regardless of the progress, improvements are still mainly focused on theft prevention, and most of the switches used are still mechanical switches, which can easily lead to people being bumped or trapped during the opening and closing process. Therefore, it is particularly important to propose a technical solution to reduce the occurrence of bumping or trapping people during the opening and closing process. Summary of the Invention

[0003] This invention provides an automatic control method and device for smart doors, which can reduce the occurrence of people being hit or trapped during the opening and closing of doors.

[0004] To address the aforementioned technical problems, the first aspect of this invention discloses an automatic control method for an intelligent door, the method comprising:

[0005] During the process of controlling the opening and closing of the smart door, data is collected by the data collector corresponding to the smart door within a preset anti-collision clamp area that matches the control direction of the smart door. The control direction of the smart door includes the opening direction or the closing direction.

[0006] Based on the collected data corresponding to the smart door, it is determined whether there is a target object within the preset anti-collision clip area. The type of the target object includes movable object type and / or immovable object type.

[0007] When the existence of the target object is determined, the parameters of the target object are determined based on the data corresponding to the smart door collected, and the smart door is controlled according to the parameters of the target object. The parameters of the target object include the real-time position of the target object.

[0008] As an optional implementation, in the first aspect of the present invention, the step of performing control operations on the smart door according to the parameters of the target object includes:

[0009] Based on the parameters of the target object, detect whether the current conditions of the smart door meet the pre-determined standby conditions of the smart door's drive components;

[0010] When the conditions are met, the drive unit of the smart door is put into standby mode, and the movement speed of the smart door is controlled according to the parameters of the target object. The output device of the smart door is also controlled to output a collision warning to the movable object to prevent the smart door from colliding with the target object.

[0011] As an optional implementation, in the first aspect of the present invention, the method further includes:

[0012] During the process of controlling the output device of the smart door to output the collision clip prompt, it is determined whether the smart door is subjected to external force. When the determination result is yes, the type of external force subjected to the smart door is determined according to the data corresponding to the smart door collected.

[0013] When the type is used to indicate that the external force on the smart door is applied by a movable object, the direction of the external force on the smart door is determined. When the direction is used to indicate that the smart door is subjected to an external force in the same direction as the control direction of the smart door, the external force intervention situation is monitored, and according to the external force intervention situation, the drive component of the smart door is controlled to drive the smart door to perform an operation that matches the control direction.

[0014] The step of controlling the drive component of the smart door to perform an operation matching the control direction based on the external force intervention includes:

[0015] When the control direction is the opening control direction of the smart door, and when the external force intervention situation is used to indicate the stopping time of monitoring the external force intervention, and when the duration of the external force intervention stopping is greater than or equal to a first preset duration or when the smart door is subjected to an external force opposite to the control direction, the drive component of the smart door is controlled to drive the smart door to close.

[0016] When the control direction is the closing control direction of the smart door and when the external force intervention situation is used to indicate that the external force has stopped intervening, the drive component of the smart door is controlled to drive the smart door to close, so that the smart door is closed and locked.

[0017] As an optional implementation, in the first aspect of the present invention, the method further includes:

[0018] When the direction is used to indicate that the smart door is subjected to an external force opposite to the control direction of the smart door and the control direction is the opening control direction of the smart door, the drive component controlling the smart door drives the smart door to close.

[0019] When the direction is used to indicate that the smart door is subjected to an external force opposite to the control direction of the smart door and the control direction is the closing control direction of the smart door, the stopping time of the external force intervention is monitored, and when the duration of the external force intervention is greater than or equal to a second preset duration, the drive component of the smart door is controlled to drive the smart door to close, so that the smart door is closed and locked.

[0020] As an optional implementation, in the first aspect of the present invention, the method further includes:

[0021] When the type indicates that the external force on the smart door is applied by an immovable object and the control direction is the opening control direction of the smart door, it is determined whether the smart door is subjected to an external force applied by a movable object within a fourth preset time period, the starting time of the fourth preset time period being the moment when the smart door hits the immovable object; when the determination result is negative, the drive component of the smart door is controlled to drive the smart door to close.

[0022] When the type indicates that the external force on the smart door is applied by an immovable object and the control direction is the closing control direction of the smart door, it is determined whether the lock component of the smart door pops out; when the determination result is yes, the lock component of the smart door is controlled to retract, and the drive component of the smart door is controlled to drive the smart door to close, so that the smart door is closed and locked; when the determination result is no, the stopping time of the external force intervention is monitored, and when the duration of the external force intervention is greater than or equal to a fifth preset duration, the drive component of the smart door is controlled to drive the smart door to close, so that the smart door is closed and locked.

[0023] As an optional implementation, in the first aspect of the present invention, the method further includes:

[0024] When it is determined that the target object does not exist, the drive component of the smart door is controlled to drive the smart door, so that the smart door moves in the controlled direction:

[0025] The drive component controlling the smart door drives the smart door to move in the controlled direction, including:

[0026] When the control direction is the opening control direction of the smart door, the drive component of the smart door is controlled to drive the smart door to open outward by a first preset angle;

[0027] When the control direction is the opening control direction of the smart door, the drive component of the smart door is controlled to drive the smart door to close, so that the smart door is closed and locked.

[0028] As an optional implementation, in the first aspect of the present invention, the method further includes:

[0029] Determine whether the lock component of the smart door is triggered. If it is determined that it has been triggered, determine whether there is a movable object within the first preset range of the smart door. If it is determined that there is a movable object, determine whether the smart door is triggered to open from the outside. If the determination result is yes, determine that the control direction is the opening control direction of the smart door.

[0030] Determine whether the smart door is currently open or whether the lock component of the smart door is not locked. If the determination result is yes, determine that the control direction is the closing control direction of the smart door.

[0031] As an optional implementation, in the first aspect of the present invention, the method further includes:

[0032] When it is determined that the smart door is triggered to open from the outside, the drive component of the smart door is controlled to drive the smart door to open outward by a second preset angle, and the output device of the smart door is controlled to output a first preset content, which is used to indicate that the smart door opens automatically or to prompt a movable object to control the opening of the door.

[0033] When it is determined that the smart door is not triggered to open from the outside, the output device of the smart door outputs a second preset content, which indicates that the smart door is obstructed and requires a movable object to control its opening. The output device also detects whether there is a movable object in the second preset area in front of the smart door at a preset detection frequency. When the detection result is negative, the drive component of the smart door is controlled to drive the smart door to open outward by a third preset angle, which is greater than the second preset angle.

[0034] As an optional implementation, in the first aspect of the present invention, when the data collector includes a sensor, the installation position of the data collector includes one or more of the following: top-mounted, front-mounted, and side-mounted on the smart door;

[0035] The term "top of the smart door" indicates that the data collector is positioned on the top of the door leaf or the door frame of the smart door, and the data collection direction of the data collector is towards the ground.

[0036] The term "side-mounted" in "smart door" indicates that the data collector is positioned on the side of the door leaf or the side of the door frame of the smart door hinge, and the data collection direction of the data collector is horizontal to the direction of the door handle.

[0037] The term "upright" in "intelligent door" indicates that the data collector is positioned on the front of the intelligent door leaf facing outwards, and that the data collection range of the data collector is fan-shaped.

[0038] When the data collector includes a camera, the data collector is arranged in the middle area of ​​the smart door leaf and shines obliquely downward for detecting when the smart door moves outward, or it is arranged in the middle area of ​​the smart door frame and shines directly downward for detecting when the smart door moves inward.

