CN114525969A

CN114525969A - Intelligent door lock closing detection method

Info

Publication number: CN114525969A
Application number: CN202210149283.0A
Authority: CN
Inventors: 徐学志
Original assignee: Shenzhen Zhiyouzhe Technology Co ltd
Current assignee: Shenzhen Zhiyouzhe Technology Co ltd
Priority date: 2022-02-18
Filing date: 2022-02-18
Publication date: 2022-05-24

Abstract

The invention relates to a method for detecting the closing of an intelligent door lock, which monitors the starting time of the closing action of the intelligent door lock after the intelligent door lock is unlocked by acquiring the unlocking state of the intelligent door lock in real time; if the starting time is less than a first preset threshold value, monitoring whether the door is closed in place or not based on a gyroscope sensor; and if the starting time is greater than a second preset threshold value, monitoring whether the door is closed in place or not based on the geomagnetic sensor. The door closing device has the advantages that the door closing reliability is higher and the cost is lower under the condition that the door frame is not required to be modified.

Description

Intelligent door lock closing detection method

Technical Field

The invention belongs to the technical field of intelligent home furnishing, and particularly relates to a door closing detection method for an intelligent door lock.

Background

Along with the popularization of intelligent home, the intelligent door lock is more and more popular with consumers due to the fact that the intelligent door lock is very convenient to use. The intelligent door locks in the current market are divided into two categories, namely semi-automatic door locks and full-automatic door locks. Semi-automatic door locks generally have a lock handle for locking by a user. The full-automatic door lock generally has no lock handle, and can automatically detect whether the door is closed in place, so as to automatically lock a safety lock cylinder (square bolt).

The automatic scheme that falls to lock of full-automatic door lock on the existing market mainly includes:

automatic lock body: and judging whether the door is closed or not by utilizing the physical contact, and then popping up the lock cylinder of the safety lock to lock the door. This scheme needs will report the useless with original lock body and fall, changes into automatic lock body in addition, in case mechanical failure appears, and the lock can't be opened, can only demolish by force and cause the cost very high.

Infrared sensing: the infrared sensor is easy to be influenced by light and has low reliability.

A Hall switch: at present, door lock switches of a plurality of office glass doors are common, and the door lock switches are installed on two sides of a door and a door frame. It is also necessary to modify the door frame. And is also susceptible to door deformation with low reliability.

Therefore, how to provide a detection method with lower cost and higher reliability has become a technical problem to be solved urgently by those skilled in the art.

Disclosure of Invention

In order to solve the problems of high cost and low reliability in the prior art, the invention provides an intelligent door lock closing detection method which has the characteristics of low cost, higher reliability and the like.

According to the embodiment of the invention, the intelligent door lock closing detection method comprises the following steps:

acquiring the unlocking state of the intelligent door lock in real time, and monitoring the starting time of door closing action after the intelligent door lock is unlocked;

if the starting time is less than a first preset threshold value, monitoring whether the door is closed in place based on a gyroscope sensor;

and if the starting time is greater than a second preset threshold value, monitoring whether the door is closed in place or not based on a geomagnetic sensor.

Further, the intelligent door lock closing detection method further comprises the following steps:

and respectively calibrating the gyroscope sensor and the geomagnetic sensor when the intelligent door lock is unlocked.

abnormal door closing is monitored based on an accelerometer in the gyroscope sensor so as to avoid the influence of abnormal door closing.

Further, it is right respectively when intelligent lock unblock gyroscope sensor with geomagnetic sensor calibrates and includes:

obtaining coordinate values of N points in a door closing state, calculating an average value of each axis, and taking the average value as a magnetic field value of the geomagnetic sensor in the door closing state, wherein N is an integer greater than or equal to 2;

and acquiring the average value of three axes of N points in a gyroscope and an accelerometer in the gyroscope sensor in the static state of the door, and respectively taking the corresponding average value as the compensation value of the gyroscope and the accelerometer in the static state, wherein N is an integer greater than or equal to 2.

Further, the monitoring whether the door is closed in place based on the geomagnetic sensor comprises:

and taking the magnetic field value of the geomagnetic sensor in the door-closed state as a calibration value, and comparing the magnetic field value acquired in real time by taking the calibration value as a standard to determine whether the door is closed in place.

Further, the monitoring whether the door is closed in place based on the gyroscope sensor comprises:

and calculating the rotating angle of the door based on the compensation value of the gyroscope in the gyroscope sensor, and judging the door closing position according to the obtained angle.

Further, the monitoring whether the door is closed in place based on the gyroscope sensor further includes:

and correcting the detection result of the gyroscope based on the re-calibration value and the vibration magnitude monitored by the accelerometer so as to avoid the influence of temperature drift and time drift.

