CN108222737B

CN108222737B - Sliding door control method and device and computer storage medium

Info

Publication number: CN108222737B
Application number: CN201711310158.9A
Authority: CN
Inventors: 董治昌; 邓宝宁
Original assignee: Shenzhen Het Data Resources and Cloud Technology Co Ltd
Current assignee: Shenzhen Hetai Intelligent Home Appliance Controller Co ltd
Priority date: 2017-12-11
Filing date: 2017-12-11
Publication date: 2020-01-17
Anticipated expiration: 2037-12-11
Also published as: CN108222737A

Abstract

The embodiment of the invention discloses a sliding door control method, a sliding door control device and a computer storage medium. The method comprises the following steps: acquiring the current position of the sliding door; determining a first target time and a second target time according to the current position of the sliding door and a preset rule, wherein the first target time corresponds to a first running direction of the sliding door, and the second target time corresponds to a second running direction of the sliding door; and controlling the time of the sliding door running at the first speed according to the first target time or the second target time. By adopting the embodiment of the invention, the high-speed operation time of the sliding door when the sliding door operates to the boundary position can be determined according to the position of the sliding door, so that the sliding door can operate at a low speed when the sliding door approaches the boundary, the impact of the door on the boundary position switch is reduced, and the service life of the limit switch is prolonged.

Description

Sliding door control method and device and computer storage medium

Technical Field

The present invention relates to the field of computer technologies, and in particular, to a method and an apparatus for controlling a sliding door, and a computer storage medium.

Background

Nowadays, more and more users use sliding doors to facilitate the opening and closing of the door, the weight of the sliding door is generally between 500kg and several tons, the sliding door may be stopped at any position in the middle during the use process, so the position of the sliding door generally needs to be accurately calculated, so that when the sliding door starts to move to the boundary position of opening or closing at any current position, the sliding door needs to be close to a limit switch at a low speed before the boundary, thereby protecting the limit switch from impact.

Generally, to avoid the above problems, a method of installing an encoder or a hall sensor on a motor gear is generally adopted, so that a fixed pulse is emitted every cycle when the motor rotates, and a controller judges the moving position of the door according to a pulse signal.

However, the adoption of the above scheme requires the addition of an encoder or a hall sensor, and the installation is complicated, and the performance and the service life of the sliding door can be affected. Therefore, how to make the sliding door reduce the impact on the limit switch is a problem being studied by those skilled in the art.

Disclosure of Invention

The embodiment of the invention provides a sliding door control method, a sliding door control device and a computer storage medium, which can determine the high-speed operation time when a sliding door operates to a boundary position according to the position of the sliding door, so that the sliding door can operate at a low speed when approaching to the boundary, the impact of the door on a boundary position switch is reduced, and the service life of a limit switch is prolonged.

In a first aspect, an embodiment of the present invention provides a sliding door control method, including:

acquiring the current position of the sliding door;

determining a first target time and a second target time according to the current position and a preset rule, wherein the first target time corresponds to a first running direction of the sliding door, and the second target time corresponds to a second running direction of the sliding door;

and controlling the time of the sliding door running at the first speed according to the first target time or the second target time.

Optionally, before determining the first target time and the second target time according to the current position of the sliding door and a preset rule, the method further includes:

acquiring the moving times of the sliding door from the original position to the current position;

the determining the first target time and the second target time according to the current position and a preset rule comprises:

if the moving times are less than 2, determining the first target time and the second target time according to the first speed, the second speed, the first time and the second time, or determining the first target time and the second target time according to the area to which the current position belongs; wherein the first speed is greater than the second speed, and the first time and the second time are times corresponding to the second speed;

if the moving times are not less than 2, determining the first target time according to Tn, Tclose _ n-1, Tclose _ acc and Topen _ n-1, and determining the second target time according to Tn, Tclose _ n-1, Topen _ acc and Topen _ n-1; the Tn is the time of the sliding door running at a first speed from a target position to a current position, the target position is the last current position corresponding to the current position, and the Tclose _ n-1 is the time of the sliding door running at the first speed corresponding to the target position when the sliding door runs in the first running direction; the Topen _ n-1 is the time of the sliding door running at the first speed corresponding to the target position when running in the second running direction; the Tclose _ acc is the time corresponding to the second speed when the sliding door runs in the first running direction; and the Topen _ acc is the time corresponding to the second speed when the sliding door runs in the second running direction.

Optionally, the sliding door includes a first area, a second area and a third area, where the first area and the third area are areas corresponding to the second speed, and if the second running direction is a direction in which the sliding door runs from a first boundary to a second boundary, and the first running direction is a direction in which the sliding door runs from the second boundary to the first boundary, the first area is an area close to the first boundary, and the third area is an area close to the second boundary; the second region is a region corresponding to the first speed;

the determining the first target time and the second target time according to the area to which the current position belongs comprises:

if the current position belongs to the first area, the first target time is zero, and the second target time is determined according to Topen and the Topen _ acc; wherein Topen is a time of operation at the first speed when the sliding door is operated from the first boundary to the second boundary;

if the current position belongs to the second area, determining the first target time according to running time and Tclose _ acc, and determining the second target time according to Topen and the running time; wherein, Tclose _ dec is a time corresponding to the second speed when the sliding door operates in the first operation direction; the running time is the time for the sliding door to run from the first boundary or the second boundary to the current position;

if the current position belongs to the third area, the first target time is determined according to Tclose and Tclose _ acc, the second target time is zero, and Tclose is the time of the sliding door running at the first speed when running from the second boundary to the first boundary.

Optionally, if the current location belongs to the first area, determining, by the second target time according to Topen and Topen _ acc, that the second target time includes:

determining that the second target time is equal to the difference of Topen minus the Topen _ acc;

if the current position of the sliding door belongs to the second area, the first target time is determined according to running time and Tclose _ acc, and the determination of the second target time according to Topen and the running time comprises:

determining that the first target time is equal to the running time minus the Tclose _ acc;

determining that the second target time is equal to the difference of the Topen minus the runtime;

if the current position of the sliding door belongs to the third area, determining the first target time according to Tclose and Tclose _ acc comprises the following steps:

determining that the first target time is equal to the difference of the Tclose minus the Tclose _ acc.

Optionally, the first time includes Topen _ acc or Tclose _ dec, the second time includes Topen _ dec or Tclose _ acc, and Topen _ dec is a time corresponding to the second speed when the sliding door operates in the second operation direction;

the determining the first target time and the second target time according to the first speed, the second speed, the first time and the second time comprises:

in the case where the sliding door is operated from the first boundary to the second boundary, the second target time is determined depending on the first speed, the second speed, the Topen _ acc, and the Topen _ dec;

in the case where the sliding door travels from the second boundary to the first boundary, the first target time is determined depending on the first speed, the second speed, the Tclose _ acc, and the Tclose _ dec.

Optionally, the determining, by the second target time according to the first speed, the second speed, the Topen _ acc, and the Topen _ dec, includes:

determining that the second target time is equal to a quotient of a first distance and the first speed; wherein the first distance is equal to a difference of a length of the sliding door minus a second distance, the second distance being equal to a sum of a product of the second velocity and the Topen _ acc and a product of the second velocity and the Topen _ dec;

the determining of the first target time according to the first speed, the second speed, the Tclose _ acc, and the Tclose _ dec includes:

determining that the first target time is equal to a quotient of a third distance and the first speed; wherein the third distance is equal to a difference of a length of the sliding door minus a fourth distance equal to a sum of a product of the second speed and Tclose _ acc and a product of the second speed and Tclose _ dec.

