A method, apparatus, device, and storage medium for regulating a motor drive.

Abstract

The present invention relates to the field of motor drive technology and discloses a motor drive adjustment method, apparatus, device, and storage medium. The method comprises: responding to a voltage adjustment signal and determining an initial voltage based on the voltage adjustment signal; adjusting the initial voltage until a target voltage that meets preset conditions is output; and using the target voltage as a reference voltage for a motor drive actuator in a smart lock. The present invention addresses the existing problems of excessive energy consumption, rapid component wear, and high noise levels caused by the high-power drive schemes used by electronic devices to adapt to load changes.

Description

Technical Field

[0001] This invention relates to the field of motor drive technology, and specifically to a method, apparatus, device, and storage medium for adjusting a motor drive. Background Technology

[0002] In various electronic devices, motors, as crucial driving components, are widely used in smart locks, automatic control devices, precision machinery, and other scenarios. They drive actuators to complete specific actions, such as the extension and retraction of the lock tongue in a smart lock or the operation of mechanisms in automated equipment. During long-term use, factors such as changes in the installation environment, mechanical wear, and load fluctuations (for example, the sinking of the door where the smart lock is located due to its own weight alters the fit between the door and the door frame) often change the driving force required for the motor to drive the actuators. Insufficient driving force may lead to actuator malfunction, affecting the normal operation of the equipment.

[0003] In existing technologies, to address the aforementioned problem of varying driving force, solutions typically involve increasing the rated power of the motor or fixing a higher drive voltage to ensure that the actuators can still operate normally under extreme conditions. However, this approach has significant drawbacks: firstly, continuously driving the motor with higher power or voltage leads to a significant increase in equipment energy consumption, especially for battery-powered electronic devices, which drastically shortens battery life and wastes energy under most normal operating conditions; secondly, long-term high-power operation exacerbates wear and tear on the motor and transmission components, increases equipment failure rate and noise, and reduces lifespan and user experience. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a method, apparatus, device and storage medium for adjusting a motor drive, in order to solve the problems of excessive energy consumption, rapid component wear and high noise caused by the use of high-power drive schemes in electronic devices to adapt to load changes in the prior art.

[0005] In a first aspect, embodiments of the present invention provide a method for adjusting a motor drive, the method comprising:

[0006] In response to a voltage regulation signal, an initial voltage is determined based on the voltage regulation signal;

[0007] The initial voltage is adjusted until the target voltage that meets the preset conditions is output;

[0008] The target voltage is used as the reference voltage for the motor drive actuator.

[0009] Furthermore, adjusting the initial voltage until the output meets the target voltage condition includes:

[0010] Based on the initial voltage, the actuator associated with the motor is driven to perform an unlocking / locking operation, and the first execution status of the unlocking / locking operation is monitored;

[0011] A preset adjustment strategy is determined based on the first execution situation, and the initial voltage is adjusted according to the preset adjustment strategy until a target voltage that meets the preset conditions is obtained, wherein the preset conditions are that the motor-associated actuator can just reach the specified position under the drive of the target voltage.

[0012] Furthermore, the step of determining a preset adjustment strategy based on the first execution status and adjusting the initial voltage according to the preset adjustment strategy until a target voltage that meets preset conditions is obtained includes:

[0013] If the first execution condition is that the execution component has not reached the specified position, the initial voltage is increased by one voltage level according to the preset upward adjustment strategy to obtain a candidate voltage. Based on the candidate voltage, the execution component associated with the motor is driven to perform an unlocking operation. The second execution condition of the unlocking operation is obtained. The candidate voltage is increased according to the second execution condition. The cyclic upward adjustment operation is repeated until the candidate voltage obtained by increasing the voltage level by level meets the first preset condition. The candidate voltage that meets the first preset condition is taken as the target voltage.

[0014] Alternatively, if the first execution state is that the execution component reaches the designated position, the initial voltage is lowered by one voltage level according to the preset down-adjustment strategy to obtain a candidate voltage. Based on the candidate voltage, the execution component associated with the motor is driven to perform an unlocking operation. The third execution state of the unlocking operation is obtained. The candidate voltage is lowered according to the third execution state. The cyclic down-adjustment operation is repeated until the candidate voltage obtained by gradually increasing the voltage level meets the second preset condition. The candidate voltage that meets the second preset condition is taken as the target voltage.

[0015] Furthermore, after using the target voltage as the reference voltage for the motor drive actuator in the smart lock, the method further includes:

[0016] The corresponding armature current is determined based on the reference voltage, and the torque constant and magnetic flux per pole of the motor are obtained.

[0017] The target torque is calculated based on the armature current, the torque constant, and the magnetic flux per pole.

[0018] The motor is controlled to output the target torque so that the actuator associated with the motor performs an unlocking / locking operation.

[0019] Furthermore, the voltage adjustment signal is a corresponding adjustment signal output based on the degree of sinking of the door body where the motor is located relative to the door frame, wherein the voltage adjustment signal carries an initial voltage, which is determined based on the degree of sinking.

[0020] Furthermore, the voltage adjustment signal is a corresponding adjustment signal output based on the degree of sinking of the door body where the motor is located relative to the door frame, wherein the voltage adjustment signal carries an initial voltage.

[0021] Furthermore, the degree of depression of the door relative to the door frame is determined by one or more of the following: door tilt angle, door opening and closing speed, and bolt extension / retraction status obtained by sensors. The degree of depression of the door relative to the door frame is used to determine the initial voltage.

[0022] Furthermore, the initial voltage is obtained through the following methods:

[0023] Obtain historical data for similar motors; calibrate the current motor's curve using the door's depression relative to the door frame-voltage curve generated by similar motors to determine the initial voltage of the current motor; or,

[0024] Acquire the historical operating data of the motor; fit the historical operating data of the motor to obtain an AI learning model; use the AI ​​learning model to make a prediction to obtain the corresponding initial voltage.

[0025] Secondly, embodiments of the present invention provide a motor-driven adjustment device, the device comprising: a sensing module, a control circuit module, the motor drive module, and a voltage regulation system, wherein...

[0026] The sensing module is used to detect the degree of sinking of the door body where the motor is located relative to the door frame, determine the initial voltage based on the degree of sinking, construct a voltage adjustment signal using the initial voltage, and send the voltage adjustment signal to the control circuit module.

[0027] The control circuit module is used to respond to a voltage regulation signal, determine an initial voltage based on the voltage regulation signal, regulate the initial voltage until a target voltage that meets preset conditions is output, and send the target voltage to the motor drive module.

[0028] The motor drive module is used to receive the target voltage and use the target voltage as the reference voltage for the motor drive execution component in the smart lock.

[0029] Thirdly, embodiments of the present invention provide a computer device, including: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method described in the first aspect or any corresponding embodiment thereof.

[0030] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer instructions that cause a computer to perform the method described in the first aspect or any of its corresponding embodiments.

[0031] The method provided in this application has the following beneficial effects:

[0032] The method provided in this application determines the initial voltage by responding to a voltage adjustment signal, enabling the targeted setting of the starting voltage based on the actual application scenario (such as the degree of sinking of the door relative to the door frame). This avoids the blindness of traditional fixed voltage schemes and lays the foundation for subsequent precise adjustment. By dynamically adjusting the initial voltage until the target voltage that meets the preset conditions is output, the driving voltage is adaptively optimized according to the actual operation of the actuator, ensuring that voltage redundancy is avoided while just meeting the execution requirements. This effectively solves the energy waste problem of traditional high-power drive schemes. By using the target voltage as the reference voltage for the motor to drive the actuator, the motor can be kept running stably with the minimum necessary voltage. This ensures the reliability of the actuator's operation, reduces motor power consumption, mechanical losses and noise, extends equipment lifespan, and improves user experience. Attached Figure Description

[0033] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 This is a schematic flowchart of a motor drive adjustment method according to an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of the structure of a smart lock according to an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of the structure of an infrared sensing device according to an embodiment of the present invention;

[0037] Figure 4 This is a schematic diagram showing the orientation relationship between the receiving tube and the transmitting tube according to an embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of the structure of a motor-driven adjustment system according to an embodiment of the present invention;

[0039] Figure 6 This is a schematic diagram of the structure of a voltage regulation module according to an embodiment of the present invention;

[0040] Figure 7 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] According to embodiments of the present invention, a method, apparatus, device, and storage medium for adjusting a motor drive are provided. It should be noted that the steps shown in the flowcharts in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0043] This embodiment provides a method for adjusting a motor drive. Figure 1 This is a flowchart of a motor drive adjustment method according to an embodiment of the present invention, such as... Figure 1 As shown, the process includes the following steps:

[0044] Step S101: In response to the voltage regulation signal, determine the initial voltage based on the voltage regulation signal.

