Operation control method of double-channel sliding door and sliding door system

Abstract

The invention relates to the technical field of sliding doors, and discloses an operation control method of a double-channel sliding door, which adopts a first driving module and a second driving module to drive the sliding door to move, and the sliding door is sequentially provided with a front frame module, a first middle frame module and a second middle frame module along the moving direction of the sliding door, the first driving module is arranged in the first middle frame module. In the embodiment, the first driving module and the second driving module are switched to control movement of the sliding door, a pedestrian channel mode, a vehicle channel mode, a full-channel mode and the like can be achieved, and therefore people and vehicles are separated and isolated, the passing safety and the passing efficiency are improved, a user can flexibly adjust the channel modes according to actual application scene requirements, and the user experience is improved. And multi-channel cooperation and multi-mode operation are realized, and the use requirements in different scenes are met.

Description

Technical Field

[0001] The present invention relates to the technical field of sliding doors, and in particular to an operation control method of a double-channel sliding door and a sliding door system. Background Art

[0002] Sliding doors are mainly used to control the entry and exit of people and vehicles. Due to their good safety and convenience, they are widely used in various factories, institutions, colleges, communities and other places.

[0003] However, after opening, the sliding door often forms only a single passage, which easily leads to the mixing of people and vehicles, causing mutual interference between the inbound and outbound flow of people and vehicles, increasing the safety risks of pedestrians and affecting traffic efficiency. Summary of the invention

[0004] The embodiments of the present invention aim to provide an operation control method of a dual-channel sliding door and a sliding door system, so as to solve the technical problem in the prior art that the sliding door has only a single passage, which affects travel safety and passage efficiency.

[0005] The embodiment of the present invention solves the technical problem by adopting the following technical solution: providing an operation control method of a dual-channel sliding door, which is applied to a sliding door system, wherein a first driving module and a second driving module are used to drive the sliding door to move, wherein the sliding door is provided with a front frame module, a first middle frame module and a second middle frame module in sequence along the moving direction of the sliding door, wherein the first driving module is provided in the first middle frame module, and the second driving module is provided in the second middle frame module, wherein the operation control method comprises:

[0006] If a vehicle passage instruction is received, the first driving module is controlled to drive the rear end of the sliding door to the second middle frame module according to the vehicle passage instruction, and the second driving module is switched to drive the front end of the sliding door to the first middle frame module to open the vehicle passage;

[0007] If a vehicle or pedestrian passage instruction is received, the first driving module is controlled to drive the rear end of the sliding door to the second middle frame module according to the vehicle or pedestrian passage instruction, and the second module is switched to drive the front end of the sliding door to the second middle frame module to open the vehicle and pedestrian passage;

[0008] If a vehicle restriction instruction is received, the second driving module is controlled according to the vehicle restriction instruction to drive the front end of the sliding door to the first middle frame module, and the first module is switched to drive the front end of the sliding door to the front frame module to close the vehicle passage.

[0009] In some embodiments, a rack is disposed at the bottom of the sliding door, the first driving module includes a first motor and a first gear, and the second driving module includes a second motor and a second gear.

[0010] In some embodiments, if a vehicle passage instruction is received, the first driving module is controlled to drive the rear end of the sliding door to the second middle frame module according to the vehicle passage instruction, and the second driving module is switched to drive the front end of the sliding door to the first middle frame module to open the vehicle passage, including:

[0011] If a vehicle passing instruction is received, the first motor is controlled to rotate according to the vehicle passing instruction, and the power supply to the second motor is limited so that the second gear can rotate under the drive of the rack, and the first gear is meshed with the rack to drive the rear end of the sliding door to run to the second middle frame module, so that the rack is meshed with the second gear;

[0012] Controlling the first motor to stop running, and limiting the power supply to the first motor so that the first gear can rotate under the drive of the rack;

[0013] Controlling the second motor to rotate, the second gear meshes with the rack to drive the front end of the sliding door to move to the first middle frame module, so that the vehicle passage is opened;

[0014] If a vehicle or pedestrian passage instruction is received, the first driving module is controlled to drive the rear end of the sliding door to the second middle frame module according to the vehicle or pedestrian passage instruction, and the second module is switched to drive the front end of the sliding door to the second middle frame module to open the vehicle and pedestrian passage, including:

[0015] If a vehicle or pedestrian passage instruction is received, the first motor is controlled to rotate according to the vehicle or pedestrian passage instruction, and the power supply to the second motor is limited so that the second gear can rotate under the drive of the rack, and the first gear is meshed with the rack to drive the rear end of the sliding door to run to the second middle frame module, so that the rack is meshed with the second gear;

[0016] Controlling the first motor to stop running, and limiting the power supply to the first motor so that the first gear can rotate under the drive of the rack;

[0017] Controlling the second motor to rotate, the second gear meshes with the rack to drive the front end of the sliding door to the second middle frame module, so that the vehicle and pedestrian passages are opened;

[0018] If a vehicle restriction instruction is received, the second driving module is controlled to drive the front end of the sliding door to the first middle frame module according to the vehicle restriction instruction, and the first module is switched to drive the front end of the sliding door to the front frame module to close the vehicle passage, including:

[0019] If a vehicle restriction instruction is received, the second motor is controlled to rotate according to the vehicle and pedestrian passage instruction, and the power supply to the first motor is limited so that the first gear can rotate under the drive of the rack, and the second gear is meshed with the rack to drive the front end of the sliding door to the first middle frame module, so that the rack is meshed with the first gear;

[0020] Controlling the second motor to stop running, and limiting the power supply to the second motor so that the second gear can rotate under the drive of the rack;

[0021] The first motor is controlled to rotate, and the first gear is meshed with the rack to drive the front end of the sliding door to move to the front frame module, so that the vehicle passage is closed.

[0022] In some embodiments, if a vehicle passing instruction is received, the first motor is controlled to rotate according to the vehicle passing instruction, and the power supply to the second motor is limited so that the second gear can rotate under the drive of the rack, and the first gear is meshed with the rack to drive the rear end of the sliding door to run to the second middle frame module, so that the rack is meshed with the second gear, including:

[0023] If a vehicle passing instruction is received, the first motor is controlled to drive the first gear to rotate at a first speed according to the vehicle passing instruction, and the power supply to the second motor is limited so that the second gear can rotate under the drive of the rack, and the first gear is meshed with the rack for transmission, and drives the sliding door to move in a direction away from the front frame module at a first speed;

[0024] When the distance between the rear end of the rack and the second gear is less than the first preset distance, the first motor is controlled to slow down to a second speed, the first gear is meshed with the rack for transmission, and drives the sliding door to move away from the front frame module at a second speed until the rear end of the sliding door runs to the second middle frame module and the rack is meshed with the second gear.

[0025] In some embodiments, the second motor is controlled to rotate, and the second gear is meshed with the rack to drive the front end of the sliding door to move to the first middle frame module to open the vehicle passage, including:

[0026] Controlling the second motor to rotate, the second gear meshes with the rack to drive the sliding door to move away from the front frame module;

[0027] When the distance between the front end of the rack and the first gear is less than a second preset distance, the second motor is controlled to decelerate until the second motor stops running and the front end of the sliding door runs to the first middle frame module, and the vehicle passage is opened.

[0028] In some embodiments, if a vehicle or pedestrian passage instruction is received, the first motor is controlled to rotate according to the vehicle or pedestrian passage instruction, and the power supply to the second motor is limited so that the second gear can rotate under the drive of the rack, and the first gear is meshed with the rack to drive the rear end of the sliding door to the second middle frame module, and the rack is meshed with the second gear, including:

[0029] If a vehicle or pedestrian passage instruction is received, the first motor is controlled to drive the first gear to rotate at a first speed according to the vehicle or pedestrian passage instruction, and the power supply to the second motor is limited so that the second gear can rotate under the drive of the rack, and the first gear meshes with the rack for transmission, and drives the sliding door to move in a direction away from the front frame module at a first speed;

[0030] When the distance between the rear end of the rack and the second gear is less than the first preset distance, the first motor is controlled to slow down to a second speed, the first gear is meshed with the rack for transmission, and drives the sliding door to move away from the front frame module at a second speed until the rear end of the sliding door runs to the second middle frame module and the rack is meshed with the second gear.

[0031] In some embodiments, the controlling the second motor to rotate, the second gear meshing with the rack to drive the front end of the sliding door to move to the second middle frame module, so that the vehicle and pedestrian passages are opened includes:

[0032] Controlling the second motor to rotate, the second gear meshes with the rack to drive the sliding door to move away from the front frame module;

[0033] When the distance between the front end of the rack and the second gear is less than the third preset distance, the second motor is controlled to decelerate until the second motor stops running and the front end of the sliding door runs to the second middle frame module, and the vehicle and pedestrian passages are opened.

[0034] In some embodiments, if a vehicle restriction instruction is received, the second motor is controlled to rotate according to the vehicle and pedestrian passage instruction, and the power supply to the first motor is limited so that the first gear can rotate under the drive of the rack, and the second gear is meshed with the rack to drive the front end of the sliding door to the first middle frame module, so that the rack is meshed with the first gear, including:

[0035] If a vehicle restriction instruction is received, the second motor is controlled to drive the second gear to rotate at a third speed according to the vehicle restriction instruction, and the power supply to the first motor is limited so that the first gear can rotate under the drive of the rack, and the second gear meshes with the rack for transmission, and drives the sliding door to move toward the front frame module at a third speed;

[0036] When the distance between the front end of the rack and the first gear is less than a fourth preset distance, the second motor is controlled to slow down to a fourth speed, the second gear is meshed with the rack for transmission, and drives the sliding door to move toward the front frame module at a fourth speed until the front end of the sliding door runs to the first middle frame module and the rack is meshed with the first gear.