Optionally, the determining the first target time according to Tn, Tclose _ n-1, Tclose _ acc, Topen _ n-1 and the determining the second target time according to Tn, Tclose _ n-1, Topen _ acc, Topen _ n-1 include:

determining that the first target time is equal to a difference value of Tclose _ n-1 minus Tn minus Tclose _ acc and the second target time is equal to a sum of Topen _ n-1 and Tn, if the operation direction of the sliding door is the first operation direction;

and under the condition that the running direction of the sliding door is the second running direction, determining that the first target time is equal to the sum of Tclose _ n-1 and Tn, and the second target time is equal to the difference of Topen _ n-1 minus Tn minus Topen _ acc.

determining the length of the sliding door according to the sum of the fifth distance and the sixth distance; wherein the fifth distance is equal to a product of the first speed and a time corresponding to the first speed, and the sixth distance is equal to a product of the second speed and a time corresponding to the second speed.

In a second aspect, an embodiment of the present invention provides a sliding door control apparatus, including:

the first acquisition module is used for acquiring the current position of the sliding door;

the first determining module is used for determining first target time and second target time according to the current position and a preset rule, wherein the first target time corresponds to a first running direction of the sliding door, and the second target time corresponds to a second running direction of the sliding door;

and the control module is used for controlling the time of the sliding door running at the first speed according to the first target time or the second target time.

Optionally, the apparatus further comprises:

the second acquisition module is used for acquiring the moving times of the sliding door from the original position to the current position;

the first determining module is specifically configured to determine the first target time and the second target time according to the first speed, the second speed, the first time, and the second time if the moving number is less than 2, or determine the first target time and the second target time according to an area to which the current location belongs; wherein the first speed is greater than the second speed, and the first time and the second time are times corresponding to the second speed; if the moving times are not less than 2, determining the first target time according to Tn, Tclose _ n-1, Tclose _ acc and Topen _ n-1, and determining the second target time according to Tn, Tclose _ n-1, Topen _ acc and Topen _ n-1; wherein Tn is a time when the sliding door is operated at a first speed from a target position to a current position, the target position is a last current position corresponding to the current position, Tclose _ n-1 is a time when the sliding door is operated in the first operation direction and is operated at the first speed corresponding to the target position, Tclose _ acc is a time when the sliding door is operated in the first operation direction and is operated at the second speed, Topen _ n-1 is a time when the sliding door is operated in the second operation direction and is operated at the first speed corresponding to the target position; and the Topen _ acc is the time corresponding to the second speed when the sliding door runs in the second running direction.

the first determining module is specifically configured to determine that the first target time is zero and the second target time is determined according to Topen and Topen _ acc if the current location belongs to the first area; wherein Topen is a time of operation at the first speed when the sliding door is operated from the first boundary to the second boundary; if the current position belongs to the second area, determining the first target time according to running time and Tclose _ acc, and determining the second target time according to Topen and the running time; wherein, Tclose _ dec is a time corresponding to the second speed when the sliding door operates in the first operation direction; the running time is the time for the sliding door to run from the first boundary or the second boundary to the current position; if the current position belongs to the third area, the first target time is determined according to Tclose and Tclose _ acc, the second target time is zero, and Tclose is the time of the sliding door running at the first speed when running from the second boundary to the first boundary.

Optionally, the first determining module is specifically configured to determine that the second target time is equal to a difference between Topen and Topen _ acc obtained by subtracting the Topen _ acc from the Topen if the current position belongs to the first area;

the first determining module is specifically configured to determine that the first target time is equal to a difference obtained by subtracting the Tclose _ acc from the running time if the current position of the sliding door belongs to the second area; and determining that the second target time is equal to the difference of the Topen minus the run time;

the first determining module is specifically configured to determine that the first target time is equal to a difference value obtained by subtracting Tclose _ acc from Tclose if the current position of the sliding door belongs to the third area.

Optionally, the first time includes the Topen _ acc or the Tclose _ dec, the second time includes the Topen _ dec or the Tclose _ acc, and the Topen _ dec is a time corresponding to the second speed when the sliding door operates in the second operation direction;

the first determining module is specifically configured to determine the second target time according to the first speed, the second speed, the Topen _ acc, and the Topen _ dec when the sliding door moves from the first boundary to the second boundary; in the case where the sliding door travels from the second boundary to the first boundary, the first target time is determined depending on the first speed, the second speed, the Tclose _ acc, and the Tclose _ dec.

Optionally, the first determining module is specifically configured to determine that the second target time is equal to a quotient of a first distance and the first speed; wherein the first distance is equal to a difference of a length of the sliding door minus a second distance, the second distance being equal to a sum of a product of the second velocity and the Topen _ acc and a product of the second velocity and the Topen _ dec;

the first determining module is specifically configured to determine that the first target time is equal to a quotient of a third distance and the first speed; wherein the third distance is equal to a difference of a length of the sliding door minus a fourth distance equal to a sum of a product of the second speed and Tclose _ acc and a product of the second speed and Tclose _ dec.

Optionally, the first determining module is specifically configured to determine that the first target time is equal to a difference value obtained by subtracting the Tn from the Tclose _ acc from the Tclose _ n-1, and the second target time is equal to a sum of Topen _ n-1 and Tn, when the operation direction of the sliding door is the first operation direction; and under the condition that the running direction of the sliding door is the second running direction, determining that the first target time is equal to the sum of Tclose _ n-1 and Tn, and the second target time is equal to the difference of Topen _ n-1 minus Tn minus Topen _ acc.

Optionally, the apparatus further comprises:

the second determining module is used for determining the length of the sliding door according to the sum of the fifth distance and the sixth distance; wherein the fifth distance is equal to a product of the first speed and a time corresponding to the first speed, and the sixth distance is equal to a product of the second speed and a time corresponding to the second speed.

In a third aspect, an embodiment of the present invention further provides a sliding door control apparatus, including: a processor, a transceiver and a memory, wherein the processor, the transceiver and the memory are interconnected, and wherein the memory is configured to store a computer program comprising program instructions, and wherein the processor is configured to invoke the program instructions to perform the method according to the first aspect.

In a fourth aspect, the present invention also provides a computer-readable storage medium, in which a computer program is stored, the computer program including program instructions, which, when executed by a processor, cause the processor to perform the method according to the first aspect.

By implementing the embodiment of the invention, the first target time and the second target time, namely the time for the sliding door to run at a high speed, are determined through the current position of the sliding door and the preset rule, and the sliding door can run to the boundary position at a low speed after a certain high-speed running time by determining the first target time and the second target time, so that the impact of the sliding door on the limit switch is avoided, the service life of the limit switch is prolonged, on the other hand, the control safety of the sliding door can be increased, and the influence on the service life of the sliding door due to the impact of inertia on the boundary of the sliding door during the high-speed running is prevented.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or the background art of the present invention, the drawings required to be used in the embodiments or the background art of the present invention will be described below.

FIG. 1 is a schematic flow chart of a sliding door control method according to an embodiment of the present invention;

fig. 2 is a schematic view of a current position of a sliding door according to an embodiment of the present invention;

fig. 3 is a schematic view of an operation scenario of a sliding door according to an embodiment of the present invention;

fig. 4A and fig. 4B are schematic diagrams illustrating a scenario of operation of a sliding door according to an embodiment of the present invention;

fig. 5A to 5C are schematic views illustrating another scenario of the operation of the sliding door according to the embodiment of the present invention;

fig. 6A and 6B are schematic views illustrating a scenario of operation of another sliding door provided in an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a sliding door control apparatus according to an embodiment of the present invention;

FIG. 8 is a schematic structural view of another sliding door control apparatus provided in accordance with an embodiment of the present invention;

fig. 9 is a schematic structural diagram of another sliding door control device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.