[0045] In this embodiment, the voltage regulation signal is generated based on the degree of depression of the door body relative to the door frame, which can be obtained by a sensor (such as an infrared sensor). The infrared sensor integrates a transmitter and a receiver (including a first receiver and a second receiver). The transmitter emits infrared light in a specific wavelength band (such as 850nm or 960nm). The optical axis of the first receiver and the transmitter forms a first detection axis horizontal to the ground (detecting the horizontal distance between the door body and the door frame), and the optical axis of the second receiver and the transmitter forms a second detection axis perpendicular to the ground (detecting the vertical tilt of the door body relative to the door frame). By acquiring the first reflected signal from the first receiver and the second reflected signal from the second receiver, their intensity values ​​(first intensity value and second intensity value) are identified. The relative distance between the door body and the door frame is calculated by combining the preset intensity value of the transmitter. Then, the initial difference between the two intensity values ​​is calibrated using this distance to obtain the target intensity difference value, and finally, the tilt angle is determined as the degree of depression. The initial voltage is positively correlated with the degree of depression (the greater the degree of depression, the higher the initial voltage), so the initial voltage carried by the voltage regulation signal can be determined based on this degree of depression.

[0046] Step S102: Adjust the initial voltage until the output meets the target voltage of the preset conditions.

[0047] In this embodiment, the adjustment of the initial voltage must ensure that the output target voltage can drive the motor-associated actuators (such as latches and transmission structures) to accurately reach the designated position. The motor's output torque is directly related to the armature current (calculated based on the electromagnetic torque formula), and the armature current is affected by the voltage (voltage-current relationship). When the torque corresponding to the initial voltage is insufficient, the actuator cannot reach the designated position, and the voltage needs to be adjusted to change the armature current, thereby adjusting the torque; conversely, if the initial voltage is too high, the voltage can be reduced to reduce power consumption, ultimately ensuring that the target voltage precisely meets the preset conditions for the actuator to reach the designated position.

[0048] Step S103: Use the target voltage as the reference voltage for the motor drive actuator.

[0049] In this embodiment, the target voltage is an adjusted voltage that meets preset conditions (i.e., it allows the motor-associated actuator to reach a specified position). The motor-driven actuator refers to a component (such as a latch, transmission structure, etc.) driven by a motor to perform unlocking and locking operations. The reference voltage is the voltage set as a reference for the motor-driven actuator in subsequent unlocking and locking operations. This is achieved by: after obtaining the target voltage (which has been verified to ensure the actuator reaches the specified position) by adjusting the initial voltage, determining this target voltage as the reference voltage for the motor-driven actuator. This serves as the voltage reference for subsequently driving the actuator, providing a stable voltage reference for updating the reference voltage in subsequent steps (such as updating after adjustment and verification) and for calculating the armature current and target torque based on the reference voltage. This ensures that the motor-driven actuator can operate stably based on this reference voltage during unlocking and locking operations.

[0050] In this embodiment of the application, adjusting the initial voltage until the output meets the target voltage under preset conditions includes the following steps A1-A2:

[0051] Step A1: Drive the motor-associated actuator to perform a lockout operation based on the initial voltage, and monitor the first execution status of the lockout operation.

[0052] Specifically, the motor drive module applies the initial voltage to the DC motor. Under the action of the voltage, the motor generates an armature current. According to the electromagnetic torque formula, the armature current, the motor's torque constant, and the magnetic flux per pole work together to generate torque. The motor transmits the torque to the motor-related actuator (such as the bolt) through a reduction gear, lock cylinder, and other transmission devices, driving the actuator to complete the locking and unlocking operation (the bolt extends when locking and retracts when unlocking). At the same time, the smart lock's main control module monitors the action status of the actuator in real time through a detection switch (such as a micro switch) on the lock body. When the actuator reaches the designated position during its movement (such as the bolt fully extended to the locked position or fully retracted to the unlocked position), the detection switch is triggered and sends a position signal to the main control module. If the designated position is not reached, the detection switch is not triggered. The main control module records the first execution status of the locking and unlocking operation (i.e., whether the actuator has reached the designated position) based on whether it has received the position signal.

[0053] Step A2: Determine a preset adjustment strategy based on the first execution situation, and adjust the initial voltage according to the preset adjustment strategy until a target voltage that meets the preset conditions is obtained. The preset conditions are that the motor-associated actuator can reach the specified position under the drive of the target voltage.

[0054] It should be noted that the preset adjustment strategy can be either the mechanical addition and subtraction method mentioned above, which dynamically adjusts the voltage by cyclically increasing or decreasing the voltage level according to whether the actuator has reached the specified position. If the actuator has not reached the specified position, the voltage is increased step by step according to the preset upward adjustment strategy until the actuator reaches the specified position exactly; if the actuator has reached the specified position, the voltage is decreased step by step according to the preset downward adjustment strategy until the lowest voltage that makes the actuator reach the specified position exactly is found. Alternatively, it can utilize intelligent tools such as AI to construct a predictive model of the relationship between voltage and actuator position by fitting and analyzing historical adjustment data. Based on the model, an adjustment value close to the target voltage is directly generated. Or, historical data of similar motors under similar operating conditions can be used as a reference to quickly determine the initial adjustment direction and magnitude, and then fine-tuned by combining the actual execution situation to finally obtain the target voltage that meets the preset conditions.

[0055] Specifically, the preset adjustment strategy includes a preset upward adjustment strategy and a preset downward adjustment strategy, corresponding to the first execution situation where the actuator has not reached the specified position and has reached the specified position, respectively. The target voltage is the voltage that meets the preset condition after adjustment, which is that the voltage can just drive the actuator to reach the specified position. The implementation process is as follows: The main control module of the smart lock receives the first execution situation (whether the actuator has reached the specified position). If it has not reached the specified position, the main control module determines to adopt the preset upward adjustment strategy. By adjusting the PWM duty cycle, the voltage adjustment signal input to the voltage adjustment circuit is changed. The voltage adjustment circuit (such as a buck-boost topology) adjusts the initial voltage upward according to the formula based on the analog signal and the feedback circuit (including resistors R1, R2 and voltage feedback Fb) to obtain the candidate voltage. If the specified position has been reached, the preset downward adjustment strategy is adopted, and the initial voltage is adjusted downward in the same way to obtain the candidate voltage. Subsequently, the candidate voltage drives the actuator to perform the unlocking and locking operation again. The main control module monitors the execution status through the detection switch and repeats the above voltage adjustment process (adjusting up or down step by step) until the candidate voltage drives the actuator to reach the specified position. At this time, the candidate voltage is the target voltage.

[0056] In this embodiment of the application, a preset adjustment strategy is determined based on the first execution situation, and the initial voltage is adjusted according to the preset adjustment strategy until a target voltage that meets the preset conditions is obtained, including the following two cases:

[0057] Scenario 1: If the first execution condition is that the execution component has not reached the specified position, the initial voltage is increased by one voltage level according to the preset adjustment strategy to obtain a candidate voltage. Based on the candidate voltage, the execution component associated with the drive motor performs an unlocking operation, obtains the second execution condition of the unlocking operation, increases the candidate voltage according to the second execution condition, and repeats the cyclic adjustment operation until the candidate voltage obtained by increasing the voltage level by level meets the first preset condition. The candidate voltage that meets the first preset condition is taken as the target voltage.

[0058] As an example, assuming the initial voltage is 6V, when the actuator (such as the latch) is driven to perform an unlocking / locking operation based on this voltage, the detection switch is not triggered, i.e., the first execution condition is that the actuator has not reached the designated position (the latch is not fully extended). According to the preset adjustment strategy, the initial voltage is increased by one level (assuming one level is 1V) to 7V as a candidate voltage. The actuator is driven to perform the unlocking / locking operation again based on 7V. At this time, the detection switch is still not triggered (the second execution condition is not reached). The voltage is increased by another level to 8V, and the actuator is driven again. The detection switch is still not triggered. Then it is increased to 9V. After driving, the detection switch is triggered (the actuator reaches the designated position). At this time, 9V meets the first preset condition (just enough to make the actuator reach the designated position). 9V is then used as the target voltage.

[0059] Scenario 2: If the first execution state is that the execution component reaches the designated position, the initial voltage is lowered by one voltage level according to the preset downward adjustment strategy to obtain a candidate voltage. Based on the candidate voltage, the execution component associated with the drive motor performs an unlocking operation, obtains the third execution state of the unlocking operation, lowers the candidate voltage according to the third execution state, and repeats the cyclic downward adjustment operation until the candidate voltage obtained by adjusting up level by level meets the second preset condition. The candidate voltage that meets the second preset condition is taken as the target voltage.

[0060] As an example, assuming the initial voltage is 10V, when the actuator performs the locking / unlocking operation based on this voltage, the detection switch is triggered, i.e., the first execution condition is that the actuator reaches the designated position (the bolt is fully retracted). According to the preset down-adjustment strategy, the initial voltage is lowered by one level (assuming one level is 1V) to 9V as a candidate voltage. Based on 9V, the actuator performs the locking / unlocking operation again, and the detection switch is triggered (the third execution condition is reaching the designated position). The voltage is then lowered further to 8V, and the detection switch is still triggered after the operation. Next, the voltage is lowered to 7V, and the detection switch is not triggered after the operation (the actuator has not reached the designated position). At this point, the previous level of 8V meets the second preset condition (just enough to make the actuator reach the designated position), and 8V is taken as the target voltage.

