CN111305693A - Motor driving system of door mechanism - Google Patents
Motor driving system of door mechanism Download PDFInfo
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- CN111305693A CN111305693A CN201911322958.1A CN201911322958A CN111305693A CN 111305693 A CN111305693 A CN 111305693A CN 201911322958 A CN201911322958 A CN 201911322958A CN 111305693 A CN111305693 A CN 111305693A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 41
- 238000012545 processing Methods 0.000 claims abstract description 49
- 238000001514 detection method Methods 0.000 claims abstract description 39
- 238000004891 communication Methods 0.000 claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims abstract description 30
- 238000000034 method Methods 0.000 claims abstract description 7
- 230000008569 process Effects 0.000 claims abstract description 6
- 230000003993 interaction Effects 0.000 claims abstract description 4
- 230000009467 reduction Effects 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 12
- 238000013024 troubleshooting Methods 0.000 abstract description 8
- 230000005540 biological transmission Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/77—Power-operated mechanisms for wings with automatic actuation using wireless control
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/51—Application of doors, windows, wings or fittings thereof for vehicles for railway cars or mass transit vehicles
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Application of doors, windows, wings or fittings thereof for vehicles characterised by the type of wing
- E05Y2900/531—Doors
Abstract
The invention discloses a door mechanism motor driving system, comprising: the CPU processing module receives the parameters transmitted by the serial port communication module of the upper computer and plans the motion curve of the door according to the parameters; the motor driving module receives the motion curve transmitted by the CPU processing module, drives the motor and acts according to the motion curve; the power supply control module is used for outputting power supply voltage required by the motor; the fault storage module is used for storing fault information in the running process of the door; the 5G communication module is used for communication between the remote control center and the CPU processing module; the input detection module is used for detecting the input voltage of the system; the information display module displays information needing interaction through an LCD screen; the Hall detection module is used for detecting the rotating speed of the motor and a circuit of the position of the door mechanism; the current detection module is used for detecting the bus current of the motor; the technical problems of poor universality, high maintenance cost and long troubleshooting time are solved.
Description
Technical Field
The invention relates to the technical field of door track traffic, in particular to a door mechanism motor driving system.
Background
The rail transit is a traffic system which uses vehicles to run on fixed guide rails in cities and is mainly used for urban passenger transportation, and generally comprises high-speed rails, subways, light rails, modern trams and the like;
with the continuous development of the domestic rail transit industry, more and more door systems of high-speed rails and subways adopt a motor driving mode, parameters such as door width, motor models and the like of door mechanisms of different vehicle types are often different at present, so that independent motor driving systems need to be developed for doors of different vehicle types, the motor driving systems are not universal, the maintenance cost is high, and technicians are difficult to rapidly troubleshoot fault reasons when doors of different vehicle types break down.
Disclosure of Invention
Aiming at the defects in the related art, the invention aims to provide a door mechanism motor driving system to solve the technical problems of poor universality, high maintenance cost and long troubleshooting time in the related art.
The technical scheme for realizing the purpose of the invention is as follows: a door mechanism motor drive system comprising:
the CPU processing module receives the parameters transmitted by the serial port communication module of the upper computer and plans a motion curve of the door mechanism according to the parameters;
the motor driving module is electrically connected with the CPU processing module, receives the motion curve transmitted by the CPU processing module, drives a motor and acts according to the motion curve;
the power supply control module is electrically connected with the CPU processing module and is used for outputting power supply voltage required by the motor;
the fault storage module is electrically connected with the CPU processing module and is used for storing fault information in the running process of the door mechanism;
the 5G communication module is electrically connected with the CPU processing module and is used for communication between a remote control center and the CPU processing module;
the input detection module is electrically connected with the CPU processing module and is used for detecting the input voltage of the system;
the information display module is electrically connected with the CPU processing module and displays information needing interaction through an LCD screen;
the Hall detection module is electrically connected with the CPU processing module and is used for detecting the rotating speed of the motor and the position of the door mechanism;
and the current detection module is electrically connected with the CPU processing module and is used for detecting the bus current of the motor.
Further: the parameters configured by the upper computer comprise: the voltage class of the motor; the number of pole pairs of the motor; an obstacle detection current threshold; the reduction ratio of the motor reduction box is reduced; gear diameter; a door width; door opening time; closing the door; and the maximum operating speed of the opening and closing door.
