Control method and device for connecting rod type electric door opening

Abstract

The present application provides a control method and device for a linkage-type electric door opener, which relates to the field of automotive technology. The method comprises: when the linkage-type electric door opener is in an initial state, determining the first length and the first angle of the driving arm assembly, and determining the second length and the second angle of the posture control telescopic rod assembly; after the linkage-type electric door opener is initially opened or initially closed, determining 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 linkage-type electric door opener, and determining the longitudinal coordinate of the center point of the second rotation axis based on the rotation angle, the second length and the second angle; and controlling the linkage-type electric door opener to continue moving 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. The control method and device for the linkage-type electric door opener provided in the present application can achieve posture stability of the linkage-type electric door opener when it is opened and closed.

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] Linkage-based electric side-opening doors (i.e., linkage-type electric doors) are gradually becoming available on the market. These systems utilize a linkage mechanism to automatically open and close the door leaf. The operating principle of these systems is primarily based on the transmission of the linkage mechanism. The linkage mechanism consists of a series of hinged links, enabling complex motion transformations. In these systems, a motor drives the linkage mechanism, thereby opening and closing the door leaf.

[0003] However, due to the characteristics of the linkage mechanism, the smoothness and posture of the opening and closing of a linkage-type electric door vary. If the posture of the linkage-type electric door is unstable during opening or closing, it may even cause interference with the side panel. Therefore, a new control method for linkage-type vehicle doors is needed. Summary of the Invention

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

[0005] In a first aspect, the present application provides a control method for a linkage-type electric door opener, wherein the linkage-type electric door opener includes a driving arm assembly and a posture-controlled telescopic rod assembly, wherein the driving arm assembly includes a driving arm and a first rotating shaft, and the posture-controlled telescopic rod assembly includes a posture-controlled 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 opener moves. 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, determining the longitudinal coordinate 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 included angle, and determining the longitudinal coordinate of the center point of the second rotation axis 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 longitudinal coordinate 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 of the linkage type electric door before initial closing;

[0014] The first length is multiplied by the inverse of the sine value of the first angle to obtain the longitudinal coordinate 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 negation 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 of the linkage type electric door before initial closing;

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

[0021] Optionally, 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 longitudinal coordinate of a center point of the first rotation axis and a longitudinal coordinate of a center point of the second rotation axis;

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

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

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

[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 includes:

[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 spatial coordinate and the third spatial coordinate, and the first angle is determined based on the abscissa and ordinate in the first spatial coordinate and the abscissa and ordinate in the third spatial coordinate.

[0031] Optionally, the posture control telescopic rod assembly further comprises a fourth rotation axis, the position of which does not change when the linkage type electric door opener 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 includes:

[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 spatial coordinate and the fourth spatial coordinate, and the second angle is determined based on the abscissa and ordinate in the second spatial coordinate and the abscissa and ordinate in the fourth spatial coordinate.

[0035] In a second aspect, the present application further provides a control device for a linkage-type electric door opener, the linkage-type electric door opener 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 positions of the first rotating shaft and the second rotating shaft both changing when the linkage-type electric door opener moves, the device comprising:

[0036] a first determining module, configured to determine, when the linkage-type electric door opening is in an initial state, a first length of the driving arm assembly and a first angle between the driving arm assembly and a horizontal direction, and a second length of the posture-controlled telescopic rod assembly and a second angle between the posture-controlled telescopic rod assembly and the horizontal direction;

[0037] a second determining module, configured to determine, after the linkage-type electric door is initially opened or initially closed, the longitudinal coordinate 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 included angle, 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 included angle;

[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 implements the method described in the first aspect when executed by a processor.

[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 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 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 is initially opened or initially closed, thereby controlling the initial opening or initial closing state of the linkage type electric door, and adjusting the linkage type electric door to make it finally open or finally closed, thereby ensuring the posture stability of the linkage type electric door when opening and closing, avoiding the problem of interference with the side wall, and improving the safety and stability of the linkage type electric door. 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 any creative work.

