CN116816206A

CN116816206A - Automatic control method and device for intelligent door

Info

Publication number: CN116816206A
Application number: CN202310334211.8A
Authority: CN
Inventors: 徐祥明; 潘嘉明; 徐泽皓; 于海波
Original assignee: Chongqing Jiazhi Jiachuang Technology Co ltd
Current assignee: Chongqing Jiazhi Jiachuang Technology Co ltd
Priority date: 2023-03-29
Filing date: 2023-03-29
Publication date: 2023-09-29

Abstract

The invention discloses an automatic control method and device of an intelligent door, wherein in the process of controlling the opening and closing of the intelligent door, data, such as height data, image data and the like, in a range of a preset anti-collision clamp area matched with the control direction, such as the opening direction or the closing direction, of the intelligent door are collected based on sensors, cameras and the like on a door frame of the intelligent door and on the top of a door leaf; if it is determined that the target object exists in the preset anti-collision clamping area range according to the data corresponding to the intelligent door, such as personnel, pets and chairs, parameters such as real-time positions of the target object are automatically determined according to the data corresponding to the intelligent door, so that the intelligent door is controlled to stop closing or stop opening or slow down the door opening and closing movement speed, further, prompts such as personnel, pets and chairs can be output, occurrence of personnel collision and clamping in the door opening and closing process can be reduced, and occurrence of hard objects collision caused by the intelligent door is even reduced.

Description

Automatic control method and device for intelligent door

Technical Field

The invention relates to the technical field of intelligent door control, in particular to an automatic control method and device of an intelligent door.

Background

Along with the rapid development of the technology of the internet of things and the rapid progress of society, the intelligence of the intelligent door on the market also has a certain development, but no matter how the intelligent door is developed, the intelligent door is still improved in the aspect of theft prevention, most of used switches are still mechanical switches, and the conditions of striking people and clamping people easily occur in the process of opening and closing the door. Therefore, it is important to provide a technical scheme for reducing the occurrence of collision and pinching during the door opening and closing process.

Disclosure of Invention

The invention provides an automatic control method and device for an intelligent door, which can reduce the occurrence of collision and clamping during the door opening and closing process.

In order to solve the technical problems, a first aspect of the present invention discloses an automatic control method for an intelligent door, which includes:

in the process of controlling opening and closing of the intelligent door, acquiring data in a preset anti-collision clamp area range matched with the control direction of the intelligent door based on a data acquisition device corresponding to the intelligent door, wherein the control direction of the intelligent door comprises a door opening direction or a door closing direction;

judging whether a target object exists in the range of the preset anti-collision clamp area according to the acquired data corresponding to the intelligent door, wherein the type of the target object comprises a movable object type and/or an immovable object type;

When the existence of the target object is judged, determining the parameter of the target object according to the acquired data corresponding to the intelligent door, and executing control operation on the intelligent door according to the parameter of the target object, wherein the parameter of the target object comprises the real-time position of the target object.

As an optional implementation manner, in the first aspect of the present invention, the performing, according to a parameter of the target object, a control operation on the smart door includes:

detecting whether the current condition of the intelligent door meets the predetermined standby condition of the driving component of the intelligent door according to the parameter of the target object;

when the intelligent door is judged to be met, the driving part of the intelligent door is controlled to be in a standby state, the movement speed of the intelligent door is controlled according to the parameter of the target object, and the outputter of the intelligent door is controlled to output a collision clip prompt to the movable object so as to prompt the movable object to prevent the intelligent door from colliding with the target object.

As an alternative embodiment, in the first aspect of the present invention, the method further includes:

judging whether the intelligent door receives external force or not in the process of controlling the output device of the intelligent door to output the collision clamp prompt, and determining the type of the external force received by the intelligent door according to the acquired data corresponding to the intelligent door when the judgment result is yes;

When the type is used for indicating that the external force applied by the intelligent door is applied by a movable object, determining the direction of the external force applied by the intelligent door, and when the direction is used for indicating that the intelligent door is applied by the external force in the same direction as the control direction of the intelligent door, monitoring the external force intervention condition, and controlling a driving component of the intelligent door to drive the intelligent door to execute the operation matched with the control direction according to the external force intervention condition;

wherein, according to the external force intervention condition, the driving part of the intelligent door is controlled to drive the intelligent door to execute the operation matched with the control direction, and the method comprises the following steps:

when the control direction is the door opening control direction of the intelligent door and the external force intervention condition is used for indicating the stopping moment of monitoring external force intervention and the length of the external force intervention stopping moment is longer than or equal to a first preset time length or the intelligent door is subjected to external force which is opposite to the control direction, a driving part of the intelligent door is controlled to drive the intelligent door to be closed;

and when the control direction is the door closing control direction of the intelligent door and the external force intervention condition is used for indicating that the external force stops intervening, controlling the driving part of the intelligent door to drive the intelligent door to close so as to enable the intelligent door to close and lock.

when the direction is used for indicating that the intelligent door receives an external force which is opposite to the control direction of the intelligent door and the control direction is the door opening control direction of the intelligent door, a driving component for controlling the intelligent door drives the intelligent door to be closed;

when the direction is used for indicating that the intelligent door receives external force which is reverse to the control direction of the intelligent door and the control direction is the door closing control direction of the intelligent door, the stopping moment of external force intervention is monitored, and when the stopping moment of external force intervention is longer than or equal to a second preset duration, the driving part of the intelligent door is controlled to drive the intelligent door to close, so that the intelligent door is closed and locked.

when the type is used for indicating that the external force applied by the intelligent door is applied by an immovable object and the control direction is the door opening control direction of the intelligent door, judging whether the intelligent door is applied by the movable object in a fourth preset time period, wherein the starting time of the fourth preset time period is the time when the intelligent door collides with the immovable object; when the result is judged to be negative, controlling a driving part of the intelligent door to drive the intelligent door to be closed;

When the type is used for indicating that the external force applied by the intelligent door is applied by an immovable object and the control direction is the door closing control direction of the intelligent door, judging whether a lock part of the intelligent door pops up or not; when the judgment result is yes, controlling the lock component of the intelligent door to retract, and controlling the driving component of the intelligent door to drive the intelligent door to close so as to enable the intelligent door to close and lock; and when the judging result is negative, monitoring the stopping moment of external force intervention, and controlling the driving part of the intelligent door to drive the intelligent door to close when the stopping moment of external force intervention is longer than or equal to a fifth preset time length, so that the intelligent door is closed and locked.

when it is judged that the target object does not exist, a driving part of the intelligent door is controlled to drive the intelligent door, so that the intelligent door moves towards the control direction:

the driving part for controlling the intelligent door drives the intelligent door so that the intelligent door moves towards the control direction, and the intelligent door comprises:

when the control direction is the door opening control direction of the intelligent door, controlling a driving part of the intelligent door to drive the intelligent door to open outwards by a first preset angle;

