CN116220479A

CN116220479A - Intelligent mechanical door lock reconstruction device and method and related equipment

Info

Publication number: CN116220479A
Application number: CN202310050707.2A
Authority: CN
Inventors: 朱韬亮; 陶俊; 吴瑰
Original assignee: Jianghan University
Current assignee: Jianghan University
Priority date: 2023-02-01
Filing date: 2023-02-01
Publication date: 2023-06-06

Abstract

The invention discloses an intelligent mechanical door lock reconstruction device, an intelligent mechanical door lock reconstruction method and related equipment, relates to the field of intelligent door locks, and mainly aims to solve the problem that a device for reconstructing a common mechanical door lock more simply, conveniently and intelligently is lacking at present. The method comprises the following steps: the door lock key is used for movably penetrating through an outer lock hole of the mechanical door lock structure; and the external driving assembly is connected with the door lock key and the door body and is used for driving the door lock key to move. The intelligent transformation method is used for the intelligent transformation process of the mechanical door lock.

Description

Intelligent mechanical door lock reconstruction device and method and related equipment

Technical Field

The invention relates to the field of intelligent door locks, in particular to an intelligent mechanical door lock reconstruction device, an intelligent mechanical door lock reconstruction method and related equipment.

Background

At present, when changing mechanical lock into intelligent lock, there is the difficult problem of installation, adaptation, mainly represents the complexity at the change lock body, only can install after need demolising lock core and the lock body of former lock wholly, and the dismantlement installation process is complicated, and the compatibility is poor simultaneously, and different locks need the different intelligent locks of adaptation just can install and use.

Disclosure of Invention

In view of the above problems, the invention provides an intelligent mechanical door lock reconstruction device, method and related equipment, and mainly aims to solve the problem that a device for reconstructing a common mechanical door lock more simply, conveniently and intelligently is lacking at present.

To solve at least one of the above technical problems, in a first aspect, the present invention provides an intelligent modification device for a mechanical door lock, which includes:

the door lock key is used for movably penetrating through an outer lock hole of the mechanical door lock structure;

and the external driving assembly is connected with the door lock key and the door body and is used for driving the door lock key to move.

Optionally, the apparatus further includes:

an external transmission assembly arranged between the door lock key and the external driving assembly,

the external driving assembly is used for driving the door lock key to move through the external transmission assembly.

Optionally, the intelligent reconstruction device for the mechanical door lock further comprises an internal locking structure reconstruction component,

the internal locking structure transformation assembly comprises an inverse locking knob connecting assembly, an internal driving assembly and an internal transmission assembly,

the back lock knob connecting component is used for controlling the locking or unlocking of the door inner lock; the internal driving assembly is connected with the back-locking knob connecting assembly and is used for driving the back-locking knob connecting assembly to control the locking or unlocking of the door inner lock;

The internal transmission assembly is arranged between the back lock knob connecting assembly and the internal driving assembly,

the internal driving component receives a door inner lock control instruction sent by the wireless communication component and drives the back lock knob connecting component through the internal transmission component to control the locking or unlocking of the door inner lock.

Optionally, the apparatus further includes:

the user identification component is used for collecting and verifying unlocking requests of users to determine verification results and transmitting the verification results to the wireless communication component;

and the wireless communication assembly is used for receiving the verification result sent by the user identification assembly to determine an external door lock control instruction, controlling the external driving assembly based on the external door lock control instruction, receiving an internal door lock control instruction sent by a mobile terminal associated with a user, and controlling the internal driving assembly based on the internal door lock control instruction.

In a second aspect, an embodiment of the present invention further provides a door lock control method, including:

controlling the external driving assembly to receive a door external lock control instruction;

and controlling the external driving assembly to drive the door lock key to move based on the door external lock control command so as to perform unlocking operation.

Optionally, the intelligent modification device for a mechanical door lock further comprises an internal driving assembly, and the method further comprises:

under the condition that a mobile terminal associated with a user sends an internal door lock control instruction, controlling the internal driving assembly to receive the internal door lock control instruction;

and controlling the internal driving assembly to drive the internal transmission assembly to drive the anti-lock knob connecting assembly based on the door inner lock control instruction so as to control the locking or unlocking of the door inner lock.

controlling the internal driving assembly to receive the door lock control instruction under the condition that the verification result sent by the user identification assembly is that the failure times are larger than the preset times;

In order to achieve the above object, according to a third aspect of the present invention, there is provided a computer-readable storage medium including a stored program, wherein the steps of the above door lock control method are implemented when the program is executed by a processor.

In order to achieve the above object, according to a fourth aspect of the present invention, there is provided an electronic device including at least one processor, and at least one memory connected to the processor; the processor is used for calling the program instructions in the memory and executing the steps of the door lock control method.

