Method for detecting external force borne by gate, method for locking gate, gate and computer readable storage medium

Abstract

The embodiment of the invention relates to a method for detecting external force borne by a gate, a method for locking the gate, the gate and a computer readable storage medium. The method for detecting the external force borne by the gate comprises the steps that the torque current of a motor is detected, the output torque of the motor is determined according to the torque current, and the output force of the motor is further determined according to the output torque; detecting position data of the motor and determining the speed and the acceleration of the gate according to the position data; determining wind resistance applied to the gate according to the speed of the gate; the resultant force borne by the gate is determined according to the accelerated speed of the gate; and the external force borne by the gate is determined according to the output force of the motor, the wind resistance and the resultant force borne by the gate. When the method is used for detecting the external force or other similar external force applied to the gate by a person, the response is sensitive, and whether the external force is applied by the person or certain force is generated during the operation of the electric gate can be distinguished. Moreover, the method is realized mainly based on calculation of some basic physical quantities related to the motor instead of setting related high-cost sensors, so that the cost can be remarkably reduced, and large-scale application can be realized.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of gate machines, and in particular to a method for detecting external forces acting on a gate, a method for locking a gate, a gate, and a computer-readable storage medium. Background Art

[0002] Currently, gate machines use acceleration and deceleration devices and information from encoder position changes to determine whether someone is pushing or breaking through the gate. However, this method does not respond fast enough. If the relevant threshold is set very small, it is impossible to determine whether the change is caused by the automatic control of the gate or the external force applied by a person. Moreover, this method is difficult to implement on direct-drive motor gates.

[0003] Therefore, there needs to be a quick response mechanism to brake the gate. Once it is detected that someone is forcing his way through the gate, the gate can stop immediately while also protecting the safety of the person. Summary of the Invention

[0004] In view of the above technical background and some technical problems involved, the first aspect of an embodiment of the present application provides a method for detecting the external force applied to a gate, wherein the gate is driven by a motor. The method may include: detecting the torque current of the motor and determining the output torque of the motor based on the torque current, and further determining the output force of the motor based on the output torque; detecting the position data of the motor and determining the speed and acceleration of the gate based on the position data; determining the wind resistance applied to the gate based on the speed of the gate; determining the resultant force applied to the gate based on the acceleration of the gate; and determining the external force applied to the gate based on the output force of the motor, the wind resistance and the resultant force applied to the gate.

[0005] This method, used to detect human-applied forces or other similar external forces, is highly responsive and can distinguish between human-applied forces and forces generated by the gate's own operation. Furthermore, the method relies primarily on calculations of basic motor physical quantities, rather than expensive sensors, significantly reducing costs and enabling large-scale deployment.

[0006] Optionally, the torque current is measured by a FOC current sampling algorithm.

[0007] Optionally, the output torque of the motor is calculated based on the torque current, the magnetic flux of the motor, the rotation radius of the motor and the torque parameter.

[0008] Optionally, the position data of the motor is detected by an encoder and the position is converted and calculated to indirectly obtain the speed of the gate.

[0009] Optionally, the acceleration of the gate is obtained by performing differential calculation on the velocity of the gate.

[0010] Optionally, the wind resistance is calculated based on the speed and wind resistance parameters of the gate.

[0011] Optionally, the resultant force of the gate is calculated based on the acceleration of the gate and the mass of the gate.

[0012] Optionally, the external force applied to the gate is determined by the following mathematical model:

[0013] f wai =f motor -f wind -ma (1)

[0014] Among them, f wai is the external force, f motor is the output force of the motor, f wind is the wind resistance of the gate, and ma is the resultant force acting on the gate.

[0015] The second aspect of the embodiment of the present application also provides a method for locking the gate, which may include the following steps: detecting the external force applied to the electric gate according to the method described in the first aspect of the embodiment of the application; comparing the size of the detected external force with a predetermined threshold; if the external force exceeds the predetermined threshold, determining that the gate is in an abnormal state; in response to determining that the gate is in an abnormal state, controlling the electronic brake to produce an action to lock the gate.

[0016] Optionally, the electronic brake is controlled to generate a braking action to lock the gate within a predetermined time; it is determined whether the duration of the braking action exceeds the predetermined time; if so, the electronic brake is controlled to release the braking action to release the gate.