[0037] In some embodiments, controlling the first motor to rotate, the first gear meshing with the rack to drive the front end of the sliding door to move to the front frame module, and closing the vehicle passage includes:

[0038] Controlling the first motor to rotate, the first gear meshes with the rack to drive the sliding door to move toward the front frame module;

[0039] When the distance between the rear end of the rack and the first gear is less than the fifth preset distance, the first motor is controlled to decelerate until the first motor stops running and the front end of the sliding door runs to the front frame module, and the vehicle passage is closed.

[0040] An embodiment of the present invention solves its technical problem by adopting the following technical solution: a sliding door system is provided, including a controller, a sliding door, a first drive module, a second drive module, a front frame module, a first middle frame module and a second middle frame module, the first drive module and the second drive module are arranged in sequence along the moving direction of the sliding door, the first drive module is arranged in the first middle frame module, and the second drive module is arranged in the second middle frame module, the controller is respectively communicated with the first drive module and the second drive module, and the controller adopts the control method described in any of the above embodiments to control the operation of the sliding door.

[0041] Compared with the prior art, the embodiments of the present invention provide an operation control method and a sliding door system for a dual-channel sliding door. By switching the first drive module and the second drive module to control the movement of the sliding door, pedestrian channel mode, vehicle channel mode and full channel mode can be realized, thereby realizing the diversion and isolation of people and vehicles, and improving traffic safety and traffic efficiency. Users can flexibly adjust the channel mode according to the actual application scenario requirements, realize multi-channel coordination and multi-mode operation, and meet the usage requirements in different scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0043] Figure 1 Schematic diagram of the three-dimensional structure of a sliding door system provided by an embodiment of the present invention

[0044] Figure 2 Schematic diagram of the assembly structure of the first drive module, the second drive module and the rack in the embodiment of the present invention;

[0045] Figure 3 is a flow chart of an operation control method of a sliding door provided in an embodiment of the present invention;

[0046] Figure 4 is a schematic structural diagram of a vehicle passage of a sliding door in an embodiment of the present invention when the vehicle passage is in a closed state;

[0047] Figure 5 is a structural schematic diagram of a first sensor in contact with a first sensing strip during operation of a sliding door in an embodiment of the present invention;

[0048] Figure 6 is a structural schematic diagram of a case where the first sensor is separated from the first sensing strip during the operation of the sliding door in an embodiment of the present invention;

[0049] Figure 7 is a schematic structural diagram of a vehicle passage of a sliding door in an embodiment of the present invention when it is in an open state;

[0050] Figure 8 is a schematic structural diagram of a case where both the vehicle and pedestrian passages of the sliding door are in an open state in an embodiment of the present invention;

[0051] Fig. 9 is a schematic diagram of the three-dimensional structure of the first driving module in an embodiment of the present invention;

[0052] Fig.10 is a schematic diagram of the exploded structure of the first driving module in an embodiment of the present invention;

[0053] Fig.11 is a schematic diagram of the three-dimensional structure of a sliding door in an embodiment of the present invention;

[0054] Fig.12 is a schematic structural diagram of an embodiment of the present invention when the first gear and the second gear are meshed with the rack at the same time;

[0055] Fig.13 yes Fig.11 A partial enlarged view of the middle A;

[0056] Fig.14 It is a schematic diagram of the assembly structure of the first middle frame module, the second middle frame module and the door row module in an embodiment of the present invention;

[0057] Fig.15 is a schematic structural diagram of a pressing wheel mechanism in an embodiment of the present invention;

[0058] Fig.16 is a schematic diagram of the three-dimensional structure of the first middle frame module in an embodiment of the present invention;

[0059] Fig.17 Schematic diagram of the three-dimensional structure of the pressing wheel mechanism and the guide mechanism in the embodiment of the present invention;

[0060] Fig.18 is a schematic diagram of the exploded structure of the guide mechanism in an embodiment of the present invention;

[0061] Fig.19 It is a schematic diagram of the three-dimensional structure of the front frame module in an embodiment of the present invention.

[0062] The reference numerals are as shown in the following table:

[0063]

[0064] DETAILED DESCRIPTION

[0065] In order to facilitate the understanding of the present invention, the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "connecting" another element, it can be directly on another element, or there can be one or more centered elements therebetween. The orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "upper end", "lower end", "top" and "bottom" used in this specification is based on the orientation or positional relationship shown in the accompanying drawings, only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0066] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0067] The operation control method of the dual-channel sliding door and the sliding door system provided by the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0068] See also Figure 1 and Figure 2 The sliding door system 100 includes a guide rail 10, a sliding door 20, a first driving module 30, a second driving module 40, a first middle frame module 50, a second middle frame module 60, a front frame module 70 and a controller. The front frame module 70, the first middle frame module 60 and the second middle frame module 70 are sequentially arranged along the moving direction of the sliding door 20. The first driving module 30 is arranged in the first middle frame module 50, and the second driving module 40 is arranged in the second middle frame module 60. A vehicle passage is formed between the front frame module and the first middle frame module, and a pedestrian passage is formed between the first middle frame module and the second middle frame module. The first driving module 30 and the second driving module 40 can drive the sliding door 20 to move along the length direction of the guide rail 10 to realize the opening and closing of the vehicle passage and the pedestrian passage. Optionally, the first driving module 30 and the second driving module 40 can be configured as the same side of the guide rail 10.

[0069] The controller is respectively connected to the first drive module 30 and the second drive module 40 in communication. Specifically, the controller can be connected to the first drive module 30 and the second drive module 40 in communication wirelessly or wiredly. The controller can control the first drive module 30 to drive the sliding door 20 to move, and control the second drive module 40 to drive the sliding door 20 to move. For example, the controller can receive corresponding instructions input by the user to control the opening and closing of the vehicle channel and the pedestrian channel. These instructions can be vehicle passage instructions, vehicle and pedestrian passage instructions, and vehicle restriction instructions. Optionally, the user can input the corresponding instructions through a remote control, a button switch, a mobile phone APP, etc.

[0070] When the controller receives a vehicle passage command, the controller can control the opening of the vehicle passage according to the vehicle passage command. When the controller receives a vehicle and pedestrian passage command, the controller can control the opening of the vehicle and pedestrian passages according to the vehicle and pedestrian passage command. When the controller receives a vehicle restriction command, the controller can control the closing of the vehicle passage according to the vehicle restriction command.

[0071] like Figure 2 , Fig. 9 and Fig.11 As shown, in some embodiments, the first drive module 30 includes a first motor 31 and a first gear 32, the first motor 31 is transmission-connected to the first gear 32, the second drive module 40 includes a second motor 41 and a second gear 42, the second motor 41 is transmission-connected to the second gear 42, a rack 21 is provided at the bottom of the sliding door 20, the first motor 31 can drive the first gear 32 to rotate, the second motor 41 can drive the second gear 42 to rotate, and the movement of the sliding door 20 on the guide rail 10 can be achieved through the meshing transmission of the first gear 32 and the rack 21, and the meshing transmission of the second gear 42 and the rack 21, wherein the controller is communicatively connected to the first motor 31 and the second motor 41 respectively.

[0072] In some embodiments, the first sensing strip 201 and the second sensing strip 202 are respectively disposed at opposite ends of the sliding door 20 (see Fig.11 ), a first sensing bar 201 is disposed at the rear end of the sliding door 20, and a second sensing bar 202 is disposed at the front end of the sliding door 20, wherein the rear end of the sliding door 20 is an end of the sliding door 20 away from the front frame module 70, and the front end of the sliding door 20 is an end of the sliding door 20 close to the front frame module 70. Both the first sensing bar 201 and the second sensing bar 202 are disposed along the moving direction of the sliding door 20, and both the first sensing bar 201 and the second sensing bar 202 are located on the side of the sliding door 20 facing the second driving module 40.

[0073] like Fig.12As shown, a first sensor 301 and a second sensor 302 are provided on a side of the first driving module 30 facing the sliding door 20, and the first sensor 301 and the second sensor 302 are arranged at intervals. A third sensor 401 and a fourth sensor 402 are provided on a side of the second driving module 40 facing the sliding door 20, and the third sensor 401 and the fourth sensor 402 are arranged at intervals. The second sensor 302 is located at an end of the first driving module 30 close to the second driving module 40, and the third sensor 401 is located at an end of the second driving module 40 close to the first driving module 30. The first sensor 301, the third sensor 401 and the first sensing strip 201 are located at the same horizontal height, and the second sensor 302, the fourth sensor 402 and the second sensing strip 202 are located at the same horizontal height.

[0074] The first sensor 301 , the second sensor 302 , the third sensor 401 and the fourth sensor 402 can be respectively connected to the controller for communication. During the operation of the sliding door 20 , the first sensor 301 and the third sensor 401 can be used to detect the first sensing strip 201 , and the second sensor 302 and the fourth sensor 402 can be used to detect the second sensing strip 202 .

[0075] See also Figures 3 to 8 , the controller can perform the following steps to control the opening of the vehicle channel, the opening of the vehicle and pedestrian channels, and the closing of the vehicle channel.

[0076] S101, if the controller receives a vehicle passage instruction, the controller controls the first driving module 30 to drive the rear end of the sliding door 20 to move to the second middle frame module 40 according to the vehicle passage instruction, and switches to the second driving module 40 to drive the front end of the sliding door 20 to move to the first middle frame module 30 to open the vehicle passage;

[0077] Specifically, the front end of the sliding door 20 is the end of the sliding door 20 close to the front frame module 70, and the rear end of the sliding door 20 is the end of the sliding door 20 away from the front frame module 70. In this step, the initial position of the sliding door 20 can be Figure 1 The position, that is, the front end of the sliding door 20 is approximately located at the front frame module 70, and the rear end of the sliding door 20 is approximately located at the first middle frame module 50, and the vehicle passage is in a closed state.

