Door blocking detection method, apparatus, system and readable storage medium

Abstract

The application discloses a door machine door blocking detection method, device and system and a readable storage medium. The method comprises the following steps: acquiring a first torque and a second torque corresponding to a door machine, and determining a first cumulative time of blocking according to the first torque and the second torque; acquiring a feedback speed and a set speed corresponding to the door machine, and determining a second cumulative time of blocking according to the feedback speed and the set speed; and detecting whether the door machine is blocked according to the first cumulative time of blocking and the second cumulative time of blocking. According to the first cumulative time of blocking and the second cumulative time of blocking of the door machine, the second cumulative time of blocking is determined according to the feedback speed and the set speed of the door machine, and then whether the door machine is blocked is determined through the superposition of the first cumulative time of blocking and the second cumulative time of blocking, so that the door machine door blocking detection efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of elevator control technology, in particular to a door machine door blocking detection method, device, system and readable storage medium. BACKGROUND

[0002] The door machine is an important component of the elevator control system and an important link to ensure normal operation of the elevator. The door machine is mainly used to execute the door opening and closing instructions of the control system and control the opening and closing of the elevator door. During the process of closing the elevator door, people or objects are often blocked. The existing door machine door blocking detection mainly falls into two categories. One category is based on the torque output of the frequency converter. When the door machine is in a large torque output for a long time and the torque output value exceeds the threshold value set by the system for a period of time, it is determined that the system is blocked. The other category is to determine the stroke of the encoder. When the position feedback of the door machine does not change for a period of time during the process of closing the door, it is considered that the door is blocked. However, the existing door machine door blocking detection needs a long time to determine whether the door is blocked to avoid misjudgment, which greatly reduces the efficiency of the door machine door blocking detection and the efficiency of taking the elevator. Therefore, how to improve the efficiency of the door machine door blocking detection is a problem to be solved. SUMMARY

[0003] The main purpose of the present application is to provide a door machine door blocking detection method, device, system and readable storage medium, which aims to solve the problem of how to improve the efficiency of the door machine door blocking detection.

[0004] To achieve the above-mentioned purpose, the present application provides a door machine door blocking detection method, which comprises the following steps:

[0005] Obtaining the first torque and the second torque corresponding to the door machine, and determining the first blocking cumulative time according to the first torque and the second torque;

[0006] Obtaining the feedback speed and the set speed corresponding to the door machine, and determining the second blocking cumulative time according to the feedback speed and the set speed;

[0007] Detecting whether the door machine is blocked based on the first blocking cumulative time and the second blocking cumulative time.

[0008] Optionally, the step of obtaining the first torque and the second torque corresponding to the door machine comprises:

[0009] Obtaining the first torque corresponding to the door machine based on a preset obtaining rule;

[0010] Calculating the current self-closing force and acceleration of the door machine, and obtaining the friction and inertia of the door machine;

[0011] determining a second torque corresponding to the door machine according to the current self-closing force, the friction force, the inertia and the acceleration.

[0012] Optionally, the step of calculating the current self-closing force and the acceleration of the door machine comprises:

[0013] obtaining a current position, an initial self-closing force and an initial velocity of the door machine;

[0014] calculating the current self-closing force of the door machine according to the current position and the initial self-closing force;

[0015] calculating the acceleration of the door machine according to the current position and the initial velocity.

[0016] Optionally, the step of determining the first blocked cumulative time according to the first torque and the second torque comprises:

[0017] calculating a torque difference between the first torque and the second torque;

[0018] determining the first blocked cumulative time based on a preset first conversion rule and the torque difference.

[0019] Optionally, the step of determining the second blocked cumulative time according to the feedback velocity and the set velocity comprises:

[0020] calculating a velocity ratio between the set velocity and the feedback velocity, and judging whether the velocity ratio meets a preset condition;

[0021] if the velocity ratio meets the preset condition, determining the second blocked cumulative time based on a preset second conversion rule and the velocity ratio.