By means of the technical scheme, the intelligent mechanical door lock reconstruction device, the intelligent mechanical door lock reconstruction method and the related equipment provided by the invention solve the problem that a device for reconstructing a common mechanical door lock more simply, conveniently and intelligently is lacking at present; and the external driving assembly is connected with the door lock key and the door body and is used for driving the door lock key to move. In the scheme, through being connected the external drive subassembly that reforms transform the device, with former lock, rotate the door lock key through external drive subassembly after the lock key of the fixed former lock of external drive subassembly and open the door to need not to change the lock body and the lock core of former lock, solved and to have now when changing mechanical lock into intelligent lock and to need demolish the lock core and the lock body of former lock and just can install after totally, dismantle the problem that the installation is complicated and the compatibility is poor.

Correspondingly, the intelligent mechanical door lock reconstruction device, the intelligent mechanical door lock reconstruction equipment and the computer readable storage medium have the technical effects.

The foregoing description only shows an overview of the technical solution of an intelligent modification device for a mechanical door lock provided by the embodiments of the present invention, and may be implemented according to the content of the specification, so that the technical means of the present invention can be more clearly understood, and the following specific embodiments of the present invention are specifically described below in order to make the foregoing and other objects, features and advantages of the present invention more clearly understood.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

fig. 1 shows a schematic diagram of an intelligent modification device for a mechanical door lock according to an embodiment of the present invention;

fig. 2 shows a physical diagram of one direction of an intelligent reconstruction device for a mechanical door lock according to an embodiment of the present invention;

Fig. 3 is a physical diagram of another direction of the intelligent modification device of the mechanical door lock according to the embodiment of the invention;

fig. 4 shows an overall installation schematic diagram of an intelligent modification device for a mechanical door lock according to an embodiment of the present invention;

fig. 5 shows a schematic diagram of a door lock control module of a mechanical door lock intelligent reconstruction device installed on a door lock according to an embodiment of the present invention;

fig. 6 is a schematic diagram illustrating a mechanical structure of a door lock control module of a mechanical door lock intelligent modification device according to an embodiment of the present invention;

fig. 7 is another schematic view of the mechanical structure of a door lock control module of a mechanical door lock intelligent modification device according to an embodiment of the present invention;

fig. 8 shows a dimension diagram of a circuit PCB of a door lock control module of a mechanical door lock intelligent reconstruction device according to an embodiment of the present invention;

fig. 9 shows a wiring diagram of a circuit PCB of a door lock control module of a mechanical door lock intelligent reconstruction device according to an embodiment of the present invention;

fig. 10 shows a hardware component block diagram of a door lock control module of a mechanical door lock intelligent reconstruction device according to an embodiment of the present invention;

fig. 11 shows a circuit diagram of a master control chip of a door lock control module of a mechanical door lock intelligent reconstruction device provided by an embodiment of the invention;

Fig. 12 shows a circuit diagram of a power interface of a door lock control module of a mechanical door lock intelligent reconstruction device according to an embodiment of the present invention;

fig. 13 shows a circuit diagram of a CAN interface of a door lock control module of a mechanical door lock intelligent modification device according to an embodiment of the present invention;

fig. 14 shows a circuit diagram of current sampling of a door lock control module of a mechanical door lock intelligent reconstruction device according to an embodiment of the present invention;

fig. 15 shows a circuit diagram of motor driving of a door lock control module of a mechanical door lock intelligent reconstruction device according to an embodiment of the present invention;

fig. 16 shows a circuit diagram of a magnetic encoder interface of a door lock control module of a mechanical door lock intelligent modification device provided by an embodiment of the invention;

fig. 17 shows a hardware component block diagram of a WIFI access module of a mechanical door lock intelligent transformation device according to an embodiment of the present invention;

fig. 18 is a block diagram showing the hardware components of a user identification module of an intelligent modification device for a mechanical door lock according to an embodiment of the present invention;

fig. 19 is a block diagram of cascade PID in a door lock control module of a mechanical door lock intelligent modification device according to an embodiment of the present invention;

fig. 20 shows a cascade PID current loop test chart in a door lock control module of a mechanical door lock intelligent reconstruction device according to an embodiment of the present invention;

Fig. 21 shows a cascade PID speed loop test chart in a door lock control module of a mechanical door lock intelligent reconstruction device according to an embodiment of the present invention;

fig. 22 shows a cascade PID position loop test chart in a door lock control module of a mechanical door lock intelligent modification device according to an embodiment of the present invention;

fig. 23 shows an amplitude-frequency characteristic curve of a current loop filter in a door lock control module of a mechanical door lock intelligent reconstruction device provided by an embodiment of the present invention;

fig. 24 shows a simulation diagram of a current loop filter in a door lock control module of a mechanical door lock intelligent reconstruction device according to an embodiment of the present invention;

fig. 25 shows a CAN communication Seed-Key encryption process diagram of the intelligent mechanical door lock modification device provided by the embodiment of the invention;

fig. 26 shows a door lock control module program state machine of the intelligent mechanical door lock modification device according to the embodiment of the invention;

fig. 27 shows a WIFI access module program state machine of a mechanical door lock intelligent transformation device according to an embodiment of the present invention;

fig. 28 shows a program state machine of a user identification module of an intelligent modification device of a mechanical door lock according to an embodiment of the present invention;

fig. 29 shows a test and integration test chart of each module of the intelligent modification device of the mechanical door lock according to the embodiment of the invention;

