An electric door opening and closing control method and device

Abstract

The present invention discloses a method and device for controlling the opening and closing of an electric door, which relates to the technical field of the electric door of an injection molding machine. By collecting the real-time closing door position and the real-time opening door position in real time, and obtaining the closing door working speed, the closing door cut-off position, the opening door working speed and the opening door cut-off position; calculating the shortest deceleration distance of the closing door according to the closing door working speed and the closing door deceleration speed, and calculating the shortest deceleration distance of the opening door according to the opening door working speed and the opening door deceleration speed; then adjusting the closing door speed mode of the electric door according to the real-time closing door position and the shortest deceleration distance of the closing door, and adjusting the opening door speed mode of the electric door according to the opening door cut-off position, the real-time opening door position and the shortest deceleration distance of the opening door; this opening and closing mode of the electric door takes into account the actual running position and speed of the electric door, intelligently adjusts the opening and closing speed of the electric door, without manual intervention, has higher efficiency, realizes the high-speed and stable opening and closing of the electric door, reduces the machine cycle time, greatly improves the production efficiency, and improves the safety performance.

Description

Technical Field

[0001] The present invention relates to the technical field of electric doors of injection molding machines, and particularly relates to a method and device for controlling the opening and closing of an electric door. Background Art

[0002] At present, an injection molding machine is a device used to inject thermoplastic or thermosetting plastics into a mold after heating and melting, and form plastic products after cooling and solidification. It is widely used in multiple industries such as automobiles, household appliances, medical treatment, and packaging. An injection molding machine mainly consists of a mold clamping device, an injection device, a hydraulic system, an electric control system, and auxiliary equipment, and can be divided into two types according to the structure: three-plate type and two-plate type. The two-plate high-speed injection molding machine is suitable for large-sized molds, and provides a more uniform clamping force during the production process, improving production efficiency and product quality, and is widely used in the field of plastic product production.

[0003] However, many defects have emerged in the use of the existing electric door control system of injection molding machines, affecting the stability, safety, and production efficiency of the equipment. There are long-term impact problems when the limit bumper on the existing electric door hits the detection head of the travel switch during high-speed door opening: 1. The impact noise is large; 2. The electric door vibrates greatly; 3. It is easy to damage the travel switch, resulting in machine shutdown for maintenance; 4. A signal is given only after the impact, so the emergency braking of the electric door at high speed also requires a braking distance, and this distance may expose the unprotected dangerous area behind the moving template, which leads to a high safety hazard in the unprotected dangerous area and may cause personal injury to customers; 5. The total opening time of the electric door is longer because it needs to stop once in the middle during secondary door opening, reducing efficiency. The speed of the current electric door is not convenient to adjust, and it takes a lot of time and effort for professionals to adjust. It is very difficult for users to adjust the opening and closing of the door quickly and stably. In order to prevent impacts, users generally can only adjust it very slowly, which also affects the production efficiency of the machine. Summary of the Invention

[0004] In view of the above defects, embodiments of the present invention disclose a method and device for controlling the opening and closing of an electric door, 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 a method for controlling the opening and closing of an electric door, including:

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

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

[0008] 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 of the door closing;

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

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

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

[0012] As an optional implementation manner, in the first aspect of the embodiments of the present invention, calculating the shortest deceleration distance of the door closing according to the door closing working speed and the door closing deceleration includes:

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

[0014] As an optional implementation manner, in the first aspect of the embodiments of the present invention, the door closing speed mode of the electric door includes closing the door at a uniform speed at the door closing working speed, accelerating with the door closing working speed as the target speed, and decelerating at the door closing deceleration.

