Method for stroke calibration of an electrically driven rotary mechanism and electronic device
By synchronously collecting rotation angle and electrical load characteristics during electric drive, redundant strokes are identified and optimized, solving the problem of redundant strokes in intelligent control of mechanical structures and realizing efficient and low-power rotation mechanism control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- TP-LINK INT SHENZHEN CO LTD
- Filing Date
- 2026-03-04
- Publication Date
- 2026-06-05
AI Technical Summary
Mechanical structures cannot actively collect external environmental information and operational data, which makes it impossible to meet the application requirements in the field of intelligent control. Electronic devices have redundant strokes when driving mechanical structures, resulting in problems such as low control efficiency, high power consumption and long operation time.
By synchronously collecting the rotation angle of the rotating mechanism and the electrical load characteristics of the motor during the electric drive process, redundant strokes can be identified and marked, the control range of the rotating mechanism can be optimized, redundant angles can be reduced, and control efficiency can be improved.
Effectively identify and optimize redundant strokes, reduce power consumption and operation time, improve the control efficiency of electronic devices on rotating mechanisms, and enhance user experience and safety.
Smart Images
Figure CN122148129A_ABST
Abstract
Description
Technical Field
[0001] Embodiments of this disclosure relate to the field of intelligent control, and more specifically, to a method for stroke calibration of an electrically driven rotary mechanism and an electronic device. Background Technology
[0002] Mechanical structures are widely used in industrial and civilian fields. However, mechanical structures themselves cannot actively collect information about the external environment, nor can they analyze and process operating data during operation. They lack autonomous decision-making and dynamic control capabilities, and therefore cannot meet the diversified application needs of the field of intelligent control.
[0003] To address the aforementioned technical challenges, electronic devices designed for use in conjunction with mechanical structures have emerged. These devices can establish physical connections or coupling with mechanical structures, leveraging their own information acquisition and data processing capabilities to drive the mechanical structures to perform their mechanical actions. This effectively extends the intelligence of mechanical structures and meets the technical requirements of fields such as intelligent industry and intelligent equipment. However, there is still room for improvement in how to efficiently achieve electronic control of mechanical structures. Summary of the Invention
[0004] At least one embodiment of this disclosure provides a method for stroke calibration of an electrically driven rotating mechanism, the method being implemented at an electronic device and comprising: simultaneously acquiring a rotation angle of the rotating mechanism and an electrical load characteristic of a motor of the electronic device during the application of electric drive to the rotating mechanism to complete a full stroke, wherein the motor drives the rotating mechanism to rotate to control the stroke of the rotating mechanism; determining, based on the electrical load characteristic acquired synchronously with the rotation angle, whether there is redundant stroke within the full stroke of the rotating mechanism; and identifying a range of redundant rotation angles corresponding to the redundant stroke in response to the existence of the redundant stroke.
[0005] For example, in some embodiments, determining whether there is a redundant stroke within the complete stroke of the rotating mechanism based on the electrical load characteristics acquired synchronously with the rotation angle includes: determining whether the rotating mechanism is a multi-stage stroke rotating mechanism based on the electrical load characteristics acquired synchronously with the rotation angle; and in response to determining that the rotating mechanism is the multi-stage stroke rotating mechanism, determining that there is a redundant stroke within the complete stroke of the rotating mechanism and determining the redundant stroke.
[0006] For example, in some embodiments, determining whether the rotating mechanism is a multi-stage stroke rotating mechanism based on the electrical load characteristics acquired synchronously with the rotation angle includes: determining whether the rotating mechanism is a multi-stage stroke rotating mechanism based on the peak shape of the electrical load characteristics.
[0007] For example, in some embodiments, determining whether the rotating mechanism is a multi-stage stroke rotating mechanism based on the peak shape of the electrical load characteristics includes: determining the peak value and the average value of the electrical load characteristics; and determining whether the difference between the peak value and the average value exceeds a preset value, wherein, in response to the difference exceeding the preset value, the rotating mechanism is determined to be the multi-stage stroke rotating mechanism.
[0008] For example, in some embodiments, the redundant stroke is located between the rotation angle of the last stage node of the multi-stage stroke rotating mechanism and the rotation angle of the stroke end point of the multi-stage stroke rotating mechanism, and the last stage node triggers the completion of the last stage rotation of the multi-stage stroke rotating mechanism.
[0009] For example, in some embodiments, identifying the range of redundant rotation angles corresponding to the redundant travel in the rotation angles includes: determining the range of redundant rotation angles based on the peak shape of the electrical load characteristics.
[0010] For example, in some embodiments, determining the redundant rotation angle range based on the peak shape of the electrical load characteristic includes: determining multiple rotation angles corresponding to a reference value of the electrical load characteristic as multiple candidate rotation angles, wherein the reference value of the electrical load characteristic is located between the peak value and the mean value of the electrical load characteristic; and adding the candidate rotation angle closest to the end point of the travel of the rotating mechanism to a preset angle to obtain a boundary angle, wherein the redundant rotation angle range is the rotation angle corresponding to the boundary angle to the end point of the travel of the rotating mechanism.
[0011] For example, in some embodiments, the mean is determined by: dividing the rotation angle into multiple equal-angle intervals; determining the mean of the electrical load characteristics of each of the multiple equal-angle intervals as the interval mean; and taking the median of the interval mean as the mean.
[0012] For example, in some embodiments, the method further includes: excluding electrical load characteristics corresponding to the start and end phases of the complete stroke from the electrical load characteristics based on the rotation angle, in order to determine whether there is redundant stroke within the complete stroke of the rotating mechanism based on the electrical load characteristics.
[0013] For example, in some embodiments, the method further includes: in response to determining that the rotating mechanism is a linear stroke rotating mechanism, identifying a complete range of rotation angles covering the rotation angle, wherein the complete range of rotation angles is the angle interval to which the rotating mechanism will rotate when the rotating mechanism is subsequently electrically driven.
[0014] For example, in some embodiments, the redundant rotation angle range is an angle interval omitted when the rotating mechanism is subsequently electrically driven.
[0015] For example, in some embodiments, the electrical load characteristics include current and / or voltage.
[0016] For example, in some embodiments, the electronic device is a smart lock, the rotating mechanism is a multi-stage mechanical lock, and the redundant stroke includes at least one of the following: during the locking process, the angle of rotation of the lock cylinder between the last stage of the multi-stage mechanical lock locking and the stop rotation; or during the unlocking process, the angle of rotation of the lock cylinder between the last stage of the multi-stage mechanical lock unlocking and the stop rotation.
[0017] At least one embodiment of this disclosure provides an electronic device, including: at least one processor; and a memory; wherein the memory stores computer-readable instructions and is communicatively connected to the at least one processor; the at least one processor is configured to execute the computer-readable instructions stored in the memory to implement the method described above.
[0018] For example, in some embodiments, the electronic device is a smart lock and the rotating mechanism is a multi-level mechanical lock.
[0019] At least one embodiment of this disclosure provides a computer program product having instructions stored thereon that, when executed by a processor, cause the method described above to be performed. Attached Figure Description
[0020] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments of this disclosure will be briefly described below. Clearly, the drawings described below only relate to some embodiments of this disclosure and are not intended to limit the scope of this disclosure.
