CN112671276A - Intelligent detection passing control system - Google Patents
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Abstract
The invention discloses an intelligent detection passing control system, which relates to the technical field of intelligent detection passing software and comprises a gate, a sensor arranged on the gate, an induction certificate reader, a card reader, a scanner, a machine core controller, a logic control panel and a fan door, wherein the induction certificate reader is arranged on the gate; the gate is controlled by a logic operation program; the logic operation program comprises a machine core control program and a passing logic operation program, and the logic operation program is used for receiving/controlling/feeding back the control of the induction certificate reader, the card reader, the scanner and the machine core to carry out logic operation so as to realize intelligent passing control. The logic control board adopts a split design, so that the wiring and power supply of one logic board can be effectively reduced, and more devices can be connected to realize the design function; the movement adopts the logic control of a rotation angle calculation method, so that the traffic is safer and more reliable; the system has the processing modes of normal passing, exception handling, error feedback, automatic reply and the like in the design, and has the effect of quickly and accurately controlling the passing.
Description
Technical Field
The invention relates to the technical field of intelligent detection passing software, in particular to an intelligent detection passing control system.
Background
At present, the intelligent passing gate is widely applied in the market, and along with the rapid development of electronic science technology and AI intelligent technology, the passing gate is continuously developed towards intellectualization. The logic of the software and the servo motor core determine the quality of the product in the aspect of intelligent control.
The current intelligent passing gate machine adopts single logic single-point control in a control mode, the logic is not very strong, and the control precision and time are poor.
Based on the above problems, it is necessary to provide an intelligent detection passing control system capable of greatly improving the control precision and time.
Disclosure of Invention
Aiming at the problem in practical application, the invention aims to provide an intelligent detection passing control system, which comprises the following specific schemes:
an intelligent detection passing control system comprises a gate, a sensor and an induction certificate reader arranged on the gate, a card reader, a scanner, a machine core controller, a logic control panel and a fan door, wherein the machine core is driven by a direct-current brushless servo motor;
the gate is controlled by a logic operation program, and the logic operation program is recorded in the logic control panel;
the logic operation program comprises a machine core control program and a passing logic operation program, and the logic operation program is used for receiving, controlling and feeding back the induction certificate reader, the card reader, the scanner and the machine core control to perform logic operation so as to realize intelligent passing control.
Further, the control step of the movement control program comprises:
the sensor detects the position of a rotor on the brushless DC motor, and a plurality of sensors fixed on a stator on the brushless DC servo motor are used for detecting the magnetic poles of the rotor on the brushless DC motor passing through the sensor;
when the N magnetic pole or the S magnetic pole on the rotor passes through the sensor, the sensor can send out different electric signals, and the accurate sequence of the reversing is judged according to the signals;
sequentially electrifying each phase by detecting the position of the motor rotor so as to continuously and uniformly change the direction of a magnetic field generated by the stator to realize the non-contact reversing of the motor;
the direct-current brushless servo motor is defined to rotate forwards to open the door leaf and rotate backwards to close the door leaf, so that the door leaf is opened and closed by controlling the forward and reverse rotation of the motor.
Further, the speed of the motor is adjusted by adopting a PWM (pulse width modulation) technology.
The brushless DC servo motor further comprises an encoder, wherein the encoder is arranged on the brushless DC servo motor;
the encoder is controlled by a digital circuit, and the digital circuit control adopts binary coding.
The gait recognition and the human body recognition are further judged through the passing logic operation program, and the passing logic operation program comprises a gait recognition algorithm and a human body recognition algorithm;
the gait recognition algorithm adopts images of moving objects to construct a space-time model, and the space-time model is formed into a cube by X, Y, Z three axes; when people and objects pass through the gate channel, the sensor collects a plurality of discrete points which are connected with the time series, and the discrete points are analyzed by means of a space-time model to give a result so as to correctly distinguish the people from the objects;
the human body recognition algorithm judges the shielding position of the sensor in the channel through the entrance of the passenger into the channel.
In the human body recognition algorithm, the state of the sensor in the gate channel is collected in real time through the logic control panel in the process of passing passengers.
Furthermore, the logic control board is designed into a split structure.
Compared with the prior art, the invention has the following beneficial effects: the logic board adopts split type design, namely two logic control boards are designed, so that the wiring and power supply of one logic board can be effectively reduced, more equipment can be connected to realize the design function, and certain benefits are provided for the layout and wiring of equipment components;
on the logic control of the machine core, a rotation angle calculation method is adopted for control, so that the rotation angle of a motor of the machine core can be well controlled, and meanwhile, the current change and the angle pre-judgment on the stopping, collision and rotation resistance are accurately controlled in the control, so that the time is saved, and the traffic is safer and more reliable;
the number of the sensors and different positions of the sensors are increased, and the system has processing modes of normal passing, abnormal processing, error feedback, automatic reply and the like in the design, so that the passing is controlled quickly and accurately.