When the control direction is the door opening control direction of the intelligent door, the driving part of the intelligent door is controlled to drive the intelligent door to close, so that the intelligent door is closed and locked.

judging whether a lock component of the intelligent door is triggered or not, and judging whether a movable object exists in a first preset range of the intelligent door or not when the lock component is triggered; when judging that a movable object exists, judging whether the intelligent door is triggered to open from the outside of the door, and when judging that the intelligent door is opened, determining the control direction as the opening control direction of the intelligent door;

and judging whether the intelligent door is in an opening state currently or not or whether a lock component of the intelligent door is not in a locking state, and determining the control direction to be the door closing control direction of the intelligent door when the judging result is yes.

when the intelligent door is judged to be triggered to open from the outside of the door, controlling a driving part of the intelligent door to drive the intelligent door to open outwards by a second preset angle, and controlling an output device of the intelligent door to output first preset content, wherein the first preset content is used for indicating the intelligent door to automatically open or prompting a movable object to control the opening of the door;

When judging that the intelligent door is not triggered to open the door from the outside of the door, controlling an output device of the intelligent door to output second preset contents, wherein the second preset contents are used for indicating that the intelligent door is blocked and needs to be controlled to open the door by a movable object, detecting whether the movable object exists in a second preset area range in front of the door of the intelligent door with preset detection frequency, and controlling a driving part of the intelligent door to drive the intelligent door to open the third preset angle outwards when the detection result is negative, wherein the third preset angle is larger than the second preset angle.

As an optional implementation manner, in the first aspect of the present invention, when the data collector includes a sensor, the installation position of the data collector includes one or more of a top position, a right position and a side position of the smart door;

the overhead of the intelligent door is used for indicating that the data collector is arranged on the top of a door leaf or a door frame of the intelligent door and the collection direction of the data collector faces to the ground;

the side of the intelligent door is used for indicating that the data collector is arranged on the side surface of a door leaf or the side surface of a door frame of the intelligent door hinge, and the collection direction of the data collector is horizontal to the direction of a door handle;

The intelligent door is arranged in a positive way and used for indicating that the data collector is arranged on the front surface of the intelligent door leaf to irradiate outwards, and the collection range of the data collector is in a fan shape;

when the data collector comprises a camera, the data collector is arranged in the middle area of the intelligent door leaf and irradiates obliquely downwards for detection when the intelligent door moves outwards, or is arranged in the middle area of the intelligent door frame and irradiates positively downwards for detection when the intelligent door moves inwards.

The second aspect of the invention discloses an automatic control device of an intelligent door, which comprises:

the intelligent door control system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring data in a preset anti-collision clamp area range matched with the control direction of the intelligent door on the basis of a data acquisition device corresponding to the intelligent door in the process of controlling the intelligent door to open or close, and the control direction of the intelligent door comprises an opening direction or a closing direction;

the judging module is used for judging whether a target object exists in the range of the preset anti-collision clamping area according to the acquired data corresponding to the intelligent door, wherein the type of the target object comprises a movable object type and/or an immovable object type;

The determining module is used for determining parameters of the target object according to the acquired data corresponding to the intelligent door when the target object is judged to exist;

and the control module is used for executing control operation on the intelligent door according to the parameters of the target object, wherein the parameters of the target object comprise the real-time position of the target object.

In a second aspect of the present invention, as an optional implementation manner, the specific manner of performing, by the control module, the control operation on the smart door according to the parameter of the target object includes:

In a second aspect of the present invention, the determining module is further configured to determine whether the smart door is subjected to an external force during the process that the control module controls the output device of the smart door to output the collision clip prompt;

The determining module is further configured to determine, when the judging result of the judging module is yes, a type of external force applied to the intelligent door according to the collected data corresponding to the intelligent door;

the determining module is further used for determining the direction of the external force applied by the intelligent door when the type is used for indicating that the external force applied by the intelligent door is applied by the movable object;

the apparatus further comprises:

the monitoring module is used for monitoring the intervention condition of external force when the direction is used for indicating that the intelligent door is subjected to the external force in the same direction as the control direction of the intelligent door;

the control module is also used for controlling a driving part of the intelligent door to drive the intelligent door to execute the operation matched with the control direction according to the external force intervention condition;

the specific mode of controlling the driving component of the intelligent door to drive the intelligent door to execute the operation matched with the control direction according to the external force intervention condition by the control module comprises the following steps:

As an optional implementation manner, in the second aspect of the present invention, the control module is further configured to control the driving component of the smart door to drive the smart door to close when the direction is used to indicate that the smart door is subjected to an external force that is opposite to the control direction of the smart door and the control direction is a door opening control direction of the smart door;

the control module is further used for monitoring the stopping moment of external force intervention and controlling the driving part of the intelligent door to drive the intelligent door to close when the stopping moment of external force intervention is longer than or equal to a second preset duration and the external force intervention is stopped when the direction is used for indicating that the intelligent door receives external force which is reverse to the control direction of the intelligent door and the control direction is the closing control direction of the intelligent door, so that the intelligent door is closed and locked.

As an optional implementation manner, in the second aspect of the present invention, the determining module is further configured to determine, when the type is used to indicate that the external force applied to the smart door is applied by an immovable object and the control direction is a door opening control direction of the smart door, whether the smart door is subjected to the external force applied by the movable object within a fourth preset time period, where a start time of the fourth preset time period is a time when the smart door collides with the immovable object;

The control module is further used for controlling the driving component of the intelligent door to drive the intelligent door to close when the judging module judges that the result is negative;

the judging module is further used for judging whether the lock component of the intelligent door pops up or not when the type is used for indicating that the external force applied by the intelligent door is applied by an immovable object and the control direction is the door closing control direction of the intelligent door;

the control module is further used for controlling the locking component of the intelligent door to retract when the judgment result of the judgment module is yes, and controlling the driving component of the intelligent door to drive the intelligent door to close so as to enable the intelligent door to close and lock;

and the control module is also used for monitoring the stopping time of external force intervention and controlling the driving part of the intelligent door to drive the intelligent door to close when the stopping time of external force intervention is longer than or equal to a fifth preset time length when the judging result of the judging module is no, so that the intelligent door is closed and locked.

As an optional implementation manner, in the second aspect of the present invention, the control module is further configured to, when it is determined that the target object is not present, control the driving component of the smart door to drive the smart door so as to move the smart door in the control direction:

The control module controls the driving part of the intelligent door to drive the intelligent door, so that the specific mode of the intelligent door moving towards the control direction comprises the following steps:

As an optional implementation manner, in the second aspect of the present invention, the determining module is further configured to determine whether a lock component of the smart door is triggered;

the judging module is further used for judging whether a movable object exists in a first preset range of the intelligent door or not when the intelligent door is judged to be triggered;

the judging module is further used for judging whether the intelligent door is triggered to open from outside the door when judging that the movable object exists;

the determining module is further used for determining that the control direction is the door opening control direction of the intelligent door when the judging result is yes;

the judging module is further configured to judge whether the intelligent door is currently in an open state or a lock component of the intelligent door is not in a locked state

And the determining module is further used for determining that the control direction is the door closing control direction of the intelligent door when the judging result is yes.