[0078] When the controller receives the vehicle passing instruction, the controller first controls the first driving module to drive the rear end of the sliding door 20 to run to the second middle frame module 60 (the sliding door starts from Figure 4 Position Run to Figure 6 Position), and then switch to the second driving module 40 to continue driving the sliding door 20 to run until the front end of the sliding door 20 runs to the first middle frame module 50 (the sliding door is Figure 6 Position Run to Figure 7position), to open the vehicle channel and enter the vehicle channel mode.

[0079] It should be noted that, in this embodiment, when the second driving module 40 is switched to drive the sliding door to operate, the first driving module 30 can be in a stopped state, and when the first driving module 30 drives the sliding door 20 to operate, the second driving module 40 can also be in a stopped state. In this way, there is always only one driving module driving the sliding door 20 to operate, ensuring the stability of the sliding door 20 during operation.

[0080] S102: If the controller receives a vehicle and pedestrian passage instruction, it controls the first driving module 30 to drive the rear end of the sliding door 20 to move to the second middle frame module 60 according to the vehicle and pedestrian passage instruction, and switches to the second driving module 40 to drive the front end of the sliding door 20 to move to the second middle frame module 60 to open the vehicle and pedestrian passage;

[0081] In this step, the initial position of the sliding door 20 can be Figure 1 The position shown, that is, the front end of the sliding door 20 is approximately located at the front frame module 70, and the rear end of the sliding door 20 is approximately located at the first middle frame module 50, and the vehicle passage is in a closed state.

[0082] When the controller receives the vehicle and pedestrian passage instruction, the controller first controls the first driving module 30 to drive the sliding door 20 to move, so that the rear end of the sliding door 20 moves to the second middle frame module 60 (the sliding door moves from the Figure 4 Position Run to Figure 6 Position), and then switch to the second driving module 40 to continue to drive the sliding door 20 to run, so that the front end of the sliding door 20 runs to the second middle frame module (the sliding door is Figure 6 Position Run to Figure 8 position), to open the vehicle channel and pedestrian channel and enter the full channel mode.

[0083] S103, if the controller receives a vehicle restriction instruction, it controls the second driving module 40 to drive the front end of the sliding door 20 to run to the first middle frame module 50 according to the vehicle restriction instruction, and switches to the first module 50 to drive the front end of the sliding door 20 to run to the front frame module 70 to close the vehicle passage.

[0084] In this step, the initial position of the sliding door 20 can be Figure 8 The position shown, that is, the front end of the sliding door 20 is approximately located at the second middle frame module 60, and at this time, the vehicle passage and the pedestrian passage are both in an open state.

[0085] When the controller receives the vehicle restriction instruction, the controller first controls the second driving module 40 to drive the sliding door 20 to move, so that the front end of the sliding door 20 moves to the first middle frame module 50 (the sliding door moves from the first middle frame module 50 to the second middle frame module 50). Figure 8Position Run to Figure 7 Position), and then switch to the first driving module 40 to continue to drive the sliding door 20 to move, so that the front end of the sliding door 20 runs to the front frame module 70 (the sliding door is Figure 7 Position Run to Figure 4 position), closing the vehicle channel and entering the pedestrian channel mode.

[0086] It should be noted that, in this embodiment, when the first driving module 30 is switched to drive the sliding door 20 to operate, the second driving module 40 can be in a stopped state, and when the second driving module 40 drives the sliding door 20 to operate, the first driving module 40 can be in a stopped state. In this way, there is always only one driving module driving the sliding door to operate, ensuring the stability of the sliding door 20 during operation.

[0087] In summary, in this embodiment, the movement of the sliding door 20 is controlled by switching the first drive module 30 and the second drive module 40 to move the sliding door 20 to different positions, thereby realizing pedestrian channel mode, vehicle channel mode and full channel mode, etc., thereby realizing the diversion and isolation of people and vehicles, and improving traffic safety and traffic efficiency. Users can flexibly adjust the channel mode according to the actual application scenario requirements, realize multi-channel coordination and multi-mode operation, and meet the usage requirements in different scenarios.

[0088] In some embodiments, the controller performs the following steps during step S101:

[0089] A1. If the controller receives a vehicle passing instruction, the controller controls the first motor 31 to rotate according to the vehicle passing instruction, and limits the power supply to the second motor 41 so that the second gear 42 can rotate under the drive of the rack 21. The first gear 32 is meshed with the rack 21 to drive the rear end of the sliding door 20 to run to the second middle frame module 60, so that the rack 21 is meshed with the second gear 42.

[0090] After receiving the vehicle passage command input by the user, the controller will control the first motor 31 to rotate and limit the power supply to the second motor 41. At this time, the first motor 31 drives the first gear 32 to rotate, and the first gear 32 engages with the rack 21 to drive the sliding door 20 to move away from the front frame module 70, while the second motor 41 is in a non-rotating state.

[0091] Optionally, the controller may limit the power supply to the second motor 41 by limiting the current flowing into the second motor 41, or directly controlling the second motor 41 to be powered off. Since the power supply to the second motor 41 is limited, the current flowing into the second motor 41 is small, and the electromagnetic force generated by the second motor 41 is small, so that the second gear 42 at the output end of the second motor 41 is in a freely rotatable state, that is, the second gear 42 can rotate under the push of the rack 21.

[0092] When the first motor 31 drives the first gear 32 to rotate, and the first gear 32 meshes with the rack 21 to drive the sliding door 20 to move away from the front frame module 70, the rack 21 will gradually approach the second gear 42 and contact the second gear 42. As the rack 21 continues to move, the rack 21 will push the second gear 42 to rotate, so that the rack 21 can be smoothly embedded in the second gear 42 and mesh with it, thereby reducing the jitter, tooth jumping and jamming of the rack 21 when entering the second gear 42.

[0093] A2. The controller controls the first motor 31 to stop running, and limits the power supply to the first motor 31 so that the first gear 32 can rotate under the drive of the rack 21;

[0094] After the rack 21 is meshed with the second gear 42 , the controller controls the first motor 31 to stop running, the first motor 31 stops driving the sliding door 20 to move, and the sliding door 20 stops running.

[0095] Furthermore, the controller limits the power supply to the first motor 31, so that the first gear 32 at the output end of the first motor 31 is in a freely rotatable state, that is, the first gear 32 can rotate under the drive of the rack 21. Optionally, the controller limits the power supply to the first motor 31 by limiting the current flowing into the first motor 31, or directly controlling the first motor 31 to be powered off.

[0096] A3. The controller controls the second motor 41 to rotate, and the second gear 42 meshes with the rack 21 to drive the front end of the sliding door 20 to move to the first middle frame module 50, so that the vehicle passage is opened.

[0097] When the first motor 31 stops running, the controller controls the second motor 41 to rotate, the second gear 42 meshes with the rack 21 for transmission and drives the sliding door 20 to continue to move away from the front frame module 30. During this process, the rack 21 meshes with the first gear 32 and drives the first gear 32 to rotate until the rack 21 is separated from the first gear 32. After the rack 21 is separated from the first gear 32, the second gear 42 meshes with the rack 21 for transmission and continues to drive the sliding door 20 to move away from the front frame module 30 until the front end of the sliding door 20 runs to the first middle frame module 50, completing the opening of the vehicle passage (see Figure 7 ).

[0098] It should be noted that in step A3, since it takes a certain amount of time for the first motor 31 to decelerate to zero after the controller controls the first motor 31 to stop running, in step S104, it is usually necessary to wait for a certain amount of time and then control the second motor 41 to rotate after the speed of the first motor 31 drops to zero.

[0099] In this embodiment, when the controller controls the operation of the sliding door 20, when the first motor 31 drives the sliding door 20 to move, the second motor 41 stops running, and when the second motor 41 drives the sliding door 20 to move, the first motor 31 stops running, ensuring that there is always only one motor (one gear) driving the sliding door 20 to move, avoiding gear jumping, jittering, jamming and abnormal noise caused by speed deviation of the dual motors (dual gears), thereby ensuring the smooth operation of the sliding door 20.

[0100] In some embodiments, the controller performs the following steps during step S102:

[0101] B1. If the controller receives a vehicle or pedestrian passage instruction, the controller controls the first motor 31 to rotate according to the vehicle or pedestrian passage instruction, and limits the power supply to the second motor 41 so that the second gear 42 can rotate under the drive of the rack 21. The first gear 32 is meshed with the rack 21 to drive the rear end of the sliding door 20 to run to the second middle frame module 60, so that the rack 21 is meshed with the second gear 42.

[0102] After receiving the vehicle and pedestrian passage command input by the user, the controller will control the first motor 31 to rotate and limit the power supply to the second motor 41. At this time, the first motor 31 drives the first gear 32 to rotate and drives the sliding door 20 to move away from the front frame module 70, while the second motor 41 is in a non-rotating state.

[0103] Optionally, the controller may limit the power supply to the second motor 41 by limiting the current flowing into the second motor 41 , or directly control the second motor 41 to be powered off.

[0104] When the first motor 31 drives the first gear 32 to rotate, and the first gear 32 meshes with the rack 21 to drive the sliding door 20 to move away from the front frame module 70, the rack 21 will gradually approach the second gear 42 and contact the second gear 42. As the rack 21 continues to move, the rack 21 will push the second gear 42 to rotate, so that the rack 21 can be smoothly embedded in the second gear 42 and mesh with it, thereby reducing the jitter, tooth jumping and jamming of the rack 21 when entering the second gear 42.

