CN111749551B - Container locking and unlocking device and control method thereof - Google Patents
Container locking and unlocking device and control method thereof Download PDFInfo
- Publication number
- CN111749551B CN111749551B CN201910236173.6A CN201910236173A CN111749551B CN 111749551 B CN111749551 B CN 111749551B CN 201910236173 A CN201910236173 A CN 201910236173A CN 111749551 B CN111749551 B CN 111749551B
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- motor
- locked
- locking
- unlocking
- pwm value
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
- E05B65/00—Locks or fastenings for special use
- E05B65/52—Other locks for chests, boxes, trunks, baskets, travelling bags, or the like
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
- E05B15/00—Other details of locks; Parts for engagement by bolts of fastening devices
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
- E05B17/00—Accessories in connection with locks
- E05B17/22—Means for operating or controlling lock or fastening device accessories, i.e. other than the fastening members, e.g. switches, indicators
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
- E05B41/00—Locks with visible indication as to whether the lock is locked or unlocked
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
- E05B47/00—Operating or controlling locks or other fastening devices by electric or magnetic means
- E05B47/0001—Operating or controlling locks or other fastening devices by electric or magnetic means with electric actuators; Constructional features thereof
- E05B47/0012—Operating or controlling locks or other fastening devices by electric or magnetic means with electric actuators; Constructional features thereof with rotary electromotors
Landscapes
- Lock And Its Accessories (AREA)
Abstract
The invention provides a container locking and unlocking device which comprises a motor, a microprocessor and a circuit, wherein the microprocessor is connected with the motor through the circuit, and the microprocessor controls the angle of the motor through a PWM value. The control method comprises the steps of judging whether the motor is locked; obtaining a fixed PWM value corresponding to locking and unlocking of a motor; and when the motor is locked, comparing whether the PWM value exceeds a fixed PWM value or not, and judging whether to lock or unlock. The invention CAN control and automatically judge the locking and unloading states of the container and CAN communicate with external equipment through the CAN bus.
Description
Technical Field
The invention belongs to the field of logistics packaging, and particularly relates to a container locking and unlocking device and a control method thereof.
Background
The original container is generally locked or unlocked by a person, whether the locking or unlocking is completed is judged by the person after the locking or unlocking is finished, and other persons need to be contacted after the artificial judgment to inform the current state of the container lock, so that other persons can carry out the next operation.
The problems that exist are that:
1. the lock is unlocked or locked by manual operation, so that the risk of not locking the lock in place exists;
2. the result of locking or unlocking is artificially judged, so that the risk of misjudgment is caused;
3. after the state of the lock is artificially judged, other personnel need to be informed, the delay is large, and when the lock quantity is large, the artificial informing efficiency is low;
4. the lock cannot be remotely controlled to open or close;
the technical problem to be solved is as follows:
1. the locking or unlocking of the lock is controlled by the microprocessor;
2. judging the current lock state by the microprocessor;
3. after locking or unlocking, the execution result can be automatically sent out;
4. the remote command can be received to execute the locking or unlocking action;
the container locking and unlocking device capable of being automatically controlled is to be developed.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a container locking and unloading device and a control method thereof, which CAN control and automatically judge the locking and unloading states of a container and CAN communicate with external equipment through a CAN bus.
In order to realize the purpose, the invention adopts the following technical scheme:
a control method of a container locking and unlocking device comprises the following steps:
1) judging whether the motor is locked;
2) acquiring a fixed locking PWM value corresponding to locking and a fixed unlocking PWM value corresponding to unlocking executed by the motor;
3) and under the condition of motor stalling, comparing whether the PWM value at the moment exceeds a fixed PWM value, and judging whether to lock or unlock.
Preferably, the judging method of step 1) includes:
11) collecting a real-time current value of a motor;
12) whether the motor is locked up or not can be judged through the current: the locked rotor generates a large continuous current, and when the motor runs beyond the locking or unlocking range, the locked rotor is locked.
The locking or unlocking range has a default initial value and CAN be set and saved through a CAN communication command.
Preferably, the method of step 2) comprises: the microprocessor controls the angle of the motor through the PWM value, the PWM value and the angle of the motor have one-to-one correspondence, and the fixed PWM value corresponding to locking and unlocking of the motor is measured.
Preferably, the method for determining locking in step 3) includes:
when needing to lock, microprocessor produces PWM, after motor current reached the locked-rotor current value, judges whether PWM value at this moment has crossed the PWM value of locking:
if the PWM value is over, the motor is normally locked after being locked in place,
if the locking PWM value is not reached, the motor is not locked in place, and abnormal locked rotor is realized.
