Opening and closing control method and device for electrically operated gate

Abstract

The invention discloses an electric door opening and closing control method and device, and relates to the technical field of electric doors of injection molding machines. The method comprises the steps that the real-time door closing position and the real-time door opening position are collected in real time, and the door closing working speed, the door closing cut-off position, the door opening working speed and the door opening cut-off position are obtained; calculating a door closing shortest deceleration distance according to the door closing working speed and the door closing deceleration, and calculating a door opening shortest deceleration distance according to the door opening working speed and the door opening deceleration; then the door closing speed mode of the electric door is adjusted according to the real-time door closing position and the door closing shortest deceleration distance, and the door opening speed mode of the electric door is adjusted according to the door opening cut-off position, the real-time door opening position and the door opening shortest deceleration distance; the opening and closing mode of the electrically operated gate is combined with the actual operation position condition and speed condition of the electrically operated gate, the opening and closing speed of the electrically operated gate is intelligently adjusted, manual intervention is not needed, efficiency is higher, the electrically operated gate is stably opened and closed at a high speed, machine circulation time is shortened, production efficiency is greatly improved, and safety performance is improved.

Description

Technical Field

[0001] The invention relates to the technical field of electric doors of injection molding machines, and in particular to an electric door opening and closing control method and device. Background Art

[0002] At present, the injection molding machine is a device used to heat and melt thermoplastic or thermosetting plastics and inject them into the mold, and then cool and solidify them to form plastic products. It is widely used in many industries such as automobiles, home appliances, medical care, and packaging. The injection molding machine is mainly composed of a clamping device, an injection device, a hydraulic system, an electronic control system, and auxiliary equipment. According to the structure, it can be divided into three-platen and two-platen types. The two-platen high-speed injection molding machine is suitable for large-size molds, and provides a more uniform clamping force during the production process, which improves production efficiency and product quality. It has been widely used in the field of plastic product production.

[0003] Then, the existing electric door control system of the injection molding machine exposes many defects during use, which affects the stability, safety and production efficiency of the equipment. The existing electric door has a long-term collision problem when the limit collision block hits the detection head of the travel switch during high-speed opening: 1. The collision noise is loud; 2. The electric door vibrates greatly; 3. The travel switch is easily damaged, causing the machine to stop for maintenance; 4. The signal is not given until after the collision, resulting in the electric door also needing a braking distance for emergency braking at high speed. This distance may expose the unprotected dangerous area behind the moving template, which leads to a high safety hazard in the unprotected dangerous area, which may cause personal injury to customers; 5. The electric door needs to stop once in the middle of the second opening, resulting in a longer total opening time and reduced efficiency. The current electric door speed is not convenient to adjust, and it requires professionals to spend time and effort to adjust. It is difficult for users to adjust the door to open and close quickly and stably. In order to prevent collisions, users can generally only adjust it very slowly, which also affects the production efficiency of the machine. Summary of the invention

[0004] In view of the above-mentioned defects, an embodiment of the present invention discloses an electric door opening and closing control method and device, which can intelligently, quickly and smoothly adjust the opening and closing speed of the electric door.

[0005] A first aspect of an embodiment of the present invention discloses an electric door opening and closing control method, comprising:

[0006] In response to the door closing command, real-time acquisition of the real-time door closing position of a preset target acquisition point on the electric door after receiving the door closing command is performed, and the door closing working speed and the door closing cut-off position are acquired;

[0007] Execute the door closing instruction, obtain the door closing deceleration, and calculate the shortest door closing deceleration distance according to the door closing working speed and the door closing deceleration;

[0008] Adjust the electric door closing speed mode according to the closing cut-off position, real-time closing position and the shortest deceleration distance for closing;

[0009] In response to the door opening command, the real-time door opening position of the preset target collection point on the electric door after receiving the door opening command is collected in real time, and the door opening working speed and the door opening cut-off position are obtained;

[0010] Execute the door opening command, obtain the door opening deceleration, and calculate the shortest door opening deceleration distance according to the door opening working speed and the door opening deceleration;

[0011] Adjust the electric door opening speed mode according to the door opening cut-off position, real-time door opening position and the shortest deceleration distance for door opening.

[0012] As an optional implementation, in the first aspect of the embodiment of the present invention, the shortest door closing deceleration distance is calculated according to the door closing working speed and the door closing deceleration, including:

[0013] According to the formula: S 合减 =V 合 *V 合 / (a 减 *2) Calculate the shortest deceleration distance for closing the door, where S 合减 V is the shortest deceleration distance for closing the door. 合 is the door closing speed, a 减 It is the door closing deceleration.

[0014] As an optional implementation, in the first aspect of the embodiment of the present invention, the electric door closing speed method includes uniform closing at a closing working speed, acceleration at the closing working speed as a target speed, and deceleration at a closing deceleration.

