Automatic door opening device and method for data center machine room

Abstract

According to the automatic door opening device and method for the data center machine room, nearby Bluetooth equipment is scanned and authenticated through a Bluetooth module, only the equipment is authorized to trigger a door opening signal, illegal invasion is effectively prevented, after authentication is passed, an electric door closer module automatically pushes open and resets a door leaf, manual pushing and pulling are not needed, time and labor are saved, and the efficiency is improved. The door can be closed in time to maintain the closed environment of the machine room, so that potential safety hazards and environmental interference are avoided; the whole door opening process is automatic, human errors are reduced, management is more standard and orderly, meanwhile, the sensing module detects the position and the moving direction of a person, a system is helped to accurately control the opening and closing time of a door, people are prevented from being clamped, and in addition, the effect that the intelligent maintenance robot automatically enters a polling room through Bluetooth induction during polling is achieved; door opening and closing angle closed-loop feedback is further provided, the door state can be mastered in real time, abnormity can be handled in time, normal operation of the door is guaranteed, the machine room environment and equipment are prevented from being affected, and the operation and maintenance efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of data center computer room door opening technology, and in particular to an automatic door opening device and method for data center computer rooms. Background Technology

[0002] With the rapid development of information technology, data centers, as the core places for data storage, processing and transmission, are growing in scale and number. Data center computer rooms usually deploy a large number of critical servers, network equipment and other equipment. The stable operation of these devices is crucial to ensuring business continuity.

[0003] In the daily management and maintenance of data center server rooms, the access control of maintenance personnel and intelligent maintenance robots is a crucial aspect. Current technologies typically use access control systems such as card swiping, passwords, and biometrics. However, after opening the door, manual pushing / pulling is still required, which is inconvenient and inefficient when personnel are carrying equipment (such as servers and tools), and poses a risk of collisions with the door. Furthermore, when intelligent maintenance robots are needed for on-site inspections, they cannot automatically pass through fire doors with access control, and cannot autonomously inspect multiple server rooms. In addition, entry into the data center's business server rooms is limited to simple identity authentication, lacking automatic door control and status monitoring functions. When a door is not properly closed, timely feedback and handling are impossible. Summary of the Invention

[0004] In view of this, the present invention proposes an automatic door opening device and method for data center computer rooms, which can effectively solve the defects of the prior art, such as the need for manual pushing / pulling of doors, the inability of robots to automatically pass through fire doors with access control, and the lack of automatic control and status monitoring functions for doors.

[0005] The technical solution of this invention is implemented as follows:

[0006] An automatic door opening device for a data center server room includes:

[0007] The Bluetooth module is used to scan for Bluetooth devices near the data center server room for authentication, and outputs an access control opening signal to the electric door closer module after successful authentication.

[0008] The electric door closer module is used to push open the data center computer room door after receiving the access control opening signal, and automatically reset after the door is opened;

[0009] The sensing module is used to assist in detecting the exact location and direction of movement of personnel, as well as to provide closed-loop feedback on the opening and closing angle of the door;

[0010] The power supply module provides operating voltage for the Bluetooth module, electric door closer module, and sensing module.

[0011] As a further optional solution for the automatic door opening device for data center computer rooms, the Bluetooth module includes:

[0012] Bluetooth receiver for real-time scanning of Bluetooth devices near data center server rooms;

[0013] Bluetooth transmitter, used for pre-authorization binding with user identity;

[0014] The authentication unit is used to perform identity authentication when a Bluetooth device signal is detected and the signal strength reaches a preset threshold.

[0015] As a further optional embodiment of the automatic door opening device for data center computer rooms, the electric door closer module includes:

[0016] The access control unit is used to receive access control opening signals;

[0017] The relay module is used for the linkage between the access control unit and the electric door closer body;

[0018] The electric door closer unit is used to push open the access control door of the data center computer room and automatically reset after the door is opened.

[0019] As a further optional embodiment of the automatic door opening device for data center computer rooms, the access control unit includes:

[0020] The door opening button is used to receive the door opening signal from the access control system and forward it to the access control controller;

[0021] Access control controllers are used to disconnect the power to the magnetic lock and relay module based on the access control opening signal;

[0022] Magnetic locks are used to keep the doors of data center computer rooms closed.