It should be noted that the detailed description set forth in connection with the appended drawings is intended as a description of various configurations and is not intended to represent the only configurations in which the concepts described herein may be practiced. The apparatus embodiments and method embodiments described herein are described in the following detailed description and illustrated in the accompanying drawings by various blocks, modules, units, components, circuits, steps, processes, algorithms, etc. (collectively referred to as "elements"). These elements may be implemented using electronic hardware, computer software, or any combination thereof. Whether such elements are implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. The terms first, second, etc. in the description and claims of the present invention and in the drawings of the specification, if used in describing various aspects, are used for distinguishing between different objects and not for describing a particular order.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

It should be noted that, unless otherwise specified, various technical features in the embodiments of the present invention may be regarded as being capable of being combined or coupled with each other as long as the combination or coupling is not technically impossible to implement. While certain exemplary, optional, or preferred features may be described in combination with other features in various embodiments of the invention for a more complete description of the invention, it is not necessary for such combination to be considered, and it is to be understood that the exemplary, optional, or preferred features and the other features may be separable or separable from each other, provided that such separation or separation is not technically impractical. Some functional descriptions of technical features in method embodiments may be understood as performing the function, method, or step, and some functional descriptions of technical features in apparatus embodiments may be understood as performing the function, method, or step using the apparatus.

A limit switch is arranged on the moving boundary of the door, and once the door moves to the boundary, the limit switch is triggered to stop the door immediately. The limit switch can ensure that the speed of the front door is low when the door is opened to a fully opened state and closed to a fully closed state, so that the heavy door is prevented from overshooting at the moving boundary, equipment or buildings are damaged, and the like. And a lower starting speed is needed when the door starts to move, so that impact on the control system when the control system outputs a large force instantaneously is prevented. Therefore, an embodiment of the present invention provides a sliding door control method, please refer to fig. 1, where fig. 1 is a schematic flow chart of the sliding door control method according to the embodiment of the present invention, and the sliding door control method can effectively control the high-speed operation time and the low-speed operation time of the sliding door, thereby improving the control efficiency of the sliding door. The sliding door control method may be applied to a sliding door control device, as shown in fig. 1, and may include, but is not limited to, the following steps:

101. acquiring the current position of the sliding door;

in the embodiment of the present invention, the current position of the sliding door may be any position of the sliding door, for example, the current position of the sliding door may be a position close to a boundary position of the sliding door, the current position of the sliding door may also be a middle position of the sliding door, and the like.

As shown in fig. 2, fig. 2 is a scene schematic diagram of a current location of a sliding door according to an embodiment of the present invention, where the sliding door includes: a first boundary 201 and a second boundary 202, as can be seen from fig. 2, the sliding door may run from the first boundary 201 to the second boundary 202, and may also run from the second boundary 202 to the first boundary 201. The current position of the sliding door in the figure may be a position close to the boundary, such as position 203 and position 205 in the figure, or the current position of the sliding door may be an intermediate position 204 of the sliding door. It is to be understood that the middle position of the sliding door is not limited to the middle of the sliding door, but may be a middle area position of the sliding door, and the like, and the middle position of the sliding door should not be construed as limiting the embodiment of the present invention.

102. Determining a first target time and a second target time according to the current position of the sliding door and a preset rule, wherein the first target time corresponds to a first running direction of the sliding door, and the second target time corresponds to a second running direction of the sliding door;

in the embodiment of the present invention, the preset rule is a rule corresponding to the time that the sliding door operates at the first speed, that is, the preset rule at least includes a rule relationship among the current position, the operating time, and the operating direction of the sliding door. Specifically, the first target time and the second target time are times when the sliding door is operated at a high speed, and the first target time and the second target time are times when the sliding door is operated at a high speed, which are predicted by the sliding door control device. The first target time corresponds to a first operation direction of the sliding door, and as shown in fig. 2, the first operation direction may be a direction in which the sliding door moves from the second boundary 202 to the first boundary 201. The second target time corresponds to a second operation direction of the sliding door, and as shown in fig. 2, the second operation direction may be a direction in which the sliding door is operated from the first boundary 201 to the second boundary 202. It is understood that the first and second operating directions are directions in which the sliding door is not operated and is likely to be operated next time, that is, the first and second operating directions are not directions in which the sliding door is operated from other positions to the current position. It is understood that the specific directions of the first operation direction and the second operation direction are only examples and should not be construed as limiting the embodiment of the present invention, for example, the first operation direction may be a direction in which the sliding door moves from the first boundary to the second boundary, and the like.

By implementing the embodiment of the invention, the first target time and the second target time are determined by using the preset rule, so that the accuracy of the high-speed operation time prediction of the sliding door can be effectively improved.

Optionally, an embodiment of the present invention further provides a method for determining a first target time and a second target time, where the method is as follows:

before the determining the first target time and the second target time according to the current position and the preset rule, the method further includes:

the determining the first target time and the second target time according to the current position of the sliding door and a preset rule comprises:

if the number of times of movement is not less than 2, determining the first target time according to Tn, Tclose _ n-1, Tclose _ acc, and Topen _ n-1, and determining the second target time according to Tn, Tclose _ n-1, Topen _ acc, and Topen _ n-1; wherein Tn is a time when the sliding door is operated at a first speed from a target position to a current position, the target position is a previous current position corresponding to the current position, Tclose _ n-1 is a time when the sliding door is operated in the first operation direction, Tclose _ acc is a time when the sliding door is operated in the second operation direction, Tclose _ acc is; the Topen _ n-1 is a time period of the first speed operation corresponding to the target position when the sliding door is operated in the second operation direction; the Topen _ acc is a time corresponding to the second speed when the sliding door is operated in the second operation direction.

In the embodiment of the present invention, the original position is a boundary position of the sliding door, and taking fig. 2 as an example, the original position may be a first boundary position of the sliding door, or the original position may also be a second boundary position of the sliding door. Alternatively, in the embodiment of the present invention, the original position may also be understood as a position where the sliding door passes through the low-speed operation stop, and for each occurrence of the terms in the embodiment of the present invention, the following terms are specifically used:

for understanding the moving times, please refer to fig. 3, fig. 3 is a schematic view of an operation scenario of the sliding door according to the embodiment of the present invention, fig. 3 is obtained by further optimizing the sliding door shown in fig. 2, as shown in fig. 3, a first boundary 201 and a second boundary 202, wherein if the current position of the sliding door is a position 301, it can be seen from the figure that the operation path of the sliding door is a path 302, that is, the moving times of the sliding door is 1. If the current position of the sliding door is position 303, it can be seen from the figure that the running path of the sliding door is path 302 and path 304, that is, the number of times of movement of the sliding door is 2, and it can be understood that when the running path of the sliding door is path 302 and path 304, position 301 is a position where the sliding door stops when running at a high speed. That is, if the sliding door is stopped by the low-speed operation after the high-speed operation from the position 201 to the position 301, the position 301 is not the original position described in the embodiment of the present invention. Or the current position of the sliding door is position 305, it can be seen that the moving path of the sliding door is path 302 and path 306, i.e. the number of times of moving the sliding door is 2.

It is understood that, if the sliding door is operated from the first boundary or the second boundary, the number of movements may be understood as the number of movements relative to the boundary position, i.e. the number of movements of the sliding door from the first boundary 201 or the second boundary 202 to other positions. It is to be understood that the above travel paths or movement times are only examples and should not be construed as limiting the travel paths or movement times of the embodiments of the present invention.

