An adaptive closed-loop control method and system based on a smart door lock body, a smart door lock, and a storage medium

Abstract

The application relates to the technical field of intelligent door lock driving, and discloses a self-adaptive closed-loop control method and system based on an intelligent door lock body, an intelligent door lock and a storage medium, the method comprising the following steps: acquiring voltage sampling data, performing data identification on the voltage sampling data, obtaining a target working voltage, and determining a full-load voltage according to the target working voltage; acquiring a starting current peak value, determining a locked-rotor current and an average no-load current according to the starting current peak value, calibrating the full-load voltage and a preset motor rated voltage based on the locked-rotor current and the average no-load current, and obtaining a rated PWM duty cycle; comparing an actual working voltage with the full-load voltage to obtain a comparison result, dynamically adjusting the rated PWM duty cycle according to the comparison result, obtaining a target duty cycle, and controlling the motor to operate according to the target duty cycle and the control instruction. The application calibrates the duty cycle by the full-load voltage and the preset motor rated voltage, and adjusts the duty cycle, so as to control the operation of the intelligent door lock motor.

Description

Technical Field

[0001] This invention relates to the field of smart door lock drive technology, and in particular to an adaptive closed-loop control method, system, smart door lock, and computer-readable storage medium based on the smart door lock body. Background Technology

[0002] In the field of smart locks, a fixed driving time is preset to drive the motor, such as a 2-second drive time. However, in actual applications, the working environment of the lock body is complex and variable. If the lock body's action is delayed due to increased friction (such as lack of lubrication after long-term use) or obstruction by foreign objects, the bolt may not have reached the correct position by the end of the preset time (under-drive), which will prevent the door from locking properly and pose a serious safety hazard. Conversely, if the action is completed prematurely, the motor will continue to idle or forcibly press against the lock body (over-drive), which not only wastes energy but also accelerates the wear of mechanical parts (such as the bolt and gears), significantly shortening the lifespan of the smart lock. Physical contacts are used to detect whether the bolt is in position. However, mechanical limit switches have obvious defects. After long-term use, the contacts are easily affected by oxidation, vibration, and other factors, resulting in loosening, poor contact, and other problems, leading to misjudgment of the bolt position. For example, in some high-humidity environments, the oxidation rate of the contacts is accelerated, which may cause the system to misjudge that the door is not closed when it is normally closed. At the same time, mechanical switches usually have a certain lifespan and will be damaged after a period of use.

[0003] Existing smart door lock control schemes mostly employ open-loop control, which suffers from problems such as the inability to monitor motor operating status in real time, low control precision, and insufficient fault diagnosis capabilities. This leads to defects such as motor overload, mechanical jamming, high energy consumption, and unreliable lock body operation. Traditional control methods lack closed-loop adjustment of dynamic parameters such as motor current and voltage, making it difficult to achieve adaptive matching for different motors and lock bodies. Consequently, the inability to effectively guarantee the security and lifespan of smart door locks has become a pressing issue that needs to be addressed.

[0004] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0005] The main objective of this invention is to provide an adaptive closed-loop control method, system, smart lock, and computer-readable storage medium based on a smart door lock body. This aims to solve the problems in the prior art where control methods lack closed-loop adjustment of dynamic parameters such as motor current and voltage, making it difficult to achieve adaptive matching for different motors and lock bodies, and thus failing to effectively guarantee the safety and service life of smart door locks.

[0006] To achieve the above objectives, the present invention provides an adaptive closed-loop control method based on a smart door lock body, the adaptive closed-loop control method based on a smart door lock body comprising the following steps: Acquire voltage sampling data, perform data identification on the voltage sampling data to obtain the target operating voltage, and determine the full-load voltage based on the target operating voltage; Obtain the peak value of the starting current, determine the stall current and the average no-load current based on the peak value of the starting current, and automatically calibrate the full-load voltage with the preset motor rated voltage based on the stall current and the average no-load current to obtain the rated PWM duty cycle; The system acquires the actual operating voltage and control command, compares the actual operating voltage with the full-load voltage to obtain a comparison result, dynamically adjusts the rated PWM duty cycle based on the comparison result to obtain a target duty cycle, and controls the motor of the smart door lock to run according to the target duty cycle and the control command.

[0007] Optionally, the adaptive closed-loop control method based on the smart door lock body, wherein acquiring voltage sampling data, performing data identification on the voltage sampling data to obtain the target operating voltage, and determining the full-load voltage based on the target operating voltage, specifically includes: Acquire voltage sampling data, voltage feedback signal, and PWM signal; The voltage sampling data is filtered using a moving average filtering algorithm to obtain the target voltage signal. The target operating voltage is obtained by performing data identification on the target voltage signal based on the voltage feedback signal; The full-load voltage is calculated based on the target operating voltage and the duty cycle of the PWM signal.

