Miniature stepping motor and wireless networking control method of smart home curtain

Abstract

The present application relates to the technical field of intelligent control, in particular to a kind of microstep motor of smart home curtain and wireless networking control method, comprising: obtaining the light intensity data and the opening degree data of each curtain at current time and each historical time under each historical control operation;According to the correlation of the historical control operation of each curtain and the light intensity data variation trend of other curtains at the same historical time, the operation influence coefficient is obtained;According to the difference of the opening degree data of all curtains at current time and under each historical control operation and the difference of the light intensity data, the environmental difference coefficient is obtained;According to the environmental difference coefficient and the light intensity data of each curtain at current time, the parameter adjustment coefficient of each curtain at current time is obtained by combining operation influence coefficient;Then, each curtain is controlled.The present application can more stably control the opening and closing of curtain, and avoid the chain over-response or control shock phenomenon caused by blind synchronization action of curtain.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent control, and in particular to a micro stepping motor of an intelligent home curtain and a wireless networking control method. BACKGROUND

[0002] With the popularization of smart home technology, electric curtains, as an important part of the intelligent lighting and environmental regulation system, are gradually widely used in homes, office buildings and public spaces. At present, most smart curtain systems use micro stepping motors as driving units, which have the characteristics of small size, high control precision and low cost, and are suitable for a variety of curtain loads. Motor control usually outputs fixed stepping timing based on lookup table method, cooperates with PWM speed regulation to realize the opening and closing action of the curtain, and can improve the running stability and reduce the mechanical noise through subdivision control. In terms of system communication, more and more curtain control units begin to have wireless networking capability, which can be connected with the home gateway through Wi-Fi or Bluetooth to realize remote control, scene linkage and timing scheduling, and bring users a more convenient and intelligent use experience.

[0003] In office buildings, there are multiple window scenes, and the independent curtain control systems corresponding to each window run simultaneously to regulate the indoor light conditions. However, due to the mutual influence of the light blocking conditions between the windows, when using the traditional independent control strategy, there is a lack of unified coordination control mechanism, and the phenomenon of curtain control chaos is easy to occur. For example, the closing of a curtain leads to a decrease in indoor light intensity, and other curtains are opened accordingly. These repeated adjustment processes form control oscillation, which easily causes unnecessary wear and tear of the curtain driving system. SUMMARY

[0004] In order to solve the technical problem that the existing curtain driving system independently controls the intelligent regulation process of each curtain, which is easy to cause regulation chaos, the purpose of the present application is to provide a micro stepping motor of an intelligent home curtain and a wireless networking control method, and the technical solution adopted is as follows:

[0005] In a first aspect, the present application provides a wireless networking control method of a micro stepping motor of an intelligent home curtain, comprising:

[0006] Obtaining the light intensity data of each curtain at the current time and at each historical time under each historical regulation operation, and the opening and closing degree data of each curtain at the current time and under each historical regulation operation;

[0007] According to the correlation between the historical regulation operation of each curtain and the light intensity data change trend of other curtains at the same historical time, analyzing the operation influence coefficient of each historical regulation operation of each curtain on other curtains;

[0008] According to the difference of the opening degree data of all the curtains at the current time and under each historical control operation, and the difference of the light intensity data of all the curtains at the current time and at the historical time under each historical control operation, an environmental difference coefficient between the current time and each historical control operation of each curtain is obtained;

[0009] According to the environmental difference coefficient and the light intensity data of each curtain at the current time, and in combination with the operation influence coefficient, a parameter adjustment coefficient of each curtain at the current time is obtained;

[0010] Based on the parameter adjustment coefficient and the corresponding stepping motor of each curtain, control is performed on each curtain.

[0011] Preferably, the operation influence coefficient of each historical control operation of each curtain on other curtains is analyzed according to the correlation between the light intensity data variation trend of each curtain at the historical time and other curtains at the same historical time, and specifically includes:

[0012] Based on the difference between the light intensity data of each curtain at each historical time and at the adjacent historical time, a light intensity difference factor of each curtain at each historical time is determined;

[0013] According to the correlation between the light intensity difference factor of each curtain at each historical time under each historical control operation and the light intensity difference factor of other curtains at the same historical time, an operation influence coefficient of the historical control operation of each curtain on other curtains is obtained.

[0014] Preferably, the operation influence coefficient of the historical control operation of each curtain on other curtains is obtained according to the correlation between the light intensity difference factor of each curtain at each historical time under each historical control operation and the light intensity difference factor of other curtains at the same historical time, and specifically includes:

[0015] The historical time period corresponding to any one historical control operation of any one curtain is recorded as a target time period of a target curtain, and based on the ratio between the light intensity difference factor of the target curtain at each historical time in the target time period and the light intensity difference factor of each other curtain at the corresponding same historical time, an operation influence coefficient of the historical control operation corresponding to the target time period of the target curtain on each other curtain is determined.

[0016] Preferably, the environmental difference coefficient between the current time and each historical control operation of each curtain is obtained according to the difference of the opening degree data of all the curtains at the current time and under each historical control operation, and the difference of the light intensity data of all the curtains at the current time and at the historical time under each historical control operation, and specifically includes:

[0017] constructing an opening degree vector of each time instant based on the opening degree data of all the curtains at each time instant, and constructing a light intensity vector of each time instant based on the light intensity data of all the curtains at each time instant; wherein the each time instant includes a current time instant and each historical time instant;

[0018] determining a first difference factor between the current time instant and each historical control operation of each curtain based on a difference between the opening degree vector of the current time instant and the opening degree vector of the initial historical time instant under each historical control operation of each curtain, determining a second difference factor between the current time instant and each historical control operation based on a difference between the light intensity vector of the current time instant and the light intensity vector of the initial historical time instant under each historical control operation of each curtain, and determining an environmental difference coefficient between the current time instant and each historical control operation of each curtain by combining the first difference factor and the second difference factor.

