Intelligent control system and method for collaborative movement of sliding door

Abstract

The invention provides an intelligent control system and method for cooperative movement of a sliding door. The system comprises a driving device, a control device and a transmission device. One end of the driving device is connected with the hanger rail and one end of the control device, the other end of the driving device is connected with the top of the sliding door body, and the other end of the control device is in communication connection with the host. The other end of the control device is connected with the transmission device; the driving device comprises a magnetic driving stator and a magnetic rotor; the magnetic drive stator interacts with the magnetic rotor when powered on so as to achieve mutual movement of all the sliding doors of the sliding door body. According to the intelligent control system and method for cooperative movement of the sliding door, the structure of the system can be effectively optimized, the cost of the system is reduced, and the operation stability and comfort of the sliding door system are guaranteed; and stable transition of the sliding door in different motor driving ranges is ensured, so that the pause feeling is eliminated, and the operation stability of the sliding door system is improved.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence control technology, and in particular to an intelligent control system and method for the coordinated movement of sliding doors. Background Art

[0002] With the development of science and technology, the application of artificial intelligence in various industries is becoming more and more common. In today's sliding door field, magnetic unloading sliding doors are becoming more and more widely used. Due to their advantages such as quietness, automation and high efficiency, they are deeply loved by users and show huge market potential in the field of smart furniture. However, existing sliding door systems usually use multiple linear motors to drive the sliding door on the track. When transitioning between the driving ranges of multiple motors, due to the inconsistent torque or acceleration output by each motor, the sliding door may experience a sense of frustration or vibration during the transition process, affecting the smooth operation of the door body. Therefore, studying how to improve the operating stability and comfort of the sliding door system is one of the problems that need to be solved urgently.

[0003] Patent CN216476912U discloses a linkage mechanism for three sets of stacked sliding doors, including a slow door, a medium door, a fast door and corresponding hanging rails arranged in sequence. A movable pulley system is provided on each door body, so that the operating speed ratio of the slow, medium and fast doors is 1:2:3, the linkage operation is smooth, and the probability of jamming is greatly reduced; wherein, the hanging rail of the linkage mechanism is also provided with a drive system and a direction wheel, which can realize the corresponding movement of the sliding door, but this linkage mechanism is manually controlled or equipped with an electromagnetic clutch between the output shaft and the output wheel of the drive motor to realize the switching between automatic and manual. Due to its relatively complicated operation method, it is easy to affect the degree of automation of the mechanism and the smoothness of operation.

[0004] Patent CN205532025U discloses a closed cold aisle sliding door mechanism for a data center computer room. The mechanism includes sensors, linear guide rails, a magnetic mechanism, and a stop block. Specifically, the mechanism includes a door frame, a crossbeam fixed to the upper portion of the door frame, and two sliding doors that can slide horizontally. The linear guide rails mounted on the crossbeam are connected to the left and right sliding doors via a hanging wheel. The output sides of two motors are connected to their respective hanging wheels and control the simultaneous movement of the left and right sliding doors. The crossbeam is also equipped with a magnetic mechanism, and two stop blocks are provided at the lower portion of the door frame. A password door lock and an environmental monitoring module are installed on the front of the door frame. The environmental monitoring module receives and records temperature, humidity, and smoke data within the cold aisle, as well as door magnetic switch signals, and uploads and / or displays the received data and signals. An exit button and an infrared sensor are installed on the back of the door frame. The access control module receives signals from the password door lock, the exit button, and the infrared sensor, and controls the magnetic mechanism, the motor, and their movement. However, due to the relatively complex structure of the mechanism, the high cost of sliding door linkage is a problem. Summary of the Invention

[0005] In view of this, the present invention aims to propose an intelligent control system and method for the coordinated movement of sliding doors, so as to solve the problem in the prior art that multiple linear motors control sliding doors on different sliding door tracks. When transitioning between their corresponding driving ranges, due to the inconsistent torque or acceleration output by each motor, the sliding door may easily experience a sense of jerk or vibration during the transition process, thereby affecting the smooth operation of the door body. In addition, the existing sliding door control mechanism also has the problems of limited degree of automation, poor smoothness during the switching process of the sliding door, complex structure of the mechanism and high cost. In this way, the structure of the system can be effectively optimized, the cost of the system can be reduced, the smoothness of the switching process of different sliding doors in the system can be improved, and the operating stability and comfort of the sliding door system can be guaranteed. It can ensure the smooth transition of the sliding door between different motor driving ranges, thereby eliminating the sense of jerk and improving the operating smoothness of the sliding door system, and improving the degree of automation of the system.

