CN106609500B - A kind of automatic Anti-knocking passageway gate machine and its control method - Google Patents
A kind of automatic Anti-knocking passageway gate machine and its control method Download PDFInfo
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- CN106609500B CN106609500B CN201510684428.7A CN201510684428A CN106609500B CN 106609500 B CN106609500 B CN 106609500B CN 201510684428 A CN201510684428 A CN 201510684428A CN 106609500 B CN106609500 B CN 106609500B
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
- E01F13/04—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage
Abstract
The embodiment of the invention discloses automatic Anti-knocking passageway gate machines, including gate and the band Hall sensor Brushless DC motor being arranged in the gate, be additionally provided in the gate with it is described with Hall sensor Brushless DC motor connect for drive and current control described in the CPU with Hall sensor Brushless DC motor, the CPU and with being additionally provided with current detection means between Hall sensor Brushless DC motor;A sensor and B sensor are additionally provided in the gate, A, B sensor is connect with the CPU respectively, the embodiment of the present invention provides a kind of application led to Hall brushless d.c. motor in passageway gate machine, and make good use of the characteristic of brushless motor, solves the problems, such as Anti-knocking, it solves positioning overshooting problem, solves and shaken in operation, noise problem.Keep mechanical structure simple, the convenient automatic Anti-knocking passageway gate machine of installation and debugging.
Description
Technical field
The present invention relates to gate field more particularly to a kind of automatic Anti-knocking passageway gate machine and its control methods.
Background technique
The current main three kinds of types of pedestrian passage gate: swing turnstile, flap turnstile, tripod turnstile (or cross lock)
One, swing turnstile:
The first pattern: the swing arm of swing turnstile is located through two enabling points and intermediate three sensors of point of closing the door position.By
Motor drives swing arm motion, needs to do door opening action according to what pedestrian passed through, after people, swing arm returns to shutdown position, and passes through
Mechanical structure locks swing arm.
Second of pattern: swing turnstile is located through an absolute value rotary encoder positioning, and the point that opens the door is with point of closing the door for rotation
Turn the coordinate points of encoder generation.In shutdown position, when encountering illegal pushing arm, this is read out by absolute value rotary encoder
One illegal rotation, then locks swing arm by electromagnetic clutch, prevention illegally passes through.After delay, swing arm goes back to shutdown position again.
Swing turnstile form one is deposited at runtime at present, and switch gate shake is big, and it is stiff to act, when being collided, because of shutdown position
Setting is that mechanical rigid is locked, is easily damaged mechanical structure, or the swing arm that fractures.
In Anti-knocking, electromagnetic clutch can lock swing turnstile form two, when locking for the first time, because of the actuation of electromagnetic clutch
Cheng Zhong has a skidding process, has certain effect to cushioning shock, but when by continuous collision or frangibility swing arm or damage
Bad mechanical structure portion.
There are three position sensors to position for current swing turnstile form one, and motor can not do acceleration and deceleration smooth motion, with horse
Up to the movement of constant speed drive swing arm, it by mechanical emergency stop by force at position sensor, not can avoid shake.It is closing the door
Position, mechanical structure are locked, hit by external world's collision (bicycle, motor bicycle, tricycle, etc.) when, there is rigid contrast, nothing
Method avoids the damage to mechanical part.
In recent years the swing turnstile form two occurred, is positioned by absolute rotary encoder, no longer uses mechanical structure in shutdown position
Locked mode, but in illegal pushing arm, to prevent illegally to pass through, electromagnetic clutch can be locked, this there is a contradiction,
When being collided by the external world, electromagnetic clutch can also be locked, electromagnetic clutch can skid during locked it is a bit of, to collision
There is certain alleviation, but when by continuous collision, still not can avoid the damage to mechanical part.It is another: absolute rotary encoder with
The installation of electromagnetic clutch considerably increases cost, and increases failure rate, meanwhile, during assembling and setting, difficulty adds
Greatly, the time lengthens.Because structure is complicated, field maintenance is not easy.
