Door opener cascade method, system and door opener

Abstract

This application provides a door opener cascade method, system, and door opener. By cascading any number of door openers based on actual application scenarios, this application allows at least two door openers to cascade and control the opening and closing of doors when the door specifications exceed the operating specifications of the door opener. This solves the problem of doors not being able to open and close normally in scenarios such as oversized doors or sandy ground that increases door movement resistance, significantly improving the flexibility and scalability of the door opener.

Description

Technical Field

[0001] The present application relates to smart home, and in particular to a door opener cascading method, system and door opener. Background Art

[0002] The door opener is installed on the outdoor door. It is a device that drives the door rack by the rotation of the motor to open and close the door. Figure 1 The following example shows the schematic diagram of the installation of a single door opener. Figure 1 As shown, the door opener is installed below the wall on one side of the gate. The door opener motor gear is aligned with the rack below the gate, and the motor gear and the rack are tangent to the gate rack so that the motor rotates to drive the gate to move. The door opener here is, for example, a commonly used door opener that controls the opening and closing of a door by means of a sliding door, and this application is not specifically limited to this.

[0003] Currently, door openers have fixed operating specifications. For example, a certain door opener's operating specifications are: it is suitable for doors weighing 400-600 kg and not exceeding 6 meters in length. However, for doors that do not meet these operating specifications, such as a door weighing 1000 kg and being 12 meters long, the door opener cannot control the opening and closing of the door, effectively failing to meet the door's opening and closing requirements. Summary of the Invention

[0004] The present application provides a door opener cascade method, system and door opener, so as to control the opening and closing of a door by cascading at least two door openers when the specifications of the door exceed the working specifications of the door opener.

[0005] An embodiment of the present application provides a door opener cascade method, characterized in that the method is applied to a door opener, comprising:

[0006] Broadcasting a cascade group creation request via a local link; the cascade group creation request carries the configured capability parameters of the door opener;

[0007] Receive cascade group creation requests broadcast by other door openers through local links;

[0008] Based on the capability parameters of the current door opener and the capability parameters of the door opener carried in the received cascade group creation request, one door opener is selected from the current door opener and all other door openers as the master of the cascade group, and the remaining door openers are selected as slaves of the cascade group;

[0009] When this door opener is selected as the host of the cascade group, if a target instruction for a target door is received, in the process of moving the target door according to the target instruction, the output torque of at least two available door openers in the cascade group for controlling the movement of the target door is determined according to the output torque load balancing principle, and the output torque is output to each available door opener accordingly, so that each available door opener controls the rotation of the local motor according to the received output torque to move the target door; the target instruction is an opening instruction or a closing instruction.

[0010] The embodiment of the present application further provides a door opener cascade system, the system comprising: a plurality of door openers;

[0011] Any door opener broadcasts a cascade group creation request via a local link; the cascade group creation request carries the configured capability parameters of the door opener;

[0012] Any door opener receives the cascade group creation request broadcast by other door openers through the local link;

[0013] Any door opener selects one door opener from among itself and all other door openers as the master of the cascade group based on its capability parameters and the capability parameters of the door opener carried in the received cascade group creation request, and selects the remaining door openers as slaves of the cascade group.

[0014] When any door opener is selected as the master of a cascade group, if a target command for a target door is received, in the process of moving the target door according to the target command, the output torque of at least two available door openers in the cascade group for controlling the movement of the target door is determined according to the output torque load balancing principle, and the output torque is sent to each available door opener accordingly, so that each available door opener controls the rotation of the motor according to the received output torque to move the target door; the target command is an open command or a close command;

[0015] When any door opener acts as a slave of the cascade group, it receives the output torque sent by the master of the cascade group and controls the rotation of the local motor according to the received output torque to move the target door.