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

[0016] Define the shortest deceleration distance of the door closing as the distance between the shortest deceleration position of the door closing and the door closing stop position between the preset door closing initial position and the door closing stop position. The door closing speed between the shortest deceleration position of the door closing and the door closing stop position is the calculated door closing speed. Calculate the calculated door closing speed according to the formula:

[0017] , V 合t记算 is the calculated door closing speed, is the distance between the real-time door closing position and the door closing stop position during the door closing process;

[0018] When the distance between the real-time door closing position and the door closing cut-off position is greater than the shortest door closing deceleration distance, obtain the door closing acceleration, and use the door closing working speed as the target speed to accelerate based on the door closing acceleration until the real-time door closing speed is equal to the door closing working speed, and then perform uniform door closing at the door closing working speed; the real-time door closing speed is obtained by differentiating the distance from the initial door position to the real-time door closing position.

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

[0020] As an optional implementation manner, in the first aspect of the embodiments of the present invention, calculating the shortest door opening deceleration distance according to the door opening working speed and the door opening deceleration includes:

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

[0022] As an optional implementation manner, in the first aspect of the embodiments of the present invention, 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.

[0023] As an optional implementation manner, in the first aspect of the embodiments of the present invention, adjusting the electric door opening speed mode according to the door opening cut-off position, the real-time door opening position, and the shortest door opening deceleration distance includes:

[0024] Define the shortest door opening deceleration distance as the distance between the shortest door opening deceleration position and the door opening cut-off position between the preset door opening initial position and the door opening cut-off position, and the door opening speed between the shortest door opening deceleration position and the door opening cut-off position is the calculated door opening speed. Calculate the calculated door opening speed according to the formula:

[0025] , V 开t记算 is the calculated door opening speed, S 开结束 is the door opening cut-off position, S 开tis the real-time door opening position;

[0026] When it is detected that 0 ≤ S 开t <S 开结束 -S 开减 , obtain the door opening acceleration and the real-time door opening speed, and use the door opening working speed as the target speed, and accelerate 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 then perform uniform door closing at the door opening working speed; the real-time door opening speed is obtained by taking the differential of the distance from the door opening initial position to the real-time door opening position;

[0027] When it is detected that S 开结束 -S 开减 ≤S 开t <S 开结束 , 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 at 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 at the door opening deceleration based on the real-time door opening speed.

[0028] The second aspect of the embodiments of the present invention discloses an electric door opening and closing control device, including:

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

[0030] Door closing instruction execution module: 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, the real-time door closing position and the shortest door closing deceleration distance;

[0032] Door opening instruction response module: used to respond to the door opening instruction, collect in real time the real-time door opening position of a 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 cut-off position;

[0033] Door opening instruction execution module: used to execute the door opening instruction, 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;

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

[0035] As an alternative implementation, in the second aspect of the embodiments of the present invention, calculating the shortest closing deceleration distance of the door according to the door closing working speed and the door closing deceleration speed includes:

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

[0037] As an alternative implementation, in the second aspect of the embodiments of the present invention, the door closing speed mode of the electric door includes closing the door at a constant speed at the door closing working speed, accelerating with the door closing working speed as the target speed, and decelerating at the door closing deceleration speed.

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

[0039] Define the shortest door closing deceleration distance as the distance between the shortest door closing deceleration position between the preset door closing initial position and the door closing cut-off position and the door closing cut-off position. The door closing speed between the shortest door closing deceleration position and the door closing cut-off position is the calculated door closing speed. Calculate the calculated door closing speed according to the formula: , V 合t记算 is the calculated door closing speed, is the distance between the real-time door closing position and the door closing cut-off 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 door closing deceleration distance, obtain the door closing acceleration, and use the door closing working speed as the target speed to accelerate based on the door closing acceleration until the real-time door closing speed is equal to the door closing working speed, and then close the door at a constant 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;

[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 door closing deceleration distance, determine 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, 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 calculated door closing speed, decelerate according to the door closing deceleration speed based on the real-time door closing speed.