Further, the intelligent door lock closing detection method further includes: and filtering the data output by the geomagnetic sensor and the gyroscope sensor based on a preset filtering algorithm so as to eliminate noise.

Further, the intelligent door lock closing detection method further includes:

and processing abnormal conditions including back-and-forth shaking, slow door closing and fast door closing based on the setting of the range of the gyroscope.

Further, the intelligent door lock closing detection method further includes:

and closing the gyroscope sensor when the starting time is greater than a third preset threshold value, and monitoring door closing by adopting the geomagnetic sensor.

The invention has the beneficial effects that: the unlocking state of the intelligent door lock is obtained in real time, and the starting time of the door closing action is monitored after the intelligent door lock is unlocked; if the starting time is less than a first preset threshold value, monitoring whether the door is closed in place based on a gyroscope sensor; and if the starting time is greater than a second preset threshold value, monitoring whether the door is closed in place or not based on the geomagnetic sensor. The door closing device has the advantages that the door closing reliability is higher and the cost is lower under the condition that the door frame is not required to be modified.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a flowchart of an intelligent door lock closing detection method provided according to an exemplary embodiment;

fig. 2 is another flowchart of an intelligent door lock closing detection method according to an exemplary embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.

Referring to fig. 1, an embodiment of the present invention provides an intelligent door lock closing detection method, including:

101. acquiring the unlocking state of the intelligent door lock in real time, and monitoring the starting time of door closing action after the intelligent door lock is unlocked;

102. if the starting time is less than a first preset threshold value, monitoring whether the door is closed in place or not based on a gyroscope sensor;

103. and if the starting time is greater than a second preset threshold value, monitoring whether the door is closed in place or not based on the geomagnetic sensor.

Specifically, when the user closes the door in a short time, the gyroscope can be used for calculation, and the precision of the gyroscope in a short time can be greater than 0.01 degrees, so that effective precision can be guaranteed. When the user opens the door for a long time, the door is closed, the gyroscope can be closed, and low power consumption is guaranteed. Then, the geomagnetic value is read in a polling mode, and whether the door is closed or not is monitored. The precision of the geomagnetism can be within 1 degree. Such combination and logic can perfectly solve the door closing monitoring function. When guaranteeing to close the door and detect the reliability, avoid the trouble of reforming transform, saving cost more.

In another specific embodiment of the invention, the gyroscope sensor and the geomagnetic sensor are respectively calibrated when the intelligent door lock is unlocked.

Because the most basic function of the current intelligent door lock is fingerprint unlocking, the time for fingerprint unlocking which is mainstream in the market at present is generally between 500ms and 1 s. The nine-axis sensor can be calibrated by using the time of unlocking by opening the door, so that no additional operation is added in the customer experience, and the non-inductive calibration is achieved.

The calibration operation is generally performed on the sensor in response to the fingerprint unlocking or password unlocking. The magnetic sensor calibration method is to take coordinate values of N points (x, y, z axes) at rest in a closed door state and then calculate the average value of each axis. The average value is the magnetic field value in the current door closing state. The gyroscope calibration method comprises the steps of taking coordinate values of N points (x, y and z axes of the gyroscope and x, y and z axes of the accelerometer) of the gyroscope at rest, and then calculating the average value of each axis. The average value of three axes of the gyroscope is the compensation value of the gyroscope in a static rotation state. The average value of three axes of the accelerometer is the compensation value of the acceleration in the static state. Wherein N is an integer greater than or equal to 2.

In some embodiments of the present invention, the detecting of the door closing through the geomagnetic sensor specifically includes:

and taking the average value of the three acquired axes of the geomagnetism in the door-closed state as the magnetic field calibration value in the current door-closed state. When opening the door, the value of two of three axle values can be because axial rotation, and the magnetic field value changes: for example, the Z-axis is perpendicular to the door, the X-axis is along the width of the door, and the Y-axis is along the length of the door. The values of the magnetic fields in the X-axis and Z-axis will change when the door is opened. The magnetic door closing detection calculation is that when the door returns to the magnetic field calibration value, the door is closed.

The detection of the closing of the gyroscope may be determined by a gyroscope closing angle calculation:

the obtained original values (X, Y, Z for each of the three axes) are subtracted by the offset (Xoffset, Yoffset, zaffset) calculated in step 1, and the calculated results are Xgy, Ygy, Zgy, respectively. The units are all LSB

Xgy(LSB)＝X(LSB)-Xoffset(LSB)

Ygy(LSB)＝Y(LSB)-Yoffset(LSB)

Zgy(LSB)＝Z(LSB)-Zoffset(LSB)

The obtained Xgy, Ygy, and Zgy were converted to units (°/S) and recorded as Xg, Yg, and Zg, respectively.

