Asynchronous floor car door lock interlock position detection and speed self-adaptation device and method

Abstract

The present invention discloses an asynchronous floor car door lock interlock disengagement position detection and speed self-adaptation device, comprising: a door lock interlock and disengagement position detection unit, a door lock interlock and disengagement position comparison unit, a deviation information output unit and a door lock curve self-adaptation unit. The present invention also discloses an asynchronous floor car door lock interlock disengagement position detection and speed self-adaptation method and an asynchronous floor car door lock interlock disengagement position speed self-adaptation method. The present invention can determine the deviation and adjustment direction of the floor door lock and the car door lock interlock and disengagement position by detecting the interlock and disengagement position of the floor door lock and the car door lock, so as to facilitate the installation personnel to make adjustments. In addition, for the floors whose deviation information does not exceed the self-adaptation threshold, the door speed curve is self-adapted to the door lock. During normal operation, the state of the door lock can be monitored in real time, so that the maintenance personnel can grasp the state of the door lock, which is convenient for maintenance and improves the work efficiency of the maintenance personnel, and also improves the stability, comfort and efficiency of the operation of the asynchronous door system.

Description

Technical Field

[0001] The invention relates to the technical field of elevator control, and in particular to an asynchronous floor car door lock disengagement position detection device and method and a speed self-adaptation method. Background Art

[0002] Modern buildings are generally multi-story buildings, and one elevator generally serves a large number of floor doors. After the installer places the core line from the top to the bottom of the shaft to determine the position of the floor door system, the floor door positioning and installation are completed. Due to the large number of floor doors and the influence of factors such as the installer's proficiency and installation accuracy, it is difficult to ensure that all floor door locks are located on the same vertical reference plane, which will cause the asynchronous car door lock and the floor door lock to contact early or late, and the connection point is inconsistent. When opening the door, when the asynchronous floor door lock contacts the car door lock in advance, the speed does not reach the starting speed required for the linkage acceleration of the floor door lock and the car door lock in time, resulting in low door opening efficiency; when the asynchronous car door lock and the floor door lock contact late, the speed when the car door lock knife arm contacts the floor door lock roller to reach the floor door lock limit is too high, causing abnormal noise when opening the door. When closing the door, if the asynchronous car door lock and the floor door lock are disengaged in advance, the door machine fails to decelerate to the specified disengagement speed when approaching the door closing position. At this time, the car door is closed, which will cause abnormal impact noise; when the asynchronous car door lock and the floor door lock are disengaged later, the speed of the floor door at the end of closing is lower than the default closing speed, affecting the operation effect of the door machine. The above is generally adjusted by the installer based on the drawings and engineering experience in actual projects. The adjustment takes a long time, affecting the efficiency of on-site works and daily maintenance. Summary of the invention

[0003] One of the technical problems to be solved by the present invention is to provide an asynchronous floor car door lock engagement and disengagement position detection and speed self-adaptation device in view of the deficiencies existing in the existing floor door lock adjustment process. The device is based on the speed curve operation characteristics of the asynchronous door lock, and by analyzing the reflection of the kinematic characteristics of the asynchronous car door lock and the floor door lock when they are linked and disengaged on the feedback speed and torque current, a detection method is designed to identify the position of the asynchronous car door lock and the floor door lock when they are linked and disengaged, and can judge the deviation distance from the standard installation position with high accuracy, so as to prompt the installation and maintenance personnel with information on the deviation distance and adjustment direction through the communication medium. During normal operation, it can be used as real-time position monitoring to monitor the actual working conditions such as the operation wear of the asynchronous car door lock and the floor door lock, so as to improve the work efficiency of the installation and maintenance personnel.

[0004] The second technical problem to be solved by the present invention is to provide an asynchronous floor car door lock disengagement position detection and speed self-adaptation method.

[0005] The third technical problem to be solved by the present invention is to provide a speed adaptive method for the coupling and disengagement positions of an asynchronous floor car door lock, which automatically adjusts the speed curve according to the position of the deviation, thereby making the operation of the asynchronous car door lock and the floor door lock smooth during linkage and disengagement, avoiding jamming and door leaf collision, and greatly facilitating installation and debugging by on-site workers.