[0042] As an alternative implementation, in the second aspect of the embodiments of the present invention, calculating the shortest deceleration distance for door opening based on the door opening working speed and the door opening deceleration includes:

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

[0044] As an alternative implementation, in the second aspect of the embodiments of the present invention, the electric door opening speed modes include opening the door at a constant speed at the door opening working speed, accelerating with the door opening working speed as the target speed, and decelerating at the door opening deceleration.

[0045] As an alternative implementation, in the first aspect of the embodiments of the present invention, adjusting the electric door opening speed mode according to the door opening cut-off position, the real-time door opening position, and the shortest deceleration distance for door opening includes:

[0046] Define the shortest deceleration distance for door opening as the distance between the shortest deceleration position for door opening between the preset door opening initial position and the door opening cut-off 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 is the calculated opening speed. Calculate the calculated opening speed according to the formula:

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

[0048] When it is detected that 0 ≤ S 开t <S 开结束 -S 开减 , obtain the door opening acceleration, and use the door opening working speed as the target speed to accelerate 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 then close the door at a constant speed at the door opening working speed; the real-time door opening speed is obtained by differentiating the distance from the door opening initial position to the real-time door opening position;

[0049] When it is detected that S 开结束 -S 开减 ≤S 开t <S 开结束When it is determined 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] A third aspect of an embodiment of the present invention discloses an electronic device, including: 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 an 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 causes 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 embodiments of the present invention collects the real-time door closing position and the real-time door opening position in real time, and obtains the door closing working speed, the door closing cut-off position, the door opening working speed, and the door opening cut-off position; calculates the shortest door closing deceleration distance according to the door closing working speed and the door closing deceleration, and calculates the shortest door opening deceleration distance according to the door opening working speed and the door opening deceleration; then adjusts the electric door closing speed mode according to the real-time door closing position and the shortest door closing deceleration distance, and adjusts the electric door opening speed mode according to the door opening cut-off position, the real-time door opening position, and the shortest door opening deceleration distance; the electric door opening and closing method provided by the embodiment takes into account the actual running position and speed of the electric door, intelligently adjusts the opening and closing speed of the electric door, without manual intervention, with higher efficiency, realizes high-speed and stable opening and closing of the electric door, can reduce the machine cycle time, greatly improve the production efficiency, and can also help improve the service life of the electric door mechanism and improve the 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 following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

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

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

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

[0058] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

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

[0060] The embodiments of the present invention disclose an electric door opening and closing control method, device, electronic device, and storage medium. By collecting the real-time closing door position and real-time opening door position in real time, and obtaining the closing door working speed, closing door cut-off position, opening door working speed, and opening door cut-off position; calculating the shortest closing door deceleration distance according to the closing door working speed and closing door deceleration speed, and calculating the shortest opening door deceleration distance according to the opening door working speed and opening door deceleration speed; then adjusting the electric door closing speed mode according to the real-time closing door position and the shortest closing door deceleration distance, and adjusting the electric door opening speed mode according to the opening door cut-off position, real-time opening door position, and the shortest opening door deceleration distance; the electric door opening and closing method provided by the embodiment combines the actual running position and speed conditions of the electric door, intelligently adjusts the opening and closing speed of the electric door, without manual intervention, with higher efficiency, realizes high-speed and stable opening and closing of the electric door, can reduce the machine cycle time, greatly improve the production efficiency, and also helps to improve the service life of the electric door mechanism and improve the safety performance.

[0061] Embodiment 1

[0062] Please refer to Figure 1 , Figure 1It is a schematic flowchart of a method for controlling the opening and closing of an electric door 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 or / and hardware. This execution subject can receive relevant information through wired or / and wireless means and can send certain instructions. Of course, it can also have certain processing functions and storage functions. This execution subject can control multiple devices, such as remote physical servers or cloud servers and related software, or it can also be a local host or server and related software that performs relevant operations on devices placed somewhere. In some scenarios, it can also control multiple storage devices, and the storage devices can be placed in the same place or different places as the devices. As Figure 1 shown, the method for controlling the opening and closing of the electric door includes the following steps:

[0063] 101. In response to the door-closing instruction, real-time collect the real-time door-closing position of a preset target collection point on the electric door after receiving the door-closing instruction, and obtain the door-closing working speed and the door-closing cut-off position.