[0019] Preferably, the parameter adjustment coefficient of each curtain at the current time instant is obtained by combining the environmental difference coefficient and the light intensity data of each curtain at the current time instant, and the operation influence coefficient, and specifically includes:

[0020] obtaining an influence evaluation index of the control operation of each curtain on other curtains at the current time instant by combining the environmental difference coefficient between the current time instant and each historical control operation of each curtain and the operation influence coefficient of the historical control operation corresponding to each curtain on other curtains;

[0021] obtaining a standard light intensity corresponding to the curtain adjustment operation, and obtaining the parameter adjustment coefficient of each curtain at the current time instant by combining the influence degree of each curtain at the current time instant on other curtains under the adjustment operation of other curtains and the light intensity data of other curtains at the current time instant with the standard light intensity.

[0022] Preferably, the influence evaluation index of the control operation of each curtain on other curtains at the current time instant is obtained by combining the environmental difference coefficient between the current time instant and each historical control operation of each curtain and the operation influence coefficient of the historical control operation corresponding to each curtain on other curtains, and specifically includes:

[0023] performing negative correlation normalization processing on the environmental difference coefficient between the current time instant and each historical control operation of each curtain to obtain an environmental weight corresponding to each historical control operation of each curtain, and performing weighted mean value processing on the operation influence coefficient of each curtain on other curtains under each historical control operation by using the environmental weight to obtain the influence evaluation index of the control operation of each curtain on other curtains at the current time instant.

[0024] Preferably, the parameter adjustment coefficient of each curtain at the current time is obtained according to the influence degree of each curtain on the adjustment operation of other curtains at the current time and the light intensity data of other curtains corresponding to the current time in combination with the standard light intensity, and specifically comprises the following steps:

[0025] Any one curtain is regarded as a selected curtain, and all other curtains except the selected curtain are regarded as reference curtains;

[0026] The difference between the light intensity data of each reference curtain at the current time and the standard light intensity is taken as the operation weight of each reference curtain;

[0027] The influence evaluation index of the selected curtain caused by the adjustment operation of each reference curtain at the current time is weighted and summed by using the operation weight of each reference curtain, and the parameter adjustment coefficient of the selected curtain at the current time is obtained by performing negative correlation normalization on the summation result; wherein the influence evaluation index of the selected curtain caused by the adjustment operation of each reference curtain at the current time represents the influence degree of the selected curtain on the adjustment operation of each reference curtain.

[0028] Preferably, the parameter adjustment coefficient and the corresponding step motor of each curtain are used to control each curtain, and specifically comprises the following steps:

[0029] For each curtain, the PID parameter of the step motor at the current time is obtained, and the product of the parameter adjustment coefficient of each curtain at the current time and the proportional coefficient in the PID parameter is taken as the adjusted proportional coefficient of each curtain.

[0030] The adjusted integral coefficient and the adjusted differential coefficient are obtained according to the adjusted proportional coefficient of each curtain, and the PID control is performed on each curtain.

[0031] Preferably, the adjusted integral coefficient and the adjusted differential coefficient are obtained according to the adjusted proportional coefficient of each curtain, and specifically comprises the following steps:

[0032] The ratio of the adjusted proportional coefficient of each curtain to the preset integral time constant at the current time is taken as the adjusted integral coefficient of each curtain; and the product of the adjusted proportional coefficient of each curtain and the preset differential time constant at the current time is taken as the adjusted differential coefficient of each curtain.

[0033] In the second aspect, the application provides a micro step motor of an intelligent home curtain, which is used to receive a control signal of a control unit and execute the step of controlling each curtain in the wireless networking control method of the micro step motor of the intelligent home curtain.

[0034] The embodiments of the application have at least the following beneficial effects:

[0035] The application firstly generates the data changes of the historical operation of each curtain and the correlation between the data changes generated by other curtains at the same historical time, quantifies the operation influence coefficient of each historical control operation of each curtain on other curtains, and constructs the mutual influence relationship between different curtains. Then, fully considering the difference between the environmental factors under each historical control operation that generates an influence and the environmental factors at the current moment, the environmental difference coefficient between the current moment and each historical control operation of each curtain is obtained, and the environmental correlation between the current and the history is constructed. Further, the final parameter adjustment coefficient is determined by comprehensively analyzing the results of multiple feature analysis, which fully considers the correlation and difference between the historical light intensity and the current environmental change, can adaptively control the opening and closing of the curtain based on the corresponding stepping motor of each curtain, and thus improves the adaptability of the system to the light change under the multi-source disturbance environment. The application considers the influence of the corresponding micro stepping motor of multiple curtains in the smart home on the indoor light intensity, adjusts the networking control mode of multiple stepping motors in real time to ensure the stability of the opening and closing of the curtain under the light intensity change in the smart home, and avoids the chain over-response or control shock phenomenon caused by blind synchronous action of the curtain. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0037] Figure 1 is a step flow chart of a wireless networking control method of a micro stepping motor of a smart home curtain provided by the present application;

