CN101275452A - Fuzzification intelligent control apparatus of automatic smoothing door manipulator - Google Patents
Fuzzification intelligent control apparatus of automatic smoothing door manipulator Download PDFInfo
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- CN101275452A CN101275452A CNA2008100617044A CN200810061704A CN101275452A CN 101275452 A CN101275452 A CN 101275452A CN A2008100617044 A CNA2008100617044 A CN A2008100617044A CN 200810061704 A CN200810061704 A CN 200810061704A CN 101275452 A CN101275452 A CN 101275452A
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Abstract
The invention discloses a fuzzed intelligent control device of an automatic sliding door manipulator, comprising a pulley component hard linked to a door leaf and a motor, the pulley component includes an driving synchronous belt wheel and a driven synchronous belt wheel. A motor shaft drives the driving synchronous belt wheel through a at least 8 to 1 reducer and is connected with a coding disc having at least 16 holes, the coding disc is provided with an photoelectric detecting device which detects reading data after real detection, thus the belt stroke corresponding to each hole is detected; the photoelectric detecting device includes a coding disc sampling circuit and a coding disc processing circuit; the coding disc sampling circuit is connected with a CPU processor by a signal channel through the coding disc processing circuit; the CPU processor is connect with at least a motor current sampling circuit. According to the invention, with reliable running being ensured, the safety performance is greatly improved, thus finger nip accidents are completely avoided.
Description
Technical field
The present invention relates to the technical field of the accurate control of automatic smoothing door, particularly the obfuscation intelligence controlling device of automatic smoothing door operators.
Background technology
Though having, present most automatic smoothing gate control all realized intelligent control, but with regard to degree of intelligence, still be in the junior stage at present, though can realize the switch motion of automatic door, and can return automatically when in closing closed procedure, running into obstruction, but, accomplish real obfuscation Based Intelligent Control, also poor is distant.But along with automatic smoothing door popularity rate at home is more and more higher, the accident that automatic smoothing door generation folder people hurts sb.'s feelings is also more and more, in recent years we to market on numerous accidents add up, finding to hurt sb.'s feelings a level and smooth door folder people, to have an appointment in the incident about 28% be clip finger, though be can return operation when running into obstruction in the level and smooth Men Zaiguan closed procedure, for resemble the obstruction of width the finger be can't accomplish to detect and return operation.The automatic smoothing door that reason is existing market all can't solve one group of contradiction in hardware design and the software design---the contradiction between the security performance that the environmental change factor is asked automatic door security implication and user most, promptly to guarantee automatic door reliability service under changeableization environment, guarantee the many-sided security performance of automatic door simultaneously again.As the multiple automatic smoothing door operators of Korea S, Japan, its operation curve is to belong to step row curve.Because this kind operation curve adopts the open loop control principle; do not consider that generally Effect of Environmental is (as the influence of wind-force size opposite house operation; the influence of door body weight opposite house operation etc.), thus the operation of realization switch that can be reliable, but can not accomplish effective protection.If in the Men Zaiguan closed procedure finger is extend in the middle of the door leaf, just can not effectively judge is because the resistance that wind effect causes becomes big, still because stretching into, finger cause resistance to become big, if the wind-force reason causes resistance to become big, just should continue to close the door, if finger just stretches into and should door leaf be opened, guarantee that finger can not come to harm.And these automatic smoothing door operatorss just continue to close the door often, will certainly cause the generation of casualty accident like this.Multiple level and smooth door operators in Germany, Switzerland, Sweden is just just in time opposite, often relatively pay attention to security performance, but the Effect of Environmental of ignoring, often can see some automatic smoothing door phenomenon that door does not just close when running into strong wind on the market, some producer takes place for fear of such situation, though done a little compensation automatically, its corresponding folder power of closing increases simultaneously, if clip to finger then can cause some injuries.So level and smooth door in the market will be accomplished to fully take into account Effect of Environmental, considers the influence of safety factor again, particularly prevents to jam a finger, so level and smooth door operators does not still exist.