[0017] The third aspect of the embodiment of the present application further provides a method for detecting the external force exerted on a gate, wherein the gate is driven by a motor. The method may include: obtaining relevant parameters of the motor, including the motor magnetic flux q and the rotation radius r; detecting the torque current i of the motor through the FOC current sampling algorithm; constructing a first mathematical model based on the torque current i to determine the output force f of the motor motor ; The first mathematical model is as follows:

[0018] f motor =(i*q*r*p1) / r1 (2)

[0019] Wherein, p1 is the torque parameter, r1 is the lever arm of the motor;

[0020] The position data of the motor is detected by an encoder, and the rotation speed v of the gate is indirectly calculated based on the position data; the rotation speed v is differentiated to obtain the acceleration a of the gate; a second mathematical model is constructed based on the rotation speed v to determine the wind resistance f applied to the gate wind ; The second mathematical model is as follows:

[0021] f wind =v*p2 (3)

[0022] Among them, p2 is the wind resistance parameter;

[0023] The resultant force of the gate is calculated as ma according to the acceleration a and the mass m of the gate;

[0024] According to the output force f of the motor motor , wind resistance f wind The resultant force ma is used to construct a third mathematical model to determine the external force f applied to the gate. wai ; The third mathematical model is as follows:

[0025] f wai =f motor -f wind -ma. (1)

[0026] Because this model directly detects torque current, it can be used to detect external forces applied to the gate by humans or other similar forces, resulting in a sensitive response. It can distinguish between human-applied forces and forces generated by the gate's own operation. Furthermore, this method relies primarily on the calculation of basic motor physical quantities, rather than requiring costly sensors. Torque current, as a direct factor affecting the motor's output torque, is crucial to the model's accuracy and responsiveness.

[0027] The fourth aspect of the embodiments of the present application also provides a method for locking a gate, which is driven by a motor. The method may include: detecting the external force applied to the gate according to the method described in the third aspect of the embodiments of the present application; comparing the size of the detected external force with a predetermined threshold; if the external force exceeds the predetermined threshold, determining that the gate is in an abnormal state; in response to determining that the gate is in an abnormal state, controlling the electronic brake to generate a braking action to lock the gate within a predetermined time; determining whether the braking action lasts for more than the predetermined time; if so, controlling the electronic brake to release the braking action to release the gate.

[0028] According to a fifth aspect of an embodiment of the present application, there is provided a gate driven by a motor, which may include: a first detection module for detecting the torque current of the motor and determining the output torque of the motor according to the torque current, and further determining the output force of the motor according to the output torque; a second detection module for detecting the position data of the motor and determining the speed and acceleration of the gate according to the position data; a first calculation unit for calculating the wind resistance applied to the gate according to the speed of the gate; a second calculation unit for determining the resultant force applied to the gate according to the acceleration of the gate; a third calculation unit for calculating the resultant force applied to the gate according to the output force, wind speed and the acceleration of the gate; and a third calculation unit for calculating the resultant force applied to the gate according to the output force, wind speed and the acceleration of the gate. the external force acting on the gate is determined by the resistance and the resultant force acting on the gate; a first comparing unit is used to compare the size of the detected external force with a predetermined threshold; a first judging unit is used to judge that the gate is in an abnormal state when the external force exceeds the predetermined threshold; a first control unit is used to control the electronic brake to generate a braking action in response to judging that the gate is in an abnormal state to lock the gate within a predetermined time; a second comparing unit is used to compare whether the duration of the braking action exceeds the predetermined time; a second control unit is used to control the electronic brake to release the braking action to release the gate when the duration of the braking action exceeds the predetermined time.

[0029] A sixth aspect of an embodiment of the present application provides a gate driven by a motor, which may include: a memory; and a processor coupled to the memory, the processor being configured to execute the method described in any one of the first to fourth aspects of the embodiment of the present application based on instructions stored in the memory.

[0030] A seventh aspect of the embodiments of the present application relates to a non-volatile computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any one of the first to fourth aspects of the embodiments of the present application.

