Anti-pinch and anti-collision protection system self-adaptive to table frame structural form

Abstract

The utility model relates to the technical field of intelligent lifting tables, in particular to an anti-pinch and anti-collision protection system in a self-adaptive table frame structural form, which comprises table legs, a base, a table plate, a control box, a hand controller, a motor, a Hall sensor, a gyroscope and an anti-pinch and anti-collision module, according to the detection method of the anti-pinch and anti-collision protection system, anti-pinch and anti-collision are achieved through at least one of the following modes: detection of the gyroscope detection module, detection of the motor current detection module and detection of the Hall sensor detection module, the integrated anti-pinch and anti-collision system is constructed, each item can be independently deprotected, and the detection efficiency is improved. Even if any protection measure fails, the system can be continuously protected, so that the problem of non-uniform sensitivity caused by transmission structure difference is fundamentally solved; the anti-pinch device can be suitable for different steel frame structures to adapt to the transmission resistance and different loads, and the anti-pinch function is triggered more sensitively; and the cost of adding various sensors such as a pressure sensor in the lifting table is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent lifting table technical field, concretely relates to a kind of anti-pinch anti-collision protection system of self-adaptive table frame structure form. BACKGROUND

[0002] In today's society, thanks to the continuous advancement of the times and the rapid development of science and technology, motor drive technology has been widely used, and its influence has penetrated into many fields, not only greatly reducing the labor intensity of human beings, but also bringing many conveniences to daily life. Among them, as a typical representative, intelligent lifting system has gradually become a common facility in people's life, especially the lifting desk, which is favored by office workers, greatly improving the office comfort and work efficiency.

[0003] However, while electric products bring convenience, they also cause a series of safety problems that cannot be ignored. Due to the characteristics of motor drive, there is a potential risk of injury and collision to the user during operation, making safety protection a key consideration factor in the development and production process of electric products.

[0004] At present, there are numerous safety protection measures for electric products on the market, aiming to deal with various potential dangerous situations. However, many existing protection schemes are adapted to special steel frame structures, often compromising one aspect for another. On the one hand, some protection measures excessively pursue the adaptability to specific steel frames, excessively adjusting parameters, resulting in abnormally high sensitivity of the anti-pinch and anti-collision function, frequent false triggering, not only interfering with normal use, but also possibly reducing the overall stability of the equipment. On the other hand, some protection measures fail to accurately calibrate, resulting in a serious lack of sensitivity, and failing to respond in time when facing actual danger, failing to effectively protect the user's safety, and being difficult to meet the diversified actual needs.

[0005] Therefore, there is an urgent need for a new anti-pinch and anti-collision system that can effectively accommodate different transmission structures to fill the gap in existing technology and ensure that electric products have efficient and practical functions while providing reliable, stable, and consistent safety protection for users. INVENTION CONTENTS

[0006] To solve the problems in the prior art, the utility model provides an anti-pinch and anti-collision protection system that is self-adaptive to the structure of the table frame, to solve the problem that the lifting desk is adapted to the special steel frame structure, resulting in excessively sensitive or insensitive anti-pinch and anti-collision sensitivity, and being difficult to meet the needs of different transmission structures.

[0007] The utility model discloses a technical scheme as follows for solving the above problems: a self -adaptation desk frame structure form's anti -pinch anti -collision protection system, the self -adaptation desk frame includes two liftable table leg, is equipped with the base in the table leg lower extreme, is equipped with the table board in the upper extreme, is equipped with the control box in the table board lower extreme surface, still includes the hand control ware, the table leg is connected with motor, is equipped with the hall sensor in the motor, is equipped with the gyroscope in the control box, still is equipped with the anti -pinch anti -collision module in the control box, the anti -pinch anti -collision module with motor, hall sensor, gyroscope electricity is connected, the anti -pinch anti -collision module can according to the state control motor brake or reverse operation of motor, hall sensor, gyroscope.

[0008] Further, the anti-pinch anti-collision module includes a gyroscope detection module, a motor current detection module and a hall sensor detection module.

[0009] Further, the gyroscope detection module is electrically connected with the gyroscope, and collision is judged based on acceleration, inclination angle or vibration data of the gyroscope.

[0010] Further, the motor current detection module is electrically connected with the motor, and resistance is identified by analyzing motor current change through a filtering algorithm.

[0011] Further, the hall sensor detection module is electrically connected with the hall sensor, and an obstacle is determined according to continuous abnormality of pulse width time of the hall sensor.

[0012] The detection method of the anti-pinch anti-collision protection system is adopted, and the detection method is realized by at least one of the following ways,

[0013] I. The gyroscope detection module detects;

[0014] II. The motor current detection module detects;

[0015] III. The hall sensor detection module detects.