[0039] A second aspect of the present invention discloses an automatic control device for a smart door, the device comprising:

[0040] The data acquisition module is used to collect data within a preset anti-collision clamp area that matches the control direction of the smart door during the opening or closing process of the smart door, based on the data acquisition device corresponding to the smart door. The control direction of the smart door includes the opening direction or the closing direction.

[0041] The judgment module is used to determine whether there is a target object within the preset anti-collision clip area based on the data collected from the smart door. The type of the target object includes movable object type and / or immovable object type.

[0042] The determination module is used to determine the parameters of the target object based on the collected data corresponding to the smart door when it is determined that the target object exists;

[0043] The control module is used to perform control operations on the smart door according to the parameters of the target object, wherein the parameters of the target object include the real-time position of the target object.

[0044] As an optional implementation, in a second aspect of the present invention, the specific manner in which the control module performs control operations on the smart door according to the parameters of the target object includes:

[0045] Based on the parameters of the target object, detect whether the current conditions of the smart door meet the pre-determined standby conditions of the smart door's drive components;

[0046] When the conditions are met, the drive unit of the smart door is put into standby mode, and the movement speed of the smart door is controlled according to the parameters of the target object. The output device of the smart door is also controlled to output a collision warning to the movable object to prevent the smart door from colliding with the target object.

[0047] As an optional implementation, in a second aspect of the present invention, the judgment module is further configured to determine whether the smart door is subjected to an external force during the process of the control module controlling the output device of the smart door to output the collision clip prompt;

[0048] The determining module is further configured to determine the type of external force acting on the smart door based on the collected data corresponding to the smart door when the judgment result of the judgment module is yes;

[0049] The determining module is further configured to determine the direction of the external force on the smart door when the type indicates that the external force on the smart door is applied by a movable object;

[0050] The device further includes:

[0051] A monitoring module is used to monitor external force intervention when the direction is used to indicate that the smart door is subjected to an external force in the same direction as the control direction of the smart door;

[0052] The control module is also used to control the drive component of the smart door to drive the smart door to perform an operation that matches the control direction, based on the external force intervention.

[0053] The specific methods by which the control module controls the drive component of the smart door to perform an operation matching the control direction based on the external force intervention include:

[0054] When the control direction is the opening control direction of the smart door, and when the external force intervention situation is used to indicate the stopping time of monitoring the external force intervention, and when the duration of the external force intervention stopping is greater than or equal to a first preset duration or when the smart door is subjected to an external force opposite to the control direction, the drive component of the smart door is controlled to drive the smart door to close.

[0055] When the control direction is the closing control direction of the smart door and when the external force intervention situation is used to indicate that the external force has stopped intervening, the drive component of the smart door is controlled to drive the smart door to close, so that the smart door is closed and locked.

[0056] As an optional implementation, in a second aspect of the invention, the control module is further configured to control the drive component of the smart door to drive the smart door to close when the direction is used to indicate that the smart door is subjected to an external force opposite to the control direction of the smart door and the control direction is the opening control direction of the smart door.

[0057] The control module is further configured to monitor the stopping time of the external force intervention when the direction is used to indicate that the smart door is subjected to an external force opposite to the control direction of the smart door and the control direction is the closing control direction of the smart door, and when the duration of the external force intervention is greater than or equal to a second preset duration, control the driving component of the smart door to drive the smart door to close, so that the smart door is closed and locked.

[0058] As an optional implementation, in a second aspect of the present invention, the determining module is further configured to determine whether the smart door is subjected to an external force applied by a movable object within a fourth preset time period when the type is used to indicate that the external force on the smart door is applied by an immovable object and the control direction is the opening control direction of the smart door; the starting time of the fourth preset time period is the time when the smart door hits the immovable object.

[0059] The control module is also used to control the drive component of the smart door to close the smart door when the judgment module determines that the result is negative;

[0060] The judgment module is further configured to determine whether the lock component of the smart door pops out when the type indicates that the external force on the smart door is applied by an immovable object and the control direction is the closing control direction of the smart door.

[0061] The control module is further configured to, when the judgment result of the judgment module is yes, control the lock component of the smart door to retract, and control the drive component of the smart door to drive the smart door to close, so that the smart door is closed and locked.

[0062] The control module is further configured to monitor the stopping time of external force intervention when the judgment module determines that the result is negative, and when the duration of the external force intervention is greater than or equal to a fifth preset duration, control the drive component of the smart door to drive the smart door to close, so that the smart door closes and locks.

[0063] As an optional implementation, in a second aspect of the invention, the control module is further configured to, when it is determined that the target object does not exist, control the driving component of the smart door to drive the smart door, so that the smart door moves in the controlled direction:

[0064] The control module controls the drive component of the smart door to drive the smart door, so that the smart door moves in the controlled direction. The specific methods include:

[0065] When the control direction is the opening control direction of the smart door, the drive component of the smart door is controlled to drive the smart door to open outward by a first preset angle;

[0066] When the control direction is the opening control direction of the smart door, the drive component of the smart door is controlled to drive the smart door to close, so that the smart door is closed and locked.

[0067] As an optional implementation, in a second aspect of the present invention, the determining module is further configured to determine whether the lock component of the smart door is triggered;

[0068] The judgment module is also used to determine whether there is a movable object within the first preset range of the smart door when it is determined that a trigger has been triggered;

[0069] The judgment module is also used to determine whether the smart door is triggered to open from the outside when it is determined that there is a movable object.

[0070] The determining module is further configured to determine the control direction as the opening control direction of the smart door when the judgment result is yes;

[0071] The judgment module is also used to determine whether the smart door is currently in an open state or whether the lock component of the smart door is not in an locked state.

[0072] The determining module is further configured to determine the control direction as the closing control direction of the smart door when the judgment result is yes.

[0073] As an optional implementation, in a second aspect of the present invention, the control module is further configured to, when it is determined that the smart door is triggered to open from the outside, control the driving component of the smart door to drive the smart door to open outward by a second preset angle, and control the output device of the smart door to output a first preset content, the first preset content being used to indicate that the smart door opens automatically or to prompt a movable object to control the opening of the door;

[0074] The control module is also used to control the output device of the smart door to output a second preset content when it is determined that the smart door is not triggered to open from the outside. The second preset content is used to indicate that the smart door is obstructed and needs to be opened by a movable object.

[0075] The device further includes:

[0076] The detection module is used to detect whether there is a movable object in the second preset area in front of the smart door at a preset detection frequency;

[0077] The control module is further configured to control the drive component of the smart door to open the smart door outward by the third preset angle when the detection result of the detection module is negative, wherein the third preset angle is greater than the second preset angle.

[0078] As an optional implementation, in a second aspect of the present invention, when the data collector includes a sensor, the installation position of the data collector includes one or more of the following: top-mounted, front-mounted, and side-mounted on the smart door;

[0079] The term "top of the smart door" indicates that the data collector is positioned on the top of the door leaf or the door frame of the smart door, and the data collection direction of the data collector is towards the ground.

[0080] The term "side-mounted" in "smart door" indicates that the data collector is positioned on the side of the door leaf or the side of the door frame of the smart door hinge, and the data collection direction of the data collector is horizontal to the direction of the door handle.

[0081] The term "upright" in "intelligent door" indicates that the data collector is positioned on the front of the intelligent door leaf facing outwards, and that the data collection range of the data collector is fan-shaped.

[0082] When the data collector includes a camera, the data collector is arranged in the middle area of ​​the smart door leaf and shines obliquely downward for detecting when the smart door moves outward, or it is arranged in the middle area of ​​the smart door frame and shines directly downward for detecting when the smart door moves inward.