[0008] Optionally, the adaptive closed-loop control method based on the smart door lock body, wherein obtaining the peak value of the starting current, determining the stall current and the average no-load current based on the peak value of the starting current, and automatically calibrating the full-load voltage with the preset rated motor voltage based on the stall current and the average no-load current to obtain the rated PWM duty cycle, specifically includes: Obtain the current change curve during the motor startup process, and determine the peak startup current based on the current change curve; The peak value of the starting current is numerically calculated with a preset constant value to obtain the stall current and the average no-load current. Based on the stall current and the average no-load current, the full-load voltage is automatically calibrated with the preset motor rated voltage to obtain the rated PWM duty cycle.

[0009] Optionally, the adaptive closed-loop control method based on the smart door lock body, wherein the step of performing numerical calculations on the peak starting current and a preset constant value to obtain the stall current and the average no-load current specifically includes: The peak currents of multiple motors are obtained from the peak starting current, and the peak currents of all motors are numerically calculated to obtain the first stall current; Obtain the steady-state current band of the peak starting current, and calculate the no-load average current based on the average current of multiple currents in the steady-state current band. A preset experience multiple is obtained, and the first stall current is verified based on the preset experience multiple to obtain the stall current.

[0010] Optionally, the adaptive closed-loop control method based on the smart door lock body, wherein acquiring the actual operating voltage and control command, comparing the actual operating voltage with the full-load voltage to obtain a comparison result, dynamically adjusting the rated PWM duty cycle according to the comparison result to obtain a target duty cycle, and controlling the smart door lock motor to operate according to the target duty cycle and the control command, specifically includes: The actual operating voltage and control command are obtained, and the actual operating voltage is filtered by a moving average filtering algorithm to obtain the target operating voltage. The target operating voltage is compared with the full-load voltage to obtain the comparison result; Determine whether the comparison result is abnormal; If the comparison result is abnormal, the rated PWM duty cycle is instantaneously adjusted and downgraded according to the comparison result to obtain the target duty cycle, and the motor of the smart door lock is controlled to run according to the target duty cycle and the control command.

[0011] Optionally, the adaptive closed-loop control method based on the smart door lock body, wherein if the comparison result is abnormal, the rated PWM duty cycle is instantaneously adjusted and downgraded according to the comparison result to obtain a target duty cycle, and the motor of the smart door lock is controlled to run according to the target duty cycle and the control command, specifically includes: If the comparison result exceeds the preset range, the rated PWM duty cycle is instantaneously adjusted according to the comparison result to obtain the first target duty cycle, and the motor of the smart door lock is controlled to stop according to the first target duty cycle and the control command. If the comparison result is equal to the preset range, the rated PWM duty cycle is adjusted step by step according to the comparison result to obtain the second target duty cycle, and the motor of the smart door lock is controlled to run at reduced speed according to the second target duty cycle and the control command.

[0012] Optionally, the step of acquiring the actual operating voltage and control command, comparing the actual operating voltage with the full-load voltage to obtain a comparison result, dynamically adjusting the rated PWM duty cycle based on the comparison result to obtain a target duty cycle, and controlling the motor of the smart door lock to operate according to the target duty cycle and the control command, further includes: The load type of the smart door lock is obtained, and the load type is identified through a machine learning algorithm to obtain the target load type; The target load type is matched with the preset PWM regulation strategy to obtain the optimal PWM regulation strategy; The target duty cycle is adjusted according to the optimal PWM adjustment strategy to obtain the optimal duty cycle; The target load type includes any one of light load, heavy load, and impact load.

[0013] Furthermore, to achieve the above objectives, the present invention also provides an adaptive closed-loop control system based on an intelligent door lock body, wherein the adaptive closed-loop control system based on the intelligent door lock body includes: The voltage data acquisition module is used to acquire voltage sampling data, perform data identification on the voltage sampling data to obtain the target operating voltage, and determine the full-load voltage based on the target operating voltage; The voltage data analysis module is used to obtain the peak value of the starting current, determine the stall current and the average no-load current based on the peak value of the starting current, and automatically calibrate the full-load voltage with the preset motor rated voltage based on the stall current and the average no-load current to obtain the rated PWM duty cycle. The intelligent door lock control module is used to acquire the actual operating voltage and control commands, compare the actual operating voltage with the full-load voltage to obtain the comparison result, dynamically adjust the rated PWM duty cycle according to the comparison result to obtain the target duty cycle, and control the motor of the intelligent door lock to run according to the target duty cycle and the control commands.

[0014] Furthermore, to achieve the above objectives, the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores an adaptive closed-loop control program based on an intelligent door lock body, and when the adaptive closed-loop control program based on the intelligent door lock body is executed by a processor, it implements the steps of the adaptive closed-loop control method based on the intelligent door lock body as described above.