[0016] Further, the gyroscope detection module detection includes the following steps,

[0017] (1) Collecting gyroscope data in a stationary state during initialization, and completing calibration;

[0018] (2) In the lifting table movement stage, the control box controls the motor to run according to an acceleration-constant speed-deceleration trajectory;

[0019] (3) Collision and inclination determination:

[0020] In the acceleration stage, the accelerometer function of the gyroscope is in uniform acceleration state, and the anti-pinch determination is paused; when reaching a predetermined speed, if the gyroscope detects that the acceleration is close to zero, vibration or inclination angle is abnormal, then the anti-collision is triggered; in a soft collision scenario, whether to execute emergency braking is determined by the inclination angle change rate of the gyroscope.

[0021] Further, the motor current detection module detection includes the following steps,

[0022] (1) When the motor runs at a constant speed, collect the current data of the previous 500 ms as a reference in a sliding average filtering manner;

[0023] (2) Calculate the current average every 800 ms period and compare it with the reference value of the previous period;

[0024] (3) If the current value exceeds the sum of the reference value and the preset sensitivity threshold for 100 ms continuously, it is determined that there is an obstacle

[0025] (4) Trigger the motor to stop and run in reverse.

[0026] Further, the Hall sensor detection module detection includes the following steps,

[0027] (1) When the motor runs at a constant speed, maintain a constant speed through a PID control algorithm;

[0028] (2) Collect the Hall sensor pulse width in real time, and the theoretical value of a single circle Hall pulse width is 4500us;

[0029] (3) When 10 consecutive Hall pulse width data exceed 4800us, it is determined that the resistance is abnormal;

[0030] (4) Trigger the motor to stop and run in reverse.

[0031] Further, in the detection of the gyroscope detection module, the motor current detection module and the Hall sensor detection module, any detection method triggers immediately interrupts other detection processes.

[0032] Compared with the prior art, the utility model has the following beneficial effects: the gyroscope detection module, the motor current detection module and the Hall sensor detection module are used to detect and build an integrated anti-pinch and anti-collision system, each item can independently protect the system, even if any protection measure fails, the system can still be protected, and the problem of uneven sensitivity caused by differences in transmission structure is fundamentally solved; the system can be applied to different steel frame structures to adapt to the size of transmission resistance and different loads, the anti-pinch function is more sensitive, and the cost of various sensors such as pressure sensors in the lifting table is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 It is a self-adaptive table frame structure schematic diagram of the utility model;

[0034] Figure 2 It is a motor current detection module detection schematic diagram of the utility model;

[0035] Figure 3 The utility model discloses a motor current acquisition circuit diagram;

[0036] Figure 4 It is the hall sensor detection module detection schematic drawing of the utility model, and the abscissa indicates motor running time, and the unit is millisecond, and the ordinate is pulse width time, and the unit is microsecond.

[0037] In the drawing: 1 table leg, 2 base, 3 table board, 4 hand controller. DETAILED DESCRIPTION

[0038] As Figure 1 The utility model discloses a kind of anti-pinch anti-collision protection systems of adaptive table frame structure form, adaptive table frame includes two liftable table legs 1, bottom seat 2 is provided at lower end of table leg 1, upper end is provided with table board 3, control box is provided at lower end surface of table board 3, further include hand controller 4, table leg 1 is connected with motor, Hall sensor is provided in motor, gyroscope is provided in control box, anti-pinch anti-collision module is further provided in control box, anti-pinch anti-collision module is electrically connected with motor, Hall sensor, gyroscope, anti-pinch anti-collision module can control motor brake or reverse operation according to the state of motor, Hall sensor, gyroscope, and anti-pinch anti-collision module includes gyroscope detection module, motor current detection module, Hall sensor detection module.

[0039] Gyroscope detection module is electrically connected with gyroscope, and collision is judged based on acceleration, inclination angle or vibration data of gyroscope.

[0040] Motor current detection module is electrically connected with motor, and recognizes resistance by filtering algorithm analysis motor current change.

[0041] Hall sensor detection module is electrically connected with Hall sensor, and determines obstruction according to continuous abnormality of Hall sensor pulse width time.

[0042] I, gyroscope detection module detects:

[0043] (1) system initialization and calibration

[0044] Built-in 6-axis gyroscope (model MPU6050) in control box, after power-on, acceleration data (X / Y / Z axis) in stationary state is collected, and average value is taken for 1 second as reference value, and initial calibration is completed.

[0045] Motion trajectory control, motor uses S-shaped speed curve control, and is divided into three stages: acceleration-uniform speed-deceleration

[0046] Collision and inclination determination:

[0047] Acceleration stage: motor accelerates from static to target speed (such as 100mm / s), and acceleration is 0.5m / s square, at this time, acceleration detected by gyroscope matches preset trajectory.