[0015] As an optional implementation, in the first aspect of the embodiment of the present invention, adjusting the closing speed of the electric door according to the real-time closing position and the shortest deceleration distance for closing the door includes:

[0016] The shortest deceleration distance for closing the door is defined as the distance between the shortest deceleration position for closing the door and the closing cut-off position between the preset initial position for closing the door and the closing cut-off position, and the closing speed between the shortest deceleration position for closing the door and the closing cut-off position is the calculated closing speed, which is calculated according to the formula:

[0017] , V 合t记算 For calculating the door closing speed, It is the distance from the real-time door closing position to the door closing end position during the door closing process;

[0018] When it is detected that the distance between the real-time door closing position and the door closing cut-off position is greater than the shortest deceleration distance for door closing, the door closing acceleration is obtained, and the door closing working speed is taken as the target speed, and acceleration is performed based on the door closing acceleration until the real-time door closing speed is equal to the door closing working speed, and the door is closed at a uniform speed at the door closing working speed; the real-time door closing speed is obtained by taking the differential of the distance from the door initial position to the real-time door closing position;

[0019] When it is detected that the distance between the real-time door closing position and the door closing cut-off position is less than or equal to the shortest deceleration distance for door closing, determine whether the real-time door closing speed is less than the recorded door closing speed; when the real-time door closing speed is less than the recorded door closing speed, obtain the door closing acceleration, and accelerate according to the door closing acceleration based on the real-time door closing speed; when the real-time door closing speed is greater than or equal to the recorded door closing speed, decelerate according to the door closing deceleration based on the real-time door closing speed.

[0020] As an optional implementation manner, in the first aspect of the embodiment of the present invention, the shortest door opening deceleration distance is calculated according to the door opening working speed and the door opening deceleration, including:

[0021] According to the formula: S 开减 =V 开 *V 开 / (a 减 *2) Calculate the shortest deceleration distance for door opening, where S 开减 V is the shortest deceleration distance for door opening, 开 is the door opening speed, a 减 is the door opening deceleration, which is equal to the door closing deceleration.

[0022] As an optional implementation, in the first aspect of the embodiment of the present invention, the electric door opening speed mode includes opening the door at a uniform speed at the door opening working speed, accelerating at the door opening working speed as the target speed, and decelerating at the door opening deceleration.

[0023] As an optional implementation, in the first aspect of the embodiment of the present invention, the electric door opening speed is adjusted according to the door opening cut-off position, the real-time door opening position and the shortest deceleration distance for door opening, including:

[0024] The shortest deceleration distance for door opening is defined as the distance between the preset initial door opening position and the door opening end position and the door opening end position. The door opening speed between the shortest deceleration position and the door opening end position is the calculated door opening speed. The calculated door opening speed is calculated according to the formula:

[0025] , V 开t记算 The door opening speed is calculated as S 开结束 is the door opening stop position, S 开tThe real-time door opening position;

[0026] When 0≤S is detected 开t <S 开结束 -S 开减 When the door is opened, the door opening acceleration and the real-time door opening speed are obtained, and the door opening working speed is taken as the target speed. The door is accelerated based on the real-time door opening speed and the door opening acceleration until the real-time door opening speed is equal to the door opening working speed, and the door is closed at a uniform speed at the door opening working speed; the real-time door opening speed is obtained by taking the differential of the distance from the initial door opening position to the real-time door opening position;

[0027] When S is detected 开结束 -S 开减 ≤S 开t <S 开结束 When the real-time door opening speed is less than the calculated door opening speed, determine whether the real-time door opening speed is less than the calculated door opening speed; when the real-time door opening speed is less than the calculated door opening speed, obtain the door opening acceleration, and accelerate according to the door opening acceleration based on the real-time door opening speed; when the real-time door opening speed is greater than or equal to the calculated door opening speed, decelerate according to the door opening deceleration based on the real-time door opening speed.

[0028] A second aspect of an embodiment of the present invention discloses an electric door opening and closing control device, comprising:

[0029] Door closing command response module: used to respond to the door closing command, collect the real-time door closing position of the preset target collection point on the electric door after receiving the door closing command, and obtain the door closing working speed and door closing cut-off position;

[0030] A door closing instruction execution module is used to execute the door closing instruction, obtain the door closing deceleration, and calculate the shortest door closing deceleration distance according to the door closing working speed and the door closing deceleration;

[0031] Door closing speed adjustment module: used to adjust the electric door closing speed mode according to the door closing cut-off position, real-time door closing position and the shortest deceleration distance for door closing;

[0032] Door opening command response module: used to respond to the door opening command, collect the real-time door opening position of the preset target collection point on the electric door after receiving the door opening command, and obtain the door opening working speed and door opening cut-off position;

[0033] The door opening instruction execution module is used to execute the door opening instruction, obtain the door opening deceleration, and calculate the shortest deceleration distance for door opening according to the door opening working speed and the door opening deceleration;

[0034] Door opening speed adjustment module: used to adjust the electric door opening speed according to the door opening cut-off position, real-time door opening position and the shortest deceleration distance for door opening.

[0035] As an optional implementation, in the second aspect of the embodiment of the present invention, the shortest door closing deceleration distance is calculated according to the door closing working speed and the door closing deceleration, including:

[0036] According to the formula: S 合减 =V 合 *V 合 / (a 减 *2) Calculate the shortest deceleration distance for closing the door, where S 合减 V is the shortest deceleration distance for closing the door. 合 is the door closing speed, a 减 It is the door closing deceleration.