[0016] The embodiment of the present application further provides a door opener, which includes:

[0017] Motor gear clutch switch, electronic control module, motor, processor;

[0018] An electric control module is used to open or close the motor gear clutch switch; when the motor gear clutch switch is opened, the motor gear of the door opener is tangent to the rack of the gate, so that the motor drives the gate to move when it rotates; when the motor gear clutch is closed, the motor gear of the door opener is disengaged from the rack of the gate, so that the rotation of the motor cannot drive the gate to move;

[0019] A processor is used to execute the steps in the above method.

[0020] It can be seen from the above technical solution that this application cascades any number of door openers according to the actual application scenario, so that when the specifications of the door exceed the working specifications of the door opener, at least two door openers are cascaded to control the opening and closing of the door, thereby solving the problem of the door not being able to be opened and closed normally in scenarios such as the door being out of specification or the ground being sandy and gravelly and increasing the resistance to door movement, thereby greatly improving the flexibility and scalability of the door opener.

[0021] Furthermore, in the present embodiment, during the opening and closing process of the target door, the output torque of each door opener is determined according to the output torque load balancing principle, so as to improve the operating efficiency and service life of the door opener. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0023] Figure 1 Example diagram for an existing door opener installation;

[0024] Figure 2 This is a schematic diagram showing an example of installing multiple door openers on the same door provided in an embodiment of the present application;

[0025] Figure 3 Another exemplary schematic diagram of installing multiple door openers on the same door provided in an embodiment of the present application;

[0026] Figure 4 A flow chart of the method provided in the embodiment of the present application;

[0027] Figure 5 A flowchart for establishing a secure link between a master and a slave provided in an embodiment of the present application;

[0028] Figure 6 A schematic diagram of a segmented control target door provided in an embodiment of the present application;

[0029] Figure 7 This is a structural diagram of the door opener provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] As described above, door openers have fixed working specifications. For example, the working specifications of a certain door opener are: it is applicable to doors weighing 400 to 600 kilograms and the door length does not exceed 6 meters. For doors that do not meet the working specifications, such as a door weighing 1000 kilograms and a length of 12 meters, this embodiment can install multiple door openers for the door. For example, Figure 2As shown, multiple door openers are installed below the walls on both sides of the door and in the middle area of ​​the door.

[0031] As an example, for any door, the number of door openers installed can be calculated by the following formula: in, Indicates rounding up. The reason for adding 1 here is to reserve an extra door opener to improve system reliability. For example, if a single door opener supports a door weight of 400 kg, and the customer's door is 1000 kg, the above formula can be used by cascading four door openers.

[0032] In this embodiment, if Figure 2 As shown, the motor gear of each door opener is aligned with the rack below the gate. Each door opener opens and closes the motor gear clutch switch via the local electronic control module. When the motor gear clutch is open, the motor gear of the door opener is tangent to the rack of the gate, allowing the motor to rotate and move the door. When the motor gear clutch is closed, the motor gear is disengaged from the rack, and the motor rotation cannot move the gate. Figure 3 The schematic diagrams of the motor gear being disengaged from the gate gear and the motor gear being tangent to the gate gear are shown as examples.

[0033] When multiple door openers are installed on any door, as an embodiment, the multiple door openers can be cascaded to control the door. In order to enable those skilled in the art to better understand the technical solutions provided by the embodiments of the present application and to make the above-mentioned objectives, features, and advantages of the embodiments of the present application more clearly understood, the technical solutions in the embodiments of the present application are further described in detail below with reference to the accompanying drawings.

[0034] See also Figure 4 , Figure 4 This is a flow chart of the method provided in the embodiment of the present application. The method is applicable to any door opener.

[0035] like Figure 4 As shown, the process may include the following steps:

[0036] Step 401: The door opener broadcasts a cascade group creation request via a local link.

[0037] In this embodiment, as an example, when the door opener receives the cascade group addition instruction, the door opener broadcasts the cascade group creation request via the local link. Here, the cascade group addition instruction is sent to the door opener by the management platform after the door opener is added to the cascade group.

[0038] For example, in this embodiment, at least all door openers that control the opening and closing of the same door (e.g., a main door) can be added to the same cascade control group. Specifically, based on actual needs, at least all door openers that control the opening and closing of the same door can be added to a management platform, such as an app. Multiple door openers can then be selected on the management platform and added to the same cascade group. The management platform can then trigger the sending of a cascade group addition command to each selected door opener.

