Operation control method and sliding door system for dual-channel sliding doors

Abstract

This invention relates to the field of sliding door technology and discloses a method for controlling the operation of a dual-channel sliding door. The method employs a first drive module and a second drive module to drive the sliding door's movement. Along the sliding door's movement direction, a front frame module, a first middle frame module, and a second middle frame module are sequentially arranged, with the first drive module located within the first middle frame module. In this embodiment, by switching between the first and second drive modules to control the sliding door's movement, pedestrian channel mode, vehicle channel mode, and full-channel mode can be achieved, thereby realizing the separation and isolation of pedestrians and vehicles, improving traffic safety and efficiency. Users can flexibly adjust the channel mode according to actual application scenario requirements, achieving multi-channel collaboration and multi-mode operation to meet the needs of different scenarios.

Description

Technical Field

[0001] This invention relates to the field of sliding door technology, and in particular to a method for controlling the operation of a dual-channel sliding door and a sliding door system. Background Technology

[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, government agencies, schools, residential communities and other places.

[0003] However, when a sliding door is opened, it often forms only a single passageway, which can easily lead to mixed traffic of pedestrians and vehicles, causing mutual interference between the flow of people and vehicles, increasing the safety risks for pedestrians, and affecting traffic efficiency. Summary of the Invention

[0004] The present invention aims to provide an operation control method and a sliding door system for a dual-channel sliding door, in order to solve the technical problem that sliding doors in the prior art only have a single passage, which affects travel safety and passage efficiency.

[0005] The present invention addresses its technical problem by employing the following technical solution: A method for controlling the operation of a dual-channel sliding door is provided, applied to a sliding door system. The sliding door is driven to move using a first drive module and a second drive module. Along the sliding door's direction of movement, a front frame module, a first middle frame module, and a second middle frame module are sequentially arranged. The first drive module is disposed within the first middle frame module, and the second drive module is disposed within the second middle frame module. The operation control method includes:

[0006] If a vehicle passage instruction is received, the first drive 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 then the second drive 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 and pedestrian passage instruction is received, the first drive module is controlled to drive the rear end of the sliding door to the second middle frame module according to the vehicle and pedestrian passage instruction, and then the second drive 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 drive 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 then the first drive 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, the bottom of the sliding door is provided with a rack, the first drive module includes a first motor and a first gear, and the second drive module includes a second motor and a second gear.

[0010] In some embodiments, if a vehicle passage command is received, controlling the first drive module to drive the rear end of the sliding door to the second mid-frame module according to the vehicle passage command, and then switching to the second drive module to drive the front end of the sliding door to the first mid-frame module to open the vehicle passage, includes:

[0011] If a vehicle passage instruction is received, the first motor is controlled to rotate according to the vehicle passage instruction, and the power supply to the second motor is restricted so that the second gear can rotate under the drive of the rack. The first gear meshes with the rack to drive the rear end of the sliding door to the second middle frame module, so that the rack meshes with the second gear.

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

[0013] The second motor is controlled to rotate, and the second gear meshes with the rack to drive the front end of the sliding door to the first middle frame module, thereby opening the vehicle passage.

[0014] If a vehicle and pedestrian passage instruction is received, the first drive module is controlled to drive the rear end of the sliding door to the second middle frame module according to the instruction, and then the second drive 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 restricted so that the second gear can rotate under the drive of the rack. The first gear meshes with the rack to drive the rear end of the sliding door to the second middle frame module, so that the rack meshes with the second gear.

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

[0017] The second motor is controlled to rotate, and 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 passage is opened;

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

[0019] If a vehicle traffic 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 restricted so that the first gear can rotate under the drive of the rack. The second gear meshes with the rack to drive the front end of the sliding door to the first middle frame module, so that the rack meshes with the first gear.

[0020] Control the second motor to stop operating and limit 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 meshes with the rack to drive the front end of the sliding door to the front frame module, thereby closing the vehicle passage.

[0022] In some embodiments, if a vehicle passage command is received, the first motor is controlled to rotate according to the vehicle passage command, and the power supply to the second motor is restricted so that the second gear can rotate under the drive of the rack. The first gear meshes with the rack to drive the rear end of the sliding door to the second middle frame module, so that the rack meshes with the second gear, including:

[0023] If a vehicle passage instruction is received, the first motor is controlled to drive the first gear to rotate at a first speed according to the vehicle passage instruction, and the power supply to the second motor is restricted so that the second gear can rotate under the drive of the rack. The first gear meshes with the rack and drives the sliding door to move 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 decelerate to the second speed, the first gear meshes with the rack and drives the sliding door to move away from the front frame module at the second speed until the rear end of the sliding door reaches the second middle frame module, and the rack meshes with the second gear.

[0025] In some embodiments, controlling the rotation of the second motor, with the second gear meshing with the rack to drive the front end of the sliding door to the first middle frame module, thereby opening the vehicle passage, includes:

[0026] The second motor is controlled to rotate, and 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 the second preset distance, the second motor is controlled to decelerate until the second motor stops running. At this point, the front end of the sliding door moves 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 restricted so that the second gear can rotate under the drive of the rack. The first gear meshes with the rack to drive the rear end of the sliding door to the second middle frame module. The meshing of the rack with the second gear includes:

[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 restricted so that the second gear can rotate under the drive of the rack. The first gear meshes with the rack and drives the sliding door to move 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 decelerate to the second speed, the first gear meshes with the rack and drives the sliding door to move away from the front frame module at the second speed until the rear end of the sliding door reaches the second middle frame module, and the rack meshes with the second gear.

[0031] In some embodiments, controlling the rotation of the second motor, with the second gear meshing with the rack to drive the front end of the sliding door to the second middle frame module, thereby opening the vehicle and pedestrian passage, includes:

[0032] The second motor is controlled to rotate, and 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. At this point, the front end of the sliding door moves to the second middle frame module, and the vehicle and pedestrian passage is opened.

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

[0035] If a vehicle restriction order is received, the second motor is controlled to drive the second gear to rotate at a third speed according to the vehicle restriction order, and the power supply to the first motor is restricted so that the first gear can rotate under the drive of the rack. The second gear meshes with the rack and drives the sliding door to move towards 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 the fourth preset distance, the second motor is controlled to decelerate to the fourth speed, the second gear meshes with the rack and drives the sliding door to move towards the front frame module at the fourth speed until the front end of the sliding door reaches the first middle frame module, and the rack meshes with the first gear.

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

[0038] The first motor is controlled to rotate, and 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 a fifth preset distance, the first motor is controlled to decelerate until the first motor stops running. At this point, the front end of the sliding door moves to the front frame module, and the vehicle passage is closed.

[0040] The present invention also employs the following technical solution to solve its technical problem: A sliding door system is provided, comprising 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 sequentially arranged along the moving direction of the sliding door. The first drive module is disposed within the first middle frame module, and the second drive module is disposed within the second middle frame module. The controller is communicatively connected to both the first drive module and the second drive module. The controller controls the operation of the sliding door using the control method described in any of the above embodiments.