[0006] As the first aspect of the present invention, the asynchronous floor car door lock disengagement position detection and speed self-adaptation device comprises:

[0007] A door lock linkage and disengagement position detection unit, used to detect the position of the floor door lock and the car door lock when the door is opened and the position of the floor door lock and the car door lock when the door is closed, and output a detection signal;

[0008] a door lock linkage and disengagement position comparison unit, the signal input end of which is connected to the signal output end of the door lock linkage and disengagement position detection unit, receives the detection signal output by the door lock linkage and disengagement position detection unit and compares it with the design calibration value to form the deviation information between the floor door lock and the car door lock;

[0009] a deviation information output unit, the deviation information output unit is connected to the door lock linkage and disengagement position comparison unit, and outputs the deviation information between the floor door lock and the car door lock formed by the door lock linkage and disengagement position comparison unit and whether automatic adjustment can be performed through speed curve adaptation;

[0010] A door lock curve adaptive unit, wherein the information output end of the door lock curve adaptive unit is connected to the information input end of the deviation information output unit, receives the deviation information between the floor door lock and the car door lock formed by the door lock linkage and disengagement position comparison unit and the information on whether automatic adjustment can be performed through speed curve adaptation, and adjusts the speed curve according to the set position of the door lock linkage and disengagement speed curve, so that the position of the floor door lock and the car door lock linkage and disengagement falls within the set position.

[0011] In a preferred embodiment of the present invention, the deviation information between the landing door lock and the car door lock includes a deviation direction and a deviation distance between the landing door lock and the car door lock.

[0012] As a second aspect of the present invention, an asynchronous floor car door lock disengagement position detection and speed adaptation method comprises the following steps:

[0013] Step 1: Initial floor door lock and car door lock linkage and disengagement position detection and calibration;

[0014] Step 2: Open and close the door system at a constant speed for a certain number of times, and record the average value of the torque current and the position of the speed mutation when the door is opened and closed;

[0015] Step 3: Perform the operations of step 1 and step 2 on each floor, record the position of the floor door lock and the car door lock at the start and end of linkage, set the parameter table and store it;

[0016] Step 4: Compare the position of each floor door lock and the car door lock at the time of linkage and disengagement with the calibration value designed for installation to form the deviation information between the floor door lock and the car door lock;

[0017] Step 5: Detect whether the deviation information between the floor door lock and the car door lock is within the maximum deviation threshold specified by the speed adaptation. If it is within the maximum deviation threshold, perform speed curve adaptation; if it exceeds the maximum deviation threshold specified by the speed adaptation, issue a warning message to prompt the staff to adjust the mechanical position between the floor door lock and the car door lock.

[0018] In a preferred embodiment of the present invention, in step 5, if the maximum deviation threshold specified by the speed adaptation is exceeded, the deviation amount and adjustment direction information of the adjustment between the floor door lock and the car door lock are issued according to the detected deviation distance.

[0019] The speed self-adaptation method of the asynchronous floor car door lock engaging and disengaging position as the third aspect of the present invention comprises the following steps:

[0020] Step 1: When the elevator is operating normally, the positions of the floor door lock and the car door lock when the door is opened and closed at any floor are linked and the positions of the floor door lock and the car door lock when the door is closed are monitored in real time and written into the monitoring parameter table;

[0021] Step 2: When the deviation information between the floor door lock and the car door lock exceeds the minimum deviation threshold specified by the speed adaptation for the set number of consecutive detections, a prompt is given to perform speed adaptation;

[0022] Step 3: Determine whether the deviation information between the floor door lock and the car door lock for the set number of times described in step 2 is within the maximum deviation threshold specified by the speed adaptation. If so, adjust the speed curve according to the adaptive calculation value; otherwise, do not adjust the speed curve, and issue a warning message to prompt the staff to adjust the mechanical position between the floor door lock and the car door lock.

[0023] In a preferred embodiment of the present invention, in step three, if the maximum deviation threshold specified by the speed adaptation is exceeded, the deviation amount and adjustment direction information of the adjustment between the floor door lock and the car door lock are issued according to the detected deviation distance.

[0024] The debugging of door locks of existing asynchronous door systems is generally completed based on design drawings and the experience of installers. The present invention can determine the deviation and adjustment direction of the linkage and disengagement positions of the floor door locks and the car door locks by detecting the linkage and disengagement positions of the floor door locks and the car door locks, which is convenient for installers to make adjustments. At the same time, the present invention also provides a speed curve adaptive method, which realizes the adaptation of the door speed curve to the door lock for asynchronous door systems whose deviations do not exceed the adaptive threshold. During normal operation, the status of the door lock can be monitored in real time, which is convenient for maintenance personnel to grasp the status of the door lock and facilitate maintenance. At the same time, the door system speed curve is adapted to the door lock on floors where the deviation information between the floor door locks and the car door locks does not exceed the adaptive threshold, which improves the work efficiency of maintenance personnel and also improves the stability, comfort and efficiency of the operation of the asynchronous door system. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a principle block diagram of the asynchronous floor car door lock interlocking and disengaging position detection and speed self-adaptation device of the present invention.