[0021] Figure 1 A schematic diagram of an exemplary intelligent door lock structure is shown;
[0022] Figure 2 A topology diagram of an exemplary mechanical lock is shown;
[0023] Figures 3A to 3B An exemplary topology diagram of a mechanical lock supporting two-stage locking is shown;
[0024] Figure 4A , Figure 4B , Figure 4C as well as Figure 4D A schematic diagram illustrating the interaction process between the lock cylinder and the latch of an exemplary mechanical lock supporting two-stage locking is shown.
[0025] Figures 5A to 5B A schematic diagram of the travel of an exemplary mechanical lock supporting two-stage locking is shown;
[0026] Figure 6 A schematic diagram of a method for stroke calibration of an electrically driven rotary mechanism according to at least one embodiment of the present disclosure is shown;
[0027] Figure 7 A schematic diagram of the structure of an electronic device according to at least one embodiment of the present disclosure is shown;
[0028] Figure 8 A schematic diagram showing the change of current as a function of rotation angle during the calibration process of a mechanical lock supporting two-level locking according to at least one embodiment of the present disclosure is shown.
[0029] Figure 9 A schematic diagram of an electronic device according to at least one embodiment of the present disclosure is shown. Detailed Implementation
[0030] Reference will now be made in detail to specific embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings. Although the present disclosure will be described in conjunction with specific embodiments, it will be understood that it is not intended to limit the present disclosure to the described embodiments. Rather, it is intended to cover variations, modifications, and equivalents included within the spirit and scope of the present disclosure as defined by the appended claims. It should be noted that the method operations described herein can be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of both.
[0031] To enable those skilled in the art to better understand this disclosure, the disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0032] Note that the examples described below are merely specific examples and are not intended to limit the embodiments of this disclosure to the specific shapes, hardware, connections, operations, values, conditions, data, sequences, etc., shown and described. Those skilled in the art can utilize the concepts of this disclosure to construct further embodiments not mentioned herein by reading this specification.
[0033] The terminology used in this disclosure is that which is currently widely used in the art in consideration of the functionality of this disclosure; however, these terms may vary depending on the intent, precedent, or new technology of those skilled in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of this disclosure. Therefore, the terminology used in this specification should not be construed as simple names, but rather based on the meaning of the terms and the overall description of this disclosure.
[0034] This disclosure uses flowcharts to illustrate the operations performed by the system according to embodiments of this application. It should be understood that the preceding or following operations are not necessarily performed in exact order. Instead, various steps can be processed in reverse order or simultaneously, as needed. Furthermore, other operations can be added to these processes, or one or more steps can be removed from them.
[0035] As described above, electronic devices can achieve intelligent control of mechanical structures in electric drives. However, the inventors of this disclosure have recognized in their research that electronic devices are typically used to drive rotating mechanisms, which can be divided into linear stroke rotating mechanisms and multi-stage stroke rotating mechanisms. Rotating mechanisms such as multi-stage stroke rotating mechanisms or rotating mechanisms including multi-stage stroke rotating mechanisms, or other types of rotating mechanisms, are usually accompanied by redundant rotational strokes, resulting in low control efficiency of electronic devices over rotating mechanisms.
[0036] Here, the rotating mechanism can be a mechanical structure driven by a rotational driving force. For example, the rotating mechanism may include a rotating component and an actuating component. The rotating component can rotate under the drive of an external force, thereby driving the actuating component to perform a preset action. Exemplarily, the rotating mechanism may include a gear-driven rotating mechanism, a crank-connecting rod-driven rotating mechanism, a worm gear-driven rotating mechanism, a belt-driven rotating mechanism, etc.
[0037] The following uses a smart door lock application scenario as an example to illustrate the control process of the electronic device on the rotating mechanism. In this smart door lock application scenario, the electronic device can be a smart latch, and the rotating mechanism can be a mechanical lock. It is worth noting that this application scenario is only an illustrative example and is not intended to be limiting.
[0038] Figure 1 A schematic diagram of an exemplary intelligent door lock structure is shown.
[0039] See Figure 1 The structure of an intelligent door lock can include an intelligent locking mechanism, a fixing mechanism, a key, a mechanical lock, a door, and an external door controller.
[0040] After the user inserts the key into the lock cylinder of the mechanical lock, the smart lock is assembled and fixed to the door or the mechanical lock housing using a fixing mechanism (such as screws, adhesive, etc.). The smart lock's built-in rotating mechanism is compatible with the key. This rotating mechanism is driven by a motor to rotate the key, thereby unlocking and locking the mechanical lock. Since the mechanical lock is installed on the door, it ultimately enables the door to be opened or closed.
[0041] Smart door locks can also integrate a communication and control module, which can establish communication connections with users' mobile phones via Bluetooth, cloud servers, and door controllers. Door controllers typically include a communication module and a keypad. When a user inputs commands via the keypad or sends door-opening / closing commands via a mobile terminal, the communication and control module receives and parses the commands, then drives a motor to rotate the key to a preset opening or closing angle, thus achieving keyless, intelligent door opening and closing.
[0042] The smart lock needs to know the opening or closing angle of the door in advance to execute the door opening and closing commands. Therefore, after the user installs the smart lock, a calibration process is first performed. This involves guiding the user to rotate the key to the open or closed position and recording the angle using an angle sensor to complete the calibration. After calibration, the motor-driven rotation mechanism controls the key according to the recorded angle to complete the daily locking / unlocking actions.
[0043] Figure 2 A topology diagram of an exemplary mechanical lock is shown. Figures 3A to 3B An exemplary topology diagram of a mechanical lock supporting two-level locking is shown.
[0044] See Figure 2 as well as Figures 3A to 3B The topology diagram includes a lock frame mounted on the door and a strike plate mounted on the door frame. The lock frame includes a door handle, a lock cylinder, a latch, and a bolt. The lock cylinder can be controlled by a key or a knob, the latch can be controlled by the door handle or the lock cylinder, and the bolt can be controlled by the lock cylinder. For example, the lock cylinder and / or the key can be examples of rotating components, and the bolt and / or the latch can be examples of actuating components.
[0045] In some examples, when opening the door, the user can use a key or knob to turn the lock cylinder to fully retract the square bolt, and then use the door handle to retract the beveled bolt to open the door.
[0046] In some examples, when closing the door, the latch automatically retracts during the closing process. Once the mechanical lock and strike plate are fully aligned, the latch automatically extends to complete the alignment. At this point, the door is closed, but operating the inside and outside handles allows the latch to retract and open the door, failing to meet the locking security requirements. Therefore, the user can use a key or knob to turn the lock cylinder to gradually extend the latch to achieve the locking effect. For example, see... Figure 3A Users can trigger the latch to extend to the first level (i.e., first-level locking) by rotating the key or turning the knob to a certain angle. See also Figure 3B Users can trigger the latch to push out the second level (i.e., second-level locking) by continuing to rotate the key or the knob to turn the lock cylinder to a certain angle.
[0047] It is worth noting that, see Figure 2 as well as Figures 3A to 3BThe described topology diagram of the mechanical lock is merely exemplary. For example, Figure 2 as well as Figures 3A to 3B The described mechanical lock includes a latch; however, in some embodiments, the mechanical lock may not include a latch. For example, Figure 3A and Figure 3B A mechanical lock supporting two-level locking is shown. However, in some embodiments, the mechanical lock may be a mechanical lock supporting one-level locking, or a mechanical lock supporting three or more levels of locking.