Summary of the invention
Technical problem to be solved by this invention is the present situation at prior art, and the obfuscation intelligence controlling device of a kind of simple operation, rational in infrastructure, safe and reliable automatic smoothing door operators is provided.
The present invention solves the problems of the technologies described above the technical scheme that is adopted: the obfuscation intelligence controlling device of automatic smoothing door operators, comprise the pulley assembly and the motor that are connected firmly on the door leaf, pulley assembly contains an active synchronization belt wheel and driven synchronous pulley, and wherein: motor shaft drives the active synchronization belt wheel through at least 8 to 1 reducer; And this motor shaft also is connected with the coding disk in one at least 16 hole, and the coding disk cooperation is provided with photoelectric detection system, and this photoelectric detection system detects the reading of coding disk through in real time, and detects the belt stroke of each hole correspondence of coding disk; Photoelectric detection system includes coding disk sample circuit and coding disk treatment circuit; The coding disk sample circuit is connected with the CPU processor through the encoded dish treatment circuit of signalling channel; The CPU processor is connected with the current of electric sample circuit at least.
The measure of taking also comprises:
Above-mentioned CPU processor also is connected with motor control signal circuit, mechanical lock control signal circuit, Cheng Xuan switching signal circuit, electronic eyes signal circuit, emergency opening signal circuit, fire alarm circuit, serial line interface, jtag interface, buzzer, LED light.
The first photoelectronic coupler G1 that is in the quadrature position and the second photoelectronic coupler G2 when above-mentioned coding disk and motor synchronous rotation in the cutting coding disk sample circuit, and the generation orthogonal signalling, and the Schmidt's shaping by the first chip U1, directly export in the BM-A port and BM-B port in the coding disk treatment circuit, signal through the second chip U3A is handled, occurring direction signal GOU-FX port when motor just changes is high level, direction output signal GOU-FX port is a low level when motor reverses, this direction signal enters the CPU processor, just can be used as the pulse up-down signal of CPU processor; And the number of pulses that is used for measuring stroke is directly taken out from the GOU-CAP port and is entered the CPU processor, and by the computing of these two signals, the CPU processor just can be grasped the present position of door leaf accurately, accomplishes the accurate control to formation.
Above-mentioned current of electric sample circuit, the sampling resistor R47 of motor in being connected on electric motor loop, motor current signal is converted to voltage signal, through the low pass signal amplifying circuit that forms by comparator LM358, form analog signals ADOUT port input CPU processor real-time and handle, close the desired a series of data of related system such as power, door body weight thereby obtain corresponding resistance, driving force, folder.
The belt stroke account form of each hole correspondence of above-mentioned coding disk is: the hole count in LX=synchronizing wheel girth ÷ reducer speed reducing ratio ÷ one week of coding disk, wherein LX is the belt stroke of each hole correspondence of coding disk.
Above-mentioned LX is smaller or equal to 1 millimeter.
Above-mentioned motor shaft drives the active synchronization belt wheel through 10 to 1 reducer; Coding disk has 32 holes.
Compared with prior art, frame motor shaft of the present invention drives the active synchronization belt wheel through at least 8 to 1 reducer; And this motor shaft also is connected with the coding disk in one at least 16 hole, and the coding disk cooperation is provided with photoelectric detection system, and this photoelectric detection system detects the reading of coding disk through in real time, and detects the belt stroke of each hole correspondence of coding disk; Photoelectric detection system includes coding disk sample circuit and coding disk treatment circuit; The coding disk sample circuit is connected with the CPU processor through the encoded dish treatment circuit of signalling channel; The CPU processor is connected with the current of electric sample circuit at least.The present invention is under the situation that guarantees reliability service, and security performance is greatly improved, and has thoroughly avoided the generation of level and smooth door tong accident.
Description of drawings
Fig. 1 is the equipped schematic diagram of the embodiment of the invention;
Fig. 2 is an embodiment of the invention coding disk sample circuit schematic diagram;
Fig. 3 is an embodiment of the invention coding disk treatment circuit schematic diagram;
Fig. 4 is an embodiment of the invention current of electric sample circuit schematic diagram;
Fig. 5 is an embodiment of the invention operating system block diagram.
