CN114115019A - Self-locking control method of gate blocking part, gate control system and gate control equipment - Google Patents
Self-locking control method of gate blocking part, gate control system and gate control equipment Download PDFInfo
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Abstract
The embodiment of the application discloses a self-locking control method of a gate blocking component, a gate control system and gate control equipment, which are used for solving the problems that the moving speed and the self-locking moment of the blocking component cannot be considered in the self-locking mode of the existing gate blocking component, and the gate is easily damaged or fails in self-locking. The method comprises the following steps: determining a gate operation mode of a gate control system; if the gate operating mode is the self-locking mode, controlling the reduction ratio of the adjustable speed reducer to be a first reduction ratio corresponding to the self-locking mode; controlling the running current in the brake control system to be less than or equal to a preset current threshold; the stopper member is controlled to move in the direction of the target position at the first reduction gear ratio. According to the technical scheme, the self-locking torque of the blocking component in the self-locking mode and the moving speed of the blocking component in the non-self-locking mode can be considered, meanwhile, the condition that a brake control system breaks down due to overlarge running current can be avoided, and stable self-locking of the blocking component is realized.
Description
Technical Field
The application relates to the technical field of gate control, in particular to a self-locking control method of a gate blocking component, a gate control system and gate control equipment.
Background
In order to control the orderly passage of people, a pedestrian passageway gate is usually arranged at the entrance and exit where people walk, and the pedestrian passageway gate can be referred to as a gate for short. A personnel passage can be formed between the machine body of the gate and the machine body or between the machine body and the building facilities. When the motor control blocking part of the gate rotates to the door opening position, personnel can pass through, and when the motor control blocking part of the gate rotates to the door closing position, personnel can not pass through. In order to effectively prevent illegal intrusion, the barrier component of the gate needs to prevent the barrier component from moving under the influence of external force by increasing self-locking torque.
In the prior art, the self-locking torque is generally improved by two ways: firstly, the power of the motor is improved, and secondly, the reduction ratio of the speed reducer is improved. In the first mode, in order to improve the power of the motor, larger power supply power is inevitably used for supplying power, so that the cost is higher; although the second mode can improve the self-locking torque, the movement speed of the blocking part is slower due to the improvement of the reduction ratio, and the normal use of the gate is seriously influenced.
Disclosure of Invention
The embodiment of the application aims to provide a self-locking control method of a gate blocking component, a gate control system and gate control equipment, and aims to solve the problems that the moving speed and the self-locking moment of the blocking component cannot be considered in a self-locking mode of the existing gate blocking component, and the gate is easily damaged or fails in self-locking.
In order to solve the above technical problem, the embodiment of the present application is implemented as follows:
on one hand, the embodiment of the application provides a self-locking control method of a gate blocking component, which is applied to a gate control system, wherein the gate control system comprises a gate, the blocking component, a controller and an adjustable speed reducer; the blocking component, the controller and the adjustable speed reducer are respectively arranged on the gate; the controller is respectively connected with the blocking component and the adjustable speed reducer; the method comprises the following steps:
determining a gate operating mode of the gate control system;
if the gate operating mode is the self-locking mode, controlling the reduction ratio of the adjustable speed reducer to be a first reduction ratio corresponding to the self-locking mode;
controlling the running current in the gate control system to be less than or equal to a preset current threshold;
controlling the blocking member to move in a direction toward the target position at the first reduction gear ratio;
the self-locking mode is started when the gate control system does not receive a preset instruction and the blocking component deviates from the target position.
In another aspect, an embodiment of the present application provides a gate control system, including a gate, a blocking member, a controller, and an adjustable reducer; the blocking component, the controller and the adjustable speed reducer are respectively arranged on the gate; the controller is respectively connected with the blocking component and the adjustable speed reducer; wherein:
the controller is used for determining a gate operation mode of the gate control system; if the gate operating mode is the self-locking mode, controlling the reduction ratio of the adjustable speed reducer to be a first reduction ratio corresponding to the self-locking mode; controlling the running current in the gate control system to be less than or equal to a preset current threshold;
the adjustable speed reducer is used for switching the speed reduction ratio to the first speed reduction ratio corresponding to the self-locking mode under the control action of the controller;
the controller is further configured to control the blocking member to move in a direction toward the target position according to the first reduction ratio after the adjustable speed reducer switches the reduction ratio to the first reduction ratio;
the blocking component is used for moving towards the target position according to the first reduction ratio under the control action of the controller;
the self-locking mode is started when the gate control system does not receive a preset instruction and the blocking component deviates from the target position.
In another aspect, an embodiment of the present application provides a gate control device, which includes a processor and a memory electrically connected to the processor, where the memory stores a computer program, and the processor is configured to call and execute the computer program from the memory to implement the self-locking control method for the gate blocking component.
In still another aspect, an embodiment of the present application provides a storage medium for storing a computer program, where the computer program is executable by a processor to implement the self-locking control method for a gate barrier component described above.