[0083] A third aspect of the present invention discloses another automatic control device for a smart door, the device comprising:

[0084] Memory containing executable program code;

[0085] A processor coupled to the memory;

[0086] The processor calls the executable program code stored in the memory to execute some or all of the steps in any of the automatic control methods for smart doors disclosed in the first aspect of the present invention.

[0087] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute some or all of the steps in any of the automatic control methods for an intelligent door disclosed in the first aspect of the present invention.

[0088] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0089] In this embodiment of the invention, during the opening and closing of the smart door, data such as height data and image data are collected from a preset anti-collision clamp area that matches the control direction of the smart door, such as the opening or closing direction, based on the data acquisition device corresponding to the smart door, such as sensors and cameras on the door frame and the top of the door leaf. If it is determined that there is a target object, such as a person, pet, or chair, within the preset anti-collision clamp area based on the collected data of the smart door, when the existence is determined, the real-time position and other parameters of the target object are automatically determined based on the collected data of the smart door, and the smart door is controlled to stop closing or opening or slow down the opening and closing speed based on the real-time position and other parameters of the target object. Furthermore, it can also output a warning to people that the smart door may hit people, pets, chairs, etc., which can reduce the occurrence of people being hit or trapped during the opening and closing process, and even reduce the occurrence of the smart door being damaged by hitting hard objects, thereby improving the service life of the smart door. Attached Figure Description

[0090] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0091] Figure 1 This is a flowchart illustrating an automatic control method for an intelligent door disclosed in an embodiment of the present invention;

[0092] Figure 2 This is a flowchart illustrating another automatic control method for a smart door disclosed in an embodiment of the present invention;

[0093] Figure 3 This is a flowchart illustrating an automatic control device for a smart door disclosed in an embodiment of the present invention.

[0094] Figure 4 This is a schematic diagram of the structure of another automatic control device for a smart door disclosed in an embodiment of the present invention;

[0095] Figure 5 This is a schematic diagram of the structure of another automatic control device for a smart door disclosed in an embodiment of the present invention;

[0096] Figure 6 This is a schematic diagram of a data collector mounted on a smart door and viewed from the side of the smart door, as disclosed in an embodiment of the present invention;

[0097] Figure 7 This is a schematic diagram of a data collector placed on the side of a smart door, as disclosed in an embodiment of the present invention, with the smart door viewed from above.

[0098] Figure 8 This is a schematic diagram of a data collector placed on a smart door, as disclosed in an embodiment of the present invention, with the smart door viewed from above.

[0099] Figure 9 This is a schematic diagram of a camera arranged in the middle area of ​​a smart door and used for detecting when the smart door is opened, as disclosed in an embodiment of the present invention. Detailed Implementation

[0100] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0101] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0102] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0103] This invention discloses an automatic control method and device for a smart door. During the opening and closing of the smart door, it can collect data, such as height data and image data, within a preset anti-collision clamping area that matches the control direction of the smart door, such as the opening or closing direction, based on data acquisition devices corresponding to the smart door, such as sensors on the door frame, the top of the door leaf, and cameras. If, based on the collected data, it is determined that a target object, such as a person, pet, or chair, exists within the preset anti-collision clamping area, the method automatically determines the real-time position and other parameters of the target object based on the collected data. Based on these parameters, it controls the smart door to stop closing, stop opening, or slow down its opening and closing speed. Furthermore, it can output warnings to people that the smart door may collide with people, pets, chairs, etc., reducing the occurrence of collisions or trapping during opening and closing, and even reducing the possibility of the smart door being damaged by collisions with hard objects, thus improving the service life of the smart door. The following sections provide detailed descriptions.

[0104] Example 1

[0105] Please see Figure 1 , Figure 1 This is a flowchart illustrating an automatic control method for a smart door disclosed in an embodiment of the present invention. Wherein, Figure 1 The described method can be applied to an automatic control device for a smart door, which may include one of the following: a smart door, a control server (including a local server or a cloud server) capable of controlling the smart door, control equipment, a control system, and a control platform.

[0106] like Figure 1 As shown, the automatic control method of this smart door may include the following operations:

[0107] 101. During the process of controlling the opening and closing of the smart door, the data collector corresponding to the smart door collects data within a preset anti-collision clamp area that matches the control direction of the smart door. The control direction of the smart door includes the opening direction or the closing direction.

[0108] In this embodiment of the invention, the data acquisition device includes one or more of ultrasonic, microwave radar, and infrared types. The installation position of the data acquisition device includes top-mounted, front-mounted, and side-mounted on the smart door. Top-mounted on the smart door indicates that the data acquisition device is placed on the top of the door leaf or door frame, and the data acquisition direction of the data acquisition device is towards the ground. Figure 6 As shown, Figure 6 This is a schematic diagram of a data collector mounted on a smart door, as disclosed in an embodiment of the present invention, with the smart door viewed from the side. Figure 6 As shown, Figure 6The shaded area represents the data acquisition range corresponding to the data acquisition direction of the data collector. That is, when a target object appears within the preset anti-collision clip area corresponding to the shaded area, the data collector can acquire data, thus confirming the presence of a target object within the preset anti-collision clip area of ​​the smart door. "Side-mounted" indicates that the data collector is positioned on the side of the door leaf or door frame near the door hinge (e.g., close to the hinge), and the data acquisition direction of the data collector is horizontal to the door handle direction. Figure 7 As shown, Figure 7 This is a schematic diagram of a data collector placed on the side of a smart door, as disclosed in an embodiment of the present invention, with the smart door viewed from above. Figure 7 As shown, when a target object is detected within the preset anti-collision clamp area 200cm away from the smart door, the data collector can collect data, thus confirming the presence of a target object within the preset anti-collision clamp area of ​​the smart door; the smart door being in the "upright" position indicates that the data collector is positioned on the front of the smart door leaf facing outwards, and the data collection range of the data collector is fan-shaped, as shown. Figure 8 As shown, Figure 8 This is a schematic diagram of a data collector placed on a smart door, as disclosed in an embodiment of the present invention, with the smart door viewed from above. Figure 8 As shown, Figure 8 The shaded area represents the sensor's data acquisition range. When a target object appears within the preset anti-collision clip area corresponding to the shaded area, the data acquisition unit can collect data, thus confirming the presence of a target object within the preset anti-collision clip area. When the data acquisition unit is a camera, it is positioned near the area requiring anti-collision and anti-pinch detection. Specifically, the camera can be positioned on the smart door leaf, shining obliquely downwards for detecting outward movement of the door, or positioned on the door frame, shining directly downwards for detecting inward movement of the door. Figure 9 As shown, Figure 9 This is a schematic diagram of a camera arranged in the middle area of ​​a smart door and used for detecting when the smart door opens, as disclosed in an embodiment of the present invention. Figure 9 As shown, Figure 9 The shadow area is the camera's acquisition area. When a target object appears in the shadow area, the data collector can collect data to determine that a target object exists in the preset anti-collision clip area corresponding to the shadow area. The shadow area is further divided into three ranges: 1.0-1.5 meters, 0.5-1.0 meters, and 0-0.5 meters. The intensity of the alarm increases sequentially, and the movement speed of the smart door decreases sequentially.

[0109] In this embodiment of the invention, optionally, a data acquisition device corresponding to the smart door collects data within a preset anti-collision clip area that matches the control direction of the smart door at a preset detection frequency (e.g., 200ms / time). The preset detection frequency can be adjusted according to the speed of the smart door opening or closing; the faster the speed, the higher the detection frequency.

[0110] In this embodiment of the invention, the data collected for the smart door includes image data and non-image data.

