A control method, device and equipment of a flapping door and a storage medium

Abstract

The application discloses a kind of control method, device and equipment of beating door and storage medium.The method comprises: determining whether beating door control equipment is being on-off door work;If beating door control equipment is being on-off door work, then determine the three-phase working current of beating door control equipment based on signal collector;Determine the target voltage curve of beating door control equipment based on three-phase working current;Determine whether beating door meets resistance based on target voltage curve and resistance voltage threshold;If beating door meets resistance, then control beating door control equipment to open protection mode.The technical scheme of the present application carries out full-wave rectification conversion and three-phase integration to the collected current information, obtains the target voltage curve, determines whether beating door meets resistance according to the relative relationship between target voltage curve and resistance voltage threshold, can improve the accuracy of resistance judgment, reduce the problem of resistance detection insensitivity caused by inaccurate voltage value, reduce the probability of resistance misjudgment, and reduce injury.

Description

Technical Field

[0001] This invention relates to the field of door opening and closing control technology, and in particular to a control method, device, equipment and storage medium for a flapping door. Background Technology

[0002] A knocking gate is a passageway blocking device that can be used at the entrance passages of access control facilities such as subways, stations, docks, schools, hotels, and residential communities to achieve intelligent passageway management.

[0003] The door knocking control system has an anti-pinch function to prevent passenger injury. For example, during the opening / closing movement, the three-phase current of the door knocking control system is monitored in real time, and the changes in the detected three-phase current are used to determine whether the door is obstructed. The current obstruction detection method collects three-phase current data from a hardware sampling circuit, reads any one phase current according to the current commutation sequence, and compares it with an obstruction threshold. If the current reads three times consecutively are greater than or equal to the obstruction threshold, the door knocking is determined to be obstructed.

[0004] However, three-phase current is not only a sine wave with a phase difference of 120°, but also includes positive phase current and negative phase current. The current read may not be the maximum value among the three phase currents, and cannot reflect the change of the peak load current of the motor. This may lead to misjudgment when encountering obstacles, resulting in customer injury. Summary of the Invention

[0005] This invention provides a control method, device, equipment, and storage medium for a flapping door, which improves the accuracy of obstruction detection, reduces the problem of insensitive obstruction detection caused by inaccurate voltage values, lowers the probability of false obstruction detection, and reduces customer injuries.

[0006] According to one aspect of the present invention, a control method for a flapping door is provided, the method being applied to a flapping door control device, specifically comprising:

[0007] Determine if the door flap control device is in operation to open or close the door;

[0008] If the door flapping control device is in the process of opening and closing the door, the three-phase operating current of the door flapping control device is determined based on the signal acquisition device;

[0009] Determine the target voltage curve of the flapping gate control device based on the three-phase operating current;

[0010] Determine whether the flapping gate is blocked based on the target voltage curve and the obstruction voltage threshold.

[0011] If the door flapping is obstructed, the door flapping control device will activate the protection mode.

[0012] Optionally, the flap door control device includes a channel logic control board and a mechanism motion module.

[0013] Optionally, determining whether the door-striking control device is performing door-opening or opening operations includes: determining whether the mechanism motion module has received a door-opening or opening command sent by the channel logic control board; if the mechanism motion module has received a door-opening or opening command sent by the channel logic control board, then it is determined that the door-striking control device is performing door-opening or opening operations; if the mechanism motion module has not received a door-opening or opening command sent by the channel logic control board, then it is determined that the door-striking control device is not performing door-opening or opening operations.

[0014] Optionally, determining the target voltage curve of the flap gate control device based on the three-phase operating current includes: determining the initial three-phase operating voltage curve based on the three-phase operating current, wherein the initial three-phase operating voltage curve includes the initial operating voltage curve of phase A, the initial operating voltage curve of phase B, and the initial operating voltage curve of phase C; and determining the target voltage curve based on the initial operating voltage curves of phase A, phase B, and phase C.

[0015] Optionally, based on the initial operating voltage curves of phase A, phase B, and phase C, a target voltage curve is determined, including: determining the intermediate operating voltage curves of phase A, phase B, and phase C based on the offset value, the initial operating voltage curves of phase A, phase B, and phase C; and determining the target voltage curve based on the intermediate operating voltage curves of phase A, phase B, and phase C.

[0016] Optionally, the offset values ​​include the A-phase reference voltage value, the B-phase reference voltage value, and the C-phase reference voltage value.

[0017] Optionally, based on the offset value, the initial operating voltage curve of phase A, the initial operating voltage curve of phase B, and the initial operating voltage curve of phase C, the intermediate operating voltage curves of phase A and phase C are determined, including: determining the intermediate operating voltage curve of phase A based on the reference voltage value of phase A and the initial operating voltage curve of phase A; determining the intermediate operating voltage curve of phase B based on the reference voltage value of phase B and the initial operating voltage curve of phase B; and determining the intermediate operating voltage curve of phase C based on the reference voltage value of phase C and the initial operating voltage curve of phase C.

[0018] Optionally, based on the intermediate working voltage curves of phase A, phase B, and phase C, a target voltage curve is determined, including: determining the waveform change period between the intermediate working voltage curves of phase A, phase B, and phase C; determining the maximum voltage curve among the intermediate working voltage curves of phase A, phase B, and phase C within each period as the sub-target voltage curve for each period; and determining the target voltage curve based on the sub-target voltage curves for each period.