Preferably, the method for judging unlocking in step 3) includes:
when the unlocking is needed, the microprocessor generates PWM, the microprocessor collects the current value of the motor in real time in the change process of the PWM value, judges whether the PWM value exceeds the unlocked PWM value or not when the current of the motor reaches the locked-rotor current value,
if the unlocking PWM value is crossed, the motor is normally locked after being unlocked in place,
if the unlocking PWM value is not reached, the motor is not unlocked in place, and abnormal locked rotor is judged.
Preferably, if the locking or unlocking process has not locked the rotor, the time is out, which indicates that the motor line is not connected.
Preferably, the method further comprises the following steps:
4) and after the judgment is finished, the judgment result is automatically sent out in a wireless or wired mode.
Preferably, the step 4) includes the following method: after the judgment is finished, the LED lamp prompts personnel, and the CAN bus is automatically communicated to send out the judgment result.
Preferably, the microprocessor may implement the steps of: receiving an externally sent command in real time, if the command is judged to be a locking command, executing a locking action, and returning a result; and if the command is judged to be the unlocking command, the unlocking action can be executed, and the result is returned.
Preferably, locking or unlocking is controlled by pressing a key and receiving an external communication command.
The invention also relates to a container locking and unlocking device which comprises a motor, a microprocessor and a circuit, wherein the microprocessor is connected with the motor through the circuit, and the microprocessor controls the angle of the motor through a PWM value.
Preferably, the locking and unlocking device further comprises a bolt, and the motor drives the bolt to move and is used for locking and unlocking the container.
Preferably, the lock-release device further comprises a CAN interface for communicating with the outside.
Preferably, the locking and unlocking device further comprises an LED lamp for indicating the locking and unlocking state of the container.
Preferably, the locking and unlocking device further comprises a key used for controlling the locking and unlocking of the container.
Preferably, the motor includes, but is not limited to, a steering engine and a stepping motor.
The invention can automatically judge the locking or unlocking state of the lock of the cargo container, send the locking state out in a wireless or wired way, and receive an external command to execute the locking or unlocking action and feed back the action.
Compared with the prior art, the invention has the following advantages:
1. the invention CAN control and automatically judge the locking and unloading states of the container and CAN communicate with external equipment through the CAN bus.
2. The invention can automatically judge the state of the lock without manual judgment.
3. The invention can send the state of the lock to remote equipment or personnel without manual notification.
4. The invention CAN lock or unlock through pressing keys or receiving control commands on the CAN bus.
5. The invention processes the locking or unlocking action by the machine, thereby improving the efficiency.
Drawings
The preferred embodiments of the present invention will be described in detail below with reference to the attached drawings, which are for the purpose of illustrating the preferred embodiments of the present invention and are not intended to limit the present invention. In the drawings, there is shown in the drawings,
FIG. 1 is a functional connection block diagram of an embodiment of the present invention;
fig. 2 is a schematic workflow diagram of an embodiment of the present invention.
Detailed Description
In order to make the technical solutions and advantages of the present invention more apparent, the following describes exemplary embodiments of the present invention in further detail with reference to the accompanying drawings. It is clear that the described embodiments are only a part of the embodiments of the invention, and not an exhaustive list of all embodiments. And the embodiments and features of the embodiments may be combined with each other without conflict.
A control method of a container locking and unlocking device comprises the following steps:
1) judging whether the motor is locked;
2) acquiring a fixed locking PWM value corresponding to the locking executed by the motor and a fixed unlocking PWM value corresponding to the unlocking;
3) and when the motor current reaches the locked rotor current value, comparing whether the PWM value exceeds a fixed PWM value or not, and judging whether to lock or unlock.
As a preferred embodiment, the judging method of step 1) includes:
11) the microprocessor acquires the real-time current value of the motor through a circuit;
12) whether the motor is locked up or not can be judged through the current: the locked rotor generates a large continuous current, and when the motor runs beyond the locking or unlocking range, the locked rotor is locked. The locking or unlocking range has a default initial value, and CAN be set and saved by a CAN communication command.
As a preferred embodiment, the method of step 2) comprises: the microprocessor controls the angle of the motor through the PWM value, the PWM value and the angle of the motor have one-to-one correspondence, and the fixed PWM value corresponding to locking and unlocking of the motor is measured.
As a preferred embodiment, the method for determining the locking in step 3) includes:
when needing to lock, microprocessor produces PWM, after motor current reached the locked-rotor current value, judges whether PWM value at this moment has crossed the PWM value of locking:
if the locked PWM value is crossed, the motor is normally locked in place,
if the locking PWM value is not reached, the motor is not locked in place, and abnormal locked rotor is judged.
As a preferred embodiment, the method for judging unlocking in step 3) includes:
when the unlocking is needed, the microprocessor generates PWM, the microprocessor collects the current value of the motor in real time in the change process of the PWM value, judges whether the PWM value exceeds the unlocked PWM value or not after the current of the motor reaches the locked-rotor current value,
if the unlocking PWM value is crossed, the motor is normally locked after being unlocked in place,
if the unlocking PWM value is not reached, the motor is not unlocked in place, and abnormal locked rotor is realized.