[0044] Figure 1 1 is a flow chart of a control method for a linkage-type electric door opening according to an embodiment of the present application;

[0045] Figure 2 This is a structural diagram of the connecting rod type electric door opening provided by an embodiment of the present application in an 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 This 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 This is a structural diagram of the final open state of the connecting rod type electric door provided in an embodiment of the present application;

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

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

[0051] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0052] Figure 1 This 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 includes a driving arm assembly and a posture control telescopic rod assembly. The driving arm assembly includes a driving arm and a first rotating shaft. The posture control telescopic rod assembly includes a posture control telescopic rod and a second rotating shaft. 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 present invention provides a method for controlling a linkage-type electric door opening. The execution subject of the method may be an electronic device, for example, a controller. The following description will be made using the controller as an example. The method may include:

[0053] Step 110: When the linkage-type electric door opener 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, determine the ordinate of the center point of the first rotation axis based on the rotation angle, the first length, and the first included angle of the linkage-type electric door, and determine the ordinate of the center point of the second rotation axis based on the rotation angle, the second length, and the second included 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 This is a 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 opener 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 panel 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 panel 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 opener moves, while the positions of the third rotating shaft and the fourth rotating shaft do not change when the linkage type electric door opener moves.

[0057] Figure 3 This is a schematic diagram illustrating the first and second angles provided in an embodiment of the present application. Points A and B are the center points of the rotation axes at both ends of the drive arm, respectively. Points C and D are the center points of the rotation axes at both ends of the attitude control telescopic rod, respectively. The first angle between the drive arm assembly and the horizontal direction is ∠E, and the second angle between the attitude 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 structural diagram 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 ) 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, and the second rotation axis (such as Figure 4 The vertical coordinate of the center point of the rotation axis where point D is located.

[0060] In step 130, the controller compares the first rotation axis (such as Figure 4 The vertical coordinate of the center point of the rotation axis (where point B is located) is the same as the vertical coordinate 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 determine the adjustment method of the connecting rod type electric door, and then control the connecting rod type electric door to continue moving based on the adjustment method so that the connecting rod type electric door is finally opened or closed.

[0061] The control method of the linkage type electric door 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 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 is initially opened or initially closed, thereby controlling the initial opening or initial closing state of the linkage type electric door, adjusting the linkage type electric door to make it finally open or finally closed, thereby ensuring the posture stability of the linkage type electric door when opening and closing, avoiding the problem of interference with the side wall, and improving the safety and stability of the linkage type electric door.

[0062] In one embodiment, after the linkage type electric door is initially opened or initially closed, the vertical 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 type electric door, including: after the linkage type 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 vertical coordinate 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 angle and the opening angle before the linkage type electric door is initially closed; the vertical coordinate of the center point of the first rotation axis is obtained by multiplying the inverse of the sine value of the first angle by the first length.

[0063] The opening angle of the connecting rod type electric door before it 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 vertical coordinate 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 type electric door is initially closed, the vertical coordinate 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 linkage type electric door opening provided in the embodiment of the present application determines the vertical coordinate of the center point of the first rotation axis through the rotation angle, the first length and the first angle of the linkage type electric door opening, and then controls the initial opening or initial closing state of the linkage type electric door opening, and adjusts the linkage type electric door opening so that it is finally opened or finally closed, thereby ensuring the stability of the posture of the linkage type electric door opening and closing, avoiding the problem of interference with the side wall, and improving the safety and stability of the linkage type electric door opening.

[0071] In one embodiment, after the linkage type 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 type electric door is initially opened, the rotation angle and the second angle are added 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 type 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 type 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 rotation axis (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 type electric door is initially closed, the vertical coordinate 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 it is initially closed, β represents the rotation angle of the connecting rod type electric door after it is initially closed, and CD represents the second length.

