Intelligent control system of electric control self-closing device

Abstract

The invention discloses an electric control self-closing device intelligent control system which comprises an electric control self-closing device, a control unit and a gravity sensing unit, the electric control self-closing device comprises a steering engine and a self-closing rod, the steering engine is detachably fixed to an upper platform handrail, and the self-closing rod is detachably connected with the steering engine through a mechanical arm and can be opened and closed along with rotation of the mechanical arm; the gravity sensing unit monitors pressure changes, converts pressure sensing signals into electric signals and then sends the electric signals to the control unit, the control unit sends the signals to the steering engine, and therefore the opening and closing actions of the self-closing rod are controlled. The self-closing rod is convenient to disassemble and replace after being damaged, so that the cost is saved; the fixing stability of the self-closing rod is enhanced through the threaded rod, and thread slipping is effectively avoided; through the gravity sensing unit and the control unit, it can be ensured that the self-closing rod can be driven to be opened and closed only under specific conditions, semi-automatic control over the self-closing rod is achieved, the opening and closing efficiency and the operation accuracy of the self-closing rod are improved, and the safety of operators is guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of shipbuilding, and in particular relates to an intelligent control system for an electric-controlled self-closing device. Background Art

[0002] At present, the traditional self-closing rods installed on ships on the market are fixedly connected by bolts and nuts, and are often fixed in the form of hexagonal bolts. For example, the existing Chinese utility model document with the announcement number CN215663862U discloses a new type of self-closing railing rod, "including a left-side mounting seat plate, a hinge eye plate, an upper limit block, a lower limit block, a sealing plate support plate, a pin shaft, a sealing plate, a railing rod, a slot and a right-side mounting seat plate, the front of the left-side mounting seat plate is symmetrically welded with two hinge eye plates, the top of the two hinge eye plates is welded with an upper limit block, the bottom of the two hinge eye plates is welded with a lower limit block, the end of the railing rod is placed in the slot, and the back of the slot is installed with the right-side mounting seat plate." However, the self-closing railing rod has certain limitations, including the following problems:

[0003] The vibrations generated during the navigation of the ship may loosen the bolts and nuts in the fixing form, which may cause the self-closing rod to be placed out of place each time it is closed and reset, resulting in deviations from the target fixed position, and the closing function of the self-closing rod cannot be realized. Therefore, the service life of the self-closing rod on the ship is short and it often needs to be replaced. However, due to the corresponding connection between the connecting device and the self-closing rod, the connecting device must be replaced at the same time each time the self-closing rod is replaced, and the connecting device cannot be fully utilized, resulting in a further increase in costs. In addition, in the shipbuilding industry, the opening and closing of the existing self-closing rod is done by manpower, which has high technical and quality requirements for the staff entering and exiting. Manual opening and closing are required before and after entering and exiting, which is easy to cause forgetting or incomplete closing, thereby creating safety risks. Summary of the invention

[0004] In order to solve the problems existing in the prior art mentioned above, the purpose of the present invention is to provide an intelligent control system for an electric-controlled self-closing device, which changes the traditional connection method and manual opening and closing method of the traditional self-closing rod, and combines the application of mechanical control, uses a single-chip microcomputer and a servo to control the opening and closing timing and opening and closing angle of the self-closing rod, so as to realize the semi-automation of the self-closing rod; at the same time, through the installation form of the self-closing rod that can be detachably replaced on the connecting device, the service life of the self-closing rod is extended, and the full utilization of the connecting device is ensured, thereby effectively reducing the replacement cost.

[0005] To achieve the above objectives and other related objectives, the present invention adopts the following technical solutions:

[0006] The present invention provides an intelligent control system for an electric-controlled self-closing device, comprising an electric-controlled self-closing device, a control unit and a gravity sensing unit;

[0007] The electrically controlled self-closing device comprises a steering gear and a self-closing rod, wherein the steering gear is fixedly connected to the upper platform via a railing, and the steering gear is detachably fixed to the railing via a plug-in device, and the self-closing rod is detachably fixed to the steering gear via a mechanical arm, and the self-closing rod can be opened and closed as the mechanical arm rotates;

[0008] The output end of the gravity sensing unit is connected to the input end of the control unit, and the output end of the control unit is connected to the input end of the steering gear;

[0009] The gravity sensing unit is used to monitor the changes in the collected pressure difference in real time, convert the generated sensing signal into an electrical signal, and send the electrical signal to the control unit;

[0010] The control unit is used to receive the electrical signal from the gravity sensing unit, and send a PWM signal to the steering gear to control the steering gear to rotate, so that the steering gear drives the mechanical arm to rotate.

[0011] As a preferred technical solution, the gravity sensing unit includes a pair of gravity sensing devices, a processor, a communication module and a power supply module for power supply, and the pair of gravity sensing devices are respectively arranged on the upper platform and the lower platform of the ship;

[0012] The gravity sensing device comprises a first pressure sensor, which is used to monitor the gravity change difference at the corresponding ship platform in real time and generate a pressure sensing signal;

[0013] The output end of the first pressure sensor is connected to the processor, the input end of the communication module is connected to the processor, the output end of the communication module is connected to the control unit, and the communication module is wireless or wired.

[0014] As a preferred technical solution, the gravity sensing unit also includes a timing module, the input and output ends of the timing module are connected to the processor, and are used to record the duration of the involvement change in the gravity sensing unit and provide real-time feedback to the processor. The processor determines whether the duration of the involvement change recorded by the timing module reaches a preset time. When the duration of the involvement change recorded by the timing module reaches the preset time, the gravity sensing unit sends a converted electrical signal to the control unit through the communication module.

[0015] As a preferred technical solution, the gravity sensing unit also includes a third sensing area; a third sensing area is provided on the outside of the edge of the gravity sensing device located on the upper platform and the gravity sensing device located on the lower platform, and a third sensing device is provided in the third sensing area. The output end of the third sensing device is connected to the processor for monitoring whether there is any involvement change in the third sensing area. When there is an involvement change, the gravity sensing devices located on the upper platform and the lower platform do not send signals to the control unit.

[0016] As a preferred technical solution, the third sensing device generates a sensing signal by means of gravity sensing or photoelectric sensing.

[0017] As a preferred technical solution, the gravity sensing unit also includes a foot-like contour, and the upper end surfaces of the gravity sensing device located on the upper platform and the gravity sensing device located on the lower platform are each provided with a foot-like contour, and the first pressure sensor is arranged within the range of the foot-like contour.

[0018] As a preferred technical solution, the distance between the inner edge of the third sensing area and the corresponding gravity sensing device is in the range of 3-5 mm.

[0019] As a preferred technical solution, the plugging and unplugging device includes a mounting seat and a positioning block; the mounting seat is fixed on the railing, the mounting seat is provided with a groove, and the bottom of the mounting seat is provided with a lower sealing plate; the positioning block is fixed on the servo, the positioning block has a shape matching the groove, and the servo is fixed to the mounting seat by inserting the positioning block.

[0020] As a preferred technical solution, the mechanical arm is movably connected to the servo through a transmission shaft, an ear plate is provided on one side of the mechanical arm, a hole matching the transmission shaft is provided on the ear plate, a threaded rod is fixed to the other end of the mechanical arm, an internal thread matching the threaded rod is provided at one end of the self-closing rod, and the self-closing rod is fixedly connected to the mechanical arm through the threaded rod.

[0021] As described above, the present invention has the following beneficial effects:

[0022] (1) The intelligent control system of an electric self-closing device of the present invention replaces the hexagonal bolts with the mechanical arm of the servo motor to realize the detachable replacement of the self-closing rod, so that the self-closing rod can be replaced more conveniently in case of damage in the later stage, without replacing the servo motor and the mechanical arm as the connecting device, thereby avoiding a series of problems in the installation of self-closing rods in the ship field; at the same time, compared with the traditional fixing method of penetrating the end of the self-closing rod body, by utilizing the threaded rod on the servo motor arm to penetrate into the self-closing rod body and coincide with the central axis of the self-closing rod body, the contact area of ​​the threaded connection is increased, the stability of the fixation is further deepened, and the influence of the position displacement of the self-closing rod body caused by the traditional thread slippage is avoided.

[0023] (2) The intelligent control system of an electric self-closing device of the present invention realizes semi-automatic opening and closing control of the self-closing rod by combining a servo, a control unit and a gravity sensing unit. Specifically, a single-chip microcomputer is used to receive pressure sensing signals from upper and lower sensing units on the deck plane, and at the same time, combined with the automatic judgment of the timing module, the opening and closing angle of the servo is controlled to control the opening and closing operation of the self-closing rod body, thereby changing the traditional manual opening and closing method of the self-closing rod and improving the opening and closing efficiency of the self-closing rod and the safety of personnel.

[0024] (3) An intelligent control system for an electrically controlled self-closing device of the present invention, through the setting of a third sensing area, will only start timing when the first pressure sensor at the gravity sensing unit has a gravity difference change and the second pressure sensor at the third sensing area is free of pressure. Only after the timing meets the set time of the timing module will a signal be sent to control the operation of the servo and drive the self-closing rod to open and close. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the arrangement of the electric-controlled self-closing device and the gravity sensing devices at the upper and lower platforms in the present invention.

[0026] Figure 2 It is a schematic diagram of the configuration structure of the third sensing area in the present invention.

[0027] Figure 3 It is a structural principle diagram of the gravity sensing unit in the present invention.

[0028] Figure 4 It is a front view structural diagram of the electric-controlled self-closing device of the present invention when switching between a horizontal state and a vertical state.

[0029] Figure 5 It is a top view of the structure of the electric-controlled self-closing device in the present invention in a horizontal state.

[0030] Among them, the specific descriptions of the accompanying drawings are as follows: 1. Self-closing rod; 21. Mounting seat; 211. Groove; 212. Lower sealing plate; 22. Positioning block; 3. Servo; 4. Mechanical arm; 41. Ear plate; 42. Transmission sleeve; 43. Threaded rod; 5. Gravity sensing device; 6. Third sensing area; 7. Imitation foot-shaped contour; 81. Upper platform; 82. Lower platform; 9. Railing. DETAILED DESCRIPTION

[0031] In order to better understand the purpose, structure and function of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0032] In the description of the present invention, it should be noted that the positional relationships indicated by terms such as “longitudinal”, “lateral”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside” and “outside” etc. cited in this specification are based on the positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0033] Example 1

[0034] like Figure 1 As shown, this embodiment provides an intelligent control system for an electric-controlled self-closing device, including an electric-controlled self-closing device, a control unit, and a gravity sensing unit.

[0035] The electrically controlled self-closing device includes a self-closing rod 1 and a servo 3, wherein the servo 3 is fixedly connected to the upper platform 81 via a railing 9, and the servo 3 is detachably fixed to the railing 9 via a plug-in device; the self-closing rod 1 is detachably fixed to the servo 3 via a mechanical arm 4; the mechanical arm 4 is driven to rotate by the servo 3, and the self-closing rod 1 can open and close as the mechanical arm 4 rotates.

[0036] The output end of the gravity sensing unit is connected to the input end of the control unit, and the output end of the control unit is connected to the input end of the servo 3; the gravity sensing unit is used to monitor and collect the changes in the pressure change difference at each gravity sensing device 5 in real time, and convert the generated pressure sensing signal into an electrical signal, and send the electrical signal to the control unit.

[0037] The control unit is used to send a PWM signal to the servo 3 to control the rotation of the servo 3 after receiving the electrical signal sent from the gravity sensing unit. When the servo 3 rotates, the self-closing rod 1 is driven to flip open or close through the mechanical arm 4.

[0038] Specifically, Figure 4 and Figure 5 As shown, the plug-in device in the electric-controlled self-closing device includes a mounting seat 21 and a positioning block 22, the mounting seat 21 is fixed on the railing 9, a groove 211 is provided on the mounting seat 21, and a lower sealing plate 212 is provided at the bottom of the mounting seat 21, the positioning block 22 is fixed to the outer shell of the servo 3, the positioning block 22 has a shape matching the groove 211, and the servo 3 is fixed to the mounting seat 21 by plugging and unplugging the positioning block 22. The servo 3 can be easily disassembled and fixed by the matching positioning block 22 and the groove 211; at the same time, when the servo 3 is slidably inserted and fixed in the groove 211, the servo 3 can be easily positioned by the lower sealing plate 212. After installation, the lower end of the positioning block 22 is in contact with the upper end surface of the lower sealing plate 212, and the left end surface of the mechanical arm 4 is in contact with the right end surface of the mounting seat 21, thereby effectively ensuring the stability of the servo 3 during operation, and also ensuring the consistency of the landing point of the other end of the self-closing rod 1 in the horizontal state and the vertical state after the rotation of the mechanical arm 4. The servo engine 3 is provided with a transmission shaft, and the mechanical arm 4 is movably connected to the servo engine 3 through the transmission shaft; one end of the mechanical arm 4 is in the shape of an ear plate 41 and is penetrated and fixed with a transmission sleeve 42, the mechanical arm 4 is fixed to the transmission shaft through the transmission sleeve 42, and the other end of the mechanical arm 4 is fixed with a threaded rod 43, and one end of the self-closing rod 1 is provided with an internal thread matching the external thread on the threaded rod 43, and the self-closing rod 1 is fixed to the mechanical arm 4 by a thread, and the internal thread is arranged along the central axis of the self-closing rod 1 to ensure that the connection between the self-closing rod 1 and the mechanical arm 4 will not loosen due to vibration during long-term use, thereby further improving the reliability and safety of the device; in another embodiment, when the self-closing rod 1 is in a horizontal position, the other end of the self-closing rod 1 is provided with a self-closing rod baffle rod, and the self-closing rod baffle rod is used to assist the self-closing rod 1 to remain in a horizontal state to prevent the self-closing rod 1 from accidentally sagging due to gravity or other external forces.

[0039] The gravity sensing unit includes a pair of gravity sensing devices 5, a processor, a communication module and a power supply module for power supply. The pair of gravity sensing devices 5 are respectively arranged on the upper platform 81 and the lower platform 82 of the ship, and are separated by the self-closing rod 1 in the electric control self-closing device, and are arranged in the internal range and the external range of the self-closing rod 1. Specifically, the gravity sensing device 5 includes a first pressure sensor, the output end of which is connected to the processor, and the first pressure sensor is used to monitor the involved changes of the gravity change difference at the corresponding ship platform in real time and generate a pressure sensing signal; when the control unit receives the electrical signal sent by the gravity sensing device 5 at any one of the upper platform 81 and the lower platform 82 of the ship, the control unit sends a PWM signal to the steering gear 3 to control the rotation of the steering gear 3.

[0040] In this embodiment, the power module adopts a storage battery, and the storage battery can be charged by a marine power supply, a solar cell, etc.; the processor and the control unit are connected through the communication module, and the communication module is one of wireless or wired, so that the communication module can transmit signals in a wireless or wired manner; the input end of the communication module is connected to the processor, and the output end of the communication module is connected to the control unit; the control unit receives an electrical signal from the gravity sensing unit through the communication module, and the control unit converts the electrical signal into a PWM signal, and then transmits the PWM signal to the steering gear 3 through the communication module to control the rotation angle of the steering gear 3 to switch between 0° and 90°. Preferably, the communication module is a wireless signal transmission mode. If the electrical signal generated by the gravity sensing unit is a radio frequency signal, the communication module corresponds to a radio frequency device. After the control unit receives the radio frequency signal sent by the radio frequency device, the control unit sends a PWM signal to the steering gear 3, so that the steering gear 3 runs, and the self-closing rod 1 is opened.

[0041] Here, the steering gear 3 is supplemented as follows: the steering gear 3 is a common power output structure, which is usually composed of a motor, a reduction gear set, a potentiometer, a control circuit, a housing and a steering wheel. The steering gear 3 is operated by continuous PWM signal input, and the steering gear 3 will stop operating once the PWM signal stops inputting. The rotation angle of the steering gear 3 is generally 0-135 degrees, which is confirmed according to the PWM frequency of the steering gear 3. The signal received by the steering gear 3 is a simulated PWM signal encoded by a duty cycle, and 0.5ms-2.5ms corresponds to a PWM duty cycle of 250-1250, which corresponds to the steering gear 3 rotation angle of 0°, 45°, 90°, 135° and 180°, respectively, wherein the duty cycle refers to the percentage of high level occupying time in a cycle. In the present embodiment, only the state of the steering gear 3 rotation angle of 0° and 90° is needed, which corresponds to the two static states of 0° and 90° of the self-closing rod 1 relative to the hull platform, that is, the self-closing rod 1 has a horizontal state and a vertical state.

[0042] Specifically, taking the sg_90 servo 3 as an example, and the control unit adopts a C51 single-chip microcomputer, the frequency of the PWM wave of the servo 3 is 50Hz, the period = 1 / frequency = 1 / 50 = 0.02s, and the corresponding table when the angle jd of the servo 3 is converted into numbers 1 to 5 through the PWM signal is shown in Table 1:

[0043] Table 1

[0044]

[0045]

[0046] Example 2

[0047] This embodiment provides an intelligent control system for an electric self-closing device. On the basis of Embodiment 1, the gravity sensing unit further includes a timing module, the input and output ends of which are connected to the processor, for recording the duration of the involved changes in the gravity sensing unit and feeding back to the processor in real time. When the processor determines that the duration of the involved changes recorded by the timing module reaches a preset time, the gravity sensing unit sends a converted electrical signal to the control unit through the communication module; if the processor determines that the duration of the involved changes recorded by the timing module does not reach the preset time, the gravity sensing unit does not send an electrical signal to the control unit, thereby preventing a person from accidentally opening or closing the self-closing rod 1 when passing by.

[0048] Specifically, the control system in this embodiment also includes the following control principle: when a person steps on the gravity sensing device 5, the first pressure sensor in the gravity sensing device 5 detects a change in gravity, that is, there is an involvement change, and the timing module starts timing and records the duration until the gravity change detected by the first pressure sensor disappears, and then stops timing and resets. In this embodiment, assuming that the preset time is set to 10s, when the recorded duration reaches 10s of the preset time, the processor sends an electrical signal to the control unit through the communication module.

[0049] In this embodiment, the processor uses an STM32 single-chip microcomputer, and the pressure sensor uses an HX711 weighing sensor. The HX711 weighing sensor measures pressure changes by forming a full bridge with four pressure strain gauges. Compared with the configuration of a single or partial bridge circuit, the full-bridge circuit using four strain gauges has higher measurement accuracy and can provide more accurate measurement results; at the same time, the STM32 single-chip microcomputer can communicate with the HX711 weighing sensor to obtain the pressure sensing signal output by the deformation of the pressure strain gauge. After the pressure sensing signal is converted into an electrical signal by the STM32 single-chip microcomputer, the electrical signal is transmitted to the control unit through a communication module such as an MX-01 Bluetooth module, and the control unit converts the electrical signal into a PWM signal to control the rotation angle of the steering gear 3. The STM32 single-chip microcomputer is integrated with a programmable timer, which can preset the time and judge and execute the signal sending task by comparing the preset time and the duration recorded by the timing module.

[0050] Example 3

[0051] like Figure 3 As shown, this embodiment provides an intelligent control system for an electric-controlled self-closing device. On the basis of Embodiment 2, the gravity sensing unit further includes a third sensing area 6, and a third sensing area 6 is provided outside the edge of the gravity sensing device 5 at the upper platform 81 and the lower platform 82; a third sensing device is provided in the third sensing area 6, and the third sensing device generates a sensing signal by gravity sensing or photoelectric sensing. The output end of the third sensing device is connected to the processor. When the third sensing device generates a sensing signal, the processor determines that there is an involved change in the third sensing area 6.

[0052] In this embodiment, the third sensing device adopts a second pressure sensor, and detects by gravity sensing to generate a sensing signal, and the second pressure sensor is connected to the processor through a data line; specifically, the second pressure sensor adopts an HX711 weighing sensor, when the second pressure sensor generates a sensing signal, that is, when there is a change in the third sensing area 6, at this time, even if the corresponding gravity sensing device 5 at the upper platform 81 or the lower platform 82 reaches the set time, each of the gravity sensing devices 5 located at the upper platform 81 and the lower platform 82 does not send a signal to the control unit. In other words, by setting the third sensing area 6, it can be ensured that personnel must strictly stand within the range of the gravity sensing unit of the upper platform 81 or the lower platform 82 to control the opening or closing of the self-closing rod 1.

[0053] Example 4

[0054] This embodiment provides an intelligent control system for an electric self-closing device. On the basis of Embodiments 1-2, the gravity sensing unit further includes a foot-like contour 7, and the upper end surfaces of the gravity sensing device 5 located at the upper platform 81 and the lower platform 82 are each provided with a foot-like contour 7, and the first pressure sensor is arranged within the range of the foot-like contour 7; further, as Figure 2 As shown, when the gravity sensing unit also includes a foot-shaped contour 7, in Example 3, the distance between the third sensing area 6 and the outer contour of the corresponding gravity sensing device 5 should not be too large. Preferably, the distance between the inner edge of the third sensing area 6 and the corresponding gravity sensing device 5 is in the range of 3-5 mm.

[0055] In the present embodiment, the working principle for realizing the automatic opening and closing of the self-closing rod 1 includes: in the initial stage, the self-closing rod 1 is in a closed state, and the self-closing rod 1 is located on the upper platform 81 of the ship; during operation, when the staff needs to pass through the area where the self-closing rod 1 is set on the upper platform 81, they first stand on the gravity sensing device 5 of the lower platform 82, and the control unit controls the steering gear 3 to rotate after receiving the signal, thereby driving the self-closing rod 1 to rotate and open; when the staff reaches the upper platform 81 through the vertical ladder and passes the self-closing rod 1, they stand on the gravity sensing device 5 of the upper platform 81 again, and the control unit controls the steering gear 3 to rotate after receiving the signal, thereby driving the self-closing rod 1 to rotate and close; when the self-closing rod 1 needs to be opened again, they also stand on the gravity sensing device 5 located at the upper platform 81, so that the self-closing rod 1 rotates and opens with the steering gear 3, and after passing the self-closing rod 1 and returning to the lower platform 82 through the vertical ladder, they stand on the gravity sensing device 5 located at the lower platform 82, and the generated signal is transmitted to the control unit to control the self-closing rod 1 to rotate with the steering gear 3 and return to the closed state of the initial stage.

[0056] Specifically, when the staff steps on the imitation foot-shaped contour 7 of the gravity sensing device 5 at the upper platform 81 or the lower platform 82, the first pressure sensor in the corresponding gravity sensing device 5 detects the change in gravity difference and generates a pressure sensing signal, and transmits the pressure sensing signal to the processor.

[0057] Then, after receiving the electrical signal, the processor first determines whether the duration of the stepping action meets the preset time of the timing module, and then transmits the electrical signal to the control unit, and the control unit transmits the PWN signal to the servo 3. After receiving the PWN signal, the servo 3 controls the mechanical arm 4 to rotate and swing the arm, thereby driving the self-closing rod 1 to open or close; this mechanical control method can effectively solve the problem of the self-closing rod 1 not being able to be reset.

[0058] When the gravity sensing unit also includes the third sensing area 6, if a staff member steps on the edge of the imitation foot-shaped contour 7, or when there are goods piled up, it will cause the third sensing unit near the edge of the imitation foot-shaped contour 7 to produce a gravity difference change or a photoelectric difference change, thereby generating a sensing signal and transmitting it to the processor. At this time, the processor determines not to transmit a signal to the servo 3, and the self-closing rod 1 maintains the current open state or closed state.

[0059] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present invention.

Claims

1. An intelligent control system for an electric self-closing device, characterized in that: It includes an electric-controlled self-closing device, a control unit and a gravity sensing unit; The electrically controlled self-closing device comprises a steering gear (3) and a self-closing rod (1); the steering gear (3) is fixedly connected to the upper platform (81) via a railing (9), and the steering gear (3) is detachably fixed to the railing (9) via a plug-in device; the self-closing rod (1) is detachably fixed to the steering gear (3) via a mechanical arm (4), and the self-closing rod (1) can be opened and closed by rotating with the mechanical arm (4); The output end of the gravity sensing unit is connected to the input end of the control unit, and the output end of the control unit is connected to the input end of the steering engine (3); The gravity sensing unit is used to monitor the changes in the collected pressure difference in real time, convert the generated sensing signal into an electrical signal, and send the electrical signal to the control unit; The control unit is used to receive an electrical signal from the gravity sensing unit and send a PWM signal to the steering gear (3) to control the steering gear (3) to rotate, so that the steering gear (3) drives the mechanical arm (4) to rotate.

2. The intelligent control system of an electric self-closing device according to claim 1, characterized in that: The gravity sensing unit comprises a pair of gravity sensing devices (5), a processor, a communication module and a power supply module for power supply, wherein the pair of gravity sensing devices (5) are respectively arranged on an upper platform (81) of the ship and a lower platform (82) of the ship; The gravity sensing device (5) comprises a first pressure sensor, which is used to monitor the gravity change difference at the corresponding ship platform in real time and generate a pressure sensing signal; The output end of the first pressure sensor is connected to the processor, the input end of the communication module is connected to the processor, the output end of the communication module is connected to the control unit, and the communication module is wireless or wired.

3. The intelligent control system of an electric self-closing device according to claim 2 is characterized in that: The gravity sensing unit also includes a timing module, the input and output ends of which are connected to the processor, for recording the duration of the involvement change in the gravity sensing unit and feeding back to the processor in real time, the processor determining whether the duration of the involvement change recorded by the timing module reaches a preset time, and when the duration of the involvement change recorded by the timing module reaches the preset time, the gravity sensing unit sends a converted electrical signal to the control unit via the communication module.

4. The intelligent control system of an electric self-closing device according to claim 2, characterized in that: The gravity sensing unit further comprises a third sensing area (6); a third sensing area (6) is respectively arranged outside the edge of the gravity sensing device (5) located on the upper platform (81) and the gravity sensing device (5) located on the lower platform (82); a third sensing device is arranged in the third sensing area (6); an output end of the third sensing device is connected to the processor for monitoring whether there is an involvement change in the third sensing area (6); when there is an involvement change, the gravity sensing devices (5) located on the upper platform (81) and the lower platform (82) do not send signals to the control unit.

5. The intelligent control system of an electric self-closing device according to claim 4 is characterized in that: The third sensing device generates a sensing signal by means of gravity sensing or photoelectric sensing.

6. The intelligent control system of an electric self-closing device according to claim 2, characterized in that: The gravity sensing unit further comprises a foot-simulating contour (7), and the upper end surfaces of the gravity sensing device (5) located on the upper platform (81) and the gravity sensing device (5) located on the lower platform (82) are each provided with a foot-simulating contour (7), and the first pressure sensor is arranged within the range of the foot-simulating contour (7).

7. The intelligent control system of an electric self-closing device according to claim 4, characterized in that: The distance between the inner edge of the third sensing area (6) and the corresponding gravity sensing device (5) is in the range of 3-5 mm.

8. An intelligent control system for an electric self-closing device according to any one of claims 1 to 7, characterized in that: The plug-in and pull-out device comprises a mounting seat (21) and a positioning block (22); the mounting seat (21) is fixed on the railing (9), a groove (211) is provided on the mounting seat (21), and a lower sealing plate (212) is provided at the bottom of the mounting seat (21); the positioning block (22) is fixed on the steering gear (3), the positioning block (22) has a shape matching the groove (211), and the steering gear (3) is fixed to the mounting seat (21) by means of the positioning block (22) through plugging.

9. An intelligent control system for an electric self-closing device according to any one of claims 1 to 7, characterized in that: The mechanical arm (4) is movably connected to the steering gear (3) via a transmission shaft. An ear plate (41) is provided on one side of the mechanical arm (4). A hole matching the transmission shaft is provided on the ear plate (41). A threaded rod (43) is fixed to the other end of the mechanical arm (4). An internal thread matching the threaded rod (43) is provided at one end of the self-closing rod (1). The self-closing rod (1) is fixedly connected to the mechanical arm (4) via the threaded rod (43).

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