CN113216820A - Roller shutter door with anti-misoperation intelligent controller - Google Patents
Roller shutter door with anti-misoperation intelligent controller Download PDFInfo
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- CN113216820A CN113216820A CN202110577005.0A CN202110577005A CN113216820A CN 113216820 A CN113216820 A CN 113216820A CN 202110577005 A CN202110577005 A CN 202110577005A CN 113216820 A CN113216820 A CN 113216820A
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- 238000005096 rolling process Methods 0.000 claims abstract description 23
- 238000001914 filtration Methods 0.000 claims abstract description 18
- 230000004888 barrier function Effects 0.000 claims abstract description 14
- 238000012544 monitoring process Methods 0.000 claims abstract description 11
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- 238000000034 method Methods 0.000 claims description 51
- 238000005070 sampling Methods 0.000 claims description 15
- 230000002159 abnormal effect Effects 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 8
- 230000002265 prevention Effects 0.000 claims description 7
- 230000005856 abnormality Effects 0.000 claims description 4
- 230000000903 blocking effect Effects 0.000 claims description 3
- 230000007547 defect Effects 0.000 description 13
- 230000008569 process Effects 0.000 description 11
- 230000006870 function Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 230000001960 triggered effect Effects 0.000 description 5
- 239000003990 capacitor Substances 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000007774 longterm Effects 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
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- 229910044991 metal oxide Inorganic materials 0.000 description 2
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- 230000004048 modification Effects 0.000 description 2
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- 239000004065 semiconductor Substances 0.000 description 2
- 230000005355 Hall effect Effects 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000011084 recovery Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
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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
- E06B9/02—Shutters, movable grilles, or other safety closing devices, e.g. against burglary
- E06B9/08—Roll-type closures
- E06B9/11—Roller shutters
- E06B9/15—Roller shutters with closing members formed of slats or the like
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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
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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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- 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
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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
- E06B2009/6818—Control using sensors
- E06B2009/6836—Control using sensors sensing obstacle
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Operating, Guiding And Securing Of Roll- Type Closing Members (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The invention discloses a rolling door with an anti-misoperation intelligent controller, which comprises: a door body; a motor; a transmission device; a motor controller; a ground hook lock; a signal transmitter; a power-off controller; a remote controller; an obstacle detector; and the anti-misoperation controller is used for filtering barrier signals, monitoring motor current and monitoring power-off signals, and is in signal connection with the barrier detector, the power-off controller and the motor controller. Compared with the prior art, the invention can effectively avoid the situation that the rolling door cannot work normally due to misoperation and obstacle detector-fault.
Description
Technical Field
The application relates to rolling slats door control field, especially takes rolling slats door of preventing maloperation intelligent control ware.
Background
The rolling door product is divided into a plurality of parts, wherein the motor controller is the core part of the control system and is an execution unit for the up-down movement and stop of the door body, and the motor controller receives signals of the obstacle detector, the remote controller and the power-off controller and executes corresponding functions. The remote controller sends out wireless signals to the motor controller to execute the operations of ascending, descending and stopping; when the power-off controller receives a signal for locking, a power-off signal is sent to the motor controller, so that the motor controller does not execute the operation of the remote controller or the movable door body of the controller any more; when the power-off controller receives an unlocking signal, a power-on signal is sent to the motor controller, and the function of the motor controller for moving the door body is recovered; when the obstacle detector detects that an obstacle is close to the roller shutter door body, a stop signal is sent to the motor controller, the roller shutter door stops moving, and therefore the accident that people or objects are rolled and pressed is prevented.