[0019] Optionally, determining whether the flapping gate is obstructed based on the target voltage curve and the obstruction voltage threshold includes: determining a target voltage value set based on a preset sampling period, a preset sampling threshold, and the target voltage curve, wherein the number of target voltage values ​​included in the target voltage value set is the preset sampling threshold; and determining whether the flapping gate is obstructed based on the mean of each target voltage value in the target voltage value set, the obstruction voltage threshold, the mean coefficient, and the obstruction rule.

[0020] According to another aspect of the present invention, a control device for a flapping door is provided, the device being mounted on a flapping door control equipment, specifically comprising:

[0021] The action determination module is used to determine whether the door flap control device is performing the door opening and closing operation;

[0022] The information acquisition module is used to determine the three-phase operating current of the door flapping control device based on the signal acquisition device if the door flapping control device is in the process of opening and closing the door.

[0023] The information conversion module is used to determine the target voltage curve of the flap gate control device based on the three-phase operating current;

[0024] The obstruction detection module is used to determine whether the flapping gate is obstructed based on the target voltage curve and the obstruction voltage threshold.

[0025] The function execution module is used to control the flapping door control device to activate the protection mode if the flapping door encounters obstruction.

[0026] According to another aspect of the present invention, a flapping door control device is provided, the flapping door control device comprising:

[0027] At least one processor; and a memory communicatively connected to the at least one processor;

[0028] The memory stores a computer program that can be executed by at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the control method for the flapping door as described in any embodiment of the present invention.

[0029] According to another aspect of the present invention, a computer-readable storage medium is provided that stores computer instructions for causing a processor to execute and implement the control method for a flapping door as described in any embodiment of the present invention.

[0030] The technical solution of this invention determines whether the door-striking gate control device is currently operating. If it is, the device's three-phase operating current is determined by a signal acquisition unit. A target voltage curve is then determined based on this three-phase operating current. The target voltage curve and an obstruction threshold are used to determine if the door is obstructed. If obstruction occurs, the device is controlled to activate a protection mode. After determining that the door-striking gate control device is operating, the three-phase current is collected. The collected three-phase current undergoes full-wave rectification and three-phase combination conversion to obtain the target voltage curve. The obstruction is then determined based on the combined target voltage curve. Activating the protection mode when obstruction occurs reduces the problem of insensitive obstruction detection due to inaccurate voltage values, decreases the probability of false alarms, and improves the accuracy of obstruction detection, thus preventing customer injury. This solves the problem that when judging resistance based on any one phase current in the three-phase current, the read current may not be the maximum value among the three phase currents, and it cannot reflect the changes in the peak load current of the motor, leading to misjudgment of resistance and causing passenger injury.

[0031] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a flowchart illustrating a control method for a flapping door provided in Embodiment 1 of the present invention;

[0034] Figure 2 This is a flowchart illustrating a control method for a flapping door provided in Embodiment 2 of the present invention;

[0035] Figure 3 This is a waveform diagram of a three-phase current provided in Embodiment 2 of the present invention;

[0036] Figure 4 This is a schematic diagram of an initial three-phase operating voltage curve provided in Embodiment 2 of the present invention;

[0037] Figure 5 This is a schematic diagram of an intermediate working voltage curve provided in Embodiment 2 of the present invention;

[0038] Figure 6 This is a schematic diagram of a target voltage curve provided in Embodiment 2 of the present invention;

[0039] Figure 7 This is a schematic diagram of the structure of a control device for a flapping door provided in Embodiment 2 of the present invention;

[0040] Figure 8 This is a schematic diagram of the structure of a control device for a flapping door provided in Embodiment 3 of the present invention;

[0041] Figure 9 This is a schematic diagram of the structure of a flapping door control device provided in Embodiment 4 of the present invention.

[0042] Figure label:

[0043] 101-Industrial control computer module, 102-Channel logic control board, 103-Main drive control board, 104-Motion module one of the movement mechanism, 105-Main and auxiliary communication interface, 106-Auxiliary drive control board, 107-Motion module two of the movement mechanism. Detailed Implementation

[0044] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0045] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0046] Example 1

[0047] Figure 1 This is a flowchart illustrating a control method for a flapping door according to Embodiment 1 of the present invention. This embodiment is applicable to situations such as obstruction detection of flapping doors. The method is applied to a flapping door control device and can be executed by the flapping door control device provided by the present invention. This device can be implemented in hardware and / or software. In a specific embodiment, the device can be integrated into the flapping door control device. The following embodiments will illustrate this using the integration of the device into the flapping door control device as an example. (Refer to...) Figure 1 The method specifically includes the following steps:

[0048] S101. Determine whether the door flapping control device is operating to open or close the door.

[0049] If the door flapping control device is in the process of opening and closing the door, then step S102 is executed. If the door flapping device is not in the process of opening and closing the door, then it is considered that there is no need to detect the operating parameters of the door flapping control device and there is no need to start the signal acquisition device. The advantage of this setting is that it can reduce the workload of the signal acquisition device, save power, and reduce the waste of detection resources.