By adopting the technical scheme of the embodiment of the application, when the gate running mode of the gate control system is the self-locking mode (when the gate control system does not receive the preset type of instruction and the blocking component is started when deviating from the target position), the reduction ratio of the adjustable speed reducer is controlled to be the first reduction ratio corresponding to the self-locking mode, and the reduction ratio corresponding to the self-locking mode is set to be larger, so that the self-locking moment of the blocking component is effectively improved, the blocking component is not easy to move under the influence of external force, and because the self-locking moment is large, the moving speed of the blocking component is slower, the reduction ratio of the adjustable speed reducer is controlled according to the gate running mode, the moving speed of the blocking component in the non-self-locking mode can be ensured, and the contradiction between the moving speed of the blocking component and the self-locking moment of the blocking component is effectively solved; meanwhile, when the gate running mode is the self-locking mode, the running current in the gate control system is controlled to be smaller than or equal to the preset current threshold, the condition that the gate control system breaks down due to overlarge running current is avoided, the blocking component can be accurately controlled to move towards the direction of the target position according to the first reduction ratio, and stable self-locking of the blocking component is achieved.
Further, the floodgate machine control system that this application embodiment provided, including floodgate machine, barrier part, controller and adjustable reduction gear set up respectively on the floodgate machine, the controller respectively with barrier part and adjustable reduction gear connection. The controller is used for determining a gate operation mode of the gate control system; if the gate operation mode is the self-locking mode (the gate control system is started when the preset type of instruction is not received and the blocking component deviates from the target position), the reduction ratio of the adjustable speed reducer is controlled to be the first reduction ratio corresponding to the self-locking mode, and the reduction ratio corresponding to the self-locking mode is set to be larger generally, so that the self-locking torque of the blocking component is effectively improved, the blocking component is enabled not to move easily under the influence of external force, and the movement speed of the blocking component is lower when the self-locking torque is large. And the adjustable speed reducer is used for switching the speed reduction ratio to a first speed reduction ratio corresponding to the self-locking mode under the control action of the controller. And the controller is also used for controlling the blocking component to move towards the target position according to the first reduction ratio after the reduction ratio is switched to the first reduction ratio by the adjustable speed reducer. And the blocking component is used for moving towards the target position according to the first reduction ratio under the control action of the controller. Meanwhile, the controller is used for controlling the running current in the brake control system to be smaller than or equal to a preset current threshold when the brake running mode is the self-locking mode, so that the condition that the brake control system breaks down due to overlarge running current is avoided, the blocking component can be accurately controlled to move towards the direction of the target position according to the first reduction ratio, and stable self-locking of the blocking component is realized.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without any creative effort.
FIG. 1 is a schematic flow chart diagram of a method of self-locking control of a gate blocking component according to an embodiment of the present application;
FIG. 2 is a schematic block diagram of a gate control system according to an embodiment of the present application;
FIG. 3 is a schematic block diagram of a gate control system according to another embodiment of the present application;
FIG. 4 is a schematic block diagram of a gate control system according to another embodiment of the present application;
FIG. 5 is a schematic flow chart diagram of a method of self-locking control of a gate blocking member according to another embodiment of the present application;
fig. 6 is a schematic structural diagram of a gate control device according to an embodiment of the present application.
Detailed Description
The embodiment of the application provides a self-locking control method of a gate blocking component, a gate control system and gate control equipment, and aims to solve the problems that the moving speed and the self-locking moment of the blocking component cannot be considered easily and the gate is damaged or the self-locking fails easily due to the self-locking mode of the existing gate blocking component.
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a schematic flow chart of a self-locking control method of a gate blocking component according to an embodiment of the application. The method of fig. 1 can be applied to a gate control system as shown in fig. 2, and referring to fig. 2, the gate control system can include: the gate machine 210, the blocking member 220, the controller 230 and the adjustable reducer 240, wherein the blocking member 220, the controller 230 and the adjustable reducer 240 are respectively arranged on the gate machine 210, and the controller 230 is respectively connected with the blocking member 220 and the adjustable reducer 240.
The gate is a passage blocking device (or called passage management device) for managing pedestrian flow and regulating pedestrian entrance and exit, and other names of the gate include but are not limited to swing gate, wing gate, translation gate speed gate and the like.
In this embodiment, the controller 230 is configured to determine a gate operating mode of the gate control system; if the gate operating mode is the self-locking mode, controlling the reduction ratio of the adjustable speed reducer 240 to be a first reduction ratio corresponding to the self-locking mode; and controlling the running current in the gate control system to be less than or equal to a preset current threshold value.
The self-locking mode is started when the gate control system does not receive the preset type command and the blocking member 220 deviates from the target position. Optionally, the preset class of instructions may include a door opening instruction, a door closing instruction, and the like.
In this embodiment, the adjustable speed reducer 240 is configured to switch the speed reduction ratio to a first speed reduction ratio corresponding to the self-locking mode under the control of the controller 230. The controller 230 is further configured to control the blocking member 220 to move toward the target position according to the first reduction ratio after the reduction ratio is switched to the first reduction ratio by the adjustable reducer 240. And a blocking member 220 for moving in a direction toward the target position at the first reduction gear ratio under the control of the controller 230.
In this embodiment, as shown in fig. 2, the controller 230 and the adjustable reducer 240 are respectively disposed inside the gate 210, and the adjustable reducer 240 is further connected to the blocking member 220. It should be noted that fig. 2 only schematically shows the positional relationship between the controller 230 and the adjustable speed reducer 240 and the gate 210. In practical applications, the controller 230 and the adjustable reducer 240 may also be disposed outside the gate, and the connection relationship between the components is kept unchanged.
As shown in fig. 1, the method may include the steps of:
s102, determining a gate operation mode of the gate control system.
The gate operation mode can include a self-locking mode and a non-self-locking mode. The self-locking mode is started when the gate control system does not receive the preset type command and the blocking component deviates from the target position.