[0006] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0007] The present invention relates to an intelligent control system and method for the coordinated movement of sliding doors. The intelligent control system for the coordinated movement of sliding doors includes a driving device, a control device and a transmission device; one end of the driving device is respectively connected to a hanging rail and one end of the control device, the other end of the driving device is connected to the top of the sliding door body, the other end of the hanging rail is connected to the top surface of the required installation position of the sliding door body, and the other end of the control device is connected to a host for communication; the other end of the control device is connected to the transmission device; the bottom of the sliding door body is connected to the door rail, or the bottom of the sliding door body is connected to the door rail through the transmission device; the driving device includes a magnetic drive stator and a magnetic mover; when the magnetic drive stator is energized, it interacts with the magnetic mover to realize the mutual movement of each sliding door of the sliding door body.

[0008] Furthermore, the sliding door body includes a driving door, a driven door, and a fixed door. The driving door is connected to the fixed door via the driven door; the top and bottom of the driving door and the driven door are respectively slidably mounted in the hanging rail and the door rail; the top, bottom, and side of the fixed door away from the driven door are respectively connected to the top, bottom, and side of the door frame close to the fixed door.

[0009] Furthermore, n driven doors are provided, where n is a positive integer and n≥1.

[0010] Furthermore, the magnetic drive stator and the magnetic mover are both arranged between the drive door and the hanging rail, and the setting positions of the magnetic drive stator and the magnetic mover correspond to each other. The top of the magnetic drive stator is in contact with the inner wall of the top end of the hanging rail, and the bottom of the magnetic drive stator is in contact with the top of the magnetic mover or has a certain gap; the bottom end of the magnetic mover is connected to the top end of the drive door through a connecting piece.

[0011] Furthermore, at least one magnetic drive stator and at least one magnetic mover are provided.

[0012] Furthermore, the driving device further includes a driven mover. There are n driven movers, where n is a positive integer and n≥1; the bottom end of each driven mover is connected to the top of the corresponding driven door via a connecting member; and the top of each driven mover is connected to the hanging rail.

[0013] Furthermore, the control device includes a sensor and a control chip; the sensors are respectively arranged at the position of the magnetic mover of the driving device and on both sides of the transmission device; the sensor is communicatively connected to the control chip, and the control chip is connected to the transmission device.

[0014] An intelligent control method for the coordinated movement of sliding doors, the method being applied to the intelligent control system for the coordinated movement of sliding doors, the method comprising the following steps:

[0015] Step 1: Assemble and power on: Install the components of the system between the sliding door body and the hanging rail, and between the sliding door body and the door rail, and then power on.

[0016] Step 2: System pre-processing: The control device enters the learning mode to pre-process the motion information of the sliding door;

[0017] Step 3: System operation: The control device enters the working mode to realize the coordinated opening and closing operation of the sliding door.

[0018] Furthermore, step 2 includes:

[0019] Step S21: System pre-processing: the control device enters the learning mode;

[0020] Step S22: The magnetic mover is controlled by a linear motor to perform stepping motion from one end of the hanging rail;

[0021] Step S23: During the stepping motion of the magnetic mover, the built-in sensor of the linear motor measures the displacement of the mover;

[0022] Step S24: Determine whether the magnetic mover touches the limit block in the track of the hanging rail. If yes, go to step S25; if no, return to step S22;

[0023] Step S25: The sensor detects the formation of a magnetic mover and transmits the information to the control chip;

[0024] Step S26: The control chip uses a nonlinear function speed planning algorithm to plan the acceleration and deceleration stages of the magnetic mover during its movement, and obtains an S-shaped acceleration curve;

[0025] Step S27: the linear motor adjusts the magnitude and direction of the current according to the acceleration and deceleration stages of the magnetic mover; and executes step three.

[0026] Furthermore, step three includes:

[0027] Step S31: System operation: the control device enters the working mode;

[0028] Step S32: the linear motor drives the magnetic mover to start moving;

[0029] Step S33: The sensor measures the real-time position of the magnetic mover;

[0030] Step S34: The control chip transmits the position signal of the magnetic mover to the next linear motor. After determining the motion stage of the magnetic mover, the linear motor adjusts the magnitude and direction of the current according to the acceleration and deceleration stage parameter requirements obtained in the preprocessing, and continues to drive the magnetic mover to move. Execute step S35.

[0031] Step S35: When the magnetic mover stops, the sliding door body is in a fully open state or closed state; the opening and closing coordinated operation of the sliding door body is realized; return to step S32 and repeat the movement process.