[0061] In this embodiment of the application, after using the target voltage as the reference voltage for the motor drive actuator in the smart lock, the method includes the following steps B1-B3:

[0062] Step B1: Lower the reference voltage by one voltage level to obtain the current voltage.

[0063] Specifically, after determining the target voltage as the reference voltage, the smart lock's main control module retrieves the preset voltage level parameter from its storage space (this parameter is a pre-set fixed voltage difference, such as 2V / level). The main control module performs a subtraction operation on the reference voltage through its internal calculation logic, subtracting the value of one voltage level from the reference voltage (for example, if the reference voltage is 10V and the voltage level is 2V, then calculate 10V-2V). The result is the current voltage. During this process, the main control module only performs the voltage adjustment calculation through data processing; it does not require real-time hardware adjustment of the motor drive circuit or voltage adjustment circuit (such as a buck-boost topology), and only provides the calculation basis for the voltage value of the drive actuator.

[0064] Step B2: Drive the motor-associated actuator to perform a lockout operation according to the current voltage, and monitor the fourth execution status of the lockout operation.

[0065] Specifically, the main control module of the smart lock transmits the current voltage as the driving voltage parameter to the motor drive module. Upon receiving the current voltage, the motor drive module converts the input voltage of system power supply 2 into a target voltage that matches the current voltage through a voltage adjustment circuit (such as a buck-boost topology). During this process, the voltage regulator calibrates the output voltage using a voltage divider network composed of voltage divider resistors R1 and R2, based on the feedback signal from the voltage feedback (Fb) interface and the analog voltage control signal output by the main control module (converted from a PWM digital waveform), ensuring that the target voltage is stable at the current voltage. Subsequently, the target voltage is applied to the DC motor, which generates a corresponding armature current. Based on the electromagnetic torque formula, torque is generated and, through a reduction gear, lock cylinder, and other transmission devices, drives the actuator to perform the locking and unlocking operation (the bolt extends when locking and retracts when unlocking). Simultaneously, the main control module monitors the position of the actuator in real time through a detection switch (such as a microswitch) on the lock body. When the actuator reaches the designated position, the detection switch is triggered and sends a position signal; otherwise, it is not triggered. The main control module records the fourth execution status of the locking and unlocking operation based on whether this signal is received.

[0066] Step B3: If the fourth execution condition is that the execution unit has reached the designated position, the reference voltage is updated to the current voltage; or if the fourth execution condition is that the execution unit has not reached the designated position, the reference voltage is maintained at the target voltage.

[0067] Specifically, the smart lock's main control module receives the fourth execution status (i.e., whether the actuator has reached the designated position). If the fourth execution status indicates that the actuator has reached the designated position, the main control module uses its internal data update logic to replace the currently stored reference voltage parameter with the current voltage (i.e., the adjusted voltage), and stores the updated reference voltage in the storage space as the voltage reference for subsequently driving the actuator. If the fourth execution status indicates that the actuator has not reached the designated position, the main control module keeps the original reference voltage parameter unchanged and continues to store the determined target voltage as the reference voltage in the storage space, ensuring that the driving voltage of the subsequent actuator is still based on this target voltage. The entire process is completed by the main control module's judgment of the execution status signal and its read / write operations on the stored parameters, without the need for additional hardware intervention.

[0068] In this embodiment of the application, after using the target voltage as the reference voltage for the motor drive actuator in the smart lock, the method further includes steps C1-C3:

[0069] Step C1: Determine the corresponding armature current based on the reference voltage, and obtain the motor's torque constant and magnetic flux per pole.

[0070] Specifically, the main control module of the smart lock calls the reference voltage and, combined with the voltage-current relationship formula (U=E+Ia×Ra, where U is the reference voltage, E is the back electromotive force, and Ra is the armature resistance), determines the corresponding armature current Ia through internal calculation logic (ignoring the back electromotive force or calculating E based on the motor speed). At the same time, the main control module retrieves the pre-stored inherent parameters of the motor from its storage space, namely the motor torque constant KT (determined by the number of turns of the motor windings, magnetic circuit design, and other structures) and the magnetic flux per pole Φ (reflecting the magnetic field strength of the motor). These parameters have been pre-calibrated and stored in the smart lock's storage unit, and the main control module obtains the parameter values ​​through data reading operations.

[0071] Step C2: Calculate the target torque based on the armature current, torque constant, and magnetic flux per pole.

[0072] Specifically, the main control module of the smart lock calls upon the armature current, the acquired torque constant, and the magnetic flux per pole, and calculates according to the electromagnetic torque formula (T=KT×Φ×Ia, where T is the target torque, KT is the torque constant, Φ is the magnetic flux per pole, and Ia is the armature current). The main control module, through its internal calculation logic, substitutes these three parameters into the formula to perform a multiplication operation (for example, if KT is 0.5 N·m / A, Φ is 0.2 Wb, and Ia is 2 A, then 0.5 × 0.2 × 2 is calculated). The result is the target torque required to drive the actuator. This process is completed by the main control module's calculation unit and only involves data-level computation.

[0073] Step C3: Control the motor to output the target torque so that the motor-associated actuator performs the unlocking / locking operation.

[0074] Specifically, the main control module of the smart lock transmits the control parameters corresponding to the calculated target torque to the motor drive module. These control parameters are determined based on the correlation between the target torque and the reference voltage (i.e., by maintaining the stability of the reference voltage, ensuring that the armature current meets the current value required for the target torque). Based on these control parameters, the motor drive module converts the input voltage of system power supply 2 into a target voltage that matches the reference voltage through a voltage adjustment circuit (such as a buck-boost topology). The voltage regulator calibrates the output voltage in real time through a feedback circuit (including resistors R1, R2, and voltage feedback Fb) to ensure the stability of the target voltage. After the target voltage is applied to the DC motor, the motor generates a corresponding armature current under this voltage. Combining the motor's torque constant and the magnetic flux per pole, the motor outputs the target torque. This torque is transmitted to the motor-associated actuators through reduction gears, the lock cylinder, and other transmission devices, driving the actuators to complete the locking and unlocking operations (such as extending or retracting the bolt).

[0075] In this embodiment, the voltage adjustment signal is a corresponding adjustment signal output based on the degree of sinking of the door body relative to the door frame where the motor is located. The voltage adjustment signal carries an initial voltage, which is determined based on the degree of sinking.

[0076] As an example, the voltage regulation signal implementation process is as follows: First, the infrared sensing device of the smart lock (located between the latch and the main bolt, including a transmitter, a first receiver, and a second receiver) emits infrared light in the 850nm or 960nm band through the transmitter. The first receiver (whose optical axis forms a horizontal detection axis with the optical axis of the transmitter) receives the first reflected signal reflected by the door frame, and the second receiver (whose optical axis forms a vertical detection axis with the optical axis of the transmitter) receives the second reflected signal. The processing unit amplifies and filters the two reflected signals and then transmits them to the main control module. The main control module identifies the first intensity value of the first reflected signal and the second intensity value of the second reflected signal, calculates the relative distance between the door and the door frame by combining the preset intensity value of the transmitter, and then uses this distance to calibrate the initial difference between the two intensity values ​​to obtain the target intensity difference value, thereby determining the tilt angle (i.e., the degree of sinking) of the door relative to the door frame. Then, the main control module determines the initial voltage that matches the current sinking level based on the preset mapping relationship between the sinking level and the initial voltage (the greater the sinking level, the higher the initial voltage), and generates a voltage adjustment signal carrying the initial voltage, which serves as the basis for subsequent determination of the initial voltage.

[0077] In this embodiment, the voltage adjustment signal is a corresponding adjustment signal output based on the degree of sinking of the door body relative to the door frame where the motor is located, wherein the voltage adjustment signal carries the initial voltage.

[0078] It should be noted that the generation of the voltage regulation signal is directly related to the degree of depression of the door body relative to the door frame. That is, different degrees of depression of the door body relative to the door frame will result in corresponding changes in the output voltage regulation signal. Specifically, when the door body depressions relative to the door frame due to long-term use, changes in load, or other factors, this degree of depression is first detected and quantified. Then, the corresponding regulation logic is matched according to the quantified degree of depression, and a voltage regulation signal is output. The initial voltage carried in this voltage regulation signal is a reference voltage value set based on the actual working conditions after the door body depression. Its magnitude is adapted to the degree of depression, providing initial parameters that fit the actual state of the door body for subsequent voltage adjustments based on the execution situation. This ensures that the motor drives the actuators from a more reasonable voltage starting point, improving the efficiency and accuracy of voltage regulation.

[0079] Specifically, a corresponding voltage adjustment signal is generated based on the degree of subsidence, including the following steps D1-D2:

[0080] Step D1: Based on the mapping relationship between the preset sinking degree and the preset PWM duty cycle, determine the PWM duty cycle corresponding to the sinking degree.