[0111] 102. Based on the data collected from the smart door, determine whether there is a target object within the preset anti-collision clip area. The type of the target object includes movable object type and / or immovable object type. When it is determined that there is a target object, trigger the execution of step 103.

[0112] In this embodiment of the invention, the movable object type includes one or more of the following: user type, pet type, and movable smart device type. The immovable object type includes the immovable smart device type and / or other item types.

[0113] 103. Based on the collected data corresponding to the smart door, determine the parameters of the target object, including the real-time position of the target object.

[0114] 104. Perform control operations on the smart door according to the parameters of the target object.

[0115] It is evident that implementation Figure 1 The described automatic control method for smart doors can collect data, such as height data and image data, within a preset anti-collision clamping area that matches the control direction of the smart door, such as the opening or closing direction, based on data acquisition devices corresponding to the smart door, such as sensors and cameras on the door frame and the top of the door leaf. If, based on the collected data, it is determined that a target object, such as a person, pet, or chair, exists within the preset anti-collision clamping area, the method automatically determines the real-time position and other parameters of the target object based on the collected data. Based on these parameters, the method controls the smart door to stop closing, stop opening, or slow down its opening and closing speed. Furthermore, it can output warnings to people that the smart door may collide with people, pets, chairs, etc., reducing the occurrence of collisions or trapping during opening and closing, and even reducing the likelihood of the smart door being damaged by collisions with hard objects, thus extending the lifespan of the smart door.

[0116] In an optional embodiment, control operations are performed on the smart door based on parameters of the target object, including:

[0117] Based on the parameters of the target object, detect whether the current conditions of the smart door meet the pre-determined standby conditions of the smart door's drive components;

[0118] When the conditions are met, the drive unit controlling the smart door enters a standby state. Based on the parameters of the target object, it determines the movement speed of the smart door and controls the smart door to move at the determined speed. The output device of the smart door (such as a display, voice broadcaster, etc.) outputs a collision warning to the movable object (here, the movable object is the user) to prevent the smart door from colliding with the target object.

[0119] In this optional embodiment, the driving component includes, but is not limited to, a motor or other components capable of driving the smart door.

[0120] In this optional embodiment, when the target object is a movable object and is a person or an animal, the parameters of the target object also include the target object's face orientation and / or the target object's posture and / or the target object's movement. The more information the target object's parameters contain, the more accurate the determination of the smart door's movement speed will be.

[0121] As can be seen, in this optional embodiment, when an object is detected within the anti-collision clamp area of ​​the smart door and the control drive component is detected to be in standby mode based on various parameters of the object, the drive component is automatically controlled to be in standby mode. Based on the object's parameters, the smart door is controlled to move and a corresponding collision clamp warning is output. This can reduce the occurrence of collisions with objects while controlling the movement of the smart door, further ensuring the safety of the object.

[0122] In another alternative embodiment, the method may further include the following steps:

[0123] During the process of the output device of the smart door outputting the collision clip prompt, it is determined whether the smart door is subjected to external force. When the determination result is yes, the type of external force subjected to the smart door is determined based on the data collected from the smart door.

[0124] When the type is used to indicate that the external force on the smart door is applied by a movable object, the direction of the external force on the smart door is determined. When the direction is used to indicate that the smart door is subjected to an external force in the same direction as the control direction of the smart door, the external force intervention is monitored, and according to the external force intervention, the drive component of the smart door is controlled to drive the smart door to perform an operation that matches the control direction.

[0125] Among them, based on the external force intervention, the drive component controlling the smart door drives the smart door to perform operations that match the control direction, including:

[0126] When the control direction is the opening control direction of the smart door, and when the external force intervention situation is used to indicate the stopping time of monitoring the external force intervention, and when the duration of the external force intervention stopping is greater than or equal to the first preset duration (e.g., 3s) or the smart door is subjected to an external force in the opposite direction to the control direction, the drive component controlling the smart door drives the smart door to close.

[0127] When the control direction is the closing control direction of the smart door and when the external force intervention condition is used to indicate that the external force has stopped intervening, the drive component controlling the smart door drives the smart door to close, so that the smart door closes and locks.

[0128] As can be seen, in the process of outputting the collision clamp prompt, if a person is detected to apply a force in the same direction as opening the door, the monitoring continues. When the force on the door in the opening direction stops for a few seconds or when it is subjected to a closing force, the door automatically closes and locks. Alternatively, if a person applies a force in the same direction as closing the door during the closing process, the door automatically closes and locks after the force stops. This reduces the occurrence of collisions with objects on the smart door while improving the control accuracy of the smart door.

[0129] In yet another optional embodiment, the method may further include the following steps:

[0130] When the direction is used to indicate that the smart door is subjected to an external force opposite to the control direction of the smart door and the control direction is the opening control direction of the smart door, the drive component controlling the smart door will drive the smart door to close.

[0131] When the direction is used to indicate that the smart door is subjected to an external force opposite to the control direction of the smart door and the control direction is the closing control direction of the smart door, the system monitors the stopping time of the external force intervention and controls the smart door drive component to close the smart door when the duration of the external force intervention is greater than or equal to the second preset duration (e.g., 3s), so that the smart door is closed and locked.

[0132] As can be seen, this optional embodiment automatically controls the smart door to close if a force opposite to the opening process is detected during the opening process, or automatically executes the corresponding closing or opening operation according to different interruption conditions of the smart door closing if a force opposite to the closing process is detected during the closing process. This can improve the control accuracy of the smart door opening and closing, and even if the data collected by the smart door's data collector changes in a short period of time, it can still achieve the flexibility and accuracy of the smart door opening and closing control.

[0133] In yet another optional embodiment, the method may further include the following steps:

[0134] When the type indicates that the external force on the smart door is applied by an immovable object and the control direction is the opening control direction of the smart door, it is determined whether the smart door is subjected to an external force applied by a movable object within a fourth preset time period. The start time of the fourth preset time period is the moment when the smart door hits the immovable object. When the result is negative, the drive component controlling the smart door drives the smart door to close. The external force includes a force in the same direction as the control direction or a force in the opposite direction.

[0135] When the type indicates that the external force on the smart door is applied by an immovable object and the control direction is the closing control direction of the smart door, it is determined whether the locking component (such as the latch, latch, etc.) of the smart door has popped out; when the determination result is yes, the locking component of the smart door is retracted and the driving component of the smart door is controlled to drive the smart door to close, so that the smart door is closed and locked; when the determination result is no, the stopping time of the external force intervention is monitored and when the duration of the external force intervention is greater than or equal to the fifth preset duration, the driving component of the smart door is controlled to drive the smart door to close, so that the smart door is closed and locked.

[0136] As can be seen, this optional embodiment automatically controls the smart door to close when it detects that an immovable object is applying force to the smart door while it is opening, and a movable object (such as a person) also applies external force (including forces in the same or opposite direction) within a short period of time. Alternatively, when it detects that an immovable object is applying force to the smart door while it is closing, it automatically controls the smart door to close and lock based on the pop-out state of the smart door's lock components, which can further improve the accuracy of the smart door's opening and closing control.

[0137] In yet another optional embodiment, the method may further include the following steps:

[0138] After the smart door opens, it checks whether the door lock is triggered. If it is not triggered, it determines whether the smart door is subjected to an external force in the same direction as closing within the sixth preset time period (e.g., 6 seconds). If the result is no, it controls the smart door to output an unlocked alarm. If it is determined that the door lock is triggered, and the smart door drive component remains in standby for the seventh preset time period (e.g., 3 seconds), if the smart door is subjected to a force in the same direction as opening, it continues to monitor the standby time of the drive component. Alternatively, if a force in the same direction as closing is applied within the eighth preset time period (e.g., 3 seconds) after the drive component has been in standby for the seventh preset time period, it controls the smart door drive component to drive the smart door to close. If it is determined that an external force in the same direction as closing is applied within the sixth preset time period (e.g., 6 seconds), it monitors the end time of the ninth preset time period (e.g., 3 seconds) after the external force intervention stops, and controls the smart door drive component to drive the smart door to close.