[0050] The flapping door control equipment includes a channel logic control board, a mechanism motion module, an industrial control computer module, and a flapping door control board. The mechanism motion module and the flapping door control board are the main components of the flapping door control equipment. The flapping door control board controls the servo motors of the mechanism motion module to perform functions such as door opening and closing, stop locking, brake operation, obstruction and anti-pinch detection, error alarms, fault information collection, operational status data monitoring, component / device lifespan management, hardware circuit performance management, and remote firmware upgrades. Furthermore, the flapping door control equipment internally incorporates a servo control board and direct-drive servo motors. The servo control board drives and controls the direct-drive servo motors to form a closed-loop direct-drive servo drive control system. Through the closed-loop direct-drive servo drive control system's position loop control and speed loop control, the synchronous control of the flapping door control module's stop position locking and door opening and closing operation is achieved.

[0051] Specifically, the door-tapping control device can be understood as an access control device that determines whether to execute the door opening or closing action based on the door opening / closing command. For example, the industrial control computer module includes human-machine interaction functionality, which can obtain the user's door opening / closing request information. If the industrial control computer module receives the user's door opening / closing request information, it will generate a door opening / closing command based on the request information and send the command to the channel logic control board. The channel logic control board then controls the mechanism's motion module to perform the door opening / closing operation according to the command.

[0052] The determination of whether the door-opening / closing control device is performing door-opening / closing operations can be based on whether the mechanism motion module receives a door-opening / closing command sent by the channel logic control board. For example, if the mechanism motion module receives a door-opening / closing command from the channel logic control board, the door-opening / closing control device is considered to be performing door-opening / closing operations; if the mechanism motion module does not receive a door-opening / closing command from the channel logic control board, the door-opening / closing control device is considered not to be performing door-opening / closing operations. Alternatively, the determination can be based on whether the channel logic control board receives a door-opening / closing command sent by the industrial control computer module. For example, if the channel logic control board receives a door-opening / closing command from the industrial control computer module, the door-opening / closing control device is considered to be performing door-opening / closing operations; if the channel logic control board does not receive a door-opening / closing command from the industrial control computer module, the door-opening / closing control device is considered not to be performing door-opening / closing operations. The specific determination method can be set and adjusted according to the device's operating logic; this embodiment does not limit this.

[0053] The advantage of this setup is that it allows for real-time determination of whether the door-striking control device is in the process of opening or closing, thereby improving the opening and closing response speed of the door-striking control device.

[0054] S102. Determine the three-phase operating current of the flap gate control device based on the signal acquisition unit.

[0055] The signal acquisition device can be understood as an instrument that collects the working parameters of the flap gate control device, including ammeters, three-phase current acquisition devices, etc.; the three-phase working current can be a sine wave with a phase difference of 120°, and it is worth noting that the sum of the three-phase currents is 0 at any time.

[0056] The advantage of this setup is that the three-phase operating current of the door-striking control device during the opening and closing actions can be directly obtained through a signal acquisition device, so as to determine whether the door-striking device is encountering obstruction based on the three-phase operating current.

[0057] S103. Determine the target voltage curve of the flapping gate control device based on the three-phase operating current.

[0058] The target voltage curve can be understood as the combined three-phase voltage curve obtained after processing the three-phase operating current through conversion, operational amplifiers, reference offset, and rectification. Specifically, the target voltage curve includes the motor peak load current characteristics of each phase current in the three-phase operating current.

[0059] The advantage of determining whether the flapping door encounters resistance based on the target voltage curve of the three-phase system is that it can solve the problem of misjudging resistance based on the current of any one of the three phases, where the current read may not be the maximum value among the three phases, and the change in the peak load current of the motor cannot be reflected, leading to misjudgment of resistance and causing passenger injury.

[0060] S104. Determine whether the flapping gate is blocked based on the target voltage curve and the obstruction voltage threshold.

[0061] If the door flapping is obstructed, proceed to step S105. If the door flapping is not obstructed, it is assumed that the door flapping control device is operating normally, and the current action can continue.

[0062] The obstruction detection voltage threshold can be understood as an obstruction detection parameter determined based on the parameters of the flapping gate and the operating logic of the flapping gate control device. Specifically, the obstruction detection method can be that the flapping gate is considered to be obstructed when the average of a preset number of consecutive voltage values ​​in the target voltage curve is greater than or equal to the obstruction detection voltage threshold. The preset number can be set and adjusted based on empirical data, obstruction detection requirements, the parameters of the flapping gate, and the operating logic of the flapping gate control device; this embodiment does not set this number.

[0063] For example, assuming the preset quantity is 50, 50 consecutive voltage values ​​in the target voltage curve are acquired periodically, and the relationship between the average of the acquired 50 consecutive voltage values ​​and the obstruction voltage threshold is used to determine whether the door is obstructed.

[0064] The advantage of this setting is that it can quantify the obstruction conditions of the flapping gate, and quickly and accurately determine whether the flapping gate is obstructed based on the obstruction voltage threshold and the voltage value in the target voltage curve.

[0065] S105, Control the flapping door control device to activate the protection mode.

[0066] A door-tapping control device is a type of access control equipment. Its protection mode can be understood as a mode designed to protect users. Specifically, the protection mode may include pausing the door opening and closing action, or reducing the opening and closing speed. For example, if the door-tapping device encounters obstruction, it is assumed that the device is experiencing abnormal resistance while controlling the door's opening and closing. The device will then activate its protection mode, pausing the current action or reducing the opening and closing speed to prevent excessive force from injuring users in the event of obstruction.