[0022] Optionally, the step of detecting whether the door machine is blocked in closing based on the first blocked cumulative time and the second blocked cumulative time comprises:

[0023] determining a third blocked cumulative time according to the first blocked cumulative time and the second blocked cumulative time;

[0024] comparing the third blocked cumulative time with a preset blocked cumulative time;

[0025] if the third blocked cumulative time is greater than the preset blocked cumulative time, determining that the door machine is blocked in closing;

[0026] if the third blocked cumulative time is not greater than the preset blocked cumulative time, determining that the door machine is not blocked in closing.

[0027] Optionally, if the third blocked cumulative time is greater than the preset blocked cumulative time, the step of determining that the door machine is blocked in closing further comprises:

[0028] sending an open door instruction to the door machine to control the door machine to stop the door closing action and perform the door opening action.

[0029] In addition, to achieve the above object, the application further provides a door machine door blocking detection device, which comprises:

[0030] A first determination module is configured to acquire a first torque and a second torque corresponding to the door machine, and determine a first blocking cumulative time according to the first torque and the second torque;

[0031] A second determination module is configured to acquire a feedback speed and a set speed corresponding to the door machine, and determine a second blocking cumulative time according to the feedback speed and the set speed;

[0032] A detection module is configured to detect whether the door machine is blocked in closing based on the first blocking cumulative time and the second blocking cumulative time.

[0033] Further, the first determination module further comprises an acquisition module, which is configured to:

[0034] acquire the first torque corresponding to the door machine based on a preset acquisition rule;

[0035] acquire a current self-closing force and an acceleration of the door machine, and acquire a friction force and an inertia of the door machine;

[0036] determine the second torque corresponding to the door machine according to the current self-closing force, the friction force, the inertia and the acceleration.

[0037] Further, the acquisition module is further configured to:

[0038] acquire a current position, an initial self-closing force and an initial speed of the door machine;

[0039] calculate the current self-closing force of the door machine according to the current position and the initial self-closing force;

[0040] calculate the acceleration of the door machine according to the current position and the initial speed.

[0041] Further, the acquisition module is further configured to:

[0042] calculate a torque difference value of the first torque and the second torque;

[0043] determine the first blocking cumulative time based on a preset first conversion rule and the torque difference value.

[0044] Further, the second determination module is further configured to:

[0045] a speed ratio of the set speed and the feedback speed is calculated, and it is determined whether the speed ratio meets a preset condition;

[0046] If the speed ratio meets the preset condition, a second blocked cumulative time is determined based on a preset second conversion rule and the speed ratio.

[0047] Further, the detection module is further used for:

[0048] a third blocked cumulative time is determined according to the first blocked cumulative time and the second blocked cumulative time;

[0049] the third blocked cumulative time is compared with a preset blocked cumulative time;

[0050] If the third blocked cumulative time is greater than the preset blocked cumulative time, it is determined that the door of the door machine is blocked.

[0051] If the third blocked cumulative time is not greater than the preset blocked cumulative time, it is determined that the door of the door machine is not blocked.

[0052] Further, the detection module further comprises a control module, and the control module is used for:

[0053] sending an opening door instruction to the door machine to control the door machine to stop the door closing action and perform the door opening action.

[0054] In addition, to achieve the above object, the present application further provides a door machine door blocking detection system, which comprises a safety seal star brake contactor, a seal star brake circuit, a running contactor, a brake contactor, a memory, a processor and a door machine door blocking detection program stored in the memory and executable on the processor, and the door machine door blocking detection program implements the steps of the door machine door blocking detection method when executed by the processor.

[0055] In addition, to achieve the above object, the present application further provides a readable storage medium, which stores a door machine door blocking detection program, and the door machine door blocking detection program implements the steps of the door machine door blocking detection method when executed by a processor.

[0056] The door machine door blocking detection method provided in the application obtains a first torque and a second torque corresponding to a door machine, and determines a first blocking cumulative time according to the first torque and the second torque; obtains a feedback speed and a set speed corresponding to the door machine, and determines a second blocking cumulative time according to the feedback speed and the set speed; and detects whether the door machine is blocked according to the first blocking cumulative time and the second blocking cumulative time. The first blocking cumulative time is determined according to the first torque and the second torque of the door machine, the second blocking cumulative time is determined according to the feedback speed and the set speed of the door machine, and then whether the door machine is blocked is determined according to the superposition of the first blocking cumulative time and the second blocking cumulative time, thereby improving the door machine door blocking detection efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0057] Figure 1 is a device structure schematic diagram of a hardware running environment related to an embodiment scheme of the application.