[0041] Compared with the prior art, the present invention provides a method for controlling the operation of a dual-channel sliding door and a sliding door system. By switching between 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 achieving separation and isolation of people and vehicles, improving traffic safety and efficiency. Users can flexibly adjust the channel mode according to the actual application scenario requirements to achieve multi-channel collaboration and multi-mode operation to meet the usage needs of different scenarios. Attached Figure Description

[0042] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0043] Figure 1 This is a three-dimensional structural diagram of a sliding door system provided in an embodiment of the present invention.

[0044] Figure 2 This is a schematic diagram of the assembly structure of the first drive module, the second drive module, and the rack in an embodiment of the present invention;

[0045] Figure 3 This is a flowchart illustrating a method for controlling the operation of a sliding door provided in an embodiment of the present invention;

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

[0047] Figure 5 This is a schematic diagram of the structure when the first sensor comes into contact with the first sensing strip during the operation of the sliding door in this embodiment of the invention;

[0048] Figure 6 This is a schematic diagram of the structure of the sliding door during operation in an embodiment of the present invention, when the first sensor detaches from the first sensing strip;

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

[0050] Figure 8 This is a schematic diagram of the structure of the sliding door when both the vehicle and pedestrian passages are open in an embodiment of the present invention;

[0051] Figure 9 This is a three-dimensional structural diagram of the first driving module in an embodiment of the present invention;

[0052] Figure 10 This is an exploded structural diagram of the first driving module in an embodiment of the present invention;

[0053] Figure 11 This is a three-dimensional structural diagram of the sliding door in an embodiment of the present invention;

[0054] Figure 12 This is a schematic diagram of the structure when the first gear and the second gear simultaneously mesh with the rack in an embodiment of the present invention;

[0055] Figure 13 yes Figure 11 A magnified view of a section at point A in the middle;

[0056] Figure 14 This is a schematic diagram of the assembly structure of the first middle frame module, the second middle frame module, and the gate module in an embodiment of the present invention;

[0057] Figure 15 This is a schematic diagram of the pressure roller mechanism in an embodiment of the present invention;

[0058] Figure 16 This is a three-dimensional structural diagram of the first middle frame module in an embodiment of the present invention;

[0059] Figure 17 This is a three-dimensional structural diagram of the pressure roller mechanism and the guide mechanism in an embodiment of the present invention;

[0060] Figure 18 This is an exploded structural diagram of the guiding mechanism in an embodiment of the present invention;

[0061] Figure 19 This is a three-dimensional structural diagram of the front frame module in an embodiment of the present invention.

[0062] The reference numerals in the attached figures are shown in the table below:

[0063] Detailed Implementation

[0064] To facilitate understanding of the present invention, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as "connected" to another element, it can be directly on the other element, or one or more intermediate elements may exist between them. The terms "upper," "lower," "left," "right," "upper end," "lower end," "top," and "bottom," etc., used in this specification indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are used only for the convenience of describing the present invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0065] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention.

[0066] The operation control method and sliding door system of the dual-channel sliding door provided in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0067] Please see Figure 1 and Figure 2 The sliding door system 100 includes a guide rail 10, a sliding door 20, a first drive module 30, a second drive 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 50, and the second middle frame module 60 are arranged sequentially along the moving direction of the sliding door 20. The first drive module 30 is disposed within the first middle frame module 50, and the second drive module 40 is disposed within 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 drive module 30 and the second drive module 40 can drive the sliding door 20 to move along the length direction of the guide rail 10 to open and close the vehicle passage and the pedestrian passage. Optionally, the first drive module 30 and the second drive module 40 can be configured on the same side of the guide rail 10.

[0068] The controller is communicatively connected to both the first drive module 30 and the second drive module 40. Specifically, the controller can communicate with the first drive module 30 and the second drive module 40 wirelessly or via a wired connection. The controller can control the first drive module 30 to move the sliding door 20, and control the second drive module 40 to move the sliding door 20. For example, the controller can receive corresponding commands input by the user to control the opening and closing of the vehicle and pedestrian passages. These commands can be vehicle passage commands, vehicle and pedestrian passage commands, and vehicle restriction commands, etc. Optionally, the user can input the corresponding commands via a remote control, button switch, mobile app, etc.

[0069] When the controller receives a vehicle passage instruction, it can control the opening of the vehicle passage according to the instruction. When the controller receives a vehicle and pedestrian passage instruction, it can control the opening of the vehicle and pedestrian passages according to the instruction. When the controller receives a vehicle restriction instruction, it can control the closing of the vehicle passage according to the instruction.

[0070] like Figure 2 , Figure 9 and Figure 11As shown, in some embodiments, the first drive module 30 includes a first motor 31 and a first gear 32, with the first motor 31 and the first gear 32 being connected in a transmission manner. The second drive module 40 includes a second motor 41 and a second gear 42, with the second motor 41 and the second gear 42 being connected in a transmission manner. 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, and the second motor 41 can drive the second gear 42 to rotate. 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, the sliding door 20 can move on the guide rail 10. The controller is communicatively connected to the first motor 31 and the second motor 41, respectively.

[0071] In some embodiments, a first sensing strip 201 and a second sensing strip 202 are respectively provided at opposite ends of the sliding door 20 (see...). Figure 11 The sliding door 20 has a first sensor strip 201 at its rear end and a second sensor strip 202 at its front end. The rear end of the sliding door 20 is the end furthest from the front frame module 70, and the front end is the end closest to the front frame module 70. Both the first sensor strip 201 and the second sensor strip 202 are arranged along the moving direction of the sliding door 20, and both are located on the side of the sliding door 20 facing the second drive module 40.

[0072] like Figure 12 As shown, a first sensor 301 and a second sensor 302 are provided on the side of the first drive module 30 facing the sliding door 20, with the first sensor 301 and the second sensor 302 spaced apart. A third sensor 401 and a fourth sensor 402 are provided on the side of the second drive module 40 facing the sliding door 20, with the third sensor 401 and the fourth sensor 402 spaced apart. The second sensor 302 is located at the end of the first drive module 30 near the second drive module 40, and the third sensor 401 is located at the end of the second drive module 40 near the first drive module 30. The first sensor 301, the third sensor 401 and the first sensing strip 201 are at the same horizontal height, and the second sensor 302, the fourth sensor 402 and the second sensing strip 202 are at the same horizontal height.

[0073] The first sensor 301, the second sensor 302, the third sensor 401, and the fourth sensor 402 can be 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 sensor strip 201, and the second sensor 302 and the fourth sensor 402 can be used to detect the second sensor strip 202.

[0074] Please see Figures 3 to 8The controller can perform the following steps to control the opening of the vehicle lane, the opening of the vehicle and pedestrian lanes, and the closing of the vehicle lane.

[0075] S101. If the controller receives a vehicle passage instruction, it controls the first drive module 30 to drive the rear end of the sliding door 20 to the second middle frame module 60 according to the vehicle passage instruction, and switches to the second drive module 40 to drive the front end of the sliding door 20 to the first middle frame module 50 to open the vehicle passage.