[0139] As can be seen, this optional embodiment continues to monitor the smart door for external forces after the smart door has opened, thereby controlling the smart door to close and lock, reducing the possibility of children or pets running out and getting lost or causing personal safety incidents.

[0140] Example 2

[0141] Please see Figure 2 , Figure 2 This is a flowchart illustrating another automatic control method for a smart door disclosed in an embodiment of the present invention. Figure 2 The described method can be applied to an automatic control device for a smart door, which may include one of the following: a smart door, a control server (including a local server or a cloud server) capable of controlling the smart door, control equipment, a control system, and a control platform. Figure 2 As shown, the automatic control method of this smart door may include the following operations:

[0142] 201. During the process of controlling the opening and closing of the smart door, the data collector corresponding to the smart door collects data within a preset anti-collision clamp area that matches the control direction of the smart door. The control direction of the smart door includes the opening direction or the closing direction.

[0143] 202. Based on the data collected from the smart door, determine whether there is a target object within the preset anti-collision clip area. The type of the target object includes movable object type and / or immovable object type. When it is determined that there is a target object, trigger the execution of step 203. When it is determined that there is no target object, trigger the execution of step 205.

[0144] 203. Based on the collected data corresponding to the smart door, determine the parameters of the target object, including the real-time position of the target object.

[0145] 204. Perform control operations on the smart door according to the parameters of the target object.

[0146] 205. The drive component of the control smart door drives the smart door so that the smart door moves in the controlled direction.

[0147] In this embodiment of the invention, the driving component controlling the smart door drives the smart door to move in the controlled direction, including:

[0148] When the control direction is the opening control direction of the smart door, the drive component controlling the smart door drives the smart door to open outward by a first preset angle;

[0149] When the control direction is the opening control direction of the smart door, the drive component controlling the smart door drives the smart door to close, so that the smart door is closed and locked.

[0150] It should be noted that for other related descriptions of steps 201-204, please refer to the detailed description of steps 101-104 in Embodiment 1. These descriptions will not be repeated in this embodiment of the invention.

[0151] It is evident that implementation Figure 2 The described automatic control method for smart doors can collect data, such as height data and image data, within a preset anti-collision clamping area that matches the control direction of the smart door, such as the opening or closing direction, based on data acquisition devices corresponding to the smart door, such as sensors and cameras on the door frame and the top of the door leaf. If, based on the collected data, it is determined that a target object, such as a person, pet, or chair, exists within the preset anti-collision clamping area, the method automatically determines the real-time position and other parameters of the target object based on the collected data. Based on these parameters, the method controls the smart door to stop closing, stop opening, or slow down its opening and closing speed. Furthermore, it can output warnings to people that the smart door may collide with people, pets, chairs, etc., reducing the occurrence of collisions or trapping during opening and closing, and even reducing the likelihood of the smart door being damaged by collisions with hard objects, thus extending the lifespan of the smart door. In addition, when no object is detected within the preset anti-collision clamp area, the smart door is automatically controlled to open or close and lock at the corresponding angle, reducing the occurrence of collisions or traps while improving the control accuracy of the smart door, providing convenience for users and enhancing indoor safety.

[0152] In an optional embodiment, the method may further include the following operations:

[0153] The system determines whether the smart door's lock component has been triggered. If triggered, it checks whether a movable object exists within a first preset range of the smart door. If a movable object exists, it checks whether the smart door is triggered to open from the outside. If the result is yes, it determines the control direction as the smart door's opening control direction. If not triggered, it checks whether the smart door is subjected to an external force in the same direction as the opening force within a preset time period. If the result is no, it controls the smart door's drive component to close the smart door. If a force in the same direction as the opening force is detected, it triggers the execution of the above-mentioned operation of determining whether a movable object exists within the first preset range of the smart door.

[0154] Determine whether the smart door is currently open or its lock is not locked. If the determination is yes, determine the control direction as the closing control direction of the smart door.

[0155] As can be seen, this optional embodiment, by determining that the door needs to be opened when the lock component is triggered and there is a movable object in the area in front of the door, and the smart door is opened from the outside by the movable object, and determining that the door needs to be closed when the door is currently open or the lock component is not locked, can achieve accurate determination of opening and closing of the smart door, thereby improving the accuracy and reliability of subsequent operations; and when the door lock is triggered, it automatically and flexibly selects to open or close the door according to the force applied to the smart door, further improving the control precision of the smart door.

[0156] In this optional embodiment, the method may further include the following steps:

[0157] When it is determined that the smart door is currently open or the lock component of the smart door is not locked, the data collector collects data within the primary preset anti-collision clamp area of ​​the smart door, and determines whether there is a target object within the primary preset anti-collision clamp area based on the data. When it is determined that there is no target object, the above-mentioned operation of determining the control direction as the closing control direction of the smart door is performed. The primary preset anti-collision clamp area is larger than the preset anti-collision clamp area.

[0158] In this optional embodiment, the method may further include the following steps:

[0159] When a target object is detected, the system continues to collect data within the primary preset anti-collision clip area of ​​the smart door at a preset detection frequency using a data collector. If the system determines that a target object (referring to a user) exists but the target object does not exert force on the smart door, it sends a door-open prompt to other users' terminals to remind them that the smart door is not closed and to prompt them to view the video of the smart door and its surroundings (the video can be collected by a camera installed on the smart door). The system also receives control parameters from other users to close the door remotely and controls the smart door to close based on these control parameters.

[0160] If the data indicates the presence of a target object (referring to a user) and that the target object is applying a force in the same direction as the smart door closing, the drive unit of the smart door will be controlled to close the smart door after the force is detected to have stopped. If the data indicates the presence of a target object (referring to a user) and that the target object is applying a force in the opposite direction to the smart door closing, the drive unit of the smart door will be controlled to close the smart door after the force is detected to have stopped and after a preset duration (e.g., 3 seconds) following the cessation of force application. Alternatively, the drive unit of the smart door can be directly controlled to open the smart door.

[0161] As can be seen, this optional embodiment, when determining that the smart door is in an open state or unlocked, further controls the smart door to close only when it determines that there are no users or objects within the primary preset anti-collision clamp area. This can improve the accuracy of the smart door's closing control and further reduce the occurrence of people or objects being trapped. Furthermore, when it is determined that there is a user within the primary preset anti-collision clamp area, it continues to monitor the presence of a user but the user is not applying force, remotely prompting other users to close the door, or when the user applies a force in the same direction as closing the door, it closes the door after detecting that the applied force has stopped, or applies a force in the opposite direction to closing the door, and controls the door to close for a period of time after the applied force stops, or controls the door to open according to actual cleaning control, thereby improving the control flexibility and accuracy of the smart door.

[0162] In another alternative embodiment, the method may further include the following operations:

[0163] When it is determined that the smart door is triggered to open from the outside, the drive component of the smart door is controlled to drive the smart door to open outward by a second preset angle, and the output device of the smart door is controlled to output a first preset content. The first preset content is used to indicate that the smart door opens automatically or to prompt a movable object to control the opening of the door (such as opening the door by pulling the handle, pushing the door, etc.).