Fig. 30 shows a system test chart of the intelligent modification device of the mechanical door lock in a real environment, which is provided by the embodiment of the invention;

fig. 31 is a schematic flow chart of a door lock control method according to an embodiment of the present invention;

fig. 32 is a block diagram schematically showing the constitution of a door lock control apparatus according to an embodiment of the present invention;

fig. 33 is a schematic block diagram showing the composition of a door lock control electronic device according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

In order to solve the problem that a device for modifying a common mechanical door lock more simply, conveniently and intelligently is lacking at present, an embodiment of the present invention provides a device for modifying a mechanical door lock intelligently, and fig. 1 shows a schematic diagram of the device for modifying a mechanical door lock intelligently, where the device includes a door lock key 110, an external driving assembly 120, and an external transmission assembly 121:

The door lock key 110 is used for movably penetrating through an outer lock hole of the mechanical door lock structure;

illustratively, the embodiment of the present invention sets the door lock key 110 in the outer lock hole of the mechanical door lock structure to realize the actions of unlocking and locking by rotation.

The external driving assembly 120 is connected to the door lock key 110 and the door body, and is used for driving the door lock key 110 to move.

Illustratively, the external drive assembly 120 has a door lock key 110 secured to the output shaft rotor and is coupled to the door body to secure the external drive assembly 120.

In fig. 1, a bracket (upper left corner of fig. 1) for fixing a magnetic encoder is arranged on an upper layer PCB board, and is fixed with a copper column by 2M 3 screws through a 3.2mm round hole below; the part below the knob in fig. 1 is a bracket of the knob and is used for fixing the knob; the right side of fig. 1 is provided with a motor, a part above the motor is a motor rear cover, an electrode used for covering the motor is prevented from being exposed, a part between the motor and an upper layer PCB board is a motor gasket, and the function of the motor gasket is mainly to provide protection between a metal shell of the motor and the PCB board and prevent the PCB board from being damaged. The components between the two layers of PCBs of FIG. 1 are a tooth driven wheel, a belt, a poking bar, a tensioning wheel, a tooth driving wheel and a copper column from left to right. The lower PCB of fig. 1 has a base under it, which is in direct contact with the door lock, and its function is mainly to protect the lower PCB from contact with the metal door lock.

In one embodiment, the apparatus further comprises:

an external transmission assembly 121 disposed between the door lock key 110 and the external driving assembly 120,

the external driving unit 120 is used for driving the door lock key 110 to move through the external transmission unit 121.

The external transmission assembly 121 of the external driving assembly 120 is exemplified, the door lock key 110 is fixed on the output shaft rotor of the external transmission assembly, the door lock key 110 is driven by the motor to rotate to realize unlocking and locking actions, and it can be understood that the MCU adopts GD32F103CBT6, and the rotation angle of the output shaft is controlled by the cascade PID algorithm. The real objects of the components are shown in fig. 2 and 3, the installation of the device on the door is shown in fig. 4, the door lock control module, namely the external driving component and the WIFI access module are installed indoors, and the user identification module is installed outdoors. In which the door lock control module is mounted on the door lock as shown in fig. 5, a door lock key 110 on a driven wheel of the door lock control module is first inserted into the door lock, and then the module is fixed on the inner lock body using a screw carried on the door lock.

The schematic diagrams of one direction and the other direction of the door lock control module are shown in fig. 6 and 7, wherein the speed reduction ratio of one model JGB37-500 is 1:30, wherein the motor is 6mm in output shaft, and the door lock key 110 is driven to rotate by using a belt transmission mode, and the belt is an annular belt with the length of 2GT of 300 mm; the driving wheel is a 2GT synchronous wheel, the number of teeth is 16 teeth, the inner diameter is 6mm, and the driving wheel is arranged on the motor output shaft; the driven wheel is a non-standard piece and manufactured by 3D printing, the number of teeth is 60 teeth, one end of the driven wheel is embedded with a radial magnet with the diameter of 6mm and the height of 3mm, the radial magnet is used for a magnetic encoder to acquire the rotating angle of the driven wheel, and the other end of the radial magnet is provided with a square jack for fixing a door lock key 110.

The main body of the door lock control module is composed of an upper layer PCB and a lower layer PCB, wherein electronic components are welded on the upper layer PCB, the lower layer PCB only provides support, the thickness of the PCB is 1.6mm, the material is FR-4 glass fiber board, the two PCBs are connected through 6M 3 x 15 copper columns, the size and wiring of the PCB are shown in fig. 8 and 9, and 2 round holes with the thickness of 3.2mm on the left side and the right side of the PCB are used for connecting the copper columns; the motor output shaft passes through a 13.5mm round hole on the left side of the PCB and is fixed with a 16-tooth synchronous wheel inside; two slots are formed in the PCB, wherein the size of the large slot is 6mm or 10mm, the large slot is used for fixing a door lock self-carrying screw, and the size of the small slot is 3.2mm or 8mm and is used as a tensioning wheel for fixing a belt; a round hole of 10mm is formed in the middle of the PCB and is used for penetrating through a poking bar of the back locking knob; a round hole of 23mm is formed in the rightmost side of the PCB and is used for fixing a bearing, the inner diameter of the bearing is 17mm, and the bearing is connected with a driven wheel.