[0064] When receiving the door-closing instruction, first enter the door-closing control process, and real-time collect the current position of the preset target collection point on the electric door. This position information reflects the real-time door-closing progress of the electric door. The door-closing cut-off position refers to the position where the electric door finally ends the door-closing after starting to close, 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 door-closing deceleration is also 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 door-closing deceleration distance, where S 合减 is the shortest door-closing deceleration distance, V 合 is the door-closing working speed, and a 减 is the door-closing deceleration.

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

[0069] Dynamically adjust the closing speed of the electric door according to the real-time closing door position, the shortest deceleration distance of the closing door, and the preset closing door cut-off position. Generally, if there is enough distance from the current position to the cut-off position, a higher speed can be maintained to quickly close the door. When approaching the cut-off position, deceleration starts to ensure a smooth stop when reaching the cut-off position. In the embodiment, the closing speed control of the electric vehicle is divided into three modes, namely, closing the door at a constant speed with the closing working speed, accelerating with the closing working speed as the target speed, and decelerating with the closing deceleration speed.

[0070] Specifically, the method for adjusting the closing speed of the electric door according to the real-time closing door 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 door cut-off position as the calculated closing speed, and calculating the calculated closing speed according to the formula: , V 合t记算 is the calculated closing speed, It is the distance between the real-time closing position and the closing cut-off position during the closing process. Among them, closing and opening are opposite-direction movements, and the closing direction and the opening direction are on the same coordinate axis. The real-time closing position and the real-time opening position are represented by the corresponding values on this coordinate axis. The initial closing position is defined as L, the closing cut-off position is 0, the initial opening position is 0, and the position when the opening reaches the end is L; the shortest deceleration distance during closing is to take a preset position point between the L position and the 0 position during the closing process. The distance between this position point and the closing cut-off position 0 is defined as the shortest deceleration position during closing, and the real-time closing position is the real-time position between the L position and the 0 position during the closing process. Since the real-time closing position represents the real-time position between L and 0 during the closing process, the value corresponding to the real-time closing position is also the distance corresponding to the coordinate point between the 0 position and the real-time closing position. When it is detected that the distance between the real-time closing position and the closing cut-off position is greater than the shortest deceleration distance during closing, the closing acceleration is obtained, and with the closing working speed as the target speed, acceleration is performed based on the real-time closing speed and the closing acceleration until the real-time closing speed is equal to the closing working speed, and then the door is closed at a constant speed with the closing working speed; the real-time closing speed is obtained by differentiating the distance from the initial closing position to the real-time closing position. When it is detected that the distance between the real-time closing position and the closing cut-off position is less than or equal to the shortest deceleration distance during closing, it is judged whether the real-time closing speed is less than the calculated closing speed; when the real-time closing speed is less than the calculated closing speed, the closing acceleration is obtained, and acceleration is performed based on the real-time closing speed according to the closing acceleration; when the real-time closing speed is greater than or equal to the calculated closing speed, deceleration is performed based on the real-time closing speed according to the closing deceleration. When the electric door is in the closing process and the real-time closing position is far from the shortest deceleration distance during closing, the electric door will close at a constant speed with the closing working speed. Closing at a constant speed can ensure that the electric door runs at a stable speed for 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 cut-off position is greater than the shortest deceleration distance during 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 stage of closing at a constant speed. Accelerated closing can shorten the time for the electric door to change from stationary to running at a constant speed and improve the closing efficiency. When it is detected that the distance between the real-time closing position and the closing cut-off position is less than or equal to the shortest deceleration distance during 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 cut-off position. If the real-time closing speed is greater than or equal to the calculated closing speed, the system will decelerate based on the real-time closing speed according to the closing deceleration to ensure that the electric door can stop steadily and safely at the closing cut-off position.The calculated closing speed refers to the speed that the electric door should reach between the shortest deceleration distance of the door closing and the door closing cut-off position. This speed is calculated based on the motion characteristics of the electric door and the door closing requirements, aiming to ensure that the electric door can stop smoothly and safely during the deceleration stage.