Alternatively, the preset class instruction may be generated by user triggering. For example, for a subway gate, when a user performs any one of swiping a subway card, swiping a graphic code (such as a two-dimensional code and a bar code) and swiping a subway ticket, the generation of the preset class instruction may be triggered. In the above example, when the user does not perform the operation of swiping a subway card, swiping a graphic code or swiping a subway ticket, the gate control system does not receive the preset instruction, and at this time, if the user makes a hard break through the gate to cause the gate blocking component to deviate from the target position, the gate control system starts the self-locking mode.
And S104, if the gate operating mode is the self-locking mode, controlling the reduction ratio of the adjustable speed reducer to be a first reduction ratio corresponding to the self-locking mode.
The adjustable speed reducer can be a variable speed reduction ratio speed reducer, and the variable speed reduction ratio speed reducer can switch the speed reduction ratio to a first speed reduction ratio corresponding to a self-locking mode or switch the speed reduction ratio to a second speed reduction ratio corresponding to a non-self-locking mode under the control action of the controller according to the running mode of the gate machine. The first reduction ratio is larger than the second reduction ratio, and the larger the reduction ratio is, the larger the self-locking torque of the blocking member is.
And S106, controlling the running current in the gate control system to be less than or equal to a preset current threshold value.
S108, the blocking component is controlled to move towards the target position according to the first reduction ratio.
The target position may be a door-closed position, a door-open position, or any position between the door-closed position and the door-open position of the blocking member. For example, for a normally open gate, the target position corresponding to the blocking component is the open gate position; for a normally closed gate, the target position corresponding to the blocking component is a closed door position.
By adopting the technical scheme of the embodiment of the application, when the gate running mode of the gate control system is the self-locking mode (when the gate control system does not receive the preset type of instruction and the blocking component is started when deviating from the target position), the reduction ratio of the adjustable speed reducer is controlled to be the first reduction ratio corresponding to the self-locking mode, and the reduction ratio corresponding to the self-locking mode is set to be larger, so that the self-locking moment of the blocking component is effectively improved, the blocking component is not easy to move under the influence of external force, and because the self-locking moment is large, the moving speed of the blocking component is slower, the reduction ratio of the adjustable speed reducer is controlled according to the gate running mode, the moving speed of the blocking component in the non-self-locking mode can be ensured, and the contradiction between the moving speed of the blocking component and the self-locking moment of the blocking component is effectively solved; meanwhile, when the gate running mode is the self-locking mode, the running current in the gate control system is controlled to be smaller than or equal to the preset current threshold, the condition that the gate control system breaks down due to overlarge running current is avoided, the blocking component can be accurately controlled to move towards the direction of the target position according to the first reduction ratio, and stable self-locking of the blocking component is achieved.
In one embodiment, as shown in FIG. 3, the gate control system further includes a position detection device 310, the position detection device 310 being connected to the barrier member 220 and the controller 230, respectively. The position detecting device 310 is connected to the blocking member 220 through the motor 320 and the adjustable reducer 240 in sequence.
Alternatively, the controller may be a master control chip in a gate control system. As shown in fig. 3, the main control chip is provided with an I/O (input/output) interface, an ADC (Analog-to-Digital Converter) module, and a PWM (Pulse width modulation) module. The main control chip may be a DSP (Digital Signal Processing) chip, an ARM chip, or the like. The motor may be a dc brush motor, a dc brushless motor, or the like.
In this embodiment, the determining of the gate operation mode (i.e., S102) of the gate control system may be specifically performed as the following steps a1-a 4:
step a1, real-time position information of the barrier member is acquired.
And the real-time position information is detected by the position detection device. Based on the gate control system shown in fig. 3, the position detection device can acquire the rotor position information of the motor rotor and send the rotor position information to the controller through the I/O interface, so that the controller can determine the real-time position information of the blocking component according to the current reduction ratio of the adjustable speed reducer and the received rotor position information. The reduction ratio of the adjustable speed reducer is the ratio between the rotating speed of the motor rotor and the moving speed of the blocking component, namely the ratio between the rotor position and the real-time position.
Step A2, according to the real-time position information, judging whether the real-time position information matches with the target position.
Wherein, the real-time position information of the blocking component can be compared with the target position of the blocking component prestored in the controller; if not, determining that the real-time position information is not matched with the target position; if so, the real-time location information can be determined to match the target location.
Step A3, if the real-time position information is not matched with the target position and the gate control system does not receive the preset instruction, starting the self-locking mode and determining that the gate operation mode is the self-locking mode.
Step A4, if the real-time position information is not matched with the target position and the gate control system receives a preset instruction, or the real-time position information is matched with the target position, determining that the gate operation mode is a non-self-locking mode.
When the self-locking mode is not adopted, the gate blocking component works normally, the gate control system operates according to the second reduction ratio (namely the normal reduction ratio), and the controller can control the driving motor according to the three normal motors, namely the controller outputs the operating current according to the normal position control, speed control and current control. The normal speed reduction ratio is generally not large (generally between 30 and 60), and the rapidity of opening and closing the door by the gate blocking component can be ensured. In practical applications, the normal reduction ratio is designed with reference to the opening and closing speed of the blocking member.
In this embodiment, the real-time position information of the barrier component detected by the position detection device is obtained, so as to determine whether the real-time position information matches with the target position corresponding to the barrier component, and according to the determination result and in combination with whether the gate control system receives the preset instruction currently, the gate operation mode is determined to be the self-locking mode or the non-self-locking mode, so that the determined gate operation mode has better real-time performance and higher accuracy.