[0081] Specifically, the preset sinking degree refers to the pre-set sinking degree of different door bodies relative to the door frame. The preset PWM duty cycle is the ratio of the high-level time to the period in the PWM (Pulse Width Modulation) signal corresponding to these preset sinking degrees. The mapping relationship refers to the correspondence between the preset sinking degrees and the preset PWM duty cycles pre-stored in the smart lock's storage space (as shown in a table). After obtaining the sinking degree between the door body and the door frame, the smart lock's master controller finds the preset PWM duty cycle that matches the current sinking degree by querying the preset mapping relationship. This is the PWM duty cycle corresponding to that sinking degree. For example, if the preset mapping relationship shows that a sinking degree of 1° corresponds to a preset PWM duty cycle of 7.0%, and a sinking degree of 3° corresponds to a preset PWM duty cycle of 4.5%, then when the current sinking degree is determined to be 3°, the corresponding PWM duty cycle can be determined to be 4.5% by querying the mapping relationship.

[0082] Step D2: Generate a PWM digital waveform using the PWM duty cycle, and convert the PWM digital waveform into a voltage regulation signal.

[0083] Specifically, PWM duty cycle refers to the ratio of the high-level duration to the signal period in a PWM (Pulse Width Modulation) signal; a PWM digital waveform is a discrete digital signal composed of alternating high and low levels; and a voltage regulation signal is a continuously changing voltage signal. The smart lock's main controller generates a corresponding PWM digital waveform (such as a 100kHz waveform, where the signal period is fixed and the high-level time percentage equals the PWM duty cycle) based on the determined PWM duty cycle. This PWM digital waveform is then input into a filtering circuit, which filters out high-frequency components, converting the discrete digital waveform into a continuous voltage regulation signal.

[0084] Based on the preset mapping relationship, the PWM duty cycle corresponding to the sinking degree is determined, and then the PWM digital waveform is converted into a voltage regulation signal. Through the flexibility of digital control, the analog voltage is precisely regulated, enabling the voltage signal to respond quickly to changes in the sinking degree. This provides an efficient signal conversion method for the dynamic adaptation of motor torque, taking into account both the accuracy and timeliness of control.

[0085] In this embodiment, a voltage adjustment signal is input to a voltage adjustment circuit, and a target voltage matching the sinking degree is output through the voltage adjustment circuit; the target voltage is used to drive the intelligent lock motor control device to perform torque adjustment operation.

[0086] It should be noted that the voltage regulation signal is a continuous voltage signal obtained by filtering and converting the PWM digital waveform; the voltage adjustment circuit (such as the buck-boost type) is a circuit that can make the output voltage higher or lower than the input voltage. Its input is the system power supply 2 (such as the smart lock battery or processed power supply), which includes a voltage regulator and a feedback circuit (including resistors R1, R2 and voltage feedback Fb); the motor drive voltage is the voltage output by the voltage adjustment circuit used to drive the motor, which is matched with the tilt angle of the door; the motor control device is a chip or module that drives the DC motor and is used to adjust the motor torque.

[0087] Specifically, the principle of torque adjustment operation of the motor control device driving the smart lock includes two aspects: voltage calculation of the step-up and step-down circuits and the motor torque adjustment mechanism.

[0088] In terms of voltage calculation for the buck-boost circuit, the buck-boost topology adopts a buck-boost type topology (supporting output voltage higher or lower than the input power supply), and uses a voltage regulator in conjunction with a feedback circuit (resistor). , and fixed feedback voltage According to the initial voltage in the voltage adjustment signal) Dynamically adjust target voltage It satisfies the formula:

[0089]

[0090] in, The target voltage (i.e., the supply voltage across the armature of the DC motor). , For feedback voltage divider resistors (such as , (This determines the proportional relationship of voltage regulation). The feedback reference voltage of the voltage regulator (a fixed value, such as...) (used to stabilize circuit references). The initial voltage in the voltage regulation signal (derived from the main control PWM waveform through filtering) is negatively correlated with the gate tilt angle: the larger the tilt angle, the lower the voltage. The smaller, The larger (the larger).

[0091] Regarding motor torque regulation, the motor control device receives... Then, based on the electromagnetic torque formula and the voltage-current relationship, the armature current is adjusted... The core formula for adjusting the tilt resistance of the door is as follows:

[0092]

[0093] in, The target torque output by the motor (unit: N·m, the rotational torque that drives the door switch); This is the motor torque constant (determined by the motor structure, such as the number of winding turns and magnetic circuit design). This refers to the magnetic flux per pole of the motor (unit: Wb, reflecting the magnetic field strength). Armature current (unit: A, the current flowing through the armature winding of the motor).

[0094] It should be noted that the voltage-current relationship (including back electromotive force) is as follows:

[0095] ,

[0096] in, The back electromotive force of the motor (derived from the rotational speed) (Generation, positively correlated with rotational speed, hinders armature current); The electromotive force constant of the motor (and) (Related, determined by the motor structure). Motor speed (unit: rpm, reflecting how fast the motor rotates); This is the armature resistance (unit: Ω, the internal resistance of the armature winding).

[0097] Specifically, the torque adaptation logic for different gate states:

[0098] Scenario 1: Door sagging causes blockage ( back electromotive force ):at this time ,Right now Substituting into the torque formula, we get: Torque and Proportional: The higher the armature current, the higher the armature current. The larger the torque The stronger the resistance, the better it can overcome stalling resistance (such as door sinking and jamming).

[0099] Scenario 2: Door tilting leads to increased load ( decline, Decrease): When the load increases, the motor speed... As the voltage decreases, the back electromotive force decreases. At this point: Substituting into the torque formula, we get: . The higher the armature current, the higher the armature current. The larger the torque The stronger: by improving Compensation for back electromotive force The decrease in voltage increases the armature current to meet heavy load requirements (such as when the door tilts and the latch gets stuck).

[0100] As an example, the smaller the initial voltage in the voltage regulation signal, the larger the target output voltage, as shown in the table below:

[0101]

[0102] The target voltage is output by controlling the buck-boost circuit through a voltage regulation signal, and then the armature current is adjusted using the target voltage to ultimately achieve dynamic adaptation of the motor torque: the greater the door tilt angle (the stronger the resistance), the higher the initial voltage in the voltage regulation signal. The smaller the target voltage The larger the torque The larger the initial voltage (to overcome resistance and ensure door opening and closing); when the door is in normal condition, the higher the initial voltage. Larger, target voltage Smaller size, moderate torque (quiet and energy-saving, avoiding wasted power consumption).

[0103] This mechanism solves the problems of power consumption waste and high noise caused by the fixed torque of traditional smart locks, and achieves adaptive adjustment of the door state through precise voltage-torque correlation. The voltage regulation signal is input to the voltage adjustment circuit, which utilizes its buck-boost characteristics to output a target voltage that matches the tilt angle. This adapts to fluctuations in the smart lock's power supply voltage (such as changes in battery power), ensuring a stable output of the required drive voltage regardless of power supply voltage levels, thus guaranteeing the reliability and stability of motor torque regulation.

[0104] In this application embodiment, the initial voltage is obtained in two additional ways:

[0105] Method 1: Obtain historical data of motors of the same type; use the sinking degree-voltage curve of the door body relative to the door frame of motors of the same type to calibrate the curve of this motor, in order to determine the initial voltage of this motor.

[0106] Understandably, data acquisition systems or databases can be used to retrieve relevant data accumulated during the past operation of motors of the same type as the current motor model, specifications, and application scenario. This data should include voltage parameters corresponding to different degrees of gate sag, motor operating status information, and gate working environment parameters, to ensure that the acquired historical data is complete and relevant, and can comprehensively reflect the voltage performance patterns of the same type of motor under gate sag conditions.

[0107] The process of calibrating the motor's curve using the door's depression relative to the door frame-voltage curve of a similar motor to determine the motor's initial voltage is as follows: First, based on historical data of similar motors, a curve showing the relationship between the door's depression relative to the door frame and the corresponding voltage value is plotted, i.e., the door's depression relative to the door frame-voltage curve. Then, preliminary testing of the motor is conducted to obtain a small amount of actual voltage data for a specific door's depression relative to the door frame, and this data is compared with the curve of a similar motor to analyze the deviation. Next, the curve of the similar motor is adjusted and corrected according to the deviation to adapt it to the characteristics of the motor, forming a calibrated door's depression relative to the door frame-voltage curve. Finally, based on the current actual door depression, the corresponding voltage value is found on the calibrated curve and determined as the initial voltage of the motor.

[0108] Method 2: Obtain historical operating data of the motor; fit the historical operating data of the motor to obtain an AI learning model; use the AI ​​learning model to make predictions and obtain the corresponding initial voltage.