Further: the motion profile comprises: the first curve segment, the curve calculation equation is, V0 ═ at2/2；
A second curve segment connected to the first curve segment, the curve calculation equation being V1 ═ a (T-T/4)2/2+Vmax；
A third curve segment connected to the second curve segment, wherein the curve calculation equation is that V2 is Vmax;
a fourth curve segment connected to the third curve segment, the curve calculation equation being V3 ═ a (T-3T/4)2/2+Vmax；
And a fifth curve segment connected to the fourth curve segment, the curve calculation equation being that V4 ═ a (T-T)2/2；
V0, V1, V2, V3 and V4 are the movement speeds of a door mechanism, T is the respective time point of five curve segments, T is the door opening time or the door closing time set by the upper computer, a is the acceleration coefficient calculated by the CPU processing module, and Vmax is the maximum operation speed of opening and closing the door set by the upper computer;
the area enclosed by the first curve section, the second curve section, the third curve section, the fourth curve section and the fifth curve section is the total door motion stroke S; the total stroke S is set by the upper computer.
Further: and the fault storage module is also used for storing the state information of each switching action for the upper computer to inquire.
Further: the input detection module is also used for detecting the switching value signal of the door mechanism.
By adopting the technical scheme, the invention has the following beneficial effects: compared with the related art, the door mechanism motor driving system is characterized in that a CPU processing module is electrically connected with a motor driving module, a power supply control module, a fault storage module, a 5G communication module, an input detection module, an information display module, a Hall detection module and a current detection module; the operation of the motor can be controlled, so that the door mechanism can also operate according to set parameters, different motion curves are formed only by setting different parameters aiming at different motors, the operation is very convenient, the universality is relatively good, the operation reliability of the system is good, and a 5G communication module is provided, so that compared with wireless communication technologies such as 4G, wifi and the like in the prior art, the wireless communication system has the advantages of high transmission rate, strong real-time performance, longer transmission distance and the like; therefore, the technical problems of poor universality, high maintenance cost and long troubleshooting time are solved, the technical effects of good universality, remote control overhauling function, relatively low maintenance cost and convenience in troubleshooting are achieved, and the method is favorable for wide popularization.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of a motion curve in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a motor driving module in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a 5G communication module according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a current detection module according to an embodiment of the present invention;
in the figure: 10, a CPU processing module, 20, a motor driving module, 30, a power control module, 40, a fault storage module, 50.5G communication module, 60, an input detection module, 70, an information display module, 80, a Hall detection module, 90, a current detection module, 100, a first curve segment, 200, a second curve segment, 300, a third curve segment, 400, a fourth curve segment, 500, a fifth curve segment.
Detailed Description
In order that the present invention may be more readily and clearly understood, there shall now be described in detail the present invention with reference to the following examples taken in conjunction with the accompanying drawings;
the invention relates to a door mechanism motor driving system, which solves the technical problems of poor universality, high maintenance cost and long troubleshooting time in the related technology, achieves the positive effects of good universality, remote control and maintenance functions, relatively low maintenance cost and convenient troubleshooting, and has the following general idea:
example (b):
as shown in fig. 1, 2, 3, 4, 5; a door mechanism motor drive system comprising:
the CPU processing module 10 receives the parameters transmitted by the serial port communication module of the upper computer and plans a motion curve of the door mechanism according to the parameters;
the motor driving module 20 is electrically connected with the CPU processing module 10, receives the motion curve transmitted by the CPU processing module 10, and drives the motor 600 to operate according to the motion curve;
the power control module 30 is electrically connected with the CPU processing module 10, and is configured to output a power supply voltage required by the motor 600;
the fault storage module 40 is electrically connected with the CPU processing module 10 and is used for storing fault information in the running process of the door mechanism;
the 5G communication module 50 is electrically connected with the CPU processing module 10 and is used for communication between a remote control center and the CPU processing module 10;
an input detection module 60 electrically connected to the CPU processing module 10, for detecting a system input voltage;
the information display module 70 is electrically connected with the CPU processing module 10, and displays information to be interacted through an LCD screen;
the hall detection module 80 is electrically connected with the CPU processing module 10, and is used for detecting the rotation speed of the motor 600 and the position of the door mechanism;
the current detection module 90 is electrically connected with the CPU processing module 10 and is configured to detect a bus current of the motor 600;
