CN110376939B - Swing gate passage passing sensing control system and method - Google Patents
Swing gate passage passing sensing control system and method Download PDFInfo
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- CN110376939B CN110376939B CN201910593460.2A CN201910593460A CN110376939B CN 110376939 B CN110376939 B CN 110376939B CN 201910593460 A CN201910593460 A CN 201910593460A CN 110376939 B CN110376939 B CN 110376939B
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- 238000004891 communication Methods 0.000 abstract description 8
- 230000033001 locomotion Effects 0.000 abstract description 5
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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
- E01F13/06—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 by swinging into open position about a vertical or horizontal axis parallel to the road direction, i.e. swinging gates
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/21—Pc I-O input output
- G05B2219/21119—Circuit for signal adaption, voltage level shift, filter noise
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Abstract
The invention discloses a gate swinging channel passing sensing control system and a gate swinging channel passing sensing control method, wherein the system comprises a photoelectric emission sensor, a photoelectric receiving sensor, a servo controller, a servo motor, a gate swinging plate, a channel controller and a controllable power supply, a time sequence signal output port of the channel controller is connected with a driving end of the controllable power supply, the output of the controllable power supply is connected with the power supply end of the photoelectric emission sensor, the signal output end of the photoelectric receiver is connected with the acquisition signal input port of the channel controller, and the control signal output port of the channel controller is connected with the input end of the servo controller. The state judgment is carried out on the photoelectric sensors at different positions on the gate through an optical communication self-checking method; and setting corresponding working states according to different judging results, and controlling the speed of swing door movement. The invention can ensure that the equipment can still be normally used under the condition that the sensor fails, does not influence the use, effectively improves the average failure-free time of the equipment, and reduces the risk and the cost.
Description
Technical Field
The invention belongs to the technical field of intelligent equipment, and particularly relates to a gate swing channel passing sensing and controlling system and method, which are suitable for various access control ports such as a writing building, a school, an enterprise park, a business trip, an intelligent community and the like.
Background
The swing gate is used as a passageway control device of the passageway, is widely applied to many scenes such as office buildings, schools, enterprise parks, business superelevation, intelligent communities and the like, and realizes intelligent control of the passageway through self-service verification of the identity and automatic opening and closing of the swing gate, thereby replacing manual control.
At present, a common swing gate generally adopts a direct current motor to drive a door plate to rotate, personnel passing through a plurality of pairs of photoelectric correlation sensors are monitored (wherein, a transmitting end sensor is directly electrified to send out a light beam, a receiving end sensor receives the light beam, when personnel enter a channel, the light beam is shielded to enable the electric signal of the receiving end sensor to change, and equipment judges that the personnel passes through the gate according to the electric signal change). Photoelectric correlation sensors may fail in function, for example, in the following cases:
1. the sensor positions are inclined, the light beam emission angles deviate, so that the receiving end cannot normally receive the light beam, and the detection function of the pair of sensors is invalid.
2. Any line of the transmitting end or the receiving end sensor fails, and the pair of sensors detects the failure of the function.
3. The light beam of the sensor is blocked by the foreign matter, and the detection function of the pair of sensors is disabled.
In the actual use process, as the number of the sensors is large, if only one pair of sensors fails, the swing gate equipment can not work or work abnormally, the former causes the equipment to be unavailable for users, the latter causes the door plate to move abnormally, and the false action is generated to hurt the passing users, so that the safety hidden danger is large.
Disclosure of Invention
The invention aims to: in order to solve the problem that equipment cannot be normally used due to faults of a swing gate channel sensor in the prior art, the invention provides a swing gate channel passing sensing and controlling system.
Another object of the present invention is to provide a method for controlling the passage of a swing gate.