[0109] Understandably, various relevant data generated by the motor during its past operation can be collected through the motor's built-in sensors, control system logs, or monitoring modules of associated devices. This includes, but is not limited to, information such as the degree of door sag relative to the door frame at different times, the corresponding drive voltage, motor running time, load changes, ambient temperature, and whether the actuators have reached the designated position. This ensures that the data covers the motor's operating status under various working conditions and includes auxiliary information such as timestamps and working condition labels, providing comprehensive and accurate raw materials for subsequent model training.

[0110] Then, the collected historical motor operation data is preprocessed, including cleaning outliers, filling in missing data, and standardizing or normalizing the data format to make the data meet the requirements of model training. Based on the preprocessed data, key features such as the degree of sinking of the gate relative to the gate frame, running time, and load are selected as input variables, and the actual driving voltage at the corresponding moment is used as the output variable to construct a training dataset. Next, a suitable AI algorithm (such as neural network, linear regression, decision tree, etc.) is selected, and the algorithm model is iteratively trained using the training dataset. By continuously adjusting the model parameters, the deviation between the model's voltage prediction results and the actual data is gradually reduced until the model's fitting accuracy reaches the preset standard. Finally, an AI learning model that reflects the mapping relationship between input features and output voltage is obtained.

[0111] In practical applications, real-time feature data such as the degree of sag of the door body relative to the door frame, the current load, and the ambient temperature are collected and processed in the same data format as during model training. The processed real-time feature data is then input into the trained AI learning model, which predicts and calculates the required driving voltage under the current operating conditions based on the internally learned mapping relationship. The output prediction result is the initial voltage for the current degree of sag of the door body relative to the door frame and other real-time operating conditions, and this initial voltage can adapt to the current actual operating state.

[0112] In this embodiment, the degree of sinking of the door relative to the door frame is determined by one or more of the following: the door tilt angle, the door opening and closing speed, and the extension and retraction of the latch obtained by the sensor. The degree of sinking of the door relative to the door frame is used to determine the initial voltage.

[0113] Specifically, by adapting to the relative deformation detection requirements of the door and the door frame (for example, the infrared sensor on the smart lock uses dual receivers to acquire reflected signals and convert them into tilt angles), the relative tilt or positional offset of the door relative to the door frame can be obtained. The core is to focus on the relative changes between the door and the door frame (because if the absolute deformation of the two remains relatively unchanged, it will not affect the operation of the lock). The method of obtaining the degree of sinking of the door relative to the door frame can also include, but is not limited to, gyroscopes, levels, etc. However, corresponding measuring components need to be set on the door frame, and the accuracy needs to be improved to meet the detection requirements of the relative sinking of the door and the door frame. Only in this way can the relative changes between the door and the door frame be effectively captured, just like infrared sensing and other methods, so as to accurately characterize the sinking state of the door relative to the door frame.

[0114] In addition to infrared sensors, gyroscopes, and levels, there are several other more accurate ways to detect door sagging, including but not limited to the following:

[0115] Method 1: Install 3-4 laser displacement sensors (resolution ≥ 0.01mm) at key gaps between the door and the door frame (such as top corners, bottom edges, and both sides of the lock body). Ensure that the sensor transmitter is fixed to the door and the receiver corresponds to the door frame (or vice versa), and that the laser beam path is perpendicular to the gap plane. When the door is not sinking, collect the initial distance values ​​of each sensor as reference data to establish a three-dimensional coordinate system (with the midpoint of the top of the door as the origin). During the door's operation, the sensors emit lasers in real time and receive reflected signals, outputting real-time distance data for each detection point. Calculate the distance difference between sensors on both sides at the same height (to determine horizontal tilt) and the distance difference between the top and bottom sensors (to determine relative vertical offset) using an algorithm. Combine this with the door height parameters to calculate the overall sinking amount and tilt angle.

[0116] Method 2: Install a camera centered on the side of the door, with the lens facing the edge of the door frame. Ensure that the gap in the door frame is within the field of view throughout the opening and closing process, and set the lens to macro mode (to clearly capture gap details down to 0.1mm). After the door is installed and tested (in its unsunken state), take multiple images of the door frame gap as reference images. Extract the contour feature points of the gap (such as the straight line parameters of the top and bottom edges) using a sub-pixel edge detection algorithm. During the use of the door, the camera captures gap images in real time. Compare the contour deviation between the real-time images and the reference images using a feature point matching algorithm. Calculate the vertical displacement of the deviation feature points (such as the downward movement distance of the top gap edge) and the horizontal offset (such as the widening of the gap on one side), and comprehensively obtain the vertical distance and degree of tilt of the door.

[0117] Method 3: Attach multiple strain gauges to the surface of the load-bearing beam near the door hinges and the corresponding fixed points of the door frame to form a strain monitoring array. Ensure the strain gauges are tightly fitted and oriented in the same direction as the load-bearing direction of the door. Connect the strain gauges to a high-precision strain gauge via wires. Perform zero-point calibration when the door is not sinking and record the initial resistance value of each strain gauge (corresponding to the stress-free state). When the door sinks, the resistance of the strain gauges changes due to deformation of the load-bearing structure. The strain gauge collects the resistance change of each strain gauge in real time and converts it into a strain value. Based on the elastic modulus of the door material, convert the strain value into the deformation at the corresponding location. Calculate the overall sinking amount (vertical displacement) and tilt angle of the door by the distribution differences of the deformation at multiple points.

[0118] In this embodiment of the application, the method for obtaining the tilt angle of the door body where the smart lock is located relative to the door frame may include the following steps E1-E2:

[0119] Step E1: Obtain the first reflected signal from the first receiving tube and the second reflected signal from the second receiving tube in the infrared sensing device of the smart lock.

[0120] It should be noted that the structural diagram of the smart lock is as follows: Figure 2As shown, the smart lock includes a front view and a side view of the lock body (the main structure on the left). The lock body includes a latch 100, an infrared sensor 200, a main bolt 300, and a deadbolt 400. The infrared sensor 200, located between the latch 100 and the main bolt 300, integrates a transmitter and a receiver (including a first receiver and a second receiver) and is installed inside the lock body (replacing the position of the traditional mechanical latch). The transmitter emits infrared light of a specific wavelength (such as 850nm or 960nm). The optical axis of the first receiver and the optical axis of the transmitter form a first detection axis horizontal to the ground (used to detect the horizontal distance between the door and the door frame). The optical axis of the second receiver and the optical axis of the transmitter form a second detection axis perpendicular to the ground (used to detect the vertical tilt of the door relative to the door frame).

[0121] Specifically, the infrared sensor on the smart lock includes a transmitter, a first receiver, and a second receiver. The optical axis of the first receiver and the optical axis of the transmitter form a first detection axis horizontal to the ground, while the optical axis of the second receiver and the optical axis of the transmitter form a second detection axis perpendicular to the ground. The transmitter emits infrared light of a specific wavelength (e.g., 850nm or 960nm). When the door is closed, the infrared light is reflected by the door frame. The first receiver receives the reflected light and forms a first reflected signal, and the second receiver receives the reflected light and forms a second reflected signal. The processing unit in the infrared sensor processes the photocurrent received by the first and second receivers (including amplification, filtering, and shaping). The processed first and second reflected signals are transmitted to the main controller of the smart lock via connecting cables, thus completing the acquisition of these two signals.

[0122] Step E2: Determine the tilt angle between the door body and the door frame where the smart lock is located based on the first reflected signal and the second reflected signal.

[0123] Specifically, firstly, the first intensity value corresponding to the first reflected signal and the second intensity value corresponding to the second reflected signal are identified, and the preset intensity value of the transmitting tube is obtained; then, the initial intensity difference between the first intensity value and the second intensity value is calculated, and the relative distance between the door body and the door frame is calculated by combining the first intensity value and the preset intensity value; finally, the initial intensity difference is calibrated using this relative distance (to eliminate the influence of different distances between the transmitting tube and the two receiving tubes) to obtain the target intensity difference, and then the tilt angle between the door body and the door frame is determined based on the target intensity difference.

[0124] In this embodiment, the infrared sensing device is disposed inside the lock body of the smart lock and located between the latch and the main bolt. The infrared sensing device includes a transmitter, a first receiver and a second receiver. The optical axis of the first receiver and the optical axis of the transmitter form a first detection axis horizontal to the ground, and the optical axis of the second receiver and the optical axis of the transmitter form a second detection axis perpendicular to the ground.

[0125] Specifically, the infrared sensor is installed inside the lock body of the smart lock, specifically between the latch and the main bolt. This device includes a transmitter, a first receiver, a second receiver, a processing unit, connecting cables, and a light-blocking component. The transmitter is a light-emitting diode that emits infrared light in the 850nm or 960nm band; the first and second receivers are transistors that receive reflected infrared light and generate photocurrent. The optical axis of the first receiver and the optical axis of the transmitter form a straight line horizontal to the ground; this line is the first detection axis. The optical axis of the second receiver and the optical axis of the transmitter form a straight line perpendicular to the ground; this line is the second detection axis. The two detection axes form a right angle (the second receiver is located above or below the transmitter). Additionally, the infrared sensor includes a light-blocking component (such as a black plastic piece) to isolate the transmitter and receiver to prevent crosstalk. The processing unit drives the transmitter to emit infrared light and amplifies, filters, and shapes the photocurrent generated by the receiver. The connecting cables connect the processing unit to the smart lock circuit board, transmitting power, ground signals, and sensing signals.

