CN105450097A - Brushless motor driving device for rolling shutter door - Google Patents
Brushless motor driving device for rolling shutter door Download PDFInfo
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- CN105450097A CN105450097A CN201610007437.7A CN201610007437A CN105450097A CN 105450097 A CN105450097 A CN 105450097A CN 201610007437 A CN201610007437 A CN 201610007437A CN 105450097 A CN105450097 A CN 105450097A
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- electrically connected
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
- E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
- E06B9/56—Operating, guiding or securing devices or arrangements for roll-type closures; Spring drums; Tape drums; Counterweighting arrangements therefor
- E06B9/68—Operating devices or mechanisms, e.g. with electric drive
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
- H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
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- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
- E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
- E06B9/56—Operating, guiding or securing devices or arrangements for roll-type closures; Spring drums; Tape drums; Counterweighting arrangements therefor
- E06B9/68—Operating devices or mechanisms, e.g. with electric drive
- E06B2009/6809—Control
-
- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
- E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
- E06B9/56—Operating, guiding or securing devices or arrangements for roll-type closures; Spring drums; Tape drums; Counterweighting arrangements therefor
- E06B9/68—Operating devices or mechanisms, e.g. with electric drive
- E06B2009/6809—Control
- E06B2009/6818—Control using sensors
- E06B2009/6836—Control using sensors sensing obstacle
-
- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
- E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
- E06B9/02—Shutters, movable grilles, or other safety closing devices, e.g. against burglary
- E06B9/08—Roll-type closures
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Structural Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention relates to a motor driving device for a rolling shutter door, in particular to a brushless motor driving device for the rolling shutter door. The brushless motor driving device for the rolling shutter door comprises a driving circuit for driving a brushless motor to work and a feedback circuit for detecting working parameters of the brushless motor and feeds back the working parameters to the driving circuit; the driving circuit is electrically connected with the brushless motor, the feedback circuit is electrically connected with the brushless motor to collect the working parameters of the brushless motor, and the feedback circuit is electrically connected with the driving circuit to transmit the working parameters to the driving circuit.
Description
Technical field
The present invention relates to a kind of motor of rolling shutter door drive unit, particularly relate to a kind of rolling screen door brushless motor driven apparatus.
Background technology
Many modernization workshops and large warehoused storehouse all require to keep good air ambient, can constant temperature and humidity etc.As stopping that the rolling screen door of room air and outdoor air flow should be able to open and close at a high speed, and multiple mode of operation should be had, to use the demand of different occasion, increasing work efficiency.Existing roller shutter door machine generally adopts alternating current machine to add frequency converter and controls, the Chinese invention patent being CN104267623.A as application publication number discloses a kind of control device for automatically controlling motor of rolling shutter door, comprise controller, using the parameter of the idle parameter in frequency converter as controller, controller is communicated with frequency converter by RS485 communicating circuit, the parameter of frequency converter is read in circulation, and the motor that frequency converter opens and closes with control rolling screen door is connected; The back encoder signals rolling screen door position of controller, drawn the physical location of rolling screen door by the physical location conversion coefficient defining encoder and rolling screen door in the parameter of controller, controller is according to reading the operation of rolling screen door position by Frequency Converter Control motor.But the height that rolling screen door is opened cannot accurately control; The speed of service of rolling screen door can only adjust by gear within the specific limits.The heavier motor of rolling screen door needs to adopt larger output torque to be rolled, and operating current is comparatively large, is easy to cause motor hot.
Summary of the invention
The present invention provides a kind of rolling screen door brushless motor driven apparatus for solving the problems of the technologies described above, and comprises and drives the drive circuit of brushless electric machine work, detects the running parameter of described brushless electric machine and feed back to the feedback circuit of described drive circuit; Described drive circuit is electrically connected with described brushless electric machine, described feedback circuit is electrically connected with described brushless electric machine the running parameter gathering described brushless electric machine, with described drive circuit, described feedback circuit is electrically connected that described running parameter is passed to described drive circuit.Described drive circuit comprises interface unit, control unit, PWM unit, three-phase inversion unit, described interface unit is electrically connected with described control unit, described control unit is electrically connected with described PWM unit, and described PWM unit is electrically connected with described three-phase inversion unit.Described feedback circuit comprises position feedback unit, described position feedback unit gathers the positional information of described brushless electric motor rotor and feeds back to described PWM speed adjustment unit, and described PWM speed adjustment unit adjusts the output signal of described PWM speed adjustment unit according to the positional information of the control information of described control unit and the collection of described position feedback unit.The change of the rotor-position of brushless electric machine described in described position feedback unit Real-time Feedback, the duty ratio of the positional information adjustment output signal of the position of the rotor of brushless electric machine described in the representative that described PWM speed adjustment unit feeds back according to described position feedback unit, change brushless electric machine work described in the current wave alternative frequency and drive waveform be input on described brushless motor stator coil by described three-phase inversion unit, and realize the control to described motor speed.
