CN112681905A - Automatic locking system and method of intelligent door lock - Google Patents
Automatic locking system and method of intelligent door lock Download PDFInfo
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- CN112681905A CN112681905A CN202011549805.3A CN202011549805A CN112681905A CN 112681905 A CN112681905 A CN 112681905A CN 202011549805 A CN202011549805 A CN 202011549805A CN 112681905 A CN112681905 A CN 112681905A
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Abstract
An automatic locking system and method of an intelligent door lock relate to the technical field of automatic locking, and the system comprises the intelligent door lock; a mobile terminal; and a cloud server; the intelligent door lock is characterized in that a video module is arranged inside the intelligent door lock; a storage module; an identity verification module; a wireless connection module; a lock body; a main control module; the video module and the cloud server are kept in a normally connected state; this automatic locking system of intelligent lock and method thereof adopts gyroscope sensor and earth magnetic sensor, the real-time supervision door plant is from static to the motion, acceleration data from the motion to static in-process again, angular velocity data and earth magnetic data, whether be closed completely for judging this door, and then automatic locking, and gyroscope sensor can carry out the dynamic update of benchmark value, the phenomenon of erroneous judgement can not appear, do not need the user to lock through modes such as lifting handle or pressing down the button, the factor of safety of intelligent lock improves greatly, the stolen risk of the indoor personal property of less simultaneously.
Description
Technical Field
The invention relates to the technical field of automatic locking of intelligent door locks, in particular to an automatic locking system and method of an intelligent door lock.
Background
With the development of science and technology and the development of times, the application of the internet of things is continuously developed and strengthened, and the intelligent door lock connected with the internet of things is gradually popularized among various households. In addition, due to the popularization of mobile phones, the method of unlocking the back lock by matching the mobile phone with the intelligent door lock is more and more extensive. The existing intelligent door lock has various unlocking modes, including an ID card unlocking mode, a digital password unlocking mode, a fingerprint unlocking mode, a mobile phone unlocking mode, a face recognition unlocking mode and the like.
Although the door opening mode of the existing intelligent door lock is convenient, the door opening mode still needs a user to lock the door through lifting a handle or pressing a key and other modes, most users often forget to lock the door after closing the door, the situation that the intelligent door lock is not locked sometimes occurs, the safety factor of the situation that the intelligent door lock is not locked is greatly reduced, and the risk of theft of indoor personal property is increased.
In view of these problems, how to provide an intelligent door lock that can automatically lock after a door panel is closed and does not cause misjudgment is a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: an automatic locking system of intelligent door lock comprises
The intelligent door lock is used for opening or closing the door body;
and the intelligent door locks are respectively provided with
The lock body is used for locking or unlocking the door body so as to meet the anti-theft requirement;
the handle controls the lock or the unlock of the lock body through the rotation of the handle, and a first Hall sensor Q1 and a second Hall sensor Q2 are arranged in the handle and are respectively used for detecting the action of manually opening or closing the door of the handle;
the motor is arranged in the lock body and controls the lock or the unlock of the lock body by controlling the rotation of the motor shaft, and the motor shaft is provided with a third Hall sensor Q3 for detecting the rotation direction and the speed of the motor shaft;
and a control module for controlling the operation of the motor,
the control module comprises
The door closing force is calculated through real-time recording data of a gyroscope sensor U1 and a geomagnetic sensor U2 through real-time recording data of a gyroscope sensor U1 and a geomagnetic sensor U2;
and the MCU processor is used for controlling the running and the closing of each device.
Preferably, the control module further comprises a key module, and the key module is composed of a first door opening key, a second door opening key, a first door closing key, a second door closing key, a setting key and a distribution network key.
Preferably, the system further comprises a handle door opening detection circuit and a handle door closing detection circuit, wherein the handle door opening detection circuit is composed of a first hall sensor Q1 and a first resistor R1, an output pin of the first hall sensor Q1 is electrically connected to an interrupt pin of the MCU processor, and a first resistor R1 is further connected to the connection position of the output pin;
the handle door closing detection circuit is composed of a second Hall sensor Q2 and a second resistor R2, an output pin of the first Hall sensor Q2 is electrically connected to an interrupt pin of the MCU processor, and a second resistor R2 is further connected to the connection position of the output pin;
the motor rotation detection circuit is composed of a third Hall sensor Q3, a capacitor C7 and a capacitor C8, and an output pin of the third Hall sensor Q3 is electrically connected to an interrupt pin of the MCU processor.