The circuit block diagram of the door lock controller is shown in fig. 10, the middle is a main control chip GD32F103CBT6 of the controller, and the periphery is provided with 8 sub-modules, which are respectively a power supply module, a CAN transceiver module, an SWD (Serial Wire Debug serial debug) interface, a serial debug interface, an AS5600 magnetic encoder module, a current sampling module, an LED indicator light, and a motor driving module.

The circuit of the main control chip is shown in fig. 11. The serial port 1 is used for communicating with an upper computer, so that the function of online setting of the parameters of the PID is realized; the SWD interface is used to burn the program through the ST-Link debugger and perform the relevant debugging.

The circuit diagram of the power supply module is shown in fig. 12, and consists of MP1584 and AMS1117, and is used for reducing the 12V of externally input DC12V to 5V through MP1584 DC-DC, and then stabilizing the 5V to 3.3V by using an AMS1117 LDO chip to supply power for the door lock controller system.

The circuit diagram of the CAN transceiver module is shown in fig. 13, and is composed of a TJA1050 chip and some peripheral circuits, and the function is mainly to convert TTL level signals of CAN_Rx and CAN_Tx pins of a main control chip into differential signals on a CAN bus.

The current sampling module is shown in fig. 14, and mainly consists of an INA240A2PWR chip and a sampling resistor R1 in a motor driving module (fig. 15), and the voltages at two ends of the sampling resistor are read through an ADC of an MCU (micro controller unit) and then the current of the motor is calculated;

the motor driving module mainly comprises an A4950 chip, and outputs 2 paths (IN 1 and IN 2) of PWM signals of 10kHz through the MCU to control the direction and the magnitude of voltages at two ends of the motor.

AS5600 magnetic encoder module interface AS shown in FIG. 16, communicates with AS5600 magnetic encoder via I2C interface (SDA, SCL) for obtaining rotation angle and angular velocity of driven wheel;

The circuit block diagram of the WIFI access module is shown in fig. 17, the circuit is powered by using DC12V, the 12V is reduced to 5V through an LM2596 DC-DC module, then the 5V is regulated to 3.3V by using an AMS1117 LDO chip, and the power is supplied to the MCU minimum system. MCU is STM32F103C8T6. The ESP8266 WIFI module is communicated with the ESP8266 WIFI module through the serial port 2; using a TJA1050 chip as a CAN transceiver; the external 4 key switches are used as the input of door lock control signals; each state of the door lock is respectively indicated by 4 LED indicator lamps: an unlocked state, an initial locked state, a level 1 locked state, and a level 2 locked state.

The circuit block diagram of the subscriber identity module is shown in fig. 18, and the circuit is powered by DC5V, and the 5V is regulated to 3.3V through an AMS1117 LDO chip to power the MCU minimum system. MCU is STM32F103C8T6. The IC card identification module is communicated with the RC522 RFID module through an SPI interface and is used for identifying the IC card; the semiconductor fingerprint module is communicated with the semiconductor fingerprint module through the serial port 1 and is used for identifying and inputting fingerprints; a TJA1050 chip was used as the CAN transceiver.

The door lock control module adopts a cascade PID algorithm to control the rotation angle of the door lock key 110, and a block diagram thereof is shown in fig. 17, wherein a position loop PID controller is used for controlling the rotation angle; the speed loop PID controller is used for controlling the rotating speed; the current loop PID controller is used for controlling the output torque of the motor (namely, the current of the motor); the low-pass filter is used for filtering the collected current signals; the differentiating module is used for converting the angle signal acquired by the angle sensor (namely AS5600 magnetic encoder) into an angular velocity signal. The current loop is the innermost loop, the input of the current loop PID controller is the output of the speed loop, the output is the PWM duty ratio of the motor driver, the control frequency is 10kHz, the original signal acquired by the current sensor is filtered by a 4-order Butterworth low-pass filter, and the filtered current signal is used as the feedback of the current loop PID controller, so that the control effect is more stable; the speed loop is an outer loop of the current loop, the input of the speed loop PID controller is the output of the position loop, the output is the input of the speed loop, the control frequency is 100Hz, and the angular speed signal is obtained by differential operation of the position signal collected by the magnetic encoder and is used as the feedback of the speed loop PID controller; the position loop is the outermost loop, the input of the position loop PID controller is the set position of the external input, the output is the input of the speed loop, the control frequency is 25Hz, and the position signal acquired by the magnetic encoder is used as the feedback of the position loop PID controller.