The specific embodiment
Embodiment describes in further detail the present invention below in conjunction with accompanying drawing.
As Fig. 1 to embodiment shown in Figure 5, the embodiment of the invention, the obfuscation intelligence controlling device of automatic smoothing door operators, comprise the pulley assembly 1 and the motor 2 that are connected firmly on the door leaf, pulley assembly 1 contains an active synchronization belt wheel 11 and driven synchronous pulley 12, and wherein: motor shaft drives active synchronization belt wheel 11 through at least 8 to 1 reducer 4; And this motor shaft also is connected with the coding disk 3 in one at least 16 hole, and coding disk 3 cooperations are provided with photoelectric detection system, and this photoelectric detection system detects the reading of coding disk through in real time, and detects belt 13 strokes of each hole correspondence of coding disk; Photoelectric detection system includes coding disk sample circuit and coding disk treatment circuit; The coding disk sample circuit is connected with the CPU processor through encoded dish 3 treatment circuits of signalling channel; The CPU processor is connected with the current of electric sample circuit at least.
The CPU processor also is connected with motor control signal circuit, mechanical lock control signal circuit, Cheng Xuan switching signal circuit, electronic eyes signal circuit, emergency opening signal circuit, fire alarm circuit, serial line interface, jtag interface, buzzer, LED light.
The first photoelectronic coupler G1 that is in the quadrature position and the second photoelectronic coupler G2 when coding disk 3 rotates synchronously with motor 2 in the cutting coding disk sample circuit, and the generation orthogonal signalling, and the Schmidt's shaping by the first chip U1, directly export in the BM-A port and BM-B port in the coding disk treatment circuit, signal through the second chip U3A is handled, occurring direction signal GOU-FX port when motor just changes is high level, direction output signal GOU-FX port is a low level when motor reverses, this direction signal enters the CPU processor, just can be used as the pulse up-down signal of CPU processor; And the number of pulses that is used for measuring stroke is directly taken out from the GOU-CAP port and is entered the CPU processor, and by the computing of these two signals, the CPU processor just can be grasped the present position of door leaf accurately, accomplishes the accurate control to formation.
The current of electric sample circuit, the sampling resistor R47 of motor 2 in being connected on electric motor loop, motor current signal is converted to voltage signal, through the low pass signal amplifying circuit that forms by comparator LM358, form analog signals ADOUT port input CPU processor real-time and handle, close the desired a series of data of related system such as power, door body weight thereby obtain corresponding resistance, driving force, folder.
The belt 13 stroke account forms of each hole correspondence of coding disk are: the hole count in LX=synchronizing wheel girth ÷ reducer speed reducing ratio ÷ one week of coding disk, wherein LX is the belt stroke of each hole correspondence of coding disk.Common LX is as calculated smaller or equal to 1 millimeter.To be motor shaft drive active synchronization belt wheels 11 through 10 to 1 reducer 4 in preferable selection; Coding disk 3 has 32 holes.
According to above system, the belt stroke that can calculate each hole correspondence of coding disk is:
LX＝176mm÷10÷32＝0.55mm
LX: the belt stroke of each hole correspondence of coding disk, i.e. door leaf stroke.
176mm: synchronous pulley girth
10: the reducer speed reducing ratio
32: the hole count in one week of coding disk.
So, can satisfy the accuracy of detection of system requirements.
For near the folder power of closing that reaches the doors of pass detects, system has adopted in folder and has closed the parameter detecting that the power size is directly proportional, and promptly current of electric detects, by detecting current of electric, and the control reference tabular value that when Design of System Software, designs in advance, just can corresponding find the size that folder closes power.Reach the requirement that is no more than 25N.
