Full-automatic folding door precise opening and closing system based on intelligent algorithm

Abstract

The invention relates to the technical field of intelligent control, and discloses a full-automatic folding door precise opening and closing system based on an intelligent algorithm. According to the full-automatic folding door precise opening and closing system based on the intelligent algorithm, various environment data such as light intensity, temperature, humidity and obstacle positions are obtained in real time through the sensing module, the data are deeply analyzed through the analysis module, the opening and closing state of a door and the adjustment requirement of the door are judged, and the intelligent algorithm is achieved. Compared with a traditional mode depending on a simple sensor or a timer, the intelligent system has higher environment adaptability, can dynamically cope with complex conditions such as light change, temperature fluctuation and dense people flow, effectively avoids potential safety hazards caused by improper opening and closing states, and in addition, the monitoring module has the continuous tracking and fault recording functions, so that the intelligent system is more convenient to use. The system can feed back the operation state in real time and optimize the use efficiency of the door, and safety and convenience of users are further guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a fully automatic folding door precision opening and closing system with an intelligent algorithm. Background Art

[0002] In modern buildings and smart homes, the application of automatic doors is becoming more and more common. As an efficient and space-saving door type, folding doors are widely used in shopping malls, hotels, offices and other places. The intelligent opening and closing control of folding doors can effectively improve the convenience and safety of users. For example, intelligent algorithms can automatically adjust the opening and closing state of the door according to the ambient light, temperature and humidity changes and the presence of obstacles to avoid accidental collisions, while saving energy and extending the service life of the door. In addition, precise opening and closing control can also enhance the visitor experience, make the flow of people smoother, and reduce unnecessary waiting time.

[0003] Traditional door opening and closing control methods often rely on simple sensors or timers, lacking the ability of intelligent analysis and real-time feedback. This method cannot effectively respond to complex environmental changes. For example, when light changes, temperature fluctuates, or there is a large flow of people, the adjustment of the door's opening and closing status may not be flexible and accurate enough, and may even lead to safety hazards. Summary of the invention

[0004] 1. Technical issues to be solved

[0005] In view of the shortcomings of the prior art, the present invention provides a fully automatic folding door precision opening and closing system with an intelligent algorithm. A variety of environmental data, such as light intensity, temperature, humidity and obstacle location, are acquired in real time through a sensing module, and an analysis module is used to conduct in-depth analysis of these data to determine the opening and closing status of the door and its adjustment needs. Compared with the traditional method that relies on simple sensors or timers, the intelligent system has stronger environmental adaptability and can dynamically respond to complex situations such as light changes, temperature fluctuations and crowded flow of people, effectively avoiding safety hazards caused by improper opening and closing status. In addition, the continuous tracking and fault recording functions of the monitoring module enable the system to provide real-time feedback on the operating status and optimize the use efficiency of the door, further ensuring the safety and convenience of the user.

[0006] (II) Technical solution

[0007] To achieve the above-mentioned object, the present invention provides the following technical solutions: a fully automatic folding door precision opening and closing system with intelligent algorithm, comprising a perception module, an analysis module, a decision module, an execution module and a monitoring module;

[0008] The sensing module is used to obtain data on light intensity, obstacle location, ambient temperature, ambient humidity, and the current opening and closing state of the door;

[0009] The analysis module is used to input the data obtained by the perception module into the intelligent algorithm, calculate the mean value of light intensity, temperature change trend and humidity change trend, and analyze the existence of obstacles and the relative position of obstacles and doors to determine whether the opening and closing of the door needs to be adjusted;

[0010] The decision module makes a decision based on the judgment result of the analysis module, calculates the door opening and closing angle and the door opening and closing speed, and generates a door control instruction and sends it to the execution module;

[0011] The execution module drives the motor according to the door control instruction to control the actual opening and closing action of the door, and during the opening and closing process, feeds back the current state of the door to the monitoring module in real time;

[0012] The monitoring module records the number of times the door is opened and closed, fault information and working time, and calculates the door opening and closing failure rate and the door opening and closing efficiency, so as to continuously monitor the opening and closing status of the door.

[0013] Preferably, the calculation formula for the mean value of the light intensity is as follows:

[0014]

[0015] In the formula, G avg represents the mean value of light intensity, N represents the number of light intensity data collected, G i Represents the light intensity value of the i-th sampling point, where i represents the index subscript.

