CN113037145A - Electric door blocking judgment method and system - Google Patents

Electric door blocking judgment method and system Download PDF

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Publication number
CN113037145A
CN113037145A CN202011538460.1A CN202011538460A CN113037145A CN 113037145 A CN113037145 A CN 113037145A CN 202011538460 A CN202011538460 A CN 202011538460A CN 113037145 A CN113037145 A CN 113037145A
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CN
China
Prior art keywords
electric door
servo motor
door
judging
current
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202011538460.1A
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Chinese (zh)
Inventor
罗富章
杨朝光
彭锦文
赖时伍
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Maxvision Technology Corp
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Maxvision Technology Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Maxvision Technology Corp filed Critical Maxvision Technology Corp
Priority to CN202011538460.1A priority Critical patent/CN113037145A/en
Publication of CN113037145A publication Critical patent/CN113037145A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
    • E05Y2900/13—Type of wing
    • E05Y2900/132—Doors

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Power-Operated Mechanisms For Wings (AREA)

Abstract

The invention provides a method and a system for judging blocking of an electric door, wherein the method comprises the following steps: acquiring position information of the electric door and motor current of a servo motor for driving the electric door in real time; calculating the difference value between the obtained motor current and the normal current of the servo motor at the position; and if the difference value is greater than the set safety threshold value and lasts for the set time, judging that the electric door is blocked. By adopting the technical scheme of the invention, whether the electric door is blocked or not can be accurately judged.