[0026] Figure 2a to Figure 2c This is the timing diagram of the asynchronous door lock closing stroke.

[0027] Figure 3a to Figure 3c This is the timing diagram of the asynchronous door lock opening stroke.

[0028] Figure 4 It is a schematic diagram of the door opening speed curve of the asynchronous door system of the present invention.

[0029] Figure 5 It is a schematic diagram of the closing speed curve of the asynchronous door system of the present invention.

[0030] Figure 6 The present invention is a schematic diagram of the linkage position detection of the floor door lock and the car door lock in one implementation of the asynchronous floor car door lock linkage position detection method and speed adaptation method of the present invention.

[0031] Figure 7 The present invention is a schematic diagram of the disengagement position detection of a floor door lock and a car door lock in one embodiment of the asynchronous floor car door lock disengagement position detection method and speed self-adaptation method of the present invention.

[0032] Figure 8 It is a schematic diagram of the linkage position detection of the floor door lock and the car door lock in another embodiment of the asynchronous floor car door lock linkage position detection method and speed self-adaptation method of the present invention.

[0033] Fig. 9 It is a schematic diagram of the disengagement position detection of the floor door lock and the car door lock in another embodiment of the asynchronous floor car door lock disengagement position detection method and speed self-adaptation method of the present invention.

[0034] Fig.10The figure is a schematic diagram of the detection process of the asynchronous floor car door lock interlocking and disengaging position of the present invention.

[0035] Fig.11 The present invention is a flow chart of a method for speed self-adaptation of an asynchronous floor door lock disengagement position. DETAILED DESCRIPTION

[0036] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0037] The asynchronous floor car door lock disengagement position detection device of the present invention is shown in FIG. Figure 1 , including three parts, specifically:

[0038] A door lock linkage and disengagement position detection unit 100 is used to detect the position of the floor door lock and the car door lock when the door is opened and the position of the floor door lock and the car door lock when the door is closed, and output a detection signal; the door lock linkage and disengagement position detection unit 100 can specifically be a speed sensor signal and a door lock electrical switch signal, which are input into the processor and judged by the processor's door lock linkage and disengagement position detection logic, and the processor outputs a detection signal.

[0039] A door lock linkage and disengagement position comparison unit 200, the signal input end of which is connected to the signal output end of the door lock linkage and disengagement position detection unit 100, receives the detection signal output by the door lock linkage and disengagement position detection unit 100 and compares it with the design calibration value to form the deviation information between the floor door lock and the car door lock; the deviation information between the floor door lock and the car door lock includes the deviation direction and deviation distance between the floor door lock and the car door lock. The door lock linkage and disengagement position comparison unit 200 can specifically be the default value stored in the processor and the door lock position when the door lock linkage and disengagement position detection unit 100 outputs a signal, compares the two in the processor, and outputs the deviation distance and deviation direction.

[0040] A deviation information output unit 300 is connected to the door lock linkage and disengagement position comparison unit 200, and outputs the deviation information between the floor door lock and the car door lock formed by the door lock linkage and disengagement position comparison unit 200, and whether the automatic adjustment information can be performed through speed curve adaptation. The deviation information output unit 300 can be specifically a deviation value calculated by the door lock linkage and disengagement position comparison unit 200 in the processor, which is compared with the maximum deviation threshold specified by the set speed adaptation to determine whether speed adaptation can be performed, and the processor outputs the deviation information and whether the automatic adjustment information can be performed through speed adaptation.

[0041] A door lock curve adaptation unit 400, the information output end of which is connected to the information input end of the deviation information output unit 300, receives the deviation information between the floor door lock and the car door lock formed by the door lock linkage and disengagement position comparison unit 300 and the information on whether automatic adjustment can be performed through speed curve adaptation, and adjusts the speed curve according to the set position of the speed curve where the door lock linkage and disengagement are located, so that the position of the floor door lock and the car door lock linkage and disengagement falls within the set position.