[0015] In this invention, voltage sampling data is acquired, and data identification is performed on the voltage sampling data to obtain the target operating voltage. The full-load voltage is then determined based on the target operating voltage. The peak starting current is acquired, and the stall current and average no-load current are determined based on the peak starting current. Based on the stall current and the average no-load current, the full-load voltage is automatically calibrated against a preset motor rated voltage to obtain the rated PWM duty cycle. This invention calibrates the duty cycle using the full-load voltage and the preset motor rated voltage, and adjusts the duty cycle to control the operation of the smart door lock motor. Attached Figure Description

[0016] Figure 1 This is a flowchart of a preferred embodiment of the adaptive closed-loop control method based on the intelligent door lock body of the present invention; Figure 2 This is a schematic diagram of current variation in a preferred embodiment of the adaptive closed-loop control method based on the smart door lock body of the present invention; Figure 3 This is a structural diagram of a preferred embodiment of the adaptive closed-loop control system based on the intelligent door lock body of the present invention; Figure 4 This is a structural diagram of a preferred embodiment of the smart door lock of the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0018] Existing smart door lock body control schemes mostly adopt open-loop control, which suffers from problems such as the inability to monitor the motor's operating status in real time, low control precision, and insufficient fault diagnosis capabilities. This leads to defects such as motor overload, mechanical jamming, high energy consumption, and unreliable lock body operation. Traditional control methods lack closed-loop adjustment of dynamic parameters such as motor current and voltage, making it difficult to achieve adaptive matching for different motors and lock bodies. Therefore, an adaptive closed-loop control method based on the smart door lock body is needed. This method calibrates the duty cycle by using full-load voltage and preset motor rated voltage, and then adjusts the duty cycle to adaptively control the operation of the smart door lock motor.

[0019] The adaptive closed-loop control method based on the smart door lock body described in the preferred embodiment of the present invention, such as... Figure 1 As shown, the adaptive closed-loop control method based on the smart door lock body includes the following steps: Step S10: Acquire voltage sampling data, perform data identification on the voltage sampling data to obtain the target operating voltage, and determine the full-load voltage based on the target operating voltage.

[0020] Step S10 includes: Step S11: Acquire voltage sampling data, voltage feedback signal, and PWM signal; Step S12: Filter the voltage sampling data using a moving average filtering algorithm to obtain the target voltage signal; Step S13: Perform data identification on the target voltage signal based on the voltage feedback signal to obtain the target operating voltage; Step S14: Calculate the full-load voltage based on the target operating voltage and the duty cycle of the PWM signal.

[0021] Specifically, voltage sampling data, voltage feedback signals, and PWM signals are acquired (the microcontroller unit first outputs a PWM signal with an extremely low duty cycle (e.g., 5% or 10%) to drive the motor for a short period (100ms-300ms) of initialization operation). The voltage sampling data is filtered using a moving average filtering algorithm to obtain the target voltage signal. The target voltage signal is then identified based on the voltage feedback signal to obtain the target operating voltage (the target voltage signal of the motor is identified based on the voltage feedback signal). The full-load voltage is calculated based on the target operating voltage and the duty cycle of the PWM signal (the full-load voltage of the driver chip is calculated (full-load voltage = target operating voltage / PWM signal)).

[0022] In this embodiment, the current and voltage sampling data transmitted by the ADC sampling unit are received, filtered, calculated and analyzed, and a dynamically adjusted PWM control signal is generated based on the analysis results and sent to the PWM output. Control commands (such as unlocking command and locking command) are obtained, the control process is started and stopped, the motor initialization running data is parsed through the built-in adaptive algorithm, the motor rated voltage is automatically matched, stored in the local parameter library and called in real time.

[0023] As an example, the adaptation of the motor drive voltage in this invention is unrelated to the current. The purpose is to ensure that the drive chip outputs a drive voltage that matches the voltage of the lock body's control motor, i.e., the voltage adaptation process. The core is that the motor drive chip is designed for wide voltage output, supporting operation within a voltage range of 3V-12V. However, the overall power supply voltage of the door lock is not fixed; it could be 3.7V, 6V, 8V, or 12V. Therefore, the voltage directly supplied to the motor drive chip is also uncertain—it is the door lock's power supply voltage.

[0024] Step S20: Obtain the peak value of the starting current, determine the stall current and the average no-load current based on the peak value of the starting current, and automatically calibrate the full-load voltage with the preset motor rated voltage based on the stall current and the average no-load current to obtain the rated PWM duty cycle.

[0025] like Figure 2 As shown, step S20 includes: Step S21: Obtain the current change curve during the motor starting process, and determine the peak starting current based on the current change curve; Step S22: Perform numerical calculations between the peak value of the starting current and a preset constant value to obtain the stall current and the average no-load current; Step S23: Based on the stall current and the no-load average current, automatically calibrate the full-load voltage with the preset motor rated voltage to obtain the rated PWM duty cycle.