[0067] The advantage of this setup is that it can stop the door-pounding action in time, preventing users from being pinched or obstructed.

[0068] The technical solution of this embodiment determines whether the door-opening / closing control device is currently operating. If it is, the device's three-phase operating current is determined by a signal acquisition unit. A target voltage curve is then determined based on this three-phase operating current. Finally, the device is assessed for obstruction based on the target voltage curve and an obstruction threshold. If obstruction occurs, the device is controlled to activate a protection mode. After determining that the door-opening / closing control device is operating, the three-phase current is collected and integrated to obtain the target voltage curve. The accuracy of the three-phase current analysis is then used to determine whether the door is obstructed. Activating the protection mode when obstruction occurs reduces the problem of insensitive obstruction detection due to inaccurate voltage values, decreases the probability of false alarms, and improves the accuracy of obstruction assessment, thus preventing customer injury. This solves the problem that when judging resistance based on any one phase current in the three-phase current, the read current may not be the maximum value among the three phase currents, and it cannot reflect the changes in the peak load current of the motor, leading to misjudgment of resistance and causing passenger injury.

[0069] Example 2

[0070] Figure 2 This is a flowchart illustrating a control method for a flapping door according to Embodiment 2 of the present invention. This embodiment is applicable to situations such as obstruction detection of flapping doors. The method is applied to a flapping door control device and can be executed by the flapping door control device provided by the present invention. This device can be implemented in hardware and / or software. In a specific embodiment, the device can be integrated into the flapping door control device. The following embodiments will illustrate this using the integration of the device into the flapping door control device as an example. (Refer to...) Figure 2 The method specifically includes the following steps:

[0071] S201. Determine whether the door flapping control device is in operation for opening and closing the door.

[0072] If the door flapping control device is in the process of opening or closing the door, then proceed to step S202.

[0073] Specifically, the criteria for determining whether the door-tapping control device is performing door opening and closing operations can be whether the mechanism motion module receives door opening and closing commands sent by the channel logic control board, or whether the channel logic control board receives door opening and closing commands sent by the industrial control computer module. This embodiment does not limit this.

[0074] In one embodiment, step S201 may specifically include: determining whether the mechanism motion module has received a door opening / closing command sent by the channel logic control board; if the mechanism motion module has received a door opening / closing command sent by the channel logic control board, then it is determined that the door flapping control device is performing door opening / closing operations; if the mechanism motion module has not received a door opening / closing command sent by the channel logic control board, then it is determined that the door flapping control device is not performing door opening / closing operations.

[0075] In another embodiment, step S201 may specifically include: determining whether the channel logic control board has received a door opening / closing command sent by the industrial control computer module; if the channel logic control board has received a door opening / closing command sent by the industrial control computer module, then it is determined that the door flapping control device is performing door opening / closing operations; if the channel logic control board has not received a door opening / closing command sent by the industrial control computer module, then it is determined that the door flapping control device is not performing door opening / closing operations.

[0076] S202. Determine the three-phase operating current of the flap gate control device based on the signal acquisition device.

[0077] Determining the three-phase operating current of the door flapping control device based on the signal acquisition device can be understood as collecting the three-phase operating current of the door flapping control device when it performs the opening and closing actions.

[0078] Specifically, the method for acquiring three-phase operating current can be the three-resistor sampling method. Figure 3 This is a waveform diagram of a three-phase current provided in Embodiment 2 of the present invention. In the diagram, w... t Represents the sampling period, e a e b and e c These represent the three phase currents, and V represents the voltage value corresponding to the three phase currents acquired by the signal acquisition device. From... Figure 3 It can be seen that the phase difference between the three phase currents is 120°, and there are positive phase currents and negative phase currents. Furthermore, under constant load, the positive and negative phase currents are symmetrical to each other.

[0079] S203. Determine the initial three-phase operating voltage curve based on the three-phase operating current.

[0080] The initial three-phase operating voltage curve can be understood as the voltage curve after converting the three-phase operating current acquired by the signal acquisition device into voltage, and then amplifying and offsetting it to a reference. The initial three-phase operating voltage curve includes the initial operating voltage curves of phase A, phase B, and phase C. The voltage amplification factor is related to the performance of the operational amplifier circuit.

[0081] Figure 4 This is a schematic diagram of an initial three-phase operating voltage curve provided in Embodiment 2 of the present invention. Figure 4In the figure, T represents the sampling period. The voltage reference line in the diagram represents the three-phase sampled voltage values ​​when the operating current is zero; it can also be called the reference offset line or zero-point reference line. Specifically, the waveforms above the voltage reference line are positive phase current waveforms, and the waveforms below the voltage reference line are negative phase current waveforms. From Figure 4 As can be seen, the three-phase currents are 120° out of phase, and the phase current waveform changes over a period of 360°.

[0082] Furthermore, the method for determining the three-phase voltage reference bias voltage is to acquire the phase voltage values ​​of each phase multiple times through a signal acquisition device when the servo motor is unloaded (which can be understood as the servo motor not working), and determine the reference bias voltage of each phase based on the average value of the acquired phase voltage values.