The gyroscope can set the measuring range, and different measuring ranges correspond to different sensitivities. If the range is set to 2000dps, the sensitivity is 16.384(LSB/°/S)

Xg(°/S)＝Xgy(LSB)/16.384(LSB/°/S)

Yg(°/S)＝Ygy(LSB)/16.384(LSB/°/S)

Zg(°/S)＝Zgy(LSB)/16.384(LSB/°/S)

Calculating an angle: the calibration process is completed each time the fingerprint is unlocked, and then the entry angle is calculated and recorded as Xp, Yr, Zy. Because the PCB board on which the gyroscope is located is generally fixed parallel to the door, the gyroscope rotates around the X axis or the Y axis when the door is opened. Then rotation about a certain axis only requires calculation of the angle of the certain axis. In the calculation process, the timestamp calculated each time (i.e. the time difference between the last calculation and the calculation, which is denoted as t) needs to be accurate, and the calculation is performed immediately after data is acquired each time.

Xp＝Xg(°/S)*t(S)

Yr＝Yg(°/S)*t(S)

Zy＝Zg(°/S)*t(S)

The above is the angle calculated at a single time stamp interval. The angular calculation over time is the result of an integration operation on a single angular velocity and time stamp.

Because the gyroscope is influenced by time drift, temperature drift and vibration, the gyroscope is easy to continuously drift. Where some other algorithm may be done to solve the drift problem. The method of recalculating the compensation value in the static state and the magnitude of the vibration monitored by the accelerometer can be adopted to correct the detection result of the gyroscope so as to avoid the influence of temperature drift and time drift.

Wherein, under the condition of closing the door for a short time, the gyroscope can generate time drift and temperature drift. The output thresholds of the three axes in the static state of the gyroscope and the output thresholds of the three axes in the static state of the accelerometer can be set, and whether the current door is in the static state or not can be judged by using the angular velocity and the acceleration threshold in the static state. If the state is static, the above calibration calculation is re-entered to re-obtain the compensation value. Therefore, the problems of time drift and temperature drift can be completely and effectively solved.

Whether the collision or the knocking generates vibration, the principle can be judged and detected by thresholds of an accelerometer and a gyroscope, and the output of the Z axis of the accelerometer and the output of the 3 axis of the gyroscope can be used for judging when the collision or the knocking occurs, provided that a PCB (printed circuit board) on which the gyroscope is arranged is fixed in parallel with a door.

The acceleration of gravity of the accelerometer in a state that the Z axis is vertical to the door is 0g, the absolute value of the acceleration is necessarily larger than 0g when the accelerometer is knocked and collided, and the waveform is necessarily instantly maximum. The gyroscope triaxial data is subject to vibration, and therefore, a burr waveform (extremely high instantaneous angular velocity) is inevitably generated. The data threshold size of knocking and impacting doors can be set according to different material doors and different lock body installation to distinguish. And data of geomagnetism is not changed at the time of the tap and the impact. The opening angle of the gyroscope is not calculated at this time. Thereby avoiding misjudgment of door closing caused by vibration and other conditions.

In addition, noise is generated in the magnetic field data of the magnetic chip and the gyroscope data of the gyroscope chip in the static state. According to the application of the door lock, corresponding algorithms can be adopted to respectively process the magnetic field data and the gyroscope data in the static state. For example:

assuming that the current output 3-axis data of the geomagnetic chip are Xmag, Ymag and Zmag; the previously output 3-axis data are Xpre, Ypre, Zpre. The 3-axis data Xm, Ym, Zm currently used for the calculation are then:

Xm＝Xpre*0.8+Xmag*0.2

Ym＝Ypre*0.8+Ymag*0.2

Zm＝Zpre*0.8+Zmag*0.2

the Xm, Ym, and Zm calculated this time are substituted into the calculation as Xpre, Ypre, and Zpre in the next operation.

Xpre＝Xm

Ypre＝Ym

Zpre＝Zm

The principle is that, every time 80% of the previous data is used as a reference value and 20% of the next data is used as a change value, the noise floor in a static state is reduced, the data is smoother, and the data hysteresis is small.