In a preferred embodiment, if the locking or unlocking process is not locked, the time is over, which indicates that the motor line is not connected.
As a preferred embodiment, the method further comprises the following steps:
4) and after the judgment is finished, the judgment result is automatically sent out in a wireless or wired mode.
As a preferred embodiment, the step 4) includes the following steps: after the judgment is finished, the LED lamp prompts personnel, and the CAN bus is automatically connected to send out the judgment result.
As a preferred embodiment, the microprocessor may implement the following steps: receiving an externally sent command in real time, if the command is judged to be a locking command, executing a locking action, and returning a result; and if the unlocking command is judged, the unlocking action can be executed, and the result is returned.
As a preferred embodiment, locking or unlocking is controlled by pressing a key and receiving an external communication command.
A container locking and unlocking device comprises a motor, a microprocessor and a circuit, wherein the microprocessor is connected with the motor through the circuit, and the microprocessor controls the angle of the motor through a PWM value.
As a preferred embodiment, the lock-unloading device further comprises a bolt, and the motor drives the bolt to move, so as to lock-unload the container.
As a preferred embodiment, the lock release device further comprises a CAN interface for communicating with the outside.
As a preferred embodiment, the locking and unlocking device further comprises an LED lamp for indicating the locking and unlocking state of the cargo box.
As a preferred embodiment, the locking and unlocking device further comprises a key for controlling the locking and unlocking of the container.
As a preferred embodiment, the motor includes, but is not limited to, a steering engine and a stepping motor.
[ examples ] A
The motor adopts a steering engine.
As shown in fig. 1 and 2, the container lock is formed by combining a bolt and a steering engine, the steering engine drives the bolt to move up and down, and the bolt is used for fixing a container; a container lock consisting of the steering engine and the bolt is connected with the microprocessor, and the steering engine is controlled by the microprocessor; the microprocessor MCU receives a command sent from the outside in real time, and if the command is judged to be a locking command, the microprocessor MCU can execute a locking action and return a result; and if the unlocking command is judged, the unlocking action can be executed, and the result is returned.
The container lock is provided with a CAN interface and a CAN receiving and transmitting chip to communicate with the outside; the LED lamp is used for indicating the locking and unlocking state of the container; the self-provided key is used for controlling the locking and unlocking of the container; the device can control locking or unlocking by pressing keys and receiving an external communication command;
specifically, the microprocessor MCU acquires a real-time current value of the steering engine through a circuit; when the steering engine runs beyond the locking or unlocking range, the steering engine can block rotation, the blocking rotation can generate large continuous current, and whether the steering engine blocks rotation or not can be judged through the current;
the microprocessor controls the angle of the steering engine through the PWM value; the PWM value and the angle of the steering engine have one-to-one correspondence; the action of unlocking and unlocking the steering engine has a fixed PWM value;
when needing to lock, microprocessor produces PWM, and the PWM value slowly increases or reduces from the unblock value to the value of locking, and the steering wheel current value is gathered in real time to the in-process microprocessor that the PWM value changes, after the steering wheel current reaches the locked PWM value, judges whether the PWM value of this moment has crossed the PWM value of locking, if cross the PWM value of locking, the explanation steering wheel is the normal locked-rotor after locking in place, if do not reach the PWM value of locking, the explanation steering wheel does not lock in place, is unusual locked-rotor.
When the steering engine needs to be unlocked, the microprocessor generates PWM, the PWM value is slowly increased or decreased from the unlocking value to the unlocking value, the microprocessor collects the current value of the steering engine in real time in the process of changing the PWM value, after the current of the steering engine reaches the locked-rotor current value, whether the PWM value exceeds the unlocked PWM value or not is judged, if the unlocked PWM value exceeds the unlocked PWM value, the steering engine is normally locked-rotor after the steering engine is unlocked in place, and if the unlocked PWM value is not reached, the steering engine is not unlocked in place, and abnormal locked-rotor is judged.
If the locking or unlocking process has no locked rotation all the time, overtime happens, and the steering engine line is considered not to be connected well;
after the judgment is finished, the LED lamp CAN prompt personnel, and the CAN bus CAN be automatically communicated to send out the judgment result.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. made on the basis of the present invention.
Claims (9)
1. A control method of a container locking and unlocking device is characterized by comprising the following steps:
1) judging whether the motor is locked;
2) acquiring a fixed locking PWM value corresponding to the locking executed by the motor and a fixed unlocking PWM value corresponding to the unlocking;
3) under the condition of motor stalling, comparing whether the PWM value at the moment exceeds a fixed PWM value, and judging whether to lock or unlock;
when needing to lock, microprocessor produces PWM, after motor current reaches the locked-rotor current value, judges whether PWM value this moment has crossed the PWM value of locking:
if the motor is locked in place, the motor is normally locked, and if the motor does not reach the locked PWM value, the motor is not locked in place, and the motor is abnormally locked.