The technical scheme is as follows: a gate swing channel traffic sensing and controlling method comprises the following steps:
(1) The controller controls the controllable power supply to output a section of high-low level time sequence signal to the photoelectric emission sensors in the group of photoelectric sensors;
(2) Detecting the light receiving state of a photoelectric receiving sensor in the group of photoelectric sensors;
(3) Comparing the light receiving state of the photoelectric receiving sensor with the time sequence of the time sequence signal, and judging that the group of photoelectric sensors are in a normal state if the light receiving state is consistent with the time sequence; if the time sequence is inconsistent with the time sequence, judging that the group of photoelectric sensors are in a failure state;
(4) Repeatedly executing the steps (1) - (3) to respectively judge the states of all the photoelectric sensors at the two ends of the gate, in the middle of the gate, above and below the gate, and recording the judging results;
(5) If all the photoelectric sensors are in a normal state, the gate enters a normal operation mode, the swing door is controlled to be opened after identity verification, whether the photoelectric sensors in the middle area of the gate are shielded or not is detected, and if the photoelectric sensors are not shielded, the swing door is controlled to be closed rapidly;
If the photoelectric sensors in the two end areas of the gate have failure states, the gate enters a compensation operation mode, when the photoelectric sensor in the upper or lower position is in the failure state, the light receiving state obtained by detecting the photoelectric sensor in the position right below or right above the photoelectric sensor in the failure state is assigned to the failure photoelectric sensor to compensate, after identity verification, the swing door is controlled to be opened, whether the photoelectric sensor in the middle area of the gate is shielded or not is detected, and if not, the swing door is controlled to be closed rapidly;
if the photoelectric sensor in the middle area of the gate has a failure state, the gate enters a deceleration running mode, the swing door is controlled to be opened after the identity is verified, whether the photoelectric sensor in the normal state in the middle area of the gate is shielded or not is detected, and if the photoelectric sensor is not shielded, the swing door is controlled to be closed in a deceleration mode;
(6) And (3) sending the state of the photoelectric sensor obtained in the step (4) and the position information of the gate equipment to a background and/or a terminal.
Further, in the step (5), if the photoelectric sensor at the upper position of the middle area of the gate is in a failure state, the swing gate moves at a medium speed; if the photoelectric sensor at the lower position of the middle area of the gate is in a failure state, the swing gate moves at a low speed.
Further, in the step (2), the light receiving state of the photoelectric receiving sensor is resolved by the output signal of the photoelectric receiving sensor, when the light beam emitted by the photoelectric emitting sensor can be received, a low-level signal is output, and when the light beam emitted by the photoelectric emitting sensor cannot be received, a high-level signal is output.
The utility model provides a current sense accuse system of swing gate passageway, includes photoelectric emission sensor and photoelectric receiving sensor, servo controller, servo motor, swing gate door plant of installing on the gate fuselage, servo controller is used for controlling servo motor, and servo motor is used for driving swing gate door plant motion, still includes channel controller and controllable power, channel controller includes time sequence signal output port, collection signal input port and control signal output port, and time sequence signal output port is connected with controllable power's drive end, and controllable power's output is connected with photoelectric emission sensor's power supply end, and photoelectric receiver's signal output part is connected with channel controller's collection signal input port, and channel controller's control signal output port is connected with servo controller's input.
Further, the channel controller adopts an ARM processor, and a chip STM32LQPF is selected.
Further, the controllable power supply circuit comprises a triode, a field effect tube and a diode, wherein the emitter of the triode is grounded, the base electrode of the triode is connected with an I/O pin of the ARM processor through a pull-up resistor and a current limiting resistor, the collector electrode of the triode is connected with the grid electrode of the field effect tube through a voltage dividing resistor, the source electrode of the field effect tube is connected with a power supply, the drain electrode of the field effect tube is connected with the positive electrode of a power supply of the photoelectric emission sensor, the cathode of the diode is connected with the positive electrode of the power supply of the photoelectric emission sensor, the anode of the diode is grounded, and the negative electrode of the power supply of the photoelectric emission sensor is grounded.
Further, the acquisition signal input port of the channel controller comprises an optocoupler, a current limiting resistor and a pull-down resistor, the optocoupler is composed of LVT-356T, a first pin of the optocoupler LVT-356T is connected with a power supply through the current limiting resistor, a second pin of the optocoupler LVT-356T is connected with a signal output end of the photoelectric receiving sensor, a third pin of the optocoupler LVT-356T is grounded through the pull-down resistor, meanwhile, a third pin of the optocoupler LVT-356T is connected with an I/O pin of the ARM processor through the current limiting resistor, and a fourth pin of the optocoupler LVT-356T is connected with a 3.3V power supply.