[0032] Compared with the prior art, the intelligent control system and method for coordinated movement of sliding doors described in the present invention have the following beneficial effects:

[0033] Through the setting of the system, the structure of the system can be effectively optimized, the cost of the system can be reduced, the smoothness of the switching process of different sliding doors in the system can be improved, and the operating stability and comfort of the sliding door system can be guaranteed; through the setting of the method, the smooth transition of the sliding door between different motor drive ranges can be ensured, thereby eliminating the sense of frustration and improving the operating smoothness of the sliding door system, and improving the degree of automation of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings, which constitute part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0035] Figure 1 It is the overall structural diagram of the system;

[0036] Figure 2 It is a schematic diagram of the exploded view of the drive device structure in the system;

[0037] Figure 3 It is a schematic diagram of the specific working process of the two states of the control device;

[0038] Figure 4 A schematic flow chart of a motor communication method for a relay-type sliding door cooperative motion system;

[0039] Figure 5Schematic diagram of the S-curve structure of the nonlinear transition function speed planning used in the method;

[0040] Figure 6 This is a schematic diagram of the connection structure between the transmission device and the sliding door body in the system of Example 1 from a first perspective;

[0041] Figure 7 This is a schematic diagram of the connection structure between the transmission device and the sliding door body in the system of Example 1 from a second perspective;

[0042] Figure 8 This is a schematic diagram of the connection between the transmission device and the sliding door body in the system of Example 1, and the running direction;

[0043] Figure 9 It is a schematic diagram of the control device structure.

[0044] Explanation of the accompanying reference numerals: 1. Driving device; 11. Magnetic drive stator; 111. Stator housing; 112. Three-phase winding; 12. Magnetic mover; 13. Driven mover; 2. Control device; 21. Sensor; 22. Control chip; 3. Transmission device; 31. Transmission belt; 32. Pulley; 33. Connecting block; 4. Hanging rail; 5. Sliding door body; 51. Driving door; 52. Driven door; 521. Driven door 1; 522. Driven door 2; 53. Fixed door; 6. Door rail; 7. Load-bearing plate; 8. Concave wheel. DETAILED DESCRIPTION

[0045] The inventive concepts of the present disclosure will be described below using terms commonly used by those skilled in the art to convey the essence of their work to other persons skilled in the art. However, these inventive concepts can be embodied in many different forms and should not be considered limited to the embodiments described herein.

[0046] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0047] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0048] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0049] To solve the problem in the prior art that multiple linear motors control sliding doors on different sliding door tracks, when transitioning between their corresponding driving ranges, the sliding door may experience a sense of jerk or vibration during the transition process due to the inconsistent torque or acceleration output by each motor, thereby affecting the smooth operation of the door body. In addition, the existing sliding door control mechanism also has the problems of limited automation, poor smoothness during the sliding door switching process, complex mechanism structure and high cost. This embodiment proposes an intelligent control system and method for the coordinated movement of sliding doors. The intelligent control system for the coordinated movement of sliding doors includes a drive device 1, a control device 2 and a transmission device 3. One end of the drive device 1 is connected to a hanging rail 4 and one end of the control device 2 respectively, the other end of the drive device 1 is connected to the top of the sliding door body 5, the other end of the hanging rail 4 is connected to the top surface of the desired installation position of the sliding door body 5, the other end of the control device 2 is connected to the host computer for communication; the other end of the control device 2 is connected to the transmission device 3. The bottom of the sliding door body 5 is connected to the door rail 6, or the bottom of the sliding door body 5 is connected to the door rail 6 through the transmission device 3. The driving device 1 includes a magnetic drive stator 11 and a magnetic mover 12. When the magnetic drive stator 11 is energized, it interacts with the magnetic mover 12 to realize the mutual movement of the driving door 51 in the sliding door body 5 and the various sliding doors.

[0050] Through the setting of the system, the structure of the system can be effectively optimized, the cost of the system can be reduced, the smoothness of the switching process of different sliding doors in the system can be improved, and the operating stability and comfort of the sliding door system can be guaranteed.

[0051] The sliding door body 5 includes a driving door 51, a driven door 52 and a fixed door 53. The driving door 51 is connected to the fixed door 53 through the driven door 52. The top and bottom of the driving door 51 and the driven door 52 are respectively arranged in the hanging rail 4 and the door rail 6 in a sliding manner. The top, bottom and side away from the driven door 52 of the fixed door 53 are respectively connected to the top, bottom and side close to the fixed door 53 of the door frame. Among them, n driven doors 52 are set, n is a positive integer, and n≥1. The specific number of driven doors 52 is set according to the needs. The top of the driving door 51 is connected to the hanging rail 4 through the driving device 1. Limiting blocks are respectively provided on the inner sides of both ends of the hanging rail 4, which can not only prevent the sliding door body 5 from excessive movement, but also reduce the impact between the sliding door body 5 and the door frame.

[0052] By coordinating the driving door 51, the driven door 52 and the fixed door 53, the overall range of movement of the sliding door body 5 can be guaranteed, the smooth transition between the sliding doors in the sliding door body 5 can be improved, and the driving force of the sliding door body 5 can be reduced, thereby achieving energy saving.

[0053] The system also includes connectors, including a load plate 7, a concave wheel 8, and a hanging clamp. Both the load plate 7 and the concave wheel 8 are slidably mounted within the hanging rail 4. The load plate 7 is positioned at the top of the concave wheel 8, and the bottom of the concave wheel 8 is connected to the top of the sliding door body 5 via a hanging clamp. The load plate 7 is connected to the concave wheel 8 via screws. Furthermore, a cavity is formed between the load plate 7 and the hanging rail 4, and the drive device 1 is mounted within the cavity.

