Control method and device for connecting rod type electric door opening

Abstract

The invention provides a control method and device for a connecting rod type electric door opening, and relates to the technical field of automobiles. The method comprises the steps that when the connecting rod type electric door is in an initial state, the first length and the first included angle of a driving arm assembly are determined, and the second length and the second included angle of a posture control telescopic rod assembly are determined; after the connecting rod type electric door is initially opened or initially closed, the ordinate of the center point of the first rotating shaft is determined based on the rotating angle, the first length and the first included angle of the connecting rod type electric door, and the ordinate of the center point of the second rotating shaft is determined based on the rotating angle, the second length and the second included angle; and based on the ordinate of the central point of the first rotating shaft and the ordinate of the central point of the second rotating shaft, controlling the connecting rod type electric door to continuously move. According to the control method and device for the connecting rod type electric door opening, the posture stability when the connecting rod type electric door opening is opened and closed can be achieved.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a control method and device for a linkage type electric door opening. Background Art

[0002] At present, electric side-opening doors based on connecting rods (i.e. connecting rod electric opening doors) are gradually appearing on the market. Connecting rod electric opening doors are electric door systems that use connecting rod mechanisms to realize automatic opening and closing of door leaves. The working principle of connecting rod electric opening doors is mainly based on the transmission of connecting rod mechanisms. The connecting rod mechanism is composed of a series of rods connected by hinges, which can realize complex motion transformation. In the connecting rod electric opening door, the motor drives the connecting rod mechanism to move, thereby driving the door leaf to open and close.

[0003] However, due to the characteristics of the linkage mechanism, the smoothness and posture of the opening and closing of the linkage type electric door are uneven. If the posture of the linkage type electric door is unstable when opening or closing, it may even cause interference with the side wall. Therefore, it is necessary to provide a new control method for the linkage type door. Summary of the invention

[0004] The present application provides a control method and device for a connecting rod type electric door, which are used to solve the defect of the connecting rod type electric door in the prior art that the posture is unstable when opening or closing, and to achieve a stable posture of the connecting rod type electric door when opening and closing.

[0005] In a first aspect, the present application provides a control method for a linkage type electric door opening, wherein the linkage type electric door opening comprises a driving arm assembly and a posture control telescopic rod assembly, wherein the driving arm assembly comprises a driving arm and a first rotating shaft, wherein the posture control telescopic rod assembly comprises a posture control telescopic rod and a second rotating shaft, wherein the positions of the first rotating shaft and the second rotating shaft both change when the linkage type electric door opening moves, and the method comprises:

[0006] When the linkage type electric door is in an initial state, determining a first length of the driving arm assembly and a first angle between the driving arm assembly and the horizontal direction, and determining a second length of the posture control telescopic rod assembly and a second angle between the posture control telescopic rod assembly and the horizontal direction;

[0007] After the linkage type electric door is initially opened or initially closed, the longitudinal coordinate of the center point of the first rotation axis is determined based on the rotation angle of the linkage type electric door, the first length and the first included angle, and the longitudinal coordinate of the center point of the second rotation axis is determined based on the rotation angle, the second length and the second included angle;

[0008] Based on the longitudinal coordinate of the center point of the first rotating shaft and the longitudinal coordinate of the center point of the second rotating shaft, the linkage type electric door is controlled to continue to move so that the linkage type electric door is finally opened or finally closed.

[0009] Optionally, after the linkage type electric door is initially opened or initially closed, determining the ordinate of the center point of the first rotation axis based on the rotation angle of the linkage type electric door, the first length and the first angle includes:

[0010] After the linkage type electric door is initially opened, the rotation angle is added to the first included angle to obtain a first angle;

[0011] Multiplying the first length by the inverse of the sine value of the first angle to obtain the ordinate of the center point of the first rotation axis;

[0012] or:

[0013] After the linkage type electric door is initially closed, the first angle is obtained by subtracting the rotation angle from the sum of the first included angle and the opening angle before the linkage type electric door is initially closed;

[0014] The first length is multiplied by the inverse of the sine value of the first angle to obtain the ordinate of the center point of the first rotation axis.

[0015] Optionally, after the linkage type electric door is initially opened or initially closed, determining the ordinate of the center point of the second rotation axis based on the rotation angle, the second length and the second angle includes:

[0016] After the linkage type electric door is initially opened, the rotation angle is added to the second included angle to obtain a second angle;

[0017] Multiplying the second length by the inverse of the sine value of the second angle to obtain the ordinate of the center point of the second rotation axis;

[0018] or:

[0019] After the linkage type electric door is initially closed, the second angle is obtained by subtracting the rotation angle from the sum of the second included angle and the opening angle before the linkage type electric door is initially closed;

[0020] The second length is multiplied by the inverse of the sine value of the second angle to obtain the ordinate of the center point of the second rotation axis.