Description

Electric door blocking judgment method and system
Technical Field
The invention relates to the field of electric door control, in particular to a method and a system for judging blocking of an electric door.
Background
The application of the servo controller on the market at present on the electric door is very extensive, and particularly the application on the channel gate can realize high-precision and high-efficiency control and can easily realize position control, speed control and torque control. The common gate machine uses position control, speed control and moment control.
The existing method for judging the blocking torque of the gate is basically a threshold judgment method, particularly the blocking judgment in the motion process of a servo control motor on the gate or an electric door, because the existing method for judging the threshold is based on setting a fixed threshold for current comparison, the judgment is made according to whether the current of the motor exceeds the threshold, if the motor moves at a low speed, the method can be used, but the general motion speed of a servo system is fast, the change of the current becomes irregular, and the conventional threshold judgment method cannot accurately judge whether the motor-controlled electric door moving at a high speed is blocked.
Disclosure of Invention
The invention aims to provide a method and a system for judging blocking of an electric door, so that whether the electric door is blocked or not can be accurately judged.
In an embodiment of the present invention, a method for determining blocking of an electric door is provided, which includes:
acquiring position information of the electric door and motor current of a servo motor for driving the electric door in real time;
calculating the difference value between the obtained motor current and the normal current of the servo motor at the position;
and if the difference value is greater than the set safety threshold value and lasts for the set time, judging that the electric door is blocked.
In the embodiment of the invention, if the difference is greater than the set safety threshold and the duration is less than the set time, the electric door is judged to be free from blocking.
In the embodiment of the invention, if the difference value is not greater than the set safety value, the electric door is judged to be free from blocking.
In the embodiment of the invention, the relation between the normal current of the servo motor and the position of the electric door is obtained by controlling the electric door to move back and forth and sampling when the servo motor is electrified for the first time.
In the embodiment of the invention, the position information of the electric door is the stroke pulse number fed back by the servo motor.
In an embodiment of the present invention, there is also provided a system for determining blocking of an electric door, including:
the acquisition module is used for acquiring the position information of the electric door and the motor current of a servo motor for driving the electric door in real time;
the calculation module is used for calculating the difference value between the acquired motor current and the normal current of the servo motor at the position;
and the judging module is used for judging whether the electric door is blocked according to the difference value, and if the difference value is greater than the set safety threshold value and lasts for the set time, judging that the electric door is blocked.
In the embodiment of the invention, if the difference is greater than the set safety threshold and the duration is less than the set time, the judgment module judges that the electric door is not blocked.
In the embodiment of the invention, if the difference value is not greater than the set safety value, the judgment module judges that the electric door is not blocked.
In the embodiment of the invention, the relation between the normal current of the servo motor and the position of the electric door is obtained by controlling the electric door to move back and forth and sampling when the servo motor is electrified for the first time.
In the embodiment of the invention, the position information of the electric door is the stroke pulse number fed back by the servo motor.
Compared with the prior art, the electric door blocking judgment method and the electric door blocking judgment system have the advantages that the position information of the electric door and the motor current of the servo motor for driving the electric door are obtained in real time, the difference value between the obtained motor current and the normal current of the servo motor at the position is calculated, if the difference value is larger than the set safety threshold value and lasts for the set time, the electric door is judged to be blocked, whether the electric door is blocked or not can be accurately judged, and therefore people are prevented from being collided with by the electric door in the movement process.
Drawings
Fig. 1 is a flowchart of a method for determining whether a door is blocked according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of the current and threshold curves of the servo motor during movement of the power door according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a power door blockage determination system according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following describes the implementation of the present invention in detail with reference to specific embodiments.
As shown in fig. 1, in the embodiment of the present invention, a method for determining blocking of an electric door is provided, which includes steps S1-S7. The following description will be made separately.
Step S1: and acquiring the position information of the electric door and the motor current of a servo motor for driving the electric door in real time.
In the embodiment of the invention, the position information of the electric door is the stroke pulse number fed back by the servo motor. It should be noted that the electric door moves for a fixed stroke every time the servo motor rotates one turn. When the servo motor rotates for one circle, a stroke pulse is fed back, and the position of the electric door can be obtained by counting the stroke pulse.
Step S2: and calculating the difference value between the acquired motor current and the normal current of the servo motor at the position.
In the embodiment of the invention, the relation between the normal current of the servo motor and the position of the electric door is obtained by controlling the electric door to move back and forth and sampling when the servo motor is electrified for the first time. The method comprises the steps that after the servo motor of the electric door is electrified, forward and reverse rotation is firstly carried out to find the forward and reverse edges, the low speed returns to the zero position, forward door opening and reverse door opening are carried out according to a preset movement route, a preset speed and an acceleration and deceleration, sampling current is sequentially obtained according to real-time pulse change after the action is started, then the sampling current is filtered, the reliability of the sampling current is ensured, and in the sampling process, the situation that blocking does not occur at the moment is required to be ensured, and the reliability of data is ensured.
Step S3: and judging whether the difference value is larger than a set safety threshold value.
Step S4: and if the difference is not greater than the set safety threshold, judging that the electric door is not blocked.
Step S5: and if the difference is greater than the set safety threshold, further judging whether the duration time of the difference greater than the set safety threshold reaches the set time.
Step S6: and if the duration time of the difference value which is greater than the set safety threshold reaches the set time, judging that the electric door is blocked.
Step S7: and if the duration time of the difference value which is greater than the set safety threshold value does not reach the set time, judging that the electric door is not blocked.
It should be noted that, since the real-time current of the servo motor is compared with the normal current at each position, the normal current is a dynamic value, and the deviation of the current of the servo motor relative to the normal current at each position can be accurately determined, when the deviation value is greater than the set threshold value, it can be determined that there is a blockage, if the duration of the deviation value is short, the normal state can be quickly recovered, it can be determined that the current is caused by voltage fluctuation or electromagnetic interference, the electric door is not blocked, and if the duration of the deviation value reaches the set time, it can be determined that the electric door has a blockage.
As shown in fig. 3, in the embodiment of the present invention, a system for determining blocking of an electric door is further provided, which includes an obtaining module 1, a calculating module 2, and a determining module 3. The following description will be made separately.
The acquisition module 1 is used for acquiring the position information of the electric door and the motor current of a servo motor for driving the electric door in real time. In the embodiment of the invention, the position information of the electric door is the stroke pulse number fed back by the servo motor.
And the calculating module 2 is used for calculating the difference value between the acquired motor current and the normal current of the servo motor at the position. In the embodiment of the invention, the relation between the normal current of the servo motor and the position of the electric door is obtained by controlling the electric door to move back and forth and sampling when the servo motor is electrified for the first time.
The judging module 3 is configured to judge whether the electric door is blocked according to the difference, and if the difference is greater than a set safety threshold and lasts for a set time, judge that the electric door is blocked; if the difference is greater than the set safety threshold value but the duration time is less than the set time, the judgment module 3 judges that the electric door is not blocked; if the difference value is not greater than the set safety value, the judgment module 3 judges that the electric door is not blocked.
In summary, by using the method and system for judging the blockage of the electric door, the position information of the electric door and the motor current of the servo motor driving the electric door are acquired in real time, the difference between the acquired motor current and the normal current of the servo motor at the position is calculated, if the difference is greater than the set safety threshold and lasts for the set time, the electric door is judged to be blocked, whether the electric door is blocked or not can be accurately judged, and therefore the electric door is prevented from colliding with people in the moving process.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. A method for judging blocking of an electric door is characterized by comprising the following steps:
acquiring position information of the electric door and motor current of a servo motor for driving the electric door in real time;
calculating the difference value between the obtained motor current and the normal current of the servo motor at the position;
and if the difference value is greater than the set safety threshold value and lasts for the set time, judging that the electric door is blocked.
2. The method as claimed in claim 1, wherein if the difference is greater than the set safety threshold but the duration is less than the set time, the electric door is determined to be not blocked.
3. The method as claimed in claim 1, wherein if the difference is not greater than the predetermined safety value, the door is determined to be free of obstruction.
4. The method as claimed in claim 1, wherein the relationship between the normal current of the servo motor and the position of the power door is obtained by sampling the back and forth movement of the power door when the servo motor is first powered on.
5. The electric door blockage judging method according to claim 1, wherein the position information of the electric door is the number of stroke pulses fed back by the servo motor.
6. An electric door blocking judgment system, characterized by comprising:
the acquisition module is used for acquiring the position information of the electric door and the motor current of a servo motor for driving the electric door in real time;
the calculation module is used for calculating the difference value between the acquired motor current and the normal current of the servo motor at the position;
and the judging module is used for judging whether the electric door is blocked according to the difference value, and if the difference value is greater than the set safety threshold value and lasts for the set time, judging that the electric door is blocked.
7. The electric door obstruction determination system of claim 6, wherein the determination module determines that the electric door is not obstructed if the difference is greater than a set safety threshold but the duration is less than a set time.
8. The electric door obstruction judgment system of claim 6, wherein the judgment module judges that the electric door is not obstructed if the difference is not greater than a set safety value.
9. The electric door blockage assessment system as claimed in claim 6, wherein the normal current of the servo motor is related to the position of the electric door by controlling the electric door to move back and forth when the servo motor is initially powered on.
10. The electric door blockage assessment system as claimed in claim 6, wherein the position information of the electric door is the number of stroke pulses fed back by the servo motor.
CN202011538460.1A 2020-12-23 2020-12-23 Electric door blocking judgment method and system Pending CN113037145A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011538460.1A CN113037145A (en) 2020-12-23 2020-12-23 Electric door blocking judgment method and system