[0058] Figure 2 is a flowchart of a first embodiment of the door machine door blocking detection method of the application.

[0059] Figure 3 is a corresponding relationship diagram of a first blocking time and a torque difference of the application.

[0060] Figure 4 is a corresponding relationship diagram of a second blocking time and a speed ratio of the application.

[0061] Figure 5 is a functional module schematic diagram of an embodiment of the door machine door blocking detection device of the application.

[0062] The implementation, functional features and advantages of the application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0063] It should be understood that the specific embodiments described herein are merely intended to explain the application, and are not intended to limit the application.

[0064] As Figure 1 shown, Figure 1 is a device structure schematic diagram of a hardware running environment related to an embodiment scheme of the application.

[0065] The device in the embodiment of the application can be a PC or a server device.

[0066] As Figure 1As shown in the figure, the device can include a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to realize the connection communication between the components. The user interface 1003 can include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 can also include a standard wired interface, a wireless interface. The network interface 1004 can optionally include a standard wired interface, a wireless interface (such as a WI-FI interface). The memory 1005 can be a high-speed RAM memory, or a stable memory (non-volatile memory) such as a disk memory. The memory 1005 can also be an optional storage device independent of the aforementioned processor 1001.

[0067] Those skilled in the art can understand that Figure 1 The device structure shown in the figure does not constitute a limitation on the device, and can include more or fewer components than the figure, or combine certain components, or different component arrangements.

[0068] As Figure 1 As shown in the figure, the memory 1005 as a computer storage medium can include an operating system, a network communication module, a user interface module, and a door machine door blocking detection program.

[0069] The operating system is a program that manages and controls the software resources of the portable storage device, supports the operation of the network communication module, the user interface module, the door machine door blocking detection program, and other programs or software; the network communication module is used to manage and control the network interface 1004; the user interface module is used to manage and control the user interface 1003.

[0070] In Figure 1 In the device shown in the figure, the device calls the door machine door blocking detection program stored in the memory 1005 through the processor 1001, and executes the operations in each embodiment of the door machine door blocking detection method.

[0071] Based on the above hardware structure, embodiments of the door machine door blocking detection method of the present application are proposed.

[0072] Referring to Figure 2 , Figure 2 The flowchart of the first embodiment of the door machine door blocking detection method of the present application is shown in the figure, and the method includes:

[0073] Step S10, acquiring a first torque and a second torque corresponding to the door machine, and determining a first blocking cumulative time according to the first torque and the second torque;

[0074] Step S20, acquiring the feedback speed and the set speed corresponding to the door machine, and determining the second blocked cumulative time according to the feedback speed and the set speed;

[0075] Step S30, detecting whether the door machine is blocked according to the first blocked cumulative time and the second blocked cumulative time.

[0076] The door blocking detection method of the embodiment is applied to an elevator control system, and the elevator control system comprises a door machine. The door machine is mainly used to execute the opening and closing door instructions of the elevator control system. When the door machine receives the opening door instruction of the elevator control system, the door machine executes the opening door, and sends the opening door in place signal to the elevator control system after the opening door is in place. When the door machine receives the closing door instruction of the elevator control system, the door machine executes the closing door, and sends the closing door in place signal to the elevator control system after the closing door is in place. For the convenience of description, the elevator control system is taken as an example for description. When the door machine executes the closing door in the process of the elevator running, the elevator control system acquires the first torque corresponding to the door machine based on a preset acquisition rule. The elevator control system calculates the current self-closing force and the acceleration of the door machine, and acquires the friction and the inertia of the door machine. The elevator control system determines the second torque of the door machine according to the current self-closing force, the friction, the inertia and the acceleration, and determines the first blocked cumulative time according to the first torque and the second torque. The elevator control system acquires the feedback speed and the set speed of the door machine, and determines the second blocked cumulative time according to the feedback speed and the set speed. The elevator control system determines the third blocked cumulative time according to the first blocked cumulative time and the second blocked cumulative time, compares the third blocked cumulative time with the preset blocked cumulative time. If the elevator control system determines that the third blocked cumulative time is greater than the preset blocked cumulative time, it is determined that the door machine is blocked. If the elevator control system determines that the third blocked cumulative time is not greater than the preset blocked cumulative time, it is determined that the door machine is not blocked. It should be noted that the first torque is the actual output torque of the motor connected with the elevator door controlled by the door machine when executing the closing door, and the second torque is the theoretical output torque of the motor connected with the elevator door controlled by the door machine when executing the closing door. The feedback speed is the actual running speed of the elevator door detected by the door machine, and the set speed is the running speed of the elevator door in theory.