[0031] An eighth aspect of the embodiments of the present application further relates to a method for detecting an external force applied to a gate, wherein the gate is driven by a motor. The method may include the following steps:

[0032] Obtain relevant parameters of the motor, including motor magnetic flux Q and rotation radius R;

[0033] The torque current I of the motor is detected by the FOC current sampling algorithm;

[0034] A first mathematical model is constructed according to the torque current I to determine the output torque F of the motor. motor ;

[0035] The first mathematical model is as follows:

[0036] Fmotor =(I*Q*R*P1) (4)

[0037] Among them, P1 is the torque parameter;

[0038] Detecting the position data of the motor through an encoder, and performing differential calculation based on the position data to obtain the motor rotation speed V;

[0039] Performing differentiation processing on the motor rotation speed V to obtain the motor acceleration A;

[0040] A second mathematical model is constructed based on the rotation speed V to determine the wind resistance F applied to the gate. wind ;

[0041] The second mathematical model is as follows:

[0042] F wind＝ V*P2 (5)

[0043] Among them, P2 is the wind resistance parameter;

[0044] The resultant force of the gate is calculated as MA according to the motor acceleration A and the mass M of the gate;

[0045] According to the output torque F of the motor motor , wind resistance F wind The resultant force MA is used to construct a third mathematical model to determine the external force F applied to the gate. wai ;

[0046] The third mathematical model is as follows:

[0047] F wai =F motor -F wind -MA. (6) BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0049] Figure 1 This is a scene diagram of pedestrians passing through an electric gate in one embodiment of the present application;

[0050] Figure 2 A flowchart of a method for an intervention mechanism of an electric gate in one embodiment of the present application;

[0051] Figure 3This is a system diagram of an electric gate in one embodiment of the present application;

[0052] Figure 4 This is a system diagram of another electric gate in one embodiment of the present application;

[0053] Figure 5 This is a system composition diagram of another electric gate in an embodiment of the present application. DETAILED DESCRIPTION

[0054] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other alternatives than those described herein, and those skilled in the art can make similar improvements to achieve the same or similar functional effects without violating the connotations of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0055] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0056] In addition, the term "coupling" used in this disclosure may refer to two or more elements making direct physical, electrical, or communication contact / connection with each other, or making indirect physical, electrical, or communication contact / connection with each other, and may also refer to two or more elements operating or acting on each other.

[0057] refer to Figure 1, which shows an electric gate / gate machine 10, which may include a gate 12 that can rotate in the forward and backward directions indicated by D. The gate 12 may be driven by a motor 14. Specifically, the motor 14 may be an outer rotor brushless motor. The motor 14 includes an output shaft 15 that is connected to the gate 12 to drive the gate 12 to rotate. When pedestrians (11, 16) arrive at the gate, based on some sensor information (such as pedestrian card swiping / face recognition / infrared sensing), the gate 12 will open (for example, rotate from back to front in direction D) to allow the pedestrian to pass. However, a situation may arise where a pedestrian breaks through the gate. For example, the first person 16 has legal access, but the second person 11 does not. The second person 11 may reset the gate after letting pedestrian 16 pass, or forcefully push the gate open during the reset process. In this case, the gate 12 must be locked to prevent pedestrian 11 from illegally breaking in / passing. Therefore, the electric gate 10 requires an automatic intervention mechanism to identify whether someone is forcibly breaking through the gate. At the same time, this mechanism may also need to protect the safety of pedestrians, and this mechanism may also need to take into account non-human-driven scenarios (such as strong winds).

[0058] In the aforementioned intervention mechanism, it is very important to accurately and sensitively identify the external force or external torque applied by the person to the gate 12. Only in this way can the electric gate 10 intervene quickly. Therefore, based on this consideration at least, the first aspect of the embodiment of the present application provides a method for detecting the external force applied to the electric gate to meet the needs of the pre-intervention mechanism. Specifically, the establishment of the dynamic equation of this method can be based on Figure 1 Let's make some explanation. In the first case, refer to Figure 1 For example, at this time, the gate 12 is in the process of resetting after letting the pedestrian 16 pass (i.e., resetting along the direction d). At this time, the pedestrian 11 wants to break through the gate and forcibly pushes the gate 12 in the direction opposite to the direction d. At this time, the force applied by the pedestrian 11 to the gate 12 is, for example, f wai , the external force f wai The direction of the output torque of the motor 14 is opposite to that of the kinetic moment of the gate 12. At the same time, since the gate 12 is in the process of resetting, it will also be subjected to a reaction of wind resistance, such as f wind , and its direction is the same as the direction of the human thrust. Based on these situations, a simple dynamic balance equation / model can be established, such as a dynamic balance model based on a rotational system or a linear mechanical balance model. Of course, it is worth noting that the establishment of a mechanical model itself is a complex process, so the solution of the embodiment of this application is a simplified model to a certain extent. However, the most important thing is that this model can achieve a good intervention effect in actual application and can indeed meet various design requirements of the electric gate, such as preventing intrusion / pedestrian safety, etc. (Details will be described below)

[0059] refer to Figure 2 , the intervention prediction method may include the following steps:

[0060] Step S100: detecting the torque current of the motor and determining the output torque of the motor according to the torque current, and further determining the output force of the motor according to the output torque.