[0021] Optionally, the controlling the linkage type electric door to continue to move based on the longitudinal coordinate of the center point of the first rotation axis and the longitudinal coordinate of the center point of the second rotation axis includes:

[0022] determining a deviation value based on a ordinate of a center point of the first rotation axis and a ordinate of a center point of the second rotation axis;

[0023] Based on the deviation value, the telescopic amount of the posture control telescopic rod is controlled.

[0024] Optionally, controlling the extension amount of the posture control telescopic rod based on the deviation value includes:

[0025] Based on the deviation value, determining the running speed of the posture control telescopic rod;

[0026] The posture control telescopic rod is controlled to extend and retract the telescopic amount at the movement speed.

[0027] Optionally, the driving arm assembly further comprises a third rotating shaft, the position of which does not change when the linkage type electric door opener moves;

[0028] When the linkage type electric door is in an initial state, determining a first length of the driving arm assembly and a first angle between the driving arm assembly and the horizontal direction comprises:

[0029] When the linkage type electric door is in an initial state, obtaining a first spatial coordinate of a center point of the first rotation axis and a third spatial coordinate of a center point of the third rotation axis;

[0030] The first length is determined based on the first space coordinate and the third space coordinate, and the first angle is determined based on the abscissa and ordinate in the first space coordinate and the abscissa and ordinate in the third space coordinate.

[0031] Optionally, the posture-controlled telescopic rod assembly further comprises a fourth rotation axis, the position of which does not change when the linkage-type electric door opening moves;

[0032] When the linkage type electric door is in an initial state, determining a second length of the posture control telescopic rod assembly and a second angle between the posture control telescopic rod assembly and the horizontal direction comprises:

[0033] When the linkage type electric door is in an initial state, obtaining a second spatial coordinate of a center point of the second rotation axis and a fourth spatial coordinate of a center point of the fourth rotation axis;

[0034] The second length is determined based on the second space coordinate and the fourth space coordinate, and the second angle is determined based on the abscissa and ordinate in the second space coordinate and the abscissa and ordinate in the fourth space coordinate.

[0035] In a second aspect, the present application further provides a control device for a linkage type electric door opening, the linkage type electric door opening comprising a driving arm assembly and a posture control telescopic rod assembly, the driving arm assembly comprising a driving arm and a first rotating shaft, the posture control telescopic rod assembly comprising a posture control telescopic rod and a second rotating shaft, the first rotating shaft and the second rotating shaft both change position when the linkage type electric door opening moves, the device comprising:

[0036] A first determination module is used to determine a first length of the driving arm assembly and a first angle between the driving arm assembly and the horizontal direction, and to determine a second length of the posture control telescopic rod assembly and a second angle between the posture control telescopic rod assembly and the horizontal direction when the linkage type electric door is in an initial state;

[0037] A second determination module is used to determine the longitudinal coordinate of the center point of the first rotation axis based on the rotation angle, the first length and the first angle of the connecting rod type electric door after the connecting rod type electric door is initially opened or initially closed, and to determine the longitudinal coordinate of the center point of the second rotation axis based on the rotation angle, the second length and the second angle of the connecting rod type electric door;

[0038] A control module is used to control the linkage type electric door to continue to move based on the longitudinal coordinate of the center point of the first rotating shaft and the longitudinal coordinate of the center point of the second rotating shaft, so that the linkage type electric door is finally opened or finally closed.

[0039] In a third aspect, the present application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect when executing the computer program.

[0040] In a fourth aspect, the present application further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect.

[0041] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which implements the method described in the first aspect when executed by a processor.

[0042] The control method and device for the linkage type electric door opener provided in the present application determine the length parameters and angle parameters of the driving arm assembly and the posture control telescopic rod assembly when the linkage type electric door opener is in the initial state, and then determine the coordinate parameters of the driving arm assembly and the posture control telescopic rod assembly after the linkage type electric door opener is initially opened or initially closed, thereby controlling the initial opening or initial closing state of the linkage type electric door opener, and adjusting the linkage type electric door opener to make it finally open or finally closed, thereby ensuring the posture stability of the linkage type electric door opener when opening and closing, avoiding the problem of interference with the side enclosure, and improving the safety and stability of the linkage type electric door opener. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0044] Figure 1 It is a flow chart of a control method of a connecting rod type electric door opening provided in an embodiment of the present application;

[0045] Figure 2 It is a structural schematic diagram of the connecting rod type electric door opening provided by the embodiment of the present application when it is in the initial state;

[0046] Figure 3 is a schematic diagram of a first angle and a second angle provided in an embodiment of the present application;

[0047] Figure 4 It is a schematic diagram of the structure of the connecting rod type electric door after initial opening provided by the embodiment of the present application;

[0048] Figure 5 It is a structural schematic diagram of the final open state of the connecting rod type electric door provided in the embodiment of the present application;

[0049] Figure 6 It is a schematic diagram of the structure of a control device for a connecting rod type electric door opening provided in an embodiment of the present application;