In order to facilitate the setting of PID parameters in the development process, an upper computer is developed, which communicates with the door lock controller module through a serial port, and the functions mainly include displaying current, speed and position curves and on-line changing of PID parameters through the serial port. The UI interface of the upper computer is shown in fig. 20, 21 and 22, which are graphs of current, speed and position signals collected by the door lock control module, and because some gears on the mechanical structure are meshed with the belt pulley with gaps, the load of the motor has certain fluctuation, so that the collected original current signal has high-frequency disturbance, thereby reducing the stability of PID control. The Fourier analysis of the noise shows that the noise frequency is concentrated at 500-1000 kHz in the running process of the motor, and a Butterworth low-pass filter is used for filtering the original current signal, so that the high-frequency noise is removed, and the stability of PID control is improved. The filter parameters used were: passband cut-off frequency 200Hz, stopband cut-off frequency 340Hz, passband maximum attenuation 3dB, stopband minimum attenuation 14dB, sampling frequency 10kHz. The amplitude-frequency characteristic of the filter is shown in fig. 23. The filter is designed by using a MATLAB tool to obtain a transfer function of a filter system, then the transfer function is subjected to Z transformation, then the transfer function is converted into a differential equation form, finally the differential equation is converted into a C code and packaged in a function form, and the collected original current signal is filtered by collecting the current signal in the timer interrupt of the GD32 singlechip and calling the filter function. The filtering effect is shown in fig. 24, wherein the upper left is a time domain image of the sampled original current signal, and the lower left is a frequency domain image of the original current signal; the upper right is a time domain image of the filtered current signal, and the lower left is a frequency domain image of the filtered current signal, so that the noise in the signal can be effectively filtered by using the filter.

In order to prevent other people from cracking message information by accessing the CAN bus so as to achieve illegal control of the door lock, a Seed-Key encryption algorithm is adopted in a communication protocol of the CAN bus, and a message transmission process is shown in FIG. 25: when one module (the requester) requests to control another module (the requester), a request message is firstly sent, then the requested module receives and then sends a message containing a 32-bit random number seed to the requested module, and then the requested module obtains the seed in the message, obtains a secret key through specific calculation and sends the secret key to the requested module, and at the moment, if the obtained secret key passes the verification, the requested operation is executed. If the time-out and verification errors occur in the communication process, namely the request fails, the requested party does not execute the requested operation.

The CAN bus communication message is mainly divided into 3 types: door lock control message, identity identification message, user registration/deletion message. The door lock control message is a communication message between the WIFI access module and the door lock control module. When the WIFI access module receives an external signal to control the door lock, firstly, a door lock control request message is sent, and the message structure is shown in the following table 1:

TABLE 1

The identifiers in the table are used for distinguishing the types of the messages; the frame type is a standard frame, and the arbitration domain of the CAN frame is 11 bits; the frame format is a data frame, which indicates that the RTR bit in the CAN frame is 0; DLC is 2, indicating that the data length of the transmission of CAN frames is 2 bytes.

The door lock control module sends a seed message after receiving the message, and the message structure is shown in the following table 2:

TABLE 2

After the WIFI access module receives the seeds, a key value corresponding to the seeds is calculated within a specified timeout period, and a key message is sent to the door lock control module, wherein the message structure is as shown in the following table 3:

TABLE 3 Table 3

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And the door lock control module checks whether the secret key is correct, if the secret key passes the check, the corresponding instruction in the request message is executed, and then a response message is returned to the WIFI access module and used for feeding back the result of the execution of the secret key check sum instruction, wherein the message structure is shown in the following table 4:

TABLE 4 Table 4

The identity recognition message and the user registration/deletion message are communication messages between the WIFI access module and the user recognition module. When the user identification module detects the IC card or the fingerprint, the user identification module sends an identification request to the WIFI access module, and the message structure is shown in the following tables 5, 6, 7 and 8:

TABLE 5

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TABLE 6

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TABLE 7

TABLE 8

When the WIFI access module registers or deletes the user, a request for user registration/deletion is sent to the user identification module, and the message structure is as follows in tables 9, 10, 11, and 12:

TABLE 9

Table 10

TABLE 11

Table 12

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Fig. 26 is a state machine of a door lock control module having 4 states: lock_Open (unlocked state), lock_Level_0 (initial locked state), lock_Level_1 (Level 1 locked state), lock_Level_2 (Level 2 locked state). When in the lock_open state, the door Lock key 110 is controlled to rotate to the position of-100 degrees to pull the Lock tongue to retract so as to unlock the door Lock; when the lock_level_0 is in the lock_level_0 state, the door Lock key 110 is controlled to rotate to the position of 0 degrees, so that the Lock tongue is reset to be initial locking; when the door Lock is in the lock_level_1 state, the door Lock key 110 is controlled to rotate to a position of 360 degrees, so that the door Lock is locked in a 1-stage mode; when in the lock_level_2 state, the door Lock key 110 is controlled to rotate to the position of 720 degrees, so that the door Lock is locked in 2 steps, namely 2 steps. The states are switched by a request instruction received on the CAN bus.