[0016] Preferably, the calculation formula of the temperature change trend is as follows:

[0017]

[0018] In the formula, T trend Indicates the temperature change trend, T current Indicates the temperature value at the current moment, T previous Indicates the temperature value at the previous moment.

[0019] Preferably, the calculation formula of the humidity change trend is as follows:

[0020]

[0021] In the formula, T trend Indicates the humidity change trend, T current Indicates the humidity value at the current moment, T previous Indicates the humidity value at the previous moment.

[0022] Preferably, the formula for analyzing the existence of obstacles is as follows:

[0023]

[0024] In the formula, P obstacle represents the probability of obstacle existence, C dected Indicates the number of obstacles detected, C total Indicates the total number of detections.

[0025] Preferably, the calculation formula for the relative position of the obstacle and the door is as follows:

[0026]

[0027] In the formula, D relative Indicates the relative distance between the obstacle and the door, X obstacle , γ obstacle Indicates the position of the obstacle in the coordinate system, X door , Y door Indicates the position of the door in the coordinate system.

[0028] Preferably, the calculation formula for calculating the opening and closing angle of the door is as follows:

[0029] θ=atan2(Y target -Y door ,X target -X door )

[0030] In the formula, θ represents the opening and closing angle of the door, X target , Y target Indicates the coordinates of the target position, X door , Y door Indicates the position of the door in the coordinate system.

[0031] Preferably, the calculation formula for the opening and closing speed of the door is as follows:

[0032]

[0033] In the formula, V represents the opening and closing speed, D open Indicates the opening and closing distance of the door, T open Indicates the time required for opening and closing.

[0034] Preferably, the calculation formula for the opening and closing failure rate of the door is as follows:

[0035]

[0036] In the formula, F rate Indicates the door opening and closing failure rate, F total Indicates the total number of opening and closing faults that occurred, C switch Indicates the total number of switching times.

[0037] Preferably, the calculation formula for the opening and closing efficiency of the door is as follows:

[0038]

[0039] In the formula, E represents the opening and closing efficiency of the door, C success Indicates the number of opening and closing times completed successfully, C total Indicates the total number of opening and closing attempts.

[0040] Compared with the prior art, the present invention provides a fully automatic folding door precision opening and closing system with an intelligent algorithm, which has the following beneficial effects:

[0041] The present invention acquires a variety of environmental data in real time through the perception module, such as light intensity, temperature, humidity and obstacle location, and uses the analysis module to conduct in-depth analysis of these data to determine the opening and closing status of the door and its adjustment needs. Compared with the traditional method that relies on simple sensors or timers, the intelligent system has stronger environmental adaptability and can dynamically respond to complex situations such as light changes, temperature fluctuations and crowded flow of people, effectively avoiding safety hazards caused by improper opening and closing status. In addition, the continuous tracking and fault recording functions of the monitoring module enable the system to provide real-time feedback on the operating status and optimize the use efficiency of the door, further ensuring the safety and convenience of the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the system flow of the present invention. DETAILED DESCRIPTION

[0043] 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.

[0044] Traditional door opening and closing control methods often rely on simple sensors or timers, lacking the ability of intelligent analysis and real-time feedback. This method cannot effectively cope with complex environmental changes and may even lead to safety hazards. Therefore, a fully automatic folding door precision opening and closing system with intelligent algorithms is proposed. Please refer to Figure 1 ,The system includes a perception module, an analysis module, a decision module, an execution module and a monitoring module;

[0045] The perception module is the core component of the intelligent algorithm fully automatic folding door precision opening and closing system. It is responsible for real-time acquisition and processing of a variety of environmental data to ensure the safe and efficient operation of the door. The module uses high-precision light sensors to monitor the light intensity in the environment, thereby evaluating the external lighting conditions, and then judging whether the indoor light is suitable for opening the door or adjusting the opening and closing speed to avoid accidents. In addition, the perception module is equipped with advanced ultrasonic and infrared sensors to accurately detect the location and distance of obstacles. These sensors can generate obstacle coordinate information in real time and identify the size and shape of obstacles through data processing algorithms to ensure that collisions with people or objects are avoided during the opening and closing process of the door.