[0037] As an optional implementation, in the second aspect of the embodiment of the present invention, the electric door closing speed mode includes uniform closing at a closing working speed, acceleration at the closing working speed as a target speed, and deceleration at a closing deceleration.

[0038] As an optional implementation, in the second aspect of the embodiment of the present invention, adjusting the closing speed of the electric door according to the real-time closing position and the shortest deceleration distance for closing the door includes:

[0039] The shortest deceleration distance for closing the door is defined as the distance between the shortest deceleration position for closing the door and the closing cut-off position between the preset initial position for closing the door and the closing cut-off position, and the closing speed between the shortest deceleration position for closing the door and the closing cut-off position is the calculated closing speed, which is calculated according to the formula: , V 合t记算 For calculating the door closing speed, It is the distance from the real-time door closing position to the door closing end position during the door closing process;

[0040] When it is detected that the distance between the real-time door closing position and the door closing cut-off position is greater than the shortest deceleration distance for door closing, the door closing acceleration is obtained, and the door closing working speed is taken as the target speed, and acceleration is performed based on the door closing acceleration until the real-time door closing speed is equal to the door closing working speed, and the door is closed at a uniform speed at the door closing working speed; the real-time door closing speed is obtained by taking the differential of the distance from the door initial position to the real-time door closing position;

[0041] When it is detected that the distance between the real-time door closing position and the door closing cut-off position is less than or equal to the shortest deceleration distance for door closing, determine whether the real-time door closing speed is less than the recorded door closing speed; when the real-time door closing speed is less than the recorded door closing speed, obtain the door closing acceleration, and accelerate according to the door closing acceleration based on the real-time door closing speed; when the real-time door closing speed is greater than or equal to the recorded door closing speed, decelerate according to the door closing deceleration based on the real-time door closing speed.

[0042] As an optional implementation, in the second aspect of the embodiment of the present invention, the shortest door opening deceleration distance is calculated according to the door opening working speed and the door opening deceleration, including:

[0043] According to the formula: S 开减 =V 开 *V 开 / (a 减 *2) Calculate the shortest deceleration distance for door opening, where S 开减 V is the shortest deceleration distance for door opening, 开 is the door opening speed, a 减 is the door opening deceleration, which is equal to the door closing deceleration.

[0044] As an optional implementation, in the second aspect of the embodiment of the present invention, the electric door opening speed mode includes opening the door at a uniform speed at the door opening working speed, accelerating at the door opening working speed as the target speed, and decelerating at the door opening deceleration.

[0045] As an optional implementation, in the first aspect of the embodiment of the present invention, the electric door opening speed is adjusted according to the door opening cut-off position, the real-time door opening position and the shortest deceleration distance for door opening, including:

[0046] The shortest deceleration distance for door opening is defined as the distance between the preset initial door opening position and the door opening end position and the door opening end position. The door opening speed between the shortest deceleration position and the door opening end position is the calculated door opening speed. The calculated door opening speed is calculated according to the formula:

[0047] , V 开t记算 The door opening speed is calculated as S 开结束 is the door opening stop position, S 开t The real-time door opening position;

[0048] When 0≤S is detected 开t <S 开结束 -S 开减 When the door is opened, the door opening acceleration is obtained, and the door opening working speed is taken as the target speed. The door is accelerated based on the real-time door opening speed and the door opening acceleration until the real-time door opening speed is equal to the door opening working speed, and the door is closed at a uniform speed at the door opening working speed; the real-time door opening speed is obtained by taking the differential of the distance from the initial door opening position to the real-time door opening position;

[0049] When S is detected 开结束 -S 开减 ≤S 开t <S 开结束When the real-time door opening speed is less than the calculated door opening speed, determine whether the real-time door opening speed is less than the calculated door opening speed; when the real-time door opening speed is less than the calculated door opening speed, obtain the door opening acceleration, and accelerate according to the door opening acceleration based on the real-time door opening speed; when the real-time door opening speed is greater than or equal to the calculated door opening speed, decelerate according to the door opening deceleration based on the real-time door opening speed.

[0050] The third aspect of an embodiment of the present invention discloses an electronic device, comprising: a memory storing executable program code; a processor coupled to the memory; the processor calls the executable program code stored in the memory to execute the electric door opening and closing control method disclosed in the first aspect of the embodiment of the present invention.

[0051] A fourth aspect of an embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute the electric door opening and closing control method disclosed in the first aspect of an embodiment of the present invention.