[0054] The supporting plate 7 can be used to place magnetic materials. The coordinated arrangement of the components in the connector can achieve the goal of movably positioning the individual sliding doors in the sliding door body 5 in the hanging rail 4, and can also reduce the friction between the sliding door body 5 and the hanging rail 4 during the sliding process, thereby improving the stability and reliability of the operation of the sliding door body 5.

[0055] The magnetic drive stator 11 and the magnetic mover 12 are both arranged between the drive door 51 and the hanging rail 4. The magnetic drive stator 11 and the magnetic mover 12 are arranged in corresponding positions. The top of the magnetic drive stator 11 is in contact with the inner wall of the top end of the hanging rail 4, and the bottom of the magnetic drive stator 11 is in contact with the top of the magnetic mover 12 or has a certain gap. The bottom end of the magnetic mover 12 is connected to the top end of the drive door 51 through a connector. Among them, at least one magnetic drive stator 11 and magnetic mover 12 are each provided. Specifically, at least one magnetic mover 12 is provided on the supporting plate 7, and the magnetic poles of adjacent magnetic movers 12 facing one end of the magnetic drive stator 11 are opposite to each other; the magnetic drive stator 11 adopts an electromagnet, and the magnetic mover 12 adopts a permanent magnet. And the magnetic drive stator 11 and the magnetic mover 12 are arranged in the cavity along the top-to-bottom direction.

[0056] By setting the magnetic drive stator 11 and the magnetic mover 12, each motor can be responsible for driving the sliding door to move within a specific range, thereby improving the safety and reliability of the sliding door body 5 during movement.

[0057] The magnetic drive stator 11 includes a stator housing 111 and a three-phase winding 112. The stator housing 111 is connected to the hanging rail 4 via screws, and the three-phase winding 112 is installed inside the stator housing 111. The magnetic mover 12, mounted on the support plate 7, uses two types of permanent magnets, permanent magnets with the north pole facing upward and permanent magnets with the south pole facing upward, arranged alternately and evenly. The magnetic mover 12 is connected to the support plate 7 via screws. The magnetic drive stator 11 is arranged close to the magnetic mover 12. The energized magnetic drive stator 11 interacts with the magnetic mover 12 to drive the support plate 7 to move, which in turn drives the driven door 52 to move via the transmission device 3, thereby achieving coordinated movement of at least three sliding doors.

[0058] Through the setting of the structure inside the magnetic drive stator 11, it is possible to effectively realize the interaction between the magnetic drive stator 11 and the magnetic mover 12 when the power is on, thereby driving the carrier plate 7 to move, and driving the driven door 52 to move through the motor in the transmission device 3, which is conducive to achieving coordinated movement between at least three sliding doors and improving the operating stability of the system.

[0059] The drive device 1 further includes a driven mover 13. There are n driven movers 13, where n is a positive integer and n ≥ 1. The bottom end of each driven mover 13 is connected to the top of the corresponding driven door 52 via a connector. The top of each driven mover 13 is connected to the hanging rail 4.

[0060] By disposing the driven mover 13 , the stability and reliability of the movement of the driven door 52 relative to the driving door 51 can be improved.

[0061] The control device 2 includes a sensor 21 and a control chip 22. The sensors 21 are located at the location of the magnetic mover 12 of the drive device 1 and on both sides of the transmission device 3. They are used to monitor the current position, velocity, and acceleration of the sliding door 5 in real time, or any one or more of these motion parameters. The sensors 21 are in communication with the control chip 22, which is in turn connected to the transmission device 3. In this embodiment, the sensors 21 are any one or more of a Hall effect sensor, an infrared sensor, or any combination thereof.

[0062] By configuring the sensor 21 and the control chip 22, the corresponding movement status of the sliding door body 5 can be collected through the sensor 21. Under the action of the control chip 22, the working status of each motor in the transmission device 3 is dynamically adjusted according to the status of the magnetic mover 12. The control device 2 predicts the future movement status of the sliding door body 5 through a feedforward control method and adjusts the electromagnetic driving force of the motor in the transmission device 3 that will participate in the driving in advance to achieve a smooth transition of the magnetic mover 12.

[0063] The transmission device 3 includes a drive belt 31, a pulley 32, and a connecting block 33. The drive belt 31 is connected to the bottom of the driven door 52 of the sliding door body 5 via the pulley 32. The connecting block 33 is located between two adjacent sliding doors 5. Specifically, the inner sidewall of the drive belt 31 is in contact with the outer sidewall of the pulley 32. Both the drive belt 31 and the pulley 32 are located within the door track 6. There are n drive belts 31, 2n pulleys 32, and n+1 connecting blocks 33.