specifically, in implementation, the CPU processing module 10 is electrically connected to a motor driving module 20, a power control module 30, a fault storage module 40, a 5G communication module 50, an input detection module 60, an information display module 70, a hall detection module 80, and a current detection module 90; the operation of the motor 600 can be controlled, so that the door mechanism can also operate according to set parameters, different motion curves are formed only by setting different parameters aiming at different motors 600, the operation is very convenient, the universality is relatively good, the operation reliability of the system is good, and the 5G communication module 50 is equipped, so that compared with the wireless communication technologies such as 4G, wifi in the prior art, the wireless communication system has the advantages of high transmission rate, strong real-time performance, longer transmission distance and the like; therefore, the technical problems of poor universality, high maintenance cost and long troubleshooting time are solved, and the technical effects of good universality, remote control and maintenance functions, relatively low maintenance cost and convenience in troubleshooting are achieved;
the following is a detailed description of the respective constituent elements and the connection relationship:
specifically, as shown in fig. 1, the upper computer and the serial communication module are common structures in the prior art, and after seeing the disclosure of the present invention, a person skilled in the art can directly and unambiguously know how to select the upper computer and the serial communication module without creative labor and undue experiment;
the parameters configured by the upper computer comprise: the voltage class of the motor; the number of pole pairs of the motor; an obstacle detection current threshold; the reduction ratio of the motor reduction box is reduced; gear diameter; a door width; door opening time; closing the door; and a maximum operating speed of the opening and closing door;
such as: voltage class of the motor: 24V;
the number of pole pairs of the motor is as follows: 5;
obstacle detection current threshold: 6A;
the reduction ratio of the motor reduction box is 1: 10;
diameter of the gear: 10 cm;
width of the door: 900 mm;
door opening time: 4 s;
closing the door: 4 s;
maximum speed of opening and closing the door: 350 mm/s;
specifically, as shown in fig. 2, the motion profile includes:
a first curve segment 100, t0-t1, the curve calculation equation is, V0 ═ at2/2；
A second curve segment 200, T1-T2, connected to the first curve segment 100, the curve calculation equation being, V1 ═ a (T-T/4)2/2+Vmax；
A third curve segment 300, t2-t3, connected to the second curve segment 200, the curve calculation equation being V2 ═ Vmax;
a fourth curve segment 400, T3-T4, connected to the third curve segment 300, the curve calculation equation being, V3 ═ a (T-3T/4)2/2+Vmax；
And a fifth curve segment 500, T4-T5, connected to the fourth curve segment 400, the curve calculation equation being, V4 ═ a (T-T)2/2；
V0, V1, V2, V3 and V4 are the movement speeds of the door mechanism, T is the respective time points of five curve segments, T is the door opening time or the door closing time set by the upper computer, a is the acceleration coefficient calculated by the CPU processing module 10, and Vmax is the maximum operation speed of opening and closing the door set by the upper computer;
the area enclosed by the first curve segment 100, the second curve segment 200, the third curve segment 300, the fourth curve segment 400 and the fifth curve segment 500 and the X axis is the total travel S of the door motion; the total travel S is set by the upper computer;
such as: t1 ═ T/8, T2 ═ T/4, T3 ═ 3T/4, T4 ═ 7T/8, T5 ═ T; when T is 4s, T1 is 0.5s, T2 is 1s, T3 is 3s, T4 is 3.5s, and T5 is 4 s;
vmax is 350 mm/s; substituting the formula for calculation to obtain an operation curve, so that the door mechanism can be opened or closed at a certain speed and within a certain time under the action of the motor 600; for different motors 600, different motion curves are formed only by setting different parameters, so that the operation is very convenient, and the universality is relatively good;
specifically, as shown in fig. 1, the CPU processing module 10 adopts an STM32F767 microcontroller of the semiconductor corporation, plans a motion curve of a door mechanism according to parameters configured by an upper computer, controls the motor driving module 20, allows the motor 600 to operate according to the planned motion curve, and receives, converts, sends, and controls data of each module to be a core component;
specifically, as shown in fig. 1 and fig. 3, the motor driving module 20 controls the motor 600 according to the motion curve, so that the operation of the motor 600 is in accordance with the motion curve, and the door mechanism can also operate according to the set parameters;
specifically, as shown in fig. 1, the power control module 30 automatically outputs the power supply voltages, such as 24V, 48V, 110V, etc., required by the motor 600 under the control of the CPU processing module 10 according to the voltage level of the motor input by the upper computer;
specifically, as shown in fig. 1, the fault storage module 40 is configured to store fault information during operation of the door mechanism and state information of each switching action, and provide the fault information and the state information for the upper computer to query, so as to ensure reliability of system operation; the fault storage module 40 is a storage unit composed of a chip EEPROM, and the chip EEPROM is selected from AT24C1024 of ATMEL corporation;