The technical problems in the prior art are as follows: first, the power down controller receives the wireless signal of the ground hook lock, but this communication is not very reliable. If the opening and closing states of the ground hook lock are frequently switched, the power-off controller may not receive correct state signals, and normal operation of the door body is affected. The bad result is that the motor controller is in the power-on state because the power-off controller does not receive the correct locking signal, and the door is opened at the moment, so that the ground hook lock hooks the ground embedded box, the whole door body is pulled to move upwards, and the door body is subjected to a large pulling force. As a result, either the buried box is damaged or the door body is in a tense state. It is unlikely that the user would want to twist the key of the hook lock to unlock the lock because the tight door body does not have room for the hook to move and there is no chance to twist the key. So that the rolling door cannot be opened. In addition, because of the error of the mechanical structure and the installation redundancy, the tight door body still can be considered by the motor controller to be in the lower limit position (namely, the door body is in the lower limit position), so that the remote controller can not make the door move downwards any more and restore the previous state. Secondly, when the door is opened, the ground hook lock is repeatedly opened and closed due to improper operation of a user, meanwhile, the door is opened in a remote control mode, the door body moves upwards, and the power-off signal (triggered by closing the ground hook lock) is triggered by mistake in the process. The ground hook lock can be hooked on the buried box to tighten the door body, the key cannot be twisted to open the ground hook lock, and the door cannot be closed remotely, because the motor controller receives a power-off signal sent by the ground hook lock. Third, the obstacle detector uses laser light to emit from one side to the other, and back to the detector through a cube-corner mirror at the other side. In actual use, the detector or the reflector may loosen due to long-term use, so that the detector cannot receive reflected light and mistakenly thinks that an obstacle exists, the motor controller is always in a stop state, and the rolling door cannot be normally operated.
Disclosure of Invention
Objects of the invention
The invention aims to provide a roller shutter door with an anti-misoperation intelligent controller.
(II) technical scheme
In order to solve the above problems, a first aspect of the present invention provides a rolling door with an intelligent controller for preventing misoperation, comprising: the door body consists of a plurality of interconnected curtain sheets and a scroll; a motor for outputting power; the transmission device is used for transmitting power to the door body and connecting the motor and the scroll, and is provided with a limiting screw which limits the upper limit position and the lower limit position of the movement of the door body; the motor controller is used for controlling the steering and the on-off of the motor and controlling the door body to move up and down; the ground hook lock comprises a lock tongue arranged at the lower part of the door body and a buried box buried in the ground, and the lock tongue hooks the buried box when the roller shutter door is closed; the signal transmitter is connected with the ground hook lock and transmits a wireless signal when the ground hook lock is opened or closed; the power-off controller is used for receiving the wireless signal sent by the signal transmitter, controlling the power-on and power-off of the motor controller and is in signal connection with the motor controller; the remote controller is used for sending a wireless signal to the motor controller and controlling the up-down movement and the stop of the door body; the obstacle detector is used for sending out a signal when an obstacle is detected; and the anti-misoperation controller is used for filtering barrier signals, monitoring motor current and monitoring power-off signals, and is in signal connection with the barrier detector, the power-off controller and the motor controller.
According to another aspect of the invention, an anti-misoperation control method for a rolling door with an anti-misoperation intelligent controller is provided, and comprises the following steps: initializing, setting a timer, reading a current history sample, and calculating a current abnormal threshold; acquiring a signal input when meeting an obstacle, filtering an effective signal, and outputting the effective obstacle signal to a motor controller if the effective signal is effective; the method comprises the steps of obtaining a lower limit signal, monitoring a motor power-off signal sent by a ground hook lock, then obtaining a current signal of a motor, filtering the current signal, judging the misoperation condition, learning the current signal of the motor, stopping the misoperation of the motor in time, controlling the motor to reversely rotate and recover, and sending a motor stop signal, a motor reverse signal and a motor power-on signal.
Further, the error prevention control method is executed cyclically at a 10-millisecond period using a timer.
Further, reading the current history sample is to read the working current of the latest 5 door openings, taking the average value as the normal working current of the motor, and calculating the abnormal threshold of the current to be 5 amperes increased on the basis of the normal working current of the motor.
Further, the obstacle signal filtering method comprises the following steps: timing is started after the obstacle detection signal is received, and if the signal duration is less than 50 milliseconds, an effective obstacle signal is not sent out; if the signal duration is greater than 50 milliseconds and a signal stop condition is detected, an obstacle signal is sent to stop the motor controller; if the obstacle detection signal is present at all times and the motor continues to run, no valid obstacle signal is emitted.