[0042] The asynchronous floor car door lock disengagement position detection and speed adaptation method of the present invention, see Fig.10 , including the following steps:

[0043] Step 1: Initial floor door lock and car door lock linkage and disengagement position detection and calibration;

[0044] Step 2: Open and close the door system at a constant speed for a certain number of times, and record the average of the torque current and the position of the speed mutation when opening and closing the door. Specifically, calculate the speed change value and the torque current change value in real time, see Figure 2a to Figure 2c and Figure 3a to Figure 3c When the elevator is operating normally, the car door lock blade arm 1 and the floor door lock roller 2 maintain a certain safe operating gap to avoid collision between the car door lock blade arm 1 and the floor door lock roller 2. When the car is in the leveling area, when the door is opened, the contact angle between the car door lock blade arm 1 and the floor door lock roller 2 changes due to the rotation of the floor door lock roller 2. When the car door lock blade arm 1 contacts the floor door lock roller 2 to complete the linkage between the floor door lock and the car door lock, the floor door system friction, moment of inertia and floor door self-closing device will provide a force opposite to the movement of the car door. At this time, the torque current output by the door machine will suddenly increase, and the speed will suddenly decrease. Set a speed and torque current change rate detection threshold when opening the door. If the speed and torque current change rate detection threshold is exceeded, the door will remain in the open position. When the door is closed, the car door lock blade arm 1 is separated from the floor door lock roller 2 to complete the door disengagement. At this time, the friction force, rotational inertia and floor door self-closing device of the floor door system no longer exert force on the door blade. At this time, the direction of acceleration will change, and the torque current output by the door machine will suddenly decrease and then reverse. The speed will also disappear due to the friction force, rotational inertia and self-closing force of the floor door system. The acceleration direction changes, and the direction of the resultant torque is opposite to the running speed and suddenly decreases. Set a speed and torque current change rate detection threshold when closing the door. If the speed and torque current change rate detection threshold is exceeded for a set time, it is judged that a sudden change occurs. This position is the position of the moment when the floor door lock and the car door lock are disengaged. After the sudden change occurs, the car door lock blade arm 1 is separated from the floor door lock roller 2, maintaining a certain safe running gap to ensure the normal operation of the elevator.

[0045] Step 3: Perform the operations of step 1 and step 2 on each floor, record the position of each floor door lock and car door lock when they start to be linked and when they are disengaged, set the parameter table (see Table 1) and store it;

[0046] Table 1

[0047]

[0048]

[0049] The following two specific implementations can be used to determine the position of the start and end time of linkage between the floor door lock and the car door lock:

[0050] The first specific implementation is:

[0051] See also Figure 6 , Figure 6 The center line 1 is the reference speed curve, line 2 is the feedback speed curve, line 3 is the reference torque current curve, and line 4 is the feedback torque current curve.

[0052] Open the door at a constant speed, such as Figure 5 As shown in circle 5, when the feedback speed suddenly decreases due to the addition of the floor door inertia, the torque current also suddenly increases due to the need to adjust the speed balance. When the speed and torque current change rate detection threshold and duration when opening the door are exceeded, it is judged that the floor door lock and the car door lock are in linkage position.

[0053] See also Figure 7 , Figure 7 The center line 6 is the reference speed curve, line 7 is the feedback speed curve, line 8 is the reference torque current curve, and line 9 is the feedback torque current curve.

[0054] Close the door at a constant speed, such as Figure 6 As shown in the circle 10 in the figure, when the feedback speed oscillates due to the disengagement of the floor door lock and the car door lock, the torque current decreases due to the disengagement of the floor door lock and the car door lock, and the torque required to maintain the speed required in the area decreases, and the direction is reversed after the end of the inertial oscillation. When the speed and torque current change rate detection threshold and duration when the door is closed are exceeded, the disengagement position of the floor door lock and the car door lock is determined.

[0055] The second specific implementation is:

[0056] See also Figure 8 , Figure 8 The center line 11 is a reference speed curve, the line 12 is a feedback speed curve, the line 13 is a reference torque current curve, and the line 14 is a feedback torque current curve.

[0057] Open the door with the running speed curve, such as Figure 8As shown in the circle 15 in the figure, when the feedback speed suddenly jumps, the torque current also suddenly increases. When it exceeds the set door opening speed and torque current change rate detection threshold and duration, it is judged that the floor door lock and the car door lock are in linkage position.

[0058] See also Fig. 9 , Fig. 9 The center line 16 is a reference speed curve, the line 17 is a feedback speed curve, the line 18 is a reference torque current curve, and the line 19 is a feedback torque current curve.