[0052] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0053] The electric door opening and closing control method provided by the embodiment of the present invention collects the real-time closing position and the real-time opening position in real time, and obtains the closing working speed, the closing stop position, the opening working speed and the opening stop position; the closing working speed and the closing deceleration are used to calculate the shortest deceleration distance for closing, and the opening working speed and the opening deceleration are used to calculate the shortest deceleration distance for opening; then the closing speed mode of the electric door is adjusted according to the real-time closing position and the shortest deceleration distance for closing, and the opening speed mode of the electric door is adjusted according to the opening stop position, the real-time opening position and the shortest deceleration distance for opening; the electric door opening and closing mode provided by the embodiment takes into account the actual operating position and speed conditions of the electric door, and intelligently adjusts the opening and closing speed of the electric door without manual intervention, which is more efficient and realizes high-speed and smooth opening and closing of the electric door, which can reduce machine cycle time, greatly improve production efficiency, and also help increase the service life of the electric door mechanism and improve safety performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0055] Figure 1 It is a flow chart of an electric door opening and closing control method disclosed in an embodiment of the present invention;

[0056] Figure 2It is a structural schematic diagram of an electric door opening and closing control device provided by an embodiment of the present invention;

[0057] Figure 3 It is a structural schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0058] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] It should be noted that the terms "first", "second", "third", "fourth", etc. in the specification and claims of the present invention are used to distinguish different objects rather than to describe a specific order. The terms "including" and "having" in the embodiments of the present invention and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0060] The embodiment of the present invention discloses an electric door opening and closing control method, device, electronic device and storage medium. The method collects the real-time closing position and the real-time opening position of the door in real time, and obtains the closing working speed, the closing end position, the opening working speed and the opening end position of the door; the shortest deceleration distance for closing the door is calculated according to the closing working speed and the closing deceleration, and the shortest deceleration distance for opening the door is calculated according to the opening working speed and the opening deceleration; then the closing speed mode of the electric door is adjusted according to the real-time closing position and the shortest deceleration distance for closing the door, and the opening speed mode of the electric door is adjusted according to the opening end position, the real-time opening position and the shortest deceleration distance for opening the door; the opening and closing mode of the electric door provided in the embodiment is combined with the actual operating position and speed conditions of the electric door, and the opening and closing speed of the electric door is intelligently adjusted without manual intervention, with higher efficiency, and the electric door can be opened and closed at high speed and smoothly, which can reduce the machine cycle time, greatly improve production efficiency, and also help to increase the service life of the electric door mechanism and improve safety performance.

[0061] Embodiment 1

[0062] See also Figure 1 , Figure 1It is a flow chart of an electric door opening and closing control method disclosed in an embodiment of the present invention. Among them, the execution subject of the method described in the embodiment of the present invention is an execution subject composed of software and / or hardware, and the execution subject can receive relevant information by wired or / and wireless means, and can send certain instructions. Of course, it can also have certain processing functions and storage functions. The execution subject can control multiple devices, such as a remote physical server or cloud server and related software, or it can be a local host or server and related software that performs related operations on a device placed somewhere. In some scenarios, multiple storage devices can also be controlled, and the storage devices can be placed in the same place or different places as the devices. For example Figure 1 As shown, the electric door opening and closing control method includes the following steps:

[0063] 101. In response to a door closing instruction, real-time door closing positions of preset target collection points on the electric door after receiving the door closing instruction are collected in real time, and door closing operating speed and door closing cut-off position are acquired.

[0064] When receiving the door closing command, the door closing control process is first entered to collect the current position of the preset target collection point on the electric door in real time. This position information reflects the real-time closing progress of the electric door. The door closing end position refers to the position where the electric door ends after starting to close the door, that is, the position where the electric door is completely closed.

[0065] 102. Execute the door closing instruction, obtain the door closing deceleration, and calculate the shortest door closing deceleration distance according to the door closing working speed and the door closing deceleration.

[0066] The closing deceleration is the negative value of the acceleration required for the electric door to decelerate to a stop.

[0067] Specifically, according to the formula: S 合减 =V 合 *V 合 / (a 减 *2) Calculate the shortest deceleration distance for closing the door, where S 合减 V is the shortest deceleration distance for closing the door. 合 is the door closing speed, a 减 It is the door closing deceleration.

[0068] 103. Adjust the electric door closing speed mode according to the closing cut-off position, real-time closing position and the shortest deceleration distance for closing.

[0069] According to the real-time door closing position, the shortest deceleration distance for door closing, and the preset door closing cut-off position, the door closing speed of the electric door is dynamically adjusted. Generally, if the current position is far enough from the cut-off position, a higher speed can be maintained to close the door quickly. When approaching the cut-off position, deceleration begins to ensure that the door can stop smoothly when it reaches the cut-off position. In the embodiment, the door closing speed control of the electric vehicle is divided into three modes, namely, uniform door closing at the door closing working speed, acceleration at the door closing working speed as the target speed, and deceleration at the door closing deceleration.