[0050] Figure 7 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0052] Figure 1 The figure is a flow chart of the control method of the linkage type electric door opening provided by the embodiment of the present application. The linkage type electric door opening comprises a driving arm assembly and a posture control telescopic rod assembly, wherein the driving arm assembly comprises a driving arm and a first rotating shaft, and the posture control telescopic rod assembly comprises a posture control telescopic rod and a second rotating shaft, and the positions of the first rotating shaft and the second rotating shaft both change when the linkage type electric door opening moves. Figure 1 The embodiment of the present application provides a control method for connecting rod type electric door opening, the execution subject of which may be an electronic device, for example, a controller. The following description is made by taking the execution subject of the method as an example. The method may include:

[0053] Step 110: when the linkage type electric door is in an initial state, determining a first length of the driving arm assembly and a first angle between the driving arm assembly and the horizontal direction, and determining a second length of the posture control telescopic rod assembly and a second angle between the posture control telescopic rod assembly and the horizontal direction;

[0054] Step 120, after the linkage type electric door is initially opened or initially closed, the ordinate of the center point of the first rotation axis is determined based on the rotation angle, the first length and the first angle of the linkage type electric door, and the ordinate of the center point of the second rotation axis is determined based on the rotation angle, the second length and the second angle;

[0055] Step 130, based on the longitudinal coordinate of the center point of the first rotation axis and the longitudinal coordinate of the center point of the second rotation axis, control the linkage type electric door to continue to move so that the linkage type electric door is finally opened or finally closed.

[0056] Figure 2 Schematic diagram of the structure of the connecting rod type electric door in the initial state provided by the embodiment of the present application. Figure 2As shown, the linkage type electric door opening mainly includes a door assembly, a driving arm assembly and a posture control telescopic rod assembly. Point A and Point B are the center points of the rotating shafts at both ends of the driving arm, respectively. Point C and Point D are the center points of the rotating shafts at both ends of the posture control telescopic rod, respectively. The driving arm is connected to the side enclosure assembly through the rotating shaft at point A (i.e., the third rotating shaft), and is connected to the door assembly through the rotating shaft at point B (i.e., the first rotating shaft). The posture control telescopic rod is connected to the side enclosure assembly through the rotating shaft at point C (i.e., the fourth rotating shaft), and is connected to the door assembly through the rotating shaft at point D (i.e., the second rotating shaft). The positions of the first rotating shaft and the second rotating shaft change when the linkage type electric door opening moves, and the positions of the third rotating shaft and the fourth rotating shaft do not change when the linkage type electric door opening moves.

[0057] Figure 3 : is a schematic diagram of the first angle and the second angle provided in the embodiment of the present application. Among them, point A and point B are the center points of the rotation axes at both ends of the driving arm, respectively. Point C and point D are the center points of the rotation axes at both ends of the posture control telescopic rod, respectively. The first angle between the driving arm assembly and the horizontal direction is ∠E, and the second angle between the posture control telescopic rod assembly and the horizontal direction is ∠F.

[0058] In step 110, the controller can detect the state of the connecting rod type electric door. The state of the connecting rod type electric door can include an initial state. Specifically, the initial state is the state when the connecting rod type electric door is normally closed. In this state, the controller can determine the first length AB of the driving arm assembly and the first angle ∠E of the driving arm assembly and the horizontal direction (such as Figure 3 Similarly, the controller can determine the second length CD of the posture control telescopic rod assembly and the second angle ∠F of the posture control telescopic rod assembly and the horizontal direction (as shown in FIG. Figure 3 shown).

[0059] Figure 4 It is a schematic diagram of the structure of the linkage type electric door after the initial opening provided by the embodiment of the present application. Among them, point A and point B are the center points of the rotation axis at both ends of the driving arm respectively. Point C and point D are the center points of the rotation axis at both ends of the posture control telescopic rod respectively. In step 120, the controller can determine the initial opening or initial closing state of the linkage type electric door. Specifically, the initial opening is the state after the linkage type electric door is automatically opened; the initial closing is the state after the linkage type electric door is automatically closed. After the linkage type electric door is initially opened or initially closed, the linkage type electric door will rotate a certain angle, and this angle is the rotation angle. The controller can determine the first rotation axis (such as the first rotation axis) based on the rotation angle of the linkage type electric door, the first length AB and the first angle ∠E. Figure 4 The ordinate of the center point of the rotation axis where point B is located in the middle) can be determined based on the rotation angle, the second length CD and the second angle ∠F. Figure 4 The ordinate of the center point of the rotation axis where point D is located.

[0060] In step 130, the controller compares the first rotation axis (eg Figure 4 The ordinate of the center point of the rotation axis (where point B is located) is the same as the ordinate of the center point of the second rotation axis (such as Figure 4 The vertical coordinate of the center point of the rotation axis (where point D is located) can be used to determine the adjustment method of the linkage type electric door opener, and then based on the adjustment method, the linkage type electric door opener is controlled to continue moving so that the linkage type electric door opener is finally opened or closed.