[0048] In mechanical locks that support multi-level locking, each additional level of locking requires turning the key an additional angle (e.g., one full turn (i.e., 360 degrees) or other angles) to extend the latches and provide greater security. An exemplary mechanical lock's unlocking and locking states (i.e., all levels of the lock are extended, or all levels are locked) typically require turning the key 1.5 to 3.5 turns (e.g., 0.5 turns for controlling the latches).
[0049] The process described above, where the user rotates the key to the open or closed position to complete the calibration, is rather cumbersome, increasing the user's workload. Therefore, smart locks typically offer an automatic calibration function to eliminate this process. The automatic calibration function uses a motor-driven rotating mechanism to turn the key to both clockwise and counter-clockwise motor lock positions, recording the corresponding angles. It then guides the user to confirm which angle represents the locked state and which represents the unlocked state, thus completing the automatic calibration.
[0050] However, in applications such as the aforementioned intelligent door locks or other electronic devices using multi-stage stroke rotation mechanisms, the automatic calibration records the corresponding angles of the clockwise and counter-clockwise motor stall states. In actual use, the electronic device will accordingly include the entire angle range in the control range, thus introducing redundant strokes, for example, in... Figure 3A and Figure 3B In the example of the mechanical lock that supports two-stage locking shown, after the two-stage locking is triggered, the motor still needs to rotate a certain angle range before stalling occurs. Therefore, this angle range is unnecessary, thus introducing redundant stroke.
[0051] For example, continuing with the example of a mechanical lock as a rotating mechanism, mechanical locks can be divided into two categories: linear locking mechanical locks and multi-stage locking mechanical locks. These can be examples of the linear stroke rotating mechanism and the multi-stage stroke rotating mechanism described above, respectively. Of course, the linear stroke rotating mechanism and the multi-stage stroke rotating mechanism disclosed herein are not limited to these.
[0052] Figures 4A to 4D A schematic diagram illustrating the interaction process between the lock cylinder and the latch of an exemplary mechanical lock supporting two-stage locking is shown.
[0053] See Figure 4A When the key rotates the lock cylinder clockwise, the protrusion on the lock cylinder contacts tooth 1, causing the entire latch to move to the right, achieving primary locking. Then, see... Figure 4B The lock cylinder continues to rotate after a period of free spin until it contacts tooth 2. Figure 4C As shown. See also Figure 4C The lock cylinder and tooth 2 contact, causing the entire square bolt to move to the right again, achieving secondary locking. Afterwards... Figures 4C to 4D During this process, the lock cylinder can continue to rotate, going through a period of free spin until it contacts the locking stop block, but the latch is already in place and no longer moves. See also Figure 4D When the lock cylinder hits the locking stop block, the lock cylinder is blocked and will not move the latch.
[0054] Additionally, the key can rotate the lock cylinder counterclockwise, causing the entire latch to move to the left, thus achieving first-level and second-level unlocking. The counterclockwise rotation of the lock cylinder is similar to its clockwise rotation. For example, the lock cylinder rotates counterclockwise and first encounters tooth 1, then tooth 2, before stalling at the unlocking stop block.
[0055] Although the above combination Figures 4A to 4D The entire process of locking and / or unlocking a square latch is described. However, additionally or optionally, when the mechanical lock has a bevel latch, the bevel latch can be controlled by rotating the lock cylinder through other mechanisms or methods during the entire locking and / or unlocking process. This disclosure does not limit whether the mechanical lock has a bevel latch or whether the bevel latch is rotated by the lock cylinder.
[0056] Figures 5A to 5B A schematic diagram illustrating the travel of an exemplary mechanical lock supporting two-stage locking is shown. Specifically, Figure 5A A schematic diagram of the travel of a mechanical lock supporting two-stage locking without a latch is shown. Figure 5B A schematic diagram of the travel of a mechanical lock with a slanted latch supporting a two-stage locking mechanism is shown.
[0057] See Figure 5A Starting from 0° (e.g., the unlocked state), rotate the key clockwise 360° until the latch just extends one level, which is the first level of locking. For example, corresponding to... Figure 4A The key is then rotated 360° clockwise (for example, corresponding to...). Figure 4B When the latch is just extended to the second position, it is in the second-level locking state, for example, corresponding to Figure 4C Finally, rotate the key 360° clockwise until the lock cylinder contacts the locking stop block. At this point, the key cannot be turned (i.e., it is locked), which corresponds to... Figure 4D .
[0058] See Figure 5A The described unlocking stroke of the mechanical lock and Figure 5AThe itinerary described is similar, for example, it can be seen in [see also] Figure 5A The locking process is described in reverse: starting from the locked state, rotate the key counterclockwise 360° until the latch is just retracted to the first stage (level one unlock). Then rotate the key counterclockwise another 360° until the latch is just retracted to the second stage (level two unlock). Finally, rotate the key counterclockwise 360° until the lock cylinder contacts the unlocking stop block, at which point the key cannot be turned.
[0059] Therefore, it can be seen that in the entire locking and unlocking process of a mechanical lock without a latch supporting two-stage locking, there is a large amount of free-spinning travel of the lock cylinder. For example, the free-spinning travel from the completion of two-stage locking to the lock cylinder hitting the locking stop block, and the free-spinning travel from the completion of two-stage unlocking to the lock cylinder hitting the unlocking stop block (referred to as the last free-spinning travel) do not play any role.
[0060] See Figure 5B Starting from the latch retracted position (0°, as in the unlocked state), rotate the key clockwise. After rotating the key 30°, the latch will move from the retracted position to the released position, i.e., the latch is locked. Then, rotate the key another 270° until the latch is just extended one level, i.e., first-level locking. Rotate the key another 360° until the latch is just extended two levels, i.e., second-level locking. Finally, rotate the key 360° until the lock cylinder contacts the locking stop block, at which point the key cannot be turned (i.e., locked).
[0061] See Figure 5B The described unlocking stroke of the mechanical lock and Figure 5B The itinerary described is similar, for example, it can be seen in [see also] Figure 5B The locking process is described in reverse. Starting from the locked state, rotating the key counter-clockwise 360° until the latch is fully retracted (level one unlock). Rotating the key counter-clockwise another 360° until the latch is fully retracted (level two unlock). Rotating the key counter-clockwise 270° causes the lock cylinder to retract the bolt, and rotating the key counter-clockwise another 30° retracts the bolt, unlocking the lock. At this point, the key cannot be turned.
[0062] Therefore, it can be seen that in the entire locking and unlocking process of a mechanical lock with a beveled latch supporting two-stage locking, there is also a significant amount of free-spinning travel of the lock cylinder. For example, the free-spinning travel from the completion of two-stage locking to the point where the lock cylinder hits the locking stop block (referred to as the final free-spinning travel) plays no role. It is worth noting that in the entire locking and unlocking process of a mechanical lock with a beveled latch supporting two-stage locking, because after the free-spinning travel from the completion of two-stage unlocking to the point where the lock cylinder hits the unlocking stop block, the key still needs to be rotated to engage the beveled latch, thus unlocking the mechanical lock. Therefore, this free-spinning travel does play a role in unlocking.
[0063] It is worth noting that, although Figure 5Aand Figure 5B The secondary locking mechanism and specific rotation angle are shown. However, this disclosure is not limited thereto. Further details can be made regarding... Figure 5A and Figure 5B The various aspects shown can be changed; for example, a two-level lock can be changed to a single-level, three-level, or more-level lock, or the rotation angle can be changed.