[0046] In terms of environmental monitoring, the sensing module also integrates temperature and humidity sensors to obtain environmental temperature and humidity data in real time. These sensors convert analog signals into digital signals through digital signal processing technology, thereby improving data accuracy and response speed. Temperature and humidity data are not only used to evaluate whether they will affect the material or performance of the door, but also provide the system with necessary information to adjust the timing and degree of door opening under specific environmental conditions.

[0047] Finally, the current opening and closing status of the door is fed back to the system in real time through the position sensor, which can accurately measure the current angle and running speed of the door, and input these key data into the system so that other modules can use this information for effective decision-making and real-time monitoring;

[0048] The analysis module is a key component of the intelligent algorithm fully automatic folding door precision opening and closing system. It is responsible for inputting various environmental data obtained by the perception module into the intelligent algorithm for comprehensive processing and analysis. First, the module uses a numerical processing algorithm to calculate the mean value of light intensity to ensure that the system can adapt to different lighting conditions. The formula for calculating the mean value is:

[0049]

[0050] Among them, G avg represents the mean value of the light intensity, N is the total number of sampling points, and G i is the light intensity value at the i-th sampling point. Through this formula, the system can obtain the stability of the lighting conditions and determine whether it is suitable to open the door or whether the opening and closing speed needs to be adjusted to ensure safety;

[0051] Secondly, the analysis module monitors the changing trends of ambient temperature and humidity. The temperature changing trend calculation formula is:

[0052]

[0053] In this formula, T current is the temperature value at the current moment, T previousis the temperature value at the previous moment. By calculating T trend The system can understand the temperature change amplitude and direction, so as to determine whether cooling or heating measures are needed to protect the performance of the door material. At the same time, the calculation formula for humidity change trend is:

[0054]

[0055] Here, H current and H previous Represents the humidity values ​​at the current and previous moments respectively. These data help the system adjust the opening and closing strategies in time to cope with potential environmental impacts;

[0056] In addition, the analysis module also uses obstacle sensor data to determine the existence and relative position of obstacles. The calculation formula for obstacle existence is:

[0057]

[0058] Here, P obstacle represents the probability of obstacle existence, C dected is the number of obstacles detected, and C total is the total number of detections. Through this probability analysis, the system can efficiently determine whether there are obstacles blocking the door's opening and closing path. At the same time, the relative position calculation formula between the obstacle and the door is:

[0059]

[0060] This formula calculates the actual distance between the obstacle and the door, providing specific data support for the system to judge the safety of opening and closing;

[0061] Based on the above analysis, the analysis module will make intelligent judgments based on the calculation results to determine whether the door opening and closing state needs to be adjusted in time. This technical means of comprehensive use of data processing, algorithm analysis and real-time monitoring ensures the efficient and safe operation of the fully automatic folding door in a dynamic environment;

[0062] The main responsibility of the decision module is to make intelligent decisions based on the judgment results of the analysis module, calculate the opening and closing angle and speed of the door, and generate corresponding control instructions, which are sent to the execution module to realize the operation of the door;

[0063] In the decision-making process, the module first dynamically calculates the appropriate opening and closing angle based on factors such as obstacle detection status, ambient light intensity, temperature and humidity changes, etc. The calculation formula for the opening and closing angle is:

[0064] θ=atan2(Y target -X door ,X target -X door )

[0065] In this formula, θ represents the door opening angle (usually in radians), X target and Y target is the coordinate of the target position, and X door and Y door is the current coordinate of the door. The atan2 function can be used to accurately calculate the relative angle between the target and the door. This method can avoid ambiguity in the four quadrants and provide the correct directional judgment for the opening and closing of the door.

[0066] Next, the decision module is also responsible for calculating the opening and closing speed of the door to ensure the stability and safety of the door during the opening and closing process. The calculation formula for the opening and closing speed is:

[0067]

[0068] Here, V is the door opening and closing speed, D open represents the opening and closing distance of the door (for example, the distance the door is fully opened), and T open is the time required for the door to move from its current position to its target position. Through this formula, the decision module can flexibly adjust the opening and closing speed to adapt to different environmental conditions and user needs. For example, in the case of insufficient light or obstacles, the system may choose to slow down the opening and closing speed to prevent potential collisions or safety hazards.