Two, flap turnstiles
Existing flap turnstile does switch gate movement by the motor driven wing, opens the door and is positioned with shutdown position by sensor.It closes the door
It is locked by mechanical device afterwards.
Presently, there are when operation, switch gate shake is big, and it is stiff to act, and occurs the case where loose hip after long-time service.
Presently, there are when operation, switch gate can not do acceleration and deceleration smooth motion by two position sensor positioning, motor,
With the movement of the motor constant speed drive wing, when position sensing location is arrived in movement, mechanically rigidity parking, shake is big,
The case where noise is big, occurs loose hip after long-time service not can avoid, although there is the methods of liquid feeding compression buffer, such device at
Vulnerable part, can not tackle the problem at its root.
Three, tripod turnstiles (cross lock is similarly)
The first form: cam is housed on tripod turnstile turntable, passes through two magnet control turntable clockwises or inverse clock
Rotation.Usually, two locked with electromagnet cams, are able to rotate turntable not.When needing to rotate to some direction, corresponding electromagnetism
Iron unlock, people push the bar (roller) of connection turntable, can rotate a position, when reaching next position, in place by one
Sensor gives a signal, makes electromagnet locking cam again.
Second of form: absolute value rotary encoder of the tripod turnstile turntable equipped with linkage, with electromagnetic clutch, turntable passes through
Motor driven, the turned position of turntable is realized with the coordinate for being located through the generation of absolute value rotary encoder, in the illegal company of promotion
When switching through bar (roller) of disk, this illegal movement is read by absolute value rotary encoder, it is then locked by electromagnetic clutch
Turntable, prevention illegally pass through, and turntable returns to the position before illegal push rod (roller) after delay.
That there are the degree of automation is low for tripod turnstile form one, and it is stiff to act, when being collided, because electromagnet mechanism is rigidly locked
Cam on dead turntable easily damages mechanical structure or snap bar (roller).
When being collided, electromagnetic clutch can lock form two, when locking for the first time, because of the attracting process of electromagnetic clutch
In, there is a skidding process, have certain effect to cushioning shock, but when by continuous collision or frangibility bar (roller) or machine
Tool structure.The power of another such structure motor is transferred to turntable by belt, easily skids after belt long-time use, while vulnerable to
Temperature influences.
The first form the degree of automation of tripod turnstile is low, is not able to satisfy the requirement in market gradually, usually electromagnet is to cam
Deadlock, bar (roller) is rigid when being collided, inevitable to the damage of mechanical structure.
Second of form usually not deadlock, but at illegal push rod (roller), to prevent illegally to pass through, electromagnetic clutch can be locked
Extremely, this there is a contradiction, and when being collided, electromagnetic clutch can also be locked, electromagnetic clutch meeting during locked
It skids a bit of, has certain alleviation to collision, but when by continuous collision, it is inevitable to the damage of mechanical structure.In addition,
The installation of absolute rotary encoder and electromagnetic clutch considerably increases cost, and increases failure rate, meanwhile, it is adjusted in assembly
During examination, difficulty is increased, and the time lengthens.Because structure is complicated, field maintenance is not easy.
Summary of the invention
The technical problem to be solved by the embodiment of the invention is that providing one kind leads to band Hall brushless d.c. motor logical
Application in barrier gate device, and the characteristic of brushless motor is made good use of, it solves the problems, such as Anti-knocking, solves positioning overshooting problem,
It solves and is shaken in operation, noise problem.Keep mechanical structure simple, the convenient automatic Anti-knocking passageway gate machine of installation and debugging.
The automatic Anti-knocking passageway gate machine, it is brushless including gate and the band Hall sensor being arranged in the gate
D.c. motor, be additionally provided in the gate with it is described with Hall sensor Brushless DC motor connect for driving and electric current
Control the CPU with Hall sensor Brushless DC motor, the CPU and between Hall sensor Brushless DC motor also
It is provided with current detection means;Be additionally provided with A sensor and B sensor in the gate, A, B sensor respectively with it is described
CPU connection.