[0064] By setting the transmission belt 31 and the pulley 32, the driving force of the linear motor can be transmitted to the driven door 52, so that the driving door 51 and the driven door 52 can move smoothly and orderly along the track together; it can also be achieved that after the driven door 52 is set at the bottom of the sliding door body 5, the friction between the driven door 52 and the door rail 6 can be effectively reduced, the driving efficiency of the driving door 51 can be improved, the movement resistance of the driven door 52 to the driving door 51 can be reduced, and the tightness of the connection between the sliding doors in the sliding door body 5 can be enhanced. In addition, the setting of at least one transmission belt 31, pulley 32 and connecting block 33 can also be used to connect the various door bodies and transmit the driving force of the magnetic drive stator 11 on the magnetic mover 12 to the driven door 52. The setting of the transmission device 3 allows the driving force of each linear motor to be smoothly transferred, ensuring that the movement of the sliding door is not significantly interrupted or setback.

[0065] An intelligent control method for the coordinated movement of sliding doors, the method being applied to the intelligent control system for the coordinated movement of sliding doors, the method comprising the following steps:

[0066] Step 1: Assemble and power on: Install the components in the system between the sliding door body 5 and the hanging rail 4, and between the sliding door body 5 and the door rail 6, and then power on;

[0067] Step 2: System preprocessing: The control device 2 enters the learning mode and preprocesses the motion information of the sliding door 5;

[0068] Step 3: System operation: The control device 2 enters the working mode to realize the coordinated opening and closing operation of the sliding door body 5.

[0069] By setting up the method, a smooth transition of the sliding door between different motor drive ranges is ensured, thereby eliminating the sense of frustration and improving the operating smoothness of the sliding door system, thereby enhancing the degree of automation of the system.

[0070] Among them, step 2 includes:

[0071] Step S21: System pre-processing: the control device 2 enters the learning mode;

[0072] Step S22: The magnetic mover 12 is controlled by a linear motor to perform stepping motion from one end of the track of the hanging rail 4;

[0073] Step S23: During the stepping motion of the magnetic mover 12, the built-in sensor 21 of the linear motor measures the displacement of the mover;

[0074] Step S24: Determine whether the magnetic mover 12 touches the limit block in the track of the hanging rail 4. If yes, go to step S25; if not, return to step S22;

[0075] Step S25: the sensor 21 detects the formation of the magnetic mover 12 and transmits it to the control chip 22;

[0076] Step S26: The control chip 22 uses a nonlinear function speed planning algorithm to plan the acceleration and deceleration stages of the movement of the magnetic mover 12 and obtain an S-shaped acceleration curve;

[0077] Step S27: The linear motor adjusts the magnitude and direction of the current according to the acceleration and deceleration stages of the magnetic mover 12 to pre-process the motion information of the sliding door body 5 and execute step three.

[0078] Through the setup in step two, feedforward control technology is utilized. During the motor switching process, the sliding door's future state is predicted and the motors are adjusted in advance. This predictive control "warms up" the driving force of the next motor before it takes over, avoiding output mismatches between motors and ensuring smooth coordination between them, thereby improving the overall collaborative efficiency of the system.

[0079] In step S26, an S-shaped acceleration curve is used to adjust the acceleration and deceleration of the linear motor. Specifically, during the acceleration phase, a smooth S-shaped acceleration curve is used to smoothly increase the linear motor's acceleration from zero, avoiding sudden acceleration. During the constant speed phase, the linear motor's output driving force is maintained to ensure smooth operation of the sliding door. During the deceleration phase, the S-shaped curve is used to smoothly reduce the linear motor's driving force, avoiding the jerkiness caused by excessive deceleration.

[0080] In addition, in this embodiment, the control device 2 adopts a nonlinear transition function to adjust the driving force of the linear motor through an S-shaped acceleration curve, so that the speed and acceleration changes of each sliding door of the sliding door body 5 when the linear motor switches present a smooth transition without sudden changes.

[0081] Step three includes:

[0082] Step S31: System operation: the control device 2 enters the working mode;

[0083] Step S32: the linear motor drives the magnetic mover 12 to start moving;

[0084] Step S33: the sensor 21 measures the real-time position of the magnetic mover 12;

[0085] Step S34: The control chip 22 transmits the position signal of the magnetic mover 12 to the next linear motor. After determining the motion stage of the magnetic mover 12, the linear motor adjusts the magnitude and direction of the current according to the acceleration and deceleration stage parameter requirements obtained in the preprocessing, and continues to drive the magnetic mover 12 to move. Execute step S35.

[0086] Step S35: When the magnetic mover 12 stops, the sliding door body 5 is in a fully open state or closed state; the opening and closing coordinated operation of the sliding door body 5 is realized; return to step S32 and repeat the movement process.