[0069] Once the door opening and closing angle and speed are calculated, the decision module will generate targeted door control instructions. These instructions not only include the opening and closing angle and speed information, but also may include specific switch timing and action mode. These instructions are standardized through the communication interface and sent to the execution module to ensure that the system can accurately execute the corresponding opening and closing commands;

[0070] The main task of the execution module is to accurately drive the motor to control the actual opening and closing of the door according to the door control instructions generated by the decision module. The design of this module takes into account both efficiency and safety to ensure that the door moves quickly and smoothly.

[0071] First, the execution module receives control instructions from the decision module through the interface. These instructions include information such as opening and closing angles, opening and closing speeds, and opening and closing timing. In order to achieve precise control of the door, the execution module is equipped with a high-performance motor controller that can adjust the motor in real time. The motor controller uses pulse width modulation (PWM) technology to adjust the speed and torque of the motor according to the requirements of the control instructions to ensure that the door can move smoothly at the set speed during the opening and closing process to avoid impact or collision caused by excessive speed.

[0072] During the door opening and closing process, the execution module actively monitors the current state of the door and transmits real-time feedback information to the monitoring module. The current position, opening and closing speed and operating state of the door are collected through high-precision position sensors (such as encoders or limit switches). These sensors can provide real-time feedback on the actual opening and closing angles of the door to ensure that the opening and closing actions of the door are consistent with the preset control instructions. For example, the motor controller continuously receives feedback signals from the sensor and dynamically adjusts the motor drive signal according to the actual opening and closing conditions of the door, making the opening and closing process more accurate.

[0073] The execution module also has fault detection and self-monitoring functions. During operation, if an abnormal situation is detected (such as an unexpected obstacle or motor overheating), the system can respond in time and automatically interrupt the current opening and closing action to ensure safety. In addition, the module will also record the number, duration and fault information of each opening and closing to provide data support for subsequent maintenance and optimization. Through these technical means, the execution module not only realizes efficient and accurate control of the door, but also enhances the safety and reliability of the entire system, so that the fully automatic folding door can adapt to complex use environments and provide a safe use environment.

[0074] The monitoring module is a key component of the intelligent algorithm fully automatic folding door precision opening and closing system. It is mainly used to record, analyze and feedback the operating status of the door to ensure the efficiency and reliability of the system. The module integrates a variety of sensor technologies and data processing methods to accurately monitor the number of door openings and closings, fault information and working hours, as well as calculate the opening and closing fault rate and opening and closing efficiency.

[0075] First, the monitoring module uses position sensors and counters to record every door opening and closing action in real time. These sensors are automatically triggered when the door is opened or closed, and the number of times the door is opened and closed is stored in an internal database. The recorded opening and closing times data not only helps to quantify the frequency of use, but also helps with subsequent maintenance and maintenance decisions. In addition, in order to identify potential faults in a timely manner, the monitoring module will continue to monitor the door's motor and control system. The collection of fault information is achieved through anomaly detection algorithms, such as using temperature sensors to monitor the motor's operating temperature to ensure that it operates within a safe range;

[0076] On this basis, the monitoring module calculates the door opening and closing failure rate. The formula for the opening and closing failure rate is:

[0077]

[0078] In this formula, F rate Represents the opening and closing failure rate (expressed as a percentage), F total is the total number of recorded failures, and C switchThe total number of times the door is opened and closed. Through this calculation, the system can evaluate the frequency of failures during the opening and closing process so as to carry out targeted maintenance and performance optimization. When the failure rate exceeds the preset threshold, the monitoring module will trigger an early warning mechanism to remind the user to carry out maintenance.

[0079] In addition, the monitoring module is also responsible for calculating the opening and closing efficiency of the door. The calculation formula for the opening and closing efficiency is:

[0080]

[0081] In this formula, E is the door opening and closing efficiency (expressed as a percentage), P success Refers to the number of successful opening and closing, and P total It is the total number of all attempts to open and close the door. By analyzing the opening and closing efficiency, the system can identify under what conditions the door operates well or where improvements are needed. This provides data support for overall system performance evaluation and user experience improvement.

[0082] To ensure the security and accuracy of data, the monitoring module also includes data storage and processing functions. All historical records and real-time data are saved in the database to support subsequent data analysis and fault tracing. In addition, the monitoring module can present the analysis results in a visual way, providing users with clear and easy-to-understand operation reports, helping users to manage and maintain the automatic folding door system more efficiently.