In one embodiment, as shown in fig. 3, the gate control system further includes a clutch 330, the clutch 330 is disposed between the controller 230 and the adjustable reducer 240, and a pull-in device (not shown in fig. 3) is disposed in the clutch 330. The adjustable reducer 240 is switched to a first reduction ratio when the attraction device attracts and to a second reduction ratio in a non-self-locking mode when the attraction device disconnects. The clutch 330 may be a hydraulic clutch, an electromagnetic clutch, or the like.
In this embodiment, when the reduction ratio of the adjustable speed reducer is controlled to be the first reduction ratio corresponding to the self-locking mode (i.e., S104 is executed), the engaging device in the clutch may be controlled to engage to trigger the adjustable speed reducer to switch the reduction ratio to the first reduction ratio.
For example, in the gate control system shown in fig. 3, the main control chip may output a high level signal through the I/O interface to control the attraction device in the clutch to attract.
In this embodiment, the gate control system controls the actuation of the actuation device in the clutch to trigger the adjustable speed reducer to switch the speed reduction ratio to the first speed reduction ratio, so that the effect of flexibly switching the speed reduction ratio of the adjustable speed reducer is realized, and the high-efficiency execution of the self-locking control of the gate blocking component is facilitated.
As shown in fig. 3, the gate control system further includes a driving circuit 340, an auxiliary power supply 350, and a sampling conditioning circuit 360. The main control chip is connected with the motor 320 through the driving circuit 340. The auxiliary power supply 350 is used to supply power to the driving circuit 340 and the main control chip. The sampling conditioning circuit 360 is connected to the driving circuit 340, and is configured to input the sampling voltage, the sampling current, and the like to the ADC module of the main control chip.
Wherein, drive circuit and motor phase-match. If the motor is a direct current brush motor, the drive circuit selects an H-bridge drive circuit; if the motor is a DC brushless motor, the driving circuit selects a three-phase inverter circuit. Fig. 3 schematically shows a three-phase inverter circuit matched with a dc brushless motor.
In one embodiment, controlling the operating current in the gate control system to be less than or equal to the predetermined current threshold (i.e., S106) may be specifically performed as: determining a first current value corresponding to the real-time position information of the blocking component according to a mapping relation between a preset current value and the position information of the blocking component, and judging whether the first current value is larger than a preset current threshold value or not; if the first current value is larger than the preset current threshold value, carrying out amplitude limiting processing on the operating current so as to enable the operating current to be smaller than or equal to the preset current threshold value; and if the first current value is not larger than the preset current threshold value, the amplitude limiting processing is not carried out on the running current.
The mapping relationship between the preset current value and the position information of the blocking component is the relationship between the input (real-time position information of the blocking component) and the output (current value) of the three-loop control of the motor in the self-locking mode.
For example, referring to fig. 4, the controller inputs the real-time position information of the blocking component into a motor three-loop control module inside the controller, the motor three-loop control module includes a position loop 410, a speed loop 420 and a current loop 430, the target position of the blocking component is processed by position planning to obtain the given value of the position loop (i.e. the target position of the processed blocking component), the given value of the position loop is input into the position loop 410, is deviated from the real-time position information of the blocking component fed back by the position detection device 310, and then is output as the given value of the speed loop by position control, and after the given value of the speed loop is deviated from the real-time speed of the blocking component fed back by the position detection device, is output as the given value of the current loop by speed control, and the given value of the current loop is processed by self-locking control, i.e. is processed as the given value of the current loop, so as to ensure that the current can be maintained at the preset amplitude limiting value under the mode-locking self-locking mode, the overcurrent fault caused by the fact that the current given value is continuously increased due to the integral link is avoided, after the current given value processed through self-locking control is deviated from the current value of the current running current fed back by the driving circuit 340, the current given value is output to the PWM module through current control, and the PWM module controls the driving circuit 340 to drive the motor 320 to rotate.
The position planning controls the blocking component to move from a real-time position to a target position, and the position planning mode can comprise a slope path, an S-curve path and the like. The position control, the speed control and the current control can be any one of proportional element P control, proportional integral element PI control, proportional integral derivative PID control and fuzzy control. The position control generally selects a proportional link P for control, and the speed control and the current control generally select a proportional integral link PI for control.
Optionally, the real-time position information and the speed of the blocking component fed back by the position detection device are calculated by the controller after the position detection device monitors the position of the motor rotor. The position detection device may be a position sensor, and the position sensor may be any one of a photoelectric encoder, a magnetoelectric encoder, and a hall sensor. The controller can convert the real-time position of the blocking component into the number of turns of the motor rotor according to the reduction ratio of the adjustable speed reducer, so that the real-time position control of the blocking component can be realized only by carrying out position control according to the number of turns of the motor rotor, and the rotating speed of the motor rotor can be calculated and obtained through an M method, a T method or an MT method according to the position pulse information output by the position detection device, and correspondingly, the moving speed of the blocking component can be obtained.
In this embodiment, the gate control system determines a first current value corresponding to the real-time position information of the blocking component according to a mapping relationship between a preset current value and the position information of the blocking component, and performs amplitude limiting processing on the running current when the first current value is greater than a preset current threshold value, so that the running current is less than or equal to the preset current threshold value, thereby effectively avoiding the situation that the gate control system fails due to the fact that the running current is too large, and realizing stable self-locking of the blocking component.