[0087] Among them, in step S34, the linear motor can automatically adjust its current size and direction according to the movement stages (acceleration, constant speed and deceleration) of each sliding door in the sliding door body 5. The driving current size and direction of the motor control the electromagnetic force it outputs to drive the sliding door to move.

[0088] Unlike traditional multi-motor coordinated drive systems, where sudden changes in speed or acceleration often occur when switching motors, causing a sense of jerkiness when the sliding door is in operation, thus affecting the user experience, the nonlinear transition function and S-shaped curve adopted in this application to adjust the driving force of the motor can ensure that when the sliding door switches between multiple motors, the speed and acceleration transition smoothly without sudden changes, thus eliminating the sense of jerkiness in traditional systems.

[0089] Step S34 includes:

[0090] Step S341: The control chip 22 transmits the current position signal of the magnetic mover 12 to the next linear motor and determines whether the magnetic mover 12 is in the acceleration phase; if yes, execute step S342; if no, execute step S343;

[0091] Step 342: The linear motor adjusts the magnitude and direction of the current according to the parameter requirements of the acceleration phase obtained in the preprocessing, and continues to drive the magnetic mover 12 to move, and repeats step S341;

[0092] Step S343: Determine whether the magnetic mover 12 is in a uniform speed stage; if yes, go to step S344; if no, go to step S345;

[0093] Step S344: the linear motor adjusts the magnitude and direction of the current according to the parameter requirements of the uniform speed stage obtained in the preprocessing, and continues to drive the magnetic mover 12 to move, and repeats step S343;

[0094] Step S345: the linear motor adjusts the magnitude and direction of the current according to the parameter requirements of the deceleration stage obtained in the preprocessing, and continues to drive the magnetic mover 12 to move; execute step S35.

[0095] In this embodiment, in step S34, the next linear motor is the linear motor corresponding to the adjacent driven door 52 relative to the linear motor corresponding to the driving door 51; or the linear motor corresponding to another adjacent driven door 52 relative to the linear motor corresponding to the driven door 52 close to the driving door 51.

[0096] Through step S34, the determination of the linear motor driving range of the current position of the magnetic mover 12 can be used as reference data for the operation mode of the next motor, and can also monitor the status information of the magnetic mover 12 in real time, and timely combine the relevant parameter requirements obtained by preprocessing to adjust the linear motor parameter signal in the system in actual application, so as to improve the stability and reliability of the system operation, enhance the intelligence and automation of the system operation, ensure the efficiency of the system operation, and improve the safe and stable operation of the sliding door body 5 as the access control system.

[0097] Step S35 includes:

[0098] Step S351: collecting parameter signals related to the magnetic mover 12 within the linear motor driving range at the previous moment through the sensor 21, wherein the parameter signals include position, velocity, and acceleration parameter signals of the magnetic mover 12;

[0099] Step S352: When the magnetic mover 12 does not enter the linear motor driving range at the next moment, the sensor 21 synchronizes the collected relevant parameter signals to the next linear motor;

[0100] Step S353: the next linear motor sets the current magnitude and direction at the next moment in advance according to the received relevant parameter signal;

[0101] Step S354: When the magnetic mover 12 enters the driving range of the next linear motor, the current of the linear motor slowly decreases, while the current of the previous linear motor slowly increases, so that the total driving force of the sliding door body 5 is consistent with the preset value of the nonlinear function programming;

[0102] Step S355: The magnetic mover 12 completely enters the next motor driving range, and determines whether the movement of the magnetic mover 12 reaches the end linear motor driving range. If so, the speed of the magnetic mover 12 is reduced to 0; the magnetic mover 12 stops, and the sliding door body 5 is in a fully open or closed state; the opening and closing coordinated operation of the sliding door body 5 is realized; if not, return to step S351.

[0103] By setting up step S35, the feedforward control and nonlinear transition function technology can be used to effectively eliminate the sudden change phenomenon during motor switching, ensure the smooth operation of the sliding door system, improve the motor coordination efficiency, accuracy, response speed, system stability and user experience; it can also eliminate the sense of frustration in the sliding door system, making the speed change of the sliding door during operation more stable, thereby improving the user's comfort. Users can enjoy a smoother and quieter operating experience, avoiding the discomfort caused by the uneven motor switching. In addition, the flexibility and scalability of the control method of the present application enable the present invention to adapt to different application requirements, and has high market adaptability and technical advantages.

[0104] It should be noted that the control device 2 in the system needs to learn the movement path of the magnetic mover 12 before formally working. Only one learning is required to plan the movement plan of the mover and thus enter the working mode.