The first speed may be a high-speed operation speed of the sliding door, the second speed may be a low-speed operation speed of the sliding door, and the first speed and the second speed may be preset speeds of a user using the sliding door, a factory-set speed when the sliding door leaves a factory, or a speed obtained by the sliding door according to a historical operation speed, and the like.

In the case that the number of movements is less than 2, the sliding door may have two operation scenarios, which are respectively as follows:

scene one,

The operation scene is that the current position of the sliding door is a first boundary or a second boundary, and if the current position of the sliding door is the first boundary, the time determined by the sliding control device is the time (i.e. a second target time) for operating the sliding door at the first speed when the sliding door operates from the first boundary to the second boundary. If the current position of the sliding door is the second boundary, the time determined by the sliding control device is the time (namely the first target time) for the sliding door to run at the first speed when the sliding door runs from the second boundary to the first boundary. In this operation scenario, the first time and the second time are the time when the sliding door operates at the second speed (low speed), specifically, taking fig. 2 as an example, the first time may be the operation time when the sliding door operates at the second speed when approaching the first boundary 201 or when departing from the first boundary 201, for example, when the sliding door operates in the first operation direction, i.e., when the sliding door operates toward the first boundary 201, the sliding door operates at the second speed when approaching the first boundary 201, or when the sliding door operates in the second operation direction, i.e., when the sliding door operates from the first boundary 201 toward the second boundary 202, the sliding door operates at the second speed when departing from the first boundary 201. Specifically, the first time may be Topen _ acc, which may be understood as a time when the sliding door is away from the first boundary and operated at the second speed, or Tclose _ dec, which may be understood as a time when the sliding door is close to the first boundary.

Taking fig. 2 as an example, the second time may be a time when the sliding door is moving close to the second boundary 202 or moving away from the second boundary 202 at the second speed, such as a time when the sliding door is moving in the first moving direction, i.e. moving from the second boundary 202 to the first boundary 201, moving away from the second boundary 202 at the second speed, or moving in the second moving direction, moving close to the second boundary 202 at the second speed. Specifically, the second time includes Topen _ dec or Tclose _ acc, where Topen _ dec may be understood as a time when the sliding door is operated at the second speed when approaching the second boundary, and Tclose _ acc may be understood as a time when the sliding door is operated at the second speed when departing from the second boundary.

It is understood that the first time and the second time may also be preset times, such as may be set by a user of the sliding door through setting the sliding door control device, may also be set by the sliding door control device through a system, and the like, and the embodiment of the present invention is not limited to how to set the first time and the second time.

Scene two,

The operation scenario is any position where the sliding door is currently located outside the first boundary or the second boundary, and the sliding door may be divided into different regions in the operation scenario, for example, the region may be a region corresponding to the second speed operation and a region corresponding to the first speed operation when the sliding door is operated from the first boundary position to the second boundary position (or operated from the second boundary position to the first boundary position). Or, the area may be different according to the operation direction, for example, when the operation direction of the sliding door is the first operation direction, the different area is divided according to the first speed and the second speed; when the running direction of the sliding door is a second running direction, different areas are divided according to the first speed and the second speed.

When the number of movements is not less than 2, the first target time is determined based on Tn, Tclose _ n-1, Tclose _ acc, and Topen _ n-1, and the second target time is determined based on Tn, Tclose _ n-1, Topen _ acc, and Topen _ n-1. As shown in fig. 3, if the current position of the sliding door is position 303, the target position may be position 301, and Tn is time for operating at the first speed when the sliding door operates from position 301 to position 303. Tclose _ n-1 is a time corresponding to the target position and operated at the first speed, and Tclose _ n-1 is a time corresponding to the first operation direction of the sliding door, as shown in fig. 3, if the current position of the sliding door is position 303, the target position may be position 301, and Tclose _ n-1 is a time when the sliding door is operated from position 301 to first boundary 201 and operated at the first speed. Tclose _ acc is a time corresponding to the second speed, Tclose _ acc corresponds to a first operation direction of the sliding door, and Topen _ acc is a time corresponding to the second speed when the sliding door operates in the second operation direction. As shown in fig. 3, Topen _ dec may be understood as a time when the sliding door is operated at the second speed when approaching the second boundary 202, and Tclose _ acc may be understood as a time when the sliding door is operated at the second speed when departing from the second boundary 202. Specifically, the Topen _ acc and the Tclose _ acc may be preset times, such as those set by a sliding door user through setting a sliding door control device, those set by a sliding door control device through a system, and so on. Topen _ n-1 is a time period corresponding to the target position and running at the first speed, and Topen _ n-1 is a time period corresponding to the second running direction of the sliding door, as shown in FIG. 3, if the current position of the sliding door is position 303, the target position may be position 301, and Topen _ n-1 is a time period running at the first speed when the sliding door runs from position 301 to second boundary 202.

and determining the length of the sliding door according to the first speed, the second speed and the time corresponding to the first speed and the time corresponding to the second speed.

Specifically, the length of the sliding door may be determined according to the sum of the fifth distance and the sixth distance; wherein the fifth distance is equal to a product of the first speed and a time corresponding to the first speed, and the sixth distance is equal to a product of the second speed and a time corresponding to the second speed.

In the embodiment of the present invention, the first speed and the second speed may be preset, and therefore, the length of the sliding door may be determined by the first speed and the time corresponding to the first speed, and the second speed and the time corresponding to the second speed, and specifically, a length may be determined when the sliding door operates in the first operation direction, and a length may be determined when the sliding door operates in the second operation direction, so as to obtain the length of the sliding door in actual operation.

By implementing the embodiment of the invention, the length of the sliding door can be effectively determined, the accuracy of determining the first target time and the second target time is improved, and the situation that the lengths of the sliding door are different under the two conditions that the sliding door runs from the first boundary to the second boundary and runs from the second boundary to the first boundary, so that the first target time and the second target time cannot be accurately calculated is avoided.

103. And controlling the time of the sliding door running at the first speed according to the first target time or the second target time.

In the embodiment of the invention, the first target time and the second target time are respectively the time of running at the first speed in different running directions, but in actual running, the sliding door only has one running direction, so the sliding door control device can determine whether the time of running at the first speed of the sliding door is the first target time or the second target time according to the specific running direction of the sliding door.

According to the implementation manner described in fig. 1, the embodiment of the present invention provides three scenario diagrams, specifically analyzing how to determine the first target time and the second target time, as follows:

scene one,

The first scene corresponds to the first scene in the implementation manner described in fig. 1 when the number of times of movement is less than 2, and therefore, the background of the first scene is not described in detail.

In this scenario, the first time includes Topen _ acc or Tclose _ dec, and the second time includes Topen _ dec or Tclose _ acc;

the determining the first target time and the second target time according to the first speed, the second speed, the first time, and the second time includes:

in a case where the sliding door is operated from a first boundary to a second boundary, the second target time is determined according to the first speed, the second speed, the Topen _ acc, and the Topen _ dec;

when the sliding door moves from the second boundary to the first boundary, the first target time is determined based on the first speed, the second speed, Tclose _ acc, and Tclose _ dec.

Specifically, the determining the second target time according to the first speed, the second speed, the Topen _ acc, and the Topen _ dec includes:

determining that said second target time is equal to a quotient of a first distance and said first speed; wherein the first distance is equal to a difference between a length of the sliding door and a second distance, the second distance being equal to a sum of a product of the second velocity and the Topen _ acc and a product of the second velocity and the Topen _ dec;

the determining of the first target time based on the first speed, the second speed, Tclose _ acc, and Tclose _ dec includes:

determining that said first target time is equal to a quotient of a third distance and said first speed; wherein the third distance is equal to a difference between a length of the sliding door and a fourth distance, and the fourth distance is equal to a sum of a product of the second speed and Tclose _ acc and a product of the second speed and Tclose _ dec.