[0105] B2. Control the first motor 31 to stop running, and limit the power supply to the first motor 31 so that the first gear 32 can rotate under the drive of the rack 21;

[0106] Optionally, the controller may limit the power supply to the first motor 31 by limiting the current flowing into the first motor 31 , or directly control the first motor 31 to be powered off.

[0107] B3. The controller controls the second motor 41 to rotate, and the second gear 42 meshes with the rack 21 to drive the front end of the sliding door 20 to move to the second middle frame module 60, so that the vehicle and pedestrian passages are opened.

[0108] When the first motor 31 stops running, the controller controls the second motor 41 to rotate, and the second gear 42 engages with the rack 21 to drive the sliding door 20 to continue moving away from the front frame module 70 until the front end of the sliding door 20 runs to the second middle frame module 60, completing the opening of the vehicle and pedestrian passages.

[0109] In some embodiments, the controller performs the following steps during step S103:

[0110] C1. If the controller receives a vehicle restriction instruction, the controller controls the second motor 41 to rotate according to the vehicle and pedestrian passage instruction, and limits the power supply to the first motor 31 so that the first gear 32 can rotate under the drive of the rack 21. The second gear 42 is meshed with the rack 21 to drive the front end of the sliding door 20 to run to the first middle frame module 50, so that the rack 21 is meshed with the first gear 32;

[0111] After receiving the vehicle restriction command input by the user, the controller will control the second motor 41 to rotate and limit the power supply to the first motor 31. At this time, the second motor 41 drives the second gear 42 to rotate, and the second gear 42 engages with the rack 21 to drive the sliding door 20 to move toward the direction of the front frame module 70, while the first motor 31 is in a non-rotating state.

[0112] Optionally, the controller may limit the power supply to the first motor 31 by limiting the current flowing into the first motor 31 , or directly control the first motor 31 to be powered off.

[0113] When the second motor 41 drives the second gear 42 to rotate, and the second gear 42 engages with the rack 21 to drive the sliding door 20 to move toward the front frame module 70, the rack 21 will gradually approach the first gear 32 and contact the first gear 32. As the rack 21 continues to move, the rack 21 will drive the first gear 32 to rotate, so that the rack 21 can be smoothly embedded in the first gear 32 and engage with it, thereby reducing the jitter, tooth jumping and jamming of the rack 21 when entering the first gear 32.

[0114] C2. The controller controls the second motor 41 to stop running, and limits the power supply to the second motor 41 so that the second gear 42 can rotate under the drive of the rack 21;

[0115] Optionally, the controller may limit the power supply to the second motor 41 by limiting the current flowing into the second motor 41 , or directly control the second motor 41 to be powered off.

[0116] C3. The controller controls the first motor 31 to rotate, and the first gear 32 meshes with the teeth 21 to drive the front end of the sliding door 20 to move to the front frame module 70, so that the vehicle passage is closed.

[0117] When the second motor 41 stops running, the controller controls the first motor 31 to rotate, and the first gear 32 engages with the rack 21 to drive the sliding door 20 to continue moving toward the front frame module 30 until the front end of the sliding door 20 runs to the front frame module 70, completing the closing of the vehicle passage.

[0118] In some embodiments, the controller further performs the following steps during the execution of step A1:

[0119] A11. If the controller receives a vehicle passing instruction, the controller controls the first motor 31 to drive the first gear 32 to rotate at a first speed according to the vehicle passing instruction, and limits the power supply to the second motor 41 so that the second gear 42 can rotate under the drive of the rack 21. The first gear 32 meshes with the rack 21 for transmission, and drives the sliding door 20 to move at a first speed in a direction away from the front frame module 70;

[0120] Specifically, the first rotation speed is usually relatively fast, so that the first motor 31 can drive the sliding door 20 to move at a faster first speed to ensure the operating efficiency of the sliding door 20. For example, the first speed can be 16.8M / mim, 20M / mim, etc.

[0121] A12. When the distance between the rear end of the rack 21 and the second gear 42 is less than the first preset distance, the controller controls the first motor 31 to decelerate to the second speed, the first gear 32 engages with the rack 21 for transmission, and continues to drive the sliding door 20 to move away from the front frame module 70 at the second speed until the rear end of the sliding door 20 runs to the second middle frame module 60, and the rack 21 engages with the second gear 42.

[0122] In the present application, the rear end of the rack 21 refers to the end of the rack 21 away from the front frame module 70, and the front end of the rack 21 refers to the end of the rack 21 close to the front frame module 70. Specifically, a distance sensor, visual recognition, etc. can be used to obtain the distance between the rear end of the rack 21 and the second gear 42. After the distance between the rear end of the rack 21 and the second gear 42 is obtained, the distance between the rear end of the rack 21 and the second gear 42 is compared with the first preset distance to determine whether the rack 21 is about to approach the second gear 42.

[0123] When the distance between the rear end of the rack 21 and the second gear 42 is less than the first preset distance, it indicates that the distance between the rack 21 and the second gear 42 is relatively close. At this time, the controller controls the first motor 31 to decelerate to the second speed, which is relatively low, so that the rack 21 can enter and mesh with the second gear 42 at a lower second speed, reduce the impact force when the rack 21 and the second gear 42 are in contact and mesh, and reduce the noise and upward tooth jump when the rack 21 and the second gear 42 are in contact. Optionally, the second speed is less than 5M / mim.

[0124] In some embodiments, the third sensor 401 generates a first signal when detecting the first sensing strip 201 ; when the controller receives the first signal, it determines that the distance between the rack 21 and the second gear 42 is less than a first preset distance.

[0125] The third sensor 401 may be a proximity sensor, a photoelectric sensor, etc. Figure 5 , Figure 6 As shown, during the process that the first motor 31 drives the sliding door 20 to move away from the front frame module 70, the first sensing strip 201 on the sliding door 20 gradually approaches the third sensor 401 and is sensed by the third sensor 401 (see Figure 5 ), when the first sensing bar 201 contacts the third sensor 401, it can be sensed by the third sensor 401 and generate a first signal. It can be understood that when the third sensor 401 senses the first sensing bar 201, it means that the distance between the rack 21 and the second gear 42 is relatively close. At this time, the third sensor 401 generates a first signal and sends it to the controller. After receiving the first signal, the controller determines that the distance between the rack 21 and the second gear 42 is less than the first preset distance, and then controls the first motor 31 to drive the sliding door 20 to continue to move away from the front frame module 70 at a lower second speed, thereby reducing the impact force when the rack 21 contacts and engages with the second gear 42, so that the rack 21 and the second gear 42 can be smoothly engaged.

[0126] It can be understood that as the first motor 31 continues to drive the sliding door 20 to move away from the front frame module 70, the first sensor bar 201 will also follow the sliding door 20 to move away from the front frame module 70, so that the first sensor bar 201 gradually moves away from the third sensor 401, until the first sensor bar 201 is separated from the third sensor 401, and the third sensor 401 cannot detect the first sensor bar 201. At this time, the first signal disappears, and the controller executes the steps of controlling the first motor 31 to stop running and limiting the power supply to the first motor 31.

[0127] In some embodiments, the controller further performs the following steps during the process of performing step A3:

[0128] A31, the controller controls the second motor 41 to rotate, and the second gear 42 is meshed with the rack 21 to drive the sliding door 20 to move away from the front frame module 70;

[0129] A32. When the distance between the front end of the rack 21 and the first gear 32 is less than the second preset distance, the second motor 41 is controlled to decelerate until the front end of the sliding door 20 runs to the first middle frame module 50 when the second motor 41 stops running, and the vehicle passage is opened.

[0130] Specifically, a distance sensor, visual recognition, etc. may be used to obtain the distance between the front end of the rack 21 and the first gear 32. After the distance between the front end of the rack 21 and the first gear 32 is obtained, the distance between the front end of the rack 21 and the first gear 32 is compared with the second preset distance to determine whether the front end of the rack 21 is about to approach the first middle frame module 50.

[0131] Optionally, the second preset distance can be equal to the first preset distance. When the distance between the front end of the rack 21 and the first gear 32 is less than the second preset distance, it indicates that the front end of the sliding door 20 is close to the first middle frame module 50. At this time, the controller controls the second motor 41 to decelerate and drive the sliding door 20 to decelerate, so as to avoid the sliding door 20 suddenly stopping and generating a large impact force. When the sliding door 20 decelerates to zero, the front end of the sliding door 20 runs to the first middle frame module 50 to open the vehicle passage.

[0132] like Figure 7 As shown, in some embodiments, the second sensor 302 generates a second signal when detecting the second sensing strip 202. When the controller receives the second signal, it determines that the distance between the front end of the rack 21 and the first gear 32 is less than the second preset distance.

[0133] The second sensor 302 may be a proximity sensor, a photoelectric sensor, etc. When the second gear 42 drives the rack 21 and the sliding door 20 to move away from the front frame module 70, the second sensing bar 202 on the sliding door 20 will gradually approach the second sensor 302 and be sensed by the second sensor 302. When the second sensor 302 senses the second sensing bar 202, it means that the front end of the sliding door 20 is close to the first middle frame module 50. At this time, the second sensor 302 generates a second signal and sends it to the controller. When the controller receives the second signal, it controls the second motor 41 to decelerate and drives the sliding door 20 to decelerate until the front end of the sliding door 20 runs to the first middle frame module 50, so that the vehicle passage is opened.