[0038] Figure 2 is an installation schematic diagram of a light intensity sensor corresponding to a window provided by the present application;

[0039] Figure 3 is a data curve schematic diagram of light intensity corresponding to a curtain before and after smoothing provided by the present application;

[0040] Figure 4 is a step flow chart of an operation influence coefficient acquisition method provided by the present application;

[0041] Figure 5 is a light intensity data change curve schematic diagram of a curtain corresponding to a window in a period of time provided by the present application. DETAILED DESCRIPTION

[0042] In order to further illustrate the technical means and effects taken by the present application to achieve the predetermined inventive objectives, the specific implementation, structure, features and effects of a micro stepping motor and wireless networking control method of an intelligent home curtain according to the present application are described in detail below in combination with the drawings and preferred embodiments.

[0043] Before introducing the specific schemes provided by the embodiments of the present application, some terms in the present application are explained to facilitate understanding by those skilled in the art, and do not limit the terms used in the present application.

[0044] The following are the main components of the intelligent curtain system:

[0045] (1) Control unit (MCU): responsible for receiving sensor data, running light analysis and control algorithms, and outputting driving signals to the stepping motor. The module has local computing power and wireless communication function, and can interact with other curtain nodes or cloud platforms through MQTT and other protocols.

[0046] (2) Light intensity sensor: installed at key indoor locations (such as near the window or in the center of the room), used to collect real-time indoor natural light intensity, supports sampling at a set frequency and storing historical data.

[0047] (3) Micro stepping motor: responsible for the specific execution of curtain opening and closing actions, each motor is connected to a set of curtain fabric, that is, corresponding to a window, and completes the opening and closing action of a specified angle according to the control signal issued by the master control unit.

[0048] In the following description, different "one embodiment" or "another embodiment" refers to different embodiments. In addition, the specific features, structures or characteristics in one or more embodiments can be combined in any suitable form.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs.

[0050] The specific scheme of the micro stepping motor and wireless networking control method of the intelligent home curtain provided by the present application is described below in combination with the drawings.

[0051] Please refer to Figure 1 which shows the step flowchart of the wireless networking control method of the micro stepping motor of the intelligent home curtain provided by one embodiment of the present application, which includes the following steps:

[0052] Step S100, obtaining the light intensity data of each curtain at the current time and at each historical time under each historical control operation, and the opening and closing degree data of each curtain at the current time and under each historical control operation.

[0053] It should be understood that each window corresponds to a curtain, and a light intensity sensor and a micro-step motor, and all the curtains corresponding to the windows are cooperatively controlled by the MCU control unit, such as Figure 2 which shows the installation diagram of the light intensity sensor corresponding to a window.

[0054] First, the light intensity data collected by the light intensity sensor at each moment in the process of real-time monitoring of each curtain is obtained, wherein each moment includes a historical moment and a current moment.

[0055] In some embodiments, considering that the light intensity change corresponding to each curtain is not only caused by the change of the curtain opening degree, but also caused by factors such as personnel movement and light change in the current scene environment, resulting in a sudden change in part of the light intensity, therefore, before analyzing the mutual influence of multiple curtains, the data collected by the sensor needs to be preprocessed. As a specific example, the light intensity collected by the sensor is subjected to mean filtering processing, such as Figure 3 which shows the data curve of the light intensity collected by the sensor of a curtain before and after smoothing processing in a time period.

[0056] Then, in the historical curtain step motor control process, there are multiple different control methods, not only the intelligent control of the curtain according to the light intensity, but also the manual control of the user to open or close the single curtain. The complete process of opening or closing the curtain each time is regarded as a historical control operation, it should be understood that the complete opening and closing process corresponding to a historical control operation of a curtain has a certain length of time, therefore, when collecting the sensor data, the light intensity data of each window at each historical moment under each historical control operation needs to be obtained.

[0057] Further, in order to measure the opening and closing state of each curtain at different moments, the number of steps of the micro-step motor can be used to measure the opening degree of each curtain, which directly reflects the actual opening and closing position of the curtain. Specifically, for any curtain at any moment, the number of steps of the corresponding micro-step motor is obtained, and the ratio between the number of steps and the maximum number of steps of the micro-step motor is taken as the opening degree data of the curtain at the corresponding moment, which reflects the actual opening and closing state of the curtain at each moment. According to the same method, the opening degree data of each curtain at the current moment and the opening degree data of each curtain at each historical moment under each historical control operation can be obtained.

[0058] It should be noted that, in order to avoid the dimensional influence of the collected data on the subsequent feature analysis process, the light intensity data in the embodiment is standardized data, and the standardization method is a known technology, which will not be described in detail here. It should be understood that the step number ratio of the micro stepping motor represents the opening and closing state of the curtain, which can avoid the influence of the dimension and facilitate unified control across the curtains.

[0059] In step S200, the operation influence coefficient of each historical control operation of each curtain on other curtains is analyzed according to the correlation between the historical control operation of each curtain and the light intensity data change trend of other curtains at the same historical moment.

[0060] In the cooperative control strategy of the intelligent curtain system, accurately quantifying the light intensity coupling effect between the curtains is the key to global optimization. When the intelligent curtain system is in a single motor independent control mode, the light intensity change of other area curtains is mainly caused by the operation of the curtain to be controlled. That is, when the control of the intelligent curtain tends to be stable and needs to be controlled for a single curtain, the mutual influence between different curtain operations should be fully considered. Based on this consideration, the environmental light intensity change between each curtain in the historical control operation is analyzed to evaluate the potential influence relationship between the historical control operations.