[0076] Specifically, the front end of the sliding door 20 is the end of the sliding door 20 closest to the front frame module 70, and the rear end of the sliding door 20 is the end of the sliding door 20 furthest from the front frame module 70. In this step, the initial position of the sliding door 20 can be... Figure 1 The location is such that the front end of the sliding door 20 is approximately at the front frame module 70, and the rear end of the sliding door 20 is approximately at the first middle frame module 50, with the vehicle passage in a closed state.

[0077] After receiving the vehicle passage command, the controller first controls the first drive module to drive the rear end of the sliding door 20 to the second middle frame module 60 (the sliding door starts from...). Figure 4 Location to run to Figure 6 (position), then switch to the second drive module 40 to continue driving the sliding door 20 until the front end of the sliding door 20 reaches the first middle frame module 50 (the sliding door from... Figure 6 Location to run to Figure 7 (Location), to open the vehicle lane and enter the vehicle traffic lane mode.

[0078] It should be noted that in this embodiment, when the second drive module 40 drives the sliding door, the first drive module 30 can be in a stopped state. When the first drive module 30 drives the sliding door 20, the second drive module 40 can also be in a stopped state. In this way, only one drive module drives the sliding door 20 at any time, ensuring the stability of the sliding door 20 during operation.

[0079] S102 If the controller receives a vehicle and pedestrian passage instruction, it controls the first drive module 30 to drive the rear end of the sliding door 20 to the second middle frame module 60 according to the vehicle and pedestrian passage instruction, and switches to the second drive module 40 to drive the front end of the sliding door 20 to the second middle frame module 60 to open the vehicle and pedestrian passage.

[0080] In this step, the initial position of the sliding door 20 can be... Figure 1 As shown, 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. At this time, the vehicle passage is in a closed state.

[0081] When the controller receives a vehicle / pedestrian passage command, it first controls the first drive module 30 to move the sliding door 20, causing the rear end of the sliding door 20 to move to the second middle frame module 60 (the sliding door starts from...). Figure 4 Location to run to Figure 6 (Position), then switch to the second drive module 40 to continue driving the sliding door 20, so that the front end of the sliding door 20 moves to the second middle frame module (the sliding door from... Figure 6 Location to run to Figure 8 (Location), enabling the opening of vehicle and pedestrian lanes, entering full-lane mode.

[0082] S103. If the controller receives a vehicle restriction instruction, it controls the second drive module 40 to drive the front end of the sliding door 20 to the first middle frame module 50 according to the vehicle restriction instruction, and then switches to the first drive module 50 to drive the front end of the sliding door 20 to the front frame module 70 to close the vehicle passage.

[0083] In this step, the initial position of the sliding door 20 can be... Figure 8 As shown, the front end of the sliding door 20 is approximately located at the second middle frame module 60, at which point both the vehicle passage and the pedestrian passage are open.

[0084] When the controller receives the vehicle restriction command, it first controls the second drive module 40 to move the sliding door 20, so that the front end of the sliding door 20 moves to the first middle frame module 50 (the sliding door starts from...). Figure 8 Location to run to Figure 7 (position), then switch to the first drive module 30 to continue driving the sliding door 20 to move, so that the front end of the sliding door 20 moves to the front frame module 70 (the sliding door from... Figure 7 Location to run to Figure 4 (Location), to close the vehicle lane and switch to pedestrian lane mode.

[0085] It should be noted that in this embodiment, when the first drive module 30 drives the sliding door 20, the second drive module 40 can be in a stopped state. Conversely, when the second drive module 40 drives the sliding door 20, the first drive module 30 can be in a stopped state. Thus, only one drive module always drives the sliding door, ensuring the smoothness of the sliding door 20's operation.

[0086] In summary, in this embodiment, the sliding door 20 is moved by switching between the first drive module 30 and the second drive module 40, allowing the sliding door 20 to move to different positions. This enables pedestrian access mode, vehicle access mode, and full access mode, thereby achieving separation and isolation of pedestrians and vehicles, improving traffic safety and efficiency. Users can flexibly adjust the access mode according to the actual application scenario requirements to achieve multi-channel collaboration and multi-mode operation, meeting the usage needs of different scenarios.

[0087] In some embodiments, the controller performs the following steps during step S101:

[0088] A1. If the controller receives a vehicle passage command, the controller controls the first motor 31 to rotate according to the vehicle passage command, and restricts 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 to drive the rear end of the sliding door 20 to the second middle frame module 60, so that the rack 21 meshes with the second gear 42.

[0089] 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. The first gear 32 meshes with the rack 21 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.

[0090] Optionally, the controller can limit the power supply to the second motor 41 by limiting the current flowing into the second motor 41 or by directly controlling the power outage of the second motor 41. Because the power supply to the second motor 41 is limited, the current flowing into the second motor 41 is smaller, and the electromagnetic force generated by the second motor 41 is smaller, allowing the second gear 42 at the output end of the second motor 41 to rotate freely, i.e., the second gear 42 can rotate under the push of the rack 21.

[0091] As 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 and contact the second gear 42. As the rack 21 continues to move, it will push the second gear 42 to rotate, so that the rack 21 can smoothly and easily engage with the second gear 42, thereby reducing the vibration, skipping, and jamming phenomena when the rack 21 enters the second gear 42.

[0092] 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;

[0093] After the rack 21 and the second gear 42 are engaged, 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.

[0094] Furthermore, the controller restricts the power supply to the first motor 31, allowing the first gear 32 at the output of the first motor 31 to rotate freely, meaning the first gear 32 can rotate under the drive of the rack 21. Optionally, the controller restricts the power supply to the first motor 31 by limiting the current flowing into the first motor 31, or by directly controlling the power outage of the first motor 31.

[0095] 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 the first middle frame module 50, so that the vehicle passage is opened.

[0096] After the first motor 31 stops operating, the controller controls the second motor 41 to rotate. The second gear 42 meshes with the rack 21, driving the sliding door 20 to continue moving away from the front frame module 70. During this process, the rack 21 meshes with the first gear 32, driving the first gear 32 to rotate until the rack 21 and the first gear 32 separate. After the rack 21 and the first gear 32 separate, the second gear 42 meshes with the rack 21, driving the sliding door 20 to continue moving away from the front frame module 70 until the front end of the sliding door 20 reaches the first middle frame module 50, completing the opening of the vehicle passage (see...). Figure 7 ).

[0097] It should be noted that in step A3, since the first motor 31 needs a certain amount of time to decelerate to zero after the controller stops the first motor 31, in step S104, it is usually necessary to wait for a certain amount of time until the speed of the first motor 31 drops to zero before controlling the second motor 41 to rotate.

[0098] In this embodiment, during the operation of the sliding door 20 controlled by the controller, 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 only one motor (one gear) drives the sliding door 20 to move at all times, avoiding phenomena such as gear skipping, shaking, jamming and abnormal noise caused by speed deviation between the two motors (two gears), and ensuring the smooth operation of the sliding door 20.

[0099] In some embodiments, the controller performs the following steps during step S102:

[0100] B1. If the controller receives a vehicle and pedestrian passage instruction, the controller controls the first motor 31 to rotate according to the vehicle and pedestrian passage instruction, and restricts 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 to drive the rear end of the sliding door 20 to the second middle frame module 60, so that the rack 21 meshes with the second gear 42.