As preferably, described control unit comprises speed control unit and current control unit; Described speed control unit is electrically connected with described interface unit, described speed control unit is electrically connected with described current control unit, described speed control unit is according to the speed control information of the input from described interface unit, and output current control information is to described current control unit; Described current control unit is electrically connected with described PWM unit, described current control unit according to from described current control unit current control information and adjust the output signal of described PWM unit from the positional information of described current feedback unit.Adjust described output signal according to the current control information that described speed control unit exports, accurately control the rotating speed of described brushless electric machine.
As preferably, described feedback circuit also comprises current feedback unit, described current feedback unit is electrically connected with described brushless electric machine and described speed control unit, described current feedback unit gathers the current signal of described brushless electric machine and feeds back to described current control unit, the current signal adjustment of the current control information that described current control unit exports according to described speed control unit and the collection of described current feedback unit exports the current signal of described PWM unit to, described PWM unit according to from described current control unit current signal and adjust the output signal of described PWM unit from the positional information of described position feedback unit.The magnitude of current to the described current control unit of described current feedback unit feedback brushless electric machine adjusts the output signal of described PWM unit, forms closed-loop current control.Ensure the operating current of described brushless electric machine floating when stable state, in dynamic process, ensure that armature supply is no more than permissible value.And then obtain large starting current when ensureing electric motor starting, accelerate the dynamic response of system, ensure the quick of startup.Meanwhile, the output of control is subject to the restriction of maximum current, there will not be excessive current spike to affect circuit and run in adjustment process.
As preferably, described drive circuit also comprises speed calculation unit, and described speed calculation unit is electrically connected with described position feedback unit, and described speed calculation unit is electrically connected with described speed control unit; Described speed calculation unit according to from described position feedback unit positional information calculation rotary speed information and export described rotary speed information to described speed control unit, described speed control unit exports the current control information of described current control unit to according to the speed control information from described interface unit and the adjustment of the rotary speed information from described speed calculation unit.The rotating speed of described speed calculation unit feedback brushless electric machine exports the current control information of described current control unit to described speed control unit adjustment, form speed closed loop and control.Make the rotating speed of brushless electric machine follow given change in voltage, in dynamic process, overcome the ability being attached to disturbance strong, dynamic velocity drop is little, and recovery time is short, realizes the flatness of motor speed change.
As preferably, it is complementary two device for power switching up and down that the same brachium pontis of described three-phase inverting circuit has on off state.Make the base stage of six of described three-phase inverting circuit device for power switching can be formed eight groups of different switching signals, described PWM unit is reasonably selected according to described the current control unit current signal exported and the positional information that described position feedback unit feeds back and is combined aforementioned eight groups of different switching signals, for described brushless electric machine provides eight groups of different space voltage vectors, and regulate and control the action time of selected space voltage vector, thus effectively control moment and the rotating speed of brushless electric machine.Make output voltage and electric current closer to sine wave, can produce in the air gap of brushless electric machine and more connect rotund rotating magnetic field, reduce torque fluctuation and core loss, make the efficiency of brushless electric machine and precision higher, dynamic property is better.
As preferably, the sample frequency of described current feedback unit is greater than the sample frequency of described position feedback unit.
As preferably, described position feedback unit is be arranged on Mageneto-sensitive type position transducer on the axle of described brushless electric machine or photoelectric position sensor or electromagnetic position sensor.
As preferably, described position feedback unit is be arranged on the Hall element on described brushless electric machine axle.Hall element has the advantages such as high accuracy, the good linearity, Low Drift Temperature, anti-external interference ability are strong, common-mode rejection ratio chamber, reaction time block, bandwidth.
The present invention has following beneficial effect:
1. adopt brushless electric machine, simplify the volume of motor, improve the operational efficiency of motor.