[0039] For any door opener, after receiving the cascade group adding instruction issued by the management platform, as described in step 401, it starts broadcasting the cascade group creation request through the local link to request the creation of a cascade group.

[0040] As an embodiment, the local link of the door opener is, for example, at least one of a wired link (e.g., a 485 link), a wireless link (WiFi), and Bluetooth. In this embodiment, the connection relationship of the local link of the door opener has been established before the execution of step 401. For example, any door opener is connected to other door openers that control the opening and closing of the same door (e.g., a main door) via the local link.

[0041] Step 402: Receive a cascade group creation request broadcast by other door openers via a local link.

[0042] This step 402 is similar to the above step 401 and will not be described again.

[0043] Step 403: Based on the capability parameters of the current door opener and the capability parameters of the door opener carried in the received cascade group creation request, one door opener is selected from the current door opener and all other door openers as the master of the cascade group, and the remaining door openers are selected as slaves of the cascade group.

[0044] In this embodiment, the cascade group creation request sent by any door opener carries the capability parameters configured for the door opener. The capability parameters here can be used as the basis for the door opener to compete for the following host. Optionally, the capability parameters here can be, for example, parameters under normal operation of the door opener, such as the working specifications of the door opener, such as the door weight specifications supported by the door opener, the capabilities of the door opener, such as the performance of the accessory main controller, etc., and the current link signal strength of the door opener. As an embodiment, each of the above parameters has a corresponding weight. For example, the weight ratio of the working specifications of the door opener, such as the door weight specifications supported by the door opener, the capabilities of the door opener, such as the performance of the accessory main controller, etc., and the current link signal strength of the door opener is 5:3:2.

[0045] As described above, based on the capability parameters of the current door opener and the capability parameters of the door opener carried in the received cascade group creation request, a door opener is selected from the current door opener and all other door openers as the host of the cascade group. The selected host can meet the set requirements, such as the host with the highest current link signal strength and the host with the strongest capabilities, such as the performance of the accessory main controller. This embodiment is not specifically limited.

[0046] After the master of the cascade group is selected, the remaining door openers can be used as slaves of the cascade group. For any door opener, when it is selected as the master of the cascade group, step 404 is executed.

[0047] Step 404, when this door opener is selected as the host of the cascade group, if a target instruction for the target door is received, then in the process of moving the target door according to the target instruction, the output torque of at least two available door openers in the cascade group for controlling the movement of the target door is determined according to the output torque load balancing principle, and the output torques are output to each available door opener accordingly, so that each available door opener controls the rotation of the local motor according to the received output torque to move the target door; the target instruction is an opening instruction or a closing instruction.

[0048] That is, in this embodiment, the master unit of a cascade group coordinates and manages all the door openers (including both master and slave units) in the cascade group. Optionally, the output torque of each of the available door openers is essentially the torque output by the motor, which is used to control the motor's rotation. The output torque of any motor indicates the load capacity that motor can withstand within a certain range. When the load is constant, such as when the target door is being moved, the output torque is directly proportional to the motor speed; that is, the greater the output torque, the greater the speed.

[0049] As an embodiment, determining the output torques of at least two available door openers in the cascade group for controlling the movement of the target door according to the output torque load balancing principle in step 404 may include:

[0050] Obtain the current load status of each available door opener in the cascade group for controlling the movement of the target door; dynamically calculate the output torque of each available machine in the cascade group for controlling the movement of the target door according to the output torque load balancing principle based on the current load status, working specification requirements, and the total number of available door openers in the cascade group for controlling the movement of the target door.

[0051] As an embodiment, the above-mentioned obtaining of the current load status of each available door opener in the cascade group for controlling the movement of the target door includes: receiving the current load status reported by each available door opener in the cascade group for controlling the movement of the target door; the current load status of any door opener is determined by collecting the motor drive bus current by the door opener; the motor gear of any door opener is tangent to the rack of the target door so that the motor drives the target door to move.