It should be noted that fig. 3 is a schematic block diagram obtained by further refining each component in the gate control system on the basis of fig. 2, and fig. 4 is a schematic block diagram obtained by further refining each module in the main control chip on the basis of fig. 3. Therefore, the components in fig. 3 and 4 having the same reference numbers or names as those in fig. 2 have the same functions, and are not described again here.
In one embodiment, controlling the blocking member to move in the direction of the target position at the first reduction gear ratio (i.e., S108) may be performed as: the blocking member is controlled to move to the target position at the first reduction gear ratio.
For example, in the case of a subway gate (wing gate), when the gate control system does not receive a preset command, if a user breaks the gate hard (i.e., an external force acting on the blocking member is generated) and the gate blocking member deviates from the target position, the gate control system starts the self-locking mode, and at this time, the gate control system controls the blocking member to move toward the target position according to the first reduction ratio. In the process of controlling the blocking component to move towards the target position according to the first reduction ratio, if a user gives up the hard gate-breaking machine, namely the external force acting on the blocking component disappears, the gate control system can control the blocking component to move to the target position according to the first reduction ratio; if the user keeps on running the gate hard, that is, if the external force acting on the barrier member is always present, the gate control system may control the barrier member to move in the direction of the target position at the first reduction gear ratio, in which case the barrier member may not necessarily move to the target position.
For example, the blocking member may not necessarily be movable to the target position, which may include the following two cases: the blocking component moves towards the direction of the target position, but cannot move to the target position under the influence of external force; the blocking component moves towards the direction of the target position, overcomes the influence of external force and moves to the target position.
In one embodiment, after controlling the barrier member to move in the direction of the target position at the first reduction gear ratio (i.e., performing S108), it may be determined whether the barrier member moves to the target position based on real-time position information of the barrier member while controlling the barrier member to move. If the blocking component is determined to move to the target position, the reduction ratio of the adjustable speed reducer is switched to a second reduction ratio in a non-self-locking mode; and stopping controlling the operating current in the gate control system.
Optionally, to achieve accurate self-locking of the gate blocking component, when it is determined that the blocking component moves to the target position and the gate control system receives a preset instruction, the reduction ratio of the adjustable speed reducer may be switched to the second reduction ratio in the non-self-locking mode, and the control of the operating current in the gate control system may be stopped.
In the embodiment, whether the blocking component moves to the target position or not is judged according to the real-time position information of the blocking component in the process of controlling the blocking component to move, the reduction ratio of the adjustable speed reducer is switched to the second reduction ratio in the non-self-locking mode when the blocking component moves to the target position, and the running current in the gate control system is stopped being controlled, so that the gate blocking component can normally work in the non-self-locking mode, and the influence on the normal use of a user is avoided.
Fig. 5 is a schematic flow chart of a self-locking control method of a gate blocking component according to another embodiment of the present application. The method of FIG. 5 is applicable to a gate control system that includes a gate, a blocking member, a controller, an adjustable retarder, a position detection device, and a clutch; the blocking component, the controller and the adjustable speed reducer are respectively arranged on the gate; the controller is sequentially connected with the clutch, the adjustable speed reducer and the blocking component, and the controller is further sequentially connected to the blocking component through the position detection device and the adjustable speed reducer.
As shown in fig. 5, the self-locking control method of the gate blocking member may include:
s501, acquiring real-time position information of the blocking component.
Wherein the real-time position information of the blocking member is detected by the position detecting means.
And S502, determining a gate operation mode of the gate control system according to the real-time position information. Then, S503 is executed, or S504 is executed.
In one embodiment, S502 may be specifically implemented as: judging whether the real-time position information is matched with the target position or not according to the real-time position information; if the real-time position information is not matched with the target position and the gate control system does not receive the preset instruction, starting a self-locking mode and determining that the gate operation mode is a self-locking mode; and if the real-time position information is not matched with the target position and the gate control system receives a preset instruction, or the real-time position information is matched with the target position, determining that the gate operation mode is a non-self-locking mode.
The self-locking mode is started when the gate control system does not receive a preset type instruction and the blocking component deviates from the target position.
And S503, if the gate operating mode is the non-self-locking mode, controlling the reduction ratio of the adjustable speed reducer to be a second reduction ratio corresponding to the non-self-locking mode, and controlling the driving blocking component to move according to the second reduction ratio according to the three-ring control of the normal motor. And then returns to execution S501.
S504, if the gate machine operation mode is the self-locking mode, controlling the reduction ratio of the adjustable speed reducer to be a first reduction ratio corresponding to the self-locking mode; and controlling the running current in the gate control system to be less than or equal to a preset current threshold.
In one embodiment, the controller may control an engaging device in the clutch to engage to trigger the adjustable speed reducer to switch the reduction ratio to the first reduction ratio.
In one embodiment, a first current value corresponding to real-time position information of the blocking component can be determined according to a mapping relation between a preset current value and the position information of the blocking component; judging whether the first current value is larger than a preset current threshold value or not; and if so, carrying out amplitude limiting processing on the operating current so as to enable the operating current to be smaller than or equal to a preset current threshold value.
And S505, controlling the blocking component to move towards the target position according to the first reduction ratio.
S506, in the process of controlling the blocking component to move, judging whether the blocking component moves to the target position according to the real-time position information of the blocking component; if yes, executing S507; if not, the process returns to step S505.
S507, the reduction ratio of the adjustable speed reducer is switched to a second reduction ratio in a non-self-locking mode; and stopping controlling the operating current in the gate control system.