[0078] The control method of the linkage type electric door provided in the embodiment of the present application determines the vertical 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 linkage type electric door, and adjusts the linkage type electric door to make it finally open or finally closed, thereby ensuring the stability of the posture of the linkage type electric door when opening and closing, avoiding the problem of interference with the side wall, and improving the safety and stability of the linkage type electric door.

[0079] In one embodiment, based on the longitudinal coordinates of the center points of the first rotating axis and the second rotating axis, the linkage type electric door is controlled to continue to move, including: determining a deviation value based on the longitudinal coordinates of the center points of the first rotating axis and the second rotating axis; and controlling the posture to control 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 cause the telescopic rod to retract, and the deviation value is the retracted length, i.e., the telescopic amount. If the control link type electric door is in the initial closing state, the controller controls the posture to cause the telescopic rod to extend, and the deviation value is the extended length, i.e., the telescopic amount. Figure 5 This is a schematic diagram of the final open state of the linkage-type electric door opening provided by an embodiment of the present application. Points A and B are the center points of the rotation axes at both ends of the drive arm, respectively. Points C and D are the center points of the rotation axes 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 the deviation value, controlling the posture and the extension and contraction 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 and retraction amount of the posture-controlled telescopic rod based on the deviation value includes: determining a 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 and retraction amount at the running speed.

[0086] After determining the deviation value, the controller needs to control the posture of the telescopic rod to extend and retract. If the deviation value is large, a higher operating speed can be determined, which can be either constant or variable. The controller controls the posture of the telescopic rod to extend and retract at this speed, and the extended and retracted length is the extension amount. If the deviation value is small, a lower operating speed can be determined, which can be either constant or variable. The controller controls the posture of the telescopic rod to extend and retract at this speed.

[0087] The control method for the linkage type electric door opening provided in the embodiment of the present application determines the operating speed through the deviation value, taking into account the telescopic length and telescopic time of the posture control telescopic rod, and can ensure that the posture control telescopic rod is quickly and safely extended and retracted, 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 opener moves; when the linked electric door opener is in an initial state, 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 opener is in an initial state, obtaining 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; determining the first length based on the first spatial coordinates and the third spatial coordinates, and determining the first angle 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] Wherein, ∠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 when the linkage type electric door opening is in the initial state. It can ensure that the posture control telescopic rod is 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 control telescopic rod assembly also includes a fourth rotation axis, and the position of the fourth rotation axis does not change when the linkage electric door opens; when the linkage electric door opens in an initial state, the second length of the posture control telescopic rod assembly and the second angle between the posture control telescopic rod assembly and the horizontal direction are determined, including: when the linkage electric door opens 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 coordinates and the vertical coordinates in the second spatial coordinates, and the horizontal coordinates and the vertical coordinates in the fourth spatial coordinates.

[0097] like Figure 2 As shown, when the linkage 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 using 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] Wherein, ∠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, which 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 Schematic diagram of the structure of the control device of the linkage type electric door opening provided by the embodiment of the present application. The linkage type electric door opening includes a driving arm assembly and a posture control telescopic rod assembly, the driving arm assembly includes a driving arm and a first rotating shaft, the posture control telescopic rod assembly includes 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 determining module 610 is configured to determine, when the linkage-type electric door opening is in an initial state, a first length of the driving arm assembly and a first angle between the driving arm assembly and the horizontal direction, and a second length of the posture-controlled telescopic rod assembly and a second angle between the posture-controlled telescopic rod assembly and the horizontal direction;

[0107] a second determining module 620 configured to determine, after the linkage-type electric door is initially opened or initially closed, 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 included angle, and to determine the ordinate of the center point of the second rotation axis based on the rotation angle, the second length, and the second included angle;

[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 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.

[0109] The control device for the linkage type electric door 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 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 is initially opened or initially closed, thereby controlling the initial opening or initial closing state of the linkage type electric door, and adjusting the linkage type electric door to make it finally open or finally closed, thereby ensuring the posture stability of the linkage type electric door when opening and closing, avoiding the problem of interference with the side wall, and improving the safety and stability of the linkage type electric door.