[0164] When it is determined that the smart door is not triggered to open from the outside, the output device controlling the smart door outputs a second preset content. The second preset content indicates that the smart door is obstructed and requires a movable object to control its opening. The device also detects whether there is a movable object in the second preset area in front of the smart door at a preset detection frequency. When the detection result is negative, the drive component controlling the smart door drives the smart door to open outward by a third preset angle, which is greater than the second preset angle.

[0165] In this optional embodiment, the second preset angle can be fixed, such as 1°, or it can be dynamic, without limitation.

[0166] As can be seen, this optional embodiment, when it determines that the door is being opened from the outside, automatically controls the smart door to open to a certain angle, and first prompts the user to manually open the door so that the user can open the door automatically, or prompts the user to open the door automatically. This can improve the opening flexibility of the smart door, and by outputting prompts to the user, reduce the possibility of the user being hit by the door, and ensure the user's safety.

[0167] Example 3

[0168] Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of an automatic control device for a smart door disclosed in an embodiment of the present invention. Figure 3The described device may include one of the following: a smart door, a control server (including a local server or a cloud server) capable of controlling the smart door, a control device, a control system, and a control platform, and as such... Figure 3 As shown, the device includes:

[0169] The data acquisition module 301 is used to acquire data within a preset anti-collision clamp area that matches the control direction of the smart door during the opening or closing process of the smart door, based on the data acquisition device corresponding to the smart door. The control direction of the smart door includes the opening direction or the closing direction.

[0170] The judgment module 302 is used to determine whether there is a target object within the preset anti-collision clip area based on the data collected from the smart door. The type of the target object includes movable object type and / or immovable object type.

[0171] The determination module 303 is used to determine the parameters of the target object based on the collected data corresponding to the smart door when it is determined that a target object exists. The parameters of the target object include the real-time position of the target object.

[0172] The control module 304 is used to perform control operations on the smart door according to the parameters of the target object.

[0173] In this embodiment of the invention, when the data collector includes a sensor, the installation position of the data collector includes one or more of the following: top-mounted, front-mounted, and side-mounted on the smart door. Top-mounted means the data collector is placed on the top of the smart door leaf or the door frame with its acquisition direction facing the ground. Side-mounted means the data collector is placed on the side of the smart door hinge or the side of the door frame with its acquisition direction horizontal to the door handle. Front-mounted means the data collector is placed on the front of the smart door leaf, illuminating outwards, and its acquisition range is fan-shaped. When the data collector includes a camera, it is placed in the middle area of ​​the smart door leaf, illuminating downwards at an angle for detecting outward movement of the smart door, or placed in the middle area of ​​the smart door frame, illuminating downwards at a point for detecting inward movement of the smart door.

[0174] It is evident that implementation Figure 3The described automatic control device for a smart door can collect data, such as height data and image data, within a preset anti-collision clamping area that matches the control direction of the smart door, such as the opening or closing direction, based on data acquisition devices corresponding to the smart door, such as sensors and cameras on the door frame and the top of the door leaf. If the collected data indicates the presence of a target object, such as a person, pet, or chair, within the preset anti-collision clamping area, the device automatically determines the real-time position and other parameters of the target object based on the collected data. Based on these parameters, the device can control the smart door to stop closing, stop opening, or slow down its opening and closing speed. Furthermore, it can provide warnings to people that the smart door may collide with them, pets, or chairs, reducing the likelihood of collisions or trapping during opening and closing, and even reducing the risk of damage from collisions with hard objects, thus extending the lifespan of the smart door.

[0175] In an optional embodiment, the control module 304 performs control operations on the smart door according to the parameters of the target object in the following specific ways:

[0176] Based on the parameters of the target object, detect whether the current conditions of the smart door meet the pre-determined standby conditions of the smart door's drive components;

[0177] When the conditions are met, the drive unit controlling the smart door enters a standby state. Based on the parameters of the target object, it determines the movement speed of the smart door and controls the smart door to move at the determined speed. The output device of the smart door (such as a display, voice broadcaster, etc.) outputs a collision warning to the movable object (here, the movable object is the user) to prevent the smart door from colliding with the target object.

[0178] It is evident that implementation Figure 3 The described automatic control device for the smart door can also automatically control the drive unit to be in standby mode when an object is detected within the anti-collision clamp area of ​​the smart door and the control drive unit is in standby mode based on various parameters of the object. It can also control the movement of the smart door and output corresponding collision clamp prompts based on the parameters of the object. This can reduce the occurrence of collisions with objects while controlling the movement of the smart door, thereby further ensuring the safety of the object.

[0179] In another alternative embodiment, such as Figure 4 As shown, the judgment module 302 is also used to determine whether the smart door is subjected to external force during the process when the control module 304 outputs a collision clip prompt to the output device of the smart door.

[0180] The determining module 303 is also used to determine the type of external force on the smart door based on the collected data corresponding to the smart door when the judgment result of the judging module 302 is yes;

[0181] The determination module 303 is also used to determine the direction of the external force on the smart door when the type indicates that the external force on the smart door is applied by a movable object;

[0182] And, such as Figure 4 As shown, the device may further include:

[0183] The monitoring module 305 is used to monitor the external force intervention when the direction is used to indicate that the smart door is subjected to an external force in the same direction as the control direction of the smart door;

[0184] The control module 304 is also used to control the drive components of the smart door to drive the smart door to perform operations that match the control direction based on the external force intervention.

[0185] The control module 304 controls the drive components of the smart door to perform operations matching the control direction based on external force intervention. The specific methods include:

[0186] When the control direction is the opening control direction of the smart door, and when the external force intervention situation is used to indicate the stopping time of monitoring the external force intervention, and when the duration of the external force intervention stopping is greater than or equal to the first preset duration (e.g., 3s) or the smart door is subjected to an external force in the opposite direction to the control direction, the drive component controlling the smart door drives the smart door to close.

[0187] When the control direction is the closing control direction of the smart door and when the external force intervention condition is used to indicate that the external force has stopped intervening, the drive component controlling the smart door drives the smart door to close, so that the smart door closes and locks.

[0188] It is evident that implementation Figure 4 The described automatic control device for the smart door can continue monitoring if a person applies a force in the same direction as opening the door during the output of a collision warning. When the force applied to the door in the opening direction stops for a few seconds or when a closing force is applied, the door will automatically close and lock. Alternatively, if a person applies a force in the same direction as closing the door during the closing process, the door will automatically close and lock after the force is stopped. This reduces the occurrence of collisions with objects on the smart door while improving the control accuracy of the smart door.

[0189] In yet another alternative embodiment, such as Figure 4 As shown, the control module 304 is also used to control the drive component of the smart door to drive the smart door to close when the direction is used to indicate that the smart door is subjected to an external force opposite to the control direction of the smart door and the control direction is the opening control direction of the smart door.

[0190] The control module 304 is also used to monitor the stopping time of the external force intervention when the direction is used to indicate that the smart door is subjected to an external force opposite to the control direction of the smart door and the control direction is the closing control direction of the smart door, and when the duration of the external force intervention is greater than or equal to a second preset duration (such as 3s), control the drive component of the smart door to drive the smart door to close, so that the smart door is closed and locked.

[0191] It is evident that implementation Figure 4 The described automatic control device for the smart door can also automatically control the smart door to close if a force opposite to the opening is detected during the opening process, or automatically execute the corresponding closing or opening operation according to different interruption conditions of the smart door closing if a force opposite to the closing is detected during the closing process. This can improve the control accuracy of the smart door opening and closing, and even if the data collected by the smart door's data collector changes in a short period of time, it can still achieve the flexibility and accuracy of the smart door opening and closing control.