[0061] Specifically, the torque current i of the motor 14 can be detected by the FOC current sampling algorithm, and the relevant factory parameters of the motor 14, such as the motor magnetic flux q and the motor rotation radius r, can be obtained. Then, a first mathematical model can be constructed based on the torque current i to determine the output torque f of the motor 14. motor , the first mathematical model is as follows:

[0062] f motor＝ (i*q*r*p1) / r1 (2)

[0063] Among them, p1 is the torque parameter, r1 is the lever arm of the motor, and the lever arm is also the radius or distance of the force, that is, the distance from the motor shaft to the point of force application. Here, the symbol "*" means mathematical multiplication, wherein p1 is the torque parameter, and the torque parameter can be adjusted by software to determine a suitable value. The torque parameter p1 can be pre-calculated based on the physical design and material properties of the motor, or determined by experiment. It is a bridge between theoretical calculations and actual outputs, ensuring the accuracy and reliability of the model. In short, p1 is an adjustment coefficient that reflects the impact of motor design details and operating conditions on the output torque.

[0064] Step S101: detecting the position data of the motor and determining the speed and acceleration of the gate according to the position data.

[0065] Specifically, an encoder (not shown) or similar sensor installed in the motor 14 can detect angular position data of the motor 14, and the angular data can be differentiated to obtain the rotational speed v of the motor 14. The rotational speed can be an angular speed or a linear speed. The rotational speed v can be further differentiated to obtain the rotational acceleration a of the motor 14. The rotational angular speed can also be an angular acceleration or a linear acceleration.

[0066] Step S102: determining the wind resistance applied to the gate according to the speed of the gate.

[0067] Specifically, a second mathematical model can be constructed based on the rotation speed v to determine the wind resistance torque f applied to the electric gate. wind , the second mathematical model is as follows:

[0068] f wind＝ vp2 (3)

[0069] Where p2 is the windage parameter. In this model, p2 is a simplified proportionality factor used to convert the motor's rotational speed into windage resistance. The calculation of windage resistance can be complex and can be a linear function of speed (a linear relationship), a quadratic function of speed (a nonlinear relationship), or even more complex, depending on the specific fluid dynamics and assumptions. For example, in some cases, when considering fluid dynamics effects, windage resistance may be proportional to the square of speed to more accurately simulate windage at high speeds. However, in this simplified model, a linear relationship between windage torque and rotational speed v is chosen as the basis, making the calculation process simpler and easier to implement. This simplifying assumption is intended to facilitate engineering design and analysis and is sufficiently accurate in many practical applications. Simplified models are often adopted for computational convenience, within a certain tolerance, particularly in the early stages of system design or when a precise model is too complex.

[0070] Step S103: determining the resultant force acting on the gate according to the acceleration of the gate.

[0071] Specifically, the resultant force of the gate is calculated as ma based on the acceleration a and the mass m of the gate. This is a resultant force involved in Newton's second law in linear mechanics. This consideration actually simplifies the analysis of the complex rotational dynamics equilibrium model into a mechanical analysis under a linear scenario. In the actual research and development and design of electric gates, this simplification is feasible, because the ultimate goal of this mechanical model analysis is to be able to sensitively detect the external force applied to the gate by humans and then stop it. As long as this engineering effect can be achieved, it is necessary to simplify the analysis of the physical model.

[0072] Step S104: determining the resultant force acting on the gate according to the acceleration of the gate; and determining the external force acting on the gate according to the output force of the motor, the wind resistance, and the resultant force acting on the gate.

[0073] According to the output force f of the motor motor , wind resistance f wind The resultant force ma is used to construct a third mathematical model to determine the external force f applied to the gate. wai ; The third mathematical model is as follows:

[0074] f wai =f motor -f wind -ma. (1)

[0075] Using this method to detect the external force applied by a person to the gate or other similar external forces can achieve a sensitive response and can distinguish whether it is an external force applied by a person or some force generated by the electric gate when it is running. Moreover, this method is mainly based on the calculation of some basic physical quantities of the motor, rather than setting up related expensive sensors to achieve it, so it can significantly reduce costs and achieve large-scale application. Moreover, if someone pushes the gate 12, the response sensitivity of the third model will be higher. Because once the gate 12 is pushed when it is closed / stationary, the rotational acceleration a will be a negative value, so the external force f calculated by the third model wai The larger the force, the easier it is to exceed the preset external force threshold, so the electric gate 10 is more likely to respond and start the electronic brake. For example, the braking reaction time of the existing technology to respond to the gate breaking is 1 second, while the reaction time of this model will be shortened to 0.1-0.5 seconds.