[0070] Specifically, the electric door closing speed mode is adjusted according to the real-time closing position and the shortest deceleration distance for closing the door, including: defining the closing speed between the shortest deceleration distance for closing the door and the closing cut-off position as the calculated closing speed, and calculating the calculated closing speed according to the formula: , V 合t记算 For calculating the door closing speed, It is the distance from the real-time door closing position to the door closing end position during the door closing process. Among them, the door closing and the door opening move in opposite directions, and the door closing direction and the door opening direction are on the same coordinate axis. The real-time door closing position and the real-time door opening position are represented by the numerical value corresponding to the coordinate axis. The initial position of the door closing is defined as L, the door closing end position is defined as 0, and the initial position of the door opening is defined as 0, and the position of the door opening to the end is defined as L; the shortest deceleration distance for door closing is to take a preset position point between L and 0 during the door closing process, and the distance between this position point and the door closing end position 0. This position point is defined as the shortest deceleration position for door closing, and the real-time door closing position is the real-time position between L and 0 during the door closing process. Since the real-time door closing position represents the real-time position between L and 0 during the door closing process, the numerical value corresponding to the real-time door closing position is also the distance between 0 and the coordinate point of the real-time door closing position. When it is detected that the distance between the real-time door closing position and the door closing cut-off position is greater than the shortest deceleration distance for door closing, the door closing acceleration is obtained, and the door closing working speed is used as the target speed. Acceleration is performed based on the real-time door closing speed and the door closing acceleration until the real-time door closing speed is equal to the door closing working speed, and the door is closed at a uniform speed at the door closing working speed; the real-time door closing speed is obtained by differentiating the distance from the door closing initial position to the real-time door closing position. When it is detected that the distance between the real-time door closing position and the door closing cut-off position is less than or equal to the shortest deceleration distance for door closing, it is determined whether the real-time door closing speed is less than the calculated door closing speed; when the real-time door closing speed is less than the calculated door closing speed, the door closing acceleration is obtained, and acceleration is performed according to the door closing acceleration based on the real-time door closing speed; when the real-time door closing speed is greater than or equal to the calculated door closing speed, deceleration is performed according to the door closing deceleration based on the real-time door closing speed. When the electric door is in the process of closing, and the real-time closing position is far from the shortest deceleration distance for closing, the electric door will close at a uniform speed at the closing working speed. The uniform closing speed can ensure that the electric door runs at a stable speed most of the time, reducing energy consumption and noise. When it is detected that the distance between the real-time closing position and the closing end position is greater than the shortest deceleration distance for closing, the system will obtain the closing acceleration and accelerate with the closing working speed as the target speed. The acceleration process will continue until the real-time closing speed is equal to the closing working speed, and then the electric door will enter the uniform closing stage. Accelerated closing can shorten the time for the electric door to run from static to uniform speed, and improve the closing efficiency. When it is detected that the distance between the real-time closing position and the closing end position is less than or equal to the shortest deceleration distance for closing, the system will decelerate according to the relationship between the real-time closing speed and the calculated closing speed. If the real-time closing speed is less than the calculated closing speed, the system will obtain the closing acceleration and accelerate based on the real-time closing speed to ensure that the electric door can reach the predetermined speed before reaching the closing stop position. If the real-time closing speed is greater than or equal to the calculated closing speed, the system will decelerate according to the closing deceleration based on the real-time closing speed to ensure that the electric door can stop smoothly and safely at the closing stop position.The calculated closing speed refers to the speed that the electric door should reach between the shortest deceleration distance for closing and the closing end position. This speed is calculated based on the movement characteristics of the electric door and the closing requirements, and is intended to ensure that the electric door can stop smoothly and safely during the deceleration stage.

[0071] During the closing process, the electric door can accelerate with the closing working speed as the target and quickly reach the predetermined speed, thereby improving the closing efficiency. When the real-time closing position is less than or equal to the shortest deceleration distance for closing, the relationship between the real-time closing speed and the calculated closing speed can be judged to intelligently select the acceleration or deceleration strategy, thus avoiding unnecessary energy consumption.

[0072] 104. In response to the door opening command, real-time door opening positions of preset target collection points on the electric door after receiving the door opening command are collected, and the door opening working speed and door opening cut-off position are obtained.

[0073] This step corresponds to the door closing process. First, the door opening command is received, and the door opening end position is also the maximum door opening position.

[0074] 105. Execute the door opening command, obtain the door opening deceleration, and calculate the shortest deceleration distance for door opening according to the door opening working speed and the door opening deceleration.

[0075] In the embodiment, the door opening deceleration and the door closing deceleration use the same deceleration, and the door opening acceleration and the door closing acceleration also use the same acceleration. Specifically, the calculation of the shortest deceleration distance for opening the door needs to combine the door opening working speed and the door opening deceleration, according to the formula: S 开减 =V 开 *V 开 / (a 减 *2) Calculate the shortest deceleration distance for door opening, where S 开减 V is the shortest deceleration distance for door opening, 开 is the door opening speed, a 减 Deceleration for door opening.

[0076] 106. Adjust the electric door opening speed according to the door opening cut-off position, real-time door opening position and the shortest deceleration distance for door opening.

[0077] The present embodiment also involves three implementation methods for adjusting the door opening speed, including uniform door opening at the door opening working speed, acceleration at the door opening working speed as the target speed, and deceleration at the door opening deceleration.