The embodiment of the invention also provides a kind of control methods of automatic Anti-knocking passage swing gate gate, including walk as follows
It is rapid:
(1) when powering on initial, CPU driving band Hall sensor Brushless DC motor, and analyze motor Hall sensor biography
The signal returned, converses coordinate value；
(2) band Hall sensor Brushless DC motor drives swing arm rotation, and when swing arm turns to A sensor, CPU record should
Putting is 0 coordinate value, and the location point that the point is opened the door as the direction；
(3) then CPU driving band Hall sensor Brushless DC motor inverts, and swing arm is driven to encounter B sensor position point
Afterwards, CPU records the coordinate value, and the location point that the point is opened the door as the direction；
(4) then CPU driving band Hall sensor Brushless DC motor inverts again, and swing arm is turned to shutdown coordinate points
(by manual swing door to shutdown position, CPU is arranged in software to be obtained this coordinate points) stops；
(5) when there is illegal push, CPU measures coordinate value variation, according to the direction of variation, gives the brushless horse of Hall sensor
Up to a reversed rotating torque is applied, prevention illegally pushes the door open.The size of rotating torque passes through inspection by current control, CPU
Current device is surveyed, size of current is controlled, just controls the size of rotating torque.This rotating torque is set smaller than to push and is drawn
The mechanical failure limit risen, gate will not be damaged when colliding door by just reaching.
(6) during switch gate, CPU is with according to coordinate value, split door closing procedure is accelerated, and steadily, control of slowing down makes
Door runs smoothly, non-jitter, and noise is small.
A kind of control method of automatic Anti-knocking channel flap turnstile gate, includes the following steps:
(1) when powering on initial, CPU driving band Hall sensor Brushless DC motor, and analyze motor Hall sensor biography
The signal returned, converses coordinate value；
(2) band Hall sensor Brushless DC motor drives swing arm rotation, and rocker actuator pushes the wing to act again, and the wing turns to
When B sensor, CPU records the point as 0 coordinate value, and the location point that the point is opened the door as the direction；
(3) then CPU driving band Hall sensor Brushless DC motor inverts, after driving the wing to encounter A sensor position point,
CPU records the coordinate value, and the location point that the point is closed the door as the direction；
(4) when the wing clips to people or object outside shutdown is favorite, CPU measures curent change, judges there is accident, inverts at this time
Open door.
(5) during switch gate, CPU is with according to coordinate value, split door closing procedure is accelerated, and steadily, control of slowing down makes
Door runs smoothly, non-jitter, and noise is small.
A kind of control method of automatic Anti-knocking channel three-roller gate (or cross lock), includes the following steps:
(1) when powering on initial, CPU driving band Hall sensor Brushless DC motor, and analyze motor Hall sensor biography
The signal returned, converses coordinate value；
(2) band Hall sensor Brushless DC motor drives turntable rotation, when the protrusion on turntable goes to the position of A sensor
When setting, it is 0 coordinate value that CPU, which records the point,；
(3) by the operation of several circles, system calculates the step number of each circle, with this step number trisection or the quartering, obtains just
The stroke of each bar (roller) Yao Yidong when often running；
(4) by system be arranged initial bar coordinate (this coordinate points by manual oscillating rod to initial position, CPU is soft
Setting obtains in part), so that it may it works normally；
(5) when there is illegal push rod, CPU measures coordinate value variation, according to the direction of variation, gives the brushless horse of Hall sensor
Up to a reversed rotating torque is applied, prevent illegally to push bar open.The size of rotating torque passes through inspection by current control, CPU
Current device is surveyed, size of current is controlled, just controls the size of rotating torque.This rotating torque is set smaller than push rod to draw
The mechanical failure limit risen, gate will not be damaged when colliding bar by just reaching.