[0026] Specifically, if the motor parameter adaptation is triggered only after the system is first powered on or after the motor is replaced, and the initial operation adopts a "5%~10% low duty cycle + 100ms~300ms short time" pattern (to avoid motor overload), then the current change curve of the motor starting process is obtained, and the peak starting current is determined according to the current change curve (the peak current at the start of the motor is determined by the current change curve of the motor starting process). The peak starting current is numerically calculated with a preset constant value to obtain the stall current and the average no-load current (and thus the average no-load current and stall current of the motor are calculated). Based on the stall current and the average no-load current, the full-load voltage is automatically calibrated with the preset motor rated voltage to obtain the rated PWM duty cycle (rated PWM duty cycle = (preset motor rated voltage / full-load voltage) x 100%).

[0027] In this embodiment, since the motor driver chip has a wide voltage output design (supporting 3V-12V), the rated output duty cycle is calibrated based on the actual full-load voltage (voltage at 100% PWM) and the motor's rated voltage. (The driver chip can operate within a power supply range of 3V~12V, but the motor has a fixed rated voltage (e.g., 5V, 8V). If driven directly with a 100% duty cycle (i.e., the current maximum voltage of the output chip), the motor may be burned out due to excessive voltage. By adjusting the PWM duty cycle, the actual "average voltage" output by the driver chip is made exactly equal to the motor's rated voltage, ensuring normal motor operation while avoiding overload damage. The rated duty cycle is used to control the motor operation using the drive unit. Simultaneously, during motor operation, the actual operating voltage of the motor is collected and made equal to the motor's rated voltage, allowing for ±5% error, to perform fine-tuning calibration of the duty cycle, updating it to the rated duty cycle PWM and overwriting the previous record.)

[0028] Step S22 includes: Step S221: Obtain multiple motor peak currents of the starting current peak value, perform numerical calculations on all the motor peak currents to obtain the first stall current; Step S222: Obtain the steady-state current band of the peak starting current, and calculate the no-load average current based on the average current of multiple currents in the steady-state current band. Step S223: Obtain a preset experience multiple, and verify the first stall current according to the preset experience multiple to obtain the stall current.

[0029] Specifically, multiple motor peak currents of the starting current peak value are obtained, and all motor peak currents are numerically calculated to obtain the first stall current (since the starting current peak value ≈ stall current, finding the starting current peak value also means finding the first stall current). That is, finding the starting current peak value: in the "initial segment of starting" of the curve (usually within 0.1~0.3 seconds after the motor is powered on), find the maximum value of the current and record this value as the motor peak current. Directly take "motor peak current × 0.95~1.05" as the stall current, obtain the steady-state current band of the starting current peak value, and calculate the no-load average current (the current value that remains stable in the later stage of the starting curve (current fluctuation ≤ ±20%, and duration ≥ 1 second)) based on the average current of multiple currents in the steady-state current band. Obtain a preset empirical multiple, and verify the first stall current based on the preset empirical multiple to obtain the stall current (verify whether the stall multiple (first stall current) is within a reasonable range: usually the stall multiple (first stall current) > 5 times).

[0030] For example, 1. Drive the motor under no-load conditions to make it run normally for more than 1 second, and collect the motor's operating current at the same time; 2. Calculate the stall current and the average no-load current based on the collected operating current data; 3. Make a preliminary judgment on whether the stall current is correct based on the empirical multiple, usually the stall multiple is greater than 5; The current matching process ends here, mainly to obtain the average no-load current and the motor stall current.

[0031] In this embodiment, during motor startup, the starting current rapidly decreases from its peak value (approximately stall current) and eventually stabilizes at the no-load average current. The maximum inrush current at the moment the motor is energized is approximately the stall current because the rotor is not rotating and the back electromotive force is zero during startup. Its current characteristic is that the first peak of the startup curve (occurs only once, then rapidly decreases). The stall current is the steady-state current when the motor rotor is "stuck and not rotating" (at which point the back electromotive force is still zero). Its current characteristic is that if the current in the startup curve decreases and then "suddenly remains constant and has a large value," then this constant value is the stall current, and its value is approximately equal to the peak value of the starting current (the error is usually <5%). Therefore, the peak starting current can be marked as the stall current.

[0032] Step S30: Obtain the actual operating voltage and control command, compare the actual operating voltage with the full load voltage to obtain the comparison result, dynamically adjust the rated PWM duty cycle according to the comparison result to obtain the target duty cycle, and control the motor of the smart door lock to run according to the target duty cycle and the control command.

[0033] Step S30 includes: Step S31: Obtain the actual operating voltage and control command, and filter the actual operating voltage using a moving average filtering algorithm to obtain the target operating voltage; Step S32: Compare the target operating voltage with the full-load voltage to obtain the comparison result; Step S33: Determine whether the comparison result is abnormal; Step S34: If the comparison result is abnormal, the rated PWM duty cycle is instantaneously adjusted and downgraded according to the comparison result to obtain the target duty cycle, and the motor of the smart door lock is controlled to run according to the target duty cycle and the control command.