[0134] In some embodiments, the controller further performs the following steps during the execution of step B1:

[0135] B11. If the controller receives a vehicle or pedestrian passage instruction, the controller controls the first motor 31 to drive the first gear 32 to rotate at a first speed according to the vehicle or pedestrian passage instruction, and limits the power supply to the second motor 41 so that the second gear 42 can rotate under the drive of the rack 21. The first gear 32 meshes with the rack 21 for transmission, and drives the sliding door 20 to move at a first speed in a direction away from the front frame module 70;

[0136] Specifically, the first rotation speed is usually relatively fast, so that the first motor 31 can drive the sliding door 20 to move at a faster first speed to ensure the operating efficiency of the sliding door 20. For example, the first speed can be 16.8M / mim, 20M / mim, etc.

[0137] B12. When the distance between the rear end of the rack 21 and the second gear 42 is less than the first preset distance, the controller controls the first motor 31 to decelerate to the second speed, the first gear 32 engages with the rack 21 for transmission, and continues to drive the sliding door 20 to move away from the front frame module 70 at the second speed until the rear end of the sliding door 20 runs to the second middle frame module 60, and the rack 21 engages with the second gear 42.

[0138] The rear end of the rack 21 refers to the end of the rack 21 away from the front frame module 70. Specifically, a distance sensor, visual recognition, etc. can be used to obtain the distance between the rear end of the rack 21 and the second gear 42. After obtaining the distance between the rear end of the rack 21 and the second gear 42, the controller compares the distance between the rear end of the rack 21 and the second gear 42 with the first preset distance to determine whether the rack 21 is about to approach the second gear 42.

[0139] When the distance between the rear end of the rack 21 and the second gear 42 is less than the first preset distance, it indicates that the distance between the rack 21 and the second gear 42 is relatively close. At this time, the controller controls the first motor 31 to decelerate to the second speed, which is relatively low, so that the rack 21 can enter and mesh with the second gear 42 at a lower second speed, reduce the impact force when the rack 21 and the second gear 42 are in contact and mesh, and reduce the noise and upward tooth jump when the rack 21 and the second gear 42 are in contact. Optionally, the second speed is less than 5M / mim.

[0140] In some embodiments, the controller further performs the following steps during the process of performing step B3:

[0141] B31, the controller controls the second motor 41 to rotate, and the second gear 42 is meshed with the rack 21 to drive the sliding door 20 to move away from the front frame module 70;

[0142] B32, when the distance between the front end of the rack 21 and the second gear 42 is less than the third preset distance, the second motor 41 is controlled to decelerate until the front end of the sliding door 20 moves to the second middle frame module 60 when the second motor 41 stops running, and the vehicle and pedestrian passages are opened;

[0143] Specifically, a distance sensor, visual recognition, etc. may be used to obtain the distance between the front end of the rack 21 and the second gear 42. After obtaining the distance between the front end of the rack 21 and the second gear 42, the controller compares the distance between the front end of the rack 21 and the second gear 42 with the third preset distance to determine whether the front end of the rack 21 is about to approach the second middle frame module 60.

[0144] Optionally, the third preset distance can be equal to the first preset distance. When the distance between the front end of the rack 21 and the second gear 42 is less than the third preset distance, it indicates that the front end of the rack 21 is close to the second middle frame module 60. At this time, the controller controls the second motor 41 to decelerate and drive the sliding door 20 to decelerate, so as to avoid the sliding door 20 suddenly stopping and generating a large impact force. When the sliding door 20 decelerates to zero, the front end of the sliding door 20 runs to the second middle frame module 60 to realize the opening of the vehicle passage and the pedestrian passage.

[0145] In some embodiments, the fourth sensor 402 generates a third signal when detecting the second sensing strip 202 . When the controller receives the third signal, it determines that the distance between the front end of the rack 21 and the second gear 42 is less than a third preset distance.

[0146] The fourth sensor 402 may be a proximity sensor, a photoelectric sensor, etc. When the second gear 42 drives the rack 21 and the sliding door 20 to move away from the front frame module, the second sensing bar 202 on the sliding door 20 will gradually approach the fourth sensor 402 and be sensed by the fourth sensor 402. When the fourth sensor 402 senses the second sensing bar 202, it means that the front end of the sliding door 20 is close to the second middle frame module 60. At this time, the fourth sensor 402 generates a third signal and sends it to the controller. When the controller receives the third signal, it controls the second motor 41 to decelerate and drives the sliding door 20 to decelerate until the front end of the sliding door 20 runs to the second middle frame module 60, thereby realizing the opening of the vehicle passage and the pedestrian passage.

[0147] In some embodiments, the controller further performs the following steps during the execution of step C1:

[0148] C11. If the controller receives a vehicle restriction instruction, the controller controls the second motor 41 to drive the second gear 42 to rotate at the third speed according to the vehicle restriction instruction, and limits the power supply to the first motor 31 so that the first gear 32 can rotate under the drive of the rack 21, and the second gear 42 meshes with the gear 21 to drive the sliding door 20 to move toward the front frame module 70 at the third speed;

[0149] Specifically, the third rotational speed is usually relatively fast. Optionally, the third rotational speed can be equal to the first rotational speed, so that the second motor 41 can drive the sliding door 20 to move at a faster third speed to ensure the operating efficiency of the sliding door 20. For example, the third speed can be 16.8M / mim, 20M / mim, etc.

[0150] C12. When the distance between the front end of the rack 21 and the first gear 32 is less than the fourth preset distance, the second motor 41 is controlled to decelerate to the fourth speed, the second gear 42 is meshed with the rack 21 for transmission, and drives the sliding door 20 to move toward the front frame module 70 at the fourth speed until the front end of the sliding door 20 runs to the first middle frame module 50, and the rack 21 is meshed with the first gear 32.

[0151] Specifically, a distance sensor, visual recognition, etc. may be used to obtain the distance between the front end of the rack 21 and the first gear 32. After obtaining the distance between the front end of the rack 21 and the first gear 32, the controller compares the distance between the front end of the rack 21 and the first gear 32 with the fourth preset distance to determine whether the rack 21 is about to approach the first gear 32.

[0152] Optionally, the fourth preset distance can be equal to the first preset distance. When the distance between the front end of the rack 21 and the first gear 32 is less than the fourth preset distance, it indicates that the distance between the rack 21 and the first gear 32 is closer. At this time, the controller controls the second motor 31 to decelerate to a fourth speed. Optionally, the fourth speed can be equal to the second speed.

[0153] The fourth speed is relatively low, so that the rack 21 can mesh with the first gear 32 at a lower fourth speed, so as to reduce the impact force when the rack 21 and the first gear 32 are in contact and meshing, and reduce the noise and upward tooth jump when the rack 21 and the first gear 32 are in contact. Optionally, the fourth speed is less than 5M / mim.

[0154] In some embodiments, the second sensor 302 generates a fourth signal when detecting the second sensing strip 202 ; when the controller receives the fourth signal, it determines that the distance between the rack 21 and the second gear 42 is less than a fourth preset distance.

[0155] The second sensor 302 may be a proximity sensor, a photoelectric sensor, etc. When the second motor 41 drives the sliding door 20 to move in the direction of the front frame module 70, the second sensing bar 202 on the sliding door 20 will gradually approach the second sensor 302 and be sensed by the second sensor 302. It is understandable that when the second sensor 302 senses the second sensing bar 202, it means that the distance between the rack 21 and the first gear 32 is relatively close. At this time, the second sensor 302 generates a fourth signal and sends it to the controller. After receiving the fourth signal, the controller determines that the distance between the rack 21 and the first gear 32 is less than the second preset distance, and then controls the second motor 41 to drive the sliding door 20 to continue to move in the direction of the front frame module 70 at a lower fourth speed, thereby reducing the impact force when the rack 21 and the first gear 32 are in contact and meshing, so that the rack 21 and the first gear 32 can mesh smoothly.

[0156] It can be understood that as the second motor 41 continues to drive the sliding door 20 to move toward the front frame module 70, the second sensing strip 202 will also follow the sliding door 20 to move toward the front frame module 70, and the second sensing strip 202 will gradually move away from the second sensor 302 until the second sensing strip 202 is separated from the second sensor 302, and the second sensor 302 cannot detect the second sensing strip 202. At this time, the fourth signal disappears, and the controller executes the steps of controlling the second motor 41 to stop running and limiting the power supply to the second motor 41.

[0157] In some embodiments, the controller further performs the following steps during the execution of step C3:

[0158] C31, the controller controls the first motor 31 to rotate, the first gear 32 is meshed with the rack 21 to drive the sliding door 20 to move toward the front frame module 70;

[0159] C32. When the distance between the rear end of the rack 21 and the first gear 32 is less than the fifth preset distance, the first motor 31 is controlled to decelerate until the front end of the sliding door 20 runs to the front frame module 70 when the first motor 31 stops running, and the vehicle passage is closed.

[0160] Specifically, a distance sensor, visual recognition, etc. may be used to obtain the distance between the rear end of the rack 21 and the first gear 32. After obtaining the distance between the rear end of the rack 21 and the first gear 32, the controller compares the distance between the rear end of the rack 21 and the first gear 32 with the fifth preset distance to determine whether the front end of the rack 21 is about to approach the front frame module 70.

[0161] Optionally, the fifth preset distance can be equal to the first preset distance. When the distance between the rear end of the rack 21 and the first gear 32 is less than the fifth preset distance, it indicates that the distance between the rear end of the rack 21 and the first gear 32 is closer, and the front end of the sliding door 20 is closer to the front frame module 70. At this time, the controller controls the first motor 31 to decelerate and drives the sliding door 20 to decelerate, so as to avoid the sliding door 20 from suddenly stopping and generating a large impact force. When the sliding door 20 decelerates to zero, the front end of the sliding door 20 runs to the front frame module 70 to close the vehicle passage.