[0071] During the door closing process, the electric door can accelerate towards the door closing working speed as the target, quickly reach the predetermined speed, and improve the door closing efficiency. When the real-time door closing position is less than or equal to the shortest deceleration distance of the door closing, by judging the relationship between the real-time door closing speed and the calculated closing speed, it is possible to intelligently select acceleration or deceleration strategies, avoiding unnecessary energy consumption.

[0072] 104. In response to the door opening instruction, the real-time door opening position of the preset target acquisition point on the electric door after receiving the door opening instruction is collected in real time, and the door opening working speed and the door opening cut-off position are obtained.

[0073] This step corresponds to the door closing process. First, the door opening instruction is received, and the door opening cut-off position is also the maximum position of the door opening.

[0074] 105. Execute the door opening instruction, obtain the door opening deceleration, and calculate the shortest deceleration distance of the door opening based on the door opening working speed and the door opening deceleration.

[0075] In the embodiment, the door opening deceleration and the door closing deceleration adopt the same deceleration, and the door opening acceleration and the door closing acceleration also adopt the same acceleration. Specifically, to calculate the shortest deceleration distance of the door opening, it is necessary 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) to calculate the shortest deceleration distance of the door opening. Where, S 开减 is the shortest deceleration distance of the door opening, V 开 is the door opening working speed, and a 减 is the door opening deceleration.

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

[0077] For the adjustment of the door opening speed mode, this embodiment also involves three implementation methods, including opening the door at a constant speed at the door opening working speed, accelerating towards the door opening working speed as the target speed, and decelerating at the door opening deceleration.

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

[0079] , V 开t记算 is the calculated opening speed, S 开结束 is the opening cut-off position, S 开t is the real-time opening position; when it is detected that 0 ≤ S 开t <S 开结束 -S 开减 , obtain the opening acceleration and the real-time opening speed, and use the opening working speed as the target speed to accelerate based on the real-time opening speed and the opening acceleration until the real-time opening speed is equal to the opening working speed, and then perform uniform closing of the door at the opening working speed; the real-time opening speed is obtained by differentiating the distance from the initial opening position to the real-time opening position;

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

[0081] The embodiment can ensure the smooth change of the speed during the opening process of the electric door by collecting the position of the target collection point of the electric door in real time and making dynamic adjustments according to parameters such as the preset working speed and deceleration, avoiding the impact and discomfort caused by sudden speed changes. The opening speed adjustment method can ensure that the electric door gradually decelerates when approaching the opening cut-off position, thereby reducing the collision risk caused by too fast speed. When the electric door is far from the opening cut-off position, this 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] Please refer to Figure 2 , Figure 2 which is a schematic structural diagram of an electric door opening and closing control device disclosed in an embodiment of the present invention. As shown in Figure 2As shown in the figure, the electric door opening and closing control device may include: a door closing command response module 201, a door closing command execution module 202, a door closing speed adjustment module 203, a door opening command response module 204, a door opening command execution module 205, and a door opening speed adjustment module 206. Among them, the door closing command response module 201: is used to respond to the door closing command, collect in real time the real-time door closing position of a preset target collection point on the electric door after receiving the door closing command, and obtain the door closing working speed and the door closing cut-off position; the door closing command execution module 202: is used to execute the door closing command, 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 adjustment module 203: is used to adjust the electric door closing speed mode according to the door closing cut-off position, the real-time door closing position, and the shortest door closing deceleration distance; the door opening command response module 204: is used to respond to the door opening command, collect in real time the real-time door opening position of a preset target collection point on the electric door after receiving the door opening command, and obtain the door opening working speed and the door opening cut-off position; the door opening command execution module 205: is used to 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; the door opening speed adjustment module 206: is used to adjust the electric door opening speed mode according to the door opening cut-off position, the real-time door opening position, and the shortest door opening deceleration distance.