[0034] Specifically, the actual operating voltage and control command are acquired, and the actual operating voltage is filtered using a moving average filtering algorithm to obtain the target operating voltage (the received current sampling data is digitally filtered (using a moving average filtering algorithm) to remove high-frequency noise interference to obtain the target operating voltage of the motor). The target operating voltage is compared with the full-load voltage to obtain a comparison result (the target operating voltage is compared with the stall current). It is determined whether the comparison result is abnormal (the motor operating status is determined). If the comparison result is abnormal, the rated PWM duty cycle is instantaneously adjusted and downgraded according to the comparison result to obtain the target duty cycle. The motor of the smart door lock is then controlled to operate according to the target duty cycle and the control command.

[0035] In this embodiment, 1. First, output a PWM signal with a very low duty cycle (e.g., 5% or 10%) to drive the motor for a short initialization period (100ms-300ms); 2. Acquire the actual operating voltage of the motor; 3. Calculate the full-load voltage of the driver chip based on the actual operating voltage of the motor. The full-load voltage is equal to the current sampled voltage / the output duty cycle (for example, if the output duty cycle is 10% and the sampled voltage is 1V, then the full-load voltage is 10V, which means the power supply voltage of the driver chip is 10V); 4. Calculate the actual required PWM duty cycle based on the rated voltage of the motor. Rated duty cycle PWM = (motor rated voltage / drive full-load voltage) x 100%. Use the rated duty cycle to control the motor operation and perform duty cycle calibration. That is, when using the rated duty cycle to control the motor operation, check whether the sampled voltage meets the expectation (motor rated voltage) with an allowable error of ±5%. If it does not match, fine-tune the duty cycle to achieve a match and record the actual required duty cycle.

[0036] Step S34 includes: Step S341: If the comparison result exceeds the preset range, the rated PWM duty cycle is instantaneously adjusted according to the comparison result to obtain the first target duty cycle, and the motor of the smart door lock is controlled to stop according to the first target duty cycle and the control command. Step S342: If the comparison result is equal to the preset range, the rated PWM duty cycle is adjusted step by step according to the comparison result to obtain the second target duty cycle, and the motor of the smart door lock is controlled to run at reduced speed according to the second target duty cycle and the control command.

[0037] Specifically, if the comparison result exceeds the preset range, the rated PWM duty cycle is instantaneously adjusted according to the comparison result to obtain a first target duty cycle. The motor of the smart door lock is then controlled to stop according to the first target duty cycle and the control command (if the target operating voltage is greater than 50% of the stall current, the motor is determined to be in an overload state, which may be due to mechanical jamming or other faults. The PWM duty cycle is immediately reduced, the motor stops running, and a fault alarm signal is triggered). If the comparison result is equal to the preset range, the rated PWM duty cycle is adjusted step by step according to the comparison result to obtain a second target duty cycle. The motor of the smart door lock is then controlled to decelerate according to the second target duty cycle and the control command (when the motor approaches the target position (preset range, determined by motor running time or auxiliary position sensor), the PWM duty cycle is gradually reduced to decrease the motor speed, thereby achieving smooth deceleration and stopping of the motor and avoiding mechanical shock).

[0038] Furthermore, after step S30, the method further includes obtaining the load type of the smart door lock, identifying the load type through a machine learning algorithm to obtain a target load type, matching the target load type with a preset PWM adjustment strategy to obtain an optimal PWM adjustment strategy, and adjusting the target duty cycle according to the optimal PWM adjustment strategy to obtain an optimal duty cycle. The target load type includes any one of light load, heavy load, and impact load types.

[0039] In this embodiment, the "load current-run time" curve is recorded in real time. Machine learning algorithms (such as K-means clustering) are used to identify the lock body load type (e.g., light load, heavy load, impact load) and automatically match the optimal PWM adjustment strategy. If identified as an "impact load lock body" (e.g., a heavy-duty villa door lock), the PWM duty cycle is increased slowly during startup (from 0 to the rated value within 0.5 seconds) to avoid inrush current. If identified as a "light load lock body" (e.g., an interior door lock), a higher PWM frequency is used to reduce operating noise. No manual configuration of the load type is required; the system automatically adapts to lock bodies of different weights and friction coefficients, further improving versatility.

[0040] Furthermore, during normal locking and unlocking, the drive voltage and drive current are monitored in real time. The PWM is adjusted to ensure the drive voltage remains at the motor's rated voltage; this is the voltage control closed loop. (Because the door lock voltage changes during operation, such as gradually decreasing or suddenly fully charging, PWM needs to be adjusted for voltage stabilization when the supply voltage changes.) During normal locking and unlocking, the drive current is monitored in real time, obtaining the load current, whose average current falls between the no-load average current and the stall current. The load condition is determined based on the load current; this process is the current control closed loop. Typically, the load current is less than 50% of the stall current. If it exceeds this value, it indicates an overload condition, triggering an alarm and cutting off the output. Simultaneously, load adaptive operation is implemented during operation; the load size is directly reflected in the operating current—the larger the load, the larger the current. The system automatically matches the protection current according to the load size. For example, if the motor's operating current is 200mA, the protection current is 500mA. If the current exceeds 500mA, the system will stop operation to protect the motor. If the operating current is 500mA, the protection current is 1.3A. By automatically matching the protection current according to the operating current, the system can effectively protect the motor and reduce damage when adapting to different motors.