[0059] Close the door with the running speed curve, such as Fig. 9 As shown in the circle 20 in the figure, when the feedback speed oscillates due to the disengagement of the floor door lock and the car door lock, the torque current decreases due to the disengagement of the floor door lock and the car door lock, and the torque required to maintain the speed required in the area decreases, and the direction is reversed after the end of the inertial oscillation. When the speed and torque current change rate detection threshold and duration when closing the door are exceeded, the disengagement position of the floor door lock and the car door lock is determined.

[0060] Step 4: Compare the position of each floor door lock and car door lock at the start and end of linkage with the installation design calibration value to form the deviation information between the floor door lock and the car door lock;

[0061] Step 5: Check whether the deviation information between the floor door lock and the car door lock is within the deviation threshold specified by the speed adaptation. If not, perform speed curve adaptation; if it exceeds the deviation threshold specified by the speed adaptation, send a warning message through the communication interface of the controller to prompt the staff to adjust the mechanical position between the floor door lock and the car door lock. According to the detected deviation information, send the deviation amount and adjustment direction information between the floor door lock and the car door lock.

[0062] See also Fig.11 The speed self-adaptation method of the asynchronous floor car door lock interlocking and disengaging position comprises the following steps:

[0063] Step 1: When the elevator is operating normally, the position of the floor door lock and the car door lock when the door is opened and closed at any floor is monitored in real time, and the position of the floor door lock and the car door lock when the door is closed is recorded in the parameter table of the above Table 1;

[0064] Step 2: Set the minimum deviation threshold and maximum deviation threshold of the speed adaptation specified for the deviation information prompt between the floor door lock and the car door lock, and set the number of consecutive detections of the deviation information prompt between the floor door lock and the car door lock; when the deviation information between the floor door lock and the car door lock that exceeds the minimum deviation threshold specified for speed adaptation is detected for the set number of consecutive times, a prompt is given to perform speed adaptation;

[0065] Step 3: Determine whether the deviation information between the floor door lock and the car door lock for the set number of times is within the maximum deviation threshold specified by the speed adaptation. If it is within the maximum deviation threshold, the speed curve is adjusted according to the adaptive calculation value; otherwise, the speed curve is not adjusted, and a warning message is issued to prompt the staff to adjust the mechanical position between the floor door lock and the car door lock. In particular, if it exceeds the maximum deviation threshold specified by the speed adaptation, the deviation amount and adjustment direction information between the floor door lock and the car door lock are issued according to the detected deviation distance.

[0066] Generally speaking, the speed curve of asynchronous door locks is an S curve. Figure 4 The S curve when opening the door includes the car door action section, the door lock linkage transition section, the door opening acceleration section, the door opening uniform speed section, the door opening deceleration section and the door opening end holding section. Figure 5 The S curve when closing the door includes the door closing acceleration section, the door closing uniform speed section, the door closing deceleration section, the door lock unlocking transition section, the car door action section and the door closing end holding section.

[0067] When opening the door, the linkage position between the floor door lock and the car door lock should be Figure 4 The distance of the door lock linkage transition section can be set, and it is generally defaulted to the midpoint of the door lock linkage transition section. After determining the location of the linkage between the floor door lock and the car door lock by the elevator asynchronous floor car door lock linkage and disengagement position detection method, if the location is in the car door action section, the displacement of the car door action section will be reduced, and the displacement of the door lock linkage transition section will also be reduced, so that the linkage point between the floor door lock and the car door lock is located at the set curve position (as mentioned above, the default is the midpoint), and then the displacement of the door leaf motion curve section (door opening acceleration section, door opening uniform speed section, door opening deceleration section) will be increased; if the location is in the door lock linkage transition section, the displacement of the door leaf motion curve section (door opening acceleration section, door opening uniform speed section, door opening deceleration section) will be increased or reduced according to the deviation information, so that the linkage point between the floor door lock and the car door lock is located at the set curve position.

[0068] When closing the door, the door lock should be in the disengaged position. Figure 5 The door lock disengagement transition section, the distance of the door lock disengagement transition section can be set, and generally the default is the midpoint position of the door lock disengagement transition section. After determining the position where the floor door lock and the car door lock are disengaged by the method described above, if the position is located in the car door action section, the displacement of the car door action section will be reduced, and the displacement of the door lock disengagement transition section will also be reduced, so that the disengagement point between the floor door lock and the car door lock is located at the set curve position, and then the displacement of the door leaf motion curve section (door closing acceleration section, door closing uniform speed section, door closing deceleration section) will be increased; if the position is located in the door lock unlocking transition section, the displacement of the disengagement transition section will be increased or reduced according to the deviation information, so that the disengagement point between the floor door lock and the car door lock is located at the set curve position.