The implementation of the embodiments of the present invention has the following beneficial effects:
The automatic Anti-knocking passageway gate machine of the embodiment of the present invention and its control method, this controller focus on using band
The characteristics of Hall sensor Brushless DC motor, controls passageway gate machine.Sampling of the CPU to electric current, controls the electricity of brushless motor
Stream achievees the purpose that control brushless motor output torque.To the signal analysis that brushless motor Hall sensor is passed back, reach similar
The locating effect of absolute value rotary encoder.To the signal acquisition of A sensor and B sensor, it is used as the datum mark of positioning.
Detailed description of the invention
Fig. 1 is circuit principle structure schematic diagram of the embodiment of the present invention；
Fig. 2 is 1 swing turnstile structural schematic diagram of the embodiment of the present invention；
Fig. 3 is 2 flap turnstile structural schematic diagram of the embodiment of the present invention；
Fig. 4 is 3 tripod turnstile structural schematic diagram of the embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with attached drawing
Step ground detailed description.
Embodiment 1
As shown in Figure 1, including gate and the band Hall sensor Brushless DC motor 1 being arranged in gate, gone back in gate
Be provided with with Hall sensor Brushless DC motor connect for drive and current control described in band Hall sensor it is brushless
The CPU6 of d.c. motor, the CPU6 and with being additionally provided with current detection means 7 between Hall sensor Brushless DC motor;Lock
A sensor 4 and B sensor 5 are additionally provided in machine, A, B sensor is connect with the CPU6 respectively；When powering on initial, drive
Dynamic Brushless DC motor 1 rotates, and analyzes the signal that motor Hall sensor is passed back, converses coordinate value, Brushless DC motor 1
Swing arm 3-1 rotation is driven, when swing arm 3-1 turns to A sensor 4, it is 0 coordinate value that CPU, which records the point, and using the point as the party
To the location point of enabling.Then motor rotates backward, and takes to after swing arm encounters B sensor 5, CPU records the coordinate value, and will
The location point that the point opens the door as the direction.Then it inverts again, swing arm 3-1 is turned into shutdown coordinate points and stops that (user can
The coordinate points for point of closing the door to be arranged by controller, system can be saved, and not have to next time be arranged again).(collision) is illegally pushed when having
When, CPU measures coordinate value variation, according to the direction of variation, applies a reversed rotating torque to motor, prevention is illegally pushed open
Door achievees the purpose that prevent to pass through, and the size of this reversed rotating torque is reached by current control, so this torque
Size be can be set by the user, be subject to be less than mechanical structure damage the limit.Reach prevention illegally to pass through, and energy
Guarantee not damage mechanical structure in collision.When illegally pushing away to this system or colliding swing arm, as pushed away or hitting one
A " spring " (elastic force of this " spring " can be set)
In normal operation, can be according to stroke (coordinate value), motor accelerates in starting, then again at the uniform velocity, near target
Run slowly when halt, reach swing arm operation it is smooth and steady, do not impact, noise is low, extend the service life of gate, meet
Requirement of the people to high standard equipment.
This swing turnstile system Anti-knocking significant effect, the torque of Anti-knocking can freely be arranged, be collided test repeatedly, can reach
Protect the purpose of mechanical structure.And position very accurate, no overshoot phenomenon.And mechanical structure is simple, and it is at low cost, it debugs non-
It is often convenient.
Embodiment 2
When powering on initial, driving Brushless DC motor 1 is rotated, and analyzes the signal that motor Hall sensor is passed back, is converted
Coordinate value out, Brushless DC motor drive rocker actuator, and rocker actuator pushes wing 3-2 to act again, when wing 3-2 encounters B sensor 5
When, CPU takes 5 signal of B sensor, and record current location is 0 point of coordinate, and is recorded as enabling coordinate, then drives horse again
Up to reversion, when the wing encounters A sensor 4, stop, it is shutdown coordinate that CPU, which records current point,.