specifically, as shown in fig. 1 and 4, the 5G communication module 50 includes: a 5G antenna array 51 and a 5G baseband chip 52; the CPU processing module 10 sends data to be sent to the 5G communication module 50 through the UART serial port, and the 5G communication module 50 sends the data to the remote control center through the 5G base station, so that remote control is realized, and the remote control maintenance function is realized, and compared with wireless communication technologies such as 4G, wifi in the prior art, the wireless communication system has the advantages of high transmission rate, strong real-time performance, longer transmission distance and the like;
specifically, as shown in fig. 1, the input detection module 60 adopts a structure in the prior art, and is configured to detect a system input voltage, for example, the system input voltage is 110V, convert the 110V voltage into 3.3V through conversion of the input detection module 60, and transmit the voltage to a pin of the CPU processing module 10 for identification;
the CPU processing module 10 makes corresponding logic judgment control according to the detected switching value signal, so that the reliability of system operation is ensured;
specifically, as shown in fig. 1, the information display module 70, an OLED display module using ALINETEK, provides a total of 4 interfaces including: 6800. 8080 two parallel interface modes, 4-line SPI interface mode and IIC interface mode; in the invention, a 4-wire SPI interface mode is used to connect with the CPU processing module 10, so that information needing interaction, such as the current state of a door mechanism, the occurred historical fault information and the like, can be displayed through an LCD screen, thereby facilitating operators to trace the historical operation records and solving the corresponding faults;
specifically, as shown in fig. 1, the hall detection module 80 adopts a motor hall detection module in the prior art and a circuit for detecting the rotating speed of the motor 600 and the position of the door mechanism, and calculates the rotating speed of the motor 600 and determines the position of the door mechanism through pulses output by a hall sensor in the operation process of the motor 600, so as to ensure the normal operation of the motor 600;
specifically, as shown in fig. 1 and 5, the current detection module 90 is configured to detect a bus current of the motor 600, and form a double detection with the hall detection module 80, so as to ensure the detection precision of the motor 600, and be beneficial to ensuring the normal operation of the motor 600;
the working principle of the invention is as follows: in implementation, the CPU processing module 10 is electrically connected with a motor driving module 20, a power control module 30, a fault storage module 40, a 5G communication module 50, an input detection module 60, an information display module 70, a hall detection module 80, and a current detection module 90; can control the operation of motor 600 for the door mechanism also can be according to the parameter operation of setting for, to different motor 600, only need set for different parameters, form different motion curves, and it is very convenient to operate, and the commonality is better relatively, and the operational reliability of system is better, and is equipped with 5G communication module 50, compares wireless communication technologies such as 4G, wifi among the prior art, has that transmission rate is fast, the real-time strong, transmission distance is farther advantage.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on the positional relationships illustrated in the drawings, and are only for convenience in describing the present invention or simplifying the description, but do not indicate that a specific orientation must be provided; the operation processes described in the embodiments are not absolute use steps, and may be adjusted accordingly when actually used.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs; the use of "first," "second," and the like in the description and in the claims is not intended to identify any order, quantity, or importance, but rather is used to distinguish one element from another, and similarly, the use of "a" or "an" and the like do not necessarily indicate a limitation of quantity, but rather indicate the presence of at least one of the referenced item, depending on the context of the embodiment.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (5)
1. A door mechanism motor drive system, comprising:
the CPU processing module (10) receives the parameters transmitted by the serial port communication module of the upper computer and plans a motion curve of the door mechanism according to the parameters;
the motor driving module (20) is electrically connected with the CPU processing module (10), receives the motion curve transmitted by the CPU processing module (10), drives a motor and acts according to the motion curve;
the power supply control module (30) is electrically connected with the CPU processing module (10) and is used for outputting power supply voltage required by the motor;
the fault storage module (40) is electrically connected with the CPU processing module (10) and is used for storing fault information in the running process of the door mechanism;
the 5G communication module (50) is electrically connected with the CPU processing module (10) and is used for communication between a remote control center and the CPU processing module (10);
the input detection module (60) is electrically connected with the CPU processing module (10) and is used for detecting the system input voltage;
the information display module (70) is electrically connected with the CPU processing module (10) and displays information needing interaction through an LCD screen;
the Hall detection module (80) is electrically connected with the CPU processing module (10) and is used for detecting the rotating speed of the motor and the position of the door mechanism;
and the current detection module (90) is electrically connected with the CPU processing module (10) and is used for detecting the bus current of the motor.