[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 above-mentioned method embodiment in which the execution subject is the controller, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as those of 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 below. 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 via 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, determining the longitudinal coordinate 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 included angle, and determining the longitudinal coordinate of the center point of the second rotation axis 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 a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this 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 a number of instructions for enabling 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: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0116] On the other hand, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the control method for the linkage-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, determining the longitudinal coordinate 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 included angle, and determining the longitudinal coordinate of the center point of the second rotation axis 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, comprising a computer program. The computer program may be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can perform the steps of the control method for 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, determining the longitudinal coordinate 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 included angle, and determining the longitudinal coordinate of the center point of the second rotation axis 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. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0125] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling 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 certain parts of the embodiments.

[0126] It should also be noted that the terms "first," "second," and the like in the embodiments of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein. Furthermore, the objects distinguished by "first" and "second" are generally of the same type, and do not limit the number of objects. For example, the first object can be one or more.

[0127] In the embodiments of this application, the term "and / or" describes the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0128] In the embodiments of the present application, "determine B based on A" means that the factor A must be considered when determining B. It is not limited to "B can be determined based on A alone", and 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. 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 example, "when A meets the second condition, determine B", etc.; for 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 in 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 them. 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 linkage type electric door opener includes a driving arm assembly and a posture control telescopic rod assembly, wherein the driving arm assembly includes a driving arm and a first rotating shaft, and the posture control telescopic rod assembly includes a posture control telescopic rod and a second rotating shaft. The positions of the first rotating shaft and the second rotating shaft both change when the linkage type electric door opener moves. The method includes: 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, determining the longitudinal coordinate 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 included angle, and determining the longitudinal coordinate of the center point of the second rotation axis 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 longitudinal coordinate 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: 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 negation 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 of the linkage type electric door before initial closing; The first length is multiplied by the inverse of the sine value of the first angle to obtain the longitudinal coordinate 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 longitudinal coordinate 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 negation 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 longitudinal coordinate 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 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: determining a deviation value based on a longitudinal coordinate of a center point of the first rotation axis and a longitudinal coordinate of a center point of the second rotation axis; Based on the deviation value, the extension and retraction 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 telescopic amount of the posture control telescopic rod based on the deviation value includes: determining a running speed of the posture control telescopic rod based on the deviation value; The posture control telescopic rod is controlled to extend and retract the telescopic amount at the operating speed.

6. The control method of the linkage type electric door opening according to claim 1, characterized in that: The driving arm assembly further includes 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 includes: 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 spatial coordinate and the third spatial coordinate, and the first angle is determined based on the abscissa and ordinate in the first spatial coordinate and the abscissa and ordinate in the third spatial 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 further 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 includes: 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 spatial coordinate and the fourth spatial coordinate, and the second angle is determined based on the abscissa and ordinate in the second spatial coordinate and the abscissa and ordinate in the fourth spatial coordinate.

8. A control device for a connecting rod type electric door opening, characterized in that: The linkage type electric door opener includes a driving arm assembly and a posture control telescopic rod assembly, wherein the driving arm assembly includes a driving arm and a first rotating shaft, and the posture control telescopic rod assembly includes a posture control telescopic rod and a second rotating shaft. The positions of the first rotating shaft and the second rotating shaft both change when the linkage type electric door opener moves. The device includes: a first determining module, configured to determine, when the linkage-type electric door opening is in an initial state, a first length of the driving arm assembly and a first angle between the driving arm assembly and a horizontal direction, and a second length of the posture-controlled telescopic rod assembly and a second angle between the posture-controlled telescopic rod assembly and the horizontal direction; a second determining module, configured to determine, after the linkage-type electric door is initially opened or initially closed, the longitudinal coordinate 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 included angle, 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 included angle; 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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