[0077] The door machine door blocking detection method of the embodiment obtains the first torque and the second torque corresponding to the door machine, and determines the first blocking cumulative time according to the first torque and the second torque; obtains the feedback speed and the set speed corresponding to the door machine, and determines the second blocking cumulative time according to the feedback speed and the set speed; and detects whether the door machine is blocked according to the first blocking cumulative time and the second blocking cumulative time. According to the first torque and the second torque of the door machine, the first blocking cumulative time is determined by non-linear calculation, and according to the feedback speed and the set speed of the door machine, the second blocking cumulative time is determined by non-linear calculation. Then, whether the door machine is blocked is determined by superimposing the first blocking cumulative time and the second blocking cumulative time, thereby improving the door machine door blocking detection efficiency.

[0078] The following will be described in detail:

[0079] In step S10, the first torque and the second torque corresponding to the door machine are obtained, and the first blocking cumulative time is determined according to the first torque and the second torque.

[0080] In this embodiment, the elevator control system detects the door machine when executing the door closing during normal operation of the elevator, obtains the first torque and the second torque corresponding to the door machine based on a preset acquisition time interval, and calculates the first blocking cumulative time according to all the first torque and the second torque obtained based on a preset time length.

[0081] Specifically, the step of obtaining the first torque and the second torque corresponding to the door machine comprises:

[0082] In step S101, the first torque corresponding to the door machine is obtained based on a preset acquisition rule.

[0083] In this step, the first torque is the actual output torque of the motor connected with the elevator door when the door machine executes the door closing, which can be directly collected. The elevator control system collects the first torque according to a preset acquisition time interval through the sensor pre-installed on the motor. Optionally, the preset acquisition time interval can be set according to specific conditions. In order to improve the efficiency, the preset acquisition time interval is generally not too large, and the preset acquisition time interval can be 0.5 ms, 1 ms, etc.

[0084] In step S102, the current self-closing force and acceleration of the door machine are calculated, and the friction and inertia of the door machine are obtained.

[0085] In this step, in the process of closing the door, the theoretical output torque of the door machine connected with the elevator door is affected by the speed curve planning of the door machine when closing the door, and the acceleration and deceleration process will have a great influence on the output torque, on the other hand, the external force received by the door at each position is not fixed, so the theoretical output torque of the motor in the process of closing the door is changing in real time; The current self-closing force, friction, inertia and acceleration of the door machine are obtained by prior learning, but in the process of closing the door, the self-closing force and the acceleration are variables, the friction and the inertia are constants, and the elevator control system calculates the current self-closing force and the acceleration of the door machine according to the position of the door machine, and directly obtains the friction and the inertia of the door machine. It should be noted that the elevator control system calculates the current self-closing force and the acceleration of the door machine and obtains the friction and the inertia of the door machine according to the same preset acquisition time interval as the first torque.

[0086] Further, the step of calculating the current self-closing force and the acceleration of the door machine comprises:

[0087] Step S1021, obtaining the current position, initial self-closing force and initial speed of the door machine;

[0088] Step S1022, calculating the current self-closing force of the door machine according to the current position and the initial self-closing force;

[0089] Step S1023, calculating the acceleration of the door machine according to the current position and the initial speed.