[0084] In the door closing command execution module 202, 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) to calculate the shortest door closing deceleration distance, where S 合减 is the shortest door closing deceleration distance, V 合 is the door closing working speed, and a 减 is the door closing deceleration.

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

[0086] In the door opening instruction response module 204, calculating the shortest deceleration distance for door opening according to the door opening working speed and the door opening deceleration includes:

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

[0088] The electric door opening speed modes recorded in the door opening speed adjustment module 206 include uniform door opening at the door opening working speed, acceleration with the door opening working speed as the target speed, and deceleration at the door opening deceleration. Specifically, adjusting the electric door opening speed mode 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 between the preset door opening initial position and the door opening cut-off position and the door opening cut-off position, and the door opening speed between the shortest deceleration position for door opening and the door opening cut-off position is the calculated door opening speed, and calculating the calculated door opening speed according to the formula: , V 开t记算 is the calculated door opening speed, S 开结束 is the door opening cut-off position, S 开t is the real-time door opening position;

[0089] When it is detected that 0≤S 开t <S 开结束 -S 开减When the time is reached, obtain the opening acceleration and the real-time opening speed, and use the opening working speed as the target speed. Accelerate based on the real-time opening speed and the opening acceleration until the real-time opening speed is equal to the opening working speed, and then perform uniform closing at the opening working speed; the real-time opening speed is obtained by differentiating the distance from the initial opening position to the real-time opening position; when it is detected that S 开结束 -S 开减 ≤S 开t <S 开结束 , determine whether the real-time opening speed is less than the calculated opening speed; when the real-time opening speed is less than the calculated opening speed, obtain the opening acceleration and accelerate at the opening acceleration based on the real-time opening speed; when the real-time opening speed is greater than or equal to the calculated opening speed, decelerate at the opening deceleration based on the real-time opening speed.

[0090] Embodiment III

[0091] Please refer to Figure 3 , Figure 3 , which is a schematic structural diagram of an electronic device disclosed in an embodiment of the present invention. The electronic device can be a computer, a server, etc. Of course, in certain cases, it can also be an intelligent device such as a mobile phone, a tablet computer, and a monitoring terminal, as well as an image acquisition device with a processing function. As Figure 3 shown, the electronic device may include:

[0092] A memory 301 storing executable program code;

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

[0094] Among them, the processor 302 calls the executable program code stored in the memory 301 and executes some or all of the steps in the electric door opening and closing control method in Embodiment I.

[0095] An embodiment of the present invention discloses a computer-readable storage medium that stores a computer program, where the computer program causes a computer to execute some or all of the steps in the electric door opening and closing control method in Embodiment I.

[0096] An embodiment of the present invention also discloses a computer program product, where when the computer program product runs on a computer, it causes the computer to execute some or all of the steps in the electric door opening and closing control method in Embodiment I.

[0097] An embodiment of the present invention also discloses an application publishing platform, where the application publishing platform is used to publish a computer program product, where when the computer program product runs on a computer, it causes the computer to execute some or all of the steps in the electric door opening and closing control method in Embodiment I.

[0098] In various embodiments of the present invention, it should be understood that the magnitudes of the serial numbers of the respective processes do not necessarily imply the order of execution. The order of execution of the respective processes should be determined by their functions and internal logics, and should not impose 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. The components shown as units may or may not be physical units, i.e., they may be located in one place or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solution of this embodiment.

[0100] In addition, in each embodiment of the present invention, the respective functional units may be integrated into one processing unit, may exist separately as individual physical units, 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 a software functional unit.