Further, the system also comprises a positioning module, wherein the positioning module adopts NEO-7M-C, and a signal output port of the positioning module is connected with an I/O port of the ARM processor.
Further, the intelligent control system further comprises an internet of things control circuit, wherein the internet of things control circuit adopts an STM32F103CBT6 processor, and the STM32F103CBT6 is connected with the channel controller in a bidirectional manner through an SP3232 and is used for transmitting the state of the photoelectric sensor and the position information of the gate equipment to the background.
Further, the gate machine body comprises a main machine body and a slave machine body, the photoelectric emission sensor and the photoelectric receiving sensor are respectively arranged on the main machine body and the slave machine body, and the directions of the photoelectric emission sensor and the photoelectric receiving sensor are in one-to-one correspondence; both ends and the middle area of the gate machine body are provided with photoelectric emission sensors and photoelectric receiving sensors; and the upper and lower areas of the gate machine body are provided with photoelectric transmitting sensors and photoelectric receiving sensors
The beneficial effects are that: according to the gate swinging channel passing sensing control system and method, the failure sensor is judged in real time through the optical communication sensor self-checking technology, and through adjustment of the operation mode, the user can still normally use the equipment under the condition that the sensor fails, the use is not influenced, the average failure-free time of the equipment is effectively improved, and the risk and cost are reduced; through the internet of things technology, the state of the failure sensor and the equipment position information are sent to a background maintenance system, and the state and the equipment position information are further pushed to maintenance personnel, so that equipment manufacturers can maintain the equipment in time, and the operation is fully automatic, and the maintenance report of clients is not needed.
Drawings
FIG. 1 is a schematic block diagram of a swing gate passage traffic sensing system;
FIG. 2 is a top view of the gate body;
FIG. 3 is a side view of the gate body;
FIG. 4 is a schematic diagram of a controllable power supply circuit;
FIG. 5 is a schematic circuit diagram of an acquisition signal input port of the channel controller;
FIG. 6 is a circuit diagram of a channel controller and peripheral interface;
FIG. 7 is a schematic diagram of a controllable power circuit and sensor signal acquisition input circuit for six photosensors on a gate;
FIG. 8 is a flow chart of a swing gate channel traffic sensing method;
fig. 9 is a schematic diagram of photo-sensor optical communication self-test.
Detailed Description
The invention will be further described with reference to the drawings and the specific examples.
A gate swing passage passing sensing control system is shown in fig. 2, and is arranged on a gate machine body, wherein the gate machine body comprises a main machine body 1 and a slave machine body 9 which are arranged in pairs. As shown in fig. 1, the system comprises a photoelectric emission sensor 2, a photoelectric receiving sensor 3, a channel controller 5, a servo controller 4, a servo motor 7, a door plate 8, an identity verification unit 6, an internet of things control plate, a positioning module and a maintenance system background; the channel controller 5 is connected with the servo controller 4 by adopting a communication line, and the servo motor 7 is controlled to rotate in a communication mode, so that the swing door panel 8 is driven to act; the identity verification units 6 are respectively arranged at two ends of the channel controller 5 to support bidirectional passing, and the identity verification result of the user is sent to the channel controller 5; the inner side surface of the main machine body 1 is provided with a plurality of photoelectric emission sensors 2, the inner side surface of the auxiliary machine body 9 is provided with photoelectric receiving sensors 3 which are the same in number as the photoelectric emission sensors 2 and are in one-to-one correspondence to the position orientations, each photoelectric emission sensor 2 is connected with a controllable power supply output end, and each photoelectric receiving sensor 3 is connected with a sensor signal acquisition input end of the channel controller 5; the control board of the internet of things is also connected with the channel controller 5, acquires the component state information sent by the channel controller 5, and sends the data to the background of the maintenance system (shown in fig. 1) through the base station in a wireless transmission mode of the internet of things. The photoelectric emission sensor 2 and the photoelectric receiving sensor 3 are paired one by one, when the photoelectric receiving sensor 3 receives the light beam of the photoelectric emission sensor 2, the output electric signal is low level, if the light beam is blocked, the photoelectric receiving sensor 3 cannot receive the light beam, the output electric signal becomes high level, and the channel controller 5 detects the personnel passing state in the channel according to the change of the electric signal. The sensors are arranged at the two ends, the middle, the upper side and the lower side of the gate body, the sensors are divided into A, B, C functional areas according to the positions of the sensors (as shown in figure 3), the sensors in each area are arranged in an upper row and a lower row, wherein the area A is used for detecting that a person enters or leaves a gate channel from the left side, the area C is used for detecting that the person enters or leaves the gate channel from the right side, and the area B is also called a safety area and used for detecting whether the person is in the middle area of the gate channel (the area can be impacted due to swing door movement).