[0023] As a further alternative to the automatic door opening device for data center computer rooms, the electric door closer unit includes:

[0024] The electric door closer body is used to push open the access control door of the data center computer room and automatically reset after the door is opened;

[0025] The robotic arm unit is used to assist in pushing or closing the access control door of the data center computer room during the process of pushing open the door or automatically resetting.

[0026] As a further alternative to the aforementioned automatic door opening device for data center computer rooms, the robotic arm unit includes:

[0027] The robotic arm controller is used to plan the movement path of the robotic arm and control the end effector to move to the predetermined contact point of the door.

[0028] A robotic arm is used to apply controllable thrust along a planned trajectory via an end effector to achieve the action of opening or closing a door.

[0029] The monitoring unit is used to monitor the contact force and torque of the end effector in real time, maintain the thrust within the set range, and immediately stop the movement and sound an alarm when encountering obstruction or collision.

[0030] As a further optional embodiment of the automatic door opening device for data center computer rooms, the sensing module includes:

[0031] Proximity sensors are used to assist in detecting the exact location and direction of movement of personnel;

[0032] Door status sensors are used to monitor the opening and closing angle of the door and provide closed-loop feedback.

[0033] An automatic door opening method for a data center server room specifically includes:

[0034] The Bluetooth module scans for Bluetooth devices near the data center server room to authenticate them, and outputs an access control signal to the electric door closer module after successful authentication.

[0035] After receiving the access control opening signal, the electric door closer module pushes open the data center computer room access door and automatically resets after opening.

[0036] As a further optional solution to the automatic door opening method for data center computer rooms, the process of pushing open the data center computer room access control door and automatically resetting it after opening, with the assistance of a robotic arm unit to push or close the door, specifically includes:

[0037] Once the proximity sensor confirms that a person is approaching the door and there is no abnormality, an opening command is sent to the robotic arm controller.

[0038] After receiving the door opening command, the robotic arm controller plans the path and controls the end effector of the robotic arm to move to the predetermined contact point of the door and apply a controllable thrust to push the door leaf.

[0039] Real-time monitoring of the contact force and torque of the end effector, maintaining the thrust within the set effective range, and immediately stopping the movement and alarming when encountering obstruction or collision;

[0040] The door status sensor or the angle of the robotic arm joint is used to calculate whether the door is open or closed to a predetermined angle.

[0041] The beneficial effects of this invention are as follows: By scanning nearby Bluetooth devices for authentication via a Bluetooth module, and upon successful authentication, an access control signal is output to the electric door closer module. Upon receiving the signal, the electric door closer module automatically opens the data center server room access door. This process eliminates the need for manual pushing / pulling of the door, significantly saving time and manpower. It is particularly suitable for personnel who frequently enter and exit the server room for equipment inspection and maintenance, significantly improving operational efficiency. The electric door closer module automatically resets after opening, ensuring the door closes promptly after personnel pass through, maintaining a closed environment in the server room and avoiding potential safety hazards and environmental interference caused by unclosed doors. Simultaneously, the Bluetooth module scans and authenticates nearby Bluetooth devices; only authorized devices can trigger the door opening signal, effectively preventing unauthorized personnel from entering the server room and enhancing its security. The entire door opening process is automated. The system features automated control, eliminating the need for manual intervention from identity authentication to door opening and resetting. This reduces the possibility of human error and makes personnel access management in the computer room more standardized and orderly. Furthermore, it enables intelligent maintenance robots to autonomously enter inspection rooms via Bluetooth sensing. In addition, the sensing module helps detect the precise location and direction of movement of personnel, allowing the system to more accurately control the timing of door opening and closing, preventing doors from closing before personnel have fully passed through. It also provides more information for personnel management in the computer room. The sensing module provides closed-loop feedback on the door's opening and closing angle, allowing the system to understand the door's status in real time. If any abnormality occurs during door opening or closing, such as encountering obstruction and failing to open or close normally, the system can promptly detect and take appropriate measures, ensuring the normal operation of the door and preventing door malfunctions from affecting the computer room environment and equipment. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of the composition of an automatic door opening device for a data center computer room according to the present invention;

[0044] Figure 2 This is a circuit diagram of an automatic door opening device for a data center server room according to the present invention;

[0045] Figure 3 This is a flowchart of an automatic door opening method for a data center server room according to the present invention. Detailed Implementation

[0046] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. 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.