[0126] As an example, a schematic diagram of an infrared sensing device is shown below. Figure 3 As shown, the device is integrated inside the smart lock body. Its core components and layout are as follows: Transmitter 1: A circular opening, it is a light-emitting diode that emits infrared light of a specific wavelength, responsible for emitting invisible infrared light outwards; Receiver 2: A square opening, located directly above transmitter 1, it is a transistor that receives reflected infrared light and generates photocurrent; Receiver 3: A square opening, located to the horizontal right of transmitter 1, it is also a transistor that receives reflected infrared light; The center line connecting transmitter 1 and receiver 3 is parallel to the ground, forming the first detection axis (used to detect the horizontal distance between the door and the door frame); the center line connecting transmitter 1 and receiver 2 is perpendicular to the ground, forming the second detection axis (used to detect the vertical tilt of the door relative to the door frame), and the angle between the two detection axes is a right angle.

[0127] The installation position of the infrared sensing device (between the latch and the main latch inside the lock body) and the layout of the optical axis (the optical axis of the first receiving tube and the optical axis of the transmitting tube are horizontal, and the optical axis of the second receiving tube and the optical axis of the transmitting tube are vertical) allow the horizontal optical axis to stably detect the horizontal distance between the door and the door frame, while the vertical optical axis can accurately capture changes in tilt in the vertical direction. This structural design provides a physical basis for the accurate calculation of the subsequent tilt angle, improving the stability and accuracy of door status detection.

[0128] By acquiring the reflected signals from the first and second receivers in the infrared sensing device, the relative distance and tilt status between the door and the door frame can be accurately detected. The tilt angle determined based on this can accurately reflect the actual sinking of the door. Then, a corresponding voltage adjustment signal is generated based on the tilt angle. By dynamically adjusting the voltage to match the torque required by the motor, adaptive adjustment of the motor torque is achieved. That is, for normal doors that have not sunk, low torque can be output to reduce power consumption, reduce noise, extend the battery life of the smart lock, and improve the quietness of use. For sunken and tilted doors, sufficient torque can be output to ensure normal opening and closing of the door. This effectively solves the problem of high power consumption and high noise caused by using high-specification motors to adapt to a few sunken doors in the existing technology, thus balancing the reliability of the smart lock and the user experience.

[0129] In this embodiment of the application, the tilt angle between the door body where the smart lock is located and the door frame is determined based on the first reflected signal and the second reflected signal, including the following steps F1-F3:

[0130] Step F1: Identify the first intensity value of the first reflected signal and the second intensity value of the second reflected signal, and obtain the preset intensity value of the emitting tube in the infrared sensing device.

[0131] Specifically, the first reflected signal refers to the signal generated after the first receiving tube in the infrared sensing device receives the infrared light emitted by the transmitting tube and reflected by the door frame; the first intensity value is the magnitude of this signal. The second reflected signal refers to the signal generated after the second receiving tube receives the reflected infrared light; the second intensity value is the magnitude of this signal. The preset intensity value is the emission intensity value of the transmitting tube in the infrared sensing device, which is pre-calibrated and stored in the smart lock's storage space. The smart lock's main control receives the first and second reflected signals transmitted through the processing unit (which amplifies, filters, and shapes the photocurrent generated by the receiving tube, etc.), identifies these two signals to obtain the first and second intensity values, and simultaneously retrieves the preset intensity value of the transmitting tube from the storage space.

[0132] Step F2: Calculate the initial strength difference between the first strength value and the second strength value, and calculate the relative distance between the door body where the smart lock is located and the door frame based on the first strength value and the preset strength value.

[0133] Specifically, the initial intensity difference is obtained by calculating the difference between the first intensity value and the second intensity value (e.g., when the first intensity value is 80 units and the second intensity value is 70 units, the initial intensity difference is 10 units); the preset intensity value is the emission intensity value calibrated and stored by the transmitter in the infrared sensor before leaving the factory, and the relative distance is the distance between the door body and the door frame where the smart lock is located. First, the difference between the first intensity value and the second intensity value is calculated to obtain the initial intensity difference; then, the first intensity value is compared with the preset intensity value, and the distance and reflection parameters (which calibrate the correspondence between reflection intensity and emission intensity at different distances) are referenced in the smart lock's storage space to determine the relative distance between the door body and the door frame (for example, if the preset intensity value is 100 units, and the calibration parameter shows that a distance of 5mm corresponds to a reflection intensity of 80 units, then when the first intensity value is 80 units, the relative distance is 5mm).

[0134] Step F3: The initial strength difference is calibrated using the relative distance to obtain the target strength difference, and the tilt angle between the door body and the door frame where the smart lock is located is determined based on the target strength difference.

[0135] Specifically, when the distances (L2) between the transmitter and the first receiver in the infrared sensing device and (L1) between the transmitter and the second receiver are different, the initial intensity difference will be affected by the distance difference. Therefore, using the calculated relative distances and the preset correspondence between distance and calibration coefficient (e.g., the calibration coefficient is larger the farther the distance), the initial intensity difference is corrected to eliminate the interference of distance differences, thus obtaining the target intensity difference. Then, based on the mapping relationship between the target intensity difference and the tilt angle (e.g., every 2 units increase in the difference corresponds to a 1-degree increase in the tilt angle), the tilt angle between the door and the door frame is determined. For example, if the relative distance is 6mm and the initial intensity difference is 12 units, according to the calibration coefficient of 0.8 corresponding to 6mm, the calibrated target intensity difference is 9.6 units. Since the preset 9.6 units correspond to a tilt angle of 3 degrees, the tilt angle is determined to be 3 degrees.

[0136] By identifying the intensity value of the reflected signal, calculating the initial intensity difference, and calibrating the difference based on the relative distance between the door and the door frame, the tilt angle is finally determined. This process introduces a distance calibration mechanism, which can eliminate the interference of the basic distance between the door and the door frame on the intensity difference, making the target intensity difference more closely match the actual tilt situation. This significantly improves the accuracy of the tilt angle calculation and provides a reliable basis for motor torque adjustment.

[0137] In this embodiment of the application, the method further includes the following steps H1-H3:

[0138] Step H1: Obtain the orientation of the second receiving tube relative to the transmitting tube in the second detection axis.

[0139] Specifically, the main controller of the smart lock determines the orientation of the second receiver relative to the transmitter in the second detection axis by reading the hardware configuration information (such as installation location calibration parameters) preset and stored by the infrared sensing device, or by detecting the cable markings connecting the second receiver and the transmitter. For example, if the second receiver is above the transmitter, the obtained orientation relationship is an upward vertical relationship; if the second receiver is below the transmitter, the orientation relationship is a downward vertical relationship.

[0140] Step H2: Based on the orientation relationship and the tilt angle between the door body where the smart lock is located and the door frame, determine the sinking state of the door body where the smart lock is located relative to the door frame.

[0141] It should be noted that the sinking state includes the normal state (no tilt between the door and the frame), the first abnormal state (the upper half of the door is away from the frame), and the second abnormal state (the lower half of the door is away from the frame). The smart lock's main controller determines the sinking state based on the orientation and tilt angle, according to preset rules. For example, if the orientation is that the second receiver is perpendicular to the transmitter downwards, with a preset value of 0 degrees: when the tilt angle is 3 degrees (greater than 0 degrees), it is determined to be the first abnormal state; when the tilt angle is 0 degrees (equal to the preset value), it is determined to be the normal state; and when the tilt angle is -2 degrees (less than 0 degrees), it is determined to be the second abnormal state. If the orientation is perpendicular to the receiver upwards, with a preset value of 0 degrees: when the tilt angle is 3 degrees (greater than 0 degrees), it is determined to be the second abnormal state; when the tilt angle is 0 degrees, it is determined to be the normal state; and when the tilt angle is -2 degrees (less than 0 degrees), it is determined to be the first abnormal state.

[0142] Step H3: Based on the sunken state, control the smart lock to perform the corresponding prompt operation.

[0143] Specifically, after determining the door's sinking state, the smart lock's master controller, based on the preset correspondence between sinking states and prompts, controls the smart lock's prompting components (such as indicator lights, speakers, and displays) to perform corresponding operations. For example, if the sinking state is normal, the smart lock does not perform any prompting operations; if it is the first abnormal state (the upper part is away from the door frame), the master controller controls the indicator light to flash red and emits a prompt tone through the speaker saying "The upper part of the door is deformed, please check"; if it is the second abnormal state (the lower part is away from the door frame), the master controller controls the display screen to show the text message "The lower part of the door is tilted, repair recommended," thus completing the corresponding prompting operation.