The geomagnetic sensor U2 is electrically connected with the gyroscope sensor U1 through an IIC interface, the gyroscope sensor U1 is electrically connected with the MCU processor through an IIC interface, and interrupt pins of the geomagnetic sensor U2 and the gyroscope sensor U1 are respectively connected with the MCU processor.
Preferably, the first resistor R1 and the second resistor R2 are pull-up resistors, and the resistance values thereof are both 10K.
According to another aspect of the present invention, there is provided a method in an automatic locking system of an intelligent door lock, the method including the steps of:
and S1, unlocking by rotating the handle, pressing the unlocking button or receiving a front lock door opening instruction and the like. Unlocking and simultaneously awakening the MCU processor in a dormant state, starting the gyroscope sensor U1 and the geomagnetic sensor U2 through the MCU processor, reading acceleration data, angular velocity data and geomagnetic data in the door opening process in real time through the gyroscope sensor U1 and the geomagnetic sensor U2, and recording initial position data in the door opening process and position data of the door panel in the continuous rotation process;
s2, after the user opens the door, the door is not closed within the specified time, the MCU processor enters the sleep again to wait for the user to close the door, and at this time, the gyroscope sensor U1 only opens the function of measuring the acceleration data and closes the function of measuring the angular velocity data;
s3, when the door panel is moved by a user, waking up the MCU processor at the moment of change according to the acceleration data measured by the gyro sensor U1, reconfiguring the gyro sensor U1 and the geomagnetic sensor U2 by the MCU processor to be fully started and operated, and reading the data of the gyro sensor U1 and the geomagnetic sensor U2 to obtain the current position of the door panel;
and S4, when the door panel is completely closed by the user, the MCU processor comprehensively judges whether the door is closed or not according to the acceleration data, the angular velocity data and the geomagnetic data read by the gyroscope sensor U1 and the geomagnetic sensor U2, and controls the motor to lock when the door is judged to be closed.
Preferably, the reference value of the gyro sensor U1 is dynamically updated each time the gyro sensor U1 is awakened, and the specific method is as follows: and taking angular velocity data with equal angular velocity values and more than a set value in the number of the equal angular velocity values in a limited time period, considering the angular velocity values of the angular velocity data in the limited time period as a reference value, and updating the original reference value.
Compared with the prior art, the intelligent door lock adopts the gyroscope sensor and the geomagnetic sensor, monitors acceleration data, angular velocity data and geomagnetic data of the door panel from rest to movement in real time and from movement to rest in real time, is used for judging whether the door is completely closed or not and then automatically locks, dynamically updates the reference value by the gyroscope sensor, avoids the phenomenon of misjudgment, does not need a user to lock the door by lifting a handle or pressing a key and the like, greatly improves the safety coefficient of the intelligent door lock, and reduces the risk of theft of indoor personal and property.
Drawings
FIG. 1 is a block diagram of the flow of the automatic locking system of the intelligent door lock of the present invention;
FIG. 2 is a block flow diagram of a method of an intelligent door lock auto-locking system according to the present invention;
fig. 3 is a circuit diagram of an automatic locking system of an intelligent door lock according to the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 and 3, an automatic locking system of an intelligent door lock includes
The intelligent door lock is used for opening or closing the door body;
and the intelligent door locks are respectively provided with
The lock body is used for locking or unlocking the door body so as to meet the anti-theft requirement;
the handle controls the lock or the unlock of the lock body through the rotation of the handle, and a first Hall sensor Q1 and a second Hall sensor Q2 are arranged in the handle and are respectively used for detecting the action of manually opening or closing the door of the handle;
the motor is arranged in the lock body and controls the lock or the unlock of the lock body by controlling the rotation of the motor shaft, and the motor shaft is provided with a third Hall sensor Q3 for detecting the rotation direction and the speed of the motor shaft;
and a control module for controlling the operation of the motor,
the control module comprises
The door closing force is calculated by real-time recording data of the gyroscope sensor U1 and the geomagnetic sensor U2 through real-time recording data of the gyroscope sensor U1 and the geomagnetic sensor U2, specifically, the real-time recording data are acceleration data, angular velocity data and geomagnetic data,
the jerk data is obtained by first-order derivation of the acceleration data, the jerk characteristic is obtained by second derivation of the jerk data, and the shock when the door is closed can be judged by processing the jerk characteristic value;
obtaining the angle value of the door at the moment through the integration of the angular speed data; specifically, when the dynamically updated reference value is obtained, the difference value obtained by subtracting the reference value from each angular velocity value cached in the current time period is accumulated to obtain the incremental value of the angle. And repeatedly processing the acquired gyroscope data to obtain the angle change value. When the current time period buffer is set to 10, that is, n is 10 and XnFirst, the angle value, a reference value, θ current angle and Δ θ angle increment are determined according to
Further obtaining the angle increment delta theta of the current time period, and then obtaining the angle increment delta theta
The current angle theta of the current time period can be obtained and is the current angle theta of the door plate.