[0052] The output torque load balancing principle is to evenly distribute the output torque without exceeding the rated torque. This means that the output torque is determined for each available door opener during the target door movement. The goal is to ensure that the output torque of each available door opener is as uniform as possible during the target door movement, so that the output torque of two available door openers does not differ significantly (for example, exceeding the set difference range). For example, taking the opening of the target door as an example, if the available door openers for controlling the opening of the target door are door openers A to door openers D, then during the movement of opening the target door, if the current load state fed back by door opener A is relatively large, for example, greater than the set load value required by door opener A, the current load state fed back by door opener B is moderate, for example, equal to the set load value of door opener B or the difference between the current load state and the set load value of door opener B is less than or equal to the set threshold, and the current load states fed back by door openers C and D are relatively small, for example, less than the set load values ​​required by door openers C and D respectively, the output torque of each door opener can be dynamically determined by reducing the output torque of door opener A, maintaining the current load state of door opener B and increasing the output torque of door openers C and D, so that the output torque of each door opener is uniform during the movement of opening the target door, the process of opening the target door is more balanced and smooth, and the life of each door opener will not be sharply reduced or damaged due to bearing excessive loads.

[0053] It should be noted that in this embodiment, after the host of the cascade group determines the output torque of any available door opener for controlling the movement of the target door, if the available door opener is a slave of the cascade group, it will notify the available door opener of the determined output torque through the security link between the host and the available door opener, so that the available door opener can bear the load of the target door according to the received output torque. Figure 5 As shown, Figure 5 The following example shows how to create a secure link between a host and any slave. Figure 5As shown, first, the host sends a query request to the slave, and the slave will reply after receiving the query request (the reply carries the serial number of the slave, etc.). When the host receives the reply, it will assign a corresponding short address based on the serial number carried in the reply (the short address can be obtained by performing a hash operation on the serial number, for example) and send it to the slave. Different slaves are assigned different short addresses. The slave then determines the short address. After that, the host and the slave negotiate a key, and after successfully negotiating the key, send the key (group key) to the slave to create a secure link with the slave. Finally, the secure link between the host and the slave is successfully created. After that, the host and the slave can interact through the secure link, such as the host sending the determined output torque to the slave through the secure link to ensure security.

[0054] So far, completed Figure 4 The process shown.

[0055] pass Figure 4 As can be seen from the process shown, this embodiment cascades any number of door openers according to actual application scenarios to solve the problem of doors not being able to open and close normally in scenarios such as doors exceeding specifications or the ground being sandy and gravelly and increasing the resistance to door movement, thereby greatly improving the flexibility and scalability of the door opener.

[0056] Furthermore, in the present embodiment, during the opening and closing process of the target door, the output torque of each door opener is determined according to the output torque load balancing principle, so as to improve the operating efficiency and service life of the door opener.

[0057] As an example, each model of door opener has a rated power rating, which can be converted into a rated (output) torque. Finally, the total output torque of the cascade group is calculated based on the number of door openers in the cascade group. Here, the total output torque of the cascade group is greater than or equal to the sum of the output torques of each door opener in the cascade group.

[0058] In this embodiment, in order to improve the smoothness of the target door's motion control and the efficiency of energy conversion, this embodiment can use a five-stage acceleration and deceleration control to perform the above-mentioned movement of the target door: T1: acceleration stage, T2: deceleration stage (i.e., the transition stage from the acceleration stage to the uniform speed stage), T3: uniform speed stage, T4: acceleration and deceleration stage (i.e., the transition stage from the uniform speed stage to the deceleration stage), and T5: deceleration and deceleration stage. In this embodiment, different stages require different speeds for the above-mentioned movement of the target door, such as opening or closing. Figure 6 Gave a hint.