Be not subjected to a body weight and such environmental effects for the stroke detection that makes system and the folder power of closing detect, system is mainly from the enterprising fuzzy analysis of software.The self check process was finished when the detection of door body weight was switched in system.When System self-test, program gives earlier motor with a fixing electric current, has both provided a fixing power Fn, and this is tried hard to keep hold a regular time t, system program detects the stroke Lx of the door leaf in this time then, from then on can calculate the weight of going out to be:
G door=M door * 9.8
M door=Fn ÷ a
a＝V÷t
V＝Lx÷t
G door: door leaf weight
M door: door leaf quality
9.8: acceleration of gravity
V: the door leaf speed of service
According to door leaf weight, form one with reference to tabular value with program
Because door leaf is when the variation that is subjected to blast, the detected door leaf weight of system can change, especially when door leaf cuts out, along with the gap smaller between two door leafs, the folder of this moment closes the power detection and can change, thereby causes system to think being subjected to obstruction and open by mistake and open.For addressing this problem, system mainly relies on software to avoid taking place.When door leaf in motion process, system detects the variation of current of electric in real time, and and the System self-test process in the current of electric change curve compare, form difference with reference to tabular value so that in time find the system exception situation, thereby the system of assurance reliability service.Systems soft ware can be earlier in conjunction with roughly calculating a relatively reasonable operation curve with reference to tabular value, in closing running, obtain corresponding door leaf position by the coding disk counter, and detect current of electric in real time, in conjunction with judge the change in resistance of closing in the closed procedure with reference to tabular value, when being because during wind effect, the resistance curve that forms is a level and smooth ascending curve, when being when receiving the obstruction resistance, the resistance curve that forms will be a stepped curve, system judges the resistance that belongs to which kind of type therefrom, and makes different reactions.System also monitors folder in real time and closes the power size, guarantees that folder closes power less than 25N.
Most preferred embodiment of the present invention is illustrated, and various variations or the remodeling made by those of ordinary skills can not depart from the scope of the present invention.
Claims (7)
1, the obfuscation intelligence controlling device of automatic smoothing door operators, comprise the pulley assembly (1) and the motor (2) that are connected firmly on the door leaf, pulley assembly (1) contains an active synchronization belt wheel (11) and driven synchronous pulley (12), it is characterized in that: described motor shaft drives described active synchronization belt wheel (11) through at least 8 to 1 reducer (4); And this motor shaft also is connected with the coding disk (3) in one at least 16 hole, described coding disk (3) cooperation is provided with photoelectric detection system, this photoelectric detection system detects the reading of coding disk through in real time, and detects belt (13) stroke of each hole correspondence of coding disk; Described photoelectric detection system includes coding disk sample circuit and coding disk treatment circuit; The coding disk sample circuit is connected with the CPU processor through the encoded dish of signalling channel (3) treatment circuit; The CPU processor is connected with the current of electric sample circuit at least.
2, the obfuscation intelligence controlling device of automatic smoothing door operators according to claim 1 is characterized in that: described CPU processor also is connected with motor control signal circuit, mechanical lock control signal circuit, Cheng Xuan switching signal circuit, electronic eyes signal circuit, emergency opening signal circuit, fire alarm circuit, serial line interface, jtag interface, buzzer, LED light.
3, the obfuscation intelligence controlling device of automatic smoothing door operators according to claim 2, it is characterized in that: described coding disk (3) and motor (2) cut the first photoelectronic coupler G1 that is in the quadrature position and the second photoelectronic coupler G2 in the described coding disk sample circuit when rotating synchronously, and the generation orthogonal signalling, and the Schmidt's shaping by the first chip U1, directly export in the BM-A port and BM-B port in the described coding disk treatment circuit, signal through the second chip U3A is handled, occurring direction signal GOU-FX port when motor just changes is high level, direction output signal GOU-FX port is a low level when motor reverses, this direction signal enters the CPU processor, just can be used as the pulse up-down signal of CPU processor; And the number of pulses that is used for measuring stroke is directly taken out from the GOU-CAP port and is entered the CPU processor, and by the computing of these two signals, the CPU processor just can be grasped the present position of door leaf accurately, accomplishes the accurate control to formation.