[0105] Preferably, the control device 2 includes two modes: learning and working. When the control device 2 is in the learning mode, the linear motor controls the driving magnetic mover 12 to move slowly from one end of the hanging rail 4 to the other end in a stepping mode. During the movement, the sensors 21 built into both sides of the linear motor use the displacement of the driving magnetic mover 12 to drive the magnetic mover 12 to move to the other end of the hanging rail 4, and touch the anti-collision limit block fixed on the hanging rail 4. At this time, the Hall sensor 21 measures that the displacement signal of the magnetic mover 12 remains unchanged, and drives the magnetic mover 12 to reach the end point. The stroke voltage signal of the driving magnetic mover 12 measured by the sensor 21 is transmitted to the control chip 22. The control chip 22 plans the acceleration, uniform speed and deceleration stages of the magnetic mover 12 when it passes through the entire stroke within a certain period of time according to the nonlinear transition function speed planning algorithm, and controls the size and method of the motor current according to the different stages where the driving magnetic mover 12 is located. At this point, the learning stage ends and the driving magnetic mover 12 returns to the initial position.

[0106] When control device 2 is in operating mode, the linear motor measures the position of the driven magnetic mover 12 via sensor 21 based on the nonlinear transition function speed plan obtained in learning mode. This determines the stage of the driven magnetic mover 12 and adjusts the current magnitude and direction to provide the corresponding accelerating, uniform, or decelerating electromagnetic force. During the operation of the driven magnetic mover 12, the position signal of the magnetic mover 12 is transmitted to the next linear motor, enabling the next linear motor to synchronize the state of the driven magnetic mover 12 in advance, thus implementing relay drive control until the speed of the driven magnetic mover 12 is reduced to 0 during the deceleration phase. At this point, the driven magnetic mover 12 stops, driving the sliding door 5 to fully open or close. Simultaneously, based on the signal provided by the external infrared sensor 21 or switch, the driven magnetic mover 12 repeats the above operating mode.

[0107] Example 1:

[0108] The drive device 1 includes three magnetic drive stators 11 and magnetic movers 12. Each magnetic drive stator 11 is installed on the hanging rail 4 where the drive door 51 is located. Furthermore, each magnetic drive stator 11 is installed within the hanging rail 4 where the drive magnetic mover 12 is located. Neither the hanging rail 4 where the driven mover 13 is located nor the hanging rail 4 where the fixed door 53 is located is equipped with a magnetic drive stator 11.

[0109] The transmission device 3 is composed of at least one transmission belt 31 at the bottom of the door body. The number of transmission belts 31 is the same as the number of driven doors 52. The driving door 51 and the fixed door 53 are not provided with transmission belts 31 at the bottom. Figure 7As shown, when two driven doors 52 are provided, the driven doors 52 are driven door 1 521 and driven door 2 522 respectively; the driving door 51 is driven by a plurality of linear motors evenly arranged in the door track 6, and the driven door 1 521 is driven to move together through the driving door 51 via the transmission device 3 containing a V-belt, i.e., a transmission belt 31, at the bottom. As can be seen from the V-belt structure and the transmission schematic diagram, the fixed door 53 is fixed to the door frame by screws and does not move. One end of the transmission belt 31 of the driven door 2 522 is fixed to the door track 6 of the fixed door 53 by the connecting block 33, and this part does not move. The door bodies and the transmission belt 31 between the driven door 1 521 and the driven door 2 522 are fixedly connected to each other, and the relative displacement at the connection is 0. The transmission belt 31 of the driven door 1 521 is fixedly connected to the door body of the driving door 51, and the driving door 51 is driven by the magnetic force generated by the linear motor. The V-belt drive shows that the travel ratio of the driving door 51, driven door 1 521, and driven door 2 522 is 3:2:1. This means that when the driving door 51 moves a distance equal to three sliding door body 5 lengths, the door leaves are fully extended. When the driving door 51 fully moves to the right, the door leaves completely overlap. Therefore, the maximum travel distance and door opening range of this structure is three door body lengths.

[0110] By controlling a single driving magnetic mover 12 to perform distance learning under the relay-type coordinated action of at least one linear motor, a nonlinear transition function speed planning is established, and a smooth S-shaped curve is used to adjust the motor driving force. Through a feedforward control method, the future state of the sliding door is predicted according to its current position, speed, and acceleration parameters, and the next motor is adjusted in advance, and the electromagnetic driving force of the next motor is preset, so that the speed and acceleration of the sliding door will not change suddenly within the transition range of the motor relay, thereby making the sliding door movement process smooth and without frustration.

[0111] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent control system for the coordinated movement of sliding doors, characterized in that: The invention comprises a driving device (1), a control device (2) and a transmission device (3); one end of the driving device (1) is respectively connected to a hanging rail (4) and one end of the control device (2); the other end of the driving device (1) is connected to the top of a sliding door body (5); the other end of the hanging rail (4) is connected to the top surface of the required installation position of the sliding door body (5); the other end of the control device (2) is connected to a host computer for communication; the other end of the control device (2) is connected to the transmission device (3); the bottom of the sliding door body (5) is connected to the door rail (6), or the bottom of the sliding door body (5) is connected to the door rail (6) through the transmission device (3); the driving device (1) comprises a magnetic drive stator (11) and a magnetic mover (12); when the magnetic drive stator (11) is energized, it interacts with the magnetic mover (12) to realize the mutual movement of each sliding door of the sliding door body (5).