[0059] Based on this, in this embodiment, the above-mentioned dynamic calculation of the output torque of each available door opener in the cascade group for moving the target door according to the output torque load balancing principle includes: obtaining the current target stage for the above-mentioned movement control of the target door, such as any one of the five stages mentioned above; according to the speed required by the target stage, and according to the output torque load balancing principle, the output torque of each available door opener in the cascade group for moving the target door is dynamically calculated.

[0060] As an embodiment, there are many specific implementations of the above-mentioned target stage for obtaining the above-mentioned movement control of the target door. For example, it can be determined based on the motor movement speed reported by each available door opener (the local speed sensor of each available door opener can sense the speed). Since different stages require the target door to move at different speeds, such as opening or closing, the above-mentioned target stage can naturally be determined based on the motor movement speed reported by each available door opener corresponding to the movement speed of the target door. For another example, this embodiment will pre-set the position range of the target door corresponding to each of the above-mentioned stages, and the above-mentioned target stage can be determined by sensing the current position of the target door. Here, the current position is calculated based on the stroke, and the stroke is calculated based on the target door touching the limit switch when it is fully open or fully closed.

[0061] During the five-stage acceleration and deceleration motion control process, the total output torque of the cascade group is constantly changing, and the output torque of each available door opener in the cascade group for the above-mentioned movement control of the target door is also constantly changing. Specifically, as an embodiment, the output torque of each available door opener satisfies the following conditions:

[0062] Condition 1: less than or equal to the rated torque; or,

[0063] Condition 2: Under the premise that condition 1 is not met, the output torque is greater than the rated torque and less than or equal to K1 times the rated torque, and the duration of the output torque is less than or equal to s1 unit time; K1 is greater than 1, for example, K1 is 1.2; S1 is, for example, 5 seconds or

[0064] Condition 3: Under the premise that condition 2 is not met, the output torque is greater than K1 times the rated torque and less than or equal to K2 times the rated torque, and the duration of the output torque is less than or equal to s2 unit time; K2 is greater than K1, for example, K2 is 1.5 and K1 is 1.2. S2 is less than S1, for example, S2 is 3 seconds and S1 is 5 seconds; or,

[0065] Condition 4: If Condition 3 is not satisfied, the target stage is adjusted, and the speed required by the target stage is returned, and the output torque of each door opener in the cascade group used to control the movement of the target door is dynamically calculated according to the output torque load balancing principle; the speed of the movement of the target door in the adjusted target stage is less than the speed of the movement of the target door in the target stage before the adjustment;

[0066] If the condition 4 is not satisfied, and each available door opener in the cascade group for controlling the movement of the target door cannot move the target door when performing the movement, it further includes: outputting an alarm message to indicate that the output torque of each door opener currently used for controlling the movement of the target door is insufficient, and it is recommended to add a door opener.

[0067] Based on the above description, the following table 1 specifically shows the output torque distribution rules of a single available door opener:

[0068]

[0069]

[0070] Table 1

[0071] It should be noted that the duration of the output torque is dynamically accumulated after the output torque is indicated to the door opener. For example, during the process of opening the target door, if it is found that the target door cannot be moved open when the output torque of each available door opener is less than or equal to the rated torque, the output torque of at least one available door opener is determined to be greater than the rated torque and less than or equal to K1 times the rated torque, such as 1.2 times the rated torque, and then output to each available door opener so that each available door opener moves the target door open according to the received output torque. After s1 unit time, such as 5 seconds, if it is found that the target door is moving slowly or cannot be opened due to resistance such as ground sand and gravel, the output torque of at least one available door opener is determined to be greater than the rated torque and less than or equal to K1 times the rated torque, such as 1.5 times the rated torque, and then output to each available door opener so that each available door opener moves the target door open according to the received output torque. After s2 units of time, such as 3 seconds, if it is found that the target door is moving slowly, the stage of the target door is adjusted, such as adjusting the node of the target door to the above-mentioned deceleration stage. Then, based on the adjusted stage, it is determined that the output torque of each available door opener is less than the rated torque, and then the output torque is output to each available door opener so that each available door opener moves the target door to open according to the received output torque. Of course, if the target door cannot be opened due to resistance such as ground sand and gravel, an alarm message can be output to indicate that the output torque of each door opener currently used to control the movement of the target door is insufficient, and it is recommended to add a door opener.