Further, the method of filtering the current signal includes: recording the latest 30 current sampling values, and if the number of the 30 current sampling values exceeding the abnormal threshold exceeds 24, blocking the motor; if the number of more than 2 amperes in the 30 current sampling values is less than 15, the motor is abnormal in operation; and the other is that the roller shutter door is in a normal working state.
Further, the method for judging the misoperation condition comprises the following steps: s1, if the door body is at the lower limit position and the motor operation is detected to be blocked, the door body is forced to be powered on and then a reverse signal is sent to the motor controller, and after the door body is reversed for a period of time, a stop signal is sent to the motor controller to enable the door to be restored to the closed state; s2, if the motor is detected to be blocked in 3 seconds after the door body moves upwards away from the lower limit, a reverse signal is sent to the motor controller, and after the door body rotates reversely for a period of time, a stop signal is sent to the motor controller to enable the door to return to a closed state; and S3, if the door body does not start to move at the lower limit position or the door body leaves the lower limit position and runs for more than 3 seconds, and the motor running is detected to be blocked, only sending a stop signal to the motor controller.
Further, if the motor controller is stopped or powered off during the reversing process in the method S1 or the method S2, the power is forced to be supplied and a reversing signal is sent to the motor controller, and after the motor controller is reversed for a period of time, a stop signal is sent to the motor controller, so that the door is restored to the closed state.
Further, a method of learning a current signal of an electric machine, comprising: recording a motor current signal sample every 30 milliseconds; the average value is calculated when 100 samples are recorded, and if the number of samples which differ from the average value by more than 20% is less than 10, the average value is recorded as the operating current of the door opening.
(III) advantageous effects
The technical scheme of the invention has the following beneficial technical effects: the invention sends out correct control signals and effective barrier signals by filtering and judging the acquired signals, compared with the prior art, the invention can effectively avoid the situation that the rolling door can not work normally due to misoperation and the fault of the barrier detector.
Drawings
FIG. 1 is a block diagram of a prior art tambour door;
FIG. 2 is a structural diagram of a roller shutter door with an intelligent controller for preventing misoperation according to the present invention;
FIG. 3 is a block diagram of the error prevention controller;
FIG. 4 is a flow chart of error prevention control;
FIG. 5 is a current diagram illustrating normal operation of the motor during starting;
FIG. 6 is a current diagram when the motor is blocked from starting;
fig. 7 is a flowchart for specifically determining an abnormality in current and controlling the stop and reverse recovery operation of the roll shutter door.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
As shown in fig. 1, in the related art, a roll door includes: the door body consists of a plurality of interconnected curtain sheets and a scroll; a motor for outputting power; the transmission device is used for transmitting power to the door body and connecting the motor and the scroll, and is provided with a limiting screw which limits the upper limit position and the lower limit position of the movement of the door body; the motor controller is used for controlling the steering and the on-off of the motor and controlling the door body to move up and down; the ground hook lock comprises a lock tongue arranged at the lower part of the door body and a buried box buried in the ground, and the lock tongue hooks the buried box when the roller shutter door is closed; the signal transmitter is connected with the ground hook lock and transmits a wireless signal when the ground hook lock is opened or closed; the power-off controller is used for receiving the wireless signal sent by the signal transmitter, controlling the power-on and power-off of the motor controller and is in signal connection with the motor controller; the remote controller is used for sending a wireless signal to the motor controller and controlling the up-down movement and the stop of the door body; and the obstacle detector is used for sending a stop signal to the motor controller when detecting an obstacle and is in signal connection with the motor controller. The motor controller is the core part of the control system, is an execution unit for the up-down movement and stop of the door body, receives signals of the obstacle detector, the remote controller and the power-off controller and executes corresponding functions:
the function 1, the remote controller sends out the wireless signal to the motor controller, carry out the operation of going upward, going downward and stopping;
function 2, when the power-off controller receives the signal of locking, send the power-off signal to the motor controller, so the motor controller will no longer carry out the operation of the remote controller or moving door body of the controller; when the power-off controller receives an unlocking signal, a power-on signal is sent to the motor controller, and the function of the motor controller for moving the door body is recovered;
function 3, when the barrier detector detects that there is the barrier to press close to the shutter door body, send stop signal for motor controller, let the rolling slats door stop moving to the accident of preventing to roll up and press people or thing.