[0090] In steps S1021 to S1023, in the process of closing the door, the position of the door machine will change with the closing of the elevator door, the elevator control system obtains the current position, the initial self-closing force and the initial speed of the door machine, calculates the current self-closing force of the door machine according to the current position and the initial self-closing force, and calculates the acceleration of the door machine according to the current position and the initial speed; It should be noted that the initial self-closing force is set in advance, and at the initial time point when the door machine controls the elevator door to close, the corresponding self-closing force of the door machine is the initial self-closing force; Specifically, the formula for calculating the current self-closing force of the door machine according to the current position and the initial self-closing force is: k T k = kP + b, where T is the current self-closing force, k is the self-closing force coefficient, b is the initial self-closing force, and P represents the current position of the door machine in the process of closing the door. The initial speed is set in advance, and at the initial time point when the door machine controls the elevator door to close, the corresponding speed of the door machine is the initial speed, which is generally 0, and the acceleration of the door machine changes in the process of closing the door; The elevator control system determines the speed corresponding to the current position of the door machine and the corresponding time point based on the current position of the door machine and the pre-set speed-time relationship curve of the door machine when closing the door, and calculates the acceleration corresponding to the current position of the door machine according to the speed and the time point.

[0091] In step S103, the second torque corresponding to the door machine is determined according to the current self-closing force, the friction force, the inertia and the acceleration.

[0092] In this step, after the elevator control system determines the current self-closing force, the friction force, the inertia and the acceleration, the second torque corresponding to the door machine is determined according to the current self-closing force, the friction force, the inertia and the acceleration; it should be noted that in the process of closing the door, the current self-closing force is in the direction of closing the elevator door, the friction force is in the direction of opening the elevator door, and the second torque is also in the direction of closing the elevator door, so the mechanical motion equation of the closing process is: T e + T k -T f = Jα, wherein T e is the second torque, T k is the current self-closing force, T f is the friction force, J is the system inertia, and α is the acceleration in the process of running, which is positive when accelerating and negative when decelerating; after the elevator control system determines the current self-closing force, the friction force, the inertia and the acceleration, the second torque corresponding to the door machine can be calculated according to the mechanical motion equation of the closing process.

[0093] Specifically, the step of determining the first blocked cumulative time according to the first torque and the second torque comprises:

[0094] In step S104, the torque difference between the first torque and the second torque is calculated.

[0095] In step S105, the first blocked cumulative time is determined based on a preset first conversion rule and the torque difference.

[0096] In steps S104 to S105, after determining the first torque and the second torque, the elevator control system calculates the torque difference between the first torque and the second torque, and determines the first obstruction accumulation time based on the preset first conversion rule and the torque difference. It can be understood that the elevator control system acquires the first torque and the second torque corresponding to a set of door operators every preset acquisition time interval, and calculates the first obstruction accumulation time based on all the acquired first torques and second torques according to the preset time length. For example, if the preset acquisition time interval is 0.5ms and the preset time length is 2ms, the elevator control system acquires the first torque and the second torque corresponding to a set of door operators every 0.5ms during the door closing process. When the preset time length reaches 2ms, the elevator control system has obtained a total of four sets of first torques and second torques corresponding to door operators. At this time, the elevator control system calculates the torque difference between each set of first torques and second torques, and determines the first obstruction time for each set based on the preset first conversion rule and the torque difference for each set. Finally, the first obstruction times of each set are added together to obtain the first obstruction accumulation time.

[0097] It should be noted that the first conversion rule is preset to be a non-linear cumulative rule, such as... Figure 3 As shown, when the first torque (T) U ) greater than the second torque (T) e Furthermore, the larger the torque difference (ΔT) between the first torque and the second torque, the faster the first obstruction time (Δt1) increases, exhibiting a non-linear growth. A larger torque difference corresponds to a longer first obstruction time. When the first torque is less than the second torque, the first obstruction time begins to decrease, and the larger the torque difference between the first torque and the second torque, the faster the decrease, exhibiting a non-linear reduction. That is, when the first torque is greater than the second torque in each set of first and second torques obtained by the elevator control system, it indicates that obstruction occurred during the door closing process. The elevator control system can then base its decisions on the following... Figure 3