Drawings
FIG. 1 shows the door opening operation when the DC brushless servo motor in the movement of the present invention is turned on;
FIG. 2 shows the door opening operation when the DC brushless servo motor in the movement of the present invention is turned off;
FIG. 3 is a square wave diagram of the present invention;
FIG. 4 is a schematic diagram of an optoelectronic code of the present invention;
FIG. 5 is a representation of binary code according to the present invention;
FIG. 6 is a state diagram of the human body passing sensor of the present invention;
FIG. 7 is a state diagram of the human body passing sensor of the present invention;
FIG. 8 is a state diagram of the sensor in accordance with the present invention when a person and an object are passing together;
FIG. 9 is a model diagram of the present invention when the human body passes;
FIG. 10 is a diagram of a model of an object of the present invention as it passes through;
FIG. 11 is a diagram of a channel detection region according to the present invention;
FIG. 12 is a diagram of a channel detection zone in accordance with the present invention;
FIG. 13 is a diagram of a lane safe zone of the present invention;
FIG. 14 is a diagram of the exit area of the channel of the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited to these examples.
An intelligent detection passing control system comprises a gate, a sensor and an induction certificate reader arranged on the gate, a card reader, a scanner, a machine core controller, a logic control panel and a fan door, wherein the machine core is driven by a direct current brushless servo motor.
The motor is used as the driving force of the machine core to drive the machine core to work so as to realize the opening and closing of the door leaf.
In order to realize the intelligent control of the whole gate, the gate is controlled by a logic operation program, and the logic operation program is recorded in a logic control panel.
The logic control board is designed to be in a split type design, namely the logic control boards are designed to be two, so that the wiring and power supply of one logic control board can be effectively reduced, more devices can be connected to realize the design function, and certain benefits are provided for the layout and wiring of the components of the devices.
The logic operation program comprises a machine core control program and a passage logic operation program, and the logic operation program is used for receiving/controlling/feeding back the induction certificate reader, the card reader, the scanner and the machine core control to perform logic operation so as to realize intelligent passage control.
The control steps of the movement control program comprise:
the sensor detects the position of a rotor on the motor, and the rotor magnetic poles on the motor passing through the sensor are detected by a plurality of sensors fixed on a stator on the motor;
when the N magnetic pole or the S magnetic pole on the rotor passes through the sensor, the sensor can send out different electric signals, and the accurate sequence of the reversing is judged according to the signals;
the position of the motor rotor is detected, and the phases are electrified in sequence, so that the direction of a magnetic field generated by the stator is continuously and uniformly changed, and the non-contact reversing of the motor is realized.
Starting characteristics in the motor, the potential balance equation is as follows:
U＝E+Ir+ΔU
wherein U is a supply voltage (V); e is armature winding back electromotive force (V); i is the average armature current (a); r is the average resistance (Ω) of the armature winding; Δ U is the power transistor saturation tube voltage drop (V).
Therefore, when the motor is started, the back electromotive force is zero, and the armature current formula is as follows:
because the mean value of the delta U and the r is small, when the torque is large and the rotating speed is low, the current I flowing through the armature winding and the switching device is large, and the motor can obtain large starting electromagnetic torque to drive the load. The back electromotive force generated in the rotation process of the rotor reduces the electromagnetic torque, and the drive current of the motor is reduced. The mechanical characteristics and the regulation of the machine are linear, the characteristics can well meet the requirement of rapidly and frequently starting equipment, and meanwhile, stepless speed regulation can be realized by regulating the power supply voltage.
Mechanical and speed-regulating characteristics
From the formula, at a constant voltage, the mechanical characteristics of the motor can be obtained by the following formula:
n is the motor speed (r/min); ke is the back electromotive force coefficient (V/r/min); km is a torque coefficient (N.M/A); m is an electromagnetic torque (N.M); under the same rotating speed, the output torque can be changed by changing the voltage;
under the same load, the speed can be adjusted by adjusting the power supply voltage. According to the characteristics, the quick opening and closing of the door can be started and stopped by fully utilizing the characteristics of the direct current motor to realize stable operation.
In actual control, the motor can be set to rotate forward to open the leaf door, and the motor can rotate backward to close the leaf door, and the opening and closing of the leaf door can be realized by controlling the forward and backward rotation of the motor, specifically referring to fig. 1-2, wherein fig. 1 shows the action of the leaf door when the motor in the movement is opened, and fig. 2 shows the action of the leaf door when the motor in the movement is closed.
The speed of the motor in the machine core is adjusted by adopting a PWM (pulse width modulation) technology. Under the action of the pulse, when the motor is electrified, the speed is increased; when the motor is powered off, the speed is gradually reduced.