[0061] The control method of the linkage type electric door opening provided in the embodiment of the present application determines the length parameters and angle parameters of the driving arm assembly and the posture control telescopic rod assembly when the linkage type electric door opening is in the initial state, and then determines the coordinate parameters of the driving arm assembly and the posture control telescopic rod assembly after the linkage type electric door opening is initially opened or initially closed, thereby controlling the initial opening or initial closing state of the linkage type electric door opening, and adjusting the linkage type electric door opening to make it finally open or finally closed, thereby ensuring the posture stability of the linkage type electric door opening when opening and closing, avoiding the problem of interference with the side enclosure, and improving the safety and stability of the linkage type electric door opening.

[0062] In one embodiment, after the linkage electric door is initially opened or initially closed, the longitudinal coordinate of the center point of the first rotation axis is determined based on the rotation angle, the first length and the first angle of the linkage electric door, including: after the linkage electric door is initially opened, the rotation angle is added to the first angle to obtain the first angle; the inverse of the sine value of the first angle is multiplied by the first length to obtain the longitudinal coordinate of the center point of the first rotation axis; or: after the linkage electric door is initially closed, the first angle is obtained by subtracting the rotation angle from the sum of the first angle and the opening angle before the linkage electric door is initially closed; the inverse of the sine value of the first angle is multiplied by the first length to obtain the longitudinal coordinate of the center point of the first rotation axis.

[0063] The opening angle before the connecting rod type electric door is initially closed is the opening angle when the connecting rod type electric door is not initially closed.

[0064] Specifically, after the connecting rod type electric door is initially opened, the first rotating shaft (such as Figure 4 The calculation method of the ordinate of the center point of the rotation axis (where point B is located) is as follows:

[0065] By′=(-sin(∠E+α)*AB)

[0066] Wherein, By′ represents the ordinate of the center point of the first rotation axis, ∠E represents the first angle, α represents the rotation angle of the linkage type electric door after initial opening, and AB represents the first length.

[0067] After the linkage electric door is initially closed, the ordinate of the center point of the first rotation axis is calculated as follows:

[0068] By′=(-sin(∠E+θ-β)*AB)

[0069] Among them, By′ represents the vertical coordinate of the center point of the first rotation axis, ∠E represents the first angle, θ represents the opening angle of the connecting rod type electric door before it is initially closed, β represents the rotation angle of the connecting rod type electric door after it is initially closed, and AB represents the first length.

[0070] The control method for the linked electric door opener provided in the embodiment of the present application determines the longitudinal coordinate of the center point of the first rotation axis through the rotation angle, the first length and the first angle of the linked electric door opener, and then controls the initial opening or initial closing state of the linked electric door opener, and adjusts the linked electric door opener to make it finally open or finally closed, thereby ensuring the stability of the posture of the linked electric door opener when opening and closing, avoiding the problem of interference with the side enclosure, and improving the safety and stability of the linked electric door opener.

[0071] In one embodiment, after the linkage electric door is initially opened or initially closed, the longitudinal coordinate of the center point of the second rotation axis is determined based on the rotation angle, the second length and the second angle, including: after the linkage electric door is initially opened, the rotation angle is added to the second angle to obtain the second angle; the inverse of the sine value of the second angle is multiplied by the second length to obtain the longitudinal coordinate of the center point of the second rotation axis; or: after the linkage electric door is initially closed, the second angle is obtained by subtracting the rotation angle from the sum of the second angle and the opening angle before the linkage electric door is initially closed; the inverse of the sine value of the second angle is multiplied by the second length to obtain the longitudinal coordinate of the center point of the second rotation axis.

[0072] Specifically, after the connecting rod type electric door is initially opened, the second rotating shaft (such as Figure 4 The calculation method of the ordinate of the center point of the rotation axis (where point D is located) is as follows:

[0073] Dy′=(-sin(∠F+α)*CD)

[0074] Wherein, Dy′ represents the ordinate of the center point of the second rotation axis, ∠F represents the second angle, α represents the rotation angle of the linkage type electric door after initial opening, and CD represents the second length.

[0075] After the linkage electric door is initially closed, the ordinate of the center point of the first rotation axis is calculated as follows:

[0076] Dy′=(-sin(∠F+θ-β)*CD)

[0077] Among them, Dy′ represents the vertical coordinate of the center point of the second rotation axis, ∠F represents the second angle, θ represents the opening angle of the connecting rod type electric door before the initial closing, β represents the rotation angle of the connecting rod type electric door after the initial closing, and CD represents the second length.

[0078] The control method for the linked electric door opening provided in the embodiment of the present application determines the longitudinal coordinate of the center point of the second rotation axis through the rotation angle, the second length and the second angle, and then controls the initial opening or initial closing state of the linked electric door opening, and adjusts the linked electric door opening to make it finally open or finally closed, thereby ensuring the stability of the posture of the linked electric door opening and closing, avoiding the problem of interference with the side enclosure, and improving the safety and stability of the linked electric door opening.