4, according to the obfuscation intelligence controlling device of claim 1 or 2 or 3 described automatic smoothing door operatorss, it is characterized in that: described current of electric sample circuit, the sampling resistor R47 of described motor (2) in being connected on electric motor loop, motor current signal is converted to voltage signal, through the low pass signal amplifying circuit that forms by comparator LM358, form analog signals ADOUT port input CPU processor real-time and handle, close the desired a series of data of related system such as power, door body weight thereby obtain corresponding resistance, driving force, folder.
5, the obfuscation intelligence controlling device of automatic smoothing door operators according to claim 4, it is characterized in that: belt (13) the stroke account form of each hole correspondence of described coding disk is: the hole count in LX=synchronizing wheel girth ÷ reducer speed reducing ratio ÷ one week of coding disk, wherein LX is the belt stroke of each hole correspondence of coding disk.
6, the obfuscation intelligence controlling device of automatic smoothing door operators according to claim 5, it is characterized in that: described LX is smaller or equal to 1 millimeter.
7, the obfuscation intelligence controlling device of automatic smoothing door operators according to claim 1 is characterized in that: described motor shaft drives described active synchronization belt wheel (11) through 10 to 1 reducer (4); Described coding disk (3) has 32 holes.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810061704A CN101275452B (en) | 2008-05-12 | 2008-05-12 | Intelligent control apparatus of automatic smoothing door manipulator based on fuzzification |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810061704A CN101275452B (en) | 2008-05-12 | 2008-05-12 | Intelligent control apparatus of automatic smoothing door manipulator based on fuzzification |
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| CN101275452A true CN101275452A (en) | 2008-10-01 |
| CN101275452B CN101275452B (en) | 2012-09-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN200810061704A Expired - Fee Related CN101275452B (en) | 2008-05-12 | 2008-05-12 | Intelligent control apparatus of automatic smoothing door manipulator based on fuzzification |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101761284B (en) * | 2008-12-22 | 2012-12-19 | 重庆川仪自动化股份有限公司 | Controller of rail transportation safety door |
| CN106842020A (en) * | 2016-12-26 | 2017-06-13 | 青岛海尔空调器有限总公司 | The detection method and air-conditioner of the motor setup error of air-conditioner |
| CN112607268A (en) * | 2020-11-02 | 2021-04-06 | 创泽智能机器人集团股份有限公司 | Cover switch structure and fault detection method |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4364003A (en) * | 1980-09-16 | 1982-12-14 | Mary A. Baldwin | Electronic gate control |
| US4994724A (en) * | 1990-03-29 | 1991-02-19 | Hsu Chun Pu | Servo-controlled automatic door having automatic detecting and adjusting mechanism |
| US5357183A (en) * | 1992-02-07 | 1994-10-18 | Lin Chii C | Automatic control and safety device for garage door opener |
| CN2560173Y (en) * | 2002-07-17 | 2003-07-09 | 北京凯必盛自动门技术有限公司 | Automatic door trouble processing system based on radio communication |
| CN2630964Y (en) * | 2003-06-06 | 2004-08-04 | 北京凯必盛自动门技术有限公司 | Control signal exchanging device for automatic door |
| CN201133182Y (en) * | 2007-12-12 | 2008-10-15 | 中国科学院自动化研究所 | All-digit door machine control system |
| CN201198698Y (en) * | 2008-05-12 | 2009-02-25 | 石建立 | Fuzzification intelligent control apparatus of automatic horizontal sliding door operator |
-
2008
- 2008-05-12 CN CN200810061704A patent/CN101275452B/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101761284B (en) * | 2008-12-22 | 2012-12-19 | 重庆川仪自动化股份有限公司 | Controller of rail transportation safety door |
| CN106842020A (en) * | 2016-12-26 | 2017-06-13 | 青岛海尔空调器有限总公司 | The detection method and air-conditioner of the motor setup error of air-conditioner |
| CN112607268A (en) * | 2020-11-02 | 2021-04-06 | 创泽智能机器人集团股份有限公司 | Cover switch structure and fault detection method |
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| CN101275452B (en) | 2012-09-19 |
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