[0061] In some embodiments, as shown in Figure 4 The operation influence coefficient acquisition method can be realized by steps S201 and S202.

[0062] In step S201, the light intensity difference factor of each curtain at each historical moment is determined based on the difference between the light intensity data of each curtain at each historical moment and the adjacent historical moment.

[0063] Specifically, the difference between the light intensity data of each curtain at each historical moment and the adjacent previous historical moment is taken as the light intensity difference factor of each curtain at each historical moment. It should be noted that the case where the first historical moment cannot be calculated is not analyzed.

[0064] In other embodiments, first, the light intensity data of each curtain at all historical moments under each historical control operation is arranged in chronological order to form a light intensity sequence of each curtain under each historical control operation, and the first-order difference value of each light intensity sequence is calculated. Each first-order difference value corresponds to the light intensity difference factor of each curtain at each historical moment except the first historical moment under each historical control operation.

[0065] The light intensity difference factor represents the environmental light intensity change of each historical moment relative to its adjacent moment.

[0066] Step S202, according to the correlation between the light intensity difference factor of each curtain at each historical time under each historical control operation and the light intensity difference factor of other curtains at the same historical time, the operation influence coefficient of each historical control operation of each curtain on other curtains is obtained.

[0067] Specifically, the historical time period corresponding to any one historical control operation of any one curtain is recorded as the target time period of the target curtain, and based on the ratio between the light intensity difference factor of the target curtain at each historical time within the target time period and the light intensity difference factor of each other curtain at the corresponding same historical time, the operation influence coefficient of the historical control operation corresponding to the target time period of the target curtain on each other curtain is determined.

[0068] As a specific example, the ith curtain is taken as the target curtain, and the historical time period formed by all historical time of the rth historical control operation of the ith curtain is taken as the target time period of the target curtain. Wherein i = 1, 2, …, N1, r = 1, 2, …, N i , N1 represents the total number of curtains, N i represents the total number of historical control operations of the ith curtain. Further, taking the mth other curtain as an example in addition to the ith curtain, the operation influence coefficient of the ith curtain on the mth other curtain under the rth historical control operation can be represented as:

[0069]

[0070] Wherein, F i,r (m) represents the operation influence coefficient of the ith curtain on the mth other curtain under the rth historical control operation, that is, the operation influence coefficient of the historical control operation corresponding to the target time period of the target curtain on the mth other curtain, T i,r represents the total number of all historical time contained in the rth historical control operation of the ith curtain, ΔX i,r (t) represents the light intensity difference factor of the tth historical time under the rth historical control operation of the ith curtain, ΔX i,r (m, t) represents the light intensity difference factor of the corresponding mth other curtain at the corresponding tth historical time corresponding to the target curtain.

[0071] The operation influence coefficient of the historical control operation corresponding to the target time period of the target curtain on the mth other curtain reflects the influence degree of the target curtain on the mth other curtain when the target curtain exists curtain opening and closing operation, and when the value is larger, it means that the opening and closing operation of the target curtain drives the light intensity in the area where the mth other curtain is located to change synchronously to a greater extent.

[0072] For example, the operation influence coefficient of the historical control operation corresponding to the target time period of the target curtain on the mth other curtain can be calculated as follows: Figure 5Fig. 4 shows a schematic diagram of the light intensity data of the curtains of the five windows over time, which is shown by Figure 5 It can be seen that when the curtain opening degree of window 4 changes, the lighting conditions of the area where window 5 is located change synchronously, and other windows do not change at this time, which indicates that the lighting environment around window 4 has a greater impact on the curtain of window 5 when it changes. It should be noted that in order to more intuitively see the trend of the change of the light intensity data, non-standardized data is used to display when drawing the curve diagram.

[0073] Step S300, according to the difference between the opening degree data of all curtains at the current time and each historical control operation, and the difference between the light intensity data of all curtains at the current time and each historical control operation, the environmental difference coefficient between the current time and each historical control operation of each curtain is obtained.

[0074] In the process of collaborative control of intelligent curtains, there is a certain difference between the environmental light intensity at different time nodes. For example, when the curtains of the same window are controlled at different times, the natural environmental lighting in the morning and afternoon will change with time. Based on this consideration, when the opening degree of the window at the current time is intelligently controlled, in order to make the environmental influence degree of the historical control operation more accurate, the difference and similarity between the environmental light intensity at the current time and each historical control operation are further combined for feature analysis, and the difference degree of the environment dimension under the correlation of the time dimension between the current time and each historical control operation is evaluated.

[0075] First, based on the opening degree data of all curtains at each time, an opening degree vector at each time is constructed, and based on the light intensity data of all curtains at each time, a light intensity vector at each time is constructed; wherein the each time includes the current time and each historical time.

[0076] It should be understood that the vector acquisition method of the current time and the historical time in each historical control operation is exactly the same. Taking any one time as an example, according to a preset order, the opening degree data of all curtains at the arbitrary time is constructed into an opening degree vector at the corresponding time, and according to the same order, the light intensity data of all curtains at the arbitrary time is constructed into a light intensity vector at the corresponding time. Wherein, the implementer of the preset order can set it according to the specific implementation scene, as long as it ensures that all vector elements belong to the same window at the corresponding position.