[0083] Combining all the above modules, through a number of advanced technical means and data analysis methods, the operation state of the fully automatic folding door is ensured to be controllable and stable, thereby improving the reliability and safety of the system, and ultimately realizing intelligent and automated door control management.

[0084] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A fully automatic folding door precision opening and closing system with intelligent algorithm, characterized by: It includes perception module, analysis module, decision-making module, execution module and monitoring module; The sensing module is used to obtain data on light intensity, obstacle location, ambient temperature, ambient humidity, and the current opening and closing state of the door; The analysis module is used to input the data obtained by the perception module into the intelligent algorithm, calculate the mean value of light intensity, temperature change trend and humidity change trend, and analyze the existence of obstacles and the relative position of obstacles and doors to determine whether the opening and closing of the door needs to be adjusted; The decision module makes a decision based on the judgment result of the analysis module, calculates the door opening and closing angle and the door opening and closing speed, and generates a door control instruction and sends it to the execution module; The execution module drives the motor according to the door control instruction to control the actual opening and closing action of the door, and during the opening and closing process, feeds back the current state of the door to the monitoring module in real time; The monitoring module records the number of times the door is opened and closed, fault information and working time, and calculates the door opening and closing failure rate and the door opening and closing efficiency, so as to continuously monitor the opening and closing status of the door.

2. According to claim 1, the fully automatic folding door precision opening and closing system with intelligent algorithm is characterized by: The calculation formula of the mean light intensity is as follows: In the formula, G avg represents the mean value of light intensity, N represents the number of light intensity data collected, G i Represents the light intensity value of the i-th sampling point, where i represents the index subscript.

3. According to claim 2, the fully automatic folding door precision opening and closing system with intelligent algorithm is characterized by: The calculation formula of the temperature change trend is as follows: In the formula, T trend Indicates the temperature change trend, T current Indicates the temperature value at the current moment, T previous Indicates the temperature value at the previous moment.

4. According to claim 3, the fully automatic folding door precision opening and closing system with intelligent algorithm is characterized by: The calculation formula of the humidity change trend is as follows: In the formula, T trend Indicates the humidity change trend, T current Indicates the humidity value at the current moment, T previous Indicates the humidity value at the previous moment.

5. According to claim 4, the fully automatic folding door precision opening and closing system with intelligent algorithm is characterized by: The formula for analyzing the existence of obstacles is shown below: In the formula, P obstacle represents the probability of obstacle existence, C dected Indicates the number of obstacles detected, C total Indicates the total number of detections.

6. The fully automatic folding door precision opening and closing system with intelligent algorithm according to claim 5 is characterized by: The calculation formula for the relative position of the obstacle and the door is as follows: In the formula, D relative Indicates the relative distance between the obstacle and the door, X obstacle , Y obstacle Indicates the position of the obstacle in the coordinate system, X door , Y door Indicates the position of the door in the coordinate system.

7. The intelligent algorithm-based fully automatic folding door precision opening and closing system according to claim 6 is characterized by: The calculation formula for calculating the opening and closing angle of the door is as follows: θ=atan2(Y target -Y door ,X target -X door ) In the formula, θ represents the opening and closing angle of the door, X target , Y target Indicates the coordinates of the target position, X door , Y door Indicates the position of the door in the coordinate system.

8. The intelligent algorithm-based fully automatic folding door precision opening and closing system according to claim 7 is characterized by: The calculation formula of the opening and closing speed of the door is as follows: In the formula, V represents the opening and closing speed, D open Indicates the opening and closing distance of the door, T open Indicates the time required for opening and closing.

9. The intelligent algorithm-based fully automatic folding door precision opening and closing system according to claim 8, characterized in that: The calculation formula of the opening and closing failure rate of the door is as follows: In the formula, F rate Indicates the door opening and closing failure rate, F total Indicates the total number of opening and closing faults that occurred, C switch Indicates the total number of switching times.

10. The intelligent algorithm-based fully automatic folding door precision opening and closing system according to claim 9, characterized in that: The calculation formula of the opening and closing efficiency of the door is as follows: In the formula, E represents the opening and closing efficiency of the door, C success Indicates the number of opening and closing times completed successfully, C total Indicates the total number of opening and closing attempts.

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