[0076] By applying the method involved in the five steps S100 to S104 to the electric gate 10, an intervention mechanism or a method for emergency braking the gate 12 can be further designed. Specifically, according to the external force f measured in step S104, wai After that, the method may further include step S105: comparing the detected external force with a predetermined threshold;

[0077] and step S106: if the external force exceeds the predetermined threshold, determining that the gate is in an abnormal state;

[0078] Specifically, for example, the threshold is set to 10000 (dimensionless processing) in the software program. When the external force exceeds 10000, it is determined that someone is breaking through the gate, that is, the electric gate 10 is in an abnormal state.

[0079] and step S107: in response to determining that the gate is in an abnormal state, controlling an electronic brake to generate an action to lock the gate within a predetermined time;

[0080] And step S108: determining whether the duration of the braking action exceeds the predetermined time;

[0081] And step S109: if yes, controlling the electronic brake to release the braking action to release the gate.

[0082] The predetermined time here can be, for example, 1-2 seconds, or even shorter. The predetermined time is set here mainly considering that the movement scene of the electric gate 10 may be as follows, that is, for example, after a person walks past, the gate 12 returns from the front to the back, and at this time another person forcibly breaks through the gate. If the gate does not stop at this time, then this person may be injured. Therefore, there is a need for a fast-response mechanism for braking the gate. Once it is detected that someone is forcibly breaking through the gate, the gate can stop immediately. The key to detection is how to detect the force applied by the person to the gate. Once this force exceeds the predetermined threshold, it is determined that someone has broken through the gate, and emergency braking is then performed. See Figure 1 Furthermore, in reality, the torque output by the motor 14 may not be able to withstand the external force applied to the gate 12 by a person, so an additional electronic brake 13 is needed to brake the gate. The electronic brake 13 is, for example, an electronic lock control system or electronic components that forcibly control and operate the opening and closing of the gate 12. These electronic systems may include a microprocessor, sensors, actuators (locking devices), etc.

[0083] Furthermore, using this model, taking the gate 12 in its static state during its return to centering as an example, if someone applies a force and pushes the gate 12, the gate 12 will immediately trigger the electronic brake 13 to prevent the person from rushing through. For example, upon the first collision, the gate machine 10 immediately triggers the electronic lock 13 to lock the gate 12 in its first current position (i.e., achieving an emergency stop at any position). After 1-2 seconds, the electronic brake 13 releases the locking action, and the gate returns to its original position (returning from its current position to its default closed state). During this return to centering, if someone pushes the gate a second time, or if a new person pushes the gate, the electronic brake 13 will immediately trigger the gate 12 a second time, locking it in its second current position. It is worth noting that the first and second current positions may be at different distances / angles from the gate 12's closed position. In short, by setting this predetermined time of 1-2 seconds, the gate 12 can be prevented from being completely locked, which could cause pedestrian injuries. In terms of effect, it can be understood that the gate 12 presents a step-by-step movement, which serves the purpose of buffering when being hit by people. For example, if pedestrians continuously hit and push, the gate 12 will be locked continuously. However, the gate can be pushed again after each locking for 1-2 seconds, so it will not be completely locked.

[0084] Especially considering that during peak traffic times, one person after another, for example, every 2 seconds after a person passes through legally (for example, by swiping a card), the gate 12 returns to its normal position and is locked by the electronic brake 13. Then, when the second person swipes the card to pass through, the electronic brake 13 is unlocked and the gate is opened again. This will cause the electronic brake 13 to open and close frequently, which is noisy and detrimental to the service life of the electronic brake 13.

[0085] Therefore, the gate 12 cannot be locked by the electronic brake 13 as soon as it returns to the normal position, or it cannot be locked at any position. The intervention mechanism involved in the previous steps S100 to S109 allows people (including those who want to break through) to push the gate 12. However, once the gate is pushed, the intervention mechanism will respond within a few tenths of a second or even less, thereby controlling the electronic brake 13 to lock the gate at the current pushed position. Then, after locking it for 1-2 seconds, it will be unlocked again, so that the gate may be pushed open intermittently. Of course, in actual applications, as long as the gate is locked once, other forms of alarms can be triggered, such as sound / light alarms. Moreover, since the gate 12 can always be pushed manually, it can avoid damage to the gate mechanism motor caused by pedestrians breaking through the gate to a certain extent.