The circuit schematic diagram of the channel controller is shown in fig. 5, and the controllable power supply output circuit and the sensor signal acquisition input circuit are shown in fig. 4;
as shown in fig. 6 and 7, the channel controller includes a timing signal output port, an acquisition signal input port and a control signal output port, the timing signal output port is connected with the driving end of the controllable power source, the output of the controllable power source is connected with the power supply end of the photoelectric emission sensor, the signal output end of the photoelectric receiver is connected with the acquisition signal input port of the channel controller, and the control signal output port of the channel controller is connected with the input end of the servo controller.
Each path of controllable power supply output circuit comprises a triode 2N3904, a field effect tube AO3401, a diode SS14 and a resistance-capacitance device, wherein the emitter of the 2N3904 is grounded, the base electrode of the 2N3904 is connected with an I/O pin of an ARM processor through a pull-up resistor and a current limiting resistor, the collector electrode of the 2N3904 is connected with the grid electrode of the AO3401 after passing through two voltage dividing resistors, and the source electrode of the AO3401 is directly connected with the positive electrode VIN of the power supply; the drain electrode of the AO3401 is connected with the positive power supply electrode of the photoelectric emission sensor 2, the cathode electrode of the SS14 is also connected with the positive power supply electrode of the photoelectric emission sensor 2, and the anode electrode of the SS14 is grounded; the power supply cathode of the photoelectric emission sensor 2 is directly grounded.
When the I/O pin of the ARM processor outputs a low level, 2N3904 is disconnected, the voltage of the grid electrode and the source electrode of the AO3401 is VIN, the AO3401 is disconnected, the voltage of the positive electrode VIN of the power supply cannot be transmitted to the photoelectric emission sensor 2 through the AO3401, and the photoelectric emission sensor 2 is powered off and does not emit light beams; when the I/O pin of ARM processing outputs a high level, 2N3904 is turned on and pulls the collector low, after the gate of AO3401 is divided by two voltage dividing resistors, the voltage is lower than the voltage VIN of the source thereof, AO3401 is turned on accordingly, the voltage of the positive electrode VIN of the power supply is transmitted to the photoemission sensor 2 through AO3401, and the photoemission sensor 2 gets electricity and emits a light beam. Therefore, the ARM processor outputs a series of high-low level time sequence signals to control the light beam emitted by the photoelectric emission sensor.
The signal output end of the photoelectric receiving sensor is connected with the acquisition signal input end of the channel controller, the acquisition signal input end of each channel controller comprises an optocoupler LVT-356T, a current limiting resistor and a pull-down resistor, a first pin of the LVT-356T is connected with the positive electrode VIN of the power supply through the current limiting resistor, and a second pin of the LVT-356T is connected with the signal output end of the photoelectric receiving sensor 3; the third pin of the LVT-356T is connected with GND through a pull-down resistor and is connected with an I/O pin of the ARM processor through a current limiting resistor; the fourth pin of LVT-356T is connected to +3.3V power.
When the photoelectric receiving sensor 3 receives the light beam, the output electric signal is in a low level, at the moment, the output end of the LVT-356T optocoupler is conducted, the third pin of the LVT-356T is +3.3V, and the level logic of the I/O pin of the ARM processor is 1; when the photoelectric receiving sensor 3 cannot receive the light beam, the output electric signal is high level, at the moment, the output end of the LVT-356T optocoupler is disconnected, the third pin of the LVT-356T is 0V, and the level logic of the I/O pin of the ARM processor is 0.