When wing 3-2 clips to people or object outside shutdown is favorite, CPU judges there is accident by the variation of detection electric current, this
Shi Fanzhuan opens door.It effectively prevent hurting sb.'s feelings, or damage is mechanical.
In normal operation, it can accelerate in starting, then again at the uniform velocity, stop near target according to stroke (coordinate value), motor
Run slowly when stop, reach the wing operation it is smooth and steady, do not impact, noise is low, extends the service life of gate, meets people
Requirement to high standard equipment.
With traditional flap turnstile ratio, mainly motor is different, and increased costs are unobvious, but the flattening effect run has significant change
Change.And improve safety.
Embodiment 3
When powering on initial, driving Brushless DC motor 1 is rotated, and analyzes the signal that motor Hall sensor is passed back, is converted
Coordinate value out, Brushless DC motor take turntable 3-3 rotation, when the protrusion on turntable 3-3 makes A sensor 4 have signal, CPU to
Recording this point is 0 coordinate, and by the operation of several circles, system calculates the step number of each circle, with this step number trisection (in cross lock
It is the quartering), obtain the stroke of each bar (roller) Yao Yidong when normal operation.The coordinate of initial bar (roller) is set by system
(system can save, and not have to next time be arranged again), so that it may work normally.
When there is illegal push rod (collision), CPU measures coordinate value variation, according to the direction of variation, applies one to motor
Reversed rotating torque prevents illegal catch bar (roller), this reversed rotating torque is and this torque by current control
Size can with user setting, be subject to be less than mechanical structure damage the limit.Reach prevention illegally to pass through, and can protect
Card does not damage machinery in collision.When illegally pushing away to this system or colliding swing arm, as pushed away or hitting " a bullet
Spring " (elastic force of this " spring " can be set)
This system directly drives turntable using motor, overcomes the problem of traditional common tripod turnstile cannot collide, tradition is certainly
Dynamic tripod turnstile is unable to continuous collision, and the problem of belt slippage.Keep mechanical structure simple, install, debugging is convenient.
Above disclosed is only a preferred embodiment of the present invention, cannot limit the power of the present invention with this certainly
Sharp range, therefore equivalent changes made in accordance with the claims of the present invention, are still within the scope of the present invention.
Claims (3)
1. a kind of control method of automatic Anti-knocking passageway gate machine, which comprises the steps of:
(1) when powering on initial, CPU driving band Hall sensor Brushless DC motor, and analyze what motor Hall sensor was passed back
Signal converses coordinate value；
(2) band Hall sensor Brushless DC motor drives swing arm rotation, and when swing arm turns to A sensor, CPU records the point and is
0 coordinate value, and the location point that the point is opened the door as the direction；
(3) then CPU driving band Hall sensor Brushless DC motor inverts, after driving swing arm to encounter B sensor position point,
CPU records the coordinate value, and the location point that the point is opened the door as the direction；
(4) then CPU driving band Hall sensor Brushless DC motor inverts again, and swing arm is turned to shutdown coordinate points and is stopped
Come；
(5) when there is illegal push, CPU measures coordinate value variation, according to the direction of variation, gives band Hall sensor brushless direct-current
Motor applies a reversed rotating torque, and prevention illegally pushes the door open；The size of rotating torque can be set, by this rotatory force
Square is set smaller than the caused mechanical failure limit that pushes, and gate will not be damaged when colliding door by just reaching；
(6) during switch gate, CPU is with according to coordinate value, split door closing procedure is accelerated, and steadily, control of slowing down makes fortune
Row is steady, non-jitter, and noise is small.