[0064] From the above Figure 5A and Figure 5B As can be seen, the final stage of idle travel does not contribute to locking or unlocking, and therefore can be considered a redundant travel. Incorporating redundant travel in actual use will lead to various problems.
[0065] For example, redundant travel leads to high power consumption during the operation of smart devices. Take, for instance, high-security mechanical locks such as those used in Europe, which require multiple travel stages. The key-turning travel of a mechanical lock is typically around 900°, far exceeding the 90° travel of some other mechanical locks. This large travel results in high power consumption, and the redundant travel leads to unnecessary power consumption. For example, smart locks are attached to mechanical locks or doors via a fixing mechanism. Due to compatibility and secure mounting considerations, the size and weight of smart locks are very limited. Therefore, the battery capacity of smart locks cannot be too large, limiting their power and battery life when using motors to electrically drive the mechanical lock. Additionally, smart locks may also be equipped with wireless communication modules such as Wi-Fi and Matter. The high standby power consumption of these wireless communication modules further reduces the battery life of smart locks. Other smart locks use removable batteries (such as AA batteries) for power, requiring a separate, constantly powered hub to provide Wi-Fi and Matter wireless communication modules. This necessitates additional wiring, increasing battery life while reducing ease of use.
[0066] For example, redundant strokes lead to long operation times for smart devices. A typical smart lock, for instance, may take 2 seconds or more to turn the key one full rotation. For mechanical locks supporting two levels, users typically need to wait about 5 seconds after issuing the unlock command before the door opens. This redundant stroke results in unnecessary time consumption and a poor user experience. To address this issue, some smart locks increase motor speed to shorten opening time, but this usually comes at the cost of increased noise, torque, and cost. Other smart locks improve opening time and reduce noise, torque, and cost by instructing users to use only the higher-level lock, but this requires manual operation and sacrifices security.
[0067] Therefore, if the final stage of idle stroke can be identified during the stroke calibration of the rotating mechanism, it will help to clarify the boundary between the effective working range and the redundant range of the rotating mechanism during the stroke calibration. This will reduce the rotation angle range during the subsequent control of the transmission mechanism by the electronic equipment after calibration, achieve dual optimization of power loss and time loss, and improve the efficiency of the electronic equipment in controlling the rotating mechanism.
[0068] Several methods can be used for stroke calibration. For example, an exemplary method involves simply subtracting a fixed angle from the entire angular range of the rotating mechanism, thus achieving stroke calibration. However, this method lacks universality because it cannot account for the differences in angle control between various mechanical lock models, and if the subtracted fixed angle is unreasonable, it can lead to potential unreliability issues. For example, with... Figure 5A or Figure 5B For example, from Figure 5A or Figure 5B Subtracting 400° from the entire angle range will prevent the second-level locking from being completed, thus reducing the security of the mechanical lock.
[0069] In view of this, at least one embodiment of the present disclosure aims to combine data collected by multiple sensors to identify redundant strokes, thereby clarifying the boundary between the effective working range and the redundant range of the rotating mechanism of the electronic device, thereby promoting the optimization of the control range of the rotation angle of the rotating mechanism in the electric drive process, realizing the dual optimization of power loss and time loss, and improving the efficiency of the electronic device in controlling the rotating mechanism.
[0070] The following is combined Figures 6 to 8 This describes a method for stroke calibration of an electrically driven rotary mechanism and its additional aspects.
[0071] Figure 6 A schematic diagram of a method for stroke calibration of an electrically driven rotary mechanism according to at least one embodiment of the present disclosure is shown. See also Figure 6 The described method 600 can be implemented at an electronic device, such as an electronic device that electrically drives and controls the rotation mechanism.
[0072] Figure 7 A schematic diagram of the structure of an electronic device according to at least one embodiment of the present disclosure is shown. See also Figure 7 The electronic device 700 may include a rotating mechanism 702, a motor 704, an electrical load characteristic acquisition circuit 706, an angle sensor 708, a processor 710, and an optional filter 712. Note that, see [link to relevant documentation] Figure 7 The structural diagram described is merely illustrative and can be used to illustrate other concepts. Figure 7 Modifications can be made to the various modules or units, for example, by adding or reducing them. Figure 7 Modules or units, combinations Figure 7 Modules or units or Figure 7 A single module or unit is broken down into multiple Figure 7 Modules or units.
[0073] Figure 8 A schematic diagram illustrating the variation of current collected during the calibration process of a mechanical lock supporting two-stage locking according to at least one embodiment of the present disclosure as a function of rotation angle is shown. It should be noted that... (See also...) Figure 8 The illustrated diagrams are merely illustrative and are intended to illustrate the relationship between the current acquired during calibration and the rotation angle, using a rotating mechanism that supports a two-stage locking mechanism, in order to clearly describe method 600 and its additional aspects. In other aspects, the two-stage locking mechanism can be modified to support more or fewer stages of locking, or modified to other rotating mechanisms. Figure 8 The diagram can be changed accordingly. Additionally, Figure 8 The current amplitude at each angle is merely an example. Figure 8 A schematic diagram illustrating the variation of current collected during the calibration process of a mechanical lock supporting two-stage locking according to at least one embodiment of the present disclosure as a function of rotation angle is shown. It should be noted that... (See also...) Figure 8 The illustrated diagrams are merely illustrative and are intended to illustrate the relationship between the current acquired during calibration and the rotation angle, using a rotating mechanism that supports a two-stage locking mechanism, in order to clearly describe method 600 and its additional aspects. In other aspects, the two-stage locking mechanism can be modified to support more or fewer stages of locking, or modified to other rotating mechanisms. Figure 8 The diagram can be changed accordingly. Additionally, Figure 8 The current amplitudes at various angles shown are merely illustrative. Additionally, a schematic diagram illustrating the current variation with rotation angle during the calibration process of a mechanical lock supporting two-stage unlocking can be found in [reference]. Figure 8 The diagram illustrating the locking mechanism is similar. For example, it can be seen in [reference]. Figure 8 The diagram illustrating the locking mechanism is reversed. For example, Figure 8 This is a schematic diagram showing the change of current with rotation angle when the key is turned clockwise from the unlocked state to the motor stall state (i.e., the locked state). However, the schematic diagram showing the change of current with rotation angle during the calibration process of a mechanical lock that supports two-level unlocking can be a schematic diagram showing the change of current with rotation angle when the key is turned counterclockwise from the locked state to the motor stall state (i.e., the locked state). It will not be elaborated further here.
[0074] Back Figure 6 Method 600 may include steps S610 to S630.
[0075] In step S610, during the application of electric drive to the rotating mechanism to complete the full stroke, the rotation angle of the rotating mechanism of the electronic device and the electrical load characteristics of the motor of the electronic device are simultaneously acquired, wherein the motor drives the rotating mechanism to rotate to control the stroke of the rotating mechanism.
[0076] For example, see Figure 7 The motor 704 can drive the rotating mechanism 702 to rotate, thereby causing a rotating component (not shown) to rotate, in order to control the stroke of the rotating mechanism. The rotating mechanism can be physically coupled to drive the rotating mechanism 702 to transmit the rotational force of the rotating mechanism 702 to the rotating mechanism.
[0077] The rotating mechanism 702 can drive the rotating mechanism to move throughout its entire stroke, and during the completion of the full stroke, the angle sensor 708 and the electrical load characteristic acquisition circuit 706 can synchronously acquire the rotation angle of the rotating mechanism 702 and the electrical load characteristics of the motor 704.