[0048] Constant speed phase: the motor maintains a constant speed, the system acceleration is zero, and the gyroscopic vibration detection function is activated;

[0049] Speed reduction phase: the motor stops at a deceleration of 0.3 m / s², and the shielding anti-pinch determination is performed during this period.

[0050] Hard collision detection: in the constant speed phase, if the gyroscopic detection detects that the instantaneous acceleration exceeds 5g and lasts for more than 10ms, it is determined as a hard collision, triggering emergency braking;

[0051] Soft collision and tilt determination: when the table body tilt angle exceeds 2° (calculated by gyroscopic attitude angle), or the angle change rate is greater than 1° / s, it is determined as abnormal resistance, and the motor is reversed for 200ms and then stopped.

[0052] II. Motor current detection module detection, as shown in Figure 2 , 3 :

[0053] (1) The motor current detection module (ACS712 chip) samples the motor current in real time, and performs AD conversion at a frequency of 10kHz; a sliding average filtering algorithm is used to store the current data for the previous 500ms;

[0054] (2) Update the reference current value every 800ms, the calculation formula is: = K , where N=500 sampling points, k represents a temporary variable in the summation process;

[0055] (3) Set the sensitivity threshold to 15% of the reference current (default value), if the current value exceeds + for 100ms continuously, it is determined as an obstacle trigger, and the motor is immediately stopped and reversed for 2 seconds.

[0056] III. Hall sensor detection module detection, as shown in Figure 4 :

[0057] (1) PID speed control, the motor uses closed-loop PID control, parameters: =0.8, =0.05, =0.1, target speed is 111 revolutions per second;

[0058] (2) The theoretical value of the Hall pulse width is =4500us / pulse, the Hall sensor (model AH49E) outputs 2 pulses per revolution, and the pulse width time is recorded in real time.

[0059] (3) Pulse width abnormality determination, establish a ring buffer to store the last 10 pulse width data, calculate the moving standard deviation σ, if the continuous 10 pulse width exceeds 4800us (i.e. >1.06 ), and σ<50us (exclude transient interference), determine that the sustained resistance, trigger the motor to stop and reverse.

[0060] Any module triggers, immediately send an interrupt signal to the control box, and freeze the detection thread of other detection modules, if the gyroscope fails, the system automatically switches to the "current + hall" dual detection mode; The heartbeat packet interval of each module is 50ms, and if it exceeds 3 times, it is determined as a hardware failure, and enters the safety locking state.

[0061] The three-stage protection measures of the present application can be opened or closed by setting, and the sensitivity level of each stage of protection can be adjusted. After each trigger, there is a separate display error code, and each item can independently protect the system. Even if any protection measure fails, the system can still be protected, which is more advantageous in facilitating the after-sales troubleshooting of the system to determine what problem caused it, for example: If the angle anti-pinch anti-collision is always triggered, it can be determined whether the entire table frame system is not flat. If the current is always triggered, it may be due to the unstable transmission resistance of the table frame. This facilitates post-production analysis of the product, making the product safer and more reliable.

[0062] The above specific embodiments are only used to illustrate the technical solutions of the present application and not to limit it. Although the present application has been described in detail with reference to the examples, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the scope of the technical solutions of the present application. They should be included in the scope of the claims of the present application.

Claims

1. A self-adaptive anti-pinch and anti-collision protection system in the form of a table frame structure, the self-adaptive table frame comprising two liftable table legs, a base being arranged at the lower end of the table legs, a table top being arranged at the upper end of the table legs, a control box being arranged at the lower end surface of the table top, and a hand controller, characterized in that: The table leg is connected with a motor, a Hall sensor is arranged in the motor, a gyroscope is arranged in the control box, and an anti-pinch and anti-collision module is further arranged in the control box, the anti-pinch and anti-collision module is electrically connected with the motor, the Hall sensor and the gyroscope, and the anti-pinch and anti-collision module can control the motor to brake or operate reversely according to the state of the motor, the Hall sensor and the gyroscope.

2. The anti-pinch, anti-collision protection system of claim 1, wherein: The anti-pinch and anti-collision module comprises a gyroscope detection module, a motor current detection module and a Hall sensor detection module.

3. The anti-pinch, anti-collision protection system of claim 2, wherein: The gyroscope detection module is electrically connected with the gyroscope, and collision is judged based on acceleration, inclination angle or vibration data of the gyroscope.

4. The anti-pinch, anti-collision protection system of claim 3, wherein: The motor current detection module is electrically connected with the motor, and resistance is identified by analyzing motor current change through a filtering algorithm.

5. The anti-pinch, anti-collision protection system of claim 4, wherein: The Hall sensor detection module is electrically connected with the Hall sensor, and an obstacle is determined according to continuous abnormality of pulse width time of the Hall sensor.

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