2. The intelligent control system for coordinated movement of sliding doors according to claim 1, characterized in that: The sliding door body (5) comprises a driving door (51), a driven door (52) and a fixed door (53); the driving door (51) is connected to the fixed door (53) via the driven door (52); the top and bottom of the driving door (51) and the driven door (52) are respectively arranged in a hanging rail (4) and a door rail (6) in a slidable manner; the top, bottom and side of the fixed door (53) away from the driven door (52) are respectively connected to the top, bottom and side of the door frame close to the fixed door (53).

3. The intelligent control system for coordinated movement of sliding doors according to claim 2, characterized in that: The number of the driven doors (52) is n, where n is a positive integer and n≥1.

4. The intelligent control system for coordinated movement of sliding doors according to claim 2, characterized in that: The magnetic drive stator (11) and the magnetic mover (12) are both arranged between the drive door (51) and the hanging rail (4); the magnetic drive stator (11) and the magnetic mover (12) are arranged at corresponding positions; the top of the magnetic drive stator (11) is in contact with the inner wall of the top end of the hanging rail (4); the bottom of the magnetic drive stator (11) is in contact with the top of the magnetic mover (12) or has a certain gap; the bottom end of the magnetic mover (12) is connected to the top end of the drive door (51) through a connecting piece.

5. The intelligent control system for coordinated movement of sliding doors according to claim 4, characterized in that: At least one of the magnetic drive stator (11) and the magnetic mover (12) is provided.

6. The intelligent control system for coordinated movement of sliding doors according to claim 2, characterized in that: The driving device (1) further comprises a driven mover (13); n driven movers (13) are provided, n is a positive integer, and n≥1; the bottom end of each driven mover (13) is connected to the top of the corresponding driven door (52) through a connecting piece; the top of each driven mover (13) is connected to the hanging rail (4).

7. The intelligent control system for coordinated movement of sliding doors according to claim 4, characterized in that: The control device (2) comprises a sensor (21) and a control chip (22); the sensor (21) is respectively arranged at the location of the magnetic mover (12) of the drive device (1) and on both sides of the transmission device (3); the sensor (21) is communicatively connected to the control chip (22), and the control chip (22) is connected to the transmission device (3).

8. An intelligent control method for the coordinated movement of sliding doors, characterized in that: The method is applied to an intelligent control system for coordinated movement of sliding doors according to any one of claims 1 to 7, and the method comprises the following steps: Step 1: Assemble and power on: Install the components in the system between the sliding door body (5) and the hanging rail (4), and between the sliding door body (5) and the door rail (6), and then power on; Step 2: System pre-processing: The control device (2) enters a learning mode and pre-processes the motion information of the sliding door (5); Step 3: System operation: The control device (2) enters the working mode to realize the coordinated opening and closing operation of the sliding door body (5).

9. The intelligent control method for coordinated movement of sliding doors according to claim 8, characterized in that: The second step includes: Step S21: System pre-processing: the control device (2) enters the learning mode; Step S22: The magnetic mover (12) is controlled by a linear motor to perform stepping motion from one end of the track of the hanging rail (4); Step S23: During the stepping motion of the magnetic mover (12), the linear motor built-in sensor (21) measures the mover displacement; Step S24: Determine whether the magnetic mover (12) touches the limit block in the track of the hanging rail (4). If yes, execute step S25; if no, return to step S22; Step S25: The sensor (21) detects the formation of the magnetic mover (12) and transmits it to the control chip (22); Step S26: The control chip (22) uses a nonlinear function speed planning algorithm to plan the acceleration and deceleration stages of the movement of the magnetic mover (12) and obtain an S-shaped acceleration curve; Step S27: the linear motor adjusts the magnitude and direction of the current according to the acceleration and deceleration phases of the magnetic mover (12); and executes step three.

10. The intelligent control method for coordinated movement of sliding doors according to claim 8, characterized in that: The step three includes: Step S31: System operation: the control device (2) enters the working mode; Step S32: the linear motor drives the magnetic mover (12) to start moving; Step S33: the sensor (21) measures the real-time position of the magnetic mover (12); Step S34: The control chip (22) transmits the position signal of the magnetic mover (12) to the next linear motor, and after determining the motion stage of the magnetic mover (12), the linear motor adjusts the magnitude and direction of the current according to the parameter requirements of the acceleration and deceleration stages obtained in the preprocessing, and continues to drive the magnetic mover (12) to move; and executes step S35; Step S35: When the magnetic mover (12) stops, the sliding door body (5) is in a fully open state or closed state; the opening and closing coordinated operation of the sliding door body (5) is realized; and the process returns to step S32 and is repeated.

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