The control signal output port of the ARM processor is connected with a servo driver through RS232, see a U1 part in fig. 5, and sends a control signal to the servo driver to further drive the servo motor to rotate the swing gate.
The positioning module is connected with the channel controller by NEO-7M-C and is used for sending the position information of the equipment to the channel controller.
The control circuit of the Internet of things mainly aims at maintaining information transmission between equipment and a background of a maintenance system, and comprises STM32F103CBT6, USR-GM3, NCP114ASN330TIG, SIM-C749, PESD5V0L2BT, SP3232 and a resistor container part, wherein the STM32F103CBT6 is in bidirectional connection with a channel controller through the SP3232 and is used for acquiring state data of all parts in the equipment, and the PESD5V0L2BT is connected with the SP3232 and is used for realizing surge protection of a communication link; the USR-GM3 is connected with the SIM-C749 for transmitting the terminal data to the maintenance system background through the base station.
A gate swing channel traffic sensing control method, as shown in figure 8, comprises the following steps:
(1) The controller controls the controllable power supply to output a section of high-low level time sequence signal to the photoelectric emission sensors in the group of photoelectric sensors;
(2) Detecting the light receiving state of a photoelectric receiving sensor in the group of photoelectric sensors;
(3) Comparing the light receiving state of the photoelectric receiving sensor with the time sequence of the time sequence signal, and judging that the group of photoelectric sensors are in a normal state if the light receiving state is consistent with the time sequence; if the time sequence is inconsistent with the time sequence, judging that the group of photoelectric sensors are in a failure state;
The photoelectric sensor optical communication self-checking principle is shown in fig. 9, when the output end of the controllable power supply outputs a high level, the photoelectric emission sensor emits a light beam, at the moment, the corresponding photoelectric receiving sensor outputs a low level, and the level logic of the I/O pin of the corresponding ARM processor is 1, which indicates that the photoelectric receiving sensor receives light; when the output end of the controllable power supply outputs a low level, the photoelectric emission sensor does not emit light beams, at the moment, the corresponding photoelectric receiving sensor outputs a high level, the level logic of the I/O pin of the corresponding ARM processor is 0, the photoelectric receiving sensor is not subjected to light, and the state of the group of sensors is indicated to be a normal state.
(4) Repeatedly executing the steps (1) - (3) to respectively judge the states of all the photoelectric sensors at the two ends of the gate, in the middle of the gate, above and below the gate, and recording the judging results;
(5) According to the result of the step 4, if all the sensors are in a normal state, the gate enters a normal operation mode, after a person verifies identity from the left side, the swing gate is opened, after the person enters the channel and passes through the detection area A and the detection area C in sequence, the channel controller judges that the area B (the safety area) is not shielded, and then the swing gate is controlled to be closed; when a person verifies identity from the right side, the swing door is opened, and after the person enters the channel and sequentially passes through the detection area C and the detection area A, the channel controller judges that the area B (the safety area) is not shielded, the swing door is controlled to be closed, and in a normal operation mode, the channel logic controller controls the swing door to move at a high speed;
According to the result of the step 4, if the area sensor A or the area sensor C is in a failure state, the gate enters a compensation operation mode, namely if the upper row sensor of the area sensor A or the area sensor C has a failure condition, the detection value of the sensor right below the failure sensor is assigned to the failure sensor in the ARM processor to compensate, so that the personnel passing detection logic is not affected; if the lower row sensor of the area A sensor or the area C sensor has failure, assigning a detection value of a sensor right above the failure sensor to the failure sensor in an ARM processor to compensate, so that the passing detection logic of personnel is not affected, and controlling the swing door to move at a high speed by a channel logic controller in a compensation operation mode;
According to the result of the step 4, if the sensor in the area B (safety zone) is in a failure state, the gate enters a deceleration operation mode, if the sensor in the area B (safety zone) is in a failure state, the channel logic controller controls the swing door to move at a medium speed, so that the situation that the upper half part of an adult cannot be detected due to the failure of the sensor in the area B (safety zone) is avoided, and the damage to the adult is caused when the swing door is closed; if the lower row sensor of the sensor in the area B (safety zone) has a failure condition, the channel logic controller controls the swing door to move at a low speed, so that the situation that a child with a height lower than that of the upper row sensor cannot be detected due to the failure of the lower row sensor in the area B (safety zone) is avoided, and the damage to the child is caused when the swing door is closed;
(6) The channel controller acquires the position information of the gate equipment through the positioning module, and sends the normal or invalid data and the position information of each pair of sensors to a background of the maintenance system through the control circuit of the Internet of things, and the background of the maintenance system pushes the position information of the equipment and the invalid information of the sensors to the mobile phone terminal of the maintenance personnel through the external network.