[0078] For example, during the calibration process of a mechanical lock supporting two-level locking, the change in current with rotation angle can be measured as follows: Figure 8 As shown. See also Figure 8 The horizontal axis can be the rotation angle, which spans the entire travel of the mechanical lock from the unlocked state to the locked state (i.e., locked), representing the rotation angle of the electronic device (such as a smart lock that controls the mechanical lock). The vertical axis can be the current, for example, an example of an electrical load characteristic, as described below. Figure 8 Additional aspects.
[0079] Back Figure 6 In step S620, based on the electrical load characteristics acquired synchronously with the rotation angle, it is determined whether there is redundant stroke within the complete stroke of the rotating mechanism.
[0080] For example, see Figure 7 The processor 710 can receive the rotation angle and electrical load characteristics from the angle sensor 708 and the electrical load characteristic acquisition circuit 706 respectively, and then determine whether there is a redundant stroke within the complete stroke of the rotating mechanism based on the rotation angle and electrical load characteristics.
[0081] Optionally, the filter 712 can filter the electrical load characteristics acquired by the electrical load characteristic acquisition circuit 706 to eliminate interference.
[0082] As described above, the exemplary stroke calibration method, which simply subtracts a fixed angle from the entire angular range of the rotating mechanism, lacks universality. However, the inventors of this disclosure recognized in their research that the electrical load characteristics of an electronic device differ depending on whether the rotating mechanism is in its idle or non-idle strokes when it is electrically driven to rotate. For example, see... Figure 8 The idle stroke is shown as Idle 1 to Idle 3, and the non-idle stroke is shown as peaks.
[0083] In other words, the electrical load characteristics acquired synchronously with the rotation angle can characterize the load on the rotating mechanism driving the rotary mechanism. Therefore, the existence of redundant stroke can be identified by analyzing the acquired electrical load characteristics and rotation angle. For example, see... Figures 4A to 4D The thrust required for the lock cylinder during its free-spinning stroke and the stroke that pushes the bolt is different. The presence of the final free-spinning stroke can be identified by analyzing the electrical load characteristics and rotation angle of the motor.
[0084] In step S630, in response to the existence of redundant stroke, the range of redundant rotation angles corresponding to the redundant stroke is identified.
[0085] For example, see Figure 7 The processor 710 can identify the range of redundant rotation angles corresponding to the redundant stroke when it is determined that redundant stroke exists. For example, when there is redundant stroke in the rotating mechanism, the processor 710 can determine the range of redundant rotation angles corresponding to the redundant stroke based on the electrical load characteristics collected synchronously with the rotation angle.
[0086] The range of rotation angles corresponding to redundant strokes can be recorded or stored in a memory (e.g., memory inside processor 710, memory outside processor 710 in electronic device 700, etc.) as a redundant rotation angle range. This range is used to determine the range of rotation angles of the rotating mechanism based on the electrical load characteristics acquired synchronously with the rotation angle, so as to control the movement of the rotating mechanism, such as controlling the unlocking and locking of a mechanical lock.
[0087] In other respects, depending on the transmission ratio between the rotary mechanism and the rotating mechanism, the range of rotation angles of the rotary mechanism and the redundant stroke of the rotating mechanism can be the same or different. For example, see [link to relevant documentation]. Figures 4A to 4D In the example, the rotation angle of the rotating mechanism is the same as the rotation angle of the key or lock cylinder. In this case, the range of the rotation angle of the rotating mechanism is the same as the redundant stroke of the rotating mechanism.
[0088] In this way, the stroke calibration method for an electrically driven rotating mechanism according to at least one embodiment of the present disclosure can identify the redundant rotation angle range corresponding to the redundant stroke of the rotating mechanism, clarify the boundary between the effective working range and the redundant range of the rotating mechanism, thereby promoting the optimization of the control range of the rotation angle of the rotating mechanism in the electric drive process and improving the efficiency of the electronic device's drive control of the rotating mechanism.
[0089] The inventors of this disclosure also recognize that multi-stage stroke rotary mechanisms have the characteristic of rotating components triggering the actuators to move in stages. However, subsequent rotation of the rotating component within a certain angular range does not change the state of the actuator because the rotating component does not contact the actuator within that angular range (i.e., does not push the actuator to move), resulting in redundant strokes. For example, see... Figures 4A to 4D In a stepped-locking mechanical lock, the rotating component (such as the lock cylinder) contacts the actuating component (such as the latch, specifically when teeth 1 and 2 of the latch are in contact), triggering the actuating component (such as the latch) to complete the corresponding level of locking. However, within a certain angular range (e.g., 360°), the lock cylinder does not contact the latch (more specifically, teeth 1 and 2 of the latch), resulting in redundant travel of the lock cylinder. In contrast, in a linear stroke rotating mechanism, the rotating component synchronously triggers the movement of the actuating component. For example, each rotation of the rotating component triggers the actuating component to perform a corresponding movement, thus eliminating redundant travel.
[0090] In view of this, in some embodiments, in step S620, determining whether there is redundant stroke within the complete stroke of the rotating mechanism based on the electrical load characteristics collected synchronously with the rotation angle may include: determining whether the rotating mechanism is a multi-stage stroke rotating mechanism based on the electrical load characteristics collected synchronously with the rotation angle; and in response to determining that the rotating mechanism is a multi-stage stroke rotating mechanism, determining that there is redundant stroke within the complete stroke of the rotating mechanism.
[0091] Thus, the stroke calibration method for an electrically driven rotary mechanism according to at least one embodiment of this disclosure can first determine the type of the rotary mechanism, and then determine its redundant stroke when it is determined to be a multi-stage stroke rotary mechanism. This effectively avoids determining redundant stroke for linear stroke rotary mechanisms without redundant stroke characteristics, preventing problems where operation is meaningless.
[0092] It is worth noting that determining whether the rotating mechanism is a multi-stage stroke rotating mechanism in step S620 is merely exemplary. In some embodiments, the rotating mechanism may be determined to be another type of rotating mechanism, such as other types of rotating mechanisms including redundant strokes, based on electrical load characteristics acquired synchronously with the rotation angle. In one example, another type of rotating mechanism may be a rotating mechanism that simultaneously has both linear stroke and multi-stage stroke characteristics.
[0093] In some embodiments, determining whether a rotating mechanism is a multi-stage stroke rotating mechanism based on electrical load characteristics acquired synchronously with the rotation angle may include: determining whether a rotating mechanism is a multi-stage stroke rotating mechanism based on the peak shape of the electrical load characteristics.
[0094] As mentioned above, in a multi-stage stroke rotary mechanism, the rotating component may not contact the actuating component within a certain angular range, and may contact the actuating component within another angular range. This results in a peak-shaped electrical load characteristic (for example, the peak shape may correspond to the contact between the rotating component and the actuating component in the multi-stage stroke rotary mechanism). See, for example, […]. Figure 8 For example, the peaks between idling 1 and idling 2, and the peaks between idling 2 and idling 3, can respectively correspond to, for example, see [link to relevant documentation] Figure 4A and Figure 4C The lock cylinder is in contact with teeth 1 and 2 of the square latch.
[0095] In contrast, as mentioned above, the rotating component of the linear stroke rotary mechanism synchronously triggers the movement of the actuator, and therefore it does not have a significant peak shape caused by the contact and non-contact (i.e., idling) between the rotating component and the actuator.