[0072] In this embodiment, any slave in the cascade group will also monitor the status of its own door opener in real time or periodically. If a fault is detected, such as motor overheating, it will report the fault information to the master in the cascade group. The master will then determine whether the slave is available based on the fault information. For example, if the fault information indicates motor overheating, the slave is unavailable.

[0073] Once it is determined that the slave is unavailable, the host will notify the slave to close the motor gear clutch so that the motor gear of the slave is disengaged from the rack of the door controlled by the slave, such as the target door.

[0074] As another embodiment, when a slave is unavailable, if the fault of the slave is resolved, the slave will report a fault resolution message to the master. The master determines that the slave is available and notifies the slave to open the motor gear clutch, so that the motor gear of the slave is tangent to the rack of the door controlled by the slave, such as the target door, to drive the door controlled by the slave to move.

[0075] In this embodiment, the master in the cascade group sends heartbeat messages through the secure communication link established above with each slave. Once the slave does not receive the heartbeat message sent by the master for more than the set time, it is determined that the master is faulty and returns to the above Figure 4 The process shown re-triggers the selection of the host of the cascade group.

[0076] In addition, in this embodiment, when the host of the cascade group detects an emergency, the output torque of at least two available door openers in the cascade group for controlling the target door is determined according to the set mode, and the output torque is output to each available door opener accordingly, so that each available door opener controls the rotation of the motor according to the received output torque to move the target door; the set mode refers to a mode for quickly opening or closing the target door, and the output torque of each available door opener in the set mode is the maximum torque that each available door opener can withstand.

[0077] For example, if the emergency is a fire, the above-mentioned setting mode refers to a mode for quickly opening the target door. At this time, it is determined that the output torque of at least two available door openers in the cascade group for controlling the target door is the largest, and the output torque is correspondingly output to each available door opener, so that each available door opener controls the motor rotation according to the received output torque to move the target door, thereby increasing the door opening speed.

[0078] It should be noted that, in this embodiment, the door openers in the cascade group are not fixed, but can be dynamically updated according to the actual application scenario. For example, by removing the door opener from the cascade group on the above-mentioned management platform, the door opener can be restored to stand-alone mode, and the business logic will not be affected by other door openers, etc. This embodiment does not specifically limit this.

[0079] The above describes the method provided in the embodiment of the present application. The following describes the system and device provided in the embodiment of the present application:

[0080] An embodiment of the present application provides a door opener cascade system, the system comprising: a plurality of door openers;

[0081] Any door opener broadcasts a cascade group creation request via a local link; the cascade group creation request carries the configured capability parameters of the door opener;

[0082] Any door opener receives the cascade group creation request broadcast by other door openers through the local link;

[0083] Any door opener selects one door opener from among itself and all other door openers as the master of the cascade group based on its capability parameters and the capability parameters of the door opener carried in the received cascade group creation request, and selects the remaining door openers as slaves of the cascade group.

[0084] When any door opener is selected as the master of a cascade group, if a target command for a target door is received, then in the process of moving the target door according to the target command, the output torque of at least two available door openers in the cascade group for controlling the movement of the target door is determined according to the output torque load balancing principle, and the output torque is sent to each available door opener accordingly, so that each available door opener controls the rotation of the motor according to the received output torque to move the target door; the target command is an open command or a close command, and the movement is opening or closing;

[0085] When any door opener acts as a slave of the cascade group, it receives the output torque sent by the master of the cascade group and controls the motor to rotate according to the received output torque to move the target door.

[0086] See also Figure 7 , Figure 7 This is a structural diagram of the door opener provided in the embodiment of the present application. Figure 7 As shown, the door opener includes: motor gear clutch switch, electronic control module, motor, processor;

[0087] The electronic control module is used to open or close the motor gear clutch switch; when the motor gear clutch switch is opened, the motor gear of the door opener is tangent to the rack of the gate, so that the motor drives the gate to move when it rotates; when the motor gear clutch is closed, the motor gear of the door opener is disengaged from the rack of the gate, so that the rotation of the motor cannot drive the gate to move.