[0144] By obtaining the orientation relationship between the second receiving tube and the transmitting tube, and combining the tilt angle to determine the sinking state of the door and control the prompt operation, the tilt trend and abnormal state of the door can be monitored in real time. The installation or deformation problems of the door can be promptly reported to the user, which can facilitate the user to carry out maintenance in advance, avoid smart lock failure due to excessive door deformation, and extend the service life of the equipment.

[0145] In this embodiment, the sinking state of the door relative to the door frame is determined based on the orientation relationship and the tilt angle between the door body where the smart lock is located and the door frame, including the following two situations:

[0146] Scenario 1: If the orientation relationship is such that the second receiving tube is perpendicular to the transmitting tube in the second detection axis, then when the tilt angle is greater than the preset value, the door body where the smart lock is located is determined to be in the first abnormal state, which is the upper half far away from the door frame; when the tilt angle is equal to the preset value, the door body where the smart lock is located is determined to be in the normal state; when the tilt angle is less than the preset value, the door body where the smart lock is located is determined to be in the second abnormal state, which is the lower half far away from the door frame.

[0147] Specifically, the preset value is a pre-defined tilt angle baseline (e.g., 0 degrees); the first abnormal state is when the upper half of the door is far from the door frame, the normal state is when the door is not tilted relative to the door frame, and the second abnormal state is when the lower half of the door is far from the door frame. When the second receiver is in a downward vertical orientation relative to the transmitter, the smart lock's main controller compares the tilt angle with the preset value. If the tilt angle is greater than the preset value (e.g., the preset value is 0 degrees and the tilt angle is 3 degrees), the door is determined to be in the first abnormal state; if the tilt angle is equal to the preset value (e.g., both are 0 degrees), the door is determined to be in the normal state; if the tilt angle is less than the preset value (e.g., the tilt angle is -2 degrees), the door is determined to be in the second abnormal state.

[0148] Scenario 2: If the orientation relationship is that the second receiving tube is perpendicular to the transmitting tube in the second detection axis, then when the tilt angle is greater than the preset value, the door body where the smart lock is located is determined to be in the second abnormal state, which is the lower half away from the door frame; when the tilt angle is equal to the preset value, the door body where the smart lock is located is determined to be in the normal state; when the tilt angle is less than the preset value, the door body where the smart lock is located is determined to be in the first abnormal state, which is the upper half away from the door frame.

[0149] Specifically, when the second receiver tube is in an upward and vertical orientation relative to the transmitter tube, the main controller of the smart lock compares the tilt angle with a preset value. If the tilt angle is greater than the preset value (e.g., the preset value is 0 degrees and the tilt angle is 3 degrees), the door is determined to be in the second abnormal state; if the tilt angle is equal to the preset value (e.g., both are 0 degrees), the door is determined to be in the normal state; if the tilt angle is less than the preset value (e.g., the tilt angle is -2 degrees), the door is determined to be in the first abnormal state.

[0150] As an example, such as Figure 4As shown, the transmitting tube 1 and the receiving tube 2 are arranged along the height direction of the door body (the direction perpendicular to the ground), and the receiving tube 2 is directly below the transmitting tube 1 (that is, the orientation relationship is that the second receiving tube is vertically downward relative to the transmitting tube in the second detection axis, corresponding to Case 1). Combining the relationship between the reflected signal intensity and the tilt angle, the determination logic for the sunken state of the door body is as follows:

[0151] If the door body is parallel and fitted to the door frame, after the infrared light emitted by the transmitting tube 1 is reflected by the door frame, the intensity a2 of the second reflected signal received by the receiving tube 2 is equal to the calibrated intensity a1 of the first reflected signal (because there is no tilt of the door body and the reflected light is evenly distributed). At this time, after calibration in combination with the distance L1 (the distance between the transmitting tube 1 and the receiving tube 2), the calculated tilt angle is equal to the preset value (such as the angle when the door body and the door frame have no tilt is 0), and it is determined that the door body where the intelligent lock is located is in a normal state.

[0152] If the upper part of the door body is deformed / affected by external force and moves away from the door frame (for example, the door body tilts outward around the lower hinge), the reflection area of the emitted light on the door frame will shift towards the upper part of the door body. Since the receiving tube 2 is located below the transmitting tube 1, more reflected light will be captured by the lower receiving tube 2, resulting in a2 > a1. After calibration in combination with the distance L2 (to offset the influence of the vertical distance on the amount of reflected light), the calculated tilt angle is greater than the preset value, and at this time, it is determined that the door body is in the first abnormal state where the upper part moves away from the door frame.

[0153] If the lower part of the door body is deformed / affected by external force and moves away from the door frame (for example, the door body tilts outward around the upper hinge), the path of the reflected light reaching the receiving tube 2 will be blocked or the reflection angle will be changed due to the tilt of the lower part of the door body, resulting in a2 < a1. After calibration in combination with the distance L1, the calculated tilt angle is less than the preset value, and at this time, it is determined that the door body is in the second abnormal state where the lower part moves away from the door frame.

[0154] According to the orientation relationship between the second receiving tube and the transmitting tube and the tilt angle, the specific sunken state of the door (such as the upper part moving away from the door frame, the lower part moving away from the door frame, etc.) is accurately distinguished, making the judgment of the abnormal state of the door more detailed, enabling the user to clearly understand the deformation direction and degree of the door, so as to take targeted maintenance measures, improving the practicability and accuracy of the fault prompt.

[0155] As Figure 5 shown, this embodiment provides a motor adjustment device, which includes: an induction module, a control circuit module, a motor drive module, and a voltage regulation system, where:

[0156] The induction module is used to detect the sunken degree of the door body where the motor is located relative to the door frame, determine the initial voltage according to the sunken degree, construct a voltage regulation signal using the initial voltage, and send the voltage regulation signal to the control circuit module;

[0157] The control circuit module is used to respond to the voltage regulation signal, determine the initial voltage according to the voltage regulation signal, regulate the initial voltage until the output meets the target voltage of the preset condition, and send the target voltage to the motor drive module.

[0158] The motor drive module is used to receive the target voltage and use it as the reference voltage for the motor drive actuator in the smart lock.

[0159] The control circuit module is configured to, when the first execution condition is that the execution component has not reached the specified position, increase the initial voltage by one voltage level according to a preset upward adjustment strategy to obtain a candidate voltage, drive the execution component associated with the motor to perform an unlocking operation based on the candidate voltage, obtain the second execution condition of the unlocking operation, increase the candidate voltage according to the second execution condition, and repeat the cyclic upward adjustment operation until the candidate voltage obtained by increasing the voltage level by level meets the first preset condition, and take the candidate voltage that meets the first preset condition as the target voltage;

[0160] The control circuit module is configured to, when the first execution state is that the execution component reaches the designated position, reduce the initial voltage by one voltage level according to a preset reduction strategy to obtain a candidate voltage, drive the execution component associated with the motor to perform an unlocking operation based on the candidate voltage, obtain the third execution state of the unlocking operation, reduce the candidate voltage according to the third execution state, repeat the cyclic reduction operation until the candidate voltage obtained by gradually increasing the voltage level meets the second preset condition, and take the candidate voltage that meets the second preset condition as the target voltage.

[0161] The control circuit module is further configured to determine the corresponding armature current based on the reference voltage, and obtain the torque constant and per-pole flux of the motor; calculate the target torque based on the armature current, the torque constant and the per-pole flux; and control the motor to output the target torque so that the actuator associated with the motor performs an unlocking operation.

[0162] The voltage adjustment signal is a corresponding adjustment signal output based on the degree of depression of the door body relative to the door frame where the motor is located. The voltage adjustment signal carries an initial voltage, which is determined based on the degree of depression. The degree of depression of the door body relative to the door frame is determined by one or more of the following: door tilt angle, door opening and closing speed, and latch extension / retraction status obtained by sensors. This degree of depression is used to determine the initial voltage.

[0163] The initial voltage is obtained by: acquiring historical data of motors of the same type; calibrating the curve of the motor by using the sinking degree-voltage curve of the door body relative to the door frame of the same type of motor to determine the initial voltage of the motor; or, acquiring historical operating data of the motor; fitting the historical operating data of the motor to obtain an AI learning model; and using the AI ​​learning model to make a prediction to obtain the corresponding initial voltage.

[0164] In the embodiments of this application, such as Figure 5 As shown, system power supply 1 is electrically connected to the control circuit module, providing power to the control circuit module; system power supply 2 is electrically connected to the voltage regulation module, providing input power to the voltage regulation module; the voltage regulation module is connected to both the control circuit module and the motor drive module, receiving control signals from the control circuit module and outputting the regulated supply voltage to the motor drive module; the motor drive module is connected to both the control circuit module and the motor and transmission device module, receiving control signals from the control circuit module and power from the voltage regulation module, driving the motor and transmission device module; the motor and transmission device module is associated with the sensing module, performing torque adjustment of the lock body; the control circuit module is communicatively connected to the sensing module, receiving its feedback signals.