Fig. 27 is a state machine of a WIFI access module having 5 states: ready, can_msg_proc, lock_control_request, wifi_msg_proc, user_management. The Ready state is an initial state after the WIFI access module is powered on and reset, when an identity recognition Request message sent by the user recognition module is received in the Ready state, the Request is processed by switching to the CAN_Msg_Pro state, if the processing is passed, the Request is switched to the lock_control_request state, an unlocking Request is sent to the door Lock Control module, and the Request is returned to the Ready state after the processing is completed. When the serial port data sent by the WIFI module is received, switching to a lock_control_request state or a user_management state according to a defined serial port communication protocol. The serial protocol format is shown in tables 13 and 14 below:

TABLE 13

TABLE 14

The signal definition of the door lock control serial port message is as follows:

TABLE 15

The signal definition of the user management serial port message is as follows:

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Fig. 28 is a state machine of a subscriber identity module having 5 states: ready, rfid_proc, id_send_request, fingerprint_proc, can_response, and CAN Request response. And in the Ready state, the state of the RFID-RC522 module and the state of the fingerprint module are detected in a polling mode, when the RFID identifies the IC card, the RFID is switched to the RFID_Proc state to acquire the card number of the IC card, then the RFID is switched to the ID_Send_Request state, an ID identification Request is sent to the WIFI access module, and the RFID is returned to the Ready state after the processing is completed. When the FingerPrint module detects that the finger is pressed down, the FingerPrint module is switched to a fingerprint_Proc state, a detection result and a number of the FingerPrint are obtained, then the FingerPrint module is switched to an ID_Send_Request state, an ID identification Request is sent to the WIFI access module, and the FingerPrint module returns to a Ready state after processing is completed. When receiving a user registration or deletion message sent by the WIFI module, switching to a CAN_response state to perform corresponding processing.

The results of the current loop, the speed loop and the position loop of the cascade PID debugging of the door lock control module are shown in fig. 19 and 20. Testing and integration testing of the modules is shown in fig. 29. The system test under real environment is shown in fig. 30.

In one embodiment, the intelligent modifying device for the mechanical door lock further comprises an internal locking structure modifying component,

By associating the intelligent modification device of the mechanical door lock with the door lock, the embodiment of the invention is provided with a knob (the middle part in fig. 1) for controlling the back locking of the door lock, and the door lock control module (further comprising an internal driving component) can understand that the knob can also be arranged inside the door, and the knob is connected with the back locking jack of the door lock through a poking bar, so that the opening and locking of the door lock outside the door can be intelligently controlled, and the opening and locking of the door lock inside the door can also be controlled.

In one embodiment, the apparatus further comprises:

and the wireless communication component is used for receiving the verification result sent by the user identification component to determine an external door lock control instruction, controlling the external driving component 120 based on the external door lock control instruction, receiving an internal door lock control instruction sent by a mobile terminal associated with a user, and controlling the internal driving component based on the internal door lock control instruction.

The wireless communication module may be, for example, a WIFI access module, configured to process and verify instructions sent by other modules on the CAN bus and instructions received by the WIFI network, and issue control instructions to the door lock control module, and store user data, where the MCU may use STM32F103C8T6 and ESP8266-07. The embodiment of the invention uses ESP8266-07 to process data transceiving of the WIFI network and STM32F103C8T6 to process data transceiving on the CAN bus. The STM32 is connected with the ESP8266 through a serial port. The control of the door lock and the input and deletion of user information are realized through a CAN communication protocol. And the RFID data input by the user is stored in a power-down mode through internal Flash of STM32F103C8T 6. And processing network data through a serial port communication protocol.

By way of example, the user identification component described above may be an RFID and fingerprint for identifying a user. The RFID is read by using an RC522 module, the fingerprint is input and identified by using a semiconductor fingerprint module, and the MCU adopts STM32F103C8T6.

Illustratively, the components communicate via a CAN bus, and a TJA1050 chip is used by a CAN transceiver. According to the CAN bus communication, the Seed-Key encryption algorithm is adopted in the communication protocol of the application layer, so that other people are prevented from cracking message information outdoors through accessing the CAN bus, and illegal control of the door lock is achieved.

The device provided by the embodiment of the invention can realize the functions of RFID identification and fingerprint identification unlocking, internal key unlocking and locking, WIFI wireless network control unlocking and user information input and the like on the basis of a common door lock. Other intelligent locks on the market are designed in an integrated mode, if the intelligent lock is to be upgraded, the original door lock needs to be replaced entirely, and the design can be upgraded only by adding equipment of the system on the basis of the original door lock.

For example, the external drive assembly 120, i.e., the door lock control module, may be a DC brushed gear motor JGB37-500. The driven wheel is driven to rotate through the belt pulley transmission mechanism, and a door lock key 110 is fixed on the rotating shaft of the driven wheel. The rotation of the driven wheel is controlled to a specified angle through a current loop-speed loop-position loop cascade PID algorithm, and the position loop obtains the rotation angle of the driven wheel by using an AS5600 magnetic encoder. The rotational speed signal of the speed loop is obtained by differentiating the angle and time obtained by the AS5600 magnetic encoder. The current loop uses INA240A2PWR chip and a sampling resistor to obtain the current of the motor, and a 4-order Butterworth low-pass digital filter filters high-frequency noise from the collected current signal, so that the control effect is more stable.