[0069] The speed self-adaptation method for the asynchronous floor car door lock disengagement position of the present invention needs to set a maximum deviation threshold value specified by the speed self-adaptation. When the maximum deviation threshold value specified by the speed self-adaptation is exceeded, that is, the adaptive range of the speed curve is exceeded, no adjustment is made, and the staff is prompted through a communication method to prompt the number of floors that need to be manually adjusted, the deviation direction and the deviation value;

[0070] When the elevator is operating normally, the position of the linkage and disengagement of the floor door lock and the car door lock is monitored in real time for each door opening and closing on any floor, and written into the monitoring parameter table (see Table 1). Set the deviation threshold specified by the speed adaptive regulation of the deviation information prompt between the floor door lock and the car door lock, and set the number of continuous detections of the deviation information prompt between the floor door lock and the car door lock.

[0071] When the deviation information between the floor door lock and the car door lock exceeds the minimum deviation threshold specified by the speed adaptation for the set number of consecutive detections, a prompt is made. If the deviation information between the floor door lock and the car door lock for these times is within the maximum deviation threshold specified by the speed adaptation, the deviation information values ​​between the floor door lock and the car door lock for these times are first-order filtered, the average is calculated, the deviation adjustment value is calculated, and recorded in the corresponding parameter table of the layer in Table 1. Thereafter, the speed curve is adapted according to the calculated deviation adjustment value; if the deviation information between the floor door lock and the car door lock for these times is greater than the maximum deviation threshold specified by the speed adaptation, it exceeds the adaptive range of the speed curve and is not adjusted. The staff will be prompted through communication to prompt the number of floors, deviation direction and deviation value that need to be manually adjusted.

[0072] The debugging of door locks of existing asynchronous door systems is generally completed based on design drawings and the experience of installers. The present invention can determine the deviation and adjustment direction of the linkage and disengagement positions of the floor door locks and the car door locks by detecting the linkage and disengagement positions of the floor door locks and the car door locks, which is convenient for installers to make adjustments. At the same time, the present invention also provides a speed curve adaptive method, which realizes the adaptation of the door speed curve to the door lock for floors whose deviations do not exceed the adaptive threshold. During normal operation, the status of the door lock can be monitored in real time, which is convenient for maintenance personnel to grasp the status of the door lock and facilitate maintenance. This improves the work efficiency of maintenance personnel, and also improves the stability, comfort and efficiency of the operation of the asynchronous door system.

Claims

1. A method for detecting the position of an asynchronous floor door lock and disengagement and controlling the speed self-adaptation, characterized in that: The steps include: Step 1: Initial floor door lock and car door lock linkage and disengagement position detection and calibration; Step 2: Open and close the door system at a constant speed for a certain number of times, and record the average value of the torque current and the position of the speed mutation when the door is opened and closed; Step 3: Perform the operations of step 1 and step 2 on each floor, record the position of each floor door lock and car door lock when they start to be linked and when they are disengaged, set the parameter table and store it; Step 4: Compare the position of each floor door lock and car door lock at the start and end of linkage with the installation design calibration value to form the deviation information between the floor door lock and the car door lock; Step 5: Detect whether the deviation information between the floor door lock and the car door lock is within the maximum deviation threshold specified by the speed adaptation. If it is within the maximum deviation threshold, perform speed curve adaptation; If the maximum deviation threshold specified by the speed adaptation is exceeded, a warning message is issued to prompt the staff to adjust the mechanical position between the floor door lock and the car door lock.

2. The asynchronous floor door lock position detection and speed adaptation control method according to claim 1 is characterized in that: In step 5, if the maximum deviation threshold specified by the speed adaptation is exceeded, the deviation amount and adjustment direction information of the adjustment between the floor door lock and the car door lock are issued according to the detected deviation distance.

3. The method for detecting the position of the asynchronous floor door lock and disengagement and controlling the speed adaptation according to claim 1 is characterized in that: The control method further comprises the following steps: When the deviation information between the floor door lock and the car door lock exceeds the minimum deviation threshold specified by the speed adaptation for the set number of consecutive detections, a prompt is given to perform speed adaptation.

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