[0077] Based on this, the current time corresponds to an opening degree vector and a light intensity vector, and since each curtain has the same time of regulation operation, other curtains may not change, so the environmental change of each historical regulation operation is analyzed for each corresponding curtain, that is, the environmental parameters before the curtain needs intelligent regulation are fully considered.

[0078] Specifically, taking the target curtain as an example, when the target curtain has the rth historical regulation operation, the data distribution of the target curtain and all other curtains at the initial historical time of the rth historical regulation operation is obtained, and the opening degree vector and the light intensity vector of the target curtain at the initial historical time of the rth historical regulation operation are constructed. The initial historical time refers to the first historical time of a historical regulation operation, reflecting the time state when the regulation operation has not started or is about to start.

[0079] Secondly, based on the difference between the opening degree vector of the current time and the opening degree vector of each historical regulation operation of each curtain at the initial historical time, the first difference factor between the current time and each historical regulation operation of each curtain is determined; based on the difference between the light intensity vector of the current time and the light intensity vector of each historical regulation operation of each curtain at the initial historical time, the second difference factor between the current time and each historical regulation operation is determined; the environmental difference coefficient between the current time and each historical regulation operation of each curtain is determined by combining the first difference factor and the second difference factor.

[0080] As a specific example, taking the rth historical regulation operation of the ith curtain as an example, the environmental difference coefficient between the current time and the rth historical regulation operation of the ith curtain can be expressed as:

[0081]

[0082] Wherein, Y i,r represents the environmental difference coefficient between the current time and the rth historical regulation operation of the ith curtain, represents the opening degree vector of the current time, and i,r represents the opening degree vector of the initial historical time of the rth historical regulation operation of the ith curtain, represents the light intensity vector of the current time, and i,r represents the light intensity vector of the initial historical time of the rth historical regulation operation of the ith curtain, and ‖‖2 represents the L2 norm of the vector.

[0083] is the first difference factor, and represents the Euclidean distance between the two opening degree vectors; The second difference factor represents the Euclidean distance between the two light intensity vectors. The environmental difference in terms of opening degree and light intensity comprehensively represents the environmental difference between the current time and the historical control operation.

[0084] In other embodiments, when analyzing the environmental difference, the difference analysis results of other dimensional environmental data can also be added for comprehensive evaluation. Specifically, the solar elevation angle at each time is obtained, which reflects the performance of the natural environment at the corresponding time. The absolute value of the difference between the solar elevation angle at the current time and the solar elevation angle at the first historical time under each historical control operation of each curtain is further calculated as a third difference factor. The cumulative sum of the first difference factor, the second difference factor, and the third difference factor is taken as the corresponding environmental difference. This can more comprehensively measure the difference in the corresponding lighting environment between different time nodes. It should be noted that, in order to avoid the influence of the dimension on the data analysis results, the solar elevation angle needs to be standardized before being used for difference calculation. The method for obtaining the solar elevation angle is a known technology, which will not be described in detail here.

[0085] Step S400: According to the environmental difference coefficient and the light intensity data of each curtain at the current time, and in combination with the operation influence coefficient, a parameter adjustment coefficient of each curtain at the current time is obtained.

[0086] The environmental difference coefficient reflects the comprehensive difference performance of the lighting environment and the window opening environment of each curtain at the current time and the historical control operation. The operation influence coefficient of each historical control operation of each curtain on other curtains reflects the degree of influence of the opening and closing action of a curtain on the opening and closing action of other curtains under a certain historical control operation. This influence has a time sequence condition, that is, the influence at the time node of the historical adjustment operation. In order to predict and evaluate whether the opening and closing action of a curtain at the current time will have a large influence on other curtains, the analysis should also consider whether there is a certain difference between the current time and the time node of the corresponding historical control operation. The greater the difference between them, the greater the difference between the historical control operation environment and the current operation environment, and the smaller the operation influence between the curtains. Based on this, the operation influence relationship between different windows at the current time is first constructed using the environmental difference coefficient.

[0087] Step S401: According to the environmental difference coefficient between the current time and each historical control operation of each curtain, and in combination with the operation influence coefficient of each historical control operation of each curtain on other curtains, an influence evaluation index of the control operation of each curtain at the current time on other curtains is obtained.

[0088] Specifically, the environment difference coefficient between the current moment and each historical regulation operation of each curtain is negatively correlated and normalized to obtain an environment weight corresponding to each historical regulation operation of each curtain; and the environment weight is used to weight and average the operation influence coefficient of each curtain on other curtains under each historical regulation operation to obtain an influence evaluation index of the regulation operation of each curtain on other curtains at the current moment.

[0089] As a specific example, taking the i-th curtain and the m-th other curtain as an example, the calculation method of the influence evaluation index of the regulation operation of the i-th curtain on the m-th other curtain at the current moment can be represented as:

[0090]

[0091] wherein F' i,m represents the influence evaluation index of the regulation operation of the i-th curtain on the m-th other curtain at the current moment, N i represents the total number of historical regulation operations of the i-th curtain, Y i,r represents the environment difference coefficient between the current moment and the r-th historical regulation operation of the i-th curtain, F i,r (m) represents the operation influence coefficient of the i-th curtain on the m-th other curtain under the r-th historical regulation operation, and Norm represents a normalization function.