In a specific embodiment, the calibration of the gyroscope in the static state specifically includes:

because the gyroscope chip is composed of two parts of MEMS and ASIC, noise bottoms exist inevitably no matter because of a micro-mechanical structure or because of an analog circuit and a digital circuit, and the noise bottoms of different chips have different ranges. The noise floor value can be recorded as SN, and the following filtering algorithm can be used to ensure the calculation result when the gyroscope is still in the static state. The following calculation method is exemplified with the X-axis of the gyroscope:

if((Xg<SN)&&(Xg>-SN)

{

Xg＝Xg*(0.1*staticnaber)；

if(staticnaber>0)staticnaber--；

}

else

{

Staticnaber＝10；

}

the method removes noise floor errors through static detection and filtering operation in a static state.

Referring to fig. 2, in another embodiment of the present invention, the method specifically includes the following steps:

201. acquiring the unlocking state of the intelligent door lock in real time, and monitoring the starting time of door closing action after the intelligent door lock is unlocked;

202. if the starting time is less than a first preset threshold value, monitoring whether the door is closed in place or not based on a gyroscope sensor;

203. and if the starting time is greater than a second preset threshold value, monitoring whether the door is closed in place or not based on the geomagnetic sensor.

204. And when the starting time is greater than a third preset threshold value, closing the gyroscope sensor, and monitoring door closing by adopting a geomagnetic sensor.

Specifically, in a state where the door is not closed for a long time (for example, the door is not closed for more than 10 minutes), the gyroscope may be powered off, so that the following problems can be solved: 1. the gyroscope has high power consumption. 2. The problem of drift of the gyroscope for a long time. At this time, the magnetic sensor is used to determine whether the door is closed. Magnetic sensors have advantages including extremely low power consumption; according to the method for recording the current door-closing magnetic field value, the magnetic field value is not required to be continuously calculated, and only the magnetic field value data is required to be acquired through interval polling for comparison. And the state of not closing the door for a long time is very little in the whole door lock application, so the door closing can be judged by magnetism.

There is a process anomaly of closing the door: rocking back and forth, slow closing, quick closing, etc. For such a scene, only a proper range needs to be set for the gyroscope. The range of the gyroscope may be set by a register driven. At higher range, the angular rate resolution of the gyroscope cannot measure very low rotational speeds. When the range of the gyroscope is set to be 500 degrees/second, the resolution ratio is high, and the problem of abnormal door closing process can be solved. The specific resolution can be calculated as follows:

since the gyroscope ADC is a 16bit signed bit output, the range of ADC outputs is 32767(LSB) (plus or minus the 31 th power of 2). Then the accuracy per LSB can be calculated: 500/32767 ═ 0.0153 (degrees/second/LSB). A 500 (degree/second) range and a 0.0153 (degree/second/LSB) resolution are sufficient to account for anomalies in the closing of the door.

The intelligent door lock closing detection method provided by the embodiment of the invention is realized by adopting a six-axis gyroscope sensor (a three-axis gyroscope and a three-axis accelerometer) and a three-axis geomagnetic sensor, and has the advantages of low cost, no need of door frame modification, no need of lock cylinder replacement, high reliability and the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. An intelligent door lock closing detection method is characterized by comprising the following steps:

if the starting time is smaller than a first preset threshold value, monitoring whether the door is closed in place or not based on a gyroscope sensor;

2. The intelligent door lock closing detection method according to claim 1, further comprising:

3. The intelligent door lock closing detection method according to claim 1, further comprising:

4. The intelligent door lock closing detection method according to claim 2, wherein the calibrating the gyroscope sensor and the geomagnetic sensor respectively when the intelligent door lock is unlocked comprises:

obtaining coordinate values of N points in a door-closed state, calculating an average value of each axis, and taking the average value as a magnetic field value of the geomagnetic sensor in the door-closed state, wherein N is an integer greater than or equal to 2;

5. The intelligent door lock closing detection method according to claim 4, wherein the monitoring whether the door is closed in place based on the geomagnetic sensor comprises:

and taking the magnetic field value of the geomagnetic sensor in the door closing state as a calibration value, and comparing the magnetic field value acquired in real time by taking the calibration value as a standard to determine whether the door is closed in place.

6. The intelligent door lock closing detection method according to claim 4, wherein the monitoring whether the door is closed in place based on the gyroscope sensor comprises:

7. The intelligent door lock closing detection method according to claim 6, wherein the monitoring of whether the door is closed in place based on the gyroscope sensor further comprises:

8. The intelligent door lock closing detection method according to claim 7, further comprising: and filtering the data output by the geomagnetic sensor and the gyroscope sensor based on a preset filtering algorithm so as to eliminate noise.

9. The intelligent door lock closing detection method according to claim 8, further comprising:

10. The intelligent door lock closing detection method according to claim 9, further comprising:

and when the starting time is greater than a third preset threshold value, the gyroscope sensor is closed, and the geomagnetic sensor is adopted to monitor door closing.