[0096] Therefore, in this embodiment, it is possible to reliably determine whether the rotating mechanism is a multi-stage stroke rotating mechanism based on the peak shape.
[0097] Specifically, whether a rotating mechanism is a multi-stage stroke rotating mechanism can be determined based on the peak value and the average value of the electrical load characteristics.
[0098] For example, in some embodiments, determining whether a rotating mechanism is a multi-stage stroke rotating mechanism based on the peak shape of the electrical load characteristics may include: determining the peak value and the average value of the electrical load characteristics; and determining whether the difference between the peak value and the average value exceeds a preset value, wherein, in response to the difference exceeding the preset value, the rotating mechanism is determined to be a multi-stage stroke rotating mechanism.
[0099] For multi-stage stroke rotary mechanisms, the contact or non-contact between the rotating and actuating components generally leads to significant differences in electrical load characteristics. Furthermore, since the non-contact angle range between the rotating and actuating components is typically wide, the mean value of the electrical load characteristic tends to align with the value of the motor's electrical load characteristic when the rotating and actuating components are not in contact. Therefore, by utilizing the difference between the peak and mean values of the electrical load characteristic, the distinguishability of the electrical load characteristics when the rotating and actuating components are in contact or not can be accurately characterized. A larger distinguishability corresponds to a multi-stage stroke rotary mechanism, while a smaller distinguishability corresponds to a linear stroke rotary mechanism. The magnitude of the distinguishability can be indicated by a preset value.
[0100] Therefore, in this embodiment, whether the rotating mechanism is a multi-stage stroke rotating mechanism can be reliably determined by whether the difference between the peak value and the average value exceeds a preset value. For example, if the difference exceeds the preset value, the rotating mechanism can be determined to be a multi-stage stroke rotating mechanism. Alternatively, if the difference does not exceed the preset value, the rotating mechanism can be determined to be a linear stroke rotating mechanism.
[0101] As mentioned above, redundant stroke can correspond to the rotation angle from the angle of the last stage of the multi-stage stroke rotating mechanism to the end point of the multi-stage stroke rotating mechanism's stroke, thus identifying the entire redundant stroke of the multi-stage stroke rotating mechanism. Of course, redundant stroke can be a subset of the interval from the angle of the last stage of the multi-stage stroke rotating mechanism to the end point of the multi-stage stroke rotating mechanism's stroke. For example, adding a certain angle to the rotation angle from the last stage of the multi-stage stroke rotating mechanism to the end point of the multi-stage stroke rotating mechanism can identify a portion of the redundant stroke of the multi-stage stroke rotating mechanism.
[0102] Therefore, in some embodiments, the redundant stroke can be located between the rotation angle of the last stage node of the multi-stage stroke rotating mechanism and the rotation angle of the stroke end point of the multi-stage stroke rotating mechanism, and the last stage node triggers the completion of the last stage rotation of the multi-stage stroke rotating mechanism.
[0103] In this way, at least a portion of the multi-stage stroke rotation mechanism can be identified, thereby reducing the range of rotation angles of the electronic device's rotation mechanism (e.g., compared to the range of rotation angles of the rotation mechanism corresponding to the stroke of the rotation mechanism that includes the entire redundant stroke), and improving the efficiency of the electronic device's control over the rotation mechanism.
[0104] In some embodiments, recording the range of redundant rotation angles corresponding to redundant strokes in the rotation angle may include: determining the range of redundant rotation angles based on the peak shape of electrical load characteristics.
[0105] As mentioned above, multi-stage stroke rotary mechanisms involve both contact and non-contact between the rotating and actuating components, resulting in a peak-shaped electrical load characteristic. This peak shape can correspond to the contact between the rotating and actuating components in the multi-stage stroke rotary mechanism. Therefore, a redundant rotation angle range can be identified based on the peak shape. For example, the lower limit of the redundant rotation angle range can be obtained by adding a predetermined angle to the angle corresponding to the peak closest to the end of the stroke, and the upper limit can be obtained by using the angle corresponding to the end of the stroke. See, for example... Figure 8 The boundary angle can be obtained by adding a predetermined angle to the peak between idle 2 and idle 3 (e.g., corresponding to level 2 locking), such as... Figure 8As shown by the circle in the diagram. Therefore, the range of redundant rotation angles can be determined from the boundary angle to the corresponding rotation angle of the lock.
[0106] Therefore, in this embodiment, the range of redundant rotation angles can be reliably determined based on the peak morphology.
[0107] Specifically, the range of redundant rotation angles can be determined based on the peak value and the average value of the electrical load characteristics.
[0108] For example, in some embodiments, determining the redundant rotation angle range based on the peak shape of the electrical load characteristics may include: determining multiple rotation angles corresponding to the electrical load characteristic reference value as multiple candidate rotation angles, wherein the electrical load characteristic reference value is located between the peak value and the mean value of the electrical load characteristics; and adding the candidate rotation angle closest to the end point of the stroke of the rotating mechanism to a preset angle to obtain a boundary angle, wherein the redundant rotation angle range is the rotation angle corresponding to the boundary angle to the end point of the stroke of the rotating mechanism.
[0109] For example, see Figure 4D and Figure 8 Because the rotating mechanism drives the rotating mechanism (e.g., rotating components, such as...) Figure 4D The rotation of the lock cylinder (in the lock), and the end point of the rotation mechanism's stroke can prevent the lock cylinder from rotating any further (i.e., as shown in the image). Figure 4D When the lock cylinder contacts the locking stop block, the rotating mechanism will be in a stalled state (i.e., Figure 8 (Motor stall in the process). In this embodiment, the candidate rotation angle closest to the end of the stroke of the rotating mechanism can correspond to the rotation angle closer to the completion of the last stage of the stroke (e.g., compared to the rotation angle corresponding to the peak). Therefore, the selection range of the preset angle can be smaller, making the obtained boundary angle more accurate, and thus making the obtained redundant rotation angle range more accurate and able to cover the actual redundant stroke of the rotating mechanism as much as possible. For example, see Figure 8 The boundary angle can be obtained by adding a predetermined angle to the rotation angle corresponding to the descending part to the right of the peak between idle 2 and idle 3 (e.g., corresponding to secondary locking). Figure 8 As shown in the circle.
[0110] Therefore, in this embodiment, the range of redundant rotation angles can be reliably determined based on the peak value and the average value of the electrical load characteristics.
[0111] In some examples, the reference value of the electrical load characteristic may be located between the peak value and the mean value of the electrical load characteristic, or it may be located at 1 / 2 or 1 / 3 of the peak value and the mean value of the electrical load characteristic, etc. This disclosure is not limited thereto.
[0112] It is worth noting that while the redundant rotation angle range has been described above as the range of rotation angles from the boundary angle to the end of the stroke, the embodiments of this disclosure are not limited thereto. For example, in some embodiments, the redundant rotation angle range can be the boundary angle. Additionally, during calibration, the boundary of the rotation angle of the rotating mechanism can be set to the boundary angle or a specific angle within the redundant rotation angle range, so that in subsequent use, the rotating mechanism rotates within the boundary angle or the specific angle range, thereby preventing it from rotating between the boundary angle or the specific angle and the end of the stroke, thus reducing the rotation angle of the rotating mechanism.