[0078] The method of adjusting the electric door opening speed according to the door opening cut-off position, the real-time door opening position and the shortest deceleration distance for door opening includes: defining the shortest deceleration distance for door opening as the distance between the shortest deceleration position for door opening and the door opening cut-off position between the preset door opening initial position and the door opening cut-off position, the door opening speed between the shortest deceleration position for door opening and the door opening cut-off position as the calculated door opening speed, and calculating the calculated door opening speed according to the formula:

[0079] , V 开t记算 The door opening speed is calculated as S 开结束 is the door opening stop position, S 开t is the real-time door opening position; when 0≤S 开t <S 开结束 -S 开减 When the door is opened, the door opening acceleration and the real-time door opening speed are obtained, and the door opening working speed is taken as the target speed. The door is accelerated based on the real-time door opening speed and the door opening acceleration until the real-time door opening speed is equal to the door opening working speed, and the door is closed at a uniform speed at the door opening working speed; the real-time door opening speed is obtained by taking the differential of the distance from the initial door opening position to the real-time door opening position;

[0080] When S is detected 开结束 -S 开减 ≤S 开t <S 开结束 When the real-time door opening speed is less than the calculated door opening speed, determine whether the real-time door opening speed is less than the calculated door opening speed; when the real-time door opening speed is less than the calculated door opening speed, obtain the door opening acceleration, and accelerate according to the door opening acceleration based on the real-time door opening speed; when the real-time door opening speed is greater than or equal to the calculated door opening speed, decelerate according to the door opening deceleration based on the real-time door opening speed.

[0081] The embodiment can ensure that the speed of the electric door changes smoothly during the door opening process by collecting the target collection point position of the electric door in real time and making dynamic adjustments according to preset working speed, deceleration and other parameters, thereby avoiding the impact and discomfort caused by sudden speed changes. The door opening speed adjustment method can ensure that the electric door gradually decelerates when approaching the door opening cut-off position, thereby reducing the risk of collision caused by excessive speed. When the electric door is far away from the door opening cut-off position, the adjustment method allows the electric door to accelerate at a faster speed to reach the working speed as soon as possible, which helps to improve the opening and closing efficiency of the electric door and reduce the waiting time of users.

[0082] Embodiment 2

[0083] See also Figure 2 , Figure 2 Schematic diagram of the structure of an electric door opening and closing control device disclosed in an embodiment of the present invention. Figure 2As shown, the electric door opening and closing control device may include: a door closing instruction response module 201, a door closing instruction execution module 202, a door closing speed adjustment module 203, a door opening instruction response module 204, a door opening instruction execution module 205 and a door opening speed adjustment module 206, wherein the door closing instruction response module 201 is used to respond to the door closing instruction, collect the real-time door closing position of the preset target collection point on the electric door after receiving the door closing instruction in real time, and obtain the door closing working speed and the door closing cut-off position; the door closing instruction execution module 202 is used to execute the door closing instruction, obtain the door closing deceleration, and calculate the shortest door closing deceleration distance according to the door closing working speed and the door closing deceleration; the door closing speed The speed adjustment module 203 is used to adjust the closing speed mode of the electric door according to the closing stop position, the real-time closing position and the shortest deceleration distance for closing the door; the door opening instruction response module 204 is used to respond to the door opening instruction, collect the real-time door opening position of the preset target collection point on the electric door after receiving the door opening instruction, and obtain the door opening working speed and the door opening stop position; the door opening instruction execution module 205 is used to execute the door opening instruction, obtain the door opening deceleration, and calculate the shortest deceleration distance for opening the door according to the door opening working speed and the door opening deceleration; the door opening speed adjustment module 206 is used to adjust the opening speed mode of the electric door according to the door opening stop position, the real-time door opening position and the shortest deceleration distance for opening the door.

[0084] In the door closing instruction execution module 202, the shortest door closing deceleration distance is calculated according to the door closing working speed and the door closing deceleration, including: according to the formula: S 合减 =V 合 *V 合 / (a 减 *2) Calculate the shortest deceleration distance for closing the door, where S 合减 V is the shortest deceleration distance for closing the door. 合 is the door closing speed, a 减 It is the door closing deceleration.

[0085] The electric door closing speed mode recorded in the closing speed adjustment module 203 includes uniform closing at the closing working speed, acceleration at the closing working speed as the target speed, and deceleration at the closing deceleration. Specifically, adjusting the electric door closing speed mode according to the real-time closing position and the shortest deceleration distance of the closing door includes: defining the closing speed between the shortest deceleration distance of the closing door and the closing cut-off position as the calculated closing speed, and calculating the calculated closing speed according to the formula: , V 合t记算 For calculating the door closing speed, It is the distance from the real-time door closing position to the door closing stop position during the door closing process; when it is detected that the distance between the real-time door closing position and the door closing stop position is greater than the shortest deceleration distance for door closing, the door closing acceleration is obtained, and the door closing working speed is taken as the target speed, and acceleration is performed based on the real-time door closing speed and the door closing acceleration until the real-time door closing speed is equal to the door closing working speed, and the door is closed at a uniform speed at the door closing working speed; when it is detected that the distance between the real-time door closing position and the door closing stop position is less than or equal to the shortest deceleration distance for door closing, it is determined whether the real-time door closing speed is less than the calculated door closing speed; when the real-time door closing speed is less than the calculated door closing speed, the door closing acceleration is obtained, and acceleration is performed according to the door closing acceleration based on the real-time door closing speed; when the real-time door closing speed is greater than or equal to the calculated door closing speed, deceleration is performed according to the door closing deceleration based on the real-time door closing speed.