And the position of the current door is obtained through geomagnetic data.
And the MCU processor is used for controlling the running and the closing of each device.
The control module further comprises a key module, and the key module is composed of a first door opening key, a second door opening key, a first door closing key, a second door closing key, a setting key and a distribution network key.
Specifically, the user just sends the instruction of opening the door to the MCU treater through pressing first button and the second button of opening the door simultaneously and opens the door, prevents to disturb. And the user can send a door closing instruction to the MCU processor to lock by pressing the first door closing key or the second door closing key, so that unlocking is convenient. And set up the button and can resume the factory setting to this intelligent lock, join in marriage the net button and can be to the different networks of being connected of this intelligent lock.
The system further comprises a handle door opening detection circuit and a handle door closing detection circuit, wherein the handle door opening detection circuit is composed of a first Hall sensor Q1 and a first resistor R1, an output pin of the first Hall sensor Q1 is electrically connected to an interrupt pin of the MCU processor, and a first resistor R1 is further connected to the connection position of the output pin;
the handle door closing detection circuit is composed of a second Hall sensor Q2 and a second resistor R2, an output pin of the first Hall sensor Q2 is electrically connected to an interrupt pin of the MCU processor, and a second resistor R2 is further connected to the connection position of the output pin;
the motor rotation detection circuit is composed of a third Hall sensor Q3, a capacitor C7 and a capacitor C8, and an output pin of the third Hall sensor Q3 is electrically connected to an interrupt pin of the MCU processor.
The geomagnetic sensor U2 is electrically connected with the gyroscope sensor U1 through an IIC interface, the gyroscope sensor U1 is electrically connected with the MCU processor through an IIC interface, and interrupt pins of the geomagnetic sensor U2 and the gyroscope sensor U1 are respectively connected with the MCU processor.
The first resistor R1 and the second resistor R2 are pull-up resistors respectively, and the resistance values of the pull-up resistors are 10K.
As shown in fig. 2, according to another aspect of the present invention, there is provided a method of an automatic locking system of an intelligent door lock, the method including the steps of:
and S1, unlocking by rotating the handle, pressing the unlocking button or receiving a front lock door opening instruction and the like. Unlocking and simultaneously awakening the MCU processor in a dormant state, starting the gyroscope sensor U1 and the geomagnetic sensor U2 through the MCU processor, reading acceleration data, angular velocity data and geomagnetic data in the door opening process in real time through the gyroscope sensor U1 and the geomagnetic sensor U2, and recording initial position data in the door opening process and position data of the door panel in the continuous rotation process;
s2, after the user opens the door, the door is not closed within the specified time, the MCU processor enters the sleep again to wait for the user to close the door, and at this time, the gyroscope sensor U1 only opens the function of measuring the acceleration data and closes the function of measuring the angular velocity data;
s3, when the door panel is moved by a user, waking up the MCU processor at the moment of change according to the acceleration data measured by the gyro sensor U1, reconfiguring the gyro sensor U1 and the geomagnetic sensor U2 by the MCU processor to be fully started and operated, and reading the data of the gyro sensor U1 and the geomagnetic sensor U2 to obtain the current position of the door panel;
and S4, when the door panel is completely closed by the user, the MCU processor comprehensively judges whether the door is closed or not according to the acceleration data, the angular velocity data and the geomagnetic data read by the gyroscope sensor U1 and the geomagnetic sensor U2, and controls the motor to lock when the door is judged to be closed.