However, the above functions have several disadvantages in practical use:
defect 1, the power down controller receives the wireless signal of the ground hook lock, but this communication is not very reliable. If the opening and closing states of the ground hook lock are frequently switched, the power-off controller may not receive correct state signals, and normal operation of the door body is affected. The bad result is that the motor controller is in the power-on state because the power-off controller does not receive the correct locking signal, and the door is opened at the moment, so that the ground hook lock hooks the ground embedded box, the whole door body is pulled to move upwards, and the door body is subjected to a large pulling force. As a result, either the buried box is damaged or the door body is in a tense state. It is unlikely that the user would want to twist the key of the hook lock to unlock the lock because the tight door body does not have room for the hook to move and there is no chance to twist the key. So that the rolling door cannot be opened. In addition, because of the error of the mechanical structure and the installation redundancy, the tightened door body still can be considered to be in a lower limit position (namely the door body is in the lower limit position) by the motor controller, so that the remote controller can not enable the door to move downwards again and restore the previous state;
defect 2, similar to defect 1, is only that when the door is opened, because of improper operation of the user (repeatedly opening and closing the ground hook lock), the door body is moved upwards by remote control opening, and in the process, a power-off signal is triggered by mistake (triggered by closing the ground hook lock). Then the ground hook lock can hook the buried box to tighten the door body, and the door can not be opened by twisting the key and can not be closed remotely (because the motor controller receives a power-off signal sent by the ground hook lock);
defect 3, obstacle detector utilizes laser light, sends out from one side to the other side, shines back to the detector through the pyramid reflector at the other side. In actual use, the detector or the reflector may loosen due to long-term use, so that the detector cannot receive reflected light and mistakenly thinks that an obstacle exists, the motor controller is always in a stop state, and the rolling door cannot be normally operated.
In order to solve the defects in the prior art, the invention provides a roller shutter door with an anti-misoperation intelligent controller, which comprises: the door body consists of a plurality of interconnected curtain sheets and a scroll; a motor for outputting power; the transmission device is used for transmitting power to the door body and connecting the motor and the scroll, and is provided with a limiting screw which limits the upper limit position and the lower limit position of the movement of the door body; the motor controller is used for controlling the steering and the on-off of the motor and controlling the door body to move up and down; the ground hook lock comprises a lock tongue arranged at the lower part of the door body and a buried box buried in the ground, and the lock tongue hooks the buried box when the roller shutter door is closed; the signal transmitter is connected with the ground hook lock and transmits a wireless signal when the ground hook lock is opened or closed; the power-off controller is used for receiving the wireless signal sent by the signal transmitter, controlling the power-on and power-off of the motor controller and is in signal connection with the motor controller; the remote controller is used for sending a wireless signal to the motor controller and controlling the up-down movement and the stop of the door body; the obstacle detector is used for sending out a signal when an obstacle is detected; and the anti-misoperation controller is used for filtering barrier signals, monitoring motor current and monitoring power-off signals, and is in signal connection with the barrier detector, the power-off controller and the motor controller.
On the basis of the existing roller shutter door system, a new device is added on a connecting line between the obstacle detector and the motor controller for filtering the signal triggered by mistake and applying the real obstacle signal to the motor controller, so that the defect 3 can be solved.
On the connecting line between the motor controller and the motor, a new device is added to monitor the current condition of the motor, monitor whether the roller shutter door body is in the lower limit condition and monitor whether the motor controller is in the power-off state. By using these 3 input signals, the occurrence of defect 1 and defect 2 can be determined.