2. a kind of control method of the automatically flap turnstile of the control method of Anti-knocking passageway gate machine as described in claim 1,
It is characterized in that, includes the following steps:
(1) when powering on initial, CPU driving band Hall sensor Brushless DC motor, and analyze what motor Hall sensor was passed back
Signal converses coordinate value；
(2) band Hall sensor Brushless DC motor drives swing arm rotation, and rocker actuator pushes the wing to act again, and the wing turns to B biography
When sensor, CPU records the point as 0 coordinate value, and the location point that the point is opened the door as the direction；
(3) then CPU driving band Hall sensor Brushless DC motor inverts, after driving the wing to encounter A sensor position point, CPU
Record the coordinate value, and the location point that the point is closed the door as the direction；
(4) when the wing clips to people or object outside shutdown is favorite, CPU measures coordinate position variation and quickly slack-off or stopping occurs, sentences
Disconnected to go out to have accident, door is opened in reversion at this time；
(5) during switch gate, CPU is with according to coordinate value, split door closing procedure is accelerated, and steadily, control of slowing down makes fortune
Row is steady, non-jitter, and noise is small.
3. a kind of control method of the automatically tripod turnstile of the control method of Anti-knocking passageway gate machine as described in claim 1,
It is characterized by comprising the following steps:
(1) when powering on initial, CPU driving band Hall sensor Brushless DC motor, and analyze what motor Hall sensor was passed back
Signal converses coordinate value；
(2) band Hall sensor Brushless DC motor drives turntable rotation, when the protrusion on turntable goes to the position of A sensor
When, it is 0 coordinate value that CPU, which records the point,；
(3) by the operation of several circles, system calculates the step number of each circle, with this step number trisection or the quartering, obtains normal fortune
Each bar stroke to be moved when row；
(4) coordinate of initial bar is set by system, so that it may work normally；
(5) when there is illegal push rod, CPU measures coordinate value variation, according to the direction of variation, gives band Hall sensor brushless direct-current
Motor applies a reversed rotating torque, prevents illegally to push bar open；The size of rotating torque is passed through by current control, CPU
Current device is detected, size of current is controlled, just controls the size of rotating torque, this rotating torque is set smaller than push rod
The caused mechanical failure limit, gate will not be damaged when colliding bar by just reaching.
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| CN201510684428.7A CN106609500B (en) | 2015-10-21 | 2015-10-21 | A kind of automatic Anti-knocking passageway gate machine and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510684428.7A CN106609500B (en) | 2015-10-21 | 2015-10-21 | A kind of automatic Anti-knocking passageway gate machine and its control method |
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| CN106609500A CN106609500A (en) | 2017-05-03 |
| CN106609500B true CN106609500B (en) | 2019-08-23 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109555045B (en) * | 2019-01-22 | 2023-02-17 | 盛视科技股份有限公司 | Manual gate mechanism applied to security inspection channel |
| CN111827167B (en) * | 2019-04-16 | 2022-03-29 | 杭州海康威视数字技术股份有限公司 | Pedestrian passageway gate wing structure self-oscillation judging method and pedestrian passageway gate machine |
| CN113867241A (en) * | 2021-09-18 | 2021-12-31 | 浙江大华技术股份有限公司 | Method and device for controlling swing gate speed and electronic equipment |
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| JP2001283268A (en) * | 2000-03-30 | 2001-10-12 | Toyo Electric Mfg Co Ltd | Gate opening/closing device in hybrid driving system |
| CN2902830Y (en) * | 2006-04-11 | 2007-05-23 | 深圳市捷顺科技实业有限公司 | Protective device for preventing brake bar from crashing car |
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| CN101787680A (en) * | 2010-03-09 | 2010-07-28 | 苏州巨立电梯有限公司 | Anti-collision passageway gate machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001283268A (en) * | 2000-03-30 | 2001-10-12 | Toyo Electric Mfg Co Ltd | Gate opening/closing device in hybrid driving system |
| CN2902830Y (en) * | 2006-04-11 | 2007-05-23 | 深圳市捷顺科技实业有限公司 | Protective device for preventing brake bar from crashing car |
| CN201170016Y (en) * | 2008-02-22 | 2008-12-24 | 深圳市捷顺科技实业股份有限公司 | Channel brake |
| CN101440609A (en) * | 2008-12-10 | 2009-05-27 | 顿孟元 | Encoding controlled bidirectional balance road gate |
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