[0092] [1-Norm(Y i,r )] is the environment weight corresponding to the r-th historical regulation operation of the i-th curtain, and the greater the value, the smaller the corresponding environment difference, and the greater the reference value of the historical regulation operation on the influence degree of the regulation operation of the r-th window on other windows at the current moment. The influence evaluation index is obtained by using the weighted average method, which reflects the influence degree of the regulation operation of each curtain on other curtains at the current moment.

[0093] In step S402, the standard light intensity corresponding to the curtain adjustment operation is obtained; and according to the influence degree of each curtain on other curtains at the current moment and the light intensity data of other curtains at the current moment, the parameter adjustment coefficient of each curtain at the current moment is obtained in combination with the standard light intensity.

[0094] The adjustment of each curtain not only affects the ambient light intensity of the window area of the curtain itself, but also affects the ambient light intensity of the window area of other curtains due to some objective factors, for example, closing the window 1 can cause the window in the adjacent area to detect insufficient ambient light intensity, and the corresponding curtain needs to be opened. The adjustment of multiple curtains can have a superimposed effect on the same window area, therefore, when analyzing the situation that each curtain needs to be adjusted at the current time, the superimposed effect of all other curtain operations should be considered. That is, the adjustment of each curtain needs to consider the state of other curtains and its effect on itself, which can effectively suppress the shock caused by the operation of multiple curtains.

[0095] Specifically, any one curtain is referred to as a selected curtain, and all other curtains except the selected curtain are referred to as reference curtains; the difference between the light intensity data of each reference curtain at the current time and the standard light intensity is used as the operation weight of each reference curtain; the operation weight of each reference curtain is used to weight and sum the influence evaluation index of the selected curtain caused by the adjustment of each reference curtain at the current time, and the sum is negatively correlated and normalized to obtain the parameter adjustment coefficient of the selected curtain at the current time.

[0096] It should be understood that the influence of the opening and closing operation of the curtain is mutual, that is, the adjustment of each curtain can have a large or small influence on each other curtain, and each curtain is also affected by the adjustment of other curtains. Based on this, the influence evaluation index of the selected curtain caused by the adjustment of each reference curtain at the current time represents the influence of the adjustment of each reference curtain on the selected curtain.

[0097] As a specific example, the nth curtain is referred to as the selected curtain, and the nth curtain is used as an example to illustrate the parameter adjustment coefficient of the nth curtain at the current time, which can be represented as:

[0098]

[0099] wherein R n represents the parameter adjustment coefficient of the nth curtain at the current time, N1 represents the total number of curtains, F′ k,n represents the influence evaluation index of the adjustment of the kth reference curtain on the nth curtain at the current time, ΔL n,k represents the difference between the light intensity data of the kth reference curtain corresponding to the nth curtain at the current time and the standard light intensity, that is, the operation weight, and Norm represents the normalization function.

[0100] It should be noted that the standard light intensity refers to an indoor light intensity target value or a target interval expected to be maintained under a corresponding time period, which needs to be set by the implementer according to the specific implementation scene, and can be a numerical value or a numerical value interval. Considering that the natural light intensity is different at different times of the day, in order to maximize the utilization of natural light, different standard light intensities can be preset for different time periods of the day under the intelligent system, for example, in the morning, at noon, and in the afternoon, which will not be limited too much here.

[0101] It should be understood that when the standard light intensity is a target value, the absolute value of the difference between the light intensity data of the kth reference curtain corresponding to the nth curtain at the current time and the target value is calculated to obtain the corresponding operation weight AL n,k When the standard light intensity is a target interval, the minimum value of the absolute value of the difference between the light intensity data of the kth reference curtain corresponding to the nth curtain at the current time and the light intensity in the target interval is calculated to obtain the corresponding operation weight AL n,k .

[0102] The operation weight represents the urgency of the adjustment demand of the corresponding reference curtain at the current time. When the value of the operation weight is larger, it means that the adjustment demand of the reference curtain at the current time is more urgent, and at this time, the influence of the adjustment operation of the reference curtain on the selected curtain, that is, the nth curtain, is greater. Therefore, the adjustment of the reference curtain can significantly change the ambient light intensity of the area where the selected curtain is located, and at this time, the response degree of the area where the selected curtain is located needs to be relatively reduced, so as to avoid the shock caused by the adjustment of the reference curtain to the selected curtain, that is, the value of the corresponding parameter adjustment coefficient is larger.

[0103] The parameter adjustment coefficient of the selected curtain at the current time reflects the situation that the response degree of the selected curtain at the current time needs to be reduced, that is, the parameter adjustment coefficient represents that the system can dynamically reduce the response gain of the curtain in a high interference scene, so as to avoid overshoot and shock caused by chain reaction.

[0104] Step S500, based on the parameter adjustment coefficient and the stepping motor corresponding to each curtain, control each curtain.

[0105] Specifically, for each curtain, the PID parameter of the stepper motor at the current time is obtained, the product of the parameter adjustment coefficient of each curtain at the current time and the proportional coefficient in the PID parameter is taken as the adjusted proportional coefficient of each curtain, the adjusted integral coefficient and the differential coefficient are obtained according to the adjusted proportional coefficient of each curtain, and the PID control is performed on each curtain. Wherein, the method for obtaining the adjusted integral coefficient and the differential coefficient is: taking the ratio of the adjusted proportional coefficient of each curtain and the preset integral time constant at the current time as the adjusted integral coefficient of each curtain; and taking the product of the adjusted proportional coefficient of each curtain and the preset differential time constant at the current time as the adjusted differential coefficient of each curtain.