[0041] Furthermore, such as Figure 3 As shown, based on the above-described adaptive closed-loop control method based on the smart lock body, the present invention also provides an adaptive closed-loop control system based on the smart lock body, wherein the adaptive closed-loop control system based on the smart lock body includes: Voltage data acquisition module 51 is used to acquire voltage sampling data, perform data identification on the voltage sampling data to obtain the target operating voltage, and determine the full-load voltage based on the target operating voltage; The voltage data analysis module 52 is used to obtain the peak value of the starting current, determine the stall current and the average no-load current based on the peak value of the starting current, and automatically calibrate the full-load voltage with the preset motor rated voltage based on the stall current and the average no-load current to obtain the rated PWM duty cycle. The intelligent door lock control module 53 is used to acquire the actual operating voltage and control commands, compare the actual operating voltage with the full-load voltage to obtain a comparison result, dynamically adjust the rated PWM duty cycle according to the comparison result to obtain a target duty cycle, and control the motor of the intelligent door lock to run according to the target duty cycle and the control commands.

[0042] Furthermore, such as Figure 4 As shown, based on the above-mentioned adaptive closed-loop control method and system based on the smart door lock body, the present invention also provides a smart door lock, which includes a processor 10, a memory 20 and a display 30. Figure 4 Only some components of the smart lock are shown; however, it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0043] In some embodiments, the memory 20 may be an internal storage unit of the smart lock, such as a hard drive or memory. In other embodiments, the memory 20 may be an external storage device of the smart lock, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc. Further, the memory 20 may include both internal and external storage units of the smart lock. The memory 20 is used to store application software and various types of data installed on the smart lock, such as the program code for installing the smart lock. The memory 20 can also be used to temporarily store data that has been output or will be output. In one embodiment, the memory 20 stores an adaptive closed-loop control program 40 based on the smart lock body, which can be executed by the processor 10 to implement the adaptive closed-loop control method based on the smart lock body in this application.

[0044] In some embodiments, the processor 10 may be a central processing unit (CPU), a microprocessor, or other data processing chip, used to run program code stored in the memory 20 or process data, such as executing the adaptive closed-loop control method based on the smart door lock body.

[0045] In some embodiments, the display 30 may be an LED display, a liquid crystal display, a touch-screen liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. The display 30 is used to display information from the smart lock and to display a visual user interface. The smart locks communicate with each other via a system bus.

[0046] In one embodiment, when the processor 10 executes the adaptive closed-loop control program 40 based on the smart door lock body in the memory 20, the following steps are performed: Acquire voltage sampling data, perform data identification on the voltage sampling data to obtain the target operating voltage, and determine the full-load voltage based on the target operating voltage; Obtain the peak value of the starting current, determine the stall current and the average no-load current based on the peak value of the starting current, and automatically calibrate the full-load voltage with the preset motor rated voltage based on the stall current and the average no-load current to obtain the rated PWM duty cycle; The system acquires the actual operating voltage and control command, compares the actual operating voltage with the full-load voltage to obtain a comparison result, dynamically adjusts the rated PWM duty cycle based on the comparison result to obtain a target duty cycle, and controls the motor of the smart door lock to run according to the target duty cycle and the control command.

[0047] The steps of acquiring voltage sampling data, performing data identification on the voltage sampling data to obtain the target operating voltage, and determining the full-load voltage based on the target operating voltage specifically include: Acquire voltage sampling data, voltage feedback signal, and PWM signal; The voltage sampling data is filtered using a moving average filtering algorithm to obtain the target voltage signal. The target operating voltage is obtained by performing data identification on the target voltage signal based on the voltage feedback signal; The full-load voltage is calculated based on the target operating voltage and the duty cycle of the PWM signal.

[0048] Specifically, the process of obtaining the peak starting current, determining the stall current and average no-load current based on the peak starting current, and automatically calibrating the full-load voltage with a preset motor rated voltage based on the stall current and the average no-load current to obtain the rated PWM duty cycle includes: Obtain the current change curve during the motor startup process, and determine the peak startup current based on the current change curve; The peak value of the starting current is numerically calculated with a preset constant value to obtain the stall current and the average no-load current. Based on the stall current and the average no-load current, the full-load voltage is automatically calibrated with the preset motor rated voltage to obtain the rated PWM duty cycle.

[0049] Specifically, the step of performing numerical calculations between the peak starting current and a preset constant value to obtain the stall current and the average no-load current includes: The peak currents of multiple motors are obtained from the peak starting current, and the peak currents of all motors are numerically calculated to obtain the first stall current; Obtain the steady-state current band of the peak starting current, and calculate the no-load average current based on the average current of multiple currents in the steady-state current band. A preset experience multiple is obtained, and the first stall current is verified based on the preset experience multiple to obtain the stall current.