[0047] refer to Figures 1 to 3 An automatic door opening device for a data center server room includes a Bluetooth module, an electric door closer module, a sensing module, and a power supply module, wherein:

[0048] A Bluetooth module is used to scan for Bluetooth devices near the data center server room for authentication, and outputs an access control signal to the electric door closer module after successful authentication; in some embodiments, the Bluetooth module includes:

[0049] A Bluetooth receiver is used to scan Bluetooth devices near the data center server room in real time. The Bluetooth receiver is installed 30cm above the ground, with one installed inside and one outside the door to improve sensing efficiency.

[0050] Bluetooth transmitter, used for pre-authorization binding with user identity;

[0051] The authentication unit is used to perform identity authentication when a Bluetooth device signal is detected and the signal strength reaches a preset threshold.

[0052] Specifically, the Bluetooth receiver can scan for Bluetooth devices near the data center server room in real time. This means that without the user actively initiating a connection request, the device can continuously monitor surrounding devices and respond quickly once an authorized device enters the range, greatly facilitating the user's entry and exit process and reducing operational steps and time costs. The Bluetooth transmitter is pre-authorized and bound to the user's identity. The user only needs to complete the binding operation once in advance, and there is no need to repeat the complicated identity verification process when entering the server room later. This pre-authorization method improves the user experience and also makes it easier for administrators to centrally manage and maintain user permissions.

[0053] The authentication unit performs identity authentication when it detects a Bluetooth device signal and the signal strength reaches a preset threshold. By setting the signal strength threshold, it can effectively avoid false triggering by devices in distant or unauthorized areas, thus improving the accuracy of identity authentication. The authentication process will only be initiated when an authorized device approaches within a certain range (e.g., 1-3 meters), ensuring that the personnel entering the computer room are indeed authorized and in a reasonable location. This authentication method based on Bluetooth signal strength and pre-authorization binding increases the difficulty of unauthorized intrusion. Even if an unauthorized device approaches the computer room, it cannot pass identity authentication because it has not undergone pre-authorization binding and the signal strength does not meet the requirements. This effectively protects the security of the data center computer room and prevents unauthorized personnel from entering the computer room to illegally operate the equipment or steal data.

[0054] The coordinated operation of various parts of the Bluetooth module enables rapid identity authentication and door opening signal output. The Bluetooth receiver scans in real time, and the authentication unit detects and processes the signal in a timely manner. Once authentication is successful, the access control door opening signal is quickly output to the electric door closer module, making the entire door opening process more efficient and smooth, and reducing waiting time for personnel.

[0055] An electric door closer module is used to push open the access control door of the data center server room after receiving an access control opening signal, and automatically reset after opening; in some embodiments, the electric door closer module includes:

[0056] The access control unit is used to receive access control opening signals;

[0057] The relay module is used for the linkage between the access control unit and the electric door closer body;

[0058] The electric door closer unit is used to push open the access control door of the data center computer room and automatically reset after the door is opened.

[0059] Specifically, the access control unit is dedicated to receiving access control opening signals. It can quickly and accurately capture signals emitted after authentication by modules such as Bluetooth. This ensures that when personnel identity is successfully authenticated, the electric door closer module can promptly obtain the opening command, providing a prerequisite for subsequent opening actions, reducing signal reception delays and errors, and making the entire opening process more efficient. Once the access control unit receives a valid access control opening signal, it can quickly transmit the information to subsequent modules, triggering the opening action, meeting the needs of personnel to quickly enter the computer room, and improving the efficiency of personnel entry and exit.

[0060] The relay module is responsible for the linkage between the access control unit and the electric door closer. It plays a crucial role in signal conversion and transmission, converting the signals received by the access control unit into signals suitable for controlling the electric door closer unit. This ensures a stable connection and coordinated operation between the two. This stable linkage mechanism guarantees that the door opening command can be accurately transmitted to the electric door closer unit, avoiding door opening failures or abnormalities caused by signal transmission problems. Through the precise control of the relay module, the electric door closer unit can execute the door opening action according to preset logic and parameters, achieving precise control of parameters such as opening speed and force, making the door opening process smoother and safer.