2. adopt brushless electric machine to carry out drived control to rolling screen door, achieve the continuously adjustabe of the rolling screen door speed of service on a large scale.
Switch gate position is corresponding with the revolution of the rotation of brushless electric machine 3., realize the accurate control to rolling screen door switch gate position.
4. the memory function of rolling screen door switch gate position, can arrange and keep the switch gate position of rolling screen door.
5. velocity feedback unit described in and described current feedback unit realize the accurate control without brush electrode.
6. anticollision device, collision-prevention device described in improves the safety assurance of described rolling screen door, prevents unexpected situation of hurting sb.'s feelings from occurring.
Accompanying drawing explanation
A kind of automatic shutter system diagram of Fig. 1.
A kind of automatic curtain accelerator control system of Fig. 2 figure.
A kind of rolling screen door brushless motor driven apparatus of Fig. 3 structural representation.
Wherein, 1-orbit, 2-curtain plate, 3-brushless electric machine, 4-drive unit, 5-control cabinet.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the present invention are described in detail.A kind of automatic curtain door system as shown in Figure 1, comprise orbit 1, be arranged on orbit 1 one end and the curtain plate 2 that can slide along orbit, the rolling screen door that is in transmission connection the brushless electric machine 3 driving rolling screen door to move up and down, to be electrically connected with brushless electric machine 3 and the drive unit 4 driving brushless electric machine 3 to work, to be electrically connected with drive unit 4 also input control information to the control cabinet 5 of drive unit 4.User is by control cabinet 5 input working parameter, and be configured drive unit 4, the running parameter that drive unit 4 inputs according to user drives the brushless electric machine 3 be connected electrically, and brushless electric machine 3 drives curtain plate 2 upwards or move downward.
As shown in Figure 2, control cabinet 5 comprises input unit, memory cell, controller, communication unit.Input unit 5 is electrically connected with controller, for inputting user configured running parameter, and exports controller to.Memory cell is electrically connected with controller, stores the some or all of running parameter inputted by output unit, and the various procedure parameters in rolling screen door use procedure.Communication unit is electrically connected with controller, and controller is communicated with drive unit by communication unit, obtains the information of drive unit and sends information to drive unit.
Can be arranged the mode of operation of rolling screen door by input unit.Input unit comprises the speed adjusting device of the speed of service for regulating rolling screen door fast mode and/or low-speed mode.Speed adjusting device comprises mode selection part and speed regulation section, and mode selection part can select set mode of operation, can distinguish at a high speed and low speed two kinds of patterns.For the stroke of enabling each time of rolling screen door, be divided into two benches in chronological order, the first stage is the high-speed cruising stage, and second stage is the low cruise stage.For the stroke of closing the door each time of rolling screen door, be divided into three phases in chronological order, the first stage is the low cruise stage, and second stage is the high-speed cruising stage, and the phase III gets back to again the low cruise stage.In the high-speed cruising stage, brushless electric machine drives curtain plate motion with higher rotating speed; In the low cruise stage, brushless electric machine drives curtain plate motion with lower rotating speed.Speed regulation section is the continuous velocity adjusting portion that knob etc. can input consecutive variations amount, and the speed of service of the mode of operation (high speed or low speed) can selected mode selection part is arranged.
Input unit also comprises the apparatus for adjusting position for arranging rolling screen door opening position and/position of closing the door.Apparatus for adjusting position comprises condition selecting portion and height setting unit, and condition selecting portion can select set state to be that door opening state still closes door state; Height setting unit can be arranged the rolling screen door height of the state that condition selecting portion selectes, and the opening position information of setting and/positional information of closing the door is stored in memory.
Drive unit is exported to instruct the work of drive unit by communication unit after the control information that above-mentioned running parameter represents configures.As shown in Figure 3, drive unit comprises the running parameter the feedback circuit feeding back to drive circuit that drive the drive circuit of brushless electric machine work, detection brushless electric machine; Drive circuit is electrically connected with brushless electric machine, feedback circuit is electrically connected the running parameter to gather brushless electric machine with brushless electric machine, with drive circuit, feedback circuit is electrically connected that running parameter is passed to drive circuit, drive circuit comprises interface unit, control unit, PWM unit, three-phase inversion unit, interface unit is electrically connected with control unit, control unit is electrically connected with PWM unit, and PWM unit is electrically connected with three-phase inversion unit.