As an optional implementation manner, in the second aspect of the present invention, the control module is further configured to, when it is determined that the smart door is triggered to open from outside the door, control a driving component of the smart door to drive the smart door to open outwards by a second preset angle, and control an output device of the smart door to output a first preset content, where the first preset content is used to indicate that the smart door automatically opens the door or prompt a movable object to control the opening of the door;

the control module is further used for controlling the output device of the intelligent door to output second preset content when judging that the intelligent door is not triggered to open from the outside of the door, wherein the second preset content is used for indicating that the intelligent door is blocked and a movable object is required to control the opening of the door;

the apparatus further comprises:

the detection module is used for detecting whether a movable object exists in a second preset area range in front of the door of the intelligent door or not at a preset detection frequency;

and the control module is further used for controlling the driving part of the intelligent door to drive the intelligent door to open outwards by a third preset angle when the detection result of the detection module is negative, and the third preset angle is larger than the second preset angle.

As an alternative embodiment, in the second aspect of the present invention, when the data collector includes a sensor, the installation position of the data collector includes one or more of a top position, a right position and a side position of the smart door;

In a third aspect, the present invention discloses another automatic control device for an intelligent door, the device comprising:

a memory storing executable program code;

a processor coupled to the memory;

the processor invokes the executable program code stored in the memory to perform part or all of the steps in any one of the methods for automatically controlling an intelligent door disclosed in the first aspect of the present invention.

A fourth aspect of the present invention discloses a computer storage medium storing computer instructions for executing part or all of the steps of any one of the automatic control methods of the smart door disclosed in the first aspect of the present invention when the computer instructions are called.

Compared with the prior art, the embodiment of the invention has the following beneficial effects:

in the embodiment of the invention, during the process of controlling the opening and closing of the intelligent door, based on a data acquisition device corresponding to the intelligent door, such as a sensor, a camera and the like on a door frame of the intelligent door and on the top of a door leaf, data, such as height data, image data and the like, in a range of a preset anti-collision clamp area matched with the control direction, such as the opening direction or the closing direction, of the intelligent door are acquired; if the target object exists in the range of the preset anti-collision clamp area according to the acquired data corresponding to the intelligent door, judging that the target object exists in the range of the preset anti-collision clamp area, such as personnel, pets, chairs and the like; when judging that the intelligent door exists, automatically determining parameters such as the real-time position of a target object according to the acquired data corresponding to the intelligent door, controlling the intelligent door to stop closing or stop opening or slow down the door opening and closing movement speed according to the parameters such as the real-time position of the target object, further outputting prompts of the intelligent door possibly hitting personnel, pets, chairs and the like to personnel, reducing occurrence of hitting personnel and clamping personnel in the door opening and closing process, even reducing occurrence of hitting hard objects by hitting the intelligent door, and prolonging the service life of the intelligent door.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

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

FIG. 2 is a flow chart of another method for automatically controlling a smart door according to an embodiment of the present invention;

fig. 3 is a schematic flow chart of an automatic control device of an intelligent door according to an embodiment of the invention

FIG. 4 is a schematic structural view of another automatic control device for intelligent doors according to an embodiment of the present invention;

FIG. 5 is a schematic view of an automatic control device for an intelligent door according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a data collector overhead on a smart door and a side view of the smart door according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a data collector disclosed in an embodiment of the present invention being laterally disposed on a smart door and the smart door being viewed from above;

FIG. 8 is a schematic diagram of a data collector according to an embodiment of the present invention being placed on a smart door and the smart door being viewed from above;

fig. 9 is a schematic diagram of a camera arranged in a middle area of an intelligent door and used for detecting when the intelligent door is opened according to an embodiment of the invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, apparatus, article, or article that comprises a list of steps or elements is not limited to only those listed but may optionally include other steps or elements not listed or inherent to such process, method, article, or article.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

The invention discloses an automatic control method and device of an intelligent door, which can collect data, such as height data, image data and the like, in a preset anti-collision clamping area range matched with the control direction, such as the door opening direction or the door closing direction, of the intelligent door based on a data collector, such as a sensor, a camera and the like, corresponding to the intelligent door, on a door frame of the intelligent door and on the top of a door leaf in the process of controlling the opening and closing of the intelligent door; if the target object exists in the range of the preset anti-collision clamp area according to the acquired data corresponding to the intelligent door, judging that the target object exists in the range of the preset anti-collision clamp area, such as personnel, pets, chairs and the like; when judging that the intelligent door exists, automatically determining parameters such as the real-time position of a target object according to the acquired data corresponding to the intelligent door, controlling the intelligent door to stop closing or stop opening or slow down the door opening and closing movement speed according to the parameters such as the real-time position of the target object, further outputting prompts of the intelligent door possibly hitting personnel, pets, chairs and the like to personnel, reducing occurrence of hitting personnel and clamping personnel in the door opening and closing process, even reducing occurrence of hitting hard objects by hitting the intelligent door, and prolonging the service life of the intelligent door. The following will explain in detail.

Example 1

Referring to fig. 1, fig. 1 is a flow chart of an automatic control method of an intelligent door according to an embodiment of the invention. The method described in fig. 1 may be applied to an automatic control device of an intelligent door, where the automatic control device of the intelligent door may include one of an intelligent door, a control server (including a local server or a cloud server) capable of controlling the intelligent door, a control device, a control system, and a control platform.

As shown in fig. 1, the automatic control method of the smart door may include the following operations:

101. in the process of controlling the opening and closing of the intelligent door, data in a preset anti-collision clamp area range matched with the control direction of the intelligent door is collected based on a data collector corresponding to the intelligent door, and the control direction of the intelligent door comprises a door opening direction or a door closing direction.