[0061] The electric door closer unit automatically resets after the data center server room door is opened. This function ensures that the door closes promptly after personnel pass through, maintaining a closed environment in the server room. For data center server rooms, stable environmental conditions such as temperature, humidity, and cleanliness are crucial. The automatic reset function effectively prevents external dust and moisture from entering the server room, protecting servers, network equipment, and other devices from environmental factors and extending their lifespan. The automatic reset function eliminates the need for manual door closing, reducing errors and inconvenience caused by human operation. It also meets the needs of automated management in data center server rooms, improving overall management efficiency and reliability.

[0062] In some embodiments, the access control unit includes:

[0063] The door opening button is used to receive the door opening signal from the access control system and forward it to the access control controller;

[0064] Access control controllers are used to disconnect the power to the magnetic lock and relay module based on the access control opening signal;

[0065] Magnetic locks are used to keep the doors of data center computer rooms closed.

[0066] Specifically, based on the received door opening signal, the access controller can precisely disconnect the power to the magnetic lock and relay module. As the core control component of the entire access control system, it can make intelligent decisions according to preset logic and rules, ensuring that the door opening operation is only executed under a valid door opening signal, effectively preventing illegal intrusion and misoperation. The linkage between the access controller and the relay module enables precise control of the electric door closer module. By controlling the power on and power off state of the relay module, the action of the electric door closer is indirectly controlled, making the door opening and closing process more stable and reliable, and ensuring the coordinated work between the access control system and other modules.

[0067] Magnetic locks utilize the principle of electromagnetic adsorption, generating a strong attraction when energized to firmly attach the computer room door to the door frame, keeping the door normally closed. This strong adsorption effectively prevents the door from being accidentally opened without authorization, providing reliable security for the data center and protecting the equipment and data within from external interference and damage. The normally closed state of the magnetic lock helps maintain environmental stability within the computer room, such as temperature, humidity, and cleanliness. In data centers with high environmental requirements, the reliable closure of the magnetic lock prevents outside air and dust from entering the room, ensuring the normal operation of equipment and the stable storage of data.

[0068] In some embodiments, the electric door closer unit includes:

[0069] The electric door closer body is used to push open the access control door of the data center computer room and automatically reset after the door is opened;

[0070] The robotic arm unit is used to assist in pushing or closing the access control door of the data center computer room during the process of pushing open the door or automatically resetting.

[0071] Specifically, the electric door closer can push open the access door of the data center server room and automatically reset after opening. This function automates the door operation without manual intervention, improving the efficiency of personnel entry and exit. After personnel enter the server room, the door automatically resets and closes, helping to maintain a stable environment inside the server room, such as maintaining constant temperature and humidity and preventing dust from entering, thus providing good environmental conditions for the normal operation of the equipment inside the server room. It can precisely control the opening and closing process of the door, including controlling the opening speed, angle, and resetting force, ensuring that the door is not opened too quickly or too forcefully, avoiding damage to the door and surrounding equipment. When resetting, it can accurately return to the closed position, ensuring the door's sealing and security.

[0072] During the process of opening or automatically resetting the access control door of a data center server room, the robotic arm unit plays an auxiliary role. When the door is heavy or there is resistance, the robotic arm unit can provide additional force to ensure that the door can be opened and closed smoothly. This is especially important for some large data center server room doors or specially designed doors, ensuring the reliability of the automatic door opening device under different conditions. The robotic arm unit has a certain degree of flexibility and adaptability, and can cope with different door structures and installation environments. It can adjust the auxiliary pushing or closing action and force according to the actual situation of the door, so that the automatic door opening device can be widely used in various data center server room scenarios.

[0073] In some embodiments, the robotic arm unit includes:

[0074] The robotic arm controller is used to plan the movement path of the robotic arm and control the end effector to move to the predetermined contact point of the door.

[0075] A robotic arm is used to apply controllable thrust along a planned trajectory via an end effector to achieve the action of opening or closing a door.

[0076] The monitoring unit is used to monitor the contact force and torque of the end effector in real time, maintain the thrust within the set range, and immediately stop the movement and sound an alarm when encountering obstruction or collision.