Taking fig. 2 as an example, Topen _ acc is the time when the sliding door moves away from the first boundary 201 and operates at the second speed, Tclose _ dec is the time when the sliding door moves closer to the first boundary 201 and operates at the second speed, Topen _ dec is the time when the sliding door moves closer to the second boundary 202 and operates at the second speed, and Tclose _ acc is the time when the sliding door moves away from the second boundary 202 and operates at the second speed. The embodiment of the present invention is not limited as to whether Topen _ acc and Tclose _ dec are equal, and is also not limited as to whether Topen _ dec and Tclose _ acc are equal.

Specifically, referring to fig. 4A and fig. 4B, fig. 4A and fig. 4B are schematic views of a scenario in which the sliding door provided in the embodiment of the present invention operates, respectively, fig. 4A illustrates a first operation direction as an example, and fig. 4B illustrates a second operation direction as an example. As shown in fig. 4A, when the sliding door is currently located at the second boundary 202, the sliding door control device predicts the moving direction of the sliding door as the moving direction from the second boundary 202 to the first boundary 201, and in the process, the sliding door control device predicts the time for the sliding door to move at a high speed, so that the sliding door has enough time to move at a low speed to avoid the impact on the first boundary. As shown in fig. 4B, the current position of the sliding door is the first boundary 201, and the sliding door control device predicts the moving direction of the sliding door as moving from the first boundary 201 to the second boundary 202. In fig. 4A, Tclose _ acc is a time when the sliding door is operated at the second speed when the sliding door is operated from the second boundary 202 to the position 401 in the figure, i.e., a time when the sliding door is operated at the second speed when the sliding door is away from the second boundary 202. Tclose _ dec is a time when the sliding door is operated at the second speed when the sliding door is operated from the position 402 to the first boundary 201 in the figure, i.e., a time when the sliding door is operated at the second speed when the sliding door is close to the first boundary 201. In fig. 4B, Topen _ acc is the time when the sliding door is operated at the second speed when the sliding door is operated from the first boundary 201 to the position 402, i.e. the time when the sliding door is operated at the second speed when the sliding door is away from the first boundary 201. Topen — dec is the time when the sliding door is operated at the second speed when it is operated from the position 401 to the second boundary 202, i.e., the time when the sliding door is operated at the second speed when it is close to the second boundary 202.

A specific method of determining the first target time and the second target time may be as follows:

assuming that the first speed of the sliding door is Vh, the second speed is Vl, and Vh is greater than Vl, the method of determining the first target time and the second target time is as follows:

L1＝Vh*Topen+Vl*(Topen_acc+Topen_dec)；

L2＝Vh*Tclose+Vl*(Tclose_acc+Tclose_dec)；

wherein L1 is the length of the sliding door running from the second boundary 202 to the first boundary 201; l2 is the length of the sliding door running from the first boundary 201 to the second boundary 202. Specifically, L1 may be equal to L2, may not be equal to L2, and so on. Topen is the second target time, and Tclose is the first target time. It will be appreciated that in actual operation, if the sliding door is at the first boundary 201, the sliding door control means may determine the second target time, in which case the first target time may be zero. If the sliding door is at the second boundary 202, the sliding door control device may determine the first target time, in which case the second target time may be zero.

With the above method, since Vh and Vl may be preset speeds and Topen _ acc, Topen _ dec, Tclose _ acc, and Tclose _ dec may be preset times, and the sliding door control device may determine L1 and L2 by the method described in fig. 1, Topen and Tclose may be effectively determined by the above method. And the accurate calculation of the first target time and the second target time can be realized under the condition that the length of the sliding door possibly changes due to different running directions, and the accuracy of the first target time and the second target time is improved.

It is understood that, if the sliding door needs to be moved from another position to the first boundary or the second boundary in real life, and the other position is a position where the sliding door automatically stops after passing through the high-speed operation and the low-speed operation, the method described in the embodiment of the present invention may also be used when the sliding door is moved from the other position to the first boundary or the second boundary, and only the length of the sliding door is different from the length of the embodiment of the present invention.

Scene two,

The second scene corresponds to the second scene in the implementation manner described in fig. 1, where the number of times of movement is less than 2, and therefore, the background of the second scene is not repeated one by one.

The sliding door includes a first area, a second area, and a third area, the first area and the third area being areas corresponding to the second speed, the second area being an area corresponding to the first speed;

the determining the first target time and the second target time according to the area to which the current position belongs includes:

if the current position belongs to the first area, the first target time is zero, and the second target time is determined according to Topen and Topen _ acc; wherein Topen is a time period of the sliding door operating at the first speed when the sliding door operates from a first boundary to a second boundary; the Topen _ acc is a time corresponding to the first speed when the sliding door travels from the first boundary to the second boundary;

if the current position of the sliding door belongs to the second area, the first target time is determined according to the running time and Tclose _ acc, and the second target time is determined according to Topen and the running time; the running time is the time for the sliding door to run from a first boundary or a second boundary to the current position;

if the current position of the sliding door belongs to the third area, the first target time is determined according to Tclose and Tclose _ acc, and the second target time is zero.

Specifically, if the current location belongs to the first area, the determining of the second target time according to Topen and Topen _ acc includes:

determining that said second target time is equal to a difference of said Topen minus said Topen _ acc;

if the current position of the sliding door belongs to the second area, the determining the first target time according to the operating time and Tclose _ acc, and the determining the second target time according to Topen and the operating time includes:

determining that the first target time is equal to the difference between the running time and the Tclose _ acc;

determining that said second target time is equal to a difference between said Topen and said run time;

if the current position of the sliding door belongs to the third area, the determining of the first target time according to Tclose and Tclose _ acc includes:

determining that the first target time is equal to a difference of Tclose minus Tclose _ acc.

Wherein, if the moving direction of the sliding door is the first moving direction, the third area may correspond to the area from the second boundary 202 to the position 401 in fig. 4A; the second region may correspond to the region from position 401 to position 402 in fig. 4A; the first region may correspond to the region from the position 402 to the first boundary 201 in fig. 4A. If the moving direction of the sliding door is the second moving direction, the first region may correspond to the region from the first boundary 201 to the position 402 in fig. 4B; the second region may correspond to the region from position 402 to position 401 in fig. 4B; the third region may correspond to a region from the position 401 to the second boundary in fig. 4B. It is to be understood that, in the embodiment of the present invention, in the case that the moving directions of the sliding door are different, that is, the first area in the case that the sliding door is moved in the first moving direction may belong to the same area as the first area in the case that the sliding door is moved in the second direction, or may be different due to different values of Tclose _ acc and Topen _ dec, but whether the first area, the second area, and the third area are the same or not, the method for determining the first target time and the second target time provided by the embodiment of the present invention may be applied, and therefore, the first area, the second area, and the third area described below should not be construed as having a limiting meaning for the embodiment of the present invention.

Specifically, referring to fig. 5A to 5C, fig. 5A to 5C are schematic views of another scenario in which the sliding door provided by the embodiment of the present invention operates.

As shown in fig. 5A, the sliding door is currently located in the area between the position 402 and the first boundary 201, i.e. the first area, in which case the sliding door may be operated in a first operating direction, as in fig. 5A the sliding door is operated from the position 501 to the first boundary 201, or in a second operating direction, as in fig. 5A the sliding door is operated from the position 501 to the second boundary 202. In this case, the method of determining the first target time and the second target time is as follows:

Tclose1＝0；

Topen1＝Topen-Topen_acc；

wherein Tclose1 is the first target time, and Topen1 is the second target time.