[0113] The average value of the electrical load characteristics described above can be calculated in a variety of ways.
[0114] For example, in some embodiments, the mean of the electrical load characteristics can be determined by dividing the rotation angle into multiple equal-angle intervals; determining the mean of the electrical load characteristics of each of the multiple equal-angle intervals as the interval mean; and taking the median of the interval mean as the mean.
[0115] In other embodiments, the mean value of the electrical load characteristic can be calculated by summing the electrical load characteristic values at each rotation angle corresponding to the electrical load characteristic and dividing the summation result by the number of rotation angles corresponding to the electrical load characteristic.
[0116] In this way, a variety of flexible calculation methods can be provided to obtain the average value of the electrical load characteristics. The electrical load characteristics here can be the electrical load characteristics synchronously collected during the application of electric drive to the rotating mechanism to complete the full stroke, or the electrical load characteristics synchronously collected after excluding the electrical load characteristics corresponding to the start and end phases of the full stroke, also known as the operating phase electrical load characteristics.
[0117] The inventors of this disclosure also recognize that the electrical load characteristics of the motor exhibit peaks during the start-up and end phases of the complete stroke, for example, see [reference needed]. Figure 8 During the motor start-up phase and the motor stall phase (as mentioned above, the motor stalls at the end of the full stroke), the motor current will show peaks. However, these peaks do not correspond to the contact between the rotating parts and the actuating parts in a multi-stage stroke mechanism, and therefore cannot be used to determine whether the mechanism is a multi-stage stroke mechanism or a redundant stroke. On the contrary, they may affect the determination of whether the mechanism is a multi-stage stroke mechanism or a redundant stroke.
[0118] In view of this, for example, in some embodiments, the method may include: excluding electrical load characteristics corresponding to the start and end phases of the full stroke from the electrical load characteristics based on the rotation angle, in order to determine whether there is redundant stroke within the full stroke of the rotating mechanism based on the electrical load characteristics.
[0119] In this embodiment, after excluding the electrical load characteristics corresponding to the start-up and end-of-phase phases from the electrical load characteristics, the operation of determining whether there is redundant stroke within the complete stroke of the rotating mechanism is performed based on the electrical load characteristics (i.e., the electrical load characteristics during the operating phase). Additionally or alternatively, after excluding the electrical load characteristics corresponding to the start-up and end-of-phase phases from the electrical load characteristics, the range of redundant rotation angles corresponding to the redundant strokes can be identified. In this way, interference from the electrical load characteristics corresponding to the start-up and end-of-phase phases can be reduced. For example, see... Figure 8 By eliminating the current peaks during the motor start-up and stall phases from the collected current, interference can be reduced, thereby improving the accuracy of determining whether the rotating mechanism is a multi-stage stroke rotating mechanism and the redundant rotation angle range corresponding to the redundant stroke.
[0120] In some cases, the rotating mechanism may be identified as a linear stroke rotating mechanism. In this case, during subsequent use, the rotating mechanism can be operated within the entire range of rotation angles during the calibration process.
[0121] Therefore, in some embodiments, the method may further include: in response to determining that the rotating mechanism is a linear stroke rotating mechanism, recording a complete range of rotation angles covering the rotation angles, wherein the complete range of rotation angles is the angle interval to which the rotating mechanism will rotate in subsequent electrically driven rotating mechanisms.
[0122] In this way, the full functionality supported by the linear stroke rotary mechanism can be achieved, such as the entire range of motion of the actuator of the linear stroke rotary mechanism. For example, it does not affect the control of the linear locking mechanical lock, nor does it affect its security.
[0123] In some cases, when a redundant rotation angle range is obtained, the rotating mechanism can be operated within the entire rotation angle range of the rotating mechanism during the calibration process, excluding the redundant rotation angle range, in subsequent use.
[0124] Therefore, in some embodiments, the redundant rotation angle range is the angle range omitted by the rotating mechanism in subsequent electrically driven rotation mechanisms.
[0125] In this way, the range of rotation angle of the rotating mechanism can be reduced, achieving dual optimization of power loss and time loss, and improving the efficiency of electronic equipment in controlling the rotating mechanism.
[0126] In some embodiments, electrical load characteristics include current and / or voltage.
[0127] As described above, the method for stroke calibration of an electrically driven rotary mechanism according to at least one embodiment of the present disclosure can be implemented at an electronic device and can be applied to specific application scenarios, such as see [link to relevant documentation]. Figure 1 The description illustrates exemplary application scenarios of intelligent door locks, thereby extending the intelligence of mechanical locks.
[0128] For example, in some embodiments, the electronic device is a smart lock, and the rotating mechanism is a multi-stage mechanical lock. In this case, redundant travel may include the angle of rotation of the lock cylinder between the last stage of the multi-stage mechanical lock and the stall during the locking process (e.g., ...). Figure 5A or Figure 5B This refers to the free-spinning stroke from the completion of the second-stage locking until the lock cylinder hits the locking stop block. Additionally, redundant stroke can also include the angle of lock cylinder rotation between the final stage of unlocking and the stall during the unlocking process in a multi-stage mechanical lock. The unlocking and locking processes are similar (see, for example, [link to relevant documentation]). Figures 4A to 4D The locking process and the opposite unlocking process described herein will not be repeated here.
[0129] In this embodiment, the smart lock can identify redundant travel, thereby reducing the range of rotation angles of its rotating mechanism and reducing power consumption and time during use. For example, in an exemplary two-stage locking mechanical lock, the last empty travel segment can be identified, reducing the total travel from 1020° to approximately 750°, optimizing power consumption by about 20%, and control time by about 26%.
[0130] At least one embodiment of this disclosure also provides a computer program product having instructions stored thereon that, when executed by a processor, cause the execution of a method for stroke calibration of an electrically driven rotary mechanism according to at least one embodiment of this disclosure.
[0131] At least one embodiment of this disclosure also provides an electronic device. Figure 9 A schematic diagram of an electronic device according to at least one embodiment of the present disclosure is shown.
[0132] like Figure 9 As shown, the electronic device 900 includes at least one processor 920 and a memory 910. The memory 910 stores computer-readable instructions and is communicatively connected to the processor 920. The processor 920 executes the computer-readable instructions stored in the memory 910 to implement a method for stroke calibration of an electrically driven rotary mechanism according to at least one embodiment of the present disclosure, and additional aspects thereof.
[0133] For example, the memory 910 and the processor 920 can communicate with each other directly or indirectly. For example, in some examples, such as... Figure 9 As shown, the electronic device 900 may also include a system bus 930, through which the memory 910 and the processor 920 can communicate with each other. For example, the processor 920 can access the memory 910 through the system bus 930. For example, in other examples, components such as the memory 910 and the processor 920 can communicate through a network on-chip (NOC) connection.
[0134] For example, processor 920 can control other components in electronic device 900 to perform desired functions. Processor 920 can be a device with data processing and / or program execution capabilities, such as a central processing unit (CPU), tensor processor (TPU), network processor (NP), or graphics processing unit (GPU), or it can be a digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
[0135] For example, memory 910 may include any combination of one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, erasable programmable read-only memory (EPROM), portable compact disc read-only memory (CD-ROM), USB memory, flash memory, etc.
[0136] For example, one or more computer-readable instructions can be stored on memory 910, and processor 920 can execute computer-readable instructions to perform various functions. Various application programs and various data, such as instruction processing code and various data used and / or generated by the application programs, can also be stored in the computer-readable storage medium.