In the embodiment of the invention, the type of the data collector comprises one or more of an ultrasonic type, a microwave radar type and an infrared type. The installation position of the data acquisition device comprises the overhead, the normal and the side of the intelligent door. The top of the intelligent door is used for indicating that the data collector is arranged on the top of a door leaf or a door frame of the intelligent door, the collection direction of the data collector faces to the ground, as shown in fig. 6, fig. 6 is a schematic diagram of the top of the intelligent door and the side view of the intelligent door, as shown in fig. 6, a shadow area in fig. 6 is a collection range corresponding to the collection direction of the data collector, namely, when a target object appears in a preset anti-collision clamp area range corresponding to the shadow area, the data collector can collect data, so that the target object exists in the preset anti-collision clamp area range of the intelligent door corresponding to the shadow area; the side of the intelligent door is used for indicating that the data collector is arranged on the side surface of a door leaf or the side surface of a door frame of the intelligent door hinge (such as close to the hinge), and the collection direction of the data collector is horizontal to the direction of a door handle, as shown in fig. 7, fig. 7 is a schematic diagram of the side of the data collector on the intelligent door and the top view of the intelligent door, as shown in fig. 7, when detecting that a target object appears in a preset anti-collision clamp area range of 200cm away from the intelligent door, the data collector can collect data, so that the existence of the target object in the preset anti-collision clamp area range of the intelligent door is determined; the front position of the intelligent door is used for indicating that the data collector is arranged on the front surface of the intelligent door leaf and irradiates outwards, the collection range of the data collector is in a sector shape, as shown in fig. 8, fig. 8 is a schematic diagram of the front position of the data collector on the intelligent door and the top view of the intelligent door, as shown in fig. 8, a shadow area in fig. 8 is the collection range of the sensor, namely, when a target object appears in a preset anti-collision clamp area range corresponding to the shadow area, the data collector can collect data, so that the target object exists in the preset anti-collision clamp area range corresponding to the shadow area is determined; when the data collector is a camera, the data collector is arranged near an area needing anti-collision and anti-pinch detection, specifically, the camera can be arranged on an intelligent door leaf and irradiates downwards for detection when the door moves outwards, or can be arranged on a door frame and irradiates downwards for detection when the door moves inwards, as shown in fig. 9, fig. 9 is a schematic diagram of the camera arranged in the middle area of the intelligent door and used for detection when the intelligent door opens the door, as shown in fig. 9, a shadow area of fig. 9 is a collection area of the camera, namely, when a target object appears in the shadow area, the data collector can collect data, so that a preset anti-pinch area range corresponding to the shadow area is determined to have the target object, the shadow area is further divided into three area ranges, namely, 1.0-1.5 meters, 0.5-1.0 meters and 0-0.5 meters, and the intensity level of an alarm is sequentially enhanced, and the moving speed of the intelligent door is sequentially reduced.

In the embodiment of the invention, optionally, the data collector corresponding to the intelligent door collects the data in the range of the preset anti-collision clamp area matched with the control direction of the intelligent door at the preset detection frequency (such as 200 ms/time). The preset detection frequency can be adjusted according to the speed of the movement speed of opening or closing the intelligent door, and the higher the movement speed is, the higher the detection frequency is.

In the embodiment of the invention, the acquired data corresponding to the intelligent door comprises image data and non-image data.

102. And judging whether a target object exists in the range of the preset anti-collision clamping area according to the acquired data corresponding to the intelligent door, wherein the type of the target object comprises a movable object type and/or an immovable object type, and triggering and executing step 103 when the target object is judged to exist.

In the embodiment of the invention, the movable object type comprises one or more of a user type, a pet type and a movable intelligent device type. The immovable object types include immovable smart device types and/or other item types.

103. And determining parameters of the target object according to the acquired data corresponding to the intelligent door, wherein the parameters of the target object comprise the real-time position of the target object.

104. And executing control operation on the intelligent door according to the parameters of the target object.

As can be seen, implementing the method for automatically controlling the intelligent door described in fig. 1 can collect data, such as height data, image data, etc., in a preset anti-collision region range matching with a control direction, such as a door opening direction or a door closing direction, of the intelligent door based on a data collector corresponding to the intelligent door, such as a sensor, a camera, etc., on a door frame of the intelligent door, on a top of a door leaf, etc., in a process of controlling opening or closing of the intelligent door; if the target object exists in the range of the preset anti-collision clamp area according to the acquired data corresponding to the intelligent door, judging that the target object exists in the range of the preset anti-collision clamp area, such as personnel, pets, chairs and the like; when judging that the intelligent door exists, automatically determining parameters such as the real-time position of a target object according to the acquired data corresponding to the intelligent door, controlling the intelligent door to stop closing or stop opening or slow down the door opening and closing movement speed according to the parameters such as the real-time position of the target object, further outputting prompts of the intelligent door possibly hitting personnel, pets, chairs and the like to personnel, reducing occurrence of hitting personnel and clamping personnel in the door opening and closing process, even reducing occurrence of hitting hard objects by hitting the intelligent door, and prolonging the service life of the intelligent door.

In an alternative embodiment, the control operation is performed on the intelligent door according to the parameter of the target object, including:

detecting whether the current condition of the intelligent door meets the predetermined standby condition of the driving part of the intelligent door according to the parameters of the target object;

when the judgment is satisfied, the driving part of the intelligent door is controlled to be in a standby state, the movement speed of the intelligent door is determined according to the parameter of the target object, the intelligent door is controlled to move at the determined movement speed, and the output device (such as a display, a voice broadcasting device and the like) of the intelligent door is controlled to output a collision clip prompt to the movable object so as to prompt the movable object (the movable object is a user) to prevent the intelligent door from colliding with the target object.

In this alternative embodiment, the drive component includes, but is not limited to, a motor or other component capable of driving the smart door.

In this alternative embodiment, when the type of the target object is a movable object type and is a person type or an animal type, the parameters of the target object further include the face orientation of the target object and/or the pose of the target object and/or the motion of the target object, so that the more the parameters of the target object include, the more facilitates the accuracy of determining the movement speed of the smart door.

Therefore, in the optional embodiment, when the object exists in the range of the anti-collision clamping area of the intelligent door and the standby operation of the control driving component is detected according to various parameters of the object, the automatic control driving component is in a standby state, and the intelligent door is controlled to move and corresponding collision clamping prompts are output based on the parameters of the object, so that the occurrence of collision to the object can be reduced while the intelligent door is controlled to move, and the safety of the object is further ensured.

In another alternative embodiment, the method may further comprise the steps of:

when the type is used for indicating that the external force applied to the intelligent door is applied by the movable object, determining the direction of the external force applied to the intelligent door, and when the direction is used for indicating that the intelligent door is applied by the external force in the same direction as the control direction of the intelligent door, monitoring the external force intervention condition, and controlling a driving part of the intelligent door to drive the intelligent door to execute the operation matched with the control direction according to the external force intervention condition;

Wherein, according to external force intervention condition, the drive part of control intelligent door drives intelligent door and carries out the operation with control direction assorted, includes:

when the control direction is the door opening control direction of the intelligent door and the external force intervention condition is used for indicating the stopping moment of monitoring the external force intervention and the length of the external force intervention stopping moment is longer than or equal to a first preset time length (such as 3 s) or the intelligent door is subjected to external force which is opposite to the control direction, a driving part of the intelligent door is controlled to drive the intelligent door to be closed;

when the control direction is the door closing control direction of the intelligent door and the external force intervention condition is used for indicating that the external force stops intervening, the driving part of the intelligent door is controlled to drive the intelligent door to close so that the intelligent door is closed and locked.