Specifically, whether the current of the motor is increased suddenly is used to judge that the motor meets strong resistance. And in addition, whether the position of the door body is positioned near the lowermost closed state is determined according to the lower limit signal. With the input and analysis of the information, whether the roller shutter door has large resistance or suddenly stops near the lower limit position can be judged, so that the condition that the door body is tensioned when the door is opened, namely the condition of defect 1, is indirectly inferred when the ground hook lock is not opened. Then sending a stop signal to the motor controller, and then continuing sending a signal of closing the door downwards to restore the door body to a normal closing state. Thus, defect 1 is solved.
A similar principle is also used to solve the drawback 2: and judging that the roller shutter door stops near the lower limit, namely the condition of the defect 2, by using the motor current signal and the lower limit signal. Then a signal for closing the door downwards is sent to the motor controller to restore the door body to a normal closing state.
The hardware circuit of the invention adopts an STM8S003 singlechip processor as a main controller, and realizes algorithm and logic functions through programming. The motor is connected with the motor controller by adopting 8-wire terminals, wherein the motor controller comprises a current, a control wire and a limit signal wire of the motor.
Inputting a signal:
the limiting signal is divided into an upper limiting signal and a lower limiting signal, the lower limiting signal is selected by the single-pole double-throw switch to be input to an SXW endpoint, and then a high-voltage signal (9V-24V) is matched to 5V through a circuit network formed by a diode and an MOS (metal oxide semiconductor) transistor resistor capacitor and is input to a PD3 pin of the single chip microcomputer as the lower limiting signal.
The current line of the motor passes through a current sensor chip ACS712 on the circuit, and the chip converts a current signal into a voltage signal by using a Hall effect and inputs the voltage signal to a PD2 pin of the singlechip. The singlechip uses the AD module to measure voltage, thereby obtaining the magnitude of current.
A power-off control signal of the power-off controller is connected to a CHCK end point through a wiring terminal, and a high-voltage signal is adapted to 5V through a circuit network formed by a diode and an MOS (metal oxide semiconductor) transistor resistor capacitor and is input to a PC4 pin of the single chip microcomputer.
The obstacle detection signal is connected to a single-in terminal through a wiring terminal, and is protected by a capacitor and a TVS (transient voltage suppressor) tube and connected to a PB5 pin of the single chip microcomputer.
Outputting a signal:
the output signals of the single chip microcomputer are isolated from the motor controller system through the relay.
The motor stop signal is realized by a pin PA2 control relay RL 4;
the motor reverse rotation signal is realized by a pin PC6 control relay RL 1;
the motor electrifying signal is realized by controlling a relay RL5 through a pin PA 3;
the valid obstacle output signal is implemented by pin PC3 controlling relay RL 3.
As shown in fig. 3 and 4, the method for preventing misoperation of the rolling door with the intelligent controller comprises the following steps: initializing, setting a timer, reading a current history sample, and calculating a current abnormal threshold; acquiring a signal input when meeting an obstacle, filtering an effective signal, and outputting the effective obstacle signal to a motor controller if the effective signal is effective; the method comprises the steps of obtaining a lower limit signal, monitoring a motor power-off signal sent by a ground hook lock, then obtaining a current signal of a motor, filtering the current signal, judging the misoperation condition, learning the current signal of the motor, stopping the misoperation of the motor in time, controlling the motor to reversely rotate and recover, and sending a motor stop signal, a motor reverse signal and a motor power-on signal.
Preferably, the error control preventing method is executed by using a timer in a 10 ms cycle, and because the control method of the device of the present invention needs to detect the input signal in real time and send out the controller signal in time, the requirement of real time performance needs to be met in programming. The program adopts a timing loop method, and the processes of detection, judgment and output are executed once every 10 milliseconds. This ensures that changes in the input signal can be processed after a maximum of 10 milliseconds.
Preferably, reading the current history sample is to read the working current of the latest 5 door openings, taking the average value as the normal working current of the motor, and calculating the threshold value of the current abnormality is to increase 5 amperes on the basis of the normal working current of the motor.