[0083] Taking the A-phase baseline bias voltage as an example, when the servo motor is unloaded, 20 phase voltage values ​​of phase A are continuously acquired, and the average of the 20 phase voltage values ​​of phase A is used as the A-phase baseline bias voltage. Specifically, this embodiment does not limit the number of phase voltage values ​​acquired, and can set and adjust them according to the calculation logic of the bias voltage.

[0084] S204. Based on the initial operating voltage curves of phase A, phase B, and phase C, determine the target voltage curve.

[0085] The target voltage curve can be understood as the voltage curve obtained by rectifying and combining the initial three-phase operating voltage curve.

[0086] In one embodiment, step S204 may specifically include: determining the intermediate working voltage curves of phase A, phase B, and phase C based on the offset value, the initial working voltage curve of phase A, the initial working voltage curve of phase B, and the initial working voltage curve of phase C; and determining the target voltage curve based on the intermediate working voltage curves of phase A, phase B, and phase C.

[0087] The intermediate operating voltage curve of phase A can be understood as the voltage curve after rectification of the initial operating voltage curve of phase A; the intermediate operating voltage curve of phase B can be understood as the voltage curve after rectification of the initial operating voltage curve of phase B; and the intermediate operating voltage curve of phase C can be understood as the voltage curve after rectification of the initial operating voltage curve of phase C. The target voltage curve can be understood as the three-phase combined voltage curve obtained by integrating the intermediate operating voltage curves of phase A, phase B, and phase C.

[0088] The offset values ​​include the reference voltage values ​​for phase A, phase B, and phase C. The reference voltage value for phase A can be understood as the bias voltage of the phase A reference line, the reference voltage value for phase B can be understood as the bias voltage of the phase B reference line, and the reference voltage value for phase C can be understood as the bias voltage of the phase C reference line.

[0089] Optionally, based on the offset value, the initial operating voltage curve of phase A, the initial operating voltage curve of phase B, and the initial operating voltage curve of phase C, the intermediate operating voltage curves of phase A and phase C are determined, including: determining the intermediate operating voltage curve of phase A based on the reference voltage value of phase A and the initial operating voltage curve of phase A; determining the intermediate operating voltage curve of phase B based on the reference voltage value of phase B and the initial operating voltage curve of phase B; and determining the intermediate operating voltage curve of phase C based on the reference voltage value of phase C and the initial operating voltage curve of phase C.

[0090] Determining the intermediate operating voltage curve of phase A based on the phase A reference voltage value and the phase A initial operating voltage curve can be understood as determining the intermediate operating voltage curve of phase A based on the absolute value of the difference between each voltage value in the phase A initial operating voltage curve and the phase A reference voltage value. Similarly, determining the intermediate operating voltage curve of phase B based on the phase B reference voltage value and the phase B initial operating voltage curve can be understood as determining the intermediate operating voltage curve of phase B based on the absolute value of the difference between each voltage value in the phase B initial operating voltage curve and the phase B reference voltage value.

[0091] Figure 5 This is a schematic diagram of an intermediate working voltage curve provided in Embodiment 2 of the present invention. As can be seen from the diagram, the intermediate working voltage curve includes the intermediate working voltage curve for phase A, the intermediate working voltage curve for phase B, and the intermediate working voltage curve for phase C. Figure 5 It can be seen that the intermediate voltage curve after full-wave rectification is still a three-phase waveform with AC characteristics. It is not suitable to use it directly as the input of the motor current resistance algorithm. The three-phase components need to be combined into a DC component, that is, the three phases are combined into one.

[0092] Optionally, based on the intermediate working voltage curves of phase A, phase B, and phase C, a target voltage curve is determined, including: determining the waveform change period between the intermediate working voltage curves of phase A, phase B, and phase C; determining the maximum voltage curve among the intermediate working voltage curves of phase A, phase B, and phase C within each period as the sub-target voltage curve for each period; and determining the target voltage curve based on the sub-target voltage curves for each period.

[0093] The waveform change period can be understood as the period difference between the intersection points of any one phase current and the other two phase currents, and the sub-target voltage curve can be understood as the intermediate working voltage curve with the largest voltage value within the period. Figure 5 It can be seen that the waveform change period between the intermediate working voltage curves of phase A, phase B, and phase C is 60°. The target voltage curve can be determined based on the sub-target voltage curves of each period. Figure 6 This is a schematic diagram of a target voltage curve provided in Embodiment 2 of the present invention. Figure 6 As can be seen, the target voltage curve is a DC curve, exhibiting DC characteristics.

[0094] S205. Determine the target voltage value set based on the preset sampling period, preset sampling threshold and target voltage curve.

[0095] The preset sampling period can be understood as a time period for collecting voltage values, the preset sampling threshold can be understood as a pre-set number of voltage values ​​to be collected, and the target voltage value set can be understood as a set of voltage values ​​on the target voltage curve collected within the preset sampling period, which is composed of the preset sampling threshold number of voltage values.

[0096] Specifically, the phase current variation period ranges from 8ms to 70ms. To ensure response speed, the algorithm operation period (i.e., the preset sampling period) of the obstacle detection algorithm can be selected as 50ms, and the preset sampling threshold can be 50. Therefore, the signal acquisition device will acquire the voltage value on the target voltage curve every 1ms. After acquiring 50 voltage values, the acquired voltage values ​​will be integrated to obtain the target voltage value set.