[0101] 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 move the sliding door 20 away from the front frame module 70, while the second motor 41 is in a non-rotating state.

[0102] Optionally, the controller can limit the power supply to the second motor 41 by limiting the current flowing into the second motor 41, or by directly controlling the power outage of the second motor 41.

[0103] As 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 and contact the second gear 42. As the rack 21 continues to move, it will push the second gear 42 to rotate, so that the rack 21 can smoothly and easily engage with the second gear 42, thereby reducing the vibration, skipping, and jamming phenomena when the rack 21 enters the second gear 42.

[0104] 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;

[0105] Optionally, the controller can limit the power supply to the first motor 31 by limiting the current flowing into the first motor 31, or by directly controlling the power outage of the first motor 31.

[0106] 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 the second middle frame module 60, so that the vehicle and pedestrian passage is opened.

[0107] 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 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 reaches the second middle frame module 60, thus completing the opening of the vehicle and pedestrian passage.

[0108] In some embodiments, the controller performs the following steps during step S103:

[0109] 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 restricts 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 meshes with the rack 21 to drive the front end of the sliding door 20 to the first middle frame module 50, so that the rack 21 meshes with the first gear 32.

[0110] After receiving the vehicle restriction command input by the user, the controller will control the second motor 41 to rotate and restrict the power supply to the first motor 31. At this time, the second motor 41 drives the second gear 42 to rotate. The second gear 42 meshes with the rack 21 and drives the sliding door 20 to move towards the front frame module 70, while the first motor 31 is in a non-rotating state.

[0111] Optionally, the controller can limit the power supply to the first motor 31 by limiting the current flowing into the first motor 31, or by directly controlling the power outage of the first motor 31.

[0112] As the second motor 41 drives the second gear 42 to rotate, and the second gear 42 meshes with the rack 21 to drive the sliding door 20 toward the front frame module 70, the rack 21 will gradually approach the first gear 32 and come into contact with it. As the rack 21 continues to move, it will drive the first gear 32 to rotate, so that the rack 21 can smoothly and easily engage with the first gear 32, thereby reducing the vibration, skipping, and jamming phenomena when the rack 21 enters the first gear 32.

[0113] C2. The controller stops the second motor 41 from 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.

[0114] Optionally, the controller can limit the power supply to the second motor 41 by limiting the current flowing into the second motor 41, or by directly controlling the power outage of the second motor 41.

[0115] 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 the front frame module 70, so that the vehicle passage is closed.

[0116] When the second motor 41 stops running, the controller controls the first motor 31 to rotate. The first gear 32 meshes with the rack 21 to drive the sliding door 20 to continue moving towards the front frame module 70 until the front end of the sliding door 20 reaches the front frame module 70, thus closing the vehicle passage.

[0117] In some embodiments, the controller further performs the following steps during the execution of step A1:

[0118] A11. If the controller receives a vehicle 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 passage instruction, and restricts 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 away from the front frame module 70 at a first speed.

[0119] Specifically, the first rotational speed is usually relatively fast, so that the first motor 31 can drive the sliding door 20 to move at a faster first speed, ensuring the operating efficiency of the sliding door 20. For example, the first speed can be 16.8 m / min, 20 m / min, etc.

[0120] 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 meshes with the rack 21 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 reaches the second middle frame module 60, and the rack 21 meshes with the second gear 42.

[0121] In this application, the rear end of rack 21 refers to the end of rack 21 away from the front frame module 70, and the front end of rack 21 refers to the end of rack 21 close to the front frame module 70. Specifically, the distance between the rear end of rack 21 and the second gear 42 can be obtained using methods such as distance sensors or visual recognition. After obtaining the distance between the rear end of rack 21 and the second gear 42, the distance between the rear end of rack 21 and the second gear 42 is compared with a first preset distance to determine whether rack 21 is about to approach the second gear 42.

[0122] When the distance between the rear end of rack 21 and the second gear 42 is less than the first preset distance, it indicates that rack 21 and the second gear 42 are close. At this time, the controller controls the first motor 31 to decelerate to the second speed. The second speed is relatively low, allowing rack 21 to enter and mesh with the second gear 42 at a lower second speed. This reduces the impact force when rack 21 and the second gear 42 contact and mesh, and reduces noise and upward tooth skipping when rack 21 and the second gear 42 contact. Optionally, the second speed is less than 5 m / min.

[0123] In some embodiments, the third sensor 401 generates a first signal when it detects 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.

[0124] The third sensor 401 can be a proximity sensor, a photoelectric sensor, etc., such as Figure 5 , Figure 6As shown, during the process of the first motor 31 driving the sliding door 20 to move away from the front frame module 70, the first sensing strip 201 on the sliding door 20 will gradually approach the third sensor 401 and be sensed by the third sensor 401 (see...). Figure 5 When the first sensing strip 201 comes into contact with 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 strip 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. Then, it controls the first motor 31 to drive the sliding door 20 to continue moving away from the front frame module 70 at a lower second speed, thereby reducing the impact force when the rack 21 and the second gear 42 come into contact and mesh, so that the rack 21 and the second gear 42 can mesh smoothly.

[0125] Understandably, as the first motor 31 continues to drive the sliding door 20 to move away from the front frame module 70, the first sensing strip 201 will also move away from the front frame module 70 along with the sliding door 20, causing the first sensing strip 201 to gradually move away from the third sensor 401 until the first sensing strip 201 is separated from the third sensor 401. At this time, the third sensor 401 can no longer detect the first sensing strip 201, 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.

[0126] In some embodiments, during the execution of step A3, the controller also performs the following steps:

[0127] A31. The controller controls the second motor 41 to rotate, and the second gear 42 meshes with the rack 21 to drive the sliding door 20 to move away from the front frame module 70.

[0128] 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 second motor 41 stops running. At this point, the front end of the sliding door 20 moves to the first middle frame module 50, and the vehicle passage is opened.

[0129] Specifically, the distance between the front end of the rack 21 and the first gear 32 can be obtained using methods such as distance sensors and visual recognition. After obtaining the distance between the front end of the rack 21 and the first gear 32, the distance between the front end of the rack 21 and the first gear 32 is compared with a second preset distance to determine whether the front end of the rack 21 is about to approach the first middle frame module 50.

[0130] 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 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 moves to the first middle frame module 50, realizing the opening of the vehicle passage.

[0131] like Figure 7 As shown, in some embodiments, the second sensor 302 generates a second signal when it detects 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 a second preset distance.

[0132] The second sensor 302 can be a proximity sensor, photoelectric sensor, etc. As 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 strip 202 on the sliding door 20 will gradually approach the second sensor 302 and be detected by it. When the second sensor 302 detects the second sensing strip 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 reaches the first middle frame module 50, thus opening the vehicle passage.

[0133] In some embodiments, the controller further performs the following steps during the execution of step B1:

[0134] B11. If the controller receives a vehicle and 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 and pedestrian passage instruction, and restricts 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 away from the front frame module 70 at a first speed.

[0135] Specifically, the first rotational speed is usually relatively fast, so that the first motor 31 can drive the sliding door 20 to move at a faster first speed, ensuring the operating efficiency of the sliding door 20. For example, the first speed can be 16.8 m / min, 20 m / min, etc.