It can be seen that in the process of outputting the collision clip prompt, if the person is detected to apply the door opening force in the same direction, the optional embodiment continues to monitor, and when the door is detected to be stopped for a few seconds under the door opening force or is detected to be closed, the door is automatically closed and locked; or in the process of closing the door, people apply the force in the same direction as the closing of the door, and after the application is stopped, the door is automatically closed and locked, so that the control accuracy of the intelligent door is improved while the occurrence condition of the intelligent door collision and clamping object is reduced.

In yet another alternative embodiment, the method may further comprise the steps of:

when the direction is used for indicating that the intelligent door receives external force which is reverse to the control direction of the intelligent door and the control direction is the door opening control direction of the intelligent door, the driving component for controlling the intelligent door drives the intelligent door to be closed;

when the direction is used for indicating that the intelligent door receives external force which is reverse to the control direction of the intelligent door and the control direction is the door closing control direction of the intelligent door, the stopping moment of external force intervention is monitored, and when the stopping moment of external force intervention is longer than or equal to a second preset duration (such as 3 s), the driving part of the intelligent door is controlled to drive the intelligent door to close so that the intelligent door is closed and locked.

Therefore, in this optional embodiment, if the force opposite to the door opening is detected in the door opening process, the intelligent door is automatically controlled to be closed, or if the force opposite to the door closing is detected in the door closing process, the corresponding door closing or door opening operation is automatically executed according to different interrupt conditions of the intelligent door closing, so that the control accuracy of the door opening and closing of the intelligent door can be improved, and meanwhile, the control flexibility and accuracy of the door opening and closing of the intelligent door can be realized even when the data acquired by the data acquisition device of the intelligent door in a short time are changed in various ways.

when the type is used for indicating that the external force applied by the intelligent door is applied by the immovable object and the control direction is the door opening control direction of the intelligent door, judging whether the intelligent door is applied by the movable object in a fourth preset time period, wherein the starting time of the fourth preset time period is the time when the intelligent door collides with the immovable object; when the result is judged to be negative, the driving part of the intelligent door is controlled to drive the intelligent door to be closed, and the external force comprises the force in the same direction as the control direction or the reverse force;

when the type is used for indicating that the external force applied by the intelligent door is applied by an immovable object and the control direction is the door closing control direction of the intelligent door, judging whether a lock part (such as a lock tongue, a buckle and the like) of the intelligent door pops up or not; when the judgment result is yes, controlling the lock component of the intelligent door to retract, and controlling the driving component of the intelligent door to drive the intelligent door to close so as to enable the intelligent door to close and lock; and when the judging result is negative, monitoring the stopping moment of external force intervention, and controlling the driving part of the intelligent door to drive the intelligent door to close when the stopping moment of external force intervention is longer than or equal to the fifth preset time length, so that the intelligent door is closed and locked.

It can be seen that, in this alternative embodiment, when it is detected that the object is not movable to apply a force to the smart door when the door is opened and an external force (including a force in the same direction or in the opposite direction) is also applied to the movable object (such as a person) in a short time, the smart door is automatically controlled to close, or when it is detected that the non-movable object applies a force to the smart door when the door is closed, the smart door is automatically controlled to close and lock according to the pop-up condition of the lock component of the smart door, so that the door opening and closing control accuracy of the smart door can be further improved.

after the intelligent door is opened, detecting whether a door lock of the intelligent door is triggered, judging whether the intelligent door is subjected to the same-direction external force as the door closing in a sixth preset time period (such as 6 s) when the intelligent door is not triggered, controlling the intelligent door to output an unlocking alarm prompt when the intelligent door is judged to be triggered, and controlling a driving part of the intelligent door to stand by for the same-direction external force as the door closing in a seventh preset time period (such as 3 s) when the intelligent door is triggered, if the intelligent door is detected to be subjected to the same-direction force as the door opening, continuing to monitor the driving part for the same-direction external force, or starting to apply the same-direction external force as the door closing in an eighth preset time period (such as 3 s) after the driving part stands by for the seventh preset time period, and controlling the driving part of the intelligent door to drive the intelligent door to close; and when the fact that the external force is applied to the door in the same direction as the closing of the door in the sixth preset time period (for example, 6 s) is judged, monitoring the cut-off time of the ninth preset time period (for example, 3 s) after the external force intervention is stopped, and controlling the driving part of the intelligent door to drive the intelligent door to be closed.

Therefore, after the intelligent door is opened, the optional embodiment continues to monitor the condition that the intelligent door receives external force, thereby controlling the intelligent door to be closed and locked, and reducing the condition that children and pets run out to cause loss and personal safety events.

Example two

Referring to fig. 2, fig. 2 is a flow chart of another method for automatically controlling an intelligent door according to an embodiment of the invention. The method described in fig. 2 may be applied to an automatic control device of an intelligent door, where the automatic control device of the intelligent door may include one of an intelligent door, a control server (including a local server or a cloud server) capable of controlling the intelligent door, a control device, a control system, and a control platform. As shown in fig. 2, the automatic control method of the smart door may include the following operations:

201. in the process of controlling the opening and closing of the intelligent door, data in a preset anti-collision clamp area range matched with the control direction of the intelligent door is collected based on a data collector corresponding to the intelligent door, and the control direction of the intelligent door comprises a door opening direction or a door closing direction.

202. And judging whether a target object exists in the range of the preset anti-collision clamping area according to the acquired data corresponding to the intelligent door, wherein the type of the target object comprises a movable object type and/or an immovable object type, when the target object is judged to exist, triggering and executing step 203, and when the target object is judged not to exist, triggering and executing step 205.

203. And determining parameters of the target object according to the acquired data corresponding to the intelligent door, wherein the parameters of the target object comprise the real-time position of the target object.

204. And executing control operation on the intelligent door according to the parameters of the target object.

205. The driving part of the control intelligent door drives the intelligent door to enable the intelligent door to move towards the control direction.

In an embodiment of the present invention, a driving part for controlling an intelligent door drives the intelligent door to move in a control direction, including:

when the control direction is the door opening control direction of the intelligent door, the driving part of the intelligent door is controlled to drive the intelligent door to open outwards by a first preset angle;

when the control direction is the door opening control direction of the intelligent door, the driving part of the intelligent door is controlled to drive the intelligent door to close so that the intelligent door is closed and locked.

It should be noted that, for other related descriptions of step 201 to step 204, please refer to the detailed descriptions of step 101 to step 104 in the first embodiment, and the description of the embodiment of the present invention is omitted.