In a specific implementation, the distance corresponding to the first area is usually short, and therefore, in the embodiment of the present invention, the position 501 is defaulted as the position 402. In this case, since the distance between the position 501 and the position 402 is ignored, Topen1 is calculated to be smaller than the actual theoretical value, so that the sliding door can be operated at the second speed Vl from the position 501 to the position 402.

By implementing the embodiment of the invention, the situation that the impact on the limit switch is caused by the fact that Topenx (the time of running at the first speed calculated by the X-th running) is increased more and more due to multiple running in the process that the sliding door runs from the first boundary 201 to the second boundary 202 can be effectively avoided, and the sliding door runs to the second boundary 202 at the first speed.

As shown in fig. 5B, the current position of the sliding door is the area between the position 401 and the position 402, i.e. the second area, in which case the sliding door may be operated in the first operation direction, such as the sliding door is operated from the position 502 to the first boundary 201 in fig. 5B, or in the second operation direction, such as the sliding door is operated from the position 502 to the second boundary 202 in fig. 5B. Thus, the method of determining the first target time and the second target time is as follows:

Tclose2＝T2-Tclose_acc；

Topen2＝Topen-T2；

wherein Tclose2 is the first target time, and Topen2 is the second target time. T2 is the time during which the sliding door is moving at the first speed during the sliding movement from the first boundary 201 to the position 502. It can be understood that if the sliding door is stopped after passing through the high speed and the low speed when the sliding door is operated to the position 502, the implementation manner described in the above scenario may be referred to in this scenario, and details are not repeated here.

As shown in fig. 5C, the sliding door is currently located in the area between the position 401 and the second boundary 202, i.e. the first area, in which case the sliding door may be operated in a first direction of operation, as shown by the sliding door moving from the position 503 to the first boundary 201, but may also be operated in a second direction, as shown by the sliding door moving from the position 503 to the second boundary 202. Thus, the method of determining the first target time and the second target time is as follows:

Tclose3＝Tclose-Tclose_acc；

Topen3＝0；

wherein Tclose3 is the first target time, and Topen3 is the second target time.

Scene three,

The determining the first target time according to Tn, Tclose _ n-1, Tclose _ acc, and Topen _ n-1, and the determining the second target time according to Tn, Tclose _ n-1, Topen _ acc, and Topen _ n-1 includes:

determining that the first target time is equal to a difference value of Tclose _ n-1 minus Tn minus Tclose _ acc and the second target time is equal to a sum of Topen _ n-1 and Tn, in case that the operation direction of the sliding door is the first operation direction;

in the case where the operation direction of the sliding door is the second operation direction, it is determined that the first target time is equal to the sum of Tclose _ n-1 and Tn and the second target time is equal to the difference between Topen _ n-1 minus Tn minus Tclose _ acc.

First, a method of determining the first target time and the second target time in this scenario will be described with the number of times the sliding door is moved being 2 times.

Referring to fig. 6A and 6B, fig. 6A and 6B are schematic views illustrating a scenario in which another sliding door provided by an embodiment of the present invention operates.

As shown in fig. 6A, the current position of the sliding door is position 602, and the last current position corresponding to the current position is position 601, in this case, the sliding door may be operated in the first operation direction, such as from position 602 to first boundary 201, and the sliding door may be operated in the second operation direction, such as from position 602 to second boundary 202. In this case, the determination method of the first target time and the second target time may be as follows:

Tclose3＝Tclose2-T4-Tclose_acc；

Topen3＝Topen2+T4；

where Tclose3 is a first target time, Topen3 is a second target time, Tclose2 is a first target time corresponding to scene two, that is, a time at which the sliding door is operated at the first speed when the sliding door is operated from the position 601 to the first boundary 201, which is calculated in the determination manner shown in fig. 5B, Topen2 is a second target time corresponding to scene two, that is, a time at which the sliding door is operated at the first speed when the sliding door is operated from the position 601 to the second boundary 202, which is calculated in the determination manner shown in fig. 5B, and T4 is a time at which the sliding door is operated at the first speed during the operation from the position 601 to the position 602.

Here, if the sliding door is operated from the position 601 to the position 602 without high-speed operation (i.e., not operated at the first speed), this situation corresponds to the position where the sliding door currently exists in the scene two belonging to the first area, or, if the sliding door is operated from the position 601 to the position corresponding to the third area through high-speed operation, this situation corresponds to the position where the sliding door currently exists in the scene two belonging to the third area, and therefore, this situation will not be described in detail here.

As shown in fig. 6B, the current position of the sliding door is position 603, in this case, the determination method of the first target time and the second target time may be as follows:

Tclose4＝Tclose2+T5；

Topen4＝Topen2-T5-Topen_acc；

tclose4 is a first target time, Topen4 is a second target time, Tclose2 is a first target time corresponding to scene two, i.e., a time running at the first speed when the sliding door runs from the position 601 to the first boundary 201 calculated by the determination method shown in fig. 5B, Topen2 is a second target time corresponding to scene two, i.e., a time running at the first speed when the sliding door runs from the position 601 to the second boundary 202 calculated by the determination method shown in fig. 5B, and T5 is a time running at the first speed when the sliding door runs from the position 601 to the position 603.

If the number of times the sliding door is stopped back and forth in the middle is n, and the number of times the sliding door is stopped back and forth in fig. 6A is 2, the corresponding formula of fig. 6A and fig. 6B is processed as follows:

Tclose2＝Tclose1-T2-Tclose_acc；

Topen2＝Topen1+T2；

where Tclose1 and Topen1 indicate a first target time and a second target time corresponding to the position 601 calculated when the slide door is stopped for the first time, as shown in fig. 6A, when the position where the slide door is currently located is the position 601. T2 is the time when the sliding door is moving from position 601 to position 602 at the first speed. And the above formula corresponds to a first running direction of the sliding door, i.e., a moving direction of the sliding door before stopping.

If the moving direction of the sliding door before stopping is the second moving direction, the following formula is shown in fig. 6B:

Tclose2＝Tclose1+T2；

Topen2＝Topen1-T2-Topen_acc；

where Tclose1 and Topen1 indicate a first target time and a second target time corresponding to the position 601 calculated when the slide door is stopped for the first time, as shown in fig. 6A and 6B, when the position where the slide door is currently located is the position 601. T2 is the time when the sliding door is moving from position 601 to position 603, and is moving at the first speed.

From the above formulas corresponding to fig. 6A and 6B, it can be found that the formulas for calculating the time Topen and Tclose at the next time are different according to the difference in the moving direction before the door is stopped. Therefore, after the door is iteratively pushed to and fro and stops moving for any number of times N, the movement time of the next door is calculated as follows:

if the running direction of the sliding door before stopping is the first running direction, then:

Tclose_n＝Tclose_n-1-Tn-Tclose_acc；

Topen_n＝Topen_n-1+Tn；

if the running direction of the sliding door before stopping is the second running direction, then:

Tclose_n＝Tclose_n-1+Tn；

Topen_n＝Topen_n-1-Tn-Topen_acc；

tclose _ N-1 and Topen _ N-1 respectively represent a first target time and a second target time corresponding to the sliding door when the sliding door stops for the N-1 th time, and Tn represents the time of the sliding door when the sliding door stops for the N-1 th time and continues to run to the current position at the first speed.

The formula can be iterated to estimate the next high-speed operation time until the initial estimated value is reset when the sliding door moves to the boundary, namely, the time for the sliding door to operate at the first speed is recalculated after the sliding door operates to the first area or the third area, or after the sliding door operates to the first boundary or the second boundary when the sliding door operates to the scene again.