With reference to figure 3 of the drawings,average voltage value U across armature winding of motorO:
Where α is the duty cycle, α is T1/T, α varies between 0 and 1. The speed of the motor can be adjusted by increasing or decreasing the duty ratio so as to increase or decrease the average voltage value of the armature. In practical application, the motor can be controlled in rotation speed by controlling the 8-bit timer/counter 2(T/C2) of the driving plate to generate the required PWM wave through programming.
In order to enable the gate machine to realize accurate in-place door opening and in-place door closing, the gate machine also adopts an encoder which is arranged on the motor.
Referring to fig. 4, an encoder is a device that compiles, converts, and formats signals (e.g., bitstreams) or data into a form of signals that can be communicated, transmitted, and stored. The encoder converts angular displacement or linear position into an electric signal, and the accurate control of the gate leaf door is realized through the change of the angle.
The coder is realized by a decimal coding or a coding circuit of certain characters and symbols. The digital circuit is controlled by adopting a binary code. Binary system has only two numbers of 0 and 1, and several 0 and 1 can be arranged according to a certain rule to form different codes (binary numbers) to represent a certain object or signal, see fig. 5.
The logical operation formula is as follows:
two, pass logical operation program
And judging the gait recognition and the human body recognition through a passing logical operation program, wherein the passing logical operation program comprises a gait recognition algorithm and a human body recognition algorithm.
The gait recognition algorithm is mainly based on the principle that recognition is carried out according to special gait characteristics when passengers walk. Different from other biological identification technologies, gait identification has unique advantages, such as non-contact, easiness in perception, difficulty in camouflage at a long distance and the like, and has strong accurate identification capability.
Adopting images of moving objects to construct a space-time model, wherein the space-time model is formed into a cube by X, Y, Z three axes; when people and objects pass through the gate passage, the sensor collects a plurality of discrete points which are connected with a time series, and the discrete points are analyzed by a space-time model to give a result so as to correctly distinguish the people from the objects.
Referring to fig. 6-8, fig. 6-7 show the sensor state diagram of human body passing, and fig. 8 shows the sensor state diagram when human body and object pass together.
After the spatiotemporal model is built, the models shown in fig. 9-10 are formed, the sensors transmit the discrete states to the main control unit for systematic data analysis, corresponding judgment is carried out according to different models, and finally the purpose of correctly distinguishing people from objects is achieved, for example, fig. 9-10 show model diagrams when a human body passes through, and fig. 10 show model diagrams when an object passes through.
The human body recognition algorithm judges the shielding position of the sensor in the channel through the entrance of the passenger into the channel.
The judgment method comprises the following steps: in the process of passenger passing, the passing logic control panel collects the states of the sensors in the passage in real time, and the state change of each sensor is stored in a register of the PCU as 0 or 1. The occluded and non-occluded states correspond to states of "0" and "1", respectively. At any time point t in the working state of the gate, the working state of Si (1 ≦ i ≦ 16) of the sensor can be represented as:
the working states of all the sensors at the moment t are as follows:
F(t)＝(f(t))i fi(t)＝S(i,t),1≤i≤16
the sensor state f (t) is a vector, and the large operating states of 16 pairs of sensors can be represented by the elements of the vector. When passengers pass through the gate passageway, all the sensors are in the states qt (f (t)) at the time t due to the fact that the sensors are shielded. The states of the optoelectronic switches form a sequence throughout the passage. If the sequence includes T sensor state vectors in the passenger passage time of total time T required for the moving individual to pass through the passage, the sequence is:
q ═ qt (qt) where qt ═ f (T), 0 ≦ T
The sensor state vector in a particular application of the one-way traffic gate may be defined in the following manner.
The state of the sensor in the channel is normal, and the sensor in the channel does not have any shelterable object, that is to say
F0 ═ F (ft) where fi is 0,1 ≦ i ≦ 16
After entering the channel detection region, only S1 and S2 are in the shielded state, i.e. the S1 and S2 are in the shielded state
F1 ═ fi (fi) where fi ═ 1 i ═ 1,2
fi-0 i-others.
Referring to fig. 11, fig. 11 shows a diagram of channel detection regions.
After entering the channel monitoring area, only S3, S4, S5, S6, S7 and S8 are in the shielded state, i.e. the S3, S4, S5, S6 and S8 are in the shielded state
F2 ═ fi (fi) where fi ═ 1 i ═ 3,4, 5, 6, 7, 8
fi-0 i-others.
Fig. 12 shows a channel detection zone map.
After entering the passage safety zone, only S9, S10, S11, S12, S13 and S14 are in the shielded state, namely
F2 ═ F (fi) where fi ═ 1 i ═ 9, 10, 11, 12, 13, 14
fi-0 i-others.
Referring to fig. 13, fig. 13 shows a view of the channel safety zone.