Control unit comprises speed control unit and current control unit; Speed control unit is electrically connected with interface unit, and speed control unit is electrically connected with current control unit, and speed control unit is according to the speed control information of the input from interface unit, and output current control information is to current control unit; Current control unit is electrically connected with PWM unit, and current control unit adjusts the output signal of PWM unit according to the current control information from current control unit and the positional information from current feedback unit.
Feedback circuit comprises position feedback unit and current feedback unit.Position feedback unit is be arranged on Mageneto-sensitive type position transducer on brushless electric machine axle or photoelectric position sensor or electromagnetic position sensor.Hall element in the present embodiment in preferred Mageneto-sensitive type position transducer.Position feedback unit detects on the one hand the relative position of brushless motor stator and rotor and provides the commutation signal of brushless electric machine winding for PWM unit; Can arrange speed calculation unit at drive circuit on the other hand, speed calculation unit is electrically connected with position feedback unit, and speed calculation unit is electrically connected with speed control unit.Speed calculation unit according to from position feedback unit positional information calculation rotary speed information and export rotary speed information to speed control unit, speed control unit exports the current control information of current control unit to according to the speed control information from interface unit and the adjustment of the rotary speed information from speed calculation unit.3 Hall elements are installed on the axle of brushless electric machine, gather the positional information of brushless electric motor rotor and feed back to PWM speed adjustment unit.The output signal of the positional information adjustment PWM speed adjustment unit that the control information that PWM speed adjustment unit exports according to control unit and position feedback unit gather.
Current feedback unit is electrically connected with brushless electric machine and speed control unit, current feedback unit gathers the current signal of brushless electric machine and feeds back to current control unit, the current signal adjustment of the current control information that current control unit exports according to speed control unit and the collection of current feedback unit exports the current signal of PWM unit to, and PWM unit adjusts the output signal of PWM unit according to the current signal from current control unit and the positional information from position feedback unit.
Control unit adopts the output signal of the double-closed-loop control Interface Controller drive unit of electric current and speed, the current controling signal that the current signal that current control unit exports exports according to speed control unit and the current signal that current feedback unit feeds back; And the current controling signal that speed control unit exports current control unit to inputs according to the input unit by control cabinet and the rotating speed transferring to the positional information calculation that the speed control information of drive unit and speed calculation unit feed back according to position feedback unit through communication unit carries out adjusting.The sample frequency being positioned at the current feedback unit of inner ring need be greater than the sample frequency of the position feedback unit being positioned at outer shroud, can ensure the rapidity of system responses.
It is complementary two device for power switching up and down that the same brachium pontis of three-phase inverting circuit has on off state.The base stage of six device for power switching of three-phase inverting circuit can be formed eight groups of different switching signals, PWM unit is reasonably selected according to the current control unit current signal exported and the positional information that position feedback unit feeds back and is combined aforementioned eight groups of different switching signals, for brushless electric machine provides eight groups of different space voltage vectors, and regulate and control the action time of selected space voltage vector, thus effectively control moment and the rotating speed of brushless electric machine.Make output voltage and electric current closer to sine wave, can produce in the air gap of brushless electric machine and more connect rotund rotating magnetic field, reduce torque fluctuation and core loss, make the efficiency of brushless electric machine and precision higher, dynamic property is better.Insulated gate bipolar power tube selected by its switch power element, and the little and saturation pressure of its comprehensive driving power reduces.
Arrange anticollision device, collision-prevention device bottom rolling screen door, anticollision device, collision-prevention device is electrically connected with control cabinet.。Anticollision device, collision-prevention device is made up of upper and lower two pieces of metallic conductors and middle piezoelectric rubber, is placed on the bottom of rolling screen door, and when rolling screen door bumps against object or person person, rubber receives conducting two pieces of metallic objects after pressure, produces Anticollision information and is also sent to control cabinet.Control cabinet receives Anticollision information, controls rolling screen door and promptly rises.
Although describe embodiments of the present invention by reference to the accompanying drawings, those of ordinary skill in the art can make various distortion or amendment within the scope of the appended claims.