[0086] In addition, setting a predetermined time of, for example, 1-2 seconds is also to take into account the influence of other non-human external forces, such as strong winds. For example, when strong winds may be applied to the gate 12, a large torque may be generated to push the gate 12 a certain distance. At this time, if the gate 12 does not return to the original position within the predetermined time, it will remain in the position where it is currently pushed away. Obviously, this is unreasonable, so it is necessary to set this predetermined locking time before releasing the lock.

[0087] refer to Figure 3The embodiment of the present application further provides an electric gate 100 driven by a motor, which may include a first detection module 101, which is used to detect the torque current of the motor and determine the output torque of the motor according to the torque current; a second detection module 102, which is used to detect the position data of the motor and determine the rotation speed and rotation acceleration of the motor according to the position data; a first calculation unit 103, which is used to calculate the wind resistance torque applied to the gate according to the rotation speed of the motor; a second calculation unit 104, which is used to calculate the rotation torque of the gate according to the rotation acceleration of the motor; a third calculation unit 105, which is used to calculate the wind resistance torque applied to the electric gate 10 according to the output torque, wind resistance torque and rotation torque. 0 external force; a first comparing unit 106, which is used to compare the size of the detected external force with a predetermined threshold value; a first judging unit 107, which is used to judge that the electric gate is in an abnormal state when the external force exceeds the predetermined threshold value; a first control unit 108, which is used to control the electronic brake of the electric gate to generate a braking action in response to judging that the electric gate is in an abnormal state to lock the electric gate within a predetermined time; a second comparing unit 109, which is used to compare whether the duration of the braking action exceeds the predetermined time; a second control unit 110, which is used to control the electronic brake to release the braking action to release the electric gate when the duration of the braking action exceeds the predetermined time.

[0088] It should be noted that the electric gate 100 and the modules or units included therein can correspondingly execute the methods involved in the aforementioned steps S100 to S109. In other words, the relevant steps or processes of these methods can be the same as or similar to the relevant functions configured for the electric gate 100 and the relevant components of the modules or units included therein, and the technical effects (efficacy) that can be achieved by using the methods involved in steps S100 to S109 can be the same as or similar to the technical effects (efficacy) that can be achieved by the relevant functions configured for the electric gate 100 and the relevant components of the modules or units included therein. Therefore, the electric gate 100 also has an intervention mechanism like the aforementioned electric gate 10 to achieve emergency braking when someone breaks into the gate.

[0089] refer to Figure 4In some embodiments, the present application further provides an electric gate 200 driven by a motor, which may include a first detection module 201 for detecting the torque current of the motor and determining the output torque of the motor according to the torque current; a second detection module 202 for detecting the position data of the motor and determining the rotation speed and rotation acceleration of the motor according to the position data; a first calculation unit 203 for calculating the wind resistance torque applied to the gate according to the rotation speed of the motor; a second calculation unit 204 for calculating the wind resistance torque applied to the gate according to the rotation acceleration of the motor. The electric gate 200 of this embodiment also has an intervention mechanism like the aforementioned electric gate 10 to achieve emergency braking when someone breaks through the gate. However, compared to the electric gate 100, the electric gate 200 does not have a locking period of 1-2 seconds, that is, once the electronic brake is triggered, the electric gate 200 will remain locked.

[0090] refer to Figure 5 The embodiment of the present application also provides an electric gate 300, which may include a memory 301; and a processor 302 coupled to the memory 301, the processor 302 being configured to execute the method described in the aforementioned steps S100 to S109 based on the instructions stored in the memory 301.

[0091] Those skilled in the art should understand that the aforementioned methods, functional modules and functional units may be implemented in many ways, for example, by software, hardware, firmware or any suitable combination of software, hardware and firmware.