The specific processes of S501 to S507 are described in detail in the above embodiments, and are not described herein again.
By adopting the technical scheme of the embodiment of the application, when the gate running mode of the gate control system is the self-locking mode (when the gate control system does not receive the preset type of instruction and the blocking component is started when deviating from the target position), the reduction ratio of the adjustable speed reducer is controlled to be the first reduction ratio corresponding to the self-locking mode, and the reduction ratio corresponding to the self-locking mode is set to be larger, so that the self-locking moment of the blocking component is effectively improved, the blocking component is not easy to move under the influence of external force, and because the self-locking moment is large, the moving speed of the blocking component is slower, the reduction ratio of the adjustable speed reducer is controlled according to the gate running mode, the moving speed of the blocking component in the non-self-locking mode can be ensured, and the contradiction between the moving speed of the blocking component and the self-locking moment of the blocking component is effectively solved; meanwhile, when the gate running mode is the self-locking mode, the running current in the gate control system is controlled to be smaller than or equal to the preset current threshold, the condition that the gate control system breaks down due to overlarge running current is avoided, the blocking component can be accurately controlled to move towards the direction of the target position according to the first reduction ratio, and stable self-locking of the blocking component is achieved.
In summary, particular embodiments of the present subject matter have been described. Other embodiments are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may be advantageous.
The self-locking control method and the gate control system for the gate blocking member according to the embodiment of the present application are described in detail below with reference to the gate control system shown in fig. 2 to 4.
As shown in fig. 2, the gate control system may include a gate 210, a barrier member 220, a controller 230, and an adjustable reducer 240, the barrier member 220, the controller 230, and the adjustable reducer 240 being respectively disposed on the gate 210, and the controller 230 being respectively connected to the barrier member 220 and the adjustable reducer 240. Wherein the content of the first and second substances,
a controller 230 for determining a gate operating mode of the gate control system; if the gate operating mode is the self-locking mode, controlling the reduction ratio of the adjustable speed reducer 240 to be a first reduction ratio corresponding to the self-locking mode; controlling the running current in the brake control system to be less than or equal to a preset current threshold;
an adjustable reducer 240 for switching the reduction ratio to a first reduction ratio corresponding to the self-locking mode under the control of the controller 230;
a controller 230, further configured to control the blocking member 220 to move toward the target position according to the first reduction ratio after the reduction ratio is switched to the first reduction ratio by the adjustable reducer 240;
a blocking member 220 for moving in a direction toward the target position at a first reduction ratio under the control of the controller 230;
the self-locking mode is started when the gate control system does not receive the preset type command and the blocking member 220 deviates from the target position.
In this embodiment, as shown in fig. 2, the controller 230 and the adjustable reducer 240 are respectively disposed inside the gate 210, and the adjustable reducer 240 is further connected to the blocking member 220. It should be noted that fig. 2 only schematically shows the positional relationship between the controller 230 and the adjustable speed reducer 240 and the gate 210. In practical applications, the controller 230 and the adjustable reducer 240 may also be disposed outside the gate 210, and the connection relationship between the components is kept unchanged.
In one embodiment, the gate control system further includes a position detection device 310; the position detecting device 310 is connected to the blocking member 220 and the controller 230, respectively;
a position detecting device 310 for detecting real-time position information of the blocking member 220 and transmitting the real-time position information to the controller 230;
a controller 230, further configured to obtain real-time position information of the blocking component 220; judging whether the real-time position information is matched with the target position or not according to the real-time position information; if the real-time position information is not matched with the target position and the gate control system does not receive the preset instruction, starting a self-locking mode and determining that the gate operation mode is a self-locking mode; and if the real-time position information is not matched with the target position and the gate control system receives a preset instruction, or the real-time position information is matched with the target position, determining that the gate operation mode is a non-self-locking mode.
In one embodiment, the controller 230 is further configured to determine a first current value corresponding to the real-time position information of the blocking member 220 according to a mapping relationship between a preset current value and the position information of the blocking member 220; judging whether the first current value is larger than a preset current threshold value or not; and if so, carrying out amplitude limiting processing on the operating current so as to enable the operating current to be smaller than or equal to a preset current threshold value.
In one embodiment, the gate control system further includes a clutch 330; a suction device is arranged in the clutch 330; the clutch 330 is disposed between the controller 230 and the adjustable reducer 240;
the controller 230 is further configured to send a pull-in instruction to the clutch 330 when the gate operating mode is the self-locking mode;
the suction device is used for sucking under the action of a suction instruction and triggering the adjustable speed reducer 240 to switch the reduction ratio;
the adjustable reducer 240 is further configured to switch the reduction ratio to the first reduction ratio upon activation of the clutch 330.
In one embodiment, the controller 230 is further configured to control the blocking member 220 to move to the target position at the first reduction ratio.
In one embodiment, the controller 230 is further configured to determine whether the blocking component 220 moves to the target position according to the real-time position information; if so, controlling the adjustable speed reducer 240 to switch the speed reduction ratio to a second speed reduction ratio corresponding to the non-self-locking mode; and stopping controlling the operating current in the gate control system;
the adjustable speed reducer 240 is further configured to switch the speed reduction ratio to a second speed reduction ratio in the non-self-locking mode under the control of the controller 230.