As can be seen, implementing the method for automatically controlling the intelligent door described in fig. 2 can collect data, such as height data, image data, etc., in a preset anti-collision region range matching with a control direction, such as a door opening direction or a door closing direction, of the intelligent door based on a data collector corresponding to the intelligent door, such as a sensor, a camera, etc., on a door frame of the intelligent door, on a top of a door leaf, etc., in a process of controlling opening or closing of the intelligent door; if the target object exists in the range of the preset anti-collision clamp area according to the acquired data corresponding to the intelligent door, judging that the target object exists in the range of the preset anti-collision clamp area, such as personnel, pets, chairs and the like; when judging that the intelligent door exists, automatically determining parameters such as the real-time position of a target object according to the acquired data corresponding to the intelligent door, controlling the intelligent door to stop closing or stop opening or slow down the door opening and closing movement speed according to the parameters such as the real-time position of the target object, further outputting prompts of the intelligent door possibly hitting personnel, pets, chairs and the like to personnel, reducing occurrence of hitting personnel and clamping personnel in the door opening and closing process, even reducing occurrence of hitting hard objects by hitting the intelligent door, and prolonging the service life of the intelligent door. In addition, when detecting the interior object of not detecting of preset anticollision clamp region, then automatic control intelligent door switch to corresponding angle or close the door and lock, when reducing the emergence condition of bumping, pressing from both sides the people, improve intelligent door's control accuracy, provide convenience and improve indoor security for the user.

In an alternative embodiment, the method may further comprise the operations of:

judging whether a lock component of the intelligent door is triggered, and judging whether a movable object exists in a first preset range of the intelligent door when the lock component of the intelligent door is triggered; when judging that a movable object exists, judging whether the intelligent door is triggered to open from the outside of the door, and when judging that the intelligent door is opened, determining the control direction as the opening control direction of the intelligent door; when the intelligent door is judged to be not triggered, judging whether the intelligent door is subjected to external force in the same direction as the opening of the door in a preset time period, and when the judgment result is negative, controlling a driving part of the intelligent door to drive the intelligent door to be closed; when judging that the door is subjected to the same directional force as the door opening, triggering and executing the operation of judging whether a movable object exists in the first preset range of the intelligent door;

and judging whether the intelligent door is in an opening state currently or not or whether a lock part of the intelligent door is not in a locking state, and determining the control direction as the door closing control direction of the intelligent door when the judging result is yes.

As can be seen, in this optional embodiment, when it is determined that the lock component is triggered, a movable object exists in a door front area, and the intelligent door is opened by the movable object from outside the door, it is determined that the door is currently required to be opened, and when it is determined that the door is currently in an opened state or the lock component is not in a locked state, it is determined that the door is required to be closed, so that accuracy in determining opening and closing of the door by the intelligent door can be achieved, and thus, accuracy and reliability in executing subsequent operations are improved; and when judging that the door lock of the intelligent door is triggered, the intelligent door can be automatically and flexibly selected to be opened or closed according to the force received by the intelligent door, so that the control accuracy of the intelligent door is further improved.

In this alternative embodiment, the method may further comprise the steps of:

when judging that the intelligent door is in an opening state or the locking part of the intelligent door is not in a locking state, acquiring data in a primary preset anti-collision clamping area range of the intelligent door based on a data acquisition unit, judging whether a target object exists in the primary preset anti-collision clamping area range or not according to the data, and executing the operation of determining that the control direction is the door closing control direction of the intelligent door when judging that the target object does not exist, wherein the primary preset anti-collision clamping area range is larger than the preset anti-collision clamping area range;

in this alternative embodiment, the method may further comprise the steps of:

when it is judged that a target object exists, continuously acquiring data in a primary preset anti-collision clamping area range of the intelligent door at a preset detection frequency based on a data acquisition device, and when it is judged that the target object exists (here, a user) but the target object does not apply force to the intelligent door according to the data, sending a door unclosed prompt to a user terminal of other users to prompt the other users that the intelligent door is unclosed and prompt to view videos (the videos can be acquired by a camera arranged on the intelligent door) of the intelligent door and the surrounding, and receiving control parameters of the other users through remote door closing, and controlling the intelligent door to close according to the control parameters;

If it is judged that a target object (here, a user) exists according to the data and the target object applies a force in the same direction as the intelligent door is closed, after the force is detected to stop being applied, a driving part of the intelligent door is controlled to control the intelligent door to be closed; if it is determined that a target object (here, a user) exists according to the data and the target object applies a force opposite to the door closing of the intelligent door, after the application of the force is detected to stop and the application of the force is stopped for a preset time (for example, 3 s), the driving part of the intelligent door is controlled to control the door to close, or the driving part of the intelligent door is directly controlled to control the door to open.

Therefore, in the optional embodiment, when the intelligent door is judged to be in a door opening state or not locked, the intelligent door is controlled to be closed when the primary preset anti-collision clamping area is judged to be free of users and objects, so that the door closing control accuracy of the intelligent door can be improved, and the situations of collision clamping of people and objects can be further reduced; and when the user exists in the primary preset anti-collision clamp area range, continuously monitoring that the user exists but the user does not apply force, and remotely prompting other users to close the door, or when the user applies force in the same direction as the closing force, after the application of force is detected to stop, the door is also closed, or force opposite to the closing force is applied, and when the application of force is stopped, the door is controlled to be closed within a period of time or the door is controlled to be opened according to actual cleaning, so that the control flexibility and accuracy of the intelligent door are improved.

In another alternative embodiment, the method may further comprise the operations of:

when the intelligent door is judged to be triggered to open from the outside of the door, a driving part of the intelligent door is controlled to drive the intelligent door to open outwards by a second preset angle, and an output device of the intelligent door is controlled to output first preset content, wherein the first preset content is used for indicating the intelligent door to automatically open or prompting a movable object to control the opening (such as pulling a handle to open the door, pushing the door to open the door and the like);

when judging that the intelligent door is not triggered to open the door from the outside of the door, controlling an output device of the intelligent door to output second preset content, wherein the second preset content is used for indicating that the intelligent door is blocked and needs a movable object to control to open the door, detecting whether the movable object exists in a second preset area range in front of the door of the intelligent door with preset detection frequency, and when the detection result is negative, controlling a driving part of the intelligent door to drive the intelligent door to open a third preset angle outwards, wherein the third preset angle is larger than the second preset angle.

In this alternative embodiment, the second preset angle may be fixed, such as: 1 degrees, can be dynamic and is not limited.

Therefore, when the intelligent door is opened from the outside, the optional embodiment automatically controls the intelligent door to be opened at a certain angle, and prompts the user to manually open the door so that the user can automatically open the door or prompts the user to automatically open the door, so that the opening flexibility of the intelligent door can be improved, the possibility of the user being bumped by the door can be reduced by outputting prompts to the user, and the safety of the user can be ensured.

Example III

Referring to fig. 3, fig. 3 is a schematic structural diagram of an automatic control device for an intelligent door according to an embodiment of the invention. The apparatus described in fig. 3 may include one of a smart door, a control server (including a local server or a cloud server) capable of controlling the smart door, a control device, a control system, and a control platform, and as shown in fig. 3, the apparatus includes:

the acquisition module 301 is configured to acquire data in a range of a preset anti-collision clamp area that is matched with a control direction of the intelligent door based on a data acquisition device corresponding to the intelligent door in a process of controlling opening and closing of the intelligent door, where the control direction of the intelligent door includes a door opening direction or a door closing direction;

the judging module 302 is configured to judge whether a target object exists in a preset anti-collision clip area according to the collected data corresponding to the intelligent door, where the type of the target object includes a movable object type and/or an immovable object type;

a determining module 303, configured to determine, when it is determined that a target object exists, a parameter of the target object according to the collected data corresponding to the intelligent door, where the parameter of the target object includes a real-time position of the target object;

And the control module 304 is configured to perform a control operation on the intelligent door according to the parameter of the target object.