[0106] More intuitively, the adjusted PID parameter is specifically expressed by a calculation formula as follows: K P,n = R n × K P , K D,n = K P,n × T D , wherein R n represents the parameter adjustment coefficient of the nth curtain at the current time, K P represents the proportional coefficient before adjustment in the PID parameter corresponding to the nth curtain at the current time, K P,n , K I,n and K D,n respectively represent the adjusted proportional coefficient, the integral coefficient and the differential coefficient of the nth curtain at the current time, T I represents the preset integral time constant, which is exemplarily taken as 10 in the embodiment, and T D represents the preset differential time constant, which is exemplarily taken as 1.5 in the embodiment.

[0107] The smaller the corresponding parameter adjustment coefficient is, the more significant the disturbance of the actions of other curtains to the nth curtain (such as light intensity superposition or shielding effect) is, and the proportional gain is reduced at this time, so as to reduce the excessive adjustment of the nth curtain caused by the environment and inhibit the oscillation.

[0108] Based on this, according to the adjusted PID parameter, the system can realize dynamic allocation of proportional gain in the adjustment process, the curtain with less light intensity influence is given a higher proportional coefficient, so as to improve the response sensitivity to light change and quickly compensate for small range disturbance; and for the curtain in the strong disturbance area, the proportional term is appropriately reduced, the response speed is delayed, and the system oscillation caused by excessive adjustment is avoided, so as to enhance the stability and anti-disturbance ability of the overall system.

[0109] Finally, at the current time, each curtain corresponds to an adjusted proportional coefficient, integral coefficient and differential coefficient, that is, an adjusted PID parameter. Based on the adjusted PID parameter, a PID control signal corresponding to each window is generated using a PID algorithm, and then the PID control signal of each curtain is output to the motor corresponding to each curtain to drive the motor to control the opening and closing degree of the curtain.

[0110] At the motor driving level, each stepper motor is controlled by a high-precision driving module, and the pulse frequency and stepping direction are adjusted in real time according to the output PID control signal at the current time, to realize fine adjustment or continuous opening and closing action of the curtain cloth. The driving process adopts subdivision control and speed gradual change mechanism to ensure smooth adjustment action and no jitter, effectively prolonging the service life of mechanical parts. It should be understood that the PID control algorithm and the driving method of the stepper motor are known technologies, and will not be described in detail here.

[0111] The networking control module is uniformly scheduled by the master control unit, and periodically synchronizes the state with each curtain node based on a wireless or bus communication protocol. The system supports a distributed PID parameter update mechanism and a motor cascade control strategy, which calculates the global light deviation by fusing all light intensity sensor data while ensuring local response of each node, to further guide parameter collaborative adjustment and motor scheduling order. Finally, through dynamic balancing between local control and global light target, an intelligent curtain control strategy is realized, which unifies light balance, energy optimization and multi-motor coordinated motion.

[0112] In summary, the present application can adaptively adjust the PID control parameters of each curtain motor based on historical light intensity and current environmental changes, thereby improving the system's adaptability to light changes in a multi-source disturbance environment. By calculating the influence of each curtain on indoor light intensity in real time and building a prediction model, the system can achieve differentiated adjustment and priority control, avoiding excessive response or energy waste caused by blind synchronous action. Compared with the traditional static parameter control method, the present application can ensure indoor light comfort while having higher light control accuracy, stronger anti-interference ability and lower overall energy consumption. In addition, the system supports wireless networking and dynamic parameter collaboration between motors, facilitating deployment and expansion, and is suitable for intelligent light management needs in complex home or office scenarios such as multiple rooms and multiple windows.

[0113] The embodiment of the present application also provides a micro stepper motor of an intelligent home curtain, which is used for receiving a control signal of a control unit, that is, receiving a control signal generated by the control unit based on an adjusted PID parameter, and performing the step of controlling each curtain in the wireless networking control method of the micro stepper motor of the intelligent home curtain.