[0077] Specifically, the robotic arm controller can plan the robotic arm's motion path, ensuring that the end effector moves accurately to the predetermined contact point on the door. This function enables the robotic arm to move along the most reasonable and efficient path when performing opening or closing actions, avoiding unnecessary movement and collision risks, and improving the accuracy and efficiency of the action. Through precise control of the robotic arm's movement, the controller can adjust the robotic arm's movement speed, force, and other parameters according to different door conditions and opening requirements, ensuring the smoothness and reliability of the opening and closing process.

[0078] The robotic arm applies controllable thrust along a planned trajectory through an end effector to open or close doors. Its flexibility is reflected in its ability to adapt to doors of different sizes, shapes, and weights, adjusting the magnitude and direction of the thrust according to actual conditions to ensure that the door can be effectively pushed in various situations to complete the opening or closing task. In the complex environment of data center server rooms, such as limited space or obstructions from other equipment, the robotic arm can use its flexible movement capabilities to bypass obstacles and accurately apply force to the door, ensuring the applicability of the automatic door opening device in different scenarios.

[0079] The monitoring unit monitors the contact force and torque of the end effector in real time. When it encounters an obstacle or collision, it immediately stops moving and sounds an alarm. This function effectively prevents the robotic arm from continuing to move forcibly due to obstacles during its movement, which could lead to equipment damage or damage to the surrounding environment. This ensures the safety of the automatic door opening device and other equipment in the machine room. By maintaining the thrust within a set range, the monitoring unit ensures that the force applied by the robotic arm to the door is always within a reasonable range. It prevents the door from being unable to be pushed due to insufficient thrust, and also prevents damage to the door due to excessive thrust, thus ensuring the stability and reliability of the opening and closing actions.

[0080] A sensing module is used to assist in detecting the exact location and direction of movement of personnel, and to provide closed-loop feedback on the opening and closing angle of the door, wherein the door will remain open when there is an obstacle near the door frame; in some embodiments, the sensing module includes:

[0081] Proximity sensors are used to assist in detecting the exact location and direction of movement of personnel;

[0082] Door status sensors are used to monitor the opening and closing angle of the door and provide closed-loop feedback.

[0083] Specifically, proximity sensors can help detect the exact location of personnel. By sensing information such as the distance between the personnel and the sensor, they provide accurate personnel location data for the automatic door opening device. This allows the device to control the timing and extent of door opening based on the actual location of the personnel. For example, the door opening operation can be initiated only when the personnel approach a certain distance, avoiding the inconvenience and safety hazards caused by opening the door too early or too late. In addition to location detection, proximity sensors can also sense the direction of personnel movement. This is crucial for determining whether personnel are entering or leaving the machine room. The device can decide whether to perform door opening or closing operations, or adjust the door's opening and closing status, based on the personnel's direction of movement, making the entire access management process more intelligent and efficient.

[0084] Door status sensors are specifically designed to monitor the opening and closing angles of doors and provide closed-loop feedback. They can acquire the current opening and closing angle information of the door in real time and accurately, allowing the automatic door opening device to clearly understand the door's status. This is crucial for controlling the door's movement. For example, during the opening process, the device can precisely control the movement of the robotic arm or electric door closer based on the angle information fed back by the door status sensor, ensuring that the door can open smoothly and accurately to the required angle. Through the closed-loop feedback mechanism, the door status sensor can help the device promptly detect situations that occur during door movement, such as door jamming or excessive deviation in the opening and closing angle. Once an anomaly is detected, the device can immediately take corresponding measures, such as stopping the door's movement, making adjustments, or issuing an alarm, thereby ensuring the normal operation of the door and preventing the impact of door malfunctions on the computer room environment and equipment.

[0085] The power supply module provides a stable 12V power supply to the Bluetooth module, electric door closer module, and sensing module.

[0086] An automatic door opening method for a data center server room specifically includes:

[0087] The Bluetooth module scans for Bluetooth devices near the data center server room to authenticate them, and outputs an access control signal to the electric door closer module after successful authentication.

[0088] After receiving the access control opening signal, the electric door closer module pushes open the data center computer room access door and automatically resets after opening.

[0089] In some embodiments, the process of pushing open the data center server room access door and automatically resetting it after opening, assisted by a robotic arm unit, specifically includes:

[0090] Once the proximity sensor confirms that a person is approaching the door and there is no abnormality, an opening command is sent to the robotic arm controller.