[0136] 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 meshes with the rack 21 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 reaches the second middle frame module 60, and the rack 21 meshes with the second gear 42.

[0137] The rear end of rack 21 refers to the end of rack 21 that is away from the front frame module 70. Specifically, the distance between the rear end of rack 21 and the second gear 42 can be obtained using methods such as distance sensors or visual recognition. After obtaining the distance between the rear end of rack 21 and the second gear 42, the controller compares the distance between the rear end of rack 21 and the second gear 42 with a first preset distance to determine whether rack 21 is about to approach the second gear 42.

[0138] When the distance between the rear end of rack 21 and the second gear 42 is less than the first preset distance, it indicates that rack 21 and the second gear 42 are close. At this time, the controller controls the first motor 31 to decelerate to the second speed. The second speed is relatively low, allowing rack 21 to enter and mesh with the second gear 42 at a lower second speed. This reduces the impact force when rack 21 and the second gear 42 contact and mesh, and reduces noise and upward tooth skipping when rack 21 and the second gear 42 contact. Optionally, the second speed is less than 5 m / min.

[0139] In some embodiments, the controller further performs the following steps during step B3:

[0140] B31. The controller controls the second motor 41 to rotate, and the second gear 42 meshes with the rack 21 to drive the sliding door 20 to move away from the front frame module 70.

[0141] 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 second motor 41 stops running. At that time, the front end of the sliding door 20 moves to the second middle frame module 60, and the vehicle and pedestrian passage is opened.

[0142] Specifically, the distance between the front end of the rack 21 and the second gear 42 can be obtained using methods such as distance sensors and visual recognition. 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 a third preset distance to determine whether the front end of the rack 21 is about to approach the second middle frame module 60.

[0143] 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 from stopping suddenly and generating a large impact force. When the sliding door 20 decelerates to zero, the front end of the sliding door 20 moves to the second middle frame module 60, realizing the opening of the vehicle passage and the pedestrian passage.

[0144] In some embodiments, the fourth sensor 402 generates a third signal when it detects the second sensing strip 202, and 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.

[0145] The fourth sensor 402 can be a proximity sensor, photoelectric sensor, etc. As the second gear 42 drives the rack 21 and the sliding door 20 to move away from the front frame module, the second sensing strip 202 on the sliding door 20 will gradually approach the fourth sensor 402 and be detected by it. When the fourth sensor 402 detects the second sensing strip 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 reaches the second middle frame module 60, thus opening the vehicle passage and pedestrian passage.

[0146] In some embodiments, the controller further performs the following steps during step C1:

[0147] C11. If the controller receives a vehicle restriction command, the controller controls the second motor 41 to drive the second gear 42 to rotate at a third speed according to the vehicle restriction command, and restricts 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 meshes with the rack 21 and drives the sliding door 20 to move towards the front frame module 70 at a third speed.

[0148] Specifically, the third speed is usually relatively fast. Optionally, the third speed can be equal to the first speed, so that the second motor 41 can drive the sliding door 20 to move at a faster third speed, ensuring the operating efficiency of the sliding door 20. For example, the third speed can be 16.8 m / min, 20 m / min, etc.

[0149] 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 meshes with the rack 21 and drives the sliding door 20 to move towards the front frame module 70 at the fourth speed until the front end of the sliding door 20 reaches the first middle frame module 50, where the rack 21 meshes with the first gear 32.

[0150] Specifically, the distance between the front end of the rack 21 and the first gear 32 can be obtained using methods such as distance sensors and visual recognition. 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 a fourth preset distance to determine whether the rack 21 is about to approach the first gear 32.

[0151] 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 rack 21 and the first gear 32 are close. At this time, the controller controls the second motor 41 to decelerate to the fourth speed. Optionally, the fourth speed can be equal to the second speed.

[0152] The relatively low fourth rotational speed allows the rack 21 to mesh with the first gear 32 at a lower fourth speed, thereby reducing the impact force when the rack 21 and the first gear 32 engage, and reducing noise and upward tooth skipping during contact. Optionally, the fourth speed is less than 5 m / min.

[0153] In some embodiments, the second sensor 302 generates a fourth signal when it detects 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.

[0154] The second sensor 302 can be a proximity sensor, photoelectric sensor, etc. During the movement of the sliding door 20 towards the front frame module 70 driven by the second motor 41, the second sensing strip 202 on the sliding door 20 will gradually approach the second sensor 302 and be detected by it. It is understood that when the second sensor 302 detects the second sensing strip 202, it means that the rack 21 and the first gear 32 are 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 a second preset distance. Subsequently, it controls the second motor 41 to drive the sliding door 20 to continue moving towards the front frame module 70 at a lower fourth speed, thereby reducing the impact force when the rack 21 and the first gear 32 engage, allowing the rack 21 and the first gear 32 to mesh smoothly.

[0155] Understandably, as the second motor 41 continues to drive the sliding door 20 toward the front frame module 70, the second sensor strip 202 will also move toward the front frame module 70 along with the sliding door 20. The second sensor strip 202 will gradually move away from the second sensor 302 until the second sensor 302 can no longer detect the second sensor 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.

[0156] In some embodiments, the controller further performs the following steps during step C3:

[0157] C31, The controller controls the first motor 31 to rotate, and the first gear 32 meshes with the rack 21 to drive the sliding door 20 to move toward the front frame module 70;

[0158] 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 first motor 31 stops running, at which point the front end of the sliding door 20 moves to the front frame module 70 and the vehicle passage is closed.

[0159] Specifically, the distance between the rear end of the rack 21 and the first gear 32 can be obtained using methods such as distance sensors and visual recognition. 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 a fifth preset distance to determine whether the front end of the rack 21 is about to approach the front frame module 70.

[0160] 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 rear end of the rack 21 is closer to the first gear 32 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 moves to the front frame module 70 to realize the closure of the vehicle passage.

[0161] In some embodiments, the first sensor 301 generates a fifth signal when it detects 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.

[0162] The first sensor 301 can be a proximity sensor, photoelectric sensor, etc. During the movement of the first gear 32, rack 21, and sliding door 20 towards the front frame module 70, the first sensing strip 201 on the sliding door 20 gradually approaches the first sensor 301 and is thus detected by it. When the first sensor 301 detects 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 reaches the front frame module 70, thus closing the vehicle passage.

[0163] In some embodiments, both the first motor 31 and the second motor 41 are geared motors. The controller can control the power supply to the geared motors, allowing them to rotate freely under external force, facilitating the meshing of the rack 21 at the bottom of the sliding door 20 with the first gear 32 and the second gear 42.

[0164] Furthermore, the gear reduction motor does not self-lock. Therefore, 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 open and close. This ensures that the sliding door 20 can be opened in case of an accident, thus guaranteeing the safety of the sliding door 20.

[0165] Please see Figures 9 to 11 And refer to Figure 2 In some embodiments, the first drive module 30 further includes a first housing 33, a first motor 31 disposed in the first housing 33, a first gear 32 disposed outside the first housing 33, and the output shaft of the first motor 31 can pass through the first housing 33 and be connected to the first gear 32 for transmission.