By way of example, CAN is an abbreviation for Controller Area Network, an ISO internationally standardized serial communication protocol. CAN is standardized by ISO11898 and ISO11519, which are standard protocols for automotive networks in europe. The high performance and reliability of CAN has been recognized and is widely used in industrial automation, ships, medical equipment, industrial equipment, and the like.

For example, ESP8266 is a chip of Internet of things, supports standard IEEE802.11b/g/n protocol, and is internally provided with a complete TCP/IP protocol stack. Built-in ultra-low power consumption Tensiica L106 32 bit RISC processor, CPU clock frequency can reach 160MHz at maximum, support real-time operating system (RTOS), can leave up to 80% of processing capacity for application programming and development.

Illustratively, GD32F103CBT6 is a 32-bit MCU, a 32-bit general purpose microcontroller based on the Arm Cortex-M3 RISC core, with a CPU clock frequency of 108MHz. It provides up to 3MB of on-chip flash memory and up to 96KB of SRAM memory. Various enhanced I/O and peripheral devices connected to the two APB buses. These devices provide up to three 12-bit ADCs, up to two 12-bit DACs, up to ten universal 16-bit timers, two basic timers and two PWM advanced timers, as well as standard and advanced communication interfaces: up to three SPIs, two I2 cs, three USART, two UARTs, two I2S, one USBD, one CAN and one SDIO. The supply voltage is 2.6 to 3.6V, and the usable temperature is in the temperature range of-40 to +85℃. The method has wide application in the fields of industrial control, motor drive, power supply monitoring and alarm systems, consumption and handheld equipment, POS, vehicle-mounted GPS, video interphone, PC peripheral equipment and the like.

The cascade PID algorithm is an exemplary control algorithm, and is formed by connecting a plurality of PID controllers in series, wherein the output of the outer ring controller is used as a set value of the inner ring controller, and the output of the inner ring controller is used for operating the actuator, so that the controlled quantity of the outer ring has better control effect. Among them, PID control is an algorithm for controlling the ratio (P), integral (I) and derivative (D) of deviation, and is one of the most widely used automatic controllers. The method has the advantages of simple principle, easy realization, wide application range, mutually independent control parameters, simple parameter selection and the like; it can also be theoretically demonstrated that the PID controller is an optimal control for the control objects of "first-order hysteresis + pure hysteresis" and "second-order hysteresis + pure hysteresis", which are typical of process control. The PID regulation rule is an effective method for correcting the dynamic quality of a continuous system, and the parameter setting mode is simple and convenient, and the structure is flexible to change.

Illustratively, the Seed-Key is an encryption algorithm, which in embodiments of the present invention is used for encryption of CAN bus communications, similar to the secure access service of UDS diagnostics in automotive electronics. The flow is as follows: when one module requests the service of another module, a request message is firstly sent, then the requested module receives a message containing a random number seed from the requested module, then the requested module obtains the seed in the message, obtains a secret key through specific calculation and sends the secret key to the requested module, and the requested service is provided only if the obtained secret key passes verification. The request fails if a timeout occurs and a check error occurs during the communication.

By means of the technical scheme, the intelligent mechanical door lock reconstruction device provided by the invention solves the problem that a device for reconstructing a common mechanical door lock is simpler, more convenient and intelligent at present, and is used for movably penetrating through an outer lock hole of a mechanical door lock structure through a door lock key 110; the external driving assembly 120 is connected to the door lock key 110 and the door body, and is used for driving the door lock key 110 to move. In the above-mentioned scheme, through being connected the external drive subassembly 120 that reforms transform the device, external drive subassembly 120 and former lock, the door lock key 110 is opened through external drive subassembly 120 rotation door lock key 110 after the door lock key 110 of former lock is fixed to need not to change the lock body and the lock core of former lock, the problem that need only install after all demolishs lock core and the lock body of former lock that exists when having solved present change mechanical lock into intelligent lock, the dismantlement installation process is complicated and the compatibility is poor is solved.

The embodiment of the invention also provides a door lock control method for realizing the control of the intelligent modification device of the mechanical door lock, as shown in fig. 31, comprising the following steps:

s101, controlling the external driving assembly to receive a door external lock control instruction;

S102, controlling the external driving assembly to drive a door lock key to move based on the door external lock control command so as to perform unlocking operation.

Exemplary, the embodiment of the invention receives the door outer lock control command by controlling the external driving component so as to realize the control of the door outer lock.

In one embodiment, the intelligent modifying device for a mechanical door lock further includes an internal driving assembly, and the method further includes:

By way of example, the embodiment of the invention realizes the control of the door lock by receiving the door lock control instruction sent by the user so as to realize the back lock function.