[0162] In some embodiments, the first sensor 301 generates a fifth signal when detecting the first sensing strip 201 , and when the controller receives the fifth signal, it determines that the distance between the rear end of the rack 21 and the first gear 32 is less than a fifth preset distance.

[0163] The first sensor 301 may be a proximity sensor, a photoelectric sensor, etc. When the first gear 32 drives the rack 21 and the sliding door 20 to move toward the front frame module 70, the first sensing strip 201 on the sliding door 20 will gradually approach the first sensor 301 and be sensed by the first sensor 301. When the first sensor 301 senses the first sensing strip 201, it means that the front end of the sliding door 20 is close to the front frame module 70. At this time, the first sensor 301 generates a fifth signal and sends it to the controller. When the controller receives the fifth signal, it controls the first motor 31 to decelerate and drives the sliding door 20 to decelerate until the front end of the sliding door 20 runs to the front frame module 70, thereby closing the vehicle passage.

[0164] In some embodiments, the first motor 31 and the second motor 41 are gear reduction motors. The controller can control the power supply to the gear reduction motor so that the gear reduction motor can rotate freely under the action of external force, so as to facilitate the meshing of the rack 21 at the bottom of the sliding door 20 with the first gear 32 and the second gear 42.

[0165] And the gear reduction motor will not self-lock, so in the power-off state, the first gear 32 on the first motor 31 and the second gear 42 on the second motor 41 can be easily rotated under the action of external force, that is, the first gear 32 and the second gear 42 can be freely rotated by hand, thereby driving the sliding door 20 to realize the door opening and closing action, ensuring that the sliding door 20 can be opened in the event of an unexpected situation, thereby ensuring the safety of the sliding door 20.

[0166] See also Figures 9 to 11 , and refer back to Figure 2In some embodiments, the first driving module 30 also includes a first chassis 33, the first motor 31 is disposed in the first chassis 33, the first gear 32 is disposed outside the first chassis 33, and the output shaft of the first motor 31 can pass through the first chassis 33 and be transmission-connected to the first gear 32.

[0167] Optionally, the first case 33 includes a first case body 330 and a first case door 331 covering one side of the first case body 330, and the first case door 331 can be detachably mounted on the first case body 330 for easy inspection and maintenance. The first case door 331 is provided with a first notch 3310, and the output shaft of the first motor 31 can pass through the first notch 3310 and be transmission-connected with the first gear 82 outside the first case 84.

[0168] The second driving module 40 also includes a second chassis 43 , a second motor 41 is disposed in the second chassis 43 , a second gear 42 is disposed outside the second chassis 43 , and an output shaft of the second motor 41 can pass through the second chassis 43 and be drivingly connected to the second gear 42 .

[0169] Optionally, the second case 43 includes a second case body and a second case door covering one side of the second case body, and the second case door can be detachably mounted on the second case body for easy inspection and maintenance. A second notch is provided on the second case door, and the output shaft of the second motor 41 can pass through the second notch and be transmission-connected with the second gear 82 outside the second case.

[0170] Optionally, the first sensor 301 and the second sensor 302 are disposed on two opposite sides of the first chassis 33 , and the third sensor 401 and the fourth sensor 402 are disposed on two opposite sides of the second chassis 43 .

[0171] In some embodiments, the first sensing bar 201 and the second sensing bar 202 are staggered in the height direction, the first sensing bar 201 and the second sensing bar 202 are installed at different heights on the sliding door 20, the first sensor 301 and the second sensor 302 are installed at different heights on the first chassis 33, the third sensor 401 and the fourth sensor 402 are installed at different heights on the second chassis 43, and the first sensor 301, the third sensor 401 and the first sensing bar 201 are located at the same height, and the second sensor 302, the fourth sensor 402 and the second sensing bar 202 are located at the same height.

[0172] In this embodiment, by staggering the first sensing bar 201 and the second sensing bar 202 in the height direction and matching the height of each sensor with the corresponding sensing bar, mutual interference between the sensors can be effectively avoided. Each sensor will only detect the sensing bar at a specific height to ensure the accuracy of the signal.

[0173] See also Fig.12 and Fig.13 In some embodiments, the center distance L between the first gear 32 and the second gear 42 is equal to a multiple of the tooth pitch P of the rack 21. Fig.11 and Fig.12 As shown, the center distance L is the distance between the center of the first gear 32 and the center of the second gear 42 , and the tooth pitch P of the rack 21 is the distance between two adjacent teeth of the rack 21 .

[0174] By setting the center distance L between the first gear 32 and the second gear 42 to an integral multiple of the tooth pitch P, it can be ensured that when the first drive module 30 and the second drive module 40 act on the sliding door 20 at the same time, the rack 21 can be precisely meshed with the first gear 32 and the second gear 42 at the same time. In this way, during the sliding process of the sliding door 20, the rack 21 can smoothly transition from a state of being meshed with only the first gear 32 or the second gear 42 to a state of being precisely meshed with both the first gear 32 and the second gear 42 at the same time, avoiding tooth jumping, misalignment and jamming during the transmission process, and ensuring stability, reliability and low noise during the transmission process.

[0175] like Fig. 9 and Fig.10 As shown, in some embodiments, the first drive module 30 also includes a first base 34, the first box body 33 is installed on the first base 34, and the second drive module 40 includes a second base 44, and the second box body 43 is installed on the second base 44; the first base 83 and the second base 93 are arranged at intervals along the length direction of the guide rail 10, and at least one of the first base 34 and the second base 44 is provided with an adjustment hole 340, and the adjustment hole 340 is used to adjust the installation position of the first drive module 30 or the second drive module 40, so that the center distance L between the first gear 32 and the second gear 42 is equal to a multiple of the tooth pitch P of the rack 21, thereby avoiding the jamming phenomenon of the sliding door 20 during the sliding process and reducing the noise during the transmission process.

[0176] The first base 34 and the second base 44 may have the same structure, both of which are roughly plate-shaped structures, and the adjustment hole 340 may be a strip hole, the length direction of which is parallel to the length direction of the guide rail 10, so as to adjust the distance between the first drive module 30 and the second drive module 40. The first base 34 and the second base 44 may be fixed to the ground by fasteners such as bolts and screws, so as to fix the first drive module 30 and the second drive module 40.

[0177] Taking the adjustment hole 340 on the first base 34 as an example, when it is necessary to adjust the center distance between the first gear 32 and the second gear 42, it is only necessary to loosen the fasteners used to fix the first base 34, and then the installation position of the first base 34 can be fine-tuned so that the center distance L between the first gear 32 and the second gear 42 is equal to a multiple of the tooth pitch P of the rack 21. The adjustment process is convenient and quick.

[0178] Optionally, the first driving module 30 further includes a motor base 35 , which is fixedly mounted in the first chassis 33 , and the first motor 31 is mounted on the motor base 35 , and the motor base 35 fixes and supports the first motor 31 .

[0179] Optionally, the first drive module 30 also includes a connecting shaft 36, a bearing 37 and a bearing seat 38. The output shaft of the first motor 31 is connected to the first gear 32 through the connecting shaft 36. The bearing seat 38 is fixedly mounted on the first base 34 and is located on the outside of the first chassis 33. The bearing is installed in the bearing seat 38. The connecting shaft 36 is passed through the bearing 37. The bearing 37 can improve the rotation efficiency between the connecting shaft 36 and the bearing seat 38, and provide stable support for the connecting shaft 36, thereby improving transmission accuracy and stability.

[0180] Optionally, the first driving module 30 further includes an electric control board 39 , which is electrically connected to the controller and can receive control signals from the controller to control the stopping, acceleration and deceleration of the first motor 31 , and limit the power supply to the first motor 31 .

[0181] The first sensor 301 and the second sensor 302 are electrically connected to the electric control board. The electric control board 39 can receive the sensing signals of the first sensor 301 and the second sensor 302 and feed them back to the controller.

[0182] The above mainly introduces the specific structure of the first driving module 30 . It should be understood that the specific structure of the second driving module 40 may be the same as that of the first driving module 30 , and will not be repeated here.

[0183] See also Figures 14 to 18 In some embodiments, the sliding door system further includes a first middle frame module 50 and a second middle frame module 60 , and the first middle frame module 50 and the second middle frame module 60 are spaced apart along the length direction of the guide rail 10 .

[0184] The first middle frame module 50 includes a frame 51 and a pressure wheel mechanism 52. The pressure wheel mechanism 52 is installed on the frame 51. The pressure wheel mechanism 52 is located above the sliding door 20 and is used to limit the displacement of the sliding door 20 in the vertical direction. When the rack 21 at the bottom of the sliding door 20 moves toward the first gear 32 and engages with the first gear 32, the pressure wheel mechanism 52 can be against the top surface of the sliding door 20 to limit the jumping of the sliding door 20 in the vertical direction.

[0185] In the process of the second driving module 40 driving the sliding door 20 to operate, when the rack 21 at the bottom of the sliding door 20 gradually approaches the first gear 32 and meshes with the first gear 32 for operation, since the first gear 32 is located at the bottom of the sliding door 20, the sliding door 20 will be subjected to an upward force from the first gear 32. In order to prevent the sliding door 20 from being subjected to the force of the first gear 32 and causing upward jumping, tooth jumping and shaking, in this embodiment, a pressure wheel is provided on the frame 51. Mechanism 52, during the meshing operation of the rack 21 at the bottom of the sliding door 20 and the first gear 32, the pressure wheel 520 of the pressure wheel mechanism 52 will abut against the top surface of the sliding door 20, thereby limiting the upward movement of the sliding door 20, preventing the sliding door 20 from jumping, jumping teeth and shaking during operation, ensuring that the rack 21 at the bottom of the sliding door 20 is accurately meshed with the first rack 21 under the pressure of the pressure wheel 520, thereby ensuring the stability and reliability of the sliding door 20 during the sliding process along the guide rail 10.