[0166] Optionally, the first chassis 33 includes a first housing 330 and a first door 331 covering one side of the first housing 330. The first door 331 is detachably installed on the first housing 330 for easy inspection and maintenance. The first door 331 has a first notch 3310, through which the output shaft of the first motor 31 can pass and be connected to the first gear 82 on the outside of the first chassis 84.

[0167] The second drive module 40 also includes a second housing 43, a second motor 41 is located in the second housing 43, a second gear 42 is located on the outside of the second housing 43, and the output shaft of the second motor 41 can pass through the second housing 43 and be connected to the second gear 42 for transmission.

[0168] Optionally, the second enclosure 43 includes a second housing and a second door covering one side of the second housing. The second door is detachably installed on the second housing for easy inspection and maintenance. The second door has a second notch through which the output shaft of the second motor 41 can pass and connect with the second gear 82 on the outside of the second enclosure.

[0169] Optionally, the first sensor 301 and the second sensor 302 are disposed on opposite sides of the first chassis 33, and the third sensor 401 and the fourth sensor 402 are disposed on opposite sides of the second chassis 43.

[0170] In some embodiments, the first sensing strip 201 and the second sensing strip 202 are staggered in the height direction, the first sensing strip 201 and the second sensing strip 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 housing 33, the third sensor 401 and the fourth sensor 402 are installed at different heights on the second housing 43, and the first sensor 301, the third sensor 401 and the first sensing strip 201 are located at the same height, and the second sensor 302, the fourth sensor 402 and the second sensing strip 202 are located at the same height.

[0171] In this embodiment, by staggering the first sensing strip 201 and the second sensing strip 202 in the height direction and matching the height of each sensor with the corresponding sensing strip, interference between the sensors can be effectively avoided. Each sensor will only detect sensing strips at specific heights, ensuring signal accuracy.

[0172] Please see Figure 12 and Figure 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. For example... Figure 11 and Figure 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 pitch P of the rack 21 is the distance between two adjacent teeth of the rack 21.

[0173] By setting the center distance L between the first gear 32 and the second gear 42 to an integer multiple of the tooth pitch P, it can be ensured that during the simultaneous operation of the first drive module 30 and the second drive module 40 on the sliding door 20, the rack 21 can precisely mesh with both the first gear 32 and the second gear 42. Thus, during the sliding of the sliding door 20, the rack 21 can smoothly transition from a state of meshing only with either the first gear 32 or the second gear 42 to a state of precise meshing with both gears simultaneously, avoiding tooth skipping, misalignment, and jamming during transmission, and ensuring smoothness, reliability, and low noise during transmission.

[0174] like Figure 9 and Figure 10 As shown, in some embodiments, the first drive module 30 further includes a first base 34, and the first housing 330 is mounted on the first base 34. The second drive module 40 includes a second base 44, and the second housing is mounted on the second base 44. The first base 83 and the second base 93 are spaced apart along the length of the guide rail 10. At least one of the first base 34 and the second base 44 is provided with an adjustment hole 340. 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 pitch P of the rack 21, thereby avoiding jamming during the sliding of the sliding door 20 and reducing noise during the transmission process.

[0175] The first base 34 and the second base 44 can have the same structure, both being roughly plate-shaped. The adjustment hole 340 can be a strip-shaped hole, with its length parallel to the length of the guide rail 10, to facilitate adjustment of the distance between the first drive module 30 and the second drive module 40. The first base 34 and the second base 44 can be fixed to the ground using fasteners such as bolts and screws, thereby fixing the first drive module 30 and the second drive module 40.

[0176] 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 fastener used to fix the first base 34, and then the installation position of the first base 34 can be finely adjusted 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.

[0177] Optionally, the first drive module 30 also includes a motor mount 35, which is fixedly installed in the first housing 33. The first motor 31 is installed on the motor mount 35, and the motor mount 35 provides fixation and support for the first motor 31.

[0178] Optionally, the first drive module 30 further includes a connecting shaft 36, a bearing 37, and a bearing housing 38. The output shaft of the first motor 31 is connected to the first gear 32 through the connecting shaft 36. The bearing housing 38 is fixedly installed on the first base 34 and located on the outside of the first housing 33. The bearing is installed in the bearing housing 38. The connecting shaft 36 passes through the bearing 37. The bearing 37 can improve the rotation efficiency between the connecting shaft 36 and the bearing housing 38 and provide stable support for the connecting shaft 36, thereby improving transmission accuracy and stability.

[0179] Optionally, the first drive module 30 also includes an electronic control board 39, which is electrically connected to the controller. The electronic control board 39 can receive control signals from the controller to control the first motor 31 to stop, accelerate or decelerate, and limit the power supply to the first motor 31.

[0180] The first sensor 301 and the second sensor 302 are electrically connected to the electronic control board. The electronic control board 39 can receive the sensing signals from the first sensor 301 and the second sensor 302 and feed them back to the controller.

[0181] The above mainly introduces the specific structure of the first drive module 30. It should be understood that the specific structure of the second drive module 40 can be the same as that of the first drive module 30, and will not be repeated here.

[0182] Please see 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, which are spaced apart along the length of the guide rail 10.

[0183] The first middle frame module 50 includes a frame 51 and a pressure roller mechanism 52. The pressure roller mechanism 52 is installed on the frame 51 and is located above the sliding door 20 and is used to limit the vertical displacement of the sliding door 20. During the process of the bottom rack 21 of the sliding door 20 moving towards the first gear 32 and meshing with the first gear 32, the pressure roller mechanism 52 can abut against the top surface of the sliding door 20 to limit the vertical jumping of the sliding door 20.

[0184] During the operation of the sliding door 20 driven by the second drive module 40, when the rack 21 at the bottom of the sliding door 20 gradually approaches and meshes with the first gear 32, the sliding door 20 will be subjected to an upward force from the first gear 32 because the first gear 32 is located at the bottom of the sliding door 20. In order to prevent the sliding door 20 from jumping upward, skipping teeth, and shaking due to the force of the first gear 32, this embodiment provides a pressure roller on the frame 51. During the operation of the rack 21 at the bottom of the sliding door 20 and the first gear 32, the pressure roller 520 of the pressure roller mechanism 52 will abut against the top surface of the sliding door 20, thereby restricting the upward movement of the sliding door 20, preventing jumping, skipping teeth and shaking during the operation of the sliding door 20, ensuring that the rack 21 at the bottom of the sliding door 20 is precisely engaged with the first rack 21 under the pressure of the pressure roller 520, and ensuring the stability and reliability of the sliding door 20 during the sliding process along the guide rail 10.

[0185] It is understandable that the second middle frame module 60 also has the aforementioned pressure roller mechanism 52. The pressure roller mechanism 52 on the second middle frame module 60 can prevent the sliding door 20 from jumping during the meshing of the rack 21 at the bottom of the sliding door with the second gear 42, thus ensuring the precise meshing of the rack 21 at the bottom of the sliding door with the second gear 42.