[0079] In one embodiment, based on the longitudinal coordinate of the center point of the first rotating axis and the longitudinal coordinate of the center point of the second rotating axis, the linkage type electric door is controlled to continue to move, including: determining a deviation value based on the longitudinal coordinate of the center point of the first rotating axis and the longitudinal coordinate of the center point of the second rotating axis; and controlling the extension and retraction amount of the telescopic rod based on the deviation value.

[0080] The controller can subtract the ordinate of the center point of the first rotation axis from the ordinate of the center point of the second rotation axis to obtain the difference. The absolute value of the difference is the deviation value, as shown in the following formula:

[0081] Δy=|Dy′-By′|

[0082] Wherein, Δy represents the deviation value, Dy′ represents the ordinate of the center point of the second rotation axis, and By′ represents the ordinate of the center point of the first rotation axis.

[0083] If the control link type electric door is in the initial opening state, the controller controls the posture to control the telescopic rod to retract, and the deviation value is the retracted length, that is, the telescopic amount. If the control link type electric door is in the initial closing state, the controller controls the posture to control the telescopic rod to extend, and the deviation value is the extended length, that is, the telescopic amount. Figure 5 1 is a schematic diagram of the structure of the final opening state of the connecting rod type electric door provided in the embodiment of the present application. Point A and point B are the center points of the rotation axis at both ends of the driving arm, respectively. Point C and point D are the center points of the rotation axis at both ends of the posture control telescopic rod, respectively.

[0084] The control method for the linkage type electric door opening provided in the embodiment of the present application can achieve a stable and uniform posture of the linkage type electric door opening during the opening and closing process by determining a deviation value and controlling the posture and extension amount of the telescopic rod, thereby improving the safety and stability of the linkage type electric door opening.

[0085] In one embodiment, controlling the extension amount of the posture-controlled telescopic rod based on the deviation value includes: determining the running speed of the posture-controlled telescopic rod based on the deviation value; and controlling the posture-controlled telescopic rod to extend and retract the corresponding extension amount at the moving speed.

[0086] After determining the deviation value, the controller needs to control the posture to control the telescopic rod to extend and retract. In the case of a large deviation value, a higher running speed can be determined, and the running speed can be a uniform speed or a variable speed. The controller controls the posture to control the telescopic rod to extend and retract at this movement speed, and the length of the extension is the extension amount. In the case of a small deviation value, a lower running speed can be determined, and the running speed can be a uniform speed or a variable speed. The controller controls the posture to control the telescopic rod to extend and retract at this movement speed.

[0087] The control method for the linkage type electric door opening provided in the embodiment of the present application determines the running speed through a deviation value, taking into account the telescopic length and telescopic time of the posture-controlled telescopic rod, and can ensure that the posture-controlled telescopic rod is quickly and safely telescoped, thereby improving the safety and stability of the linkage type electric door opening.

[0088] In one embodiment, the driving arm assembly also includes a third rotating axis, and the position of the third rotating axis does not change when the linked electric door opens. When the linked electric door opens, the first length of the driving arm assembly and the first angle between the driving arm assembly and the horizontal direction are determined, including: when the linked electric door opens, the first spatial coordinates of the center point of the first rotating axis and the third spatial coordinates of the center point of the third rotating axis are obtained; based on the first spatial coordinates and the third spatial coordinates, the first length is determined, and the first angle is determined based on the horizontal coordinate and the vertical coordinate in the first spatial coordinate, and the horizontal coordinate and the vertical coordinate in the third spatial coordinate.

[0089] like Figure 2 As shown, when the linkage type electric door is in the initial state, the controller can determine the first spatial coordinates (Bx, By, Bz) of the center point B of the first rotation axis and the third spatial coordinates (Ax, Ay, Az) of the center point A of the third rotation axis, and determine the first length by the following formula:

[0090]

[0091] Among them, AB represents the first length, Ax represents the horizontal coordinate in the third space coordinate, Bx represents the horizontal coordinate in the first space coordinate, Ay represents the vertical coordinate in the third space coordinate, By represents the vertical coordinate in the first space coordinate, Az represents the vertical coordinate in the third space coordinate, and Bz represents the vertical coordinate in the first space coordinate.

[0092] The first angle is determined by the following formula:

[0093] ∠E=arctan(|B y -A y | / |B x -A x |)

[0094] Among them, ∠E represents the first angle, By represents the ordinate in the first space coordinate, Ay represents the ordinate in the third space coordinate, Bx represents the abscissa in the first space coordinate, and Ax represents the abscissa in the third space coordinate.

[0095] The control method for the linkage type electric door opening provided in the embodiment of the present application provides data support for the subsequent calculation of the extension and retraction amount of the posture control telescopic rod by calculating the length parameters and angle parameters of the driving arm of the linkage type electric door opening in the initial state, thereby ensuring that the posture control telescopic rod can be extended and retracted quickly and safely, thereby improving the safety and stability of the linkage type electric door opening.