[0186] It can be understood that the second middle frame module 60 also has the above-mentioned pressure wheel mechanism 52. The pressure wheel mechanism 52 on the second middle frame module 60 can prevent the sliding door 20 from jumping during the engagement process between the rack 21 at the bottom of the sliding door and the second gear 42, thereby ensuring the precise engagement between the rack 21 at the bottom of the sliding door and the second gear 42.

[0187] like Fig.14 and Fig.15 As shown, in some embodiments, the pressure wheel mechanism 52 also includes a pressure wheel 520, a first side plate 521, a second side plate 522 and a pressure wheel shaft 523. The first side plate 521 and the second side plate 522 are arranged opposite to each other and are fixedly connected to the frame 51 respectively. The pressure wheel shaft 523 is passed between the first side plate 521 and the second side plate 522. The pressure wheel 520 is rotatably installed on the pressure wheel shaft 523 and is located between the first side plate 521 and the second side plate 522. During the process of meshing operation between the rack 21 at the bottom of the sliding door 20 and the first gear 32, the pressure wheel 520 can be against the top surface of the sliding door 20.

[0188] The two ends of the pressure wheel shaft 523 are respectively fixed to the first side plate 521 and the second side plate 522, and the pressure wheel 520 is sleeved on the pressure wheel shaft 523. After the sliding door 20 is subjected to the upward force of the first gear 32 or the second gear 42, the pressure wheel 520 is in rolling contact with the top surface of the sliding door, which is beneficial to reduce the friction resistance and wear between the pressure wheel 520 and the sliding door 20, and ensure that the rack 21 can smoothly enter the first rack 21 or the second rack 21, thereby reducing the noise and energy consumption during the operation of the sliding door 20 and preventing the sliding door 20 from getting stuck during the operation.

[0189] In some embodiments, the pressing wheel mechanism 52 also includes a pressing wheel sleeve 524, and there are two pressing wheel sleeves 524, one of which is located between the first side plate 521 and the pressing wheel 520, and the other is located between the second side plate 522 and the pressing wheel 520. The pressing wheel sleeve 524 can provide support and axial limitation for the pressing wheel shaft 523 to avoid shaking and position displacement of the pressing wheel shaft 523.

[0190] Optionally, the pressure wheel mechanism 52 also includes a pressure wheel bearing, which is arranged between the pressure wheel 520 and the pressure wheel shaft 523. The pressure wheel bearing can reduce the friction between the pressure wheel shaft 523 and the pressure wheel 520 and provide stable support for the pressure wheel 520, thereby ensuring the smoothness of the pressure wheel 520 during rolling and avoiding shaking and deviation.

[0191] In some embodiments, the pressing wheel mechanism 52 further includes an axis clamp 525, and the pressing wheel shaft 523 includes a head and a rod connected to each other, and an annular clamping groove 5230 is provided at one end of the rod away from the head. After the rod of the pressing wheel shaft 523 passes through the first side plate 521, the first sleeve, the pressing wheel and the second side plate 522, the axis clamp 525 is clamped into the annular clamping groove 5230 to complete the assembly of the pressing wheel shaft 523. It is understandable that in other embodiments, the fixing of the pressing wheel shaft 523 can also be achieved by riveting, screws, etc.

[0192] In some embodiments, a plurality of pressing wheel mechanisms 52 may be provided along the length direction of the sliding door 20, and a plurality of pressing wheel mechanisms 52 may be provided along the thickness direction of the sliding door 20, for example. Fig.16 In the embodiment, two pressing wheel mechanisms 52 are respectively arranged along the length direction of the sliding door 20 and along the thickness direction of the sliding door 20. By having the pressing wheels of multiple pressing wheel mechanisms 52 abut against the top surface of the sliding door, it can be ensured that the entire sliding door 20 is subjected to uniform pressure during the sliding process, avoiding tilting or shaking caused by local uneven force, thereby more effectively preventing the sliding door 20 from jumping and shaking during the sliding process and reducing the noise during the operation of the sliding door 20.

[0193] In some embodiments, the first middle frame module 50 further includes an adjustment plate 53, which is adjustably mounted on the frame 51, and the pressure wheel mechanism 52 is fixedly mounted on the adjustment plate 53. Specifically, the pressure wheel mechanism 52 can be fixedly connected to the adjustment plate 53 by the first side plate 521 and the second side plate 522 of the pressure wheel mechanism 52, so that the pressure wheel mechanism 52 is fixedly mounted on the adjustment plate 53. The adjustment plate 53 can have one or more pieces, and one or more pressure wheel mechanisms 52 can be mounted on one adjustment plate 53, for example, Fig.16 Two adjustment plates 53 are arranged in the middle, and two pressing wheel mechanisms 52 are arranged on each adjustment plate 53 .

[0194] The adjusting plate 53 is provided with a strip-shaped hole, through which it is convenient to adjust the height of the adjusting plate 53, so as to realize the height adjustment of the pressing wheel mechanism 52, and it is convenient to install and debug the pressing wheel mechanism 52.

[0195] As Fig.16 shown, in some embodiments, the frame 51 includes a first vertical column 511, a second vertical column 512 and a top beam 510. The first vertical column 511 and the second vertical column 512 are arranged oppositely, and the sliding door 20 can pass between the first vertical column 511 and the second vertical column 512. Both ends of the top beam 510 are respectively connected to the first vertical column 511 and the second vertical column 512, and the first vertical column 511, the second vertical column 512 and the top beam 510 enclose a substantially "冂" shape.

[0196] In some embodiments, the frame 51 further includes a bracket assembly 513. The bracket assembly 513 is arranged on the top beam 510. The bracket assembly 513 includes two parallel support plates 5131 and two parallel cross beams 5132. The two support plates 5131 are respectively fixedly connected to the inner sides of the first vertical column 511 and the second vertical column 512. Both ends of the two cross beams 5132 are respectively fixedly connected to the two support plates 5131. The two adjusting plates 53 are respectively adjustably installed on the two cross beams 5132.

[0197] In this embodiment, the bracket assembly 513 provides more installation positions, and multiple pressing wheel mechanisms 52 can be installed, so as to more effectively prevent the sliding door 20 from bouncing upwards during operation. It can be understood that in other embodiments, the bracket assembly 513 can also be omitted, and at this time the pressing wheel mechanism 52 can also be directly installed on the top beam 510.

[0198] As Fig.14 、 Fig.17 and Fig.18 shown, in some embodiments, the first middle frame module 50 and the second middle frame module 60 are respectively provided with a guiding mechanism 54. The guiding mechanism 54 includes a support frame 540 and two groups of guiding wheel assemblies 541. The support frame 540 is fixedly connected to the frame 51 and is located above the sliding door 20. The support frame 540 is provided with an avoidance opening 5400 for the pressing wheel mechanism 52 to pass through. The two groups of guiding wheel assemblies 541 are arranged oppositely and are located at the bottom of the support frame 540. The sliding door 20 is arranged between the two groups of guiding wheel assemblies 541.

[0199] The support frame 540 can be fixedly connected to the frame 51 by welding, threaded connection, etc. Specifically, the support frame 540 can be fixedly installed on the crossbeam 5132 of the frame 51. Optionally, the support frame 540 includes a base plate 5401 and connecting plates 5402 arranged at both ends of the base plate 5401, wherein the connecting plates 5402 are fixedly connected to the frame 51, and two sets of guide wheel assemblies 541 are installed at the bottom of the base plate 5401. The two sets of guide wheel assemblies 541 are respectively located on opposite sides of the thickness direction of the sliding door 20, and the two sets of guide wheel assemblies 541 have a supporting and limiting effect on the sliding door 20, ensuring that the sliding door 20 does not tilt or shake during the sliding process, and ensuring the stable operation of the sliding door 20.

[0200] The avoidance opening 5400 is opened on the base plate 5401 and corresponds to the position of the pressure wheel mechanism 52. The pressure wheel mechanism 52 can pass through the avoidance opening 5400 and abut against the top surface of the sliding door 20, so that there is no need to occupy additional installation space. The pressure wheel mechanism 52 and the guide mechanism 54 have good structural compactness, and the pressure wheel mechanism 52 and the guide mechanism 54 can work together without interfering with each other.

[0201] Optionally, the guide mechanism 54 may be provided with a plurality of guide mechanisms, for example, Fig.16 In the figure, a guide mechanism 54 is respectively arranged on the two cross beams 5132, and the plurality of guide mechanisms 54 can better support and guide the sliding door 20.

[0202] like Fig.18 As shown, in some embodiments, each guide wheel assembly 541 includes a guide wheel shaft 5411 and a guide wheel 5410, the guide wheel shaft 5411 is disposed at the bottom of the base plate 5401 and fixedly matched with the base plate 5401, the guide wheel 5410 is rotatably mounted on the guide wheel shaft 5411, and the sliding door is located between the two guide wheels 5410. Optionally, a connecting hole 5403 is provided on the base plate 5401, and the end of the guide wheel shaft 5411 can pass through the connecting hole 5403 and then be fixedly matched with the base plate 5401 through a fastener 5414.

[0203] Optionally, the guide wheel assembly 541 also includes a support bearing 5412 and a support sleeve 5413, and the support bearing 5412 and the support sleeve 5413 are both mounted on the guide wheel shaft 5411, and the support bearing 5412 is arranged between the guide wheel shaft 5411 and the guide wheel 5410 to support the guide wheel 5410 and reduce the friction between the guide wheel 5410 and the guide wheel shaft 5411.