[0114] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A wireless networking control method of a micro-step motor of a smart home curtain, characterized in that, The method comprises the following steps: Obtaining light intensity data of each curtain at the current time and at each historical time under each historical control operation, and opening degree data of each curtain at the current time and under each historical control operation; According to the correlation between the historical control operation of each curtain and the light intensity data trend of other curtains at the same historical time, the operation influence coefficient of each historical control operation of each curtain on other curtains is analyzed; According to the difference of the opening degree data of all curtains at the current time and under each historical control operation, and the difference of the light intensity data of all curtains at the current time and at the historical time under each historical control operation, the environmental difference coefficient between the current time and each historical control operation of each curtain is obtained; According to the environmental difference coefficient and the light intensity data of each curtain at the current time, and combining the operation influence coefficient, the parameter adjustment coefficient of each curtain at the current time is obtained; Based on the parameter adjustment coefficient and the corresponding stepping motor of each curtain, each curtain is controlled, specifically including: For each curtain, the PID parameter of the stepping motor at the current time is obtained, and the product of the parameter adjustment coefficient of each curtain at the current time and the proportional coefficient in the PID parameter is taken as the adjusted proportional coefficient of each curtain; According to the adjusted proportional coefficient of each curtain, the adjusted integral coefficient and the differential coefficient are obtained, and the PID control of each curtain is carried out. 2.The wireless networking control method of the micro-stepping motor of the smart home curtain according to claim 1, wherein, According to the correlation between the historical control operation of each curtain and the light intensity data trend of other curtains at the same historical time, the operation influence coefficient of each historical control operation of each curtain on other curtains is analyzed, specifically including: Based on the difference between the light intensity data of each curtain at each historical time and the adjacent historical time, the light intensity difference factor of each curtain at each historical time is determined; According to the correlation between the light intensity difference factor of each curtain at each historical time under each historical control operation and the light intensity difference factor of other curtains at the same historical time, the operation influence coefficient of the historical control operation of each curtain on other curtains is obtained. 3.The wireless networking control method of the micro-stepping motor of the smart home curtain according to claim 2, characterized in that, According to the correlation between the light intensity difference factor of each curtain at each historical time under each historical control operation and the light intensity difference factor of other curtains at the same historical time, the operation influence coefficient of the historical control operation of each curtain on other curtains is obtained, specifically including: The historical time period corresponding to any historical control operation of any curtain is recorded as the target time period of the target curtain, and based on the ratio between the light intensity difference factor of the target curtain at each historical time in the target time period and the light intensity difference factor of each other curtain at the corresponding same historical time, the operation influence coefficient of the historical control operation corresponding to the target time period of the target curtain on each other curtain is determined. 4.The wireless networking control method of the micro-stepping motor of the smart home curtain according to claim 1, wherein, According to the difference of the opening degree data of all curtains at the current time and under each historical control operation, and the difference of the light intensity data of all curtains at the current time and at the historical time under each historical control operation, the environmental difference coefficient between the current time and each historical control operation of each curtain is obtained, specifically including: Constructing an opening degree vector of each time based on the opening degree data of all the curtains at each time, and constructing a light intensity vector of each time based on the light intensity data of all the curtains at each time; wherein the each time includes a current time and each historical time; Determining a first difference factor between the current time and each historical control operation of each curtain based on the difference between the opening degree vector of the current time and the opening degree vector of the initial historical time under each historical control operation of each curtain, determining a second difference factor between the current time and each historical control operation based on the difference between the light intensity vector of the current time and the light intensity vector of the initial historical time under each historical control operation of each curtain, and determining an environmental difference coefficient between the current time and each historical control operation of each curtain by combining the first difference factor and the second difference factor. 5.The wireless networking control method of the micro-stepping motor of the smart home curtain according to claim 1, wherein, The parameter adjustment coefficient of each curtain at the current time is obtained according to the environmental difference coefficient between the current time and each historical control operation of each curtain and the operation influence coefficient of the corresponding historical control operation of each curtain. The influence evaluation index of the control operation of each curtain on other curtains at the current time is obtained according to the environmental difference coefficient between the current time and each historical control operation of each curtain and the operation influence coefficient of the corresponding historical control operation of each curtain on other curtains. The standard light intensity corresponding to the curtain adjustment operation is obtained, and the parameter adjustment coefficient of each curtain at the current time is obtained by combining the influence degree of each curtain at the current time under the adjustment operation of other curtains and the light intensity data of other curtains at the current time with the standard light intensity. 6.The wireless networking control method of the micro-stepping motor of the smart home curtain according to claim 5, wherein, The influence evaluation index of the control operation of each curtain on other curtains at the current time is obtained according to the environmental difference coefficient between the current time and each historical control operation of each curtain and the operation influence coefficient of the corresponding historical control operation of each curtain on other curtains. The environmental weight corresponding to each historical control operation of each curtain is obtained by performing negative correlation normalization processing on the environmental difference coefficient between the current time and each historical control operation of each curtain, and the influence evaluation index of the control operation of each curtain on other curtains at the current time is obtained by weighting and averaging the operation influence coefficient of each curtain on other curtains under each historical control operation by using the environmental weight. 7.The wireless networking control method of the micro-stepping motor of the smart home curtain according to claim 5, wherein, The parameter adjustment coefficient of each curtain at the current time is obtained by combining the influence degree of each curtain at the current time under the adjustment operation of other curtains and the light intensity data of other curtains at the current time with the standard light intensity. Any curtain is taken as a selected curtain, and all other curtains except the selected curtain are taken as reference curtains; The difference between the light intensity data of each reference curtain at the current time and the standard light intensity is taken as the operation weight of each reference curtain. The influence evaluation index of the selected window curtain is weighted and summed by the operation weight of each reference window curtain at the current time, and the parameter adjustment coefficient of the selected window curtain at the current time is obtained by negative correlation normalization processing of the summation result; wherein the influence evaluation index of the selected window curtain by the regulation operation of each reference window curtain at the current time represents the influence degree of the selected window curtain by the adjustment operation of each reference window curtain. 8.The method of claim 1, wherein, The adjusted integral coefficient and the adjusted differential coefficient are obtained according to the adjusted proportional coefficient of each window curtain, and specifically include: The ratio of the adjusted proportional coefficient of each window curtain to the preset integral time constant at the current time is taken as the adjusted integral coefficient of each window curtain; and the product of the adjusted proportional coefficient of each window curtain and the preset differential time constant at the current time is taken as the adjusted differential coefficient of each window curtain.

9. A micro-stepping motor for a smart home window curtain, characterized in that, The control signal of the receiving control unit is used to execute the step of controlling each window curtain in the wireless networking control method of the micro-step motor of the smart home window curtain according to claim 1.

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