Preferably, the obstacle signal filtering method includes: timing is started after the obstacle detection signal is received, and if the signal duration is less than 50 milliseconds, an effective obstacle signal is not sent out; if the signal duration is greater than 50 milliseconds and a signal stop condition is detected, an obstacle signal is sent to stop the motor controller; if the obstacle detection signal is present at all times and the motor continues to run, no valid obstacle signal is emitted. When the obstacle detector detects an obstacle, the obstacle detector always sends out a signal, and after the device receives the signal, the device firstly counts to ensure that the signal lasts for 50 milliseconds all the time, so that the interference of signal jitter can be eliminated. And then sending a stop pulse signal to the motor controller to stop the rolling door to prevent the rolling door from clamping the barrier. Only when the obstacle signal is switched from the absence to the presence, a stop signal is sent to the motor controller. If the subsequent barrier signal still does not disappear, and the rolling door continues to operate, the stop signal is not sent to stop the operation of the rolling door, the condition that the rolling door cannot be normally operated due to the fault of the detector caused by long-term use is avoided, and the purpose of overcoming the defect 3 is achieved.
Preferably, the method of filtering a current signal comprises: recording the latest 30 current sampling values, and if the number of the 30 current sampling values exceeding the abnormal threshold exceeds 24, blocking the motor; if the number of more than 2 amperes in the 30 current sampling values is less than 15, the motor is abnormal in operation; and the other is that the roller shutter door is in a normal working state. The current signal condition of the motor is more complicated, and has the following characteristics:
(1) the ascending and descending current directions of the door body are opposite, and the relationship between the running direction of the door body and the current direction and the actual installation relationship on site are specific. The absolute value of the current value is taken for processing in the algorithm;
(2) the door bodies are at different positions and in the same moving direction, and the working currents of the motors are also different. At the same position, the absolute value of the current of the door body moving upwards is larger than that of the current of the door body moving downwards; when the door body moves upwards, the working current of the motor at a higher position is smaller than that at a lower position;
(3) the motor will experience a surge and dip current profile at start up and stop. And because the ground hook lock locks and pulls the buried box, the door body is blocked in the upward movement process, so that the current of the motor can be increased rapidly. Distinguishing between these two cases is a challenge for the algorithm.
As shown in fig. 5, the starting current of the motor will surge from 0 to 10 amps or more, then peak at 60 milliseconds, then drop abruptly to about 7 amps at the normal steady operating current, and the entire process lasts 180 milliseconds.
Fig. 6 shows that the roller door is held by the ground hook lock and is subjected to strong resistance, the current surges to over 12 amperes, but the whole process takes over 300 milliseconds (450 milliseconds to 850 milliseconds) and is flat relative to the starting current. By utilizing the difference, the following algorithm is written to judge the condition of overlarge motor current caused by resistance:
and storing a sample window of the latest 30 current sampling values by a program, counting the number of the current sampling values exceeding the abnormal threshold value, judging that the roller shutter door meets strong resistance if the number of the current sampling values exceeds 24, and otherwise, considering that the roller shutter door is in a normal working state.
As shown in the example of table 1, it can be seen from the table that the operating current is stabilized at 7.3 amperes from the 100 th millisecond to the 290 th millisecond, and in this example, the normal operating current is considered to be 7.3 amperes, so that the threshold value of the current abnormality can be calculated to be 12.3 amperes, and only three sample values of 12.9 and 13.4 are greater than the threshold value of 12.3 out of 30 current sample values from the 0 th millisecond to the 290 th millisecond during the motor operation, so that it is determined that the motor is in the normal operating state at this time
TABLE 1 example of Normal operating Current
In table 2, the current is abruptly increased to 19 amperes from the 500 th millisecond and continues for a long time, and the number of 30 samples exceeding the threshold 12.3 amperes reaches 25 by the 790 th millisecond, so that it is determined that the motor rotation needs to be stopped in such a case.