The method of embodiments of the present invention is set forth above in detail and the apparatus of embodiments of the present invention is provided below.

Referring to fig. 7, fig. 7 is a schematic structural diagram of a sliding door control device according to an embodiment of the present invention, where the sliding door control device may be used to execute a sliding door control method according to an embodiment of the present invention, as shown in fig. 7, the sliding door control device at least includes:

a first obtaining module 701, configured to obtain a current location of the sliding door;

a first determining module 702, configured to determine a first target time and a second target time according to a current position of the sliding door and a preset rule, where the first target time corresponds to a first operation direction of the sliding door, and the second target time corresponds to a second operation direction of the sliding door;

the control module 703 is configured to control a time of the sliding door running at a first speed according to the first target time or the second target time.

Optionally, as shown in fig. 8, the apparatus further includes:

a second obtaining module 704, configured to obtain the number of times that the sliding door moves from an original position to the current position;

the first determining module 702 is specifically configured to determine the first target time and the second target time according to the first speed, the second speed, the first time, and the second time if the moving frequency is less than 2, or determine the first target time and the second target time according to an area to which the current location belongs; wherein the first speed is greater than the second speed, and the first time and the second time are times corresponding to the second speed; if the number of times of movement is not less than 2, determining the first target time according to Tn, Tclose _ n-1, Tclose _ acc, and Topen _ n-1, and determining the second target time according to Tn, Tclose _ n-1, Topen _ acc, and Topen _ n-1; wherein Tn is a time taken for the sliding door to travel at a first speed when traveling from a target position to a current position, the target position is a previous current position corresponding to the current position, Tclose _ n-1 is a time taken for the sliding door to travel at the first speed when traveling in the first travel direction, Tclose _ acc is a time taken for the sliding door to travel at the first speed when traveling in the first travel direction, Topen _ n-1 is a time taken for the sliding door to travel at the first speed when traveling in the second travel direction, the time taken for the sliding door to travel at the first speed when traveling in the first travel direction, and the time taken for the sliding door to travel at the first speed when traveling in the second travel direction; the Topen _ acc is a time corresponding to the second speed when the sliding door is operated in the second operation direction.

Alternatively, the sliding door may include a first region, a second region, and a third region, the first region and the third region being regions corresponding to the second speed, and if the second running direction is a direction in which the sliding door runs from a first boundary to a second boundary, and the first running direction is a direction in which the sliding door runs from the second boundary to the first boundary, the first region may be a region near the first boundary, and the third region may be a region near the second boundary; the second region is a region corresponding to the first speed;

the first determining module 702 is specifically configured to determine the first target time to be zero and the second target time to be determined according to Topen and Topen _ acc if the current location belongs to the first area; wherein Topen is a time taken for the sliding door to travel at the first speed when traveling from a first boundary to a second boundary, and a second travel direction when traveling from the first boundary to the second boundary, and Topen _ acc is a time corresponding to the first speed when traveling from the first boundary to the second boundary; if the current position belongs to the second area, the first target time is determined according to the motion time and Tclose _ acc, and the second target time is determined according to the Topen and the running time; wherein Tclose _ dec is a time corresponding to the second speed when the sliding door is operated in the first operation direction; the running time is the time for the sliding door to run from a first boundary or a second boundary to the current position; if the current position belongs to the third area, the first target time is determined according to Tclose and Tclose _ acc, the second target time is zero, and Tclose is the time of the sliding door running at the first speed when running from the second boundary to the first boundary.

Optionally, the first determining module 702 is specifically configured to determine, if the current location belongs to the first area, that the second target time is equal to a difference between Topen and Topen _ acc subtracted by Topen;

the first determining module 702 is specifically configured to determine that the first target time is equal to the difference obtained by subtracting the Tclose _ acc from the running time if the current position of the sliding door belongs to the second area; and determining that said second target time is equal to a difference of said Topen minus said running time;

the first determining module 702 is specifically configured to determine that the first target time equals to a difference value obtained by subtracting Tclose _ acc from Tclose if the current position of the sliding door belongs to the third area.

Optionally, the first time includes Topen _ acc or Tclose _ dec, and the second time includes Topen _ dec or Tclose _ acc;

the first determining module 702 is specifically configured to determine the second target time according to the first speed, the second speed, the Topen _ acc, and the Topen _ dec when the sliding door moves from a first boundary to a second boundary; when the sliding door moves from the second boundary to the first boundary, the first target time is determined based on the first speed, the second speed, Tclose _ acc, and Tclose _ dec.

Optionally, the first determining module 702 is specifically configured to determine that the second target time is equal to a quotient of a first distance and the first speed; wherein the first distance is equal to a difference between a length of the sliding door and a second distance, the second distance being equal to a sum of a product of the second velocity and the Topen _ acc and a product of the second velocity and the Topen _ dec;

the first determining module 702 is specifically configured to determine that the first target time is equal to a quotient of a third distance and the first speed; wherein the third distance is equal to a difference between a length of the sliding door and a fourth distance, and the fourth distance is equal to a sum of a product of the second speed and Tclose _ acc and a product of the second speed and Tclose _ dec.

Optionally, the first determining module 702 is specifically configured to, when the operation direction of the sliding door is the first operation direction, determine that the first target time is equal to a difference value obtained by subtracting Tn from Tclose _ acc from Tclose _ n-1, and determine that the second target time is equal to a sum of Topen _ n-1 and Tn; in the case where the operation direction of the sliding door is the second operation direction, it is determined that the first target time is equal to the sum of Tclose _ n-1 and Tn and the second target time is equal to the difference between Topen _ n-1 minus Tn minus Tclose _ acc.

Optionally, as shown in fig. 8, the apparatus further includes:

a second determining module 705, configured to determine a length of the sliding door according to a sum of the fifth distance and the sixth distance; wherein the fifth distance is equal to a product of the first speed and a time corresponding to the first speed, and the sixth distance is equal to a product of the second speed and a time corresponding to the second speed.

It should be noted that the implementation of each unit may also correspond to the corresponding description of the method embodiments shown in fig. 1 to 6B.

Referring to fig. 9, fig. 9 is a schematic diagram of another sliding door control apparatus according to an embodiment of the present invention, where the apparatus includes a processor 901, a memory 902, and a transceiver 903, and the processor 901, the memory 902, and the transceiver 903 are connected to each other through a bus 904.

The Memory 902 includes, but is not limited to, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), or a portable Read Only Memory (CD-ROM), and the Memory 902 is used for related instructions and data. The transceiver 903 is used for receiving and transmitting data.

The processor 901 may be one or more Central Processing Units (CPUs), and in the case that the processor 901 is one CPU, the CPU may be a single-core CPU or a multi-core CPU.

The processor 901 in the apparatus is configured to read the program code stored in the memory 902, and perform the following operations:

acquiring the current position of the sliding door;

determining a first target time and a second target time according to the current position of the sliding door and a preset rule, wherein the first target time corresponds to a first running direction of the sliding door, and the second target time corresponds to a second running direction of the sliding door;

It should be noted that the implementation of each operation may also correspond to the corresponding description of the method embodiments shown in fig. 1 to 6B. It is understood that the first obtaining module, the first determining module, the control module, the second obtaining module, and the second determining module described in the embodiments of the present invention may be implemented by the processor 901 in the device provided in fig. 9.