2. A door mechanism motor drive system according to claim 1, wherein: the parameters configured by the upper computer comprise: the voltage class of the motor; the number of pole pairs of the motor; an obstacle detection current threshold; the reduction ratio of the motor reduction box is reduced; gear diameter; a door width; door opening time; closing the door; and the maximum operating speed of the opening and closing door.
3. A door mechanism motor drive system according to claim 2, wherein: the motion profile comprises: a first curve segment (100) having the equation V0 at2/2；
A second curve segment (200) connected to the first curve segment (100), the curve calculation equation being V1 ═ a (T-T/4)2/2+Vmax；
A third curve segment (300) connected to the second curve segment (200), the curve calculation equation being V2 ═ Vmax;
a fourth curve segment (400) connected to the third curve segment (300), the curve calculation equation being,
V3＝-a(t-3T/4)2/2+Vmax；
and a fifth curve segment (500) connected to the fourth curve segment (400), the curve calculation equation being,
V4＝a(t-T)2/2；
v0, V1, V2, V3 and V4 are the movement speeds of a door mechanism, T is the respective time point of five curve segments, T is the door opening time or the door closing time set by the upper computer, a is the acceleration coefficient calculated by the CPU processing module (10), and Vmax is the maximum operation speed of opening and closing the door set by the upper computer;
the area enclosed by the first curve segment (100), the second curve segment (200), the third curve segment (300), the fourth curve segment (400) and the fifth curve segment (500) is the total stroke S of the movement of the door mechanism; the total stroke S is set by the upper computer.
4. A door mechanism motor drive system according to claim 1, wherein: and the fault storage module (40) is also used for storing the state information of each switching action for the upper computer to inquire.
5. A door mechanism motor drive system according to claim 1, wherein: the input detection module (60) is also used for detecting a switching value signal of a door mechanism.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911322958.1A CN111305693A (en) | 2019-12-20 | 2019-12-20 | Motor driving system of door mechanism |
| PCT/CN2020/085320 WO2021120469A1 (en) | 2019-12-20 | 2020-04-17 | Door mechanism motor drive system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911322958.1A CN111305693A (en) | 2019-12-20 | 2019-12-20 | Motor driving system of door mechanism |
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| CN111305693A true CN111305693A (en) | 2020-06-19 |
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| CN201911322958.1A Pending CN111305693A (en) | 2019-12-20 | 2019-12-20 | Motor driving system of door mechanism |
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| CN (1) | CN111305693A (en) |
| WO (1) | WO2021120469A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112963061A (en) * | 2021-02-23 | 2021-06-15 | 杭州优迈科技有限公司 | Electric door control method and device and electronic equipment |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113807678B (en) * | 2021-09-01 | 2024-03-22 | 日立楼宇技术（广州）有限公司 | Platform safety door energy efficiency management method, device, computer equipment and storage medium |
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- 2019-12-20 CN CN201911322958.1A patent/CN111305693A/en active Pending
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2020
- 2020-04-17 WO PCT/CN2020/085320 patent/WO2021120469A1/en active Application Filing
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112963061A (en) * | 2021-02-23 | 2021-06-15 | 杭州优迈科技有限公司 | Electric door control method and device and electronic equipment |
| CN112963061B (en) * | 2021-02-23 | 2022-04-29 | 杭州优迈科技有限公司 | Electric door control method and device and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021120469A1 (en) | 2021-06-24 |
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Application publication date: 20200619 |