[0088] The processor is used to execute the steps in the above method.

[0089] So far, completed Figure 7 Structural description of the device shown.

[0090] The present application also provides Figure 7 The hardware structure of the device shown may include: a processor and a machine-readable storage medium, wherein the machine-readable storage medium stores machine-executable instructions that can be executed by the processor; the processor is used to execute the machine-executable instructions to implement the method disclosed in the above example of this application.

[0091] Based on the same application concept as the above method, an embodiment of the present application also provides a machine-readable storage medium, on which a number of computer instructions are stored. When the computer instructions are executed by a processor, the method disclosed in the above example of the present application can be implemented.

[0092] Exemplarily, the machine-readable storage medium may be any electronic, magnetic, optical, or other physical storage device that may contain or store information, such as executable instructions, data, and the like. For example, the machine-readable storage medium may be: RAM (Random Access Memory), volatile memory, non-volatile memory, flash memory, a storage drive (such as a hard disk drive), a solid-state drive, any type of storage disk (such as a CD, DVD, etc.), or similar storage media, or a combination thereof.

[0093] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A door opener cascade method, characterized in that: The method is applied to a door opener and includes: Broadcasting a cascade group creation request via a local link; the cascade group creation request carries the configured capability parameters of the door opener; Receive cascade group creation requests broadcast by other door openers through local links; Based on the capability parameters of the current door opener and the capability parameters of the door opener carried in the received cascade group creation request, one door opener is selected from the current door opener and all other door openers as the master of the cascade group, and the remaining door openers are selected as slaves of the cascade group; When this door opener is selected as the host of the cascade group, if a target instruction for a target door is received, in the process of moving the target door according to the target instruction, the output torque of at least two available door openers in the cascade group for controlling the movement of the target door is determined according to the output torque load balancing principle and output to each available door opener accordingly, so that each available door opener controls the rotation of the local motor according to the received output torque to move the target door; the target instruction is an opening instruction or a closing instruction.

2. The method according to claim 1, characterized in that The broadcasting of the cascade group creation request via the local link is executed on the premise of receiving the cascade group adding instruction; wherein, the cascade group adding instruction is sent to the door opener by the management platform after the door opener is added to the cascade group.

3. The method according to claim 1, characterized in that The step of determining the output torques of at least two available door openers in the cascade group for controlling the movement of the target door according to the output torque load balancing principle includes: Obtaining a current load status of each available door opener in the cascade group for controlling movement of the target door; According to the current load status, working specification requirements of each available door opener in the cascade group for controlling the movement of the target door, and the total number of available door openers in the cascade group for controlling the movement of the target door, the output torque of each available machine in the cascade group for controlling the movement of the target door is dynamically calculated according to the output torque load balancing principle.

4. The method according to claim 3, characterized in that The obtaining of the current load status of each available door opener in the cascade group for controlling the movement of the target door comprises: The current load status reported by each available door opener in the cascade group for controlling the movement of the target door is received; the current load status of any door opener is determined by collecting the motor drive bus current of the door opener; the motor gear of any door opener is tangent to the rack of the target door so that the motor drives the target door to move.

5. The method according to claim 3, characterized in that The dynamically calculating the output torque of each available door opener in the cascade group for controlling the movement of the target door according to the output torque load balancing principle includes: Obtaining a current target stage for controlling the movement of the target door; the target stage is one of a plurality of stages; different stages require different speeds for moving the target door; The output torque of each available door opener in the cascade group for controlling the movement of the target door is dynamically calculated according to the speed required by the target stage and the output torque load balancing principle.

6. The method according to claim 5, characterized in that The target stage is any one of the following stages of moving the target door: an acceleration stage, a transition stage from the acceleration stage to the uniform speed stage, a uniform speed stage, a transition stage from the uniform speed stage to the deceleration stage, and a deceleration stage.