[0097] S206. Determine whether the flapping gate is obstructed based on the mean of each target voltage value in the target voltage value set, the obstruction voltage threshold, the mean coefficient, and the obstruction rule.

[0098] If the door flapping is obstructed, proceed to step S207. If the door flapping is not obstructed, it is assumed that the door flapping control device is operating normally, and the current action can continue.

[0099] Among them, the resistance voltage threshold is related to the parameters of the flapping gate, and the mean coefficient can be understood as the average value coefficient. The solution for the mean coefficient is as follows: The obstruction detection rule is a standard for determining whether the flapping gate is obstructed, based on the relationship between the product of the obstruction voltage threshold and the mean coefficient, and the mean of the target voltage values ​​in the preset sampling threshold set. For example, when the product of the obstruction voltage threshold and the mean coefficient is less than or equal to the mean of the target voltage values ​​in the preset sampling threshold set, the flapping gate is considered to be obstructed. When the product of the obstruction voltage threshold and the mean coefficient is greater than the mean of the target voltage values ​​in the preset sampling threshold set, the flapping gate is considered to be operating normally.

[0100] For example, suppose the preset sampling threshold is 50, and the average of the 50 target voltage values ​​is V. 均 The mean coefficient is 0.9529, and the resistance voltage threshold is V. 阻 V will be determined 均 With 0.9549*V 阻 The relationship when V 均 ≥0.9549*V 阻 At that time, it was determined that the door was blocked when knocking, when V 均 <0.9549*V 阻 At that time, confirm that the knocking door is working properly.

[0101] Furthermore, the obstacle detection current threshold (corresponding to the aforementioned obstacle detection voltage threshold, which can be determined based on the current-voltage conversion relationship in this embodiment) set in the obstacle detection algorithm of this invention has a dynamic adjustment mechanism. During the uniform low-speed initialization process of finding the origin after the flapping door is powered on, the dynamic damping change of the mechanism will be adjusted synchronously through self-learning. The adjustment method is to adjust the normal opening and closing door obstacle detection current threshold proportionally based on the magnitude of the average value during uniform low-speed movement. For example, the bias amount is increased on the default set base value. It is worth noting that if the absolute value of the increased bias amount is greater than or equal to 1A (2.54Nm), the mechanical damping of the mechanism is judged to be abnormal, and intelligent data will be uploaded and maintenance warnings will be issued so that operators can adjust the obstacle detection current threshold and check the flapping door control equipment in a timely manner.

[0102] The bias is the difference between the measured average value of the uniform low-speed initialization and the average value obtained from the static modeling of the movement (typically 0.33 Nm of movement damping).

[0103] S207. Control the flapping door control device to activate the protection mode.

[0104] Specifically, the protection mode may include pausing the door opening and closing action, reducing the door opening and closing speed, etc. For example, if the door knocking device encounters obstruction, it is considered that the door knocking device has encountered abnormal resistance when controlling the door opening and closing. The door knocking device will activate the protection mode, pausing the current action or reducing the door opening and closing speed to prevent the door knocking device from exerting excessive force when encountering obstruction and injuring users who are passing through.

[0105] Figure 7 This is a schematic diagram of the structure of a control device for a flapping door provided in Embodiment 2 of the present invention. As can be seen from the figure, the control device for the flapping door includes an industrial control computer module 101, a channel logic control board 102, a main drive control board 103, a mechanism motion module one 104, a main and auxiliary communication interface 105, an auxiliary drive control board 106, and a mechanism motion module two 107.

[0106] Specifically, the flapping door can include a main and a secondary side. The main drive control board controls the opening and closing of the main flapping door via the first movement module of the mechanism, while the secondary drive control board controls the opening and closing of the secondary flapping door via the second movement module of the mechanism. The main and secondary communication interface can be a Controller Area Network (CAN) communication interface. When the main drive control board receives an opening / closing command, it transmits the command to the secondary drive control board via the main / secondary communication interface. This avoids information transmission delays, saves transmission time, and improves control synchronization.

[0107] Furthermore, the door-striking control device of the present invention also includes a brake. When the main drive control board and / or the auxiliary drive control board detect the door opening and closing action, and the main drive control board and / or the auxiliary drive control board do not receive the door opening and closing command issued by the channel logic control board, it is considered that there is abnormal door opening and closing behavior such as violent door opening and closing, and the brake will lock the door to prevent unauthorized users from illegally opening and closing the door.