After entering the channel exit area, only S15 and S16 are in a shielded state, i.e. the channel exit area is shielded
F2 ═ fi (fi) where fi ═ 1 i ═ 15, 16
fi-0 i-others.
Referring to fig. 14, fig. 14 shows a view of the exit area of the channel.
If the two adjacent photoelectric switches are not in the shielded state, marking as F00; namely, it is
If the two photoelectric switches adjacent to the horizontal position are in the shielded state and the unshielded state respectively, marking as F10; namely, it is
Therefore, the identification of passengers entering the passage is realized by adopting a human body identification algorithm through the shielding position of the sensor.
In addition, the invention carries out pre-judgment on the stopping, collision and rotation of the door through current change and angle:
when the movement is blocked, the door leaf is prevented from being opened due to the locking force of the clutch, and the change of the current of the clutch is fed back by the system to reproduce the blocked state;
the 'collision' is controlled by an encoder of the machine core, the position of the door can be instantaneously changed on the encoder when the collision occurs, the encoder can detect the change and make processing feedback, and the system feeds back the 'collision' according to the information;
the 'locked-rotor' is also acted by the encoder, the 'locked-rotor' is because the encoder does not reach the position within the designed time, the encoder feeds back the data, and the system is regarded as 'locked-rotor' according to the feedback, because the encoder does not reach the position within the designed time and has large angular deviation.
The specific implementation principle of the invention is as follows: in the invention, the operation of the movement is controlled through logical operation, a logical operation program is recorded in a logical control board, reasonable and accurate logical judgment is carried out through the transmission feedback of information of various sensors, card readers, movement accessories and the like, accurate logical passing control is realized, each control is in millisecond level, a rotation angle calculation method is adopted for control, the rotation angle of a motor of the movement can be well controlled, and meanwhile, the control is accurately controlled on the prevention, collision and passing of current change and angle pre-judgment, so that the time is saved, and the passing is safer and more reliable.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (7)
1. An intelligent detection passing control system is characterized by comprising a gate, a sensor and an induction certificate reader which are arranged on the gate, a card reader, a scanner, a machine core controller, a logic control panel and a fan door, wherein the machine core is driven by a direct-current brushless servo motor;
the gate is controlled by a logic operation program, and the logic operation program is recorded in the logic control panel;
the logic operation program comprises a machine core control program and a passing logic operation program, and the logic operation program is used for receiving, controlling and feeding back the induction certificate reader, the card reader, the scanner and the machine core control to perform logic operation so as to realize intelligent passing control.
2. The intelligent detection traffic control system according to claim 1, wherein the control step of the movement control program includes:
the sensor detects the position of a rotor on the brushless DC motor, and a plurality of sensors fixed on a stator on the motor detect the magnetic poles of the rotor on the motor passing through the sensors;
when the N magnetic pole or the S magnetic pole on the rotor passes through the sensor, the sensor can send out different electric signals, and the accurate sequence of the reversing is judged according to the signals;
sequentially electrifying each phase by detecting the position of the motor rotor so as to continuously and uniformly change the direction of a magnetic field generated by the stator to realize the non-contact reversing of the motor;
the direct-current brushless servo motor is defined to rotate forwards to open the door leaf and rotate backwards to close the door leaf, so that the door leaf is opened and closed by controlling the forward and reverse rotation of the motor.
3. The intelligent detection traffic control system of claim 1, wherein the speed regulation of the brushless dc motor employs PWM pulse width modulation.
4. The intelligent detection traffic control system of claim 1, further comprising an encoder mounted on the motor;
the encoder is controlled by a digital circuit, and the digital circuit control adopts binary coding.
5. The intelligent detection passing control system according to claim 1, wherein gait recognition and human body recognition are judged by the passing logic operation program, and the passing logic operation program comprises a gait recognition algorithm and a human body recognition algorithm;
the gait recognition algorithm adopts images of moving objects to construct a space-time model, and the space-time model is formed into a cube by X, Y, Z three axes; when people and objects pass through the gate channel, the sensor collects a plurality of discrete points which are connected with the time series, and the discrete points are analyzed by means of a space-time model to give a result so as to correctly distinguish the people from the objects;
the human body recognition algorithm judges the shielding position of the sensor in the channel through the entrance of the passenger into the channel.
6. The intelligent detection traffic control system of claim 5, wherein in the human body recognition algorithm, the state of the sensor in the gate channel is collected in real time by the logic control board during the passing of passengers.
7. The intelligent traffic control system according to claim 1, wherein the logic control board is provided in a split structure.
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2020
- 2020-12-24 CN CN202011552704.1A patent/CN112671276A/en active Pending
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| US4673848A (en) * | 1984-12-29 | 1987-06-16 | Yoshida Kogyo K. K. | Control system for an automatic door |
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