For example, if the user needs to leave for a long time, the door can be locked by the door lock, in this case, if the number of times of receiving the wrong verification instruction is greater than the preset number of times, there is a possibility that other people illegally crack, so the door lock is locked to prevent being illegally intruded.

According to the device and the method provided by the embodiment of the invention, the device is additionally arranged on the basis of a common door lock, so that the functions of RFID identification and fingerprint identification unlocking, internal key unlocking and locking, WIFI wireless network control unlocking and user information input and the like can be realized.

Further, as an implementation of the method, the embodiment of the invention also provides a door lock control device. The door lock control device embodiment corresponds to the foregoing method embodiment, and for convenience of reading, details of the foregoing method embodiment are not described one by one in the present embodiment, but it should be clear that the door lock control device in this embodiment can correspondingly implement all the foregoing method embodiments. As shown in fig. 32, the door lock control apparatus includes: a receiving unit 21 and a driving unit 22, wherein

A receiving unit 21 for controlling the external driving assembly to receive a door lock control command;

and a driving unit 22 for controlling the external driving assembly to drive the door lock key to move based on the door external lock control command so as to perform an unlocking operation.

Further, the intelligent modification device of the mechanical door lock further comprises an internal driving assembly, and the method further comprises the following steps:

The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The kernel can be provided with one or more than one, and the door lock control method is realized by adjusting kernel parameters.

An embodiment of the present invention provides a computer-readable storage medium including a stored program that when executed by a processor implements the door lock control method described above.

The embodiment of the invention provides a processor, which is used for running a program, wherein the door lock control method is executed when the program runs.

The embodiment of the invention provides electronic equipment, which comprises at least one processor and at least one memory connected with the processor; the processor is configured to call the program instructions in the memory, and execute the door lock control method.

The embodiment of the invention provides an electronic device 30, as shown in fig. 33, the electronic device comprises at least one processor 301, and at least one memory 302 and a bus 303 connected with the processor; wherein, the processor 301 and the memory 302 complete communication with each other through the bus 303; the processor 301 is configured to call the program instructions in the memory to perform the door lock control method described above.

The intelligent electronic device herein may be a PC, PAD, cell phone, etc.

In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Embodiments of the present application also provide a computer program product comprising computer software instructions which, when run on a processing device, cause the processing device to perform a flow of control of a memory as in the corresponding embodiment of fig. 31.

The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions in accordance with embodiments of the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). Computer readable storage media can be any available media that can be stored by a computer or data storage devices such as servers, data centers, etc. that contain an integration of one or more available media. Usable media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid State Disks (SSDs)), among others.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.

In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims

1. Intelligent modification device of mechanical lock, its characterized in that includes:

2. The apparatus as recited in claim 1, further comprising:

the external transmission component is arranged between the door lock key and the external driving component,

3. The apparatus of claim 1, wherein the intelligent retrofit device for mechanical door locks further comprises an internal lock structure retrofit assembly,

the back locking knob connecting component is used for controlling the locking or unlocking of the door inner lock; the internal driving assembly is connected with the back-locking knob connecting assembly and is used for driving the back-locking knob connecting assembly to control the locking or unlocking of the door inner lock;

the internal transmission component is arranged between the back lock knob connecting component and the internal driving component,

the internal driving component receives a door inner lock control instruction sent by the wireless communication component and drives the back lock knob connecting component through the internal transmission component to control locking or unlocking of the door inner lock.

4. A device according to claim 3, further comprising:

the wireless communication assembly is used for receiving the verification result sent by the user identification assembly to determine an external door lock control instruction, controlling the external driving assembly based on the external door lock control instruction, receiving an internal door lock control instruction sent by a mobile terminal associated with a user, and controlling the internal driving assembly based on the internal door lock control instruction.

5. A door lock control method for the intelligent modification device of the mechanical door lock according to any one of claims 1 to 5, comprising:

and controlling the external driving assembly to drive a door lock key to move based on the door external lock control instruction so as to perform unlocking operation.

6. The method of claim 5, wherein the mechanical door lock intelligent retrofit device further comprises an internal drive assembly, the method further comprising:

controlling the internal driving component to receive the door lock control instruction under the condition that the mobile terminal associated with the user sends the door lock control instruction;

7. The method of claim 5, wherein the mechanical door lock intelligent retrofit device further comprises an internal drive assembly, the method further comprising:

controlling the internal driving assembly to receive the door inner lock control instruction under the condition that the verification result sent by the user identification assembly is that the failure times are larger than the preset times;

8. A door lock control device is characterized in that,

the receiving unit is used for controlling the external driving assembly to receive a door outer lock control instruction;

and the driving unit is used for controlling the external driving assembly to drive a door lock key to move based on the door outer lock control instruction so as to perform unlocking operation.

9. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the steps of the mechanical door lock intelligent modifying device of any one of claims 5 to 7 are implemented when the program is executed by a processor.

10. An electronic device comprising at least one processor and at least one memory coupled to the processor; wherein the processor is configured to invoke program instructions in the memory to perform the steps of the intelligent retrofit device for a mechanical door lock according to any one of claims 5 to 7.