The floodgate machine control system that this application embodiment provided, including floodgate machine, block part, controller and adjustable reduction gear and set up respectively on the floodgate machine, the controller respectively with block part and adjustable reduction gear connection. The controller is used for determining a gate operation mode of the gate control system; if the gate operation mode is the self-locking mode (the gate control system is started when the preset type of instruction is not received and the blocking component deviates from the target position), the reduction ratio of the adjustable speed reducer is controlled to be the first reduction ratio corresponding to the self-locking mode, and the reduction ratio corresponding to the self-locking mode is set to be larger generally, so that the self-locking torque of the blocking component is effectively improved, the blocking component is enabled not to move easily under the influence of external force, and the movement speed of the blocking component is lower when the self-locking torque is large. And the adjustable speed reducer is used for switching the speed reduction ratio to a first speed reduction ratio corresponding to the self-locking mode under the control action of the controller. And the controller is also used for controlling the blocking component to move towards the target position according to the first reduction ratio after the reduction ratio is switched to the first reduction ratio by the adjustable speed reducer. And the blocking component is used for moving towards the target position according to the first reduction ratio under the control action of the controller. Meanwhile, the controller is used for controlling the running current in the brake control system to be smaller than or equal to a preset current threshold when the brake running mode is the self-locking mode, so that the condition that the brake control system breaks down due to overlarge running current is avoided, the blocking component can be accurately controlled to move towards the direction of the target position according to the first reduction ratio, and stable self-locking of the blocking component is realized.
It should be understood by those skilled in the art that the gate control system in fig. 2 to 4 can be used to implement the self-locking control method of the gate blocking component described above, and the detailed description thereof should be similar to the above description of the method, and therefore, in order to avoid the complexity, the detailed description thereof is omitted.
Based on the same idea, the embodiment of the present application further provides a gate control device, as shown in fig. 6. The gate control device may have a large difference due to different configurations or performances, and may include one or more processors 601 and a memory 602, where the memory 602 may store one or more stored applications or data. Wherein the memory 602 may be transient or persistent storage. The application program stored in memory 602 may include one or more modules (not shown), each of which may include a series of computer-executable instructions for controlling a gate in a gate control device. Still further, the processor 601 may be arranged in communication with the memory 602 to execute a series of computer executable instructions in the memory 602 on the gate control device. The gate control apparatus may also include one or more power supplies 603, one or more wired or wireless network interfaces 604, one or more input-output interfaces 605, one or more keyboards 606.
In particular, in this embodiment, the gate control device includes a memory, and one or more programs, wherein the one or more programs are stored in the memory, and the one or more programs may include one or more modules, and each module may include a series of computer-executable instructions for the gate control device, and the one or more programs configured to be executed by the one or more processors include computer-executable instructions for:
determining a gate operation mode of a gate control system;
if the gate operating mode is the self-locking mode, controlling the reduction ratio of the adjustable speed reducer to be a first reduction ratio corresponding to the self-locking mode;
controlling the running current in the brake control system to be less than or equal to a preset current threshold;
controlling the blocking member to move in a direction toward the target position at the first reduction gear ratio;
the self-locking mode is started when the gate control system does not receive a preset type instruction and the blocking component deviates from the target position.
By adopting the equipment of the embodiment of the application, when the gate running mode of the gate control system is the self-locking mode (when the gate control system does not receive the preset type of instructions and the blocking component is started when deviating from the target position), the reduction ratio of the adjustable speed reducer is controlled to be the first reduction ratio corresponding to the self-locking mode, and the reduction ratio corresponding to the self-locking mode is set to be larger, so that the self-locking torque of the blocking component is effectively improved, the blocking component is not easy to move under the influence of external force, and because the self-locking torque is large, the moving speed of the blocking component is slower, the reduction ratio of the adjustable speed reducer is controlled according to the gate running mode, the moving speed of the blocking component in the non-self-locking mode can be ensured, and the contradiction between the moving speed of the blocking component and the self-locking torque of the blocking component is effectively solved; meanwhile, when the gate running mode is the self-locking mode, the running current in the gate control system is controlled to be smaller than or equal to the preset current threshold, the condition that the gate control system breaks down due to overlarge running current is avoided, the blocking component can be accurately controlled to move towards the direction of the target position according to the first reduction ratio, and stable self-locking of the blocking component is achieved.
The embodiment of the present application further provides a storage medium, where the storage medium stores one or more computer programs, where the one or more computer programs include instructions, and when the instructions are executed by an electronic device including multiple application programs, the electronic device can execute each process of the foregoing self-locking control method for a gate blocking component, and can achieve the same technical effect, and in order to avoid repetition, details are not described here again.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functionality of the units may be implemented in one or more software and/or hardware when implementing the present application.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (12)
1. The self-locking control method of the gate blocking component is characterized by being applied to a gate control system, wherein the gate control system comprises a gate, the blocking component, a controller and an adjustable speed reducer; the blocking component, the controller and the adjustable speed reducer are respectively arranged on the gate; the controller is respectively connected with the blocking component and the adjustable speed reducer; the method comprises the following steps:
determining a gate operating mode of the gate control system;
if the gate operating mode is the self-locking mode, controlling the reduction ratio of the adjustable speed reducer to be a first reduction ratio corresponding to the self-locking mode;
controlling the running current in the gate control system to be less than or equal to a preset current threshold;
controlling the blocking member to move in a direction toward the target position at the first reduction gear ratio;
the self-locking mode is started when the gate control system does not receive a preset instruction and the blocking component deviates from the target position.