[0186] like Figure 14 and Figure 15 As shown, in some embodiments, the pressure roller mechanism 52 further includes a pressure roller 520, a first side plate 521, a second side plate 522, and a pressure roller 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 roller shaft 523 passes through the first side plate 521 and the second side plate 522. The pressure roller 520 is rotatably mounted on the pressure roller shaft 523 and located between the first side plate 521 and the second side plate 522. During the operation of the rack 21 at the bottom of the sliding door 20 meshing with the first gear 32, the pressure roller 520 can abut against the top surface of the sliding door 20.

[0187] The two ends of the pressure roller shaft 523 are fixed to the first side plate 521 and the second side plate 522 respectively. The pressure roller 520 is sleeved on the pressure roller 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 roller 520 rolls into contact with the top surface of the sliding door. This helps to reduce the frictional resistance and wear between the pressure roller 520 and the sliding door 20, ensures that the rack 21 can smoothly enter the first rack 21 or the second rack 21, reduces the noise and energy consumption during the operation of the sliding door 20, and prevents the sliding door 20 from jamming during operation.

[0188] In some embodiments, the pressure roller mechanism 52 further includes a pressure roller bushing 524. There are two pressure roller bushings 524, one of which is located between the first side plate 521 and the pressure roller 520, and the other is located between the second side plate 522 and the pressure roller 520. The pressure roller bushings 524 can provide support and axial limit for the pressure roller shaft 523, and prevent the pressure roller shaft 523 from shaking and shifting position.

[0189] Optionally, the pressure roller mechanism 52 also includes a pressure roller bearing, which is disposed between the pressure roller 520 and the pressure roller shaft 523. The pressure roller bearing can reduce the friction between the pressure roller shaft 523 and the pressure roller 520 and provide stable support for the pressure roller 520, ensuring the smoothness of the pressure roller 520 during rolling and avoiding shaking and deviation.

[0190] In some embodiments, the pressing wheel mechanism 52 further includes a shaft clamp 525. The pressing wheel shaft 523 includes a connected head and a rod portion. An annular groove 5230 is provided at one end of the rod portion away from the head. After the rod portion of the pressing wheel shaft 523 passes through the first side plate 521, the first shaft sleeve, the pressing wheel and the second side plate 522, the shaft clamp 525 is snapped into the annular groove 5230 to complete the assembly of the pressing wheel shaft 523. It can be understood that in other embodiments, the pressing wheel shaft 523 can also be fixed by riveting, screws or other means.

[0191] In some embodiments, a plurality of pressing wheel mechanisms 52 can be provided along the length direction of the sliding door 20, and a plurality of pressing wheel mechanisms 52 can be provided along the thickness direction of the sliding door 20. For example Figure 16 In [description], two pressing wheel mechanisms 52 are respectively provided along the length direction and the thickness direction of the sliding door 20. By pressing the pressing wheels of the plurality of pressing wheel mechanisms 52 against the top surface of the sliding door, it can be ensured that the entire sliding door 20 receives uniform pressure during the sliding process, avoiding tilting or shaking caused by uneven local stress, thereby more effectively preventing the sliding door 20 from jumping and jittering during the sliding process, and reducing the noise during the operation of the sliding door 20.

[0192] In some embodiments, the first middle frame module 50 further includes an adjusting plate 53. The adjusting plate 53 is adjustably installed on the frame 51, and the pressing wheel mechanism 52 is fixedly installed on the adjusting plate 53. Specifically, the first side plate 521 and the second side plate 522 of the pressing wheel mechanism 52 can be fixedly connected to the adjusting plate 53, so as to fixedly install the pressing wheel mechanism 52 on the adjusting plate 53. The adjusting plate 53 can have one or more pieces. One or more pressing wheel mechanisms 52 can be installed on one adjusting plate 53. For example, Figure 16 In [description], two adjusting plates 53 are configured, and two pressing wheel mechanisms 52 are provided on each adjusting plate 53.

[0193] The adjusting plate 53 is provided with strip-shaped holes, 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 facilitate the installation and debugging of the pressing wheel mechanism 52.

[0194] As Figure 16 shown, in some embodiments, the frame 51 includes a first upright column 511, a second upright column 512 and a top beam 510. The first upright column 511 and the second upright column 512 are arranged oppositely, and the sliding door 20 can pass between the first upright column 511 and the second upright column 512. Both ends of the top beam 510 are respectively connected to the first upright column 511 and the second upright column 512. The first upright column 511, the second upright column 512 and the top beam 510 enclose a substantially "冂" shape.

[0195] In some embodiments, the frame 51 further includes a support assembly 513, which is disposed on the top beam 510. The support assembly 513 includes two parallel support plates 5131 and two parallel crossbeams 5132. The two support plates 5131 are fixedly connected to the inner sides of the first column 511 and the second column 512, respectively. The two ends of the two crossbeams 5132 are fixedly connected to the two support plates 5131, respectively. Two adjusting plates 53 are adjustablely installed on the two crossbeams 5132.

[0196] In this embodiment, the bracket assembly 513 provides more installation positions, allowing for the installation of multiple pressure roller mechanisms 52, thereby more effectively preventing the sliding door 20 from jumping upwards during operation. It is understood that in other embodiments, the bracket assembly 513 may be omitted, in which case the pressure roller mechanism 52 can be directly installed on the top beam 510.

[0197] like Figure 14 , Figure 17 and Figure 18 As shown, in some embodiments, the first middle frame module 50 and the second middle frame module 60 are respectively provided with guide mechanisms 54. The guide mechanism 54 includes a support frame 540 and two sets of guide 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 a clearance opening 5400 for the pressure wheel mechanism 52 to pass through. The two sets of guide wheel assemblies 541 are arranged opposite to each other and are located at the bottom of the support frame 540. The sliding door 20 is arranged between the two sets of guide wheel assemblies 541.

[0198] The support frame 540 can be fixedly connected to the frame 51 by welding, threaded connection, or other methods. 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 disposed at both ends of the base plate 5401. 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 located on opposite sides in the thickness direction of the sliding door 20. The two sets of guide wheel assemblies 541 provide support and limit for the sliding door 20, ensuring that the sliding door 20 does not tilt or shake during sliding, thus ensuring the stable operation of the sliding door 20.

[0199] The clearance opening 5400 is formed on the base plate 5401 and corresponds to the position of the pressure roller mechanism 52. The pressure roller mechanism 52 can pass through the clearance opening 5400 and abut against the top surface of the sliding door 20, so as not to occupy additional installation space. The pressure roller mechanism 52 and the guide mechanism 54 have a good structural compactness, and the pressure roller mechanism 52 and the guide mechanism 54 can work together without interfering with each other.

[0200] Optionally, multiple guide mechanisms 54 may be provided, for example, in Figure 16 In the middle, a guide mechanism 54 is set on each of the two crossbeams 5132. Through multiple guide mechanisms 54, the sliding door 20 can play a better supporting and guiding role.

[0201] like Figure 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 engaged 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 be fixedly engaged with the base plate 5401 by a fastener 5414.

[0202] Optionally, the guide wheel assembly 541 further includes a support bearing 5412 and a support bushing 5413. Both the support bearing 5412 and the support bushing 5413 are sleeved on the guide wheel shaft 5411. The support bearing 5412 is disposed 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.