2. The control method of a container lock-unloading device according to claim 1, wherein the judgment method in the step 1) comprises the following steps:
11) collecting a real-time current value of a motor;
12) judging whether the motor is locked through current: when the motor runs beyond the locking or unlocking range, the motor is locked.
3. The method of controlling a container lock-unloading device as claimed in claim 1, wherein the step 2) of measuring comprises:
and the microprocessor controls the angle of the motor through the PWM value which has one-to-one correspondence relation with the angle of the motor, and measures the fixed PWM value corresponding to the locking and unlocking of the motor.
4. The control method of the container lock-unloading device according to claim 1, wherein the judgment method of unlocking in the step 3) comprises the following steps:
when the unlocking is needed, the microprocessor generates PWM, the microprocessor collects the current value of the motor in real time in the change process of the PWM value, judges whether the PWM value exceeds the unlocked PWM value or not after the current of the motor reaches the locked-rotor current value,
if the unlocking PWM value is exceeded, indicating that the motor is normally locked after being unlocked in place;
if the unlocking PWM value is not reached, the motor is not unlocked in place, and abnormal locked rotor is judged.
5. The method of claim 1, wherein the motor line is disconnected if the locking or unlocking process is not locked.
6. The method for controlling a container lock-release device as defined in claim 5, further comprising the steps of:
4) after the judgment is finished, the judgment result is automatically sent out in a wireless or wired mode; the step 4) comprises the following steps: after the judgment is finished, the LED lamp prompts personnel, and the judgment result is automatically sent out through the CAN bus.
7. A cargo box locking and unlocking device is characterized by comprising a motor, a microprocessor and a circuit, wherein the microprocessor is connected with the motor through the circuit and controls the angle of the motor through a PWM value,
when needing to lock, microprocessor produces PWM, after motor current reaches the locked-rotor current value, judges whether PWM value this moment has crossed the PWM value of locking:
if the motor is locked in place, the motor is normally locked, and if the motor does not reach the locked PWM value, the motor is not locked in place, and the motor is abnormally locked.
8. The cargo box lock-release device as defined by claim 7, wherein the lock-release device further comprises a bolt, and the motor drives the bolt to move for locking and releasing the cargo box; still include the LED lamp for instruct packing box lock and unload the state.
9. The cargo box lock and release device of claim 7, further comprising a CAN interface for communicating with the outside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910236173.6A CN111749551B (en) | 2019-03-27 | 2019-03-27 | Container locking and unlocking device and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910236173.6A CN111749551B (en) | 2019-03-27 | 2019-03-27 | Container locking and unlocking device and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111749551A CN111749551A (en) | 2020-10-09 |
| CN111749551B true CN111749551B (en) | 2022-07-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910236173.6A Active CN111749551B (en) | 2019-03-27 | 2019-03-27 | Container locking and unlocking device and control method thereof |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1773070A (en) * | 2005-10-21 | 2006-05-17 | 李林青 | Method for controlling electric door lock and controller thereof |
| CN102312634A (en) * | 2010-07-07 | 2012-01-11 | 河南万鑫济科技有限公司 | Anti-pinching control method and control system for automotive electric window |
| CN106193820A (en) * | 2016-09-21 | 2016-12-07 | 北京美餐巧达科技有限公司 | Concealed remote control gate lock and control method thereof |
| CN207568405U (en) * | 2017-11-17 | 2018-07-03 | 安徽江淮汽车集团股份有限公司 | A kind of power windows control system |
| CN109505457A (en) * | 2018-12-20 | 2019-03-22 | 珠海格力电器股份有限公司 | Door lock, oven and door lock control method |
-
2019
- 2019-03-27 CN CN201910236173.6A patent/CN111749551B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1773070A (en) * | 2005-10-21 | 2006-05-17 | 李林青 | Method for controlling electric door lock and controller thereof |
| CN102312634A (en) * | 2010-07-07 | 2012-01-11 | 河南万鑫济科技有限公司 | Anti-pinching control method and control system for automotive electric window |
| CN106193820A (en) * | 2016-09-21 | 2016-12-07 | 北京美餐巧达科技有限公司 | Concealed remote control gate lock and control method thereof |
| CN207568405U (en) * | 2017-11-17 | 2018-07-03 | 安徽江淮汽车集团股份有限公司 | A kind of power windows control system |
| CN109505457A (en) * | 2018-12-20 | 2019-03-22 | 珠海格力电器股份有限公司 | Door lock, oven and door lock control method |
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| Publication number | Publication date |
|---|---|
| CN111749551A (en) | 2020-10-09 |
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