2. The method of claim 1, wherein the gate control system further comprises a position detection device; the position detection device is respectively connected with the blocking component and the controller;
the determining a gate operating mode of the gate control system includes:
acquiring real-time position information of the blocking component; the real-time position information is obtained by detecting through the position detection device;
judging whether the real-time position information is matched with the target position or not according to the real-time position information;
if the real-time position information is not matched with the target position and the gate control system does not receive the preset instruction, starting the self-locking mode and determining that the gate running mode is the self-locking mode;
and if the real-time position information is not matched with the target position and the gate control system receives the preset type instruction, or the real-time position information is matched with the target position, determining that the gate operation mode is a non-self-locking mode.
3. The method of claim 2, wherein the controlling the operating current in the gate control system to be less than or equal to a preset current threshold comprises:
determining a first current value corresponding to the real-time position information of the blocking component according to a mapping relation between a preset current value and the position information of the blocking component;
judging whether the first current value is larger than the preset current threshold value or not;
and if so, carrying out amplitude limiting processing on the operating current so as to enable the operating current to be smaller than or equal to the preset current threshold.
4. The method of claim 1, wherein the gate control system further comprises a clutch; a suction device is arranged in the clutch; the adjustable speed reducer is switched to the first speed reduction ratio when the suction device sucks; the clutch is arranged between the controller and the adjustable speed reducer;
the control the reduction ratio of adjustable reduction gear is the first reduction ratio that self-locking mode corresponds includes:
and controlling the suction device in the clutch to suck so as to trigger the adjustable speed reducer to switch the speed reduction ratio to the first speed reduction ratio.
5. The method according to claim 1, wherein said controlling the blocking member to move in the direction of the target position at the first reduction gear ratio comprises:
controlling the blocking member to move to the target position at the first reduction gear ratio.
6. The method according to claim 2, wherein after controlling the blocking member to move in the direction of the target position at the first reduction gear ratio, further comprising:
in the process of controlling the blocking component to move, judging whether the blocking component moves to the target position according to the real-time position information of the blocking component;
if so, switching the reduction ratio of the adjustable speed reducer to a second reduction ratio under a non-self-locking mode; and stopping controlling the operating current in the gate control system.
7. A gate control system is characterized by comprising a gate, a blocking component, a controller and an adjustable speed reducer; the blocking component, the controller and the adjustable speed reducer are respectively arranged on the gate; the controller is respectively connected with the blocking component and the adjustable speed reducer; wherein:
the controller is used for determining a gate operation mode of the gate control system; if the gate operating mode is the self-locking mode, controlling the reduction ratio of the adjustable speed reducer to be a first reduction ratio corresponding to the self-locking mode; controlling the running current in the gate control system to be less than or equal to a preset current threshold;
the adjustable speed reducer is used for switching the speed reduction ratio to the first speed reduction ratio corresponding to the self-locking mode under the control action of the controller;
the controller is further configured to control the blocking member to move in a direction toward the target position according to the first reduction ratio after the adjustable speed reducer switches the reduction ratio to the first reduction ratio;
the blocking component is used for moving towards the target position according to the first reduction ratio under the control action of the controller;
the self-locking mode is started when the gate control system does not receive a preset instruction and the blocking component deviates from the target position.
8. The system of claim 7, wherein the gate control system further comprises a position detection device; the position detection device is respectively connected with the blocking component and the controller;
the position detection device is used for detecting real-time position information of the blocking component and transmitting the real-time position information to the controller;
the controller is also used for acquiring real-time position information of the blocking component; judging whether the real-time position information is matched with the target position or not according to the real-time position information; if the real-time position information is not matched with the target position and the gate control system does not receive the preset instruction, starting the self-locking mode and determining that the gate running mode is the self-locking mode; and if the real-time position information is not matched with the target position and the gate control system receives the preset type instruction, or the real-time position information is matched with the target position, determining that the gate operation mode is a non-self-locking mode.
9. The system of claim 7, wherein the gate control system further comprises a clutch; a suction device is arranged in the clutch; the clutch is arranged between the controller and the adjustable speed reducer;
the controller is further used for sending a suction instruction to the clutch when the running mode of the gate is the self-locking mode;
the suction device is used for sucking under the action of the suction instruction and triggering the adjustable speed reducer to switch the reduction ratio;
the adjustable speed reducer is further used for switching the speed reduction ratio to the first speed reduction ratio under the triggering of the clutch.
10. The system of claim 8, wherein the controller is further configured to determine whether the blocking member is moved to the target position based on the real-time position information; if so, controlling the adjustable speed reducer to switch the speed reduction ratio to a second speed reduction ratio corresponding to a non-self-mode-locking mode; and stopping controlling the operating current in the gate control system;
and the adjustable speed reducer is also used for switching the speed reduction ratio to a second speed reduction ratio in a non-self-mode-locking mode under the control action of the controller.
11. A gate control device comprising a processor and a memory electrically connected to the processor, the memory storing a computer program, the processor being configured to invoke and execute the computer program from the memory to implement the self-locking control method of the gate barrier member according to any one of claims 1 to 6.
12. A storage medium for storing a computer program which, when executed by a processor, implements the self-locking control method of a gate barrier according to any one of claims 1 to 6.
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| CN111740665A (en) * | 2020-07-08 | 2020-10-02 | 杭州海康威视数字技术股份有限公司 | Method and system for realizing self-locking by motor-driven running mechanism |
| CN113005948A (en) * | 2021-03-22 | 2021-06-22 | 杭州海康威视数字技术股份有限公司 | Road gate and control method thereof |
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