[0203] The above mainly introduces the specific structure of the first mid-frame module 50. It should be understood that the specific structure of the second mid-frame module 60 can be the same as that of the first mid-frame module 50, and will not be repeated here.

[0204] Please see Figure 19 In some embodiments, the sliding door system further includes a front frame module 70, which includes a frame 71 and a limiting member 72 disposed on the frame 71, the limiting member 72 having a limiting groove 720.

[0205] A limit wheel 22 is provided at one end of the sliding door 20 facing the front frame module 70 (see...) Figure 11 During the closing process of the sliding door 20, the sliding door 20 gradually moves toward the front frame module 70 until the limit wheel 22 is engaged in the limit groove 720, thus completing the closing action of the sliding door 20.

[0206] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; under the concept of the present invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the present invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the operation of a dual-channel sliding door, applied to a sliding door system, characterized in that, The sliding door is driven to move by a first drive module and a second drive module. The sliding door has a front frame module, a first middle frame module, and a second middle frame module arranged sequentially along its moving direction. The first drive module is disposed within the first middle frame module, and the second drive module is disposed within the second middle frame module. The operation control method includes: If a vehicle passage instruction is received, the first drive 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 then the second drive 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 and pedestrian passage instruction is received, the first drive module is controlled to drive the rear end of the sliding door to the second middle frame module according to the vehicle and pedestrian passage instruction, and then the second drive 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 drive 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 then the first drive 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, The bottom of the sliding door is provided with a rack and pinion. The first drive module includes a first motor and a first gear, and the second drive module includes a second motor and a second gear.

3. The control method according to claim 2, characterized in that, If a vehicle passage command is received, the first drive module is controlled to drive the rear end of the sliding door to the second middle frame module according to the vehicle passage command, and then the second drive 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 passage instruction is received, the first motor is controlled to rotate according to the vehicle passage instruction, and the power supply to the second motor is restricted so that the second gear can rotate under the drive of the rack. The first gear meshes with the rack to drive the rear end of the sliding door to the second middle frame module, so that the rack meshes with the second gear. Control the first motor to stop running and limit the power supply to the first motor so that the first gear can rotate under the drive of the rack; The second motor is controlled to rotate, and the second gear meshes with the rack to drive the front end of the sliding door to the first middle frame module, thereby opening the vehicle passage. If a vehicle and pedestrian passage instruction is received, the first drive module is controlled to drive the rear end of the sliding door to the second middle frame module according to the instruction, and then the second drive 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 restricted so that the second gear can rotate under the drive of the rack. The first gear meshes with the rack to drive the rear end of the sliding door to the second middle frame module, so that the rack meshes with the second gear. Control the first motor to stop running and limit the power supply to the first motor so that the first gear can rotate under the drive of the rack; The second motor is controlled to rotate, and 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 passage is opened; If a vehicle restriction command is received, the second drive module is controlled to drive the front end of the sliding door to the first middle frame module according to the vehicle restriction command, and then the first drive module drives the front end of the sliding door to the front frame module to close the vehicle passage, including: If a vehicle traffic 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 restricted so that the first gear can rotate under the drive of the rack. The second gear meshes with the rack to drive the front end of the sliding door to the first middle frame module, so that the rack meshes with the first gear. Control the second motor to stop operating and limit 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 meshes with the rack to drive the front end of the sliding door to the front frame module, thereby closing the vehicle passage.

4. The control method according to claim 3, characterized in that, If a vehicle passage command is received, the system controls the first motor to rotate according to the command and restricts the power supply to the second motor so that the second gear can rotate under the drive of the rack. The first gear meshes with the rack to drive the rear end of the sliding door to the second middle frame module, so that the rack meshes with the second gear. This includes: If a vehicle passage instruction is received, the first motor is controlled to drive the first gear to rotate at a first speed according to the vehicle passage instruction, and the power supply to the second motor is restricted so that the second gear can rotate under the drive of the rack. The first gear meshes with the rack and drives the sliding door to move 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 decelerate to the second speed, the first gear meshes with the rack and drives the sliding door to move away from the front frame module at the second speed until the rear end of the sliding door reaches the second middle frame module, and the rack meshes with the second gear.

5. The control method according to claim 4, characterized in that, The control of the second motor to rotate, wherein the second gear meshes with the rack to drive the front end of the sliding door to the first middle frame module, thereby opening the vehicle passage, includes: The second motor is controlled to rotate, and 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 the second preset distance, the second motor is controlled to decelerate until the second motor stops running. At this point, the front end of the sliding door moves 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 command is received, the first motor is controlled to rotate according to the command, and the power supply to the second motor is restricted so that the second gear can rotate under the drive of the rack. The first gear meshes with the rack to drive the rear end of the sliding door to the second middle frame module. The meshing of the rack with the second gear includes: 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 restricted so that the second gear can rotate under the drive of the rack. The first gear meshes with the rack and drives the sliding door to move 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 decelerate to the second speed, the first gear meshes with the rack and drives the sliding door to move away from the front frame module at the second speed until the rear end of the sliding door reaches the second middle frame module, and the rack meshes with the second gear.

7. The control method according to claim 6, characterized in that, The control of the second motor to rotate, and the second gear meshing with the rack to drive the front end of the sliding door to the second middle frame module, thereby opening the vehicle and pedestrian passage, includes: The second motor is controlled to rotate, and 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. At this point, the front end of the sliding door moves to the second middle frame module, and the vehicle and pedestrian passage is opened.

8. The control method according to claim 3, characterized in that, If a vehicle restriction command is received, the second motor is controlled to rotate according to the vehicle and pedestrian passage command, and the power supply to the first motor is restricted so that the first gear can rotate under the drive of the rack. The second gear meshes with the rack to drive the front end of the sliding door to the first middle frame module, so that the rack meshes with the first gear, including: If a vehicle restriction order is received, the second motor is controlled to drive the second gear to rotate at a third speed according to the vehicle restriction order, and the power supply to the first motor is restricted so that the first gear can rotate under the drive of the rack. The second gear meshes with the rack and drives the sliding door to move towards 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 the fourth preset distance, the second motor is controlled to decelerate to the fourth speed, the second gear meshes with the rack and drives the sliding door to move towards the front frame module at the fourth speed until the front end of the sliding door reaches the first middle frame module, and the rack meshes with the first gear.

9. The control method according to claim 8, characterized in that, The step of controlling the rotation of the first motor, wherein the first gear meshes with the rack to drive the front end of the sliding door to the front frame module, thereby closing the vehicle passage, includes: The first motor is controlled to rotate, and 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 a fifth preset distance, the first motor is controlled to decelerate until the first motor stops running. At this point, the front end of the sliding door moves to the front frame module, and the vehicle passage is closed.

10. A sliding door system, characterized in that, The device 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 sequentially along the moving direction of the sliding door. The first drive module is disposed within the first middle frame module, and the second drive module is disposed within the second middle frame module. The controller is communicatively connected to the first drive module and the second drive module, respectively. The controller controls the operation of the sliding door using the control method described in any one of claims 1-9.

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