[0086] In the door opening command response module 204, the shortest door opening deceleration distance is calculated according to the door opening working speed and the door opening deceleration, including:

[0087] According to the formula: S 开减 =V 开 *V 开 / (a 减 *2) Calculate the shortest deceleration distance for door opening, where S 开减 V is the shortest deceleration distance for door opening, 开 is the door opening speed, a 减 is the door opening deceleration, which is equal to the door closing deceleration.

[0088] The electric door opening speed mode recorded in the door opening speed adjustment module 206 includes uniform door opening at the door opening working speed, acceleration at the door opening working speed as the target speed, and deceleration at the door opening deceleration. Specifically, the electric door opening speed mode is adjusted according to the door opening end position, the real-time door opening position, and the shortest deceleration distance for door opening, including: defining the shortest deceleration distance for door opening as the distance between the preset door opening initial position and the door opening end position and the door opening end position, the door opening speed between the shortest deceleration position for door opening and the door opening end position is the calculated door opening speed, and the calculated door opening speed is calculated according to the formula: , V 开t记算 The door opening speed is calculated as S 开结束 is the door opening stop position, S 开t The real-time door opening position;

[0089] When 0≤S is detected 开t <S 开结束 -S 开减When the door opening acceleration and the real-time door opening speed are obtained, the door opening working speed is taken as the target speed, and the door is accelerated based on the real-time door opening speed and the door opening acceleration until the real-time door opening speed is equal to the door opening working speed, and the door is closed at a uniform speed at the door opening working speed; the real-time door opening speed is obtained by differentiating the distance from the initial door opening position to the real-time door opening position; when S is detected 开结束 -S 开减 ≤S 开t <S 开结束 When the real-time door opening speed is less than the calculated door opening speed, determine whether the real-time door opening speed is less than the calculated door opening speed; when the real-time door opening speed is less than the calculated door opening speed, obtain the door opening acceleration, and accelerate according to the door opening acceleration based on the real-time door opening speed; when the real-time door opening speed is greater than or equal to the calculated door opening speed, decelerate according to the door opening deceleration based on the real-time door opening speed.

[0090] Embodiment 3

[0091] See also Figure 3 , Figure 3 Schematic diagram of the structure of an electronic device disclosed in an embodiment of the present invention. The electronic device may be a computer, a server, etc. Of course, in certain circumstances, it may also be a smart device such as a mobile phone, a tablet computer, a monitoring terminal, and an image acquisition device with processing functions. Figure 3 As shown, the electronic device may include:

[0092] A memory 301 storing executable program codes;

[0093] a processor 302 coupled to the memory 301;

[0094] The processor 302 calls the executable program code stored in the memory 301 to execute part or all of the steps in the electric door opening and closing control method in the first embodiment.

[0095] An embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute part or all of the steps in the electric door opening and closing control method in the first embodiment.

[0096] The embodiment of the present invention further discloses a computer program product, wherein when the computer program product is run on a computer, the computer is enabled to execute part or all of the steps in the electric door opening and closing control method in the first embodiment.

[0097] An embodiment of the present invention also discloses an application publishing platform, wherein the application publishing platform is used to publish a computer program product, wherein when the computer program product runs on a computer, the computer executes part or all of the steps in the electric door opening and closing control method in embodiment one.

[0098] In various embodiments of the present invention, it should be understood that the size of the serial numbers of the processes does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0099] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place or distributed over multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0100] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0101] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-accessible memory. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a memory and includes several requests to enable a computer device (which can be a personal computer, server or network device, etc., specifically a processor in a computer device) to perform some or all steps of the method described in each embodiment of the present invention.

[0102] In the embodiments provided by the present invention, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.

[0103] A person of ordinary skill in the art may understand that part or all of the steps in the various methods of the embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, the storage medium including a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically-erasable programmable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0104] The electric door opening and closing control method, device, electronic device and storage medium disclosed in the embodiments of the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for controlling the opening and closing of an electric door, characterized in that: include: In response to the door closing command, real-time acquisition of the real-time door closing position of a preset target acquisition point on the electric door after receiving the door closing command is performed, and the door closing working speed and the door closing cut-off position are acquired; Execute the door closing instruction, obtain the door closing deceleration, and calculate the shortest door closing deceleration distance according to the door closing working speed and the door closing deceleration; Adjust the electric door closing speed mode according to the closing cut-off position, real-time closing position and the shortest deceleration distance for closing; In response to the door opening command, the real-time door opening position of the preset target collection point on the electric door after receiving the door opening command is collected in real time, and the door opening working speed and the door opening cut-off position are obtained; Execute the door opening command, obtain the door opening deceleration, and calculate the shortest deceleration distance for door opening according to the door opening working speed and the door opening deceleration; Adjust the electric door opening speed mode according to the door opening cut-off position, real-time door opening position and the shortest deceleration distance for door opening.

2. The electric door opening and closing control method according to claim 1, characterized in that: The calculating the shortest door closing deceleration distance according to the door closing working speed and the door closing deceleration includes: According to the formula: S 合减 =V 合 *V 合 / (a 减 *2) Calculate the shortest deceleration distance for closing the door, where S 合减 V is the shortest deceleration distance for closing the door. 合 is the door closing speed, a 减 It is the door closing deceleration.