[0108] The technical solution of this embodiment determines whether the door-striking gate control device is currently operating. If the door-striking gate control device is operating, the three-phase operating current of the door-striking gate control device is determined based on the signal acquisition device. An initial three-phase operating voltage curve is determined based on the three-phase operating current, wherein the initial three-phase operating voltage curve includes the initial operating voltage curves of phase A, phase B, and phase C. A target voltage curve is determined based on the initial operating voltage curves of phase A, phase B, and phase C. A target voltage value set is determined based on a preset sampling period, a preset sampling threshold, and the target voltage curve. Whether the door-striking gate is obstructed is determined based on the mean of each target voltage value in the target voltage value set, the obstruction voltage threshold, the mean coefficient, and the obstruction rule. If the door-striking gate is obstructed, the door-striking gate control device is controlled to activate the protection mode. After confirming that the door flapping control device is in operation, the three-phase current of the device is collected to obtain the initial three-phase operating voltage curves, including the initial operating voltage curves of phase A, phase B, and phase C. These initial three-phase operating voltage curves are then amplified, rectified, and offset to obtain the target voltage curve for the door flapping control device. Based on the preset sampling period, preset sampling threshold, obstruction voltage threshold, mean coefficient, obstruction rules, and multiple voltage values ​​from the combined three-phase target voltage curve, it is determined whether the door flapping is obstructed. This process effectively filters out the influence of instantaneous damping changes and instantaneous starting current on the obstruction detection algorithm. When the door flapping is obstructed, the device is controlled to activate a protection mode. This reduces the problem of insensitive obstruction detection caused by inaccurate voltage values, decreases the probability of false obstruction detection, and improves the accuracy of obstruction detection, thus preventing customer injury. This solves the problem that when judging resistance based on any one phase current in the three-phase current, the read current may not be the maximum value among the three phase currents, and it cannot reflect the changes in the peak load current of the motor, leading to misjudgment of resistance and causing passenger injury.

[0109] Example 3

[0110] Figure 8 This is a schematic diagram of the structure of a control device for a flapping door provided in Embodiment 3 of the present invention. The control device for the flapping door is mounted on a flapping door control device, such as... Figure 8 As shown, the device includes: an action determination module 801, an information acquisition module 802, an information conversion module 803, an obstacle detection module 804, and a function execution module 805.

[0111] The action determination module 801 is used to determine whether the door flapping control device is performing door opening and closing operations.

[0112] The information acquisition module 802 is used to determine the three-phase operating current of the door flapping control device based on the signal acquisition device if the door flapping control device is in the process of opening and closing.

[0113] The information conversion module 803 is used to determine the target voltage curve of the flapping gate control device based on the three-phase operating current.

[0114] The obstruction detection module 804 is used to determine whether the flapping gate is obstructed based on the target voltage curve and the obstruction voltage threshold.

[0115] The function execution module 805 is used to control the flap door control device to activate the protection mode if the flap door encounters obstruction.

[0116] Optionally, the flap door control device includes a channel logic control board and a mechanism motion module.

[0117] Optionally, the action determination module 801 is specifically used to determine whether the mechanism motion module has received the door opening / closing command sent by the channel logic control board; if the mechanism motion module has received the door opening / closing command sent by the channel logic control board, it is determined that the door-tapping control device is performing door opening / closing operations; if the mechanism motion module has not received the door opening / closing command sent by the channel logic control board, it is determined that the door-tapping control device is not performing door opening / closing operations.

[0118] Optionally, the information conversion module 803 is specifically used to determine the initial three-phase operating voltage curve based on the three-phase operating current, wherein the initial three-phase operating voltage curve includes the initial operating voltage curve of phase A, the initial operating voltage curve of phase B, and the initial operating voltage curve of phase C; and to determine the target voltage curve based on the initial operating voltage curves of phase A, phase B, and phase C.

[0119] Optionally, the information conversion module 803 is specifically used to determine the intermediate working voltage curves of phase A, phase B, and phase C based on the offset value, the initial working voltage curve of phase A, the initial working voltage curve of phase B, and the initial working voltage curve of phase C; and to determine the target voltage curve based on the intermediate working voltage curves of phase A, phase B, and phase C.

[0120] Optionally, the offset values ​​include the A-phase reference voltage value, the B-phase reference voltage value, and the C-phase reference voltage value.

[0121] Optionally, the information conversion module 803 is specifically used to determine the intermediate working voltage curve of phase A based on the reference voltage value of phase A and the initial working voltage curve of phase A; to determine the intermediate working voltage curve of phase B based on the reference voltage value of phase B and the initial working voltage curve of phase B; and to determine the intermediate working voltage curve of phase C based on the reference voltage value of phase C and the initial working voltage curve of phase C.

[0122] Optionally, the information conversion module 803 is specifically used to determine the waveform change period between the intermediate working voltage curves of phase A, phase B, and phase C; determine the maximum voltage curve among the intermediate working voltage curves of phase A, phase B, and phase C in each period as the sub-target voltage curve of each period; and determine the target voltage curve based on the sub-target voltage curves of each period.

[0123] Optionally, the obstruction detection module 804 is specifically used to determine the target voltage value set based on the preset sampling period, the preset sampling threshold and the target voltage curve, wherein the number of target voltage values ​​included in the target voltage value set is the preset sampling threshold; and to determine whether the flapping door is obstructed based on the mean of each target voltage value in the target voltage value set, the obstruction voltage threshold, the mean coefficient and the obstruction rule.

[0124] The control device for the flapping door provided in the embodiments of the present invention can execute the control method for the flapping door provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0125] Example 4

[0126] Figure 9 This is a schematic diagram of a door-tapping control device according to Embodiment 4 of the present invention. The door-tapping control device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The door-tapping control device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0127] like Figure 9 As shown, the door-tapping control device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the door-tapping control device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0128] Multiple components in the knocking door control device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, optical disk, etc.; and a communication unit 19, such as a network card, modem, wireless transceiver, etc. The communication unit 19 allows the knocking door control device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0129] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the control method for a door knocking mechanism.

[0130] In some embodiments, the control method for the flapping door can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the flapping door control device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the control method for the flapping door described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the control method for the flapping door by any other suitable means (e.g., by means of firmware).