In the embodiment of the invention, when the data collector comprises a sensor, the installation position of the data collector comprises one or more of the overhead, the normal and the side positions of the intelligent door; the overhead of the intelligent door is used for indicating that the data collector is arranged on the top of a door leaf or a door frame of the intelligent door and the collection direction of the data collector faces to the ground; the side of the intelligent door is used for indicating that the data acquisition device is arranged on the side surface of a door leaf or the side surface of a door frame of the intelligent door hinge, and the acquisition direction of the data acquisition device is horizontal to the direction of the door handle; the front of the intelligent door is used for indicating that the data collector is arranged on the front of the intelligent door leaf and irradiates outwards, and the collection range of the data collector is in a sector shape; when the data collector comprises a camera, the data collector is arranged in the middle area of the intelligent door leaf, and obliquely irradiates downwards for detecting when the intelligent door moves outwards, or is arranged in the middle area of the intelligent door frame, and positively irradiates downwards for detecting when the intelligent door moves inwards.

As can be seen, implementing the automatic control device for an intelligent door described in fig. 3 can collect data, such as height data, image data, etc., in a preset anti-collision region range matching with a control direction, such as a door opening direction or a door closing direction, of the intelligent door based on a data collector corresponding to the intelligent door, such as a sensor on a door frame of the intelligent door, a sensor on a top of a door leaf, a camera, etc., in a process of controlling opening or closing of the intelligent door; if the target object exists in the range of the preset anti-collision clamp area according to the acquired data corresponding to the intelligent door, judging that the target object exists in the range of the preset anti-collision clamp area, such as personnel, pets, chairs and the like; when judging that the intelligent door exists, automatically determining parameters such as the real-time position of a target object according to the acquired data corresponding to the intelligent door, controlling the intelligent door to stop closing or stop opening or slow down the door opening and closing movement speed according to the parameters such as the real-time position of the target object, further outputting prompts of the intelligent door possibly hitting personnel, pets, chairs and the like to personnel, reducing occurrence of hitting personnel and clamping personnel in the door opening and closing process, even reducing occurrence of hitting hard objects by hitting the intelligent door, and prolonging the service life of the intelligent door.

In an alternative embodiment, the specific manner in which the control module 304 performs the control operation on the smart door according to the parameters of the target object includes:

It can be seen that, implementing the automatic control device of intelligent door that fig. 3 describes can also be when detecting that the anticollision of intelligent door is pressed from both sides regional scope and is present the object and detect the control drive part standby work according to the various parameter of object, automatic control drive part is in standby state to based on the parameter control intelligent door motion of object and the collision clamp suggestion that the output corresponds, can reduce the emergence condition that hits the object when controlling intelligent door motion, further guarantee the safety of object.

In another alternative embodiment, as shown in fig. 4, the determining module 302 is further configured to determine whether the smart door is subjected to an external force during the process of controlling the output device of the smart door to output the collision clip prompt by the control module 304;

the determining module 303 is further configured to determine, according to the collected data corresponding to the intelligent door, a type of external force applied to the intelligent door when the judging result of the judging module 302 is yes;

the determining module 303 is further configured to determine a direction of the external force applied to the smart door when the type is used to indicate that the external force applied to the smart door is applied by the movable object;

and, as shown in fig. 4, the apparatus may further include:

the monitoring module 305 is configured to monitor an external force intervention condition when the direction is used to indicate that the intelligent door is subject to an external force in the same direction as the control direction of the intelligent door;

the control module 304 is further configured to control, according to an external force intervention condition, a driving component of the intelligent door to drive the intelligent door to perform an operation matched with the control direction;

the specific manner in which the control module 304 controls the driving component of the intelligent door to drive the intelligent door to perform the operation matched with the control direction according to the external force intervention condition includes:

It can be seen that, implementing the automatic control device of the intelligent door described in fig. 4 can automatically close and lock when detecting that the door is stopped for several seconds or is closed by the door opening direction force if detecting that the door is applied with the door opening direction force in the process of outputting the collision clip prompt; or in the process of closing the door, people apply the force in the same direction as the closing of the door, and after the application is stopped, the door is automatically closed and locked, so that the control accuracy of the intelligent door is improved while the occurrence condition of the intelligent door collision and clamping object is reduced.

In yet another alternative embodiment, as shown in fig. 4, the control module 304 is further configured to control the driving component of the smart door to drive the smart door to close when the direction is used to indicate that the smart door is subject to an external force opposite to the control direction of the smart door and the control direction is the door opening control direction of the smart door;

the control module 304 is further configured to monitor a stopping time of the external force intervention and control the driving component of the intelligent door to drive the intelligent door to close when the stopping time of the external force intervention is greater than or equal to a second preset time (e.g. 3 s) when the direction is used for indicating that the intelligent door receives an external force which is opposite to the control direction of the intelligent door and the control direction is a closing control direction of the intelligent door, so that the intelligent door is closed and locked.

It can be seen that, implementing the automatic control device of intelligent door described in fig. 4 can also automatically control the intelligent door to close if detecting the force reverse to the opening door in the process of opening the door, or automatically execute the corresponding door closing or door opening operation according to different interrupt conditions of the intelligent door closing if detecting the force reverse to the closing door in the process of closing the door, so that the control accuracy of opening and closing the door of the intelligent door can be improved, and the flexibility and accuracy of opening and closing the door of the intelligent door can be realized even when the data acquired by the data acquisition device of the intelligent door in a short time are changed in various ways.

In yet another alternative embodiment, as shown in fig. 4, the determining module 302 is further configured to determine, when the type of external force applied by the smart door is an external force applied by the immovable object and the control direction is a door opening control direction of the smart door, whether the smart door is subjected to the external force applied by the movable object within a fourth preset time period, where a starting time of the fourth preset time period is a time when the smart door collides with the immovable object;

the control module 304 is further configured to control the driving component of the smart door to drive the smart door to close when the judging module 302 judges that the result is negative, where the external force includes a force identical to the control direction or a reverse force;

The judging module 302 is further configured to judge whether a lock component (such as a lock tongue, a buckle, etc.) of the intelligent door pops up when the type of the lock component is used for indicating that the external force applied to the intelligent door is an immovable object and the control direction is the door closing control direction of the intelligent door;

the control module 304 is further configured to control the lock component of the intelligent door to retract when the determination result of the determination module 302 is yes, and control the driving component of the intelligent door to drive the intelligent door to close, so that the intelligent door closes and locks;

the control module 304 is further configured to monitor a stopping time of the external force intervention and control the driving component of the intelligent door to drive the intelligent door to close when the stopping time of the external force intervention is greater than or equal to a fifth preset time length when the judging module 302 judges that the judging result is negative, so that the intelligent door is closed and locked.