[0101] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-accessible memory. Based on such 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, may be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc., specifically, the processor in the computer device) to execute some or all of the steps of the methods described in the respective embodiments 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. B can also be determined according to A and / or other information.

[0103] Those of ordinary skill in the art can understand that some or all of the steps in the various methods of the embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. The storage medium includes read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM), or other optical disc memories, magnetic disc memories, tape memories, or any other medium that can be used to carry or store data and is computer-readable.

[0104] The above has introduced in detail the electric door opening and closing control method, device, electronic device, and storage medium disclosed in the embodiments of the present invention. Specific examples are used herein to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation on the present invention.

Claims

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

2. The electric door opening and closing control method according to claim 1, wherein 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) to calculate the shortest deceleration distance of the closing door, where S 合减 is the shortest deceleration distance of the closing door, V 合 is the working speed of the closing door, and a 减 is the deceleration of the closing door.

3. The electric door opening and closing control method according to claim 2, characterized in that, The electric door closing speed mode includes closing the door at a constant speed at the door closing working speed, accelerating with the door closing working speed as the target speed, and decelerating at the door closing deceleration.

4. The electric door opening and closing control method according to claim 3, characterized in that Adjusting the electric door closing speed mode according to the real-time door closing position and the shortest door closing deceleration distance includes: Define the shortest deceleration distance of the shutter as the distance between the shortest deceleration position of the shutter between the preset initial position of the shutter and the cut-off position of the shutter and the cut-off position of the shutter. The shutter speed between the shortest deceleration position of the shutter and the cut-off position of the shutter is the calculated shutter speed. Calculate the calculated shutter speed according to the formula: , V 合t记算 is the calculated shutter speed, is the distance between the real-time shutter position and the cut-off position of the shutter during the shutter 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 door closing deceleration distance, obtain the door closing acceleration, and use the door closing working speed as the target speed to accelerate based on the door closing acceleration until the real-time door closing speed is equal to the door closing working speed, and then close the door at a constant speed at the door closing working speed; the real-time door closing speed is obtained by differentiating the distance from the initial door closing 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 door closing deceleration distance, judge 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, obtain the door closing acceleration and accelerate based on the real-time door closing speed according to the door closing acceleration; when the real-time door closing speed is greater than or equal to the calculated door closing speed, decelerate based on the real-time door closing speed according to the door closing deceleration.

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

6. The electric door opening and closing control method according to claim 5, wherein The electric door opening speed mode includes opening the door at a constant speed at the door opening working speed, accelerating with the door opening working speed as the target speed, and decelerating at the door opening deceleration.

7. The electric door opening and closing control method according to claim 6, characterized in that, Adjusting the electric door opening speed mode according to the door opening cut-off position, the real-time door opening position, and the shortest door opening deceleration distance includes: Define the shortest deceleration distance for door opening as the distance between the shortest deceleration position and the door opening end position between the preset initial door opening 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, and calculate the calculated door opening speed according to the formula: , V 开t记算 is the calculated door opening speed, is the door opening end position, is the real-time door opening position; When it is detected that 0 ≤ S 开t <S 开结束 -S 开减 , obtain the door-opening acceleration and the real-time door-opening speed, and use the door-opening working speed as the target speed. Accelerate 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 then perform uniform door-closing 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 If so, 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 based on the real-time door opening speed according to the door opening deceleration.

8. An electric door opening and closing control device, characterized in that, Including: Door closing instruction response module: used to respond to the door closing instruction, collect the real-time door closing position of the preset target acquisition 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; Door closing instruction execution module: 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 door closing speed mode of the electric door according to the door closing cut-off position, real-time door closing position, and shortest door closing deceleration distance; Door opening command response module: used to respond to the door opening command, collect in real time the real-time door opening position of a 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; Door opening command execution module: used to 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; Door opening speed adjustment module: used to adjust the door opening speed mode of the electric door according to the door opening cut-off position, real-time door opening position, and shortest door opening deceleration distance.

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

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