[0165] The sensing module is used to acquire the first reflected signal from the first receiving tube and the second reflected signal from the second receiving tube in the infrared sensing device of the smart lock, and send the signal to the control circuit module; the infrared sensing device is set inside the lock body of the smart lock (located between the bolt and the main bolt), and includes a transmitting tube, a first receiving tube, and a second receiving tube, wherein the optical axis of the first receiving tube and the optical axis of the transmitting tube form a first detection axis horizontal to the ground, and the optical axis of the second receiving tube and the optical axis of the transmitting tube form a second detection axis perpendicular to the ground;

[0166] The control circuit module is used to receive the first and second reflected signals sent by the sensing module, identify the signal strength values ​​(first strength value and second strength value), and obtain the preset strength value of the transmitting tube; calculate the initial strength difference between the first strength value and the second strength value, calculate the relative distance between the door and the door frame based on the first strength value and the preset strength value, calibrate the initial strength difference using the relative distance to obtain the target strength difference, and determine the tilt angle between the door and the door frame based on the target strength difference; determine the PWM duty cycle corresponding to the tilt angle based on the mapping relationship between the tilt angle and the PWM duty cycle, generate a PWM digital waveform control signal, and send it to the voltage regulation module;

[0167] The voltage regulation module is used to receive the PWM digital waveform control signal from the control circuit module, and convert the input voltage of the system power supply 2 into a target voltage that matches the tilt angle through the voltage regulation circuit, and output it to the motor drive module.

[0168] The motor drive module is used to receive control signals from the control circuit module and the target voltage output from the voltage regulation module, and drive the motor and transmission device module to perform torque regulation operations.

[0169] The motor and transmission module is used to adjust the output torque according to the target voltage under the drive of the motor drive module, so as to realize the adaptation of the smart lock body and the door frame (such as compensating for the locking resistance caused by the tilt angle).

[0170] System power supply 1 is used to provide a stable operating power supply for the control circuit module;

[0171] System power supply 2 is used to provide input power to the voltage regulation module as the power source for target voltage regulation.

[0172] Specifically, the control circuit module is also used to obtain the orientation relationship of the second receiving tube relative to the transmitting tube in the second detection axis (such as vertical downward or vertical upward), and to determine the sinking state of the door body by combining the tilt angle (first abnormal state: the upper part is far away from the door frame; second abnormal state: the lower part is far away from the door frame; normal state), and generate corresponding control signals.

[0173] Specifically, voltage regulation modules, such as Figure 6 As shown, it includes: a voltage regulator, voltage divider resistors R1 and R2; wherein, the system power supply 2 is electrically connected to the power input terminal of the voltage regulator to provide input power to the voltage regulator; the output terminal of the voltage regulator is electrically connected to the first terminal of R1, the second terminal of R1 is electrically connected to the first terminal of R2 and the voltage feedback (Fb) interface respectively, and the second terminal of R2 is electrically connected to the main control voltage regulation (Vi) interface; the output target voltage (Vo) is led out from the connection node between the output terminal of the voltage regulator and the first terminal of R1.

[0174] The voltage regulator is used to receive electrical energy input from the system power supply 2. Based on the feedback voltage signal of voltage feedback and the analog control voltage signal of the main control voltage regulation, it performs voltage transformation on the input electrical energy through the voltage adjustment circuit and outputs the target voltage to the voltage divider resistor R1.

[0175] The voltage divider resistors R1 and R2 form a voltage divider network, which is used to sample the voltage output by the voltage regulator, generate a voltage feedback signal and send it back to the voltage regulator to form a closed-loop voltage regulation. At the same time, R2 receives the analog voltage control signal (converted from PWM digital waveform) output by the control circuit module. By adjusting the voltage division ratio, the magnitude of the target voltage (Vo) is calibrated so that the target voltage (Vo) matches the tilt angle of the smart lock door.

[0176] The PWM digital waveform output by the control circuit module is converted by D / A and then input to the main control voltage regulation interface in the form of analog voltage. By changing the feedback ratio of the voltage divider network, the target voltage (Vo) output by the voltage regulator is dynamically adjusted to ensure that the target voltage is precisely matched with the tilt angle of the door, thereby achieving adaptive torque adjustment.

[0177] See also Figure 7 , Figure 7 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 7 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system).

[0178] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0179] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0180] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device as shown by a landing page for an app. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0181] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0182] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0183] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0184] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for adjusting a motor drive, characterized in that, The method includes: In response to a voltage adjustment signal, an initial voltage is determined based on the voltage adjustment signal, wherein the voltage adjustment signal is a corresponding adjustment signal output based on the degree of sinking of the door body where the motor is located relative to the door frame, the voltage adjustment signal carries the initial voltage, the voltage adjustment signal is output according to the quantized degree of sinking and matched with the corresponding adjustment logic, and the magnitude of the initial voltage is adapted to the degree of sinking; The initial voltage is adjusted until the target voltage that meets the preset conditions is output; The target voltage is used as the reference voltage for the motor drive actuator in the smart lock.

2. The method according to claim 1, characterized in that, The step of adjusting the initial voltage until the output meets the target voltage condition includes: Based on the initial voltage, the actuator associated with the motor is driven to perform an unlocking / locking operation, and the first execution status of the unlocking / locking operation is monitored; A preset adjustment strategy is determined based on the first execution situation, and the initial voltage is adjusted according to the preset adjustment strategy until a target voltage that meets the preset conditions is obtained, wherein the preset conditions are that the motor-associated actuator can just reach the specified position under the drive of the target voltage.

3. The method according to claim 2, characterized in that, The step of determining a preset adjustment strategy based on the first execution status and adjusting the initial voltage according to the preset adjustment strategy until a target voltage that meets preset conditions is obtained includes: If the first execution condition is that the execution component has not reached the specified position, the initial voltage is increased by one voltage level according to the preset upward adjustment strategy to obtain a candidate voltage. Based on the candidate voltage, the execution component associated with the motor is driven to perform an unlocking operation. The second execution condition of the unlocking operation is obtained. The candidate voltage is increased according to the second execution condition. The cyclic upward adjustment operation is repeated until the candidate voltage obtained by increasing the voltage level by level meets the first preset condition. The candidate voltage that meets the first preset condition is taken as the target voltage. Alternatively, if the first execution state is that the execution component reaches the designated position, the initial voltage is lowered by one voltage level according to the preset down-adjustment strategy to obtain a candidate voltage. Based on the candidate voltage, the execution component associated with the motor is driven to perform an unlocking operation. The third execution state of the unlocking operation is obtained. The candidate voltage is lowered according to the third execution state. The cyclic down-adjustment operation is repeated until the candidate voltage obtained by gradually increasing the voltage level meets the second preset condition. The candidate voltage that meets the second preset condition is taken as the target voltage.

4. The method according to claim 1, characterized in that, After using the target voltage as the reference voltage for the motor drive actuator in the smart lock, the method further includes: The corresponding armature current is determined based on the reference voltage, and the torque constant and magnetic flux per pole of the motor are obtained. The target torque is calculated based on the armature current, the torque constant, and the magnetic flux per pole. The motor is controlled to output the target torque so that the actuator associated with the motor performs an unlocking / locking operation.

5. The method according to claim 1, characterized in that, The degree of depression of the door relative to the door frame is determined by one or more of the following: door tilt angle, door opening and closing speed, and bolt extension / retraction status obtained by sensors. The degree of depression of the door relative to the door frame is used to determine the initial voltage.

6. The method according to claim 1, characterized in that, The method for obtaining the initial voltage also includes: Obtain historical data for similar motors; calibrate the current motor's curve using the door's depression relative to the door frame-voltage curve generated by similar motors to determine the initial voltage of the current motor; or, The historical operating data of the motor is acquired; the historical operating data is fitted to obtain an AI learning model; the AI ​​learning model is used to make a prediction to obtain the corresponding initial voltage.

7. A motor adjusting device, characterized in that, The device includes: a sensing module, a control circuit module, a motor drive module, and a voltage regulation system, wherein... The sensing module is used to detect the degree of sinking of the door body where the motor is located relative to the door frame, determine the initial voltage based on the degree of sinking, construct a voltage adjustment signal using the initial voltage, and send the voltage adjustment signal to the control circuit module. The voltage adjustment signal is a corresponding adjustment signal output based on the degree of sinking of the door body where the motor is located relative to the door frame. The voltage adjustment signal carries the initial voltage and is output by matching the corresponding adjustment logic according to the quantized degree of sinking. The magnitude of the initial voltage is adapted to the degree of sinking. The control circuit module is used to respond to a voltage regulation signal, determine an initial voltage based on the voltage regulation signal, regulate the initial voltage until a target voltage that meets preset conditions is output, and send the target voltage to the motor drive module. The motor drive module is used to receive the target voltage and use the target voltage as the reference voltage for the motor drive execution component in the smart lock.

8. A computer device, characterized in that, include: A memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the method of any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a computer to perform the method of any one of claims 1 to 6.

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