[0092] The embodiment of the present application further relates to a method for detecting an external force applied to a gate, wherein the gate is driven by a motor. The method may include the following steps:

[0093] Step 1: Obtain relevant parameters of the motor, including motor magnetic flux Q and rotation radius R;

[0094] The torque current I of the motor is detected by the FOC current sampling algorithm;

[0095] A first mathematical model is constructed according to the torque current I to determine the output torque F of the motor. motor ;

[0096] The first mathematical model is as follows:

[0097] F motor＝ (I*Q*R*P1) (4)

[0098] Among them, P1 is the torque parameter, which can be debugged in the software;

[0099] Step 2: Detecting the position data of the motor (e.g., the angle data of the motor rotation) through an encoder, and performing differential calculation based on the position data to obtain the motor rotation speed V;

[0100] Performing differentiation processing on the motor rotation speed V to obtain the motor acceleration A;

[0101] Step 3: Construct a second mathematical model based on the rotation speed V to determine the wind resistance F applied to the gate wind ;

[0102] The second mathematical model is as follows:

[0103] F wind =V*P2 (5)

[0104] Among them, P2 is the wind resistance parameter, which can be obtained by debugging in the software. It can also be a linear model or a higher-order parameter model, but a suitable value can be obtained through simulation or debugging;

[0105] Step 4: Calculate the gate force MA based on the motor acceleration A and the gate mass M;

[0106] Step 5: According to the output torque F of the motor motor , wind resistance F wind The resultant force MA is used to construct a third mathematical model to determine the external force F applied to the gate. wai ;

[0107] The third mathematical model is as follows:

[0108] F wai =F motor -F wind -MA. (6)

[0109] The methods involved in steps 1 through 5 of this embodiment are technically equivalent or similar to the methods involved in steps S100 through S109 described above. Both methods are designed to quickly detect the presence of external forces, thereby serving as a pre-detection module for preventing intrusion in electric gate systems. This third mathematical model is still a simplified model, but its use in electric gate systems can sensitively detect external forces applied to the gate, thereby enabling emergency braking.

[0110] An embodiment of the present application further provides a non-volatile computer-readable storage medium (including but not limited to a disk storage, a CD-ROM, an optical storage, etc.), on which a computer program is stored, which, when executed by a processor, implements the method described in the aforementioned steps S100 to S109.

[0111] The various embodiments and technical features of the above-described embodiments of the present application can be reasonably combined to obtain similar technical solutions or other technical solutions, provided there are no obvious conflicts. For the sake of brevity, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there are no conflicts in the combinations of these technical features, they should be considered to be within the scope of this specification.

[0112] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and such modifications and improvements are all within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for detecting external force on a gate driven by a motor, characterized in that: include: detecting a torque current of the motor and determining an output torque of the motor according to the torque current, and further determining an output force of the motor according to the output torque; detecting position data of the motor and determining the speed and acceleration of the gate according to the position data; determining a wind resistance applied to the gate based on a speed of the gate; determining a resultant force acting on the gate according to the acceleration of the gate; The external force applied to the gate is determined according to the output force of the motor, the wind resistance, and the resultant force applied to the gate.

2. The method for detecting the external force applied to a gate according to claim 1, wherein: The torque current is measured by the FOC current sampling algorithm.

3. The method for detecting the external force applied to a gate according to claim 2, wherein: The output torque of the motor is calculated based on the torque current, the magnetic flux of the motor, the rotation radius of the motor, and the torque parameter.

4. The method for detecting the external force applied to a gate according to claim 1, wherein: The position data of the motor is detected by an encoder and the position is converted and calculated to indirectly obtain the speed of the gate.

5. The method for detecting the external force applied to a gate according to claim 4, characterized in that: The acceleration of the gate is obtained by performing differential calculation on the velocity of the gate.

6. The method for detecting the external force applied to a gate according to claim 4, characterized in that: The wind resistance is calculated according to the speed and wind resistance parameters of the gate.

7. The method for detecting the external force applied to a gate according to claim 5, characterized in that: The resultant force of the gate is calculated according to the acceleration of the gate and the mass of the gate.

8. The method for detecting the external force applied to a gate according to claim 1, wherein: The external force applied to the gate is determined by the following mathematical model: f wai =f motor -f wind -in (1) Among them, f wai is the external force, f motor is the output force of the motor, f wind is the wind resistance of the gate, and ma is the resultant force acting on the gate.

9. A method for locking a gate, wherein the gate is driven by a motor, characterized in that: include: Detecting an external force applied to the gate according to the method of claim 1; comparing the detected external force with a predetermined threshold; If the external force exceeds the predetermined threshold, it is determined that the gate is in an abnormal state; In response to determining that the gate is in an abnormal state, the electronic brake is controlled to generate an action to lock the gate.