Table 2 example of excessive current encountering a blockage
Preferably, the method of determining the malfunction condition includes: s1, if the door body is at the lower limit position and the motor operation is detected to be blocked, the door body is forced to be powered on and then a reverse signal is sent to the motor controller, and after the door body is reversed for a period of time, a stop signal is sent to the motor controller to enable the door to be restored to the closed state; s2, if the motor is detected to be blocked in 3 seconds after the door body moves upwards away from the lower limit, a reverse signal is sent to the motor controller, and after the door body rotates reversely for a period of time, a stop signal is sent to the motor controller to enable the door to return to a closed state; and S3, if the door body does not start to move at the lower limit position or the door body leaves the lower limit position and runs for more than 3 seconds, and the motor running is detected to be blocked, only sending a stop signal to the motor controller.
Preferably, if the motor controller is stopped or powered off during the reversing process in the method S1 or the method S2, the power is forced to be supplied and a reversing signal is sent to the motor controller, and after the motor controller is reversed for a period of time, a stop signal is sent to the motor controller, so that the door is restored to the closed state. In the reverse rotation process, the motor controller stops due to misoperation of the remote controller or lagging power-off operation is caused due to misoperation of the ground hook lock, the power is forcibly powered on and reverse signals are sent to the motor controller, and after the motor controller reverses for a period of time, stop signals are sent to the motor controller, so that the door is restored to a closed state.
Preferably, a method of learning a current signal of an electric machine, comprising: recording a motor current signal sample every 30 milliseconds; the average value is calculated when 100 samples are recorded, and if the number of samples which differ from the average value by more than 20% is less than 10, the average value is recorded as the operating current of the door opening. When the working current of the motor is abnormal, the normal working current of the motor needs to be known. Because the device only processes the defects generated in the process that the rolling door moves upwards from the lower limit position to open the door, the program only focuses on the working current of the door body moving upwards from the lower limit position within a short time.
The specific collection procedure is as follows:
(1) judging whether the current which is more than 2 amperes appears from the lower limit, if so, waiting for the current to become stable, and if the number which exceeds 2 amperes in 30 current sampling values is less than 15, judging that the motor runs abnormally;
(2) recording a current sample value every 30 milliseconds on the basis of (1) and storing the current sample value in a memory array;
(3) when the sample value reaches 100, namely 3 seconds of current information is recorded, the average value a of 100 current values is calculated, then the 100 samples are used for comparing the average value a, and the number of samples which are different from the average value by more than 20% is counted. If the number of the samples is less than 10, recording the average value a as the working current, otherwise, judging that the current sampling current is unstable and the sampling fails;
(4) and the working current is sampled once when the roller shutter door is opened every time and is recorded in a flash memory. And then the program calls the data sampled for the last 5 times, and the average value is taken as the reference current for the normal work of the motor.
Due to the fact that the latest current data can be updated in each door opening procedure, along with the increase of working time, the change of the rolling door current caused by mechanical abrasion or the change of the motor performance can be learned by the procedure, and the matching with the actual situation is kept.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (9)
1. Area prevents maloperation intelligent control ware's rolling slats door includes:
the door body consists of a plurality of interconnected curtain sheets and a scroll;
a motor for outputting power;
the transmission device is used for transmitting power to the door body and connecting the motor and the scroll, and is provided with a limiting screw which limits the upper limit position and the lower limit position of the movement of the door body;
the motor controller is used for controlling the steering and the on-off of the motor and controlling the door body to move up and down;
the ground hook lock comprises a lock tongue arranged at the lower part of the door body and a buried box buried in the ground, and the lock tongue hooks the buried box when the roller shutter door is closed;
the signal transmitter is connected with the ground hook lock and transmits a wireless signal when the ground hook lock is opened or closed;
the power-off controller is used for receiving the wireless signal sent by the signal transmitter, controlling the power-on and power-off of the motor controller and is in signal connection with the motor controller;
the remote controller is used for sending a wireless signal to the motor controller and controlling the up-down movement and the stop of the door body;
the obstacle detector is used for sending out a signal when an obstacle is detected;
it is characterized by also comprising: and the anti-misoperation controller is used for filtering barrier signals, monitoring motor current and monitoring power-off signals, and is in signal connection with the barrier detector, the power-off controller and the motor controller.