[0096] In one embodiment, the posture-controlled telescopic rod assembly also includes a fourth rotation axis, and the position of the fourth rotation axis does not change when the connecting rod type electric door opens and moves; when the connecting rod type electric door opens and is in an initial state, the second length of the posture-controlled telescopic rod assembly and the second angle between the posture-controlled telescopic rod assembly and the horizontal direction are determined, including: when the connecting rod type electric door opens and is in an initial state, obtaining the second spatial coordinates of the center point of the second rotation axis and the fourth spatial coordinates of the center point of the fourth rotation axis; determining the second length based on the second spatial coordinates and the fourth spatial coordinates, and determining the second angle based on the horizontal coordinate and the vertical coordinate in the second spatial coordinate and the horizontal coordinate and the vertical coordinate in the fourth spatial coordinate.

[0097] like Figure 2 As shown, when the connecting rod type electric door is in the initial state, the controller can determine the second spatial coordinates (Dx, Dy, Dz) of the center point D of the second rotation axis and the fourth spatial coordinates (Cx, Cy, Cz) of the center point C of the fourth rotation axis, and determine the second length by the following formula:

[0098]

[0099] Among them, CD represents the second length, Cx represents the horizontal coordinate in the fourth space coordinate, Dx represents the horizontal coordinate in the second space coordinate, Cy represents the vertical coordinate in the fourth space coordinate, Dy represents the vertical coordinate in the second space coordinate, Cz represents the vertical coordinate in the fourth space coordinate, and Dz represents the vertical coordinate in the second space coordinate.

[0100] The second angle is determined by the following formula:

[0101] ∠F=arctan(|D y -C y | / |D x -Cx |)

[0102] Among them, ∠F represents the second angle, Dy represents the ordinate in the second space coordinate, Cy represents the ordinate in the fourth space coordinate, Dx represents the abscissa in the second space coordinate, and Cx represents the abscissa in the fourth space coordinate.

[0103] The control method for the linkage type electric door opening provided in the embodiment of the present application provides data support for the subsequent calculation of the extension amount of the posture control telescopic rod by calculating the length parameters and angle parameters of the posture control telescopic rod when the linkage type electric door opening is in the initial state, and can ensure that the posture control telescopic rod can be extended and retracted quickly and safely, thereby improving the safety and stability of the linkage type electric door opening.

[0104] The control device for the linkage type electric door opening provided in the present application is described below. The control device for the linkage type electric door opening described below and the control method for the linkage type electric door opening described above can be referenced to each other.

[0105] Figure 6 : is a schematic diagram of the structure of the control device of the linkage type electric door opening provided in the embodiment of the present application. The linkage type electric door opening comprises a driving arm assembly and a posture control telescopic rod assembly, wherein the driving arm assembly comprises a driving arm and a first rotating shaft, and the posture control telescopic rod assembly comprises a posture control telescopic rod and a second rotating shaft, and the positions of the first rotating shaft and the second rotating shaft both change when the linkage type electric door opening moves. Figure 6 The control device for connecting rod type electric door opening provided in the embodiment of the present application may include:

[0106] A first determination module 610 is used to determine a first length of the driving arm assembly and a first angle between the driving arm assembly and the horizontal direction, and to determine a second length of the posture control telescopic rod assembly and a second angle between the posture control telescopic rod assembly and the horizontal direction when the linkage type electric door is in an initial state;

[0107] A second determination module 620 is used to determine the longitudinal coordinate of the center point of the first rotation axis based on the rotation angle, the first length and the first angle of the connecting rod type electric door after the connecting rod type electric door is initially opened or initially closed, and to determine the longitudinal coordinate of the center point of the second rotation axis based on the rotation angle, the second length and the second angle of the connecting rod type electric door;

[0108] The control module 630 is used to control the linkage type electric door to continue to move based on the longitudinal coordinate of the center point of the first rotating axis and the longitudinal coordinate of the center point of the second rotating axis, so that the linkage type electric door is finally opened or finally closed.

[0109] The control device for the linkage type electric door opening provided in the embodiment of the present application determines the length parameters and angle parameters of the driving arm assembly and the posture control telescopic rod assembly when the linkage type electric door opening is in the initial state, and then determines the coordinate parameters of the driving arm assembly and the posture control telescopic rod assembly after the linkage type electric door opening is initially opened or initially closed, thereby controlling the initial opening or initial closing state of the linkage type electric door opening, and adjusting the linkage type electric door opening to make it finally open or finally closed, thereby ensuring the posture stability of the linkage type electric door opening and closing, avoiding the problem of interference with the side enclosure, and improving the safety and stability of the linkage type electric door opening.

[0110] Specifically, the control device for the above-mentioned linkage type electric door opening provided in the embodiment of the present application can implement all the method steps implemented by the method embodiment in which the above-mentioned execution subject is the controller, and can achieve the same technical effect. The parts and beneficial effects in this embodiment that are the same as those in the method embodiment will not be described in detail here.