[0050] The steps of acquiring the actual operating voltage and control command, comparing the actual operating voltage with the full-load voltage to obtain a comparison result, dynamically adjusting the rated PWM duty cycle based on the comparison result to obtain a target duty cycle, and controlling the smart door lock motor to operate according to the target duty cycle and the control command specifically include: The actual operating voltage and control command are obtained, and the actual operating voltage is filtered by a moving average filtering algorithm to obtain the target operating voltage. The target operating voltage is compared with the full-load voltage to obtain the comparison result; Determine whether the comparison result is abnormal; If the comparison result is abnormal, the rated PWM duty cycle is instantaneously adjusted and downgraded according to the comparison result to obtain the target duty cycle, and the motor of the smart door lock is controlled to run according to the target duty cycle and the control command.

[0051] If the comparison result is abnormal, the rated PWM duty cycle is instantaneously adjusted and downgraded according to the comparison result to obtain the target duty cycle. The motor of the smart door lock is then controlled to operate according to the target duty cycle and the control command. Specifically, this includes: If the comparison result exceeds the preset range, the rated PWM duty cycle is instantaneously adjusted according to the comparison result to obtain the first target duty cycle, and the motor of the smart door lock is controlled to stop according to the first target duty cycle and the control command. If the comparison result is equal to the preset range, the rated PWM duty cycle is adjusted step by step according to the comparison result to obtain the second target duty cycle, and the motor of the smart door lock is controlled to run at reduced speed according to the second target duty cycle and the control command.

[0052] The process includes: acquiring the actual operating voltage and control command; comparing the actual operating voltage with the full-load voltage to obtain a comparison result; dynamically adjusting the rated PWM duty cycle based on the comparison result to obtain a target duty cycle; and controlling the smart door lock motor to operate according to the target duty cycle and the control command. The process further includes: The load type of the smart door lock is obtained, and the load type is identified through a machine learning algorithm to obtain the target load type; The target load type is matched with the preset PWM regulation strategy to obtain the optimal PWM regulation strategy; The target duty cycle is adjusted according to the optimal PWM adjustment strategy to obtain the optimal duty cycle; The target load type includes any one of light load, heavy load, and impact load.

[0053] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores an adaptive closed-loop control program based on a smart lock body, and the adaptive closed-loop control program based on a smart lock body, when executed by a processor, implements the steps of the adaptive closed-loop control method based on a smart lock body as described above.

[0054] In summary, this invention provides an adaptive closed-loop control method, system, smart lock, and storage medium based on a smart door lock body. The method includes: acquiring voltage sampling data; performing data identification on the voltage sampling data to obtain a target operating voltage; determining a full-load voltage based on the target operating voltage; acquiring a peak starting current; determining a stall current and an average no-load current based on the peak starting current; and automatically calibrating the full-load voltage with a preset motor rated voltage based on the stall current and the average no-load current to obtain a rated PWM duty cycle. This invention calibrates the duty cycle using the full-load voltage and the preset motor rated voltage, and adjusts the duty cycle to control the operation of the smart door lock motor.

[0055] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or smart lock system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or smart lock system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or smart lock system that includes that element.

[0056] Of course, those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.). The program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The computer-readable storage medium can be a memory, magnetic disk, optical disk, etc.

[0057] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. An adaptive closed-loop control method based on an intelligent door lock body, characterized in that, The adaptive closed-loop control method based on the smart door lock body includes: Acquire voltage sampling data, perform data identification on the voltage sampling data to obtain the target operating voltage, and determine the full-load voltage based on the target operating voltage; Obtain the peak value of the starting current, determine the stall current and the average no-load current based on the peak value of the starting current, and automatically calibrate the full-load voltage with the preset motor rated voltage based on the stall current and the average no-load current to obtain the rated PWM duty cycle; The system acquires the actual operating voltage and control command, compares the actual operating voltage with the full-load voltage to obtain a comparison result, dynamically adjusts the rated PWM duty cycle based on the comparison result to obtain a target duty cycle, and controls the motor of the smart door lock to run according to the target duty cycle and the control command.

2. The adaptive closed-loop control method based on the smart door lock body according to claim 1, characterized in that, The process of acquiring voltage sampling data, performing data identification on the voltage sampling data to obtain the target operating voltage, and determining the full-load voltage based on the target operating voltage specifically includes: Acquire voltage sampling data, voltage feedback signals, and PWM signals; The voltage sampling data is filtered using a moving average filtering algorithm to obtain the target voltage signal. The target operating voltage is obtained by performing data identification on the target voltage signal based on the voltage feedback signal; The full-load voltage is calculated based on the target operating voltage and the duty cycle of the PWM signal.