[0091] After receiving the door opening command, the robotic arm controller plans the path and controls the end effector of the robotic arm to move to the predetermined contact point of the door and apply a controllable thrust to push the door leaf.

[0092] Real-time monitoring of the contact force and torque of the end effector, maintaining the thrust within the set effective range, and immediately stopping the movement and alarming when encountering obstruction or collision;

[0093] The door status sensor or the angle of the robotic arm joint is used to calculate whether the door is open or closed to a predetermined angle.

[0094] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic door opening device for a data center server room, characterized in that, include: The Bluetooth module is used to scan for Bluetooth devices near the data center server room for authentication, and outputs an access control opening signal to the electric door closer module after successful authentication. The electric door closer module is used to push open the data center computer room door after receiving the access control opening signal, and automatically reset after the door is opened; The sensing module is used to assist in detecting the exact location and direction of movement of personnel, as well as to provide closed-loop feedback on the opening and closing angle of the door; The power supply module provides operating voltage for the Bluetooth module, electric door closer module, and sensing module.

2. The automatic door opening device for a data center server room according to claim 1, characterized in that, The Bluetooth module includes: Bluetooth receiver for real-time scanning of Bluetooth devices near data center server rooms; Bluetooth transmitter, used for pre-authorization binding with user identity; The authentication unit is used to perform identity authentication when a Bluetooth device signal is detected and the signal strength reaches a preset threshold.

3. The automatic door opening device for a data center server room according to claim 2, characterized in that, The electric door closer module includes: The access control unit is used to receive access control opening signals; The relay module is used for the linkage between the access control unit and the electric door closer body; The electric door closer unit is used to push open the access control door of the data center computer room and automatically reset after the door is opened.

4. The automatic door opening device for a data center server room according to claim 3, characterized in that, The access control unit includes: The door opening button is used to receive the door opening signal from the access control system and forward it to the access control controller; Access control controllers are used to disconnect the power to the magnetic lock and relay module based on the access control opening signal; Magnetic locks are used to keep the doors of data center computer rooms closed.

5. The automatic door opening device for a data center server room according to claim 4, characterized in that, The electric door closer unit includes: The electric door closer body is used to push open the access control door of the data center computer room and automatically reset after the door is opened; The robotic arm unit is used to assist in pushing or closing the access control door of the data center computer room during the process of pushing open the door or automatically resetting.

6. The automatic door opening device for a data center server room according to claim 5, characterized in that, The robotic arm unit includes: The robotic arm controller is used to plan the movement path of the robotic arm and control the end effector to move to the predetermined contact point of the door. A robotic arm is used to apply controllable thrust along a planned trajectory via an end effector to achieve the action of opening or closing a door. The monitoring unit is used to monitor the contact force and torque of the end effector in real time, maintain the thrust within the set range, and immediately stop the movement and sound an alarm when encountering obstruction or collision.

7. The automatic door opening device for a data center server room according to claim 6, characterized in that, The sensing module includes: Proximity sensors are used to assist in detecting the exact location and direction of movement of personnel; Door status sensors are used to monitor the opening and closing angle of the door and provide closed-loop feedback.

8. An automatic door opening method for a data center server room, characterized in that, Specifically, it includes: The Bluetooth module scans for Bluetooth devices near the data center server room to authenticate them, and outputs an access control signal to the electric door closer module after successful authentication. After receiving the access control opening signal, the electric door closer module pushes open the data center computer room access door and automatically resets after opening.

9. The automatic door opening method for a data center server room according to claim 8, characterized in that, The process of pushing open the data center server room access door and automatically resetting it after opening, using a robotic arm unit to assist in pushing or closing the door, specifically includes: Once the proximity sensor confirms that a person is approaching the door and there is no abnormality, an opening command is sent to the robotic arm controller. After receiving the door opening command, the robotic arm controller plans the path and controls the end effector of the robotic arm to move to the predetermined contact point of the door and apply a controllable thrust to push the door leaf. Real-time monitoring of the contact force and torque of the end effector, maintaining the thrust within the set effective range, and immediately stopping the movement and alarming when encountering obstruction or collision; The door status sensor or the angle of the robotic arm joint is used to calculate whether the door is open or closed to a predetermined angle.

Images