7. The method according to claim 5 or 6, characterized in that The output torque of each available door opener in the cascade group for controlling the movement of the target door satisfies the following conditions: Condition 1: less than or equal to the rated torque; or, Condition 2: If condition 1 is not met, the output torque is greater than the rated torque and less than or equal to K1 times the rated torque, and the duration of the output torque is less than or equal to s1 unit time; The K1 is greater than 1; or, Condition 3: If condition 2 is not met, the output torque is greater than K1 times the rated torque and less than or equal to K2 times the rated torque, and the duration of the output torque is less than or equal to s2 time units; K2 is greater than K1, and s2 is less than s1; or, Condition 4: If Condition 3 is not satisfied, the target stage is adjusted, and the speed required by the target stage is returned. The output torque of each door opener in the cascade group used to control the movement of the target door is dynamically calculated according to the output torque load balancing principle; the speed of the movement of the target door in the adjusted target stage is less than the speed of the movement of the target door in the target stage before the adjustment; If the condition 4 is not satisfied, and each available door opener in the cascade group for controlling the movement of the target door cannot move the target door when performing the movement, it further includes: outputting an alarm message to indicate that the output torque of each door opener currently used for controlling the movement of the target door is insufficient, and it is recommended to add a door opener.

8. The method according to claim 1, characterized in that When the door opener is selected as the master of the cascade group, the method further includes: Upon receiving fault information reported by any slave in the cascade group, determining whether the slave is available based on the fault information, and if not available, notifying the slave to close the motor gear clutch so that the motor gear of the slave is disengaged from the rack of the door controlled by the slave; and determining whether the door controlled by the slave is the target door or not; When a fault relief message is received from any slave in the cascade group, the slave is determined to be available and the slave is notified to open the motor gear clutch so that the motor gear of the slave is tangent to the rack of the door controlled by the slave to drive the door controlled by the slave to move.

9. The method according to claim 1, characterized in that When the door opener is selected as the master of the cascade group, the method further includes: If an emergency is detected, the output torque of at least two available door openers in the cascade group for controlling the target door is determined according to the set mode, and the output torque is output to each available door opener accordingly, so that each available door opener controls the rotation of the local motor according to the received output torque to move the target door; the set mode refers to a mode for quickly opening or closing the target door, and the output torque of each available door opener under the set mode is the maximum torque that each available door opener can withstand.

10. A door opener cascade system, characterized in that: The system includes: a plurality of door openers; Any door opener broadcasts a cascade group creation request via a local link; the cascade group creation request carries the configured capability parameters of the door opener; Any door opener receives the cascade group creation request broadcast by other door openers through the local link; Any door opener selects one door opener from among itself and all other door openers as the master of the cascade group based on its capability parameters and the capability parameters of the door opener carried in the received cascade group creation request, and selects the remaining door openers as slaves of the cascade group. When any door opener is selected as the master of a cascade group, if a target command for a target door is received, in the process of moving the target door according to the target command, the output torque of at least two available door openers in the cascade group for controlling the movement of the target door is determined according to the output torque load balancing principle, and the output torque is sent to each available door opener accordingly, so that each available door opener controls the rotation of the motor according to the received output torque to move the target door; the target command is an open command or a close command; When any door opener acts as a slave of the cascade group, it receives the output torque sent by the master of the cascade group and controls the motor to rotate according to the received output torque to move the target door.

11. A door opener, characterized in that: The door opener includes: motor gear clutch switch, electronic control module, motor, processor; An electric control module is used to open or close the motor gear clutch switch; when the motor gear clutch switch is opened, the motor gear of the door opener is tangent to the rack of the gate, so that the motor drives the gate to move when it rotates; when the motor gear clutch is closed, the motor gear of the door opener is disengaged from the rack of the gate, so that the rotation of the motor cannot drive the gate to move; A processor, wherein the processor is configured to execute the steps in the method according to any one of claims 1 to 9.

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