10. The method for locking a gate according to claim 9, characterized in that: Controlling the electronic brake to generate a braking action to lock the gate within a predetermined time; Determining whether the braking action lasts longer than the predetermined time; If so, the electronic brake is controlled to release the brake action to release the gate.

11. A method for detecting external force on a gate driven by a motor, characterized in that: include: Obtain relevant parameters of the motor, including motor magnetic flux q and rotation radius r; The torque current i of the motor is detected by the FOC current sampling algorithm; A first mathematical model is constructed based on the torque current i to determine the output force f of the motor. motor ; The first mathematical model is as follows: f motor =(i*q*r*p1) / r1 (2) Wherein, p1 is the torque parameter, r1 is the lever arm of the motor; Detecting the position data of the motor through an encoder, and indirectly calculating the rotation speed v of the gate based on the position data; Performing differentiation processing on the rotation speed v to obtain the acceleration a of the gate; A second mathematical model is constructed based on the rotation speed v to determine the wind resistance f applied to the gate. wind ; The second mathematical model is as follows: f wind =v*p2 (3) Among them, p2 is the wind resistance parameter; The resultant force of the gate is calculated as ma according to the acceleration a and the mass m of the gate; According to the output force f of the motor motor , wind resistance f wind The resultant force ma is used to construct a third mathematical model to determine the external force f applied to the gate. wai ; The third mathematical model is as follows: f wai =f motor -f wind -on。 (1) 12. A method for locking a gate, wherein the gate is driven by a motor, characterized in that: include: detecting an external force applied to the gate according to the method of claim 11; comparing the detected external force with a predetermined threshold; If the external force exceeds the predetermined threshold, it is determined that the gate is in an abnormal state; In response to determining that the gate is in an abnormal state, controlling the electronic brake to generate a braking action to lock the gate within a predetermined time; Determining whether the braking action lasts longer than the predetermined time; If so, the electronic brake is controlled to release the brake action to release the gate.

13. A gate driven by a motor, characterized in that: include: a first detection module, configured to detect a torque current of the motor and determine an output torque of the motor according to the torque current, and further determine an output force of the motor according to the output torque; a second detection module, which is used to detect the position data of the motor and determine the speed and acceleration of the gate according to the position data; a first calculation unit, configured to calculate a wind resistance applied to the gate according to a speed of the gate; a second calculation unit, configured to determine a resultant force acting on the gate according to the acceleration of the gate; a third calculation unit, configured to determine the external force exerted on the gate according to the output force of the motor, the wind resistance, and the resultant force exerted on the gate; a first comparing unit, configured to compare the detected external force with a predetermined threshold; a first determining unit, configured to determine that the gate is in an abnormal state when the external force exceeds the predetermined threshold; a first control unit configured to control the electronic brake to generate a braking action to lock the gate within a predetermined time in response to determining that the gate is in an abnormal state; a second comparing unit, configured to compare whether the duration of the brake action exceeds the predetermined time; as well as The second control unit is used to control the electronic brake to release the braking action to release the gate when the braking action lasts for more than the predetermined time.

14. A gate driven by a motor, comprising: Memory; and A processor coupled to the memory, wherein the processor is configured to execute the method according to any one of claims 1 to 12 based on instructions stored in the memory.

15. A non-volatile computer-readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the method according to any one of claims 1 to 12 is implemented.

16. A method for detecting external force on a gate driven by a motor, characterized in that: include: Obtain relevant parameters of the motor, including motor magnetic flux Q and rotation radius R; The torque current I of the motor is detected by the FOC current sampling algorithm; A first mathematical model is constructed based on the torque current I to determine the output torque F of the motor. motor ; The first mathematical model is as follows: F motor =(I*Q*R*P1) (4) Among them, P1 is the torque parameter; Detecting the position data of the motor through an encoder, and performing differential calculation based on the position data to obtain the motor rotation speed V; Performing differentiation processing on the motor rotation speed V to obtain the motor acceleration A; A second mathematical model is constructed based on the rotation speed V to determine the wind resistance F applied to the gate. wind ; The second mathematical model is as follows: F wind =V*P2 (5) Among them, P2 is the wind resistance parameter; The resultant force of the gate is calculated as MA according to the motor acceleration A and the mass M of the gate; According to the output torque F of the motor motor , wind resistance F wind The resultant force MA is used to construct a third mathematical model to determine the external force F applied to the gate. wai ; The third mathematical model is as follows: F wai =F motor -F wind -MA。 (6)

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