In the use process of the system, when the gate is electrified and idle, each pair of photoelectric sensors is detected in an optical communication detection mode in the steps 1-4, and when all the sensors are normal, the gate operates in a normal mode, and the gate is swung to be switched at a high speed; when the area A sensor or the area C sensor is in a failure state, the gate enters a compensation running mode, and the operation of the gate is not affected by the mode of assigning compensation to the sensors at the same row position, and the gate swinging is still switched at high speed; when the upper row sensor of the sensor in the area B has failure, the channel logic controller controls the swing gate to move at medium speed, so that the damage to adults caused by the swing gate in the movement process is avoided; when the sensor of the lower row of sensors of the area B has failure, the channel logic controller controls the swing gate to move at a low speed, so that the damage to children with the height lower than that of the sensor of the upper row caused by the swing gate during the movement is avoided. The gate correspondingly adjusts the operation mode according to the state of the sensor, thereby meeting the highest efficient operation under the safety precondition. The gate can simultaneously send the sensor state information and the equipment position information to a maintenance system background in an Internet of things transmission mode, and the sensor state information and the equipment position information are pushed to a mobile phone terminal of a maintenance person, so that the maintenance person can repair the gate as soon as possible when hidden danger occurs on the gate, the situation that the gate cannot work completely is avoided, and the average fault-free time of equipment is effectively improved.
Claims (10)
1. The gate swinging channel passing sensing and controlling method is characterized by comprising the following steps:
(1) The controller controls the controllable power supply to output a section of high-low level time sequence signal to the photoelectric emission sensors in the group of photoelectric sensors;
(2) Detecting the light receiving state of a photoelectric receiving sensor in the group of photoelectric sensors;
(3) Comparing the light receiving state of the photoelectric receiving sensor with the time sequence of the time sequence signal, and judging that the group of photoelectric sensors are in a normal state if the light receiving state is consistent with the time sequence; if the time sequence is inconsistent with the time sequence, judging that the group of photoelectric sensors are in a failure state;
(4) Repeatedly executing the steps (1) - (3) to respectively judge the states of all the photoelectric sensors at the two ends of the gate, in the middle of the gate, above and below the gate, and recording the judging results;
(5) If all the photoelectric sensors are in a normal state, the gate enters a normal operation mode, the swing door is controlled to be opened after identity verification, whether the photoelectric sensors in the middle area of the gate are shielded or not is detected, and if the photoelectric sensors are not shielded, the swing door is controlled to be closed rapidly;
If the photoelectric sensors in the two end areas of the gate have failure states, the gate enters a compensation operation mode, when the photoelectric sensor in the upper or lower position is in the failure state, the light receiving state obtained by detecting the photoelectric sensor in the position right below or right above the photoelectric sensor in the failure state is assigned to the failure photoelectric sensor to compensate, after identity verification, the swing door is controlled to be opened, whether the photoelectric sensor in the middle area of the gate is shielded or not is detected, and if not, the swing door is controlled to be closed rapidly;
if the photoelectric sensor in the middle area of the gate has a failure state, the gate enters a deceleration running mode, the swing door is controlled to be opened after the identity is verified, whether the photoelectric sensor in the normal state in the middle area of the gate is shielded or not is detected, and if the photoelectric sensor is not shielded, the swing door is controlled to be closed in a deceleration mode;
(6) And (3) sending the state of the photoelectric sensor obtained in the step (4) and the position information of the gate equipment to a background and/or a terminal.