[0192] In yet another alternative embodiment, such as Figure 4 As shown, the judgment module 302 is also used to determine whether the smart door is subjected to an external force applied by a movable object within a fourth preset time period when the type indicates that the external force on the smart door is applied by an immovable object and the control direction is the opening control direction of the smart door. The starting time of the fourth preset time period is the time when the smart door hits the immovable object.

[0193] The control module 304 is also used to control the drive component of the smart door to close the smart door when the judgment module 302 determines that the result is negative. The external force includes the force in the same direction as the control or the force in the opposite direction.

[0194] The judgment module 302 is also used to determine whether the lock components (such as the latch, latch, etc.) of the smart door pop out when the type indicates that the external force on the smart door is applied by an immovable object and the control direction is the closing control direction of the smart door.

[0195] The control module 304 is also used to control the lock component of the smart door to retract and control the drive component of the smart door to drive the smart door to close when the judgment result of the judgment module 302 is yes, so that the smart door is closed and locked.

[0196] The control module 304 is also used to monitor the stopping time of the external force intervention when the judgment result of the judgment module 302 is negative, and when the duration of the external force intervention is greater than or equal to the fifth preset duration, control the driving component of the smart door to drive the smart door to close, so that the smart door closes and locks.

[0197] It is evident that implementation Figure 4The described automatic control device for the smart door can also automatically control the smart door to close when it detects that an immovable object is applying force to the smart door when it is opening and a movable object (such as a person) also applies external force (including forces in the same or opposite direction) within a short period of time; or when it detects that an immovable object is applying force to the smart door when it is closing, it automatically controls the smart door to close and lock according to the pop-out state of the smart door's lock components, which can further improve the accuracy of the smart door's opening and closing control.

[0198] In yet another alternative embodiment, such as Figure 4 As shown, the control module 304 is also used to control the drive component of the smart door to drive the smart door when it is determined that no target object exists, so that the smart door moves in the controlled direction:

[0199] The control module 304 controls the drive components of the smart door to drive the smart door, so that the smart door moves in the controlled direction. The specific methods include:

[0200] When the control direction is the opening control direction of the smart door, the drive component controlling the smart door drives the smart door to open outward by a first preset angle;

[0201] When the control direction is the opening control direction of the smart door, the drive component controlling the smart door drives the smart door to close, so that the smart door is closed and locked.

[0202] It is evident that implementation Figure 4 The described automatic control device for the smart door can also automatically control the smart door to open or close and lock when no object is detected within the preset anti-collision clamp area. This reduces the occurrence of collisions or clamping, improves the control accuracy of the smart door, provides convenience for users, and enhances indoor security.

[0203] In yet another alternative embodiment, such as Figure 4 As shown, the judgment module 302 is also used to determine whether the lock component of the smart door has been triggered;

[0204] The judgment module 302 is also used to determine whether there is a movable object within the first preset range of the smart door when it is determined that the trigger has been triggered;

[0205] The judgment module 302 is also used to determine whether the smart door is triggered to open from the outside when it is determined that there is a movable object;

[0206] The determining module 303 is also used to determine the control direction as the opening control direction of the smart door when the judgment result is yes;

[0207] The judgment module 302 is also used to determine whether the smart door is currently in an open state or whether the lock component of the smart door is not in a locked state;

[0208] The determination module 303 is also used to determine the control direction as the closing control direction of the smart door when the judgment result is yes.

[0209] It is evident that implementation Figure 4 The described automatic control device for the smart door can also determine whether the door needs to be opened when the lock component is triggered and there is a movable object in the area in front of the door and the smart door is opened from the outside by the movable object, and determine whether the door needs to be closed when the door is currently open or the lock component is not locked. This can achieve the accuracy of the smart door opening and closing determination, thereby improving the accuracy and reliability of subsequent operations.

[0210] In yet another alternative embodiment, such as Figure 4 As shown, the control module 304 is also used to control the drive component of the smart door to drive the smart door to open outward by a second preset angle when it is determined that the smart door is triggered to open from the outside, and to control the output device of the smart door to output a first preset content. The first preset content is used to indicate that the smart door opens automatically or to prompt a movable object to control the opening of the door (such as opening the door by pulling the handle, pushing the door, etc.).

[0211] The control module 304 is also used to control the output device of the smart door to output a second preset content when it is determined that the smart door is not triggered to open from the outside. The second preset content is used to indicate that the smart door is obstructed and needs to be opened by a movable object.

[0212] And, such as Figure 4 As shown, the device may further include:

[0213] The detection module 306 is used to detect whether there is a movable object in the second preset area in front of the smart door at a preset detection frequency;

[0214] The control module 304 is also used to control the drive component of the smart door to open the smart door outward by a third preset angle when the detection result of the detection module 306 is negative. The third preset angle is greater than the second preset angle.

[0215] It is evident that implementation Figure 4 The described automatic control device for the smart door can also automatically control the smart door to open to a certain angle when it is detected that the door is being opened from the outside. It will first prompt the user to manually open the door so that the user can open the door automatically, or prompt the user to open the door automatically. This can improve the opening flexibility of the smart door and reduce the possibility of the user being hit by the door by outputting prompts to the user, thus ensuring the user's safety.

[0216] Example 4

[0217] Please see Figure 5 , Figure 5This is a structural schematic diagram of another automatic control device for a smart door disclosed in an embodiment of the present invention. Wherein, Figure 5 The described device may include one of the following: a smart door, a control server (including a local server or a cloud server) capable of controlling the smart door, control equipment, a control system, and a control platform. Figure 5 As shown, the device may include:

[0218] Memory 401 storing executable program code;

[0219] Processor 402 coupled to memory 401;

[0220] Furthermore, it may also include an input interface 403 and an output interface 404 coupled to the processor 402;

[0221] The processor 402 calls the executable program code stored in the memory 401 to execute the steps in the automatic control method of the smart door disclosed in Embodiment 1 or Embodiment 2 of the present invention.

[0222] Example 5

[0223] This invention discloses a computer storage medium storing computer instructions. When these computer instructions are invoked, they are used to execute the steps in the automatic control method for an intelligent door disclosed in Embodiment 1 or Embodiment 2 of this invention.

[0224] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0225] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0226] Finally, it should be noted that the automatic control method and device for a smart door disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic control method for an intelligent door, characterized in that, The method includes: During the process of controlling the opening and closing of the smart door, data is collected by the data collector corresponding to the smart door within a preset anti-collision clamp area that matches the control direction of the smart door. The control direction of the smart door includes the opening direction or the closing direction. Based on the collected data corresponding to the smart door, it is determined whether there is a target object within the preset anti-collision clip area. The type of the target object includes movable object type and / or immovable object type. When the existence of the target object is determined, the parameters of the target object are determined based on the data corresponding to the smart door collected, and the control operation is performed on the smart door based on the parameters of the target object. The parameters of the target object include the real-time position of the target object. The step of performing control operations on the smart door based on the parameters of the target object includes: Based on the parameters of the target object, detect whether the current conditions of the smart door meet the pre-determined standby conditions of the smart door's drive components; When the condition is met, the drive component of the smart door is put into standby mode, and the movement speed of the smart door is controlled according to the parameters of the target object. The output device of the smart door is also controlled to output a collision clip prompt to the movable object to prompt the movable object to prevent the smart door from hitting the target object. During the process of controlling the output device of the smart door to output the collision clip prompt, it is determined whether the smart door is subjected to external force. When the determination result is yes, the type of external force subjected to the smart door is determined according to the data corresponding to the smart door collected. When the type is used to indicate that the external force on the smart door is applied by a movable object, the direction of the external force on the smart door is determined. When the direction is used to indicate that the smart door is subjected to an external force in the same direction as the control direction of the smart door, the external force intervention situation is monitored, and according to the external force intervention situation, the drive component of the smart door is controlled to drive the smart door to perform an operation that matches the control direction. The step of controlling the drive component of the smart door to perform an operation matching the control direction based on the external force intervention includes: When the control direction is the opening control direction of the smart door, and when the external force intervention situation is used to indicate the stopping time of monitoring the external force intervention, and when the duration of the external force intervention stopping is greater than or equal to a first preset duration or when the smart door is subjected to an external force opposite to the control direction, the drive component of the smart door is controlled to drive the smart door to close. When the control direction is the closing control direction of the smart door and when the external force intervention situation is used to indicate that the external force has stopped intervening, the drive component of the smart door is controlled to drive the smart door to close, so that the smart door is closed and locked.