[0137] For example, when some computer instructions stored in memory 910 are executed by processor 920, they can perform one or more steps of the method for stroke calibration of an electrically driven rotary mechanism as described above, and its additional aspects.
[0138] For example, such as Figure 9As shown, the electronic device 900 may further include an input interface 940 that allows external devices to communicate with the electronic device 900. For example, the input interface 940 may be used to receive instructions from an external computer device, a user, etc. The electronic device 900 may also include an output interface 950 that enables the electronic device 900 to connect to one or more external devices. For example, the electronic device 900 can use the output interface 950, etc.
[0139] It should be noted that the electronic device 900 according to at least one embodiment of the present disclosure is exemplary and not restrictive. Depending on the actual application needs, the electronic device 900 may also include other conventional components or structures. For example, in order to realize the necessary functions of the electronic device, those skilled in the art may set other conventional components or structures according to the specific application scenario. The embodiments of the present disclosure do not limit this.
[0140] In some embodiments, the electronic device can be a smart lock, and the rotating mechanism can be a multi-level mechanical lock.
[0141] At least one embodiment of this disclosure also provides a computer-readable storage medium. This computer-readable storage medium stores computer-readable instructions that, when executed by a computer (including a processor), can implement a method for stroke calibration of an electrically driven rotary mechanism according to at least one embodiment of this disclosure, and additional aspects thereof.
[0142] For example, one or more computer-readable instructions may be stored on a computer-readable storage medium. Some of the computer-readable instructions stored on the computer-readable storage medium may be, for example, instructions for implementing one or more steps in the methods described above.
[0143] For example, a computer-readable storage medium may include the storage component of a tablet computer, a hard disk of a personal computer, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), optical disc read-only memory (CD-ROM), flash memory, or any combination of the above computer-readable storage media, or other suitable storage media. For example, a computer-readable storage medium may include the memory 910 in the above-described electronic device 900.
[0144] In addition to the exemplary descriptions above, the following points should be noted regarding this disclosure:
[0145] (1) The accompanying drawings of the embodiments of this disclosure only involve the structures involved in the embodiments of this disclosure. Other structures can be referred to the general design.
[0146] (2) Where there is no conflict, the embodiments of this disclosure and the features in the embodiments can be combined with each other to obtain new embodiments.
[0147] The above description is merely an exemplary embodiment of this disclosure and is not intended to limit the scope of protection of this disclosure, which is determined by the appended claims.
Claims
1. A method for stroke calibration of an electrically driven rotary mechanism, the method being implemented at an electronic device and comprising: During the application of electric drive to the rotating mechanism to complete the full stroke, the rotation angle of the rotating mechanism of the electronic device and the electrical load characteristics of the motor of the electronic device are simultaneously acquired, wherein the motor drives the rotating mechanism to rotate in order to control the stroke of the rotating mechanism; Based on the electrical load characteristics acquired synchronously with the rotation angle, determine whether there is redundant travel within the complete stroke of the rotating mechanism; and In response to the existence of the redundant stroke, the range of redundant rotation angles corresponding to the redundant stroke is identified.
2. The method according to claim 1, wherein, Based on the electrical load characteristics acquired synchronously with the rotation angle, determine whether there is redundant stroke within the complete stroke of the rotating mechanism, including: Based on the electrical load characteristics acquired synchronously with the rotation angle, determine whether the rotating mechanism is a multi-stage stroke rotating mechanism; and In response to determining that the rotating mechanism is the multi-stage stroke rotating mechanism, it is determined that there is a redundant stroke within the complete stroke of the rotating mechanism.
3. The method according to claim 2, wherein, The step of determining whether the rotating mechanism is a multi-stage stroke rotating mechanism based on the electrical load characteristics acquired synchronously with the rotation angle includes: Based on the peak shape of the electrical load characteristics, determine whether the rotating mechanism is a multi-stage stroke rotating mechanism.
4. The method according to claim 3, wherein, Determining whether the rotating mechanism is a multi-stage stroke rotating mechanism based on the peak shape of the electrical load characteristics includes: Determine the peak and average values of the electrical load characteristics; and Determine whether the difference between the peak value and the mean value exceeds a preset value. In response to the difference exceeding the preset value, the rotating mechanism is determined to be the multi-stage stroke rotating mechanism.
5. The method according to claim 2, wherein, The redundant stroke is located between the rotation angle of the last node of the multi-stage stroke rotating mechanism and the rotation angle of the stroke end point of the multi-stage stroke rotating mechanism, and the last node triggers the completion of the last stage rotation of the multi-stage stroke rotating mechanism.
6. The method according to claim 5, wherein, The range of redundant rotation angles corresponding to the redundant travel in the identified rotation angles includes: The range of redundant rotation angles is determined based on the peak shape of the electrical load characteristics.
7. The method according to claim 6, wherein, Determining the redundant rotation angle range based on the peak shape of the electrical load characteristics includes: Multiple rotation angles corresponding to electrical load characteristic reference values are determined as multiple candidate rotation angles, wherein the electrical load characteristic reference values lie between the peak value and the mean value of the electrical load characteristic; and The candidate rotation angle closest to the end point of the stroke of the rotating mechanism among the multiple candidate rotation angles is added to a preset angle to obtain a boundary angle, wherein the redundant rotation angle range is the rotation angle corresponding to the end point of the stroke of the rotating mechanism from the boundary angle.
8. The method according to claim 4 or 7, wherein, The mean is determined in the following way: The rotation angle is divided into multiple equal angle intervals; The mean value of the electrical load characteristics of each of the plurality of equal angle intervals is determined as the interval mean; as well as The median of the interval mean is used as the mean.
9. The method according to claim 1, further comprising: Based on the rotation angle, electrical load characteristics corresponding to the start and end phases of the complete stroke are excluded from the electrical load characteristics, in order to determine whether there is redundant stroke within the complete stroke of the rotating mechanism based on the electrical load characteristics.
10. The method according to claim 2, further comprising: In response to determining that the rotating mechanism is a linear stroke rotating mechanism, a complete range of rotation angles covering the rotation angle is identified, wherein the complete range of rotation angles is the angle interval to which the rotating mechanism will rotate when the rotating mechanism is subsequently electrically driven.
11. The method according to claim 1, wherein, The redundant rotation angle range is the angle interval omitted when the rotating mechanism is subsequently electrically driven.
12. The method according to claim 1, wherein, The electrical load characteristics include current and / or voltage.
13. The method according to claim 1, wherein, The electronic device is a smart lock, the rotating mechanism is a multi-level mechanical lock, and the redundant stroke includes at least one of the following: During the locking process, the angle of rotation of the lock cylinder between the locking of the last stage and the stall in the multi-stage mechanical lock; or During the unlocking process, the angle of rotation of the lock cylinder between the last stage of the multi-stage mechanical lock and the stall.
14. An electronic device comprising: At least one processor; as well as Memory; wherein, The memory stores computer-readable instructions and is communicatively connected to the at least one processor; The at least one processor is configured to execute the computer-readable instructions stored in the memory to implement the method according to any one of claims 1-13.
15. The electronic device according to claim 14, wherein, The electronic device is a smart lock, and the rotating mechanism is a multi-level mechanical lock.
16. A computer program product having instructions stored thereon that, when executed by a processor, cause the method according to any one of claims 1-13 to be performed.