In another embodiment of the present invention, a computer-readable storage medium is provided, which stores a computer program that when executed by a processor implements:

acquiring the current position of the sliding door;

The computer readable storage medium may be an internal storage unit of the sliding door control device according to any of the foregoing embodiments, for example, a hard disk or a memory of the sliding door control device. The computer readable storage medium may also be an external storage device of the sliding door control apparatus, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the sliding door control apparatus. Further, the computer-readable storage medium may include both an internal storage unit and an external storage device of the sliding door control apparatus. The computer-readable storage medium is used for storing the computer program and other programs and data required by the sliding door control device. The above-described computer-readable storage medium may also be used to temporarily store data that has been output or is to be output.

One of ordinary skill in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by hardware related to instructions of a computer program, which may be stored in a computer-readable storage medium, and when executed, may include the processes of the above method embodiments. And the aforementioned storage medium includes: various media capable of storing program codes, such as ROM or RAM, magnetic or optical disks, etc.

Claims

1. A method of controlling a sliding door, comprising:

acquiring the current position of the sliding door;

if the moving times are less than 2, determining first target time and second target time according to the first speed, the second speed, the first time and the second time, or determining the first target time and the second target time according to the area to which the current position belongs; wherein the first speed is greater than the second speed, the first time and the second time are times corresponding to the second speed, the first target time corresponds to a first running direction of the sliding door, and the second target time corresponds to a second running direction of the sliding door;

if the moving times are not less than 2, determining the first target time according to Tn, Tclose _ n-1, Tclose _ acc and Topen _ n-1, and determining the second target time according to Tn, Tclose _ n-1, Topen _ acc and Topen _ n-1; the Tn is the time of the sliding door running at a first speed from a target position to a current position, the target position is the last current position corresponding to the current position, and the Tclose _ n-1 is the time of the sliding door running at the first speed corresponding to the target position when the sliding door runs in the first running direction; the Topen _ n-1 is the time of the sliding door running at the first speed corresponding to the target position when running in the second running direction; the Tclose _ acc is the time corresponding to the second speed when the sliding door runs in the first running direction; the Topen _ acc is the time corresponding to the second speed when the sliding door runs in the second running direction;

2. The method of claim 1, wherein the sliding door includes a first area, a second area, and a third area, the first area and the third area being areas corresponding to the second speed, and wherein if the second running direction is a direction in which the sliding door runs from a first boundary to a second boundary and the first running direction is a direction in which the sliding door runs from the second boundary to the first boundary, the first area is an area near the first boundary and the third area is an area near the second boundary; the second region is a region corresponding to the first speed;

if the current position belongs to the second area, determining the first target time according to running time and Tclose _ acc, and determining the second target time according to Topen and the running time; wherein the operation time is a time when the sliding door is operated from the first boundary or the second boundary to the current position;

3. The method of claim 2, wherein determining the second target time according to Topen and the Topen _ acc comprises, if the current position belongs to the first area:

4. The method of claim 3, wherein the first time comprises Topen _ acc or Tclose _ dec, wherein the second time comprises Topen _ dec or Tclose _ acc, wherein Tclose _ dec is a time corresponding to the second speed when the sliding door is operated in the first operating direction, and wherein Topen _ dec is a time corresponding to the second speed when the sliding door is operated in the second operating direction;

5. The method of claim 4, wherein determining the second target time as a function of the first speed, the second speed, the Topen _ acc, and the Topen _ dec comprises:

6. The method of claim 1, wherein the determining the first target time in accordance with Tn, Tclose _ n-1, Tclose _ acc, Topen _ n-1 and the second target time in accordance with Tn, Tclose _ n-1, Topen _ acc, Topen _ n-1 comprises:

7. The method of claim 1, wherein before determining the first target time and the second target time according to the current location and a preset rule, the method further comprises:

8. A sliding door control apparatus, comprising:

a first determining module, configured to determine a first target time and a second target time according to the first speed, the second speed, the first time, and the second time if the moving frequency is less than 2, or determine the first target time and the second target time according to an area to which the current location belongs; wherein the first speed is greater than the second speed, the first time and the second time are times corresponding to the second speed, the first target time corresponds to a first running direction of the sliding door, and the second target time corresponds to a second running direction of the sliding door; if the moving times are not less than 2, determining the first target time according to Tn, Tclose _ n-1, Tclose _ acc and Topen _ n-1, and determining the second target time according to Tn, Tclose _ n-1, Topen _ acc and Topen _ n-1; the Tn is the time of the sliding door running at a first speed from a target position to a current position, the target position is the last current position corresponding to the current position, and the Tclose _ n-1 is the time of the sliding door running at the first speed corresponding to the target position when the sliding door runs in the first running direction; the Topen _ n-1 is the time of the sliding door running at the first speed corresponding to the target position when running in the second running direction; the Tclose _ acc is the time corresponding to the second speed when the sliding door runs in the first running direction; the Topen _ acc is the time corresponding to the second speed when the sliding door runs in the second running direction;

9. The apparatus of claim 8, wherein the sliding door includes a first area, a second area, and a third area, the first area and the third area being areas corresponding to the second speed, and if the second running direction is a direction in which the sliding door runs from a first boundary to a second boundary and the first running direction is a direction in which the sliding door runs from the second boundary to the first boundary, the first area is an area near the first boundary, and the third area is an area near the second boundary; the second region is a region corresponding to the first speed;

the first determining module is specifically configured to determine that the first target time is zero and the second target time is determined according to Topen and Topen _ acc if the current location belongs to the first area; wherein Topen is a time of operation at the first speed when the sliding door is operated from the first boundary to the second boundary; if the current position belongs to the second area, determining the first target time according to running time and Tclose _ acc, and determining the second target time according to Topen and the running time; wherein the operation time is a time when the sliding door is operated from the first boundary or the second boundary to the current position; if the current position belongs to the third area, the first target time is determined according to Tclose and Tclose _ acc, the second target time is zero, and Tclose is the time of the sliding door running at the first speed when running from the second boundary to the first boundary.

10. The apparatus of claim 9,

the first determining module is specifically configured to determine that the second target time is equal to a difference between Topen and Topen _ acc obtained by subtracting the Topen _ acc from the Topen if the current position belongs to the first area;

11. The apparatus of claim 10, wherein the first time comprises Topen _ acc or Tclose _ dec, wherein the second time comprises Topen _ dec or Tclose _ acc, wherein Tclose _ dec is a time corresponding to the second speed when the sliding door is operated in the first operating direction, and wherein Topen _ dec is a time corresponding to the second speed when the sliding door is operated in the second operating direction;

12. The apparatus of claim 11,

the first determining module is specifically configured to determine that the second target time is equal to a quotient of a first distance and the first speed; wherein the first distance is equal to a difference of a length of the sliding door minus a second distance, the second distance being equal to a sum of a product of the second velocity and the Topen _ acc and a product of the second velocity and the Topen _ dec;

13. The apparatus of claim 8,

the first determining module is specifically configured to determine that the first target time is equal to a difference value obtained by subtracting the Tn minus the Tclose _ acc from the Tclose _ n-1, and the second target time is equal to a sum of Topen _ n-1 and Tn, when the operation direction of the sliding door is the first operation direction; and under the condition that the running direction of the sliding door is the second running direction, determining that the first target time is equal to the sum of Tclose _ n-1 and Tn, and the second target time is equal to the difference of Topen _ n-1 minus Tn minus Topen _ acc.

14. The apparatus of claim 8, further comprising:

15. A sliding door control apparatus, comprising: a processor, a transceiver, and a memory, wherein the processor, the transceiver, and the memory are interconnected, and the memory is configured to store a computer program, the computer program comprising program instructions, and the processor is configured to invoke the program instructions to perform the method of any one of claims 1 to 7.

16. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program comprising program instructions that, when executed by a processor, cause the processor to carry out the method according to any one of claims 1 to 7.