Specifically, method 1: when the door is closed, the door plate is pushed by hand until the door plate is static, the door plate changes from static to moving and then from moving to static, in the change, the force generates acceleration, and therefore the acceleration data measured by the gyro sensor U1 can record the whole change process. The jerk can be obtained when the acceleration data is subjected to first-order derivation, the change degree of the jerk is obtained by the first-order derivation of the jerk data again, the situation that the door plate moves to be static when the door plate is static to move or the door plate is closed can be identified through the change degree of the jerk, and a judgment basis is added for the identification of closing the door.
The calculation process is as follows: the process of closing the door is divided into n small sections of time, the acceleration value is cached in one of the small sections of time, the reciprocal of the acceleration value can be approximated by subtracting the previous acceleration value and the next acceleration value in the small section of time of the cache, namely the jerk value in the small section of time of the cache is obtained, the jerk value is cached and the acceleration value is calculated in the rest small section of time of the n small sections of time according to the process, and then the jerk change value is obtained.
Or method 2: and specifically, after the MCU processor is awakened after the door is opened, the MCU processor acquires the data of the current gyroscope sensor U1 and the current geomagnetic sensor U2 in real time, and comprehensively judges whether the door panel is closed according to the calculated angle value, jerk change value and ground pool data.
It is divided into the following four conditions to judge one by one:
1. when the angle value is less than 1 degree
2. When the angle is 0-65 degrees, the difference between the current geomagnetic data and the geomagnetic data recorded during door opening is less than 60mGs, and the acceleration value meets the preset door closing value;
3. the angle is between 10 and 50 degrees, and the difference between the current geomagnetic data and the geomagnetic data in door opening recording is less than 40 mGs;
4. the acceleration value meets the door-closing preset value, and the difference between the current geomagnetic data and the geomagnetic data recorded during door opening is less than 60 mGs.
When one of the conditions is met, the MCU processor judges that the door is closed, controls the door to sleep and starts the motor to lock.
In order to prevent the accumulated angle error from increasing during the time when the door is in a stationary state, the reference value of the gyro sensor U1 needs to be dynamically updated each time the gyro sensor U1 is awakened, and the specific method is as follows: and taking angular velocity data with equal angular velocity values and more than a set value in the number of the equal angular velocity values in a limited time period, considering the angular velocity values of the angular velocity data in the limited time period as a reference value, and updating the original reference value.
The intelligent door lock adopts the gyroscope sensor and the geomagnetic sensor, monitors acceleration data, angular velocity data and geomagnetic data of the door panel from rest to movement in real time and from movement to rest in real time, is used for judging whether the door is completely closed or not and then automatically locks, dynamically updates the reference value by the gyroscope sensor, avoids the phenomenon of misjudgment, does not need a user to lock the door by lifting a handle or pressing a key and the like, greatly improves the safety coefficient of the intelligent door lock, and reduces the risk of personal and property theft indoors.
The above-described embodiments are merely preferred embodiments of the present invention, and should not be construed as limiting the present invention, and the scope of the present invention is defined by the claims, and equivalents including technical features described in the claims. I.e., equivalent alterations and modifications within the scope hereof, are also intended to be within the scope of the invention.
Claims (6)
1. The utility model provides an automatic locking system of intelligence lock which characterized in that: the system comprises
The intelligent door lock is used for opening or closing the door body;
and the intelligent door locks are respectively provided with
The lock body is used for locking or unlocking the door body so as to meet the anti-theft requirement;
the handle controls the lock or the unlock of the lock body through the rotation of the handle, and a first Hall sensor Q1 and a second Hall sensor Q2 are arranged in the handle and are respectively used for detecting the action of manually opening or closing the door of the handle;
the motor is arranged in the lock body and controls the lock or the unlock of the lock body by controlling the rotation of the motor shaft, and the motor shaft is provided with a third Hall sensor Q3 for detecting the rotation direction and the speed of the motor shaft;
and a control module for controlling the operation of the motor,
the control module comprises
The door closing force is calculated through real-time recording data of a gyroscope sensor U1 and a geomagnetic sensor U2 through real-time recording data of a gyroscope sensor U1 and a geomagnetic sensor U2;
and the MCU processor is used for controlling the running and the closing of each device.