It can be seen that the automatic control device for implementing the intelligent door described in fig. 4 can also automatically control the intelligent door to close when detecting that the movable object (such as a person) applies a force to the intelligent door in a short time when the door is opened, and also applies an external force (including a force in the same direction or in the opposite direction), or automatically control the intelligent door to close and lock according to the ejection condition of the lock component of the intelligent door when detecting that the movable object applies a force to the intelligent door when the door is closed, so that the door opening and closing control accuracy of the intelligent door can be further improved.

In yet another alternative embodiment, as shown in fig. 4, the control module 304 is further configured to, when it is determined that the target object is not present, control the driving component of the smart door to drive the smart door so as to move the smart door in the control direction:

the specific manner in which the control module 304 controls the driving component of the smart door to drive the smart door so that the smart door moves towards the control direction includes:

Therefore, when the object is not detected in the preset anti-collision clamp area, the automatic control device for the intelligent door described in fig. 4 can automatically control the intelligent door to be opened or closed to a corresponding angle or to be locked, so that the occurrence of collision and clamping is reduced, the control accuracy of the intelligent door is improved, and convenience is provided for users and the indoor safety is improved.

In yet another alternative embodiment, as shown in fig. 4, the determining module 302 is further configured to determine whether the lock component of the smart door is activated;

The judging module 302 is further configured to judge whether a movable object exists in a first preset range of the intelligent door when the triggering is judged;

the judging module 302 is further configured to judge whether the intelligent door is triggered to open from outside the door when it is judged that the movable object exists;

the determining module 303 is further configured to determine that the control direction is a door opening control direction of the intelligent door when the determination result is yes;

the judging module 302 is further configured to judge whether the intelligent door is currently in an open state or a lock component of the intelligent door is not in a locked state;

the determining module 303 is further configured to determine that the control direction is a door closing control direction of the intelligent door when the determination result is yes.

Therefore, the automatic control device for implementing the intelligent door described in fig. 4 can also determine that the door needs to be opened currently and determine that the door is in an open state currently or the lock component is not in a locked state when determining that the lock component is triggered, a movable object exists in a door front area and the intelligent door is opened by the movable object from outside the door, so that the accuracy of determining that the intelligent door is opened and closed can be realized, and the execution accuracy and reliability of subsequent operations can be improved.

In yet another alternative embodiment, as shown in fig. 4, the control module 304 is further configured to, when it is determined that the smart door is triggered to open from outside the door, control the driving component of the smart door to drive the smart door to open outwards by a second preset angle, and control the output device of the smart door to output a first preset content, where the first preset content is used to indicate that the smart door automatically opens the door or indicate that the movable object controls to open the door (such as pulling the handle to open the door, pushing the door to open the door, etc.);

the control module 304 is further configured to control the output device of the smart door to output a second preset content when it is determined that the smart door is not triggered to open from outside the door, where the second preset content is used to indicate that the smart door is blocked and a movable object is required to control the smart door to open;

and, as shown in fig. 4, the apparatus may further include:

the detection module 306 is configured to detect whether a movable object exists in a second preset area range in front of the door of the intelligent door at a preset detection frequency;

the control module 304 is further configured to, when the detection result of the detection module 306 is no, control the driving component of the intelligent door to drive the intelligent door to open outwards by a third preset angle, where the third preset angle is greater than the second preset angle.

It can be seen that, implementing the automatic control device of intelligent door described in fig. 4 can also be when judging to open the door from the outside, after automatic control intelligent door opens certain angle, first to the user suggestion manual open the door so that the user opens the door automatically, perhaps the suggestion user opens the door automatically, can improve intelligent door's opening flexibility, and through to the user output suggestion, reduce the possibility that the user is bumped by the door, guarantee user's safety.

Example IV

Referring to fig. 5, fig. 5 is a schematic structural diagram of an automatic control device for an intelligent door according to another embodiment of the present invention. The apparatus described in fig. 5 may include one of a smart door, a control server (including a local server or a cloud server) capable of controlling the smart door, a control device, a control system, and a control platform. As shown in fig. 5, the apparatus may include:

a memory 401 storing executable program codes;

a processor 402 coupled with the memory 401;

further, an input interface 403 and an output interface 404 coupled to the processor 402 may also be included;

the processor 402 invokes executable program codes stored in the memory 401 to execute steps in the method for automatically controlling the intelligent door disclosed in the first or second embodiment of the present invention.

Example five

The embodiment of the invention discloses a computer storage medium which stores computer instructions for executing the steps in the automatic control method of the intelligent door disclosed in the first or second embodiment of the invention when the computer instructions are called.

The apparatus embodiments described above are merely illustrative, wherein the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above detailed description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course by means of hardware. Based on such understanding, the foregoing technical solutions may be embodied essentially or in part in the form of a software product that may be stored in a computer-readable storage medium including Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disc Memory, magnetic disc Memory, tape Memory, or any other medium that can be used for computer-readable carrying or storing data.

Finally, it should be noted that: the embodiment of the invention discloses an automatic control method and device for an intelligent door, which are disclosed as preferred embodiments of the invention, and are only used for illustrating the technical scheme of the invention, but not limiting the technical scheme; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme recorded in the various embodiments can be modified or part of technical features in the technical scheme can be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims

1. An automatic control method of an intelligent door, which is characterized by comprising the following steps:

2. The method for automatically controlling a smart door according to claim 1, wherein the performing a control operation on the smart door according to the parameter of the target object comprises:

3. The automatic control method of an intelligent door according to claim 2, further comprising:

4. The automatic control method of an intelligent door according to claim 3, further comprising:

5. The automatic control method of an intelligent door according to claim 3 or 4, further comprising:

when the type is used for indicating that the external force applied by the intelligent door is applied by an immovable object and the control direction is the door opening control direction of the intelligent door, judging whether the intelligent door is applied by the movable object in a fourth preset time period, wherein the starting time of the fourth preset time period is the time when the intelligent door collides with the immovable object; when the result is judged to be negative, controlling a driving part of the intelligent door to drive the intelligent door to close, wherein the external force comprises the same force or reverse force with the control direction;

6. The automatic control method of a smart door according to any one of claims 1 to 4, further comprising:

7. The automatic control method of a smart door according to any one of claims 1 to 4, further comprising:

8. The automatic control method of an intelligent door according to claim 7, further comprising:

9. The method of claim 7, wherein when the data collector includes a sensor, the installation location of the data collector includes one or more of a top, and a side of the smart door;

10. An automatic control device for an intelligent door, the device comprising: