A control method, device, and channel machine based on servo drive and adaptive anti-pinch technology.

Abstract

This invention relates to a control method, device, and access control system based on servo drive and adaptive anti-pinch technology. The method involves a swing door and a mechanism pivot at a 45° angle, forming a three-dimensional motion structure of "rotation + flipping." A multimodal sensing module enables precise personnel triggering and identity verification. The core control module uses a fifth-order polynomial interpolation algorithm to generate a three-dimensional trajectory adapted to personnel dynamic data. A position-velocity dual closed-loop servo drive achieves precise 180° rotation. Infrared and millimeter-wave radar data are integrated to complete the entire anti-pinch detection process. During the reset phase, the door opening trajectory is reused to derive the reset trajectory. The control device includes a mechanical structure, sensing, control, servo drive, and anti-pinch linkage unit. This invention is suitable for installation in confined spaces, provides smooth and precise movement, eliminates blind spots in anti-pinch protection, and has a low false trigger rate, effectively improving passage safety and efficiency.

Description

Technical Field

[0001] This invention relates to the technical field of gate equipment, and in particular to a control method, device and channel machine based on servo drive and adaptive anti-pinch. Background Technology

[0002] In the field of access control technology, turnstiles, access control machines, and other equipment are widely used in subways, office buildings, residential communities, commercial complexes, and other scenarios. Their core function is to achieve orderly passage management and safety control for personnel. With the acceleration of urbanization, the demand for access control in confined spaces such as passageways in old buildings, narrow corridors, and entrances to small supermarkets is increasing, placing higher demands on the spatial adaptability, movement stability, and safety protection accuracy of access control machines. Most mainstream access control systems use a planar swing structure parallel or perpendicular to the pivot axis, resulting in a single motion trajectory, large space occupation, and difficulty in adapting to narrow installation scenarios. This also increases the risk of the swing door colliding with the passageway wall. The drive methods often rely on ordinary stepper motors or DC motors, employing open-loop control or single-position closed-loop control, leading to low positioning accuracy and issues such as jamming and overshooting during movement, resulting in a poor user experience. Anti-pinch detection often uses a single infrared or ultrasonic sensor, with a limited detection range. It is susceptible to interference from light and environmental obstructions, leading to false triggering or blind spots, posing a safety hazard of pinching people. Furthermore, the reset phase trajectory is often independently planned, easily conflicting with the opening trajectory, further reducing operational reliability in confined spaces.

[0003] Therefore, developing a channel machine control technology that is adaptable to confined spaces, provides smooth and precise movement, and is safe and reliable against pinching has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] The main objective of this invention is to provide a control method, device, and channel machine based on servo drive and adaptive anti-pinch technology. It achieves accurate triggering and identity verification of personnel through a multimodal sensing module. The core control module uses a fifth-order polynomial interpolation algorithm to generate a three-dimensional trajectory that adapts to the dynamic data of personnel. It achieves 180° precise rotation based on a dual closed-loop servo drive of position and speed.

[0005] To achieve the above objectives, the present invention provides a control method, device, and channel machine based on servo drive and adaptive anti-pinch, comprising the following steps: The sensing module is activated to scan the entrance of the passage in real time. When a person's movement signal is detected, the identity verification process is triggered. If the verification is successful, dynamic data is collected synchronously and transmitted to the control module, which then generates a passage permission command. If the verification fails, the access control will maintain the horizontal blocking state of the swing door and trigger an alarm. After receiving the dynamic data, the control module uses a fifth-order polynomial interpolation algorithm to generate the rotation trajectory and trajectory parameters of the mechanism shaft. The rotation trajectory constrains the swing door to smoothly switch from the current horizontal blocking state to the vertical release state, and the trajectory parameters are adapted to the dynamic data. The control module sends the generated trajectory command to the servo drive module. Through a dual closed-loop control strategy of position and speed, the encoder collects the rotation angle and speed of the mechanism shaft in real time and feeds them back to the control module. During the entire process of the swing gate movement and personnel passage, anti-pinch detection logic is executed; After receiving the passage completion signal, the control module reverse-engineers the generated rotation trajectory, generates a swing gate reset trajectory command and sends it to the servo drive module, causing the swing gate to reset along the original three-dimensional trajectory, and the passage machine returns to the standby state.

[0006] Furthermore, the activation of the sensing module, which scans the channel entrance in real time, and triggers the identity verification process when a person's movement signal is detected, includes the following steps: After the perception module is started, the integrated infrared array sensor and millimeter-wave radar are activated simultaneously, and enter a collaborative real-time scanning state according to preset parameters to identify the target outline and static presence and capture the target's moving characteristics. During the scanning process, the millimeter-wave radar collects data on the moving speed and direction of the target in the area in real time. When the target's moving speed is detected to be between 0.1 and 3 m / s and the moving direction is pointing towards the entrance of the channel, a preliminary moving trigger signal is generated and transmitted to the infrared array sensor and control module in real time. After receiving the initial movement trigger signal, the infrared array sensor immediately performs precise contour recognition and position locking on the target in the corresponding area. If the target contour matches the preset human features and remains in the trigger area at the entrance of the channel for more than 300ms, a valid personnel presence signal is generated and fed back to the control module. After the control module receives the initial movement trigger signal and the valid person presence signal from the infrared array sensor, it confirms the detection of the valid person movement signal through logical judgment, and then sends a start command to the binocular face recognition unit. Furthermore, the step of generating the rotation trajectory and trajectory parameters of the movement shaft using a fifth-order polynomial interpolation algorithm includes: The control module calls the channel's preset dimensions and dynamic data, and combines them with the 45-degree angle constraint between the swing door and the mechanism's rotating shaft to form the basis for trajectory planning; It is clear that when t=0, the rotation angle of the core shaft is θ=0 degrees, the angular velocity is ω=0, and the angular acceleration is α=0; when t=T, θ=180 degrees, ω=0, and α=0, where T is dynamically adjusted according to the personnel's movement speed. A fifth-order polynomial equation with time t as the independent variable and rotation angle θ(t) as the dependent variable is established. By substituting the boundary conditions, the coefficients of the equation are solved, and the time series of angular velocity and angular acceleration are derived to form complete trajectory parameters. Based on the 45-degree included angle constraint and channel size, after verifying that the trajectory has no collision risk, the trajectory parameters are encapsulated into trajectory instructions and transmitted to the servo drive module.

[0007] Furthermore, the control module sends the generated trajectory commands to the servo drive module. Through a dual closed-loop control strategy of position and speed, the encoder collects the rotation angle and speed of the mechanism shaft in real time and feeds them back to the control module. The control module dynamically adjusts the commands based on the feedback data, driving the mechanism shaft to rotate precisely 180 degrees, performing the three-dimensional motion of the swing door's rotation and flipping, including: The control module sends the three-dimensional motion trajectory command that adapts to the 45-degree angle between the swing door and the mechanism's rotating shaft to the servo drive module, and simultaneously activates the position and speed dual closed-loop control strategy. The position closed loop is used to correct the rotation angle deviation of the mechanism's rotating shaft, and the speed closed loop is used to adjust the motion smoothness. The encoder collects the rotation angle and speed data of the mechanism shaft in real time and feeds the collected data back to the control module in real time, forming a dynamic feedback link; Based on the spatial constraints of the swing gate's three-dimensional motion, the control module compares the feedback data with the preset trajectory parameters, calculates the angle deviation and speed fluctuation values, and dynamically adjusts the output torque and speed commands of the servo drive module. The servo drive module responds to the adjusted command and drives the mechanism shaft to rotate precisely 180 degrees along the preset trajectory. Through the force transmission at a 45-degree angle, it drives the swing door to complete the three-dimensional motion synchronously.

[0008] Furthermore, the step of executing the anti-pinch detection logic throughout the entire process of the swing door movement and personnel passage includes: By combining the 45-degree angle between the swing door and the mechanism's rotating shaft and the three-dimensional motion trajectory, the anti-pinch detection area is defined; The infrared array sensor of the sensing module collects the distance and contour data of obstacles in the swing gate's movement area, while the millimeter-wave radar simultaneously collects the real-time position and movement speed data of people in the passage and transmits it to the control module in real time. The control module performs weighted fusion of infrared detection data and millimeter-wave radar data, and combines the swing door motion parameters at a 45-degree angle to determine whether there are obstacles or a mismatch between the speed of personnel movement and the speed of swing door movement. If a risk of pinching is detected, the control module immediately sends a dynamic adjustment command to the servo drive module, and adjusts the motor output speed in real time based on the dual closed-loop control strategy. During the adaptive adjustment process, sensor data is continuously collected and fused until it is detected that the person has completely passed through the passage, at which point the control module generates a passage completion signal.

[0009] Furthermore, after receiving the passage completion signal, the control module reverse-engineers the generated rotation trajectory, generates a swing gate reset trajectory command, and sends it to the servo drive module to drive the swing gate to reset along the original three-dimensional trajectory, thus returning the passage machine to the standby state. This process includes: After receiving the passage completion signal, the control module calls the three-dimensional rotation trajectory data of the swing door, and combines the geometric constraint of the 45-degree angle between the swing door and the mechanism axis to derive the symmetrical three-dimensional trajectory of the swing door reset. The three-dimensional rotation trajectory of the swing door and the opening trajectory are perfectly adapted to the size of the narrow passage and the boundary of the swing door's movement space. The control module encapsulates the reset three-dimensional trajectory parameters into a standardized reset command and sends it to the servo drive module, synchronously continuing the dual closed-loop control strategy of position and velocity. When the servo drive module responds to the reset command, the drive motor starts to rotate 180 degrees in the opposite direction. The encoder collects the angle and speed data of the reverse rotation of the mechanism shaft in real time and continuously feeds them back to the control module to form a dynamic closed loop. The control module compares the feedback data with the reset trajectory parameters and, combined with the force transmission characteristics at a 45-degree angle, dynamically adjusts the motor output torque and speed. The anti-pinch detection logic is continuously executed throughout the reset process until the encoder feedback indicates that the core shaft has returned to the initial 0-degree position and the swing door has been confirmed to have returned to the horizontal blocking state. The control module issues a generator lock command, the channel machine returns to standby state, and waits for the next personnel movement signal to trigger the inspection process.

[0010] Furthermore, after receiving the passage completion signal, the control module calls the three-dimensional rotation trajectory data of the swing gate, and, combined with the 45-degree geometric constraint of the swing gate and the mechanism's rotation axis, reverse-derives the steps to obtain the symmetrical three-dimensional trajectory for the swing gate's reset, including: The control module retrieves the full data of the generated three-dimensional rotation trajectory of the swing door opening and extracts the core parameter sequences of angle, time, angular velocity, and time. Using the force transmission characteristics at a 45-degree angle as a geometric constraint, the time axis of the door opening trajectory is reversed and the angular velocity and angular acceleration parameters are synchronously mirrored. The three-dimensional reset trajectory, which is symmetrical to the door opening trajectory space, is derived. The displacement of the reset trajectory on the Y-axis is verified to not exceed the thickness of the chassis, thus adapting to the installation constraints in confined spaces.

[0011] The present invention also provides a control device based on servo drive and adaptive anti-pinch, comprising: The multimodal sensing module is used to scan the entrance of the passage in real time, collect dynamic data of personnel, human feature information and anti-pinch detection data; The core control module uses a high-performance microcontroller to receive data from the multimodal sensing module, perform fifth-order polynomial interpolation trajectory planning, sensor data weighted fusion, anti-pinch risk judgment, and command generation, and is adapted to three-dimensional motion control logic at a 45-degree angle. The servo drive module is used to receive trajectory commands from the core control module and achieve precise 180-degree rotation and dynamic speed adjustment of the mechanism shaft through position-speed dual closed-loop control. The anti-pinch linkage module works in conjunction with the multimodal sensing module, the core control module, and the servo drive module. Based on the fused detection data and the real-time motion parameters of the swing door, it triggers adaptive anti-pinch actions such as servo motor deceleration and reverse micro-motion.

[0012] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the control method based on servo drive and adaptive anti-pinch described above.

[0013] The present invention also provides a channel machine, which includes a chassis, a mechanism shaft rotatably connected to the chassis, and a swing door fixed on the mechanism shaft. The swing door is set at a fixed 45-degree angle with the mechanism shaft. When the channel machine executes the computer program, it implements the steps of the above-mentioned control method based on servo drive and adaptive anti-pinch. Attached Figure Description

[0014] Figure 1 This is a flowchart of a control method based on servo drive and adaptive anti-pinch in one embodiment of the present invention; Figure 2 This is a block diagram of a control device based on servo drive and adaptive anti-pinch in one embodiment of the present invention; Figure 3 This is a schematic diagram of the channel machine in one embodiment of the present invention; The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0016] Reference Figure 1 The diagram below illustrates a control method based on servo drive and adaptive anti-pinch proposed in this invention, comprising the following steps: S1, activate the sensing module to scan the entrance of the passage in real time. When a person's movement signal is detected, the identity verification process is triggered. If the verification is successful, dynamic data is collected synchronously and transmitted to the control module, which then generates a passage permission command. If the verification fails, the access control will maintain the horizontal blocking state of the swing door and trigger an alarm. S2, after receiving the dynamic data, the control module uses a fifth-order polynomial interpolation algorithm to generate the rotation trajectory and trajectory parameters of the mechanism shaft. The rotation trajectory constrains the swing door to smoothly switch from the current horizontal blocking state to the vertical release state, and the trajectory parameters are adapted to the dynamic data. S3, the control module sends the generated trajectory command to the servo drive module. Through the position and speed dual closed-loop control strategy, the encoder collects the rotation angle and speed of the mechanism shaft in real time and feeds them back to the control module. S4 executes anti-pinch detection logic throughout the entire process of the swing door movement and personnel passage; S5, after receiving the passage completion signal, the control module reverse-derives the generated rotation trajectory, generates a swing door reset trajectory command and sends it to the servo drive module, driving the swing door to reset along the original three-dimensional trajectory, and the passage machine returns to the standby state.

[0017] As described in step S1 above, the multimodal sensing module is activated, putting it into real-time scanning mode at the passage entrance. The millimeter-wave radar first collects the target's movement speed and direction within the area. When a movement signal of 0.1-3 m / s pointing towards the passage entrance is detected, a preliminary movement trigger signal is generated and transmitted to the infrared array sensor and control module. After receiving the signal, the infrared array sensor performs contour recognition and position locking on the target in the corresponding area. If the target contour matches human features and remains in the entrance trigger area for more than 300 ms, a valid personnel presence signal is generated and fed back to the control module. After receiving both types of signals simultaneously, the control module determines it to be a valid personnel movement signal and triggers the binocular face recognition unit to start. If the verification is successful, the personnel dynamic data is collected and transmitted to the control module, and a passage permission command is generated; if the verification fails, the swing gate remains in a horizontal blocking state, triggering an alarm prompt.

[0018] As described in step S2 above, the control module first receives the personnel dynamic data transmitted by S1, including movement speed and distance from the channel entrance. Simultaneously, it calls the channel's preset size parameters and uses the 45° angle between the swing door and the mechanism's rotating shaft as the core geometric constraint, integrating these to form a complete basis for trajectory planning. Then, it sets the trajectory boundary conditions: at t=0, the mechanism's rotating shaft rotation angle is 0°, and both angular velocity and angular acceleration are 0 (corresponding to the swing door's horizontal blocking state); at t=T, the mechanism's rotating shaft rotation angle is 180°, and both angular velocity and angular acceleration are also 0 (corresponding to the swing door's vertical release state), where T is dynamically adjusted according to the personnel's movement speed. Next, a fifth-order polynomial interpolation equation is established with time as the independent variable and rotation angle as the dependent variable. The boundary conditions are substituted into the equation to solve for the coefficients, further deriving the time series of angular velocity and angular acceleration, forming a complete trajectory parameter set. Finally, collision risk verification is conducted based on the 45° angle constraint and channel dimensions. After successful verification, the trajectory parameters are encapsulated into standardized trajectory instructions and transmitted to the servo drive module, providing a basis for subsequent precise driving.

[0019] As described in step S3 above, the control module first accurately sends the trajectory command generated in step S2, adapted to the 45° angle three-dimensional motion of the swing door, to the servo drive module. Simultaneously, it activates a position-speed dual closed-loop control strategy. The position closed loop corrects the rotation angle deviation of the mechanism shaft, while the speed closed loop ensures motion stability. After the servo drive module responds to the command and starts, the encoder collects the rotation angle (accuracy ±0.1°) and real-time speed data of the mechanism shaft at high frequency in real time, and immediately feeds back the collected dynamic data to the control module, forming a complete dynamic feedback link. Based on the spatial constraints of the swing door's three-dimensional motion (adapting to the 45° angle and narrow passage size), the control module compares the feedback data with the preset trajectory parameters in real time, accurately calculates the angle deviation and speed fluctuation values, and then dynamically adjusts the torque and speed commands output to the servo drive module. Responding to the adjusted commands, the servo drive module drives the mechanism shaft to rotate precisely along the preset trajectory. Through the force transmission at the 45° angle, it drives the swing door to synchronously complete the coordinated three-dimensional motion of "rotation + flipping," ensuring the swing door smoothly switches to the vertical release state.

[0020] As described in step S4 above, anti-pinch detection is performed synchronously throughout the entire movement of the swing door and the passage of personnel. First, based on the 45° angle between the swing door and the mechanism's rotating shaft and the three-dimensional motion trajectory, an anti-pinch detection area covering the entire swing door's travel space and the passageway's path is delineated to ensure no blind spots and adaptability to confined spaces. Subsequently, the multimodal perception module initiates collaborative data acquisition: infrared array sensors collect real-time obstacle distance and contour data in the swing door's movement area, while millimeter-wave radar simultaneously captures personnel position and movement speed data within the passageway. Both types of data are transmitted to the control module in real time. The control module performs weighted fusion processing on the data, combining it with the real-time angular velocity, position, and other motion parameters of the swing door at the 45° angle to accurately determine whether there is an obstacle or a mismatch between the personnel and the swing door's speed, posing an anti-pinch risk. If a risk is determined, a dynamic adjustment command is immediately issued to the servo drive module, adjusting the motor speed based on a dual closed-loop control strategy. The fused data is continuously collected throughout the process until personnel are detected to have completely passed through the passageway. At this point, the control module generates a passage completion signal, which serves as the trigger condition for the subsequent reset process.

[0021] As described in step S5 above, after receiving the passage completion signal generated in step S4, the control module immediately calls up the full data of the three-dimensional rotation trajectory of the swing door generated in step S2. Simultaneously, based on the 45° geometric constraint between the swing door and the mechanism's rotating shaft, it performs reverse derivation of the reset trajectory. By reversing the time axis of the opening trajectory and synchronously mirroring key parameters such as angular velocity and angular acceleration, a reset three-dimensional trajectory symmetrical to the opening trajectory space is finally obtained, ensuring that the trajectory adapts to the narrow passage size and the swing door's movement boundary. Subsequently, the control module encapsulates the reset trajectory parameters into standardized reset commands and sends them to the servo drive module, continuing the position and speed dual-closed-loop control strategy. The servo drive module responds to the command by driving the motor to rotate in the opposite direction. The encoder collects the angle and speed data of the shaft's reverse rotation in real time and feeds them back to the control module, forming a dynamic closed loop. The control module compares the feedback data with the reset trajectory parameters, dynamically adjusts the motor torque and speed, and continuously executes the anti-pinch detection logic throughout the reset process until the encoder reports that the shaft has returned to its initial 0° position and the swing door has returned to its horizontal blocking state. The control module then issues a generator lock command, and the passage machine officially returns to standby mode, awaiting the next personnel movement signal to trigger the process.

[0022] In one embodiment, the activation sensing module scans the entrance of the passage in real time. When a person movement signal is detected, an identity verification process is triggered. If the verification is successful, dynamic data is collected synchronously and transmitted to the control module, which generates a passage permission command. If the verification fails, the passage machine maintains the swing door in a horizontal blocking state and triggers an alarm prompt in step S1, which includes: S11, Start the sensing module and activate dual-sensor scanning; S12, millimeter-wave radar acquires data and generates an initial trigger signal; S13, the infrared sensor identifies the silhouette and generates a valid personnel signal; S14, the control module confirms the signal, triggering identity verification; S15, Verification result processing: pass or fail, alarm triggered.

[0023] In practical implementation, after the channel unit completes power-on initialization, it automatically activates the multimodal sensing module, which integrates an infrared array sensor, millimeter-wave radar, and a binocular face recognition unit. This module accurately covers a preset scanning area of ​​1.5-3 meters in front of the channel entrance, simultaneously configuring collaborative scanning parameters. The infrared array sensor is set to a high-resolution scanning mode of 32×32 pixels, and the millimeter-wave radar is set to a sampling frequency of 30Hz, ensuring the timing synchronization of data acquisition from both types of sensors. After activation, the multimodal sensing module continuously outputs scanning signals to capture target dynamics within the area in real time. The millimeter-wave radar acquires the radial movement speed and azimuth data of the target through frequency-modulated continuous wave signals. After filtering environmental noise using a built-in algorithm, it extracts the motion parameters of the effective target. When a target's movement speed is detected to be within the human passage speed range of 0.1-3 m / s, and the azimuth angle points towards the center area of ​​the channel entrance, a preliminary movement trigger signal is immediately generated and synchronously transmitted to the infrared array sensor and the core control module via the CAN bus. For example, in a morning rush hour scenario in an office building, pedestrian A walks towards the entrance of a passageway at a speed of 0.8 m / s. Millimeter-wave radar quickly captures their movement trajectory, determines that the triggering conditions are met, and sends a signal. Upon receiving the initial movement trigger signal, the infrared array sensor automatically focuses its scanning on the target area corresponding to the signal. It extracts the target's contour features using a grayscale threshold segmentation algorithm and compares them with a preset human contour template, covering contour feature parameters within a height range of 1.2-2.2 meters. Simultaneously, a timing module is activated to count the target's dwell time within the trigger area. When the target contour matching degree exceeds 85% and the continuous dwell time exceeds 300 ms (to avoid false triggering by momentary obstructions), a valid person presence signal is generated and fed back to the core control module. In the aforementioned scenario, the infrared array sensor accurately captured pedestrian A's human contour with a matching degree of 92%, and confirmed that they remained in the trigger area for 380 ms, successfully outputting a valid person presence signal. After receiving two types of signals, the core control module verifies the signal validity through hardware logic circuits. Only when the initial movement trigger signal and the valid person presence signal simultaneously meet the preset level conditions is it determined that a valid person movement signal has been detected. A start command is then sent to the binocular face recognition unit, driving the high-definition camera of the face recognition unit to turn on, collect the target's facial image information, and transmit it to the local feature database for comparison. If the facial feature similarity exceeds 90%, the identity verification is deemed successful. Simultaneously, by using the fusion data from the infrared array sensor and millimeter-wave radar, the real-time movement speed (0.8 m / s) and distance to the passage entrance (1.2 m) of the person are calculated and transmitted to the trajectory planning unit of the control module, while simultaneously generating a passage permission command. If the facial feature comparison fails or no valid facial information is detected, the control module maintains the horizontal blocking state of the swing gate and drives the audible and visual alarm on the side of the passage machine to emit a 1Hz red warning light and a buzzer sound until the target leaves the scanning area.

[0024] In one embodiment, after receiving the dynamic data, the control module uses a fifth-order polynomial interpolation algorithm to generate the rotation trajectory and trajectory parameters of the mechanism shaft. The rotation trajectory constrains the swing gate to smoothly switch from the current horizontal blocking state to the vertical release state, and the step S2, in which the trajectory parameters are adapted to the dynamic data, includes: S21, integrating planning basis; S22, Set boundary conditions; S23, construct and solve the equations; S24, verify the feasibility of the trajectory; S25 generates the output instruction.

[0025] In the specific implementation, after receiving the personnel dynamic data (including real-time movement speed, distance from the channel entrance, and other core parameters) transmitted in step S1, the control module first synchronously retrieves the preset basic parameters of the channel, including the channel width of 60cm and the chassis thickness of 15cm. It then uses the fixed 45° angle between the swing door and the mechanism's rotating shaft as the core geometric constraint for three-dimensional motion, completing the integration and verification of the trajectory planning input dataset to ensure the integrity and accuracy of the input data. Based on the integrated dataset, the control module further sets the dynamic boundary conditions for trajectory planning: taking the horizontal blocking state of the swing door as the initial moment (t=0), at which time the rotating shaft rotation angle is 0°, the angular velocity ω=0 rad / s, and the angular acceleration α=0 rad / s²; and taking the vertical opening state of the swing door as the termination moment (t=T), corresponding to a rotating shaft rotation angle of 180°, ω=0 rad / s, and α=0 rad / s². The value of T is dynamically adapted according to the personnel movement speed; the faster the personnel movement speed, the smaller the value of T to match the passage efficiency, and vice versa to ensure smooth passage. For example, in a morning rush hour scenario in an office building, if pedestrian B approaches the passageway at a speed of 0.8 m / s, the control module, considering the distance of 1.2 m between pedestrian B and the entrance, sets the T value to 1 s. If the pedestrian is an elderly person moving at a slower speed of 0.4 m / s, the T value is adjusted to 1.5 s. Subsequently, the control module constructs a fifth-order polynomial interpolation equation with time t as the independent variable and the rotation angle θ(t) of the axis as the dependent variable: θ(t) = a0 + a1t + a2t² + a3t³ + a4t 4 +a5t 5Substituting the above six sets of boundary conditions into the equations, a system of linear equations is formed. The specific values ​​of coefficients a0 to a5 are obtained through matrix inversion. Then, the first and second derivatives of θ(t) are calculated to derive the corresponding parameter sequences of angular velocity ω(t), angular acceleration α(t), and time t, forming a complete three-dimensional trajectory parameter set of "angle-angular velocity-angular acceleration". To ensure the trajectory adapts to confined spaces and eliminates collision risks, the control module maps the trajectory parameters to the three-dimensional spatial coordinates of the swing door endpoints based on the force transmission characteristics of a 45° angle, simulating and calculating the spatial trajectory of the swing door throughout its movement. The key verification is whether the maximum displacement of the swing door in the horizontal-vertical passage direction (Y-axis) exceeds the chassis thickness of 15cm, and whether the displacement in the passage extension direction (X-axis) is controlled within the passage width. In the aforementioned scenario of pedestrian B, the calculated maximum displacement of the swing door along the Y-axis is 12cm, less than the chassis thickness, and the displacement along the X-axis does not exceed the 60cm passage width, thus determining that the trajectory poses no collision risk. Finally, the control module encapsulates the verified full trajectory parameters into standardized digital trajectory instructions according to the communication protocol supported by the servo drive module. The instructions contain the target angle, angular velocity threshold and synchronization control signals at each time point, and are transmitted to the servo drive module through the high-speed communication interface, providing the core control basis for the precise rotation of the movement shaft.

[0026] In one embodiment, the control module sends the generated trajectory command to the servo drive module. Step S3, which involves the encoder acquiring the rotation angle and speed of the mechanism shaft in real time and feeding them back to the control module using a dual closed-loop control strategy of position and speed, includes: S31 transmits trajectory commands, activating dual closed-loop control; S32, servo drive response, drives the motor to operate; S33, the encoder collects angle and rotation speed in real time; S34, collect data and feed it back to the control module; S35 features dual closed-loop contrast adjustment to correct drive parameters.

[0027] In practical implementation, the control module transmits the standardized trajectory command verified in step S2 to the servo drive module via a high-speed communication interface. The command includes the target rotation angle, angular velocity threshold, and synchronization control signals for each time point. Simultaneously, it activates a dual closed-loop control strategy for position and speed. The position loop uses the deviation between the actual rotation angle and the target angle of the mechanism shaft as the control quantity, while the speed loop uses the deviation between the actual rotation speed and the target rotation speed as the control quantity, forming a coordinated control logic. Upon receiving the command, the servo drive module's internal power amplification unit immediately converts the digital command into an analog drive signal, driving the AC servo motor rigidly connected to the mechanism shaft to start running, causing the mechanism shaft to rotate along a preset trajectory. To ensure control accuracy, an incremental encoder coaxially mounted with the servo motor starts synchronously, acquiring the rotation angle and instantaneous rotation speed data of the mechanism shaft in real time at a high-frequency sampling frequency of 1000Hz. After digital processing, it generates timestamped feedback data, which is instantly transmitted back to the control module via the same communication link. The control module's built-in dual-closed-loop adjustment algorithm compares the feedback data with the target parameters in the trajectory command in real time. If the position loop detects a deviation between the actual rotation angle of the shaft and the target angle (e.g., the angle is 54° at preset t=0.3s, but the actual detected angle is 53.2°), it outputs a compensation signal to the speed loop. The speed loop dynamically adjusts the duty cycle of the servo drive module's output voltage based on the compensation signal and the speed deviation, thereby correcting the motor speed and driving the shaft to quickly approach the target angle. Taking the scenario of pedestrian B passing through an office building as an example, S2 sets the mechanism shaft to complete a 180° rotation within 1 second, and the target angular velocity changes according to a fifth-order polynomial law over time. Under the dual-closed-loop control, the encoder's real-time feedback data shows that the shaft rotation angle error is controlled within ±0.1° throughout the entire rotation, and the speed fluctuation does not exceed 5 rpm. This ensures that the swing door smoothly switches from a horizontal blocking state to a vertical opening state without any stuttering or overshoot, accurately matching pedestrian B's passage speed of 0.8 m / s. When the mechanism shaft rotates to the 180° target position and the angular velocity fed back by the encoder approaches 0, the control module outputs a stable control signal, and the servo drive module maintains the current state to ensure that the swing door stays stably in the vertical release position, providing a safe and smooth passage for people to pass through.

[0028] In one embodiment, step S4, which executes the anti-pinch detection logic throughout the entire process of the swing door movement and personnel passage, includes: S41, define the anti-pinch detection area, covering the entire swing door travel distance and passageway path; S42, initiate dual-sensor collaborative acquisition to obtain dynamic data of obstacles or people; S43, fuses sensor data to extract target location or contour features; S44, combined with the real-time motion parameters of the swing door, determines the risk of pinching; S45: If there is a risk, the servo will be adjusted accordingly; if there is no risk, continuous monitoring will continue. S46, the inspection personnel have completely passed through, triggering the passage completion signal.

[0029] In practice, the anti-pinch detection logic is activated the instant the swing door starts rotating from its horizontal blocking state, forming a real-time linkage with the entire process of the swing door's movement and personnel passage. The control module first defines the anti-pinch detection area based on the 45° angle between the swing door and the mechanism's rotating shaft, combined with the actual parameters of a 60cm passage width and a 50cm swing door length. This area is centered on the swing door's movement trajectory, covering a 10cm safety buffer zone on each side of the swing door, and extending to the complete passage path from 1.5m before the entrance to 0.5m after the exit, ensuring no detection blind spots and precise adaptation to the layout of narrow spaces. Infrared array sensors and millimeter-wave radar initiate data acquisition according to a preset collaborative strategy: the infrared array sensor, with a resolution of 32×32 pixels and a sampling frequency of 50Hz, captures the target contour and distance data within the detection area in real time; the millimeter-wave radar, with a sampling frequency of 30Hz and a velocity resolution of 0.1m / s, simultaneously acquires the target's real-time position, movement speed, and direction of motion. The data from both types of sensors are time-stamped and then transmitted to the multi-source data fusion unit of the control module. Environmental noise is filtered using a Kalman filter algorithm to generate accurate target fusion data, including core parameters such as the shortest distance between the target and the swing door, and their relative speed. The control module calls a preset anti-pinch risk assessment model and dynamically compares the fusion data with the real-time motion parameters of the swing door (rotation angle and angular velocity synchronously fed back by the encoder). When the shortest distance between the target and the swing door is detected to be less than the 8cm safety threshold, or when the relative speed does not match the angular velocity of the swing door (e.g., the target suddenly approaches when the swing door accelerates its rotation), it is immediately determined to be a high anti-pinch risk; if the distance is greater than 15cm and the motion is stable, it is determined to be risk-free. Taking a shopping mall passage scenario as an example, a child, C, suddenly breaks free from their parent's grasp during the swing gate's rotation and rushes towards the inside of the gate. The millimeter-wave radar instantly detects the child's 0.6 m / s speed and the shortest distance of 7 cm from the gate. The infrared array sensor accurately identifies the child's outline and confirms they are within the core of the detection area. After determining a high risk of pinching, the control module outputs an adjustment command to the servo drive module within 10 ms, causing the swing gate to immediately reduce its angular velocity to 30% of its original speed. Simultaneously, a voice prompt, "Please pay attention to child safety," is sent to the parent. Once the child leaves the detection area and the risk is eliminated, the swing gate resumes its original trajectory. Throughout the passage process, the anti-pinch detection logic continues to operate until the infrared array sensor and millimeter-wave radar fail to detect a valid target within the detection area for 300 ms, and the encoder indicates the swing gate has stably stopped at the vertical release position. Only then does the control module determine that the person has completely passed, generating a passage completion signal and triggering the S5 reset process.

[0030] In one embodiment, after receiving the passage completion signal, the control module reverse-derives the generated rotation trajectory, generates a swing gate reset trajectory command, and sends it to the servo drive module to drive the swing gate to reset along the original three-dimensional trajectory. Step S5, in which the passage machine returns to the standby state, includes: S51 receives the passage completion signal and retrieves the original rotation trajectory data; S52, time axis reverse mapping, mirror motion parameters; S53 verifies collision risks and adapts to spatial constraints; S54 generates standardized reset trajectory instructions and encapsulates synchronous control parameters; S55 sends a reset command to the servo drive module to initiate the swing door reset. S56 monitors the reset status in real time and receives encoder feedback data for closed-loop adjustment. S57, the swing door has been reset to its original position, and the access control unit has switched to standby mode.

[0031] In the specific implementation, after receiving the passage completion signal output in step S4, the control module immediately triggers the swing door reset process and synchronously retrieves the full data of the original rotation trajectory generated in step S2, including the complete parameter sequence of "angle-angular velocity-angular acceleration-time" and the channel space constraint parameters (channel width 60cm, chassis thickness 15cm), providing a basis for the reverse derivation of the reset trajectory. Based on the original trajectory data, the control module completes the reset trajectory derivation through a time axis reverse mapping algorithm: taking the termination time of the original trajectory (t=T, rotation axis 180°, swing door vertically open) as the initial time of the reset trajectory (t'=0), and the initial time of the original trajectory (t=0, rotation axis 0°, swing door horizontally blocked) as the termination time of the reset trajectory (t'=T), the time parameter t of the original trajectory is reversed according to "t'=Tt", and the direction parameters of angular velocity and angular acceleration are mirrored to ensure that the reset trajectory and the original trajectory are completely symmetrical in space, and the swing door's movement posture and opening process are smoothly responsive. After the reset trajectory is derived, the control module initiates feasibility verification: based on the 45° angle between the swing door and the mechanism's rotating shaft, the reset trajectory parameters are mapped to the three-dimensional spatial coordinates of the swing door endpoints. The motion trajectory of the entire reset process is simulated and calculated, with a focus on verifying whether the maximum displacement of the swing door in the horizontal vertical channel direction (Y-axis) exceeds the chassis thickness threshold of 15cm, and whether it exceeds the channel width range of 60cm in the channel extension direction (X-axis). If there is a risk of collision, the trajectory parameters are fine-tuned based on spatial constraints; after successful verification, it is confirmed that the reset trajectory can safely adapt to confined spaces. Subsequently, the control module encapsulates the verified reset trajectory parameters into standardized reset commands according to the communication protocol. The commands contain the target reset angle, angular velocity threshold, and synchronization control signals at each time point, and are transmitted to the servo drive module through a high-speed communication interface. After the servo drive module responds to the command, it drives the AC servo motor to rotate in reverse, causing the mechanism shaft to begin rotating along the reset trajectory. Simultaneously, the incremental encoder, coaxial with the motor, starts, collecting real-time data on the shaft's reverse rotation angle and instantaneous speed at a high sampling frequency of 1000Hz, generating timestamped feedback data that is sent back to the control module. The control module employs a dual closed-loop adjustment strategy for position and speed, dynamically correcting the servo drive output by comparing the feedback data with the target parameters of the reset trajectory in real time. Taking an office building's evening rush hour scenario as an example, if the rotation time T set by S2 for pedestrian B's passage is 1s, after the reset trajectory is derived, the swing door needs to smoothly reset from a 180° vertical position to a 0° horizontal blocking position within 1s. Under dual closed-loop control, encoder feedback data shows that the shaft angle error is controlled within ±0.1° throughout the reset process, the speed fluctuation does not exceed 5rpm, and the maximum displacement of the swing door's Y-axis is 12cm (less than the chassis thickness), with no interference to the passage sidewall or chassis.When the encoder feedback mechanism shaft accurately returns to 0°, and both angular velocity and angular acceleration approach 0, the control module determines that the swing gate has reset to its initial horizontal blocking state. It then outputs a stop signal, the servo drive module stops operating, and the motor is locked. Simultaneously, the control module disables the high-frequency scanning mode of the multimodal sensing module and switches to a low-power standby scanning state, maintaining only basic monitoring within a 1.5m range of the passage entrance. The passageway machine officially returns to standby mode, awaiting the next personnel movement signal to trigger a new passage process.

[0032] Reference Figure 2 Here is a structural block diagram of a control method based on servo drive and adaptive anti-pinch in one embodiment of the present invention, including: The multimodal sensing module is used to scan the entrance of the passage in real time, collect dynamic data of personnel, human feature information and anti-pinch detection data; The core control module uses a high-performance microcontroller to receive data from the multimodal sensing module, perform fifth-order polynomial interpolation trajectory planning, sensor data weighted fusion, anti-pinch risk judgment, and command generation, and is adapted to three-dimensional motion control logic at a 45-degree angle. The servo drive module is used to receive trajectory commands from the core control module and achieve precise 180-degree rotation and dynamic speed adjustment of the mechanism shaft through position-speed dual closed-loop control. The anti-pinch linkage module works in conjunction with the multimodal sensing module, the core control module, and the servo drive module. Based on the fused detection data and the real-time motion parameters of the swing door, it triggers adaptive anti-pinch actions such as servo motor deceleration and reverse micro-motion.

[0033] For the specific implementation of each module in the above device example, please refer to the above method embodiments, which will not be repeated here.

[0034] The present invention proposes a channel machine, which includes a chassis, a mechanism shaft rotatably connected to the chassis, and a swing door fixed on the mechanism shaft. The swing door is set at a fixed 45-degree angle with the mechanism shaft. When the channel machine executes the computer program, it implements the steps of the above-mentioned control method based on servo drive and adaptive anti-pinch.

[0035] refer to Figure 3 A channel machine includes a chassis, a mechanism shaft rotatably connected to the chassis, and a swing door fixed to the mechanism shaft. The chassis 1 serves as the load-bearing foundation for the channel machine. It adopts a rectangular sealed structure with a reserved installation chamber inside. Inside the chamber, two sets of coaxial deep groove ball bearing seats are fixed at the installation positions corresponding to the mechanism shaft 2, which are used to achieve stable support for the mechanism shaft 2. The mechanism shaft 2 is embedded in two sets of deep groove ball bearing seats inside the housing 1 at both ends, so as to achieve a rotatable connection with the housing 1. A rectangular mounting plane is provided in the radial direction in the middle of the shaft, and four M8 threaded holes are reserved on the plane for fixed connection with the swing door 3. One end of the shaft extends out of the housing 1 and is provided with a keyway at the end. It is rigidly connected to the output shaft of the servo motor through a flat key. It can drive the swing door to rotate precisely under the drive of the servo motor. Its rotation angle range is 0°-180° and the rotation accuracy can be controlled within ±0.1°. The swing door 3 is rectangular in shape and wrapped with silicone anti-collision strips on the outside to prevent personnel from being injured by collisions. A metal mounting plate matching the mounting plane of the mechanism's rotating shaft 2 is fixed to the side of the swing door near the rotating shaft. The mounting plate is securely connected to the rectangular mounting plane of the rotating shaft 2 with four M8 bolts and precisely positioned using locating pins to ensure that the swing door and the rotating shaft 2 are set at a fixed 45° angle. This 45° angle is a preset fixed angle, calibrated with a laser angle meter after assembly to ensure that the swing door completely covers the passage cross-section when in a horizontal blocking state (rotating shaft rotated 0°), and fits against the side of the chassis when in a vertical passage state (rotating shaft rotated 180°), without occupying passage space. After assembly, the swing door, driven by the rotating shaft 2, can rotate back and forth within the range of 0°-180° around the shaft axis. Combined with the 45° fixed angle design, this ensures that the swing door's movement trajectory accurately adapts to the spatial layout of the chassis 1 and the passage, achieving efficient passage control in confined spaces.

[0036] Specifically, chassis 1 is a rectangular, sealed structure, sized to fit a standard 60cm wide passageway. Internally, it integrates servo drive module mounting positions, control module slots, and shielded wiring channels, providing stable hardware support for trajectory command transmission and algorithm operation. Adjustable feet at the bottom ensure the entire unit is installed flat, preventing trajectory deviation. The mechanism's rotating shaft 2 is made of tempered steel and is rotatably connected to the chassis via a high-precision sealed bearing. One end is rigidly connected to the servo motor via a key, while the other end is equipped with an encoder to provide real-time angle and speed data. A rotational accuracy of ±0.1° ensures precise execution of trajectory planning commands. The swing door 3 features a lightweight design (single door weight ≤5kg), rigidly connected to the rotating shaft at a fixed 45° angle. Its size adapts to the passageway layout; when horizontal, it completely blocks the passageway, and when vertical, it fits snugly against the chassis without occupying passage space. Edge silicone anti-collision strips prevent collisions without interfering with anti-pinch detection. In practical applications, taking the morning rush hour in an office building as an example, when a pedestrian approaches the passage at 0.8 m / s, the multimodal sensing module captures dynamic data, and the control module generates a 180° rotation trajectory within 1 second using a fifth-order polynomial algorithm. Dual closed-loop control drives the rotating shaft to smoothly rotate the swing door 3. The encoder provides real-time feedback to correct deviations, and anti-pinch detection synchronously monitors targets within the area. Throughout the process, the chassis 1 ensures stable signal transmission, the rotating shaft 2 precisely transmits driving force, and the swing door moves smoothly along the planned trajectory without any jamming or collision. Ultimately, this achieves a synergistic effect of adapting to confined spaces, ensuring smooth passage, and providing safe anti-pinch protection, thus meeting the needs of high-frequency passage.

[0037] In summary, this invention implements a core logic of "structural adaptation - intelligent control - safety assurance" to achieve efficient passage management in confined spaces. During implementation, the chassis, as the core hardware carrier, provides stable support for the entire process of signal transmission and algorithm operation through the integration of drive and control modules, shielded wiring channels, and an adjustable installation structure. The 45° fixed angle between the mechanism's rotating shaft and the swing door, along with its lightweight and precise dimensional design, lays the foundation for trajectory adaptation. During operation, the multimodal sensing module first captures pedestrian dynamic data. Based on this, the control module generates a personalized rotation trajectory using a fifth-order polynomial algorithm. Then, the position-velocity dual closed-loop control drives the mechanism's rotating shaft to smoothly move the swing door, with the encoder providing real-time feedback to correct deviations. Anti-pinch detection logic synchronously monitors the entire process, avoiding collision risks. Taking the morning rush hour in an office building as an example, this technology can accurately match a pedestrian's passage speed of 0.8 m / s, completing a smooth 180° start and stop of the swing door within 1 second, ultimately achieving a synergistic effect of confined space adaptation, smooth passage, and safe anti-pinch, meeting the needs of high-frequency passage scenarios.

[0038] An embodiment of the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method. It is understood that the computer-readable storage medium in this embodiment can be a volatile readable storage medium or a non-volatile readable storage medium.

[0039] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the present invention and embodiments can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual-rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM, etc.

[0040] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, apparatus, article, or method. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, article, or method that includes that element.

[0041] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A control method, device, and channel machine based on servo drive and adaptive anti-pinch, characterized in that, Includes the following steps: The sensing module is activated to scan the entrance of the passage in real time. When a person's movement signal is detected, the identity verification process is triggered. If the verification is successful, dynamic data is collected synchronously and transmitted to the control module, which then generates a passage permission command. If the verification fails, the access control will maintain the horizontal blocking state of the swing door and trigger an alarm. After receiving the dynamic data, the control module uses a fifth-order polynomial interpolation algorithm to generate the rotation trajectory and trajectory parameters of the mechanism shaft. The rotation trajectory constrains the swing door to smoothly switch from the current horizontal blocking state to the vertical release state, and the trajectory parameters are adapted to the dynamic data. The control module sends the generated trajectory command to the servo drive module. Through a dual closed-loop control strategy of position and speed, the encoder collects the rotation angle and speed of the mechanism shaft in real time and feeds them back to the control module. During the entire process of the swing gate movement and personnel passage, anti-pinch detection logic is executed; After receiving the passage completion signal, the control module reverse-engineers the generated rotation trajectory, generates a swing gate reset trajectory command and sends it to the servo drive module, causing the swing gate to reset along the original three-dimensional trajectory, and the passage machine returns to the standby state.

2. The control method, device, and channel machine based on servo drive and adaptive anti-pinch as described in claim 1, characterized in that, The activation sensing module scans the channel entrance in real time. When it detects a person moving, it triggers the identity verification process, including the following steps: After the perception module is started, the integrated infrared array sensor and millimeter-wave radar are activated simultaneously, and enter a collaborative real-time scanning state according to preset parameters to identify the target outline and static presence and capture the target's moving characteristics. During the scanning process, the millimeter-wave radar collects data on the moving speed and direction of the target in the area in real time. When the target's moving speed is detected to be between 0.1 and 3 m / s and the moving direction is pointing towards the entrance of the channel, a preliminary moving trigger signal is generated and transmitted to the infrared array sensor and control module in real time. After receiving the initial movement trigger signal, the infrared array sensor immediately performs precise contour recognition and position locking on the target in the corresponding area. If the target contour matches the preset human features and remains in the trigger area at the entrance of the channel for more than 300ms, a valid personnel presence signal is generated and fed back to the control module. After receiving the initial movement trigger signal and the valid person presence signal from the infrared array sensor, the control module confirms the detection of a valid person movement signal through logical judgment, and then sends a start command to the binocular face recognition unit.

3. The control method, device, and channel machine based on servo drive and adaptive anti-pinch as described in claim 1, characterized in that, The step of generating the rotation trajectory and trajectory parameters of the movement shaft using a fifth-order polynomial interpolation algorithm includes: The control module calls the channel's preset dimensions and dynamic data, and combines them with the 45-degree angle constraint between the swing door and the mechanism's rotating shaft to form the basis for trajectory planning; It is clear that when t=0, the rotation angle of the core shaft is θ=0 degrees, the angular velocity is ω=0, and the angular acceleration is α=0; when t=T, θ=180 degrees, ω=0, and α=0, where T is dynamically adjusted according to the personnel's movement speed. A fifth-order polynomial equation with time t as the independent variable and rotation angle θ(t) as the dependent variable is established. By substituting the boundary conditions, the coefficients of the equation are solved, and the time series of angular velocity and angular acceleration are derived to form complete trajectory parameters. Based on the 45-degree included angle constraint and channel size, after verifying that the trajectory has no collision risk, the trajectory parameters are encapsulated into trajectory instructions and transmitted to the servo drive module.

4. The control method, device, and channel machine based on servo drive and adaptive anti-pinch as described in claim 1, characterized in that, The control module sends the generated trajectory commands to the servo drive module. Through a dual closed-loop control strategy of position and speed, the encoder collects the rotation angle and speed of the mechanism shaft in real time and feeds them back to the control module. The control module dynamically adjusts the commands based on the feedback data, driving the mechanism shaft to rotate precisely 180 degrees, performing the three-dimensional motion of the swing door's rotation and flipping. This includes: The control module sends the three-dimensional motion trajectory command that adapts to the 45-degree angle between the swing door and the mechanism's rotating shaft to the servo drive module, and simultaneously activates the position and speed dual closed-loop control strategy. The position closed loop is used to correct the rotation angle deviation of the mechanism's rotating shaft, and the speed closed loop is used to adjust the motion smoothness. The encoder collects the rotation angle and speed data of the mechanism shaft in real time and feeds the collected data back to the control module in real time, forming a dynamic feedback link; Based on the spatial constraints of the swing gate's three-dimensional motion, the control module compares the feedback data with the preset trajectory parameters, calculates the angle deviation and speed fluctuation values, and dynamically adjusts the output torque and speed commands of the servo drive module. The servo drive module responds to the adjusted command and drives the mechanism shaft to rotate precisely 180 degrees along the preset trajectory. Through the force transmission at a 45-degree angle, it drives the swing door to complete the three-dimensional motion synchronously.

5. The control method, device, and channel machine based on servo drive and adaptive anti-pinch as described in claim 1, characterized in that, The steps for executing the anti-pinch detection logic throughout the entire process of the swing door movement and personnel passage include: By combining the 45-degree angle between the swing door and the mechanism's rotating shaft and the three-dimensional motion trajectory, the anti-pinch detection area is defined; The infrared array sensor of the sensing module collects the distance and contour data of obstacles in the swing gate's movement area, while the millimeter-wave radar simultaneously collects the real-time position and movement speed data of people in the passage and transmits it to the control module in real time. The control module performs weighted fusion of infrared detection data and millimeter-wave radar data, and combines the swing door motion parameters at a 45-degree angle to determine whether there are obstacles or a mismatch between the speed of personnel movement and the speed of swing door movement. If a risk of pinching is detected, the control module immediately sends a dynamic adjustment command to the servo drive module, and adjusts the motor output speed in real time based on the dual closed-loop control strategy. During the adaptive adjustment process, sensor data is continuously collected and fused until it is detected that the person has completely passed through the passage, at which point the control module generates a passage completion signal.

6. The control method, device, and channel machine based on servo drive and adaptive anti-pinch as described in claim 1, characterized in that, After receiving the passage completion signal, the control module reverse-engineers the generated rotation trajectory, generates a swing gate reset trajectory command, and sends it to the servo drive module to drive the swing gate to reset along the original three-dimensional trajectory, thus returning the passage machine to the standby state. This process includes: After receiving the passage completion signal, the control module calls the three-dimensional rotation trajectory data of the swing door, and combines the geometric constraint of the 45-degree angle between the swing door and the mechanism axis to derive the symmetrical three-dimensional trajectory of the swing door reset. The three-dimensional rotation trajectory of the swing door and the opening trajectory are perfectly adapted to the size of the narrow passage and the boundary of the swing door's movement space. The control module encapsulates the reset three-dimensional trajectory parameters into a standardized reset command and sends it to the servo drive module, synchronously continuing the dual closed-loop control strategy of position and velocity. When the servo drive module responds to the reset command, the drive motor starts to rotate 180 degrees in the opposite direction. The encoder collects the angle and speed data of the reverse rotation of the mechanism shaft in real time and continuously feeds them back to the control module to form a dynamic closed loop. The control module compares the feedback data with the reset trajectory parameters and, combined with the force transmission characteristics at a 45-degree angle, dynamically adjusts the motor output torque and speed. The anti-pinch detection logic is continuously executed throughout the reset process until the encoder feedback indicates that the core shaft has returned to the initial 0-degree position and the swing door has been confirmed to have returned to the horizontal blocking state. The control module issues a generator lock command, the channel machine returns to standby state, and waits for the next personnel movement signal to trigger the inspection process.

7. The control method, device, and channel machine based on servo drive and adaptive anti-pinch as described in claim 6, characterized in that, After receiving the passage completion signal, the control module calls the three-dimensional rotation trajectory data of the swing gate, and, combined with the 45-degree geometric constraint of the swing gate and the mechanism's rotation axis, reverse-derives the steps to obtain the symmetrical swing gate reset three-dimensional trajectory, including: The control module retrieves the full data of the generated three-dimensional rotation trajectory of the swing door opening and extracts the core parameter sequences of angle, time, angular velocity, and time. Using the force transmission characteristics at a 45-degree angle as a geometric constraint, the time axis of the door opening trajectory is reversed and the angular velocity and angular acceleration parameters are synchronously mirrored. The three-dimensional reset trajectory, which is symmetrical to the door opening trajectory space, is derived. The displacement of the reset trajectory on the Y-axis is verified to not exceed the thickness of the chassis, thus adapting to the installation constraints in confined spaces.

8. A control device based on servo drive and adaptive anti-pinch, characterized in that, include: The multimodal sensing module is used to scan the entrance of the passage in real time, collect dynamic data of personnel, human feature information and anti-pinch detection data; The core control module uses a high-performance microcontroller to receive data from the multimodal sensing module, perform fifth-order polynomial interpolation trajectory planning, sensor data weighted fusion, anti-pinch risk judgment, and command generation, and is adapted to three-dimensional motion control logic at a 45-degree angle. The servo drive module is used to receive trajectory commands from the core control module and achieve precise 180-degree rotation and dynamic speed adjustment of the mechanism shaft through position-speed dual closed-loop control. The anti-pinch linkage module works in conjunction with the multimodal sensing module, the core control module, and the servo drive module. Based on the fused detection data and the real-time motion parameters of the swing door, it triggers adaptive anti-pinch actions such as servo motor deceleration and reverse micro-motion.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the control method based on servo drive and adaptive anti-pinch as described in any one of claims 1 to 7.

10. A channel machine, characterized in that, The channel machine includes a chassis, a rotating mechanism shaft rotatably connected to the chassis, and a swing door fixed on the rotating mechanism shaft. The swing door is set at a fixed 45-degree angle with the rotating mechanism shaft. When the channel machine executes the computer program, it implements the steps of the above-mentioned control method based on servo drive and adaptive anti-pinch.

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