[0111] Figure 7 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 7 As shown, the electronic device may include: a processor 710, a communication interface 720, a memory 730 and a communication bus 740, wherein the processor 710, the communication interface 720 and the memory 730 communicate with each other through the communication bus 740. The processor 710 may call the logic instructions in the memory 730 to execute the control method of the linkage type electric door opening, for example, including:

[0112] When the linkage type electric door is in an initial state, determining a first length of the driving arm assembly and a first angle between the driving arm assembly and the horizontal direction, and determining a second length of the posture control telescopic rod assembly and a second angle between the posture control telescopic rod assembly and the horizontal direction;

[0113] After the linkage type electric door is initially opened or initially closed, the longitudinal coordinate of the center point of the first rotation axis is determined based on the rotation angle of the linkage type electric door, the first length and the first included angle, and the longitudinal coordinate of the center point of the second rotation axis is determined based on the rotation angle, the second length and the second included angle;

[0114] Based on the longitudinal coordinate of the center point of the first rotating shaft and the longitudinal coordinate of the center point of the second rotating shaft, the linkage type electric door is controlled to continue to move so that the linkage type electric door is finally opened or finally closed.

[0115] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-On l yMemory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0116] On the other hand, the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method of the connecting rod type electric door opening provided by the above methods are implemented, for example, including:

[0117] When the linkage type electric door is in an initial state, determining a first length of the driving arm assembly and a first angle between the driving arm assembly and the horizontal direction, and determining a second length of the posture control telescopic rod assembly and a second angle between the posture control telescopic rod assembly and the horizontal direction;

[0118] After the linkage type electric door is initially opened or initially closed, the longitudinal coordinate of the center point of the first rotation axis is determined based on the rotation angle of the linkage type electric door, the first length and the first included angle, and the longitudinal coordinate of the center point of the second rotation axis is determined based on the rotation angle, the second length and the second included angle;

[0119] Based on the longitudinal coordinate of the center point of the first rotating shaft and the longitudinal coordinate of the center point of the second rotating shaft, the linkage type electric door is controlled to continue to move so that the linkage type electric door is finally opened or finally closed.

[0120] In another aspect, the present application further provides a computer program product, the computer program product comprising a computer program, the computer program can be stored on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the computer can execute the steps of the control method of the linkage type electric door opening provided by the above methods, for example, including:

[0121] When the linkage type electric door is in an initial state, determining a first length of the driving arm assembly and a first angle between the driving arm assembly and the horizontal direction, and determining a second length of the posture control telescopic rod assembly and a second angle between the posture control telescopic rod assembly and the horizontal direction;

[0122] After the linkage type electric door is initially opened or initially closed, the longitudinal coordinate of the center point of the first rotation axis is determined based on the rotation angle of the linkage type electric door, the first length and the first included angle, and the longitudinal coordinate of the center point of the second rotation axis is determined based on the rotation angle, the second length and the second included angle;

[0123] Based on the longitudinal coordinate of the center point of the first rotating shaft and the longitudinal coordinate of the center point of the second rotating shaft, the linkage type electric door is controlled to continue to move so that the linkage type electric door is finally opened or finally closed.

[0124] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0125] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0126] It should also be noted that the terms "first", "second", etc. in the embodiments of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first" and "second" are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0127] In the embodiments of the present application, the term "and / or" describes the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0128] "Determine B based on A" in the embodiments of the present application means that the factor A should be considered when determining B. It is not limited to "B can be determined based on A alone", but should also include: "Determine B based on A and C", "Determine B based on A, C and E", "Determine C based on A, and further determine B based on C", etc. In addition, it can also include taking A as a condition for determining B, for example, "When A meets the first condition, use the first method to determine B"; for another example, "When A meets the second condition, determine B", etc.; for another example, "When A meets the third condition, determine B based on the first parameter", etc. Of course, it can also be a condition that takes A as a factor for determining B, for example, "When A meets the first condition, use the first method to determine C, and further determine B based on C", etc.

[0129] In the embodiments of the present application, the term "plurality" refers to two or more than two, and other quantifiers are similar.

[0130] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A control method for a connecting rod type electric door opening, characterized in that: The connecting rod type electric door opening comprises a driving arm assembly and a posture control telescopic rod assembly, wherein the driving arm assembly comprises a driving arm and a first rotating shaft, the posture control telescopic rod assembly comprises a posture control telescopic rod and a second rotating shaft, and the positions of the first rotating shaft and the second rotating shaft both change when the connecting rod type electric door opening moves, and the method comprises: When the linkage type electric door is in an initial state, determining a first length of the driving arm assembly and a first angle between the driving arm assembly and the horizontal direction, and determining a second length of the posture control telescopic rod assembly and a second angle between the posture control telescopic rod assembly and the horizontal direction; After the linkage type electric door is initially opened or initially closed, the longitudinal coordinate of the center point of the first rotation axis is determined based on the rotation angle of the linkage type electric door, the first length and the first included angle, and the longitudinal coordinate of the center point of the second rotation axis is determined based on the rotation angle, the second length and the second included angle; Based on the longitudinal coordinate of the center point of the first rotating shaft and the longitudinal coordinate of the center point of the second rotating shaft, the linkage type electric door is controlled to continue to move so that the linkage type electric door is finally opened or finally closed.