[0131] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0132] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0133] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0134] To provide user interaction, the systems and techniques described herein can be implemented on a door-tapping control device, which includes: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the door-tapping control device. Other types of devices can also be used to provide user interaction; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0135] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0136] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0137] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0138] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for controlling a flapping door, characterized in that, The method, applied to a flap gate control device, includes: Determine whether the door flapping control device is in the process of opening or closing the door; If the door flapping control device is in the process of opening and closing the door, the three-phase operating current of the door flapping control device is determined based on the signal acquisition device; The target voltage curve of the flapping door control device is determined based on the three-phase operating current. Determine whether the flapping gate is obstructed based on the target voltage curve and the obstruction voltage threshold. If the flapping door encounters an obstruction, the flapping door control device is controlled to activate the protection mode; The determination of the target voltage curve of the flapping gate control device based on the three-phase operating current includes: The initial three-phase operating voltage curves are determined based on the three-phase operating currents, wherein the initial three-phase operating voltage curves include the initial operating voltage curves of phase A, phase B, and phase C. The target voltage curve is determined based on the initial operating voltage curve of phase A, the initial operating voltage curve of phase B, and the initial operating voltage curve of phase C.

2. The method according to claim 1, characterized in that, The flapping door control device includes a channel logic control board and a mechanism motion module; Determining whether the door-opening control device is performing door-opening / closing operations includes: Determine whether the movement module of the mechanism receives the door opening / closing command sent by the channel logic control board; If the mechanism motion module receives the door opening / closing command sent by the channel logic control board, it determines that the door flapping control device is performing door opening / closing operations. If the mechanism motion module does not receive the door opening / closing command sent by the channel logic control board, it is determined that the door flapping control device has not performed the door opening / closing operation.

3. The method according to claim 1, characterized in that, The determination of the target voltage curve based on the initial operating voltage curve of phase A, the initial operating voltage curve of phase B, and the initial operating voltage curve of phase C includes: Based on the offset value, the initial operating voltage curve of phase A, the initial operating voltage curve of phase B, and the initial operating voltage curve of phase C, the intermediate operating voltage curves of phase A, phase B, and phase C are determined. The target voltage curve is determined based on the intermediate working voltage curve of phase A, the intermediate working voltage curve of phase B, and the intermediate working voltage curve of phase C.

4. The method according to claim 3, characterized in that, The offset values ​​include the reference voltage values ​​for phase A, phase B, and phase C; The determination of the intermediate operating voltage curves of phase A, phase B, and phase C based on the offset value, the initial operating voltage curve of phase A, the initial operating voltage curve of phase B, and the initial operating voltage curve of phase C includes: Based on the reference voltage value of phase A and the initial operating voltage curve of phase A, determine the intermediate operating voltage curve of phase A; Based on the B-phase reference voltage value and the B-phase initial operating voltage curve, determine the B-phase intermediate operating voltage curve; Based on the C-phase reference voltage value and the C-phase initial operating voltage curve, the C-phase intermediate operating voltage curve is determined.

5. The method according to claim 3, characterized in that, The determination of the target voltage curve based on the intermediate operating voltage curves of phase A, phase B, and phase C includes: Determine the waveform change period between the intermediate working voltage curve of phase A, the intermediate working voltage curve of phase B, and the intermediate working voltage curve of phase C; The maximum voltage curve among the intermediate working voltage curves of phase A, phase B, and phase C within each cycle is determined as the sub-target voltage curve for each cycle. The target voltage curve is determined based on the sub-target voltage curves of each cycle.

6. The method according to claim 1, characterized in that, The step of determining whether the flapping gate is obstructed based on the target voltage curve and the obstruction voltage threshold includes: A target voltage value set is determined based on a preset sampling period, a preset sampling threshold, and the target voltage curve, wherein the number of target voltage values ​​included in the target voltage value set is the preset sampling threshold. Whether the flapping gate encounters an obstacle is determined based on the mean of each target voltage value in the target voltage value set, the obstruction voltage threshold, the mean coefficient, and the obstruction rule.

7. A control device for a flapping door, characterized in that, Installed in a flap gate control device, the device includes: The action determination module is used to determine whether the door flapping control device is performing door opening and closing operations; The information acquisition module is used to determine the three-phase operating current of the door flapping control device based on the signal acquisition device if the door flapping control device is in the process of opening and closing the door. The information conversion module is used to determine the target voltage curve of the flapping door control device based on the three-phase operating current; The obstruction detection module is used to determine whether the flapping door is obstructed based on the target voltage curve and the obstruction voltage threshold. The function execution module is used to control the flapping door control device to activate the protection mode if the flapping door encounters an obstruction. The information conversion module is specifically used for: determining the initial three-phase operating voltage curve based on the three-phase operating current, wherein the initial three-phase operating voltage curve includes the initial operating voltage curve of phase A, the initial operating voltage curve of phase B, and the initial operating voltage curve of phase C; and determining the target voltage curve based on the initial operating voltage curve of phase A, the initial operating voltage curve of phase B, and the initial operating voltage curve of phase C.

8. A door flapping control device, characterized in that, The flapping door control device includes: At least one processor; and a memory communicatively connected to said at least one processor; The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the control method for the flapping door as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the control method for the flapping door as described in any one of claims 1 to 6.

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