[0204] The above mainly introduces the specific structure of the first middle frame module 50 . It should be understood that the specific structure of the second middle frame module 60 may be the same as that of the first middle frame module 50 , and will not be repeated here.

[0205] See also Fig.19In some embodiments, the sliding door system further includes a front frame module 70 , the front frame module 70 includes a frame body 70 and a limiting member 72 disposed on the frame body 71 , and the limiting member 72 has a limiting groove 720 .

[0206] The sliding door 20 is provided with a limit wheel 22 at one end facing the front frame module 70 (see Fig.11 ), during the closing process of the sliding door 20, the sliding door 20 gradually moves toward the direction of the front frame module 70 until the limiting wheel 22 is stuck in the limiting groove 720, completing the closing action of the sliding door 20.

[0207] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention is described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dual-channel sliding door operation control method, applied to a sliding door system, characterized in that: The first driving module and the second driving module are used to drive the sliding door to move. The sliding door is provided with a front frame module, a first middle frame module and a second middle frame module in sequence along the moving direction of the sliding door. The first driving module is arranged in the first middle frame module, and the second driving module is arranged in the second middle frame module. The operation control method includes: If a vehicle passage instruction is received, the first driving module is controlled to drive the rear end of the sliding door to the second middle frame module according to the vehicle passage instruction, and the second driving module is switched to drive the front end of the sliding door to the first middle frame module to open the vehicle passage; If a vehicle or pedestrian passage instruction is received, the first driving module is controlled to drive the rear end of the sliding door to the second middle frame module according to the vehicle or pedestrian passage instruction, and the second module is switched to drive the front end of the sliding door to the second middle frame module to open the vehicle and pedestrian passage; If a vehicle restriction instruction is received, the second driving module is controlled according to the vehicle restriction instruction to drive the front end of the sliding door to the first middle frame module, and the first module is switched to drive the front end of the sliding door to the front frame module to close the vehicle passage.

2. The control method according to claim 1, characterized in that: A rack is arranged at the bottom of the sliding door, the first driving module includes a first motor and a first gear, and the second driving module includes a second motor and a second gear.

3. The control method according to claim 2, characterized in that: If a vehicle passage instruction is received, the first driving module is controlled to drive the rear end of the sliding door to the second middle frame module according to the vehicle passage instruction, and the second driving module is switched to drive the front end of the sliding door to the first middle frame module to open the vehicle passage, including: If a vehicle passing instruction is received, the first motor is controlled to rotate according to the vehicle passing instruction, and the power supply to the second motor is limited so that the second gear can rotate under the drive of the rack, and the first gear is meshed with the rack to drive the rear end of the sliding door to run to the second middle frame module, so that the rack is meshed with the second gear; Controlling the first motor to stop running, and limiting the power supply to the first motor so that the first gear can rotate under the drive of the rack; Controlling the second motor to rotate, the second gear meshes with the rack to drive the front end of the sliding door to move to the first middle frame module, so that the vehicle passage is opened; If a vehicle or pedestrian passage instruction is received, the first driving module is controlled to drive the rear end of the sliding door to the second middle frame module according to the vehicle or pedestrian passage instruction, and the second module is switched to drive the front end of the sliding door to the second middle frame module to open the vehicle and pedestrian passage, including: If a vehicle or pedestrian passage instruction is received, the first motor is controlled to rotate according to the vehicle or pedestrian passage instruction, and the power supply to the second motor is limited so that the second gear can rotate under the drive of the rack, and the first gear is meshed with the rack to drive the rear end of the sliding door to run to the second middle frame module, so that the rack is meshed with the second gear; Controlling the first motor to stop running, and limiting the power supply to the first motor so that the first gear can rotate under the drive of the rack; Controlling the second motor to rotate, the second gear meshes with the rack to drive the front end of the sliding door to the second middle frame module, so that the vehicle and pedestrian passages are opened; If a vehicle restriction instruction is received, the second driving module is controlled to drive the front end of the sliding door to the first middle frame module according to the vehicle restriction instruction, and the first module is switched to drive the front end of the sliding door to the front frame module to close the vehicle passage, including: If a vehicle restriction instruction is received, the second motor is controlled to rotate according to the vehicle and pedestrian passage instruction, and the power supply to the first motor is limited so that the first gear can rotate under the drive of the rack, and the second gear is meshed with the rack to drive the front end of the sliding door to the first middle frame module, so that the rack is meshed with the first gear; Controlling the second motor to stop running, and limiting the power supply to the second motor so that the second gear can rotate under the drive of the rack; The first motor is controlled to rotate, and the first gear is meshed with the rack to drive the front end of the sliding door to move to the front frame module, so that the vehicle passage is closed.

4. The control method according to claim 3, characterized in that: If a vehicle passing instruction is received, the first motor is controlled to rotate according to the vehicle passing instruction, and the power supply to the second motor is limited so that the second gear can rotate under the drive of the rack, and the first gear is meshed with the rack to drive the rear end of the sliding door to run to the second middle frame module, so that the rack is meshed with the second gear, including: If a vehicle passing instruction is received, the first motor is controlled to drive the first gear to rotate at a first speed according to the vehicle passing instruction, and the power supply to the second motor is limited so that the second gear can rotate under the drive of the rack, and the first gear is meshed with the rack for transmission, and drives the sliding door to move in a direction away from the front frame module at a first speed; When the distance between the rear end of the rack and the second gear is less than the first preset distance, the first motor is controlled to slow down to a second speed, the first gear is meshed with the rack for transmission, and drives the sliding door to move away from the front frame module at a second speed until the rear end of the sliding door runs to the second middle frame module and the rack is meshed with the second gear.

5. The control method according to claim 4, characterized in that: The controlling the second motor to rotate, the second gear meshing with the rack to drive the front end of the sliding door to move to the first middle frame module, so that the vehicle passage is opened, includes: Controlling the second motor to rotate, the second gear meshes with the rack to drive the sliding door to move away from the front frame module; When the distance between the front end of the rack and the first gear is less than a second preset distance, the second motor is controlled to decelerate until the second motor stops running and the front end of the sliding door runs to the first middle frame module, and the vehicle passage is opened.

6. The control method according to claim 3, characterized in that: If a vehicle or pedestrian passage instruction is received, the first motor is controlled to rotate according to the vehicle or pedestrian passage instruction, and the power supply to the second motor is limited so that the second gear can rotate under the drive of the rack, and the first gear is meshed with the rack to drive the rear end of the sliding door to the second middle frame module, so that the rack is meshed with the second gear, including: If a vehicle or pedestrian passage instruction is received, the first motor is controlled to drive the first gear to rotate at a first speed according to the vehicle or pedestrian passage instruction, and the power supply to the second motor is limited so that the second gear can rotate under the drive of the rack, and the first gear meshes with the rack for transmission, and drives the sliding door to move in a direction away from the front frame module at a first speed; When the distance between the rear end of the rack and the second gear is less than the first preset distance, the first motor is controlled to slow down to a second speed, the first gear is meshed with the rack for transmission, and drives the sliding door to move away from the front frame module at a second speed until the rear end of the sliding door runs to the second middle frame module and the rack is meshed with the second gear.

7. The control method according to claim 6, characterized in that: The controlling the second motor to rotate, the second gear meshing with the rack to drive the front end of the sliding door to move to the second middle frame module, so that the vehicle and pedestrian passages are opened includes: Controlling the second motor to rotate, the second gear meshes with the rack to drive the sliding door to move away from the front frame module; When the distance between the front end of the rack and the second gear is less than the third preset distance, the second motor is controlled to decelerate until the second motor stops running and the front end of the sliding door runs to the second middle frame module, and the vehicle and pedestrian passages are opened.

8. The control method according to claim 3, characterized in that: If a vehicle restriction instruction is received, the second motor is controlled to rotate according to the vehicle and pedestrian passage instruction, and the power supply to the first motor is limited so that the first gear can rotate under the drive of the rack, and the second gear is meshed with the rack to drive the front end of the sliding door to the first middle frame module, so that the rack is meshed with the first gear, including: If a vehicle restriction instruction is received, the second motor is controlled to drive the second gear to rotate at a third speed according to the vehicle restriction instruction, and the power supply to the first motor is limited so that the first gear can rotate under the drive of the rack, and the second gear meshes with the rack for transmission, and drives the sliding door to move toward the front frame module at a third speed; When the distance between the front end of the rack and the first gear is less than a fourth preset distance, the second motor is controlled to slow down to a fourth speed, the second gear is meshed with the rack for transmission, and drives the sliding door to move toward the front frame module at a fourth speed until the front end of the sliding door runs to the first middle frame module and the rack is meshed with the first gear.

9. The control method according to claim 8, characterized in that: The controlling the first motor to rotate, the first gear meshing with the rack to drive the front end of the sliding door to move to the front frame module, and the vehicle passage is closed includes: Controlling the first motor to rotate, the first gear meshes with the rack to drive the sliding door to move toward the front frame module; When the distance between the rear end of the rack and the first gear is less than the fifth preset distance, the first motor is controlled to decelerate until the first motor stops running and the front end of the sliding door runs to the front frame module, and the vehicle passage is closed.

10. A sliding door system, characterized in that: It includes a controller, a sliding door, a first drive module, a second drive module, a front frame module, a first middle frame module and a second middle frame module. The first drive module and the second drive module are arranged in sequence along the moving direction of the sliding door. The first drive module is arranged in the first middle frame module, and the second drive module is arranged in the second middle frame module. The controller is respectively communicated with the first drive module and the second drive module. The controller adopts the control method described in any one of claims 1 to 9 to control the operation of the sliding door.

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