Claims (8)
1. a rolling screen door brushless motor driven apparatus, comprises and drives the drive circuit of brushless electric machine work, detects the running parameter of described brushless electric machine and feed back to the feedback circuit of described drive circuit; Described drive circuit is electrically connected with described brushless electric machine, described feedback circuit is electrically connected with described brushless electric machine the running parameter gathering described brushless electric machine, with described drive circuit, described feedback circuit is electrically connected that described running parameter is passed to described drive circuit, it is characterized in that:
Described drive circuit comprises interface unit, control unit, PWM unit, three-phase inversion unit, described interface unit is electrically connected with described control unit, described control unit is electrically connected with described PWM unit, and described PWM unit is electrically connected with described three-phase inversion unit;
Described feedback circuit comprises position feedback unit, described position feedback unit gathers the positional information of described brushless electric motor rotor and feeds back to described PWM speed adjustment unit, and the positional information of the control information that described PWM speed adjustment unit exports according to described control unit and the collection of described position feedback unit adjusts the output signal of described PWM speed adjustment unit.
2. a kind of rolling screen door brushless motor driven apparatus according to claim 1, is characterized in that: described control unit comprises speed control unit and current control unit; Described speed control unit is electrically connected with described interface unit, described speed control unit is electrically connected with described current control unit, described speed control unit is according to the speed control information of the input from described interface unit, and output current control information is to described current control unit; Described current control unit is electrically connected with described PWM unit, described current control unit according to from described current control unit current control information and adjust the output signal of described PWM unit from the positional information of described current feedback unit.
3. a kind of rolling screen door brushless motor driven apparatus according to claim 2, it is characterized in that: described feedback circuit also comprises current feedback unit, described current feedback unit is electrically connected with described brushless electric machine and described speed control unit, described current feedback unit gathers the current signal of described brushless electric machine and feeds back to described current control unit, the current signal adjustment of the current control information that described current control unit exports according to described speed control unit and the collection of described current feedback unit exports the current signal of described PWM unit to, described PWM unit according to from described current control unit current signal and adjust the output signal output of described PWM unit from the positional information of described position feedback unit.
4. a kind of rolling screen door brushless motor driven apparatus according to claim 3, it is characterized in that: described drive circuit also comprises speed calculation unit, described speed calculation unit is electrically connected with described position feedback unit, and described speed calculation unit is electrically connected with described speed control unit; Described speed calculation unit according to from described position feedback unit positional information calculation rotary speed information and export described rotary speed information to described speed control unit, described speed control unit exports the current control information of described current control unit to according to the speed control information from described interface unit and the adjustment of the rotary speed information from described speed calculation unit.
5. a kind of rolling screen door brushless motor driven apparatus according to claim 1 or 2 or 3, is characterized in that: it is complementary two device for power switching up and down that the same brachium pontis of described three-phase inverting circuit has on off state.
6. according to a kind of rolling screen door brushless motor driven apparatus that claim 3 or 4 is stated, it is characterized in that: the sample frequency of described current feedback unit is greater than the sample frequency of described position feedback unit.
7. a kind of rolling screen door brushless motor driven apparatus according to claim 1 or 2 or 3 or 4, is characterized in that: described position feedback unit is be arranged on Mageneto-sensitive type position transducer on the axle of described brushless electric machine or photoelectric position sensor or electromagnetic position sensor.
8. a kind of rolling screen door brushless motor driven apparatus according to claim 7, is characterized in that: described position feedback unit is be arranged on the Hall element on described brushless electric machine axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610007437.7A CN105450097A (en) | 2016-01-07 | 2016-01-07 | Brushless motor driving device for rolling shutter door |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610007437.7A CN105450097A (en) | 2016-01-07 | 2016-01-07 | Brushless motor driving device for rolling shutter door |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105450097A true CN105450097A (en) | 2016-03-30 |
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ID=55559974
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610007437.7A Pending CN105450097A (en) | 2016-01-07 | 2016-01-07 | Brushless motor driving device for rolling shutter door |
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| Country | Link |
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| CN (1) | CN105450097A (en) |
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| CN108661520A (en) * | 2018-05-31 | 2018-10-16 | 宁波晋畅机电科技有限公司 | A kind of system and method interlocking label door position based on electromechanics |
| CN111962999A (en) * | 2020-08-26 | 2020-11-20 | 南京工程学院 | Rail transit sliding plug door control method and system based on compliance control |
| CN114568914A (en) * | 2022-02-23 | 2022-06-03 | 南京工程学院 | Manual and automatic dual-purpose curtain opening and closing machine system with intelligent voice recognition function |
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| CN108661520A (en) * | 2018-05-31 | 2018-10-16 | 宁波晋畅机电科技有限公司 | A kind of system and method interlocking label door position based on electromechanics |
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Application publication date: 20160330 |
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