2. The control method of the linkage type electric door opening according to claim 1, characterized in that: After the linkage type electric door is initially opened or initially closed, determining the ordinate of the center point of the first rotation axis based on the rotation angle of the linkage type electric door, the first length and the first angle comprises: After the linkage type electric door is initially opened, the rotation angle is added to the first included angle to obtain a first angle; Multiplying the first length by the inverse of the sine value of the first angle to obtain the ordinate of the center point of the first rotation axis; or: After the linkage type electric door is initially closed, the first angle is obtained by subtracting the rotation angle from the sum of the first included angle and the opening angle before the linkage type electric door is initially closed; The first length is multiplied by the inverse of the sine value of the first angle to obtain the ordinate of the center point of the first rotation axis.

3. The control method of the linkage type electric door opening according to claim 1, characterized in that: After the linkage type electric door is initially opened or initially closed, determining the ordinate of the center point of the second rotation axis based on the rotation angle, the second length and the second angle includes: After the linkage type electric door is initially opened, the rotation angle is added to the second included angle to obtain a second angle; Multiplying the second length by the inverse of the sine value of the second angle to obtain the ordinate of the center point of the second rotation axis; or: After the linkage type electric door is initially closed, the second angle is obtained by subtracting the rotation angle from the sum of the second included angle and the opening angle before the linkage type electric door is initially closed; The second length is multiplied by the inverse of the sine value of the second angle to obtain the ordinate of the center point of the second rotation axis.

4. The control method of the linkage type electric door opening according to claim 1, characterized in that: The controlling the linkage type electric door to continue to move based on the ordinate of the center point of the first rotating shaft and the ordinate of the center point of the second rotating shaft comprises: determining a deviation value based on a ordinate of a center point of the first rotation axis and a ordinate of a center point of the second rotation axis; Based on the deviation value, the telescopic amount of the posture control telescopic rod is controlled.

5. The control method of the linkage type electric door opening according to claim 4, characterized in that: The step of controlling the extension amount of the posture control telescopic rod based on the deviation value includes: Based on the deviation value, determining the running speed of the posture control telescopic rod; The posture control telescopic rod is controlled to extend and retract the telescopic amount at the movement speed.

6. The control method of the linkage type electric door opening according to claim 1, characterized in that: The driving arm assembly further comprises a third rotating shaft, the position of which does not change when the linkage type electric door opener moves; When the linkage type electric door is in an initial state, determining a first length of the driving arm assembly and a first angle between the driving arm assembly and the horizontal direction comprises: When the linkage type electric door is in an initial state, obtaining a first spatial coordinate of a center point of the first rotation axis and a third spatial coordinate of a center point of the third rotation axis; The first length is determined based on the first space coordinate and the third space coordinate, and the first angle is determined based on the abscissa and ordinate in the first space coordinate and the abscissa and ordinate in the third space coordinate.

7. The control method of the linkage type electric door opening according to claim 1, characterized in that: The posture control telescopic rod assembly also includes a fourth rotation axis, the position of which does not change when the linkage type electric door opening moves; When the linkage type electric door is in an initial state, determining a second length of the posture control telescopic rod assembly and a second angle between the posture control telescopic rod assembly and the horizontal direction comprises: When the linkage type electric door is in an initial state, obtaining a second spatial coordinate of a center point of the second rotation axis and a fourth spatial coordinate of a center point of the fourth rotation axis; The second length is determined based on the second space coordinate and the fourth space coordinate, and the second angle is determined based on the abscissa and ordinate in the second space coordinate and the abscissa and ordinate in the fourth space coordinate.

8. A control device for a connecting rod type electric door opening, characterized in that: The connecting rod type electric door opening device comprises a driving arm assembly and a posture control telescopic rod assembly, wherein the driving arm assembly comprises a driving arm and a first rotating shaft, the posture control telescopic rod assembly comprises a posture control telescopic rod and a second rotating shaft, and the positions of the first rotating shaft and the second rotating shaft both change when the connecting rod type electric door opening device moves. The device comprises: A first determination module is used to determine a first length of the driving arm assembly and a first angle between the driving arm assembly and the horizontal direction, and to determine a second length of the posture control telescopic rod assembly and a second angle between the posture control telescopic rod assembly and the horizontal direction when the linkage type electric door is in an initial state; A second determination module is used to determine the longitudinal coordinate of the center point of the first rotation axis based on the rotation angle, the first length and the first angle of the connecting rod type electric door after the connecting rod type electric door is initially opened or initially closed, and to determine the longitudinal coordinate of the center point of the second rotation axis based on the rotation angle, the second length and the second angle of the connecting rod type electric door; A control module is used to control the linkage type electric door to continue to move based on the longitudinal coordinate of the center point of the first rotating shaft and the longitudinal coordinate of the center point of the second rotating shaft, so that the linkage type electric door is finally opened or finally closed.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the control method for the linkage type electric door opening as described in any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method for the linkage type electric door opening as described in any one of claims 1 to 7 is implemented.

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