2. The method according to claim 1, wherein in step (5), if the photoelectric sensor at the upper position of the gate middle area is in a failure state, the swing gate moves at a medium speed; if the photoelectric sensor at the lower position of the middle area of the gate is in a failure state, the swing gate moves at a low speed.
3. The swing gate passage traffic sensing control method according to claim 1, wherein in the step (2), the light receiving state of the photoelectric receiving sensor is discriminated by the output signal of the photoelectric receiving sensor, a low level signal is output when the light beam emitted from the photoelectric emitting sensor can be received, and a high level signal is output when the light beam emitted from the photoelectric emitting sensor cannot be received.
4. A swing gate passage sensing control system using the swing gate passage sensing control method of any one of claims 1-3, comprising a photoelectric transmitting sensor and a photoelectric receiving sensor which are arranged on a gate body, a servo controller, a servo motor and a swing gate door plate, wherein the servo controller is used for controlling the servo motor, the servo motor is used for driving the swing gate door plate to move, the swing gate passage sensing control system is characterized by further comprising a passage controller and a controllable power supply, the channel controller comprises a time sequence signal output port, a collection signal input port and a control signal output port, wherein the time sequence signal output port is connected with the driving end of a controllable power supply, the output of the controllable power supply is connected with the power supply end of the photoelectric emission sensor, the signal output end of the photoelectric receiver is connected with the collection signal input port of the channel controller, and the control signal output port of the channel controller is connected with the input end of the servo controller.
5. The swing gate passage sensing and controlling system according to claim 4, wherein the passage controller is an ARM processor and is a chip STM32 LQPF.
6. The swing gate passage sensing and controlling system according to claim 5, wherein the controllable power supply circuit comprises a triode, a field effect transistor and a diode, the emitter of the triode is grounded, the base of the triode is connected with the I/O pin of the ARM processor through a pull-up resistor and a current limiting resistor, the collector of the triode is connected with the grid of the field effect transistor through a voltage dividing resistor, the source of the field effect transistor is connected with a power supply, the drain of the field effect transistor is connected with the positive electrode of the power supply of the photoelectric emission sensor, the cathode of the diode is connected with the positive electrode of the power supply of the photoelectric emission sensor, the anode of the diode is grounded, and the negative electrode of the power supply of the photoelectric emission sensor is grounded.
7. The swing gate channel traffic sensing and controlling system according to claim 4, wherein the collection signal input port of the channel controller comprises an optocoupler, a current limiting resistor and a pull-down resistor, the optocoupler is composed of LVT-356T, a first pin of the optocoupler LVT-356T is connected with a power supply through the current limiting resistor, a second pin of the optocoupler LVT-356T is connected with the signal output end of the photoelectric receiving sensor, a third pin of the optocoupler LVT-356T is grounded through the pull-down resistor, meanwhile, a third pin of the optocoupler LVT-356T is connected with an I/O pin of the ARM processor through the current limiting resistor, and a fourth pin of the optocoupler LVT-356T is connected with a 3.3V power supply.
8. The swing gate passage sensing and controlling system according to claim 4, further comprising a positioning module, wherein the positioning module adopts NEO-7M-C, and a signal output port of the positioning module is connected with an I/O port of the ARM processor.
9. The swing gate passage traffic sensing and control system of claim 4, further comprising an internet of things control circuit, wherein the internet of things control circuit adopts an STM32F103CBT6 processor, and the STM32F103CBT6 is connected with the passage controller in a bidirectional manner through SP3232 and is used for transmitting state information of the photoelectric sensor and position information of the gate device to the background.
10. The swing gate passage passing sensing control system according to claim 4, wherein the gate body comprises a master body and a slave body, the photoelectric emission sensor and the photoelectric receiving sensor are respectively installed on the master body and the slave body, and the directions of the photoelectric emission sensor and the photoelectric receiving sensor are in one-to-one correspondence; both ends and the middle area of the gate machine body are provided with photoelectric emission sensors and photoelectric receiving sensors; and the photoelectric transmitting sensor and the photoelectric receiving sensor above and below are arranged at both ends and the middle area of the gate machine body.
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