3. The electric door opening and closing control method according to claim 2, characterized in that: The electric door closing speed mode includes uniform door closing at a door closing working speed, acceleration at a door closing working speed as a target speed, and deceleration at a door closing deceleration.

4. The electric door opening and closing control method according to claim 3, characterized in that: Adjust the electric door closing speed according to the real-time closing position and the shortest deceleration distance for closing the door, including: The shortest deceleration distance for closing the door is defined as the distance between the shortest deceleration position for closing the door and the closing cut-off position between the preset initial position for closing the door and the closing cut-off position, and the closing speed between the shortest deceleration position for closing the door and the closing cut-off position is the calculated closing speed, which is calculated according to the formula: , V 合t记算 For calculating the door closing speed, It is the distance from the real-time door closing position to the door closing end position during the door closing process; When it is detected that the distance between the real-time door closing position and the door closing cut-off position is greater than the shortest deceleration distance for door closing, the door closing acceleration is obtained, and the door closing working speed is taken as the target speed, and acceleration is performed based on the door closing acceleration until the real-time door closing speed is equal to the door closing working speed, and the door is closed at a uniform speed at the door closing working speed; the real-time door closing speed is obtained by taking the differential of the distance from the door initial position to the real-time door closing position; When it is detected that the distance between the real-time door closing position and the door closing cut-off position is less than or equal to the shortest deceleration distance for door closing, determine whether the real-time door closing speed is less than the recorded door closing speed; when the real-time door closing speed is less than the recorded door closing speed, obtain the door closing acceleration, and accelerate according to the door closing acceleration based on the real-time door closing speed; when the real-time door closing speed is greater than or equal to the recorded door closing speed, decelerate according to the door closing deceleration based on the real-time door closing speed.

5. The electric door opening and closing control method according to claim 1, characterized in that: The shortest deceleration distance for door opening is calculated according to the door opening working speed and the door opening deceleration, including: According to the formula: S 开减 =V 开 *V 开 / (a 减 *2) Calculate the shortest deceleration distance for door opening, where S 开减 V is the shortest deceleration distance for door opening, 开 is the door opening speed, a 减 is the door opening deceleration, which is equal to the door closing deceleration.

6. The electric door opening and closing control method according to claim 5, characterized in that: The electric door opening speed modes include uniform door opening at the door opening working speed, acceleration with the door opening working speed as the target speed, and deceleration with the door opening deceleration.

7. The electric door opening and closing control method according to claim 6, characterized in that: Adjust the electric door opening speed according to the door opening cut-off position, real-time door opening position and the shortest deceleration distance for door opening, including: The shortest deceleration distance for door opening is defined as the distance between the preset initial door opening position and the door opening end position and the door opening end position. The door opening speed between the shortest deceleration position and the door opening end position is the calculated door opening speed. The calculated door opening speed is calculated according to the formula: , V 开t记算 For the calculation of the door opening speed, The door opening stop position. The real-time door opening position; When 0≤S is detected 开t <S 开结束 -S 开减 When the door is opened, the door opening acceleration and the real-time door opening speed are obtained, and the door opening working speed is taken as the target speed. The door is accelerated based on the real-time door opening speed and the door opening acceleration until the real-time door opening speed is equal to the door opening working speed, and the door is closed at a uniform speed at the door opening working speed; the real-time door opening speed is obtained by taking the differential of the distance from the initial door opening position to the real-time door opening position; When S is detected 开结束 -S 开减 ≤S 开t <S 开结束 When the real-time door opening speed is less than the calculated door opening speed, determine whether the real-time door opening speed is less than the calculated door opening speed; when the real-time door opening speed is less than the calculated door opening speed, obtain the door opening acceleration, and accelerate according to the door opening acceleration based on the real-time door opening speed; When the real-time door opening speed is greater than or equal to the calculated door opening speed, deceleration is performed according to the door opening deceleration based on the real-time door opening speed.

8. An electric door opening and closing control device, characterized in that: include: Door closing command response module: used to respond to the door closing command, collect the real-time door closing position of the preset target collection point on the electric door after receiving the door closing command, and obtain the door closing working speed and door closing cut-off position; A door closing instruction execution module is used to execute the door closing instruction, obtain the door closing deceleration, and calculate the shortest door closing deceleration distance according to the door closing working speed and the door closing deceleration; Door closing speed adjustment module: used to adjust the electric door closing speed mode according to the door closing cut-off position, real-time door closing position and the shortest deceleration distance for door closing; Door opening command response module: used to respond to the door opening command, collect the real-time door opening position of the preset target collection point on the electric door after receiving the door opening command, and obtain the door opening working speed and door opening cut-off position; The door opening instruction execution module is used to execute the door opening instruction, obtain the door opening deceleration, and calculate the shortest deceleration distance for door opening according to the door opening working speed and the door opening deceleration; Door opening speed adjustment module: used to adjust the electric door opening speed according to the door opening cut-off position, real-time door opening position and the shortest deceleration distance for door opening.

9. An electronic device, characterized in that: include: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the electric door opening and closing control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program enables a computer to execute the electric door opening and closing control method according to any one of claims 1 to 7.

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