2. The automatic control method for an intelligent door according to claim 1, characterized in that, The method further includes: When the direction is used to indicate that the smart door is subjected to an external force opposite to the control direction of the smart door and the control direction is the opening control direction of the smart door, the drive component controlling the smart door drives the smart door to close. When the direction is used to indicate that the smart door is subjected to an external force opposite to the control direction of the smart door and the control direction is the closing control direction of the smart door, the stopping time of the external force intervention is monitored, and when the duration of the external force intervention is greater than or equal to a second preset duration, the drive component of the smart door is controlled to drive the smart door to close, so that the smart door is closed and locked.

3. The automatic control method for an intelligent door according to claim 1 or 2, characterized in that, The method further includes: When the type indicates that the external force on the smart door is applied by an immovable object and the control direction is the opening control direction of the smart door, it is determined whether the smart door is subjected to an external force applied by a movable object within a fourth preset time period. The starting time of the fourth preset time period is the moment when the smart door hits the immovable object. When the result is negative, the drive component of the smart door is controlled to drive the smart door to close. The external force includes a force in the same direction as the control direction or a force in the opposite direction. When the type indicates that the external force on the smart door is applied by an immovable object and the control direction is the closing control direction of the smart door, it is determined whether the lock component of the smart door pops out; when the determination result is yes, the lock component of the smart door is controlled to retract, and the drive component of the smart door is controlled to drive the smart door to close, so that the smart door is closed and locked; when the determination result is no, the stopping time of the external force intervention is monitored, and when the duration of the external force intervention is greater than or equal to a fifth preset duration, the drive component of the smart door is controlled to drive the smart door to close, so that the smart door is closed and locked.

4. The automatic control method for an intelligent door according to any one of claims 1 or 2, characterized in that, The method further includes: When it is determined that the target object does not exist, the drive component of the smart door is controlled to drive the smart door, so that the smart door moves in the controlled direction: The drive component controlling the smart door drives the smart door to move in the controlled direction, including: When the control direction is the opening control direction of the smart door, the drive component of the smart door is controlled to drive the smart door to open outward by a first preset angle; When the control direction is the opening control direction of the smart door, the drive component of the smart door is controlled to drive the smart door to close, so that the smart door is closed and locked.

5. The automatic control method for an intelligent door according to any one of claims 1 or 2, characterized in that, The method further includes: Determine whether the lock component of the smart door is triggered. If it is determined that it has been triggered, determine whether there is a movable object within the first preset range of the smart door. If it is determined that there is a movable object, determine whether the smart door is triggered to open from the outside. If the determination result is yes, determine that the control direction is the opening control direction of the smart door. Determine whether the smart door is currently open or whether the lock component of the smart door is not locked. If the determination result is yes, determine that the control direction is the closing control direction of the smart door.

6. The automatic control method for an intelligent door according to claim 5, characterized in that, The method further includes: When it is determined that the smart door is triggered to open from the outside, the drive component of the smart door is controlled to drive the smart door to open outward by a second preset angle, and the output device of the smart door is controlled to output a first preset content, which is used to indicate that the smart door opens automatically or to prompt a movable object to control the opening of the door. When it is determined that the smart door is not triggered to open from the outside, the output device of the smart door outputs a second preset content, which indicates that the smart door is obstructed and requires a movable object to control its opening. The output device also detects whether there is a movable object in a second preset area in front of the smart door at a preset detection frequency. When the detection result is negative, the drive component of the smart door is controlled to drive the smart door to open outward by a third preset angle, which is greater than the second preset angle.

7. The automatic control method for an intelligent door according to claim 5, characterized in that, When the data collector includes When using sensors, the installation position of the data collector includes one or more of the following: top-mounted, front-mounted, and side-mounted on the smart door; The term "top of the smart door" indicates that the data collector is positioned on the top of the door leaf or the door frame of the smart door, and the data collection direction of the data collector is towards the ground. The term "side-mounted" in "smart door" indicates that the data collector is positioned on the side of the door leaf or the side of the door frame of the smart door hinge, and the data collection direction of the data collector is horizontal to the direction of the door handle. The term "upright" in "intelligent door" indicates that the data collector is positioned on the front of the intelligent door leaf facing outwards, and that the data collection range of the data collector is fan-shaped. When the data collector includes a camera, the data collector is arranged in the middle area of ​​the smart door leaf and shines obliquely downward for detecting when the smart door moves outward, or it is arranged in the middle area of ​​the smart door frame and shines directly downward for detecting when the smart door moves inward.

8. An automatic control device for an intelligent door, characterized in that, The device includes: The data acquisition module is used to collect data within a preset anti-collision clamp area that matches the control direction of the smart door during the opening or closing process of the smart door, based on the data acquisition device corresponding to the smart door. The control direction of the smart door includes the opening direction or the closing direction. The judgment module is used to determine whether there is a target object within the preset anti-collision clip area based on the data collected from the smart door. The type of the target object includes movable object type and / or immovable object type. The determination module is used to determine the parameters of the target object based on the collected data corresponding to the smart door when it is determined that the target object exists; The control module is used to perform control operations on the smart door according to the parameters of the target object, wherein the parameters of the target object include the real-time position of the target object; The step of performing control operations on the smart door based on the parameters of the target object includes: Based on the parameters of the target object, detect whether the current conditions of the smart door meet the pre-determined standby conditions of the smart door's drive components; When the condition is met, the drive component of the smart door is put into standby mode, and the movement speed of the smart door is controlled according to the parameters of the target object. The output device of the smart door is also controlled to output a collision clip prompt to the movable object to prompt the movable object to prevent the smart door from hitting the target object. During the process of controlling the output device of the smart door to output the collision clip prompt, it is determined whether the smart door is subjected to external force. When the determination result is yes, the type of external force subjected to the smart door is determined according to the data corresponding to the smart door collected. When the type is used to indicate that the external force on the smart door is applied by a movable object, the direction of the external force on the smart door is determined. When the direction is used to indicate that the smart door is subjected to an external force in the same direction as the control direction of the smart door, the external force intervention situation is monitored, and according to the external force intervention situation, the drive component of the smart door is controlled to drive the smart door to perform an operation that matches the control direction. The step of controlling the drive component of the smart door to perform an operation matching the control direction based on the external force intervention includes: When the control direction is the opening control direction of the smart door, and when the external force intervention situation is used to indicate the stopping time of monitoring the external force intervention, and when the duration of the external force intervention stopping is greater than or equal to a first preset duration or when the smart door is subjected to an external force opposite to the control direction, the drive component of the smart door is controlled to drive the smart door to close. When the control direction is the closing control direction of the smart door and when the external force intervention situation is used to indicate that the external force has stopped intervening, the drive component of the smart door is controlled to drive the smart door to close, so that the smart door is closed and locked.

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