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Application Number Priority Date Filing Date Title
CN202011538460.1A CN113037145A (en) 2020-12-23 2020-12-23 Electric door blocking judgment method and system

Publications (1)

Publication Number Publication Date
CN113037145A true CN113037145A (en) 2021-06-25

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114893095A (en) * 2022-04-22 2022-08-12 湖南联诚轨道装备有限公司 Intelligent door control system for sliding groove structure of railway locomotive

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105401822A (en) * 2015-12-31 2016-03-16 北京经纬恒润科技有限公司 Anti-pinch method and system for electric side-sliding door
CN106285281A (en) * 2016-10-28 2017-01-04 北京经纬恒润科技有限公司 The anti-clamping method of a kind of automobile door lock and device
CN106567635A (en) * 2016-10-21 2017-04-19 简式国际汽车设计（北京）有限公司 Electric slide door anti-pinch method and system
US20180298668A1 (en) * 2015-11-06 2018-10-18 Automotive Lighting Italia S.P.A. Anti-pinch circuit device for an apparatus for automatic movement of sliding windows in a motor vehicle, and corresponding method
CN112012612A (en) * 2020-09-11 2020-12-01 广东蓝水花智能电子有限公司 Anti-pinch safety control method, device and system for automatic door current detection

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180298668A1 (en) * 2015-11-06 2018-10-18 Automotive Lighting Italia S.P.A. Anti-pinch circuit device for an apparatus for automatic movement of sliding windows in a motor vehicle, and corresponding method
CN105401822A (en) * 2015-12-31 2016-03-16 北京经纬恒润科技有限公司 Anti-pinch method and system for electric side-sliding door
CN106567635A (en) * 2016-10-21 2017-04-19 简式国际汽车设计（北京）有限公司 Electric slide door anti-pinch method and system
CN106285281A (en) * 2016-10-28 2017-01-04 北京经纬恒润科技有限公司 The anti-clamping method of a kind of automobile door lock and device
CN112012612A (en) * 2020-09-11 2020-12-01 广东蓝水花智能电子有限公司 Anti-pinch safety control method, device and system for automatic door current detection

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114893095A (en) * 2022-04-22 2022-08-12 湖南联诚轨道装备有限公司 Intelligent door control system for sliding groove structure of railway locomotive

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Application publication date: 20210625