2. The rolling slats door of preventing maloperation intelligent control ware in area prevents mistake control method, its characterized in that includes:
initializing, setting a timer, reading a current history sample, and calculating a current abnormal threshold;
acquiring a signal input when meeting an obstacle, filtering an effective signal, and outputting the effective obstacle signal to a motor controller if the effective signal is effective;
the method comprises the steps of obtaining a lower limit signal, monitoring a motor power-off signal sent by a ground hook lock, then obtaining a current signal of a motor, filtering the current signal, judging the misoperation condition, learning the current signal of the motor, stopping the misoperation of the motor in time, controlling the motor to reversely rotate and recover, and sending a motor stop signal, a motor reverse signal and a motor power-on signal.
3. The error prevention control method according to claim 2, wherein the error prevention control method is executed cyclically at a 10-millisecond period using a timer.
4. The method for preventing error control according to claim 3, wherein the reading of the current history sample is to read the operating current of the last 5 door openings, an average value is taken as the normal operating current of the motor, and the calculating of the threshold of the current abnormality is to increase 5 amperes based on the normal operating current of the motor.
5. The error control prevention method according to claim 4, wherein the method for filtering the obstacle-meeting signal comprises:
timing is started after the obstacle detection signal is received, and if the signal duration is less than 50 milliseconds, an effective obstacle signal is not sent out;
if the signal duration is greater than 50 milliseconds and a signal stop condition is detected, an obstacle signal is sent to stop the motor controller;
if the obstacle detection signal is present at all times and the motor continues to run, no valid obstacle signal is emitted.
6. The error control prevention method according to claim 3, wherein the method for filtering the current signal comprises:
recording the latest 30 current sampling values, and if the number of the 30 current sampling values exceeding the abnormal threshold exceeds 24, blocking the motor;
if the number of more than 2 amperes in the 30 current sampling values is less than 15, the motor is abnormal in operation;
and the other is that the roller shutter door is in a normal working state.
7. The error control preventing method according to claim 6, wherein the method for judging the error operation condition comprises the following steps:
s1, if the door body is at the lower limit position and the motor operation is detected to be blocked, the door body is forced to be powered on and then a reverse signal is sent to the motor controller, and after the door body is reversed for a period of time, a stop signal is sent to the motor controller to enable the door to be restored to the closed state;
s2, if the motor is detected to be blocked in 3 seconds after the door body moves upwards away from the lower limit, a reverse signal is sent to the motor controller, and after the door body rotates reversely for a period of time, a stop signal is sent to the motor controller to enable the door to return to a closed state;
and S3, if the door body does not start to move at the lower limit position or the door body leaves the lower limit position and runs for more than 3 seconds, and the motor running is detected to be blocked, only sending a stop signal to the motor controller.
8. The method of claim 7, wherein if the motor controller is stopped or powered off during the reverse rotation in the method S1 or the method S2, the power is forced and a reverse signal is sent to the motor controller, and after a period of reverse rotation, a stop signal is sent to the motor controller to return the door to the closed state.
9. The error control preventing method according to claim 3, wherein the method for learning the current signal of the motor comprises the following steps:
recording a motor current signal sample every 30 milliseconds;
the average value is calculated when 100 samples are recorded, and if the number of samples which differ from the average value by more than 20% is less than 10, the average value is recorded as the operating current of the door opening.
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| CN202110577005.0A CN113216820A (en) | 2021-05-26 | 2021-05-26 | Roller shutter door with anti-misoperation intelligent controller |
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| CN202110577005.0A CN113216820A (en) | 2021-05-26 | 2021-05-26 | Roller shutter door with anti-misoperation intelligent controller |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113856089A (en) * | 2021-10-15 | 2021-12-31 | 福建安麟智能科技股份有限公司 | Control method for smoke-blocking vertical wall |
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