2. The automatic locking system of an intelligent door lock according to claim 1, wherein: the control module further comprises a key module, and the key module is composed of a first door opening key, a second door opening key, a first door closing key, a second door closing key, a setting key and a distribution network key.
3. The automatic locking system of an intelligent door lock according to claim 1, wherein: the system also comprises a handle door opening detection circuit, a handle door closing detection circuit and a motor rotation detection circuit,
the handle door opening detection circuit is composed of a first Hall sensor Q1 and a first resistor R1, an output pin of the first Hall sensor Q1 is electrically connected to an interrupt pin of the MCU processor, and a first resistor R1 is further connected to the connection position of the output pin;
the handle door closing detection circuit is composed of a second Hall sensor Q2 and a second resistor R2, an output pin of the first Hall sensor Q2 is electrically connected to an interrupt pin of the MCU processor, and a second resistor R2 is further connected to the connection position of the output pin;
the motor rotation detection circuit is composed of a third Hall sensor Q3, a capacitor C7 and a capacitor C8, and an output pin of the third Hall sensor Q3 is electrically connected to an interrupt pin of the MCU processor.
The geomagnetic sensor U2 is electrically connected with the gyroscope sensor U1 through an IIC interface, the gyroscope sensor U1 is electrically connected with the MCU processor through an IIC interface, and interrupt pins of the geomagnetic sensor U2 and the gyroscope sensor U1 are respectively connected with the MCU processor.
4. The automatic locking system of an intelligent door lock according to claim 3, wherein: the first resistor R1 and the second resistor R2 are pull-up resistors respectively, and the resistance values of the pull-up resistors are 10K.
5. A method in an automatic locking system of an intelligent door lock is characterized in that: the method comprises the following steps:
s1, a user unlocks by rotating a handle, pressing an unlocking button or receiving a front door locking and opening instruction and the like, the MCU processor in a dormant state is awakened during unlocking, the gyroscope sensor U1 and the geomagnetic sensor U2 are started through the MCU processor, acceleration data, angular velocity data and geomagnetic data in the door opening process are read in real time through the gyroscope sensor U1 and the geomagnetic sensor U2, and initial position data in the door opening process and position data of the door panel in the continuous rotating process are recorded;
s2, after the user opens the door, the door is not closed within the specified time, the MCU processor enters the sleep again to wait for the user to close the door, and at this time, the gyroscope sensor U1 only opens the function of measuring the acceleration data and closes the function of measuring the angular velocity data;
s3, when the door panel is moved by a user, waking up the MCU processor at the moment of change according to the acceleration data measured by the gyro sensor U1, reconfiguring the gyro sensor U1 and the geomagnetic sensor U2 by the MCU processor to be fully started and operated, and reading the data of the gyro sensor U1 and the geomagnetic sensor U2 to obtain the current position of the door panel;
and S4, when the door panel is completely closed by the user, the MCU processor comprehensively judges whether the door is closed or not according to the acceleration data, the angular velocity data and the geomagnetic data read by the gyroscope sensor U1 and the geomagnetic sensor U2, and controls the motor to lock when the door is judged to be closed.
6. The method in an automatic locking system of an intelligent door lock according to claim 5, wherein: when the gyro sensor U1 is awakened each time, the reference value of the gyro sensor U1 is dynamically updated, and the specific method is as follows: and taking angular velocity data with equal angular velocity values and more than a set value in the number of the equal angular velocity values in a limited time period, considering the angular velocity values of the angular velocity data in the limited time period as a reference value, and updating the original reference value.
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| CN202011549805.3A CN112681905A (en) | 2020-12-24 | 2020-12-24 | Automatic locking system and method of intelligent door lock |
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| CN202011549805.3A CN112681905A (en) | 2020-12-24 | 2020-12-24 | Automatic locking system and method of intelligent door lock |
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| CN114525969A (en) * | 2022-02-18 | 2022-05-24 | 深圳智游者科技有限公司 | Intelligent door lock closing detection method |
| CN115110843A (en) * | 2022-07-11 | 2022-09-27 | 深圳绿米联创科技有限公司 | Opening and closing state detection method, device, equipment, intelligent door lock and medium |
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Application publication date: 20210420 |