3. The adaptive closed-loop control method based on the intelligent door lock body according to claim 2, characterized in that, The process of obtaining the peak starting current, determining the stall current and average no-load current based on the peak starting current, and automatically calibrating the full-load voltage with the preset motor rated voltage based on the stall current and average no-load current to obtain the rated PWM duty cycle specifically includes: Obtain the current change curve during the motor startup process, and determine the peak startup current based on the current change curve; The peak value of the starting current is numerically calculated with a preset constant value to obtain the stall current and the average no-load current. Based on the stall current and the average no-load current, the full-load voltage is automatically calibrated with the preset motor rated voltage to obtain the rated PWM duty cycle.

4. The adaptive closed-loop control method based on the smart door lock body according to claim 3, characterized in that, The step of performing numerical calculations between the peak starting current and a preset constant value to obtain the stall current and the average no-load current specifically includes: The peak currents of multiple motors are obtained from the peak starting current, and the peak currents of all motors are numerically calculated to obtain the first stall current; Obtain the steady-state current band of the peak starting current, and calculate the no-load average current based on the average current of multiple currents in the steady-state current band. A preset experience multiple is obtained, and the first stall current is verified based on the preset experience multiple to obtain the stall current.

5. The adaptive closed-loop control method based on the smart door lock body according to claim 2, characterized in that, The process of acquiring the actual operating voltage and control command, comparing the actual operating voltage with the full-load voltage to obtain a comparison result, dynamically adjusting the rated PWM duty cycle based on the comparison result to obtain a target duty cycle, and controlling the smart door lock motor to operate according to the target duty cycle and the control command specifically includes: The actual operating voltage and control command are obtained, and the actual operating voltage is filtered by a moving average filtering algorithm to obtain the target operating voltage. The target operating voltage is compared with the full-load voltage to obtain the comparison result; Determine whether the comparison result is abnormal; If the comparison result is abnormal, the rated PWM duty cycle is instantaneously adjusted and downgraded according to the comparison result to obtain the target duty cycle, and the motor of the smart door lock is controlled to run according to the target duty cycle and the control command.

6. The adaptive closed-loop control method based on the smart door lock body according to claim 5, characterized in that, If the comparison result is abnormal, the rated PWM duty cycle is instantaneously adjusted and downgraded according to the comparison result to obtain the target duty cycle. The motor of the smart door lock is then controlled to operate according to the target duty cycle and the control command, specifically including: If the comparison result exceeds the preset range, the rated PWM duty cycle is instantaneously adjusted according to the comparison result to obtain the first target duty cycle, and the motor of the smart door lock is controlled to stop according to the first target duty cycle and the control command. If the comparison result is equal to the preset range, the rated PWM duty cycle is adjusted step by step according to the comparison result to obtain the second target duty cycle, and the motor of the smart door lock is controlled to run at reduced speed according to the second target duty cycle and the control command.

7. The adaptive closed-loop control method based on the smart door lock body according to claim 1, characterized in that, The process of acquiring the actual operating voltage and control command, comparing the actual operating voltage with the full-load voltage to obtain a comparison result, dynamically adjusting the rated PWM duty cycle based on the comparison result to obtain a target duty cycle, and controlling the smart door lock motor to operate according to the target duty cycle and the control command, further includes: The load type of the smart door lock is obtained, and the load type is identified through a machine learning algorithm to obtain the target load type; The target load type is matched with the preset PWM regulation strategy to obtain the optimal PWM regulation strategy; The target duty cycle is adjusted according to the optimal PWM adjustment strategy to obtain the optimal duty cycle; The target load type includes any one of light load, heavy load, and impact load.

8. An adaptive closed-loop control system based on an intelligent door lock body, characterized in that, The adaptive closed-loop control system based on the smart door lock body includes: The voltage data acquisition module is used to acquire voltage sampling data, perform data identification on the voltage sampling data to obtain the target operating voltage, and determine the full-load voltage based on the target operating voltage; The voltage data analysis module is used to obtain the peak value of the starting current, determine the stall current and the average no-load current based on the peak value of the starting current, and automatically calibrate the full-load voltage with the preset motor rated voltage based on the stall current and the average no-load current to obtain the rated PWM duty cycle. The intelligent door lock control module is used to acquire the actual operating voltage and control commands, compare the actual operating voltage with the full-load voltage to obtain the comparison result, dynamically adjust the rated PWM duty cycle according to the comparison result to obtain the target duty cycle, and control the motor of the intelligent door lock to run according to the target duty cycle and the control commands.

9. A smart door lock, characterized in that, The smart lock includes: a memory, a processor, and an adaptive closed-loop control program based on the smart lock body stored in the memory and executable on the processor. When the adaptive closed-loop control program based on the smart lock body is executed by the processor, it implements the steps of the adaptive closed-loop control method based on the smart lock body as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an adaptive closed-loop control program based on the smart lock body, which, when executed by a processor, implements the steps of the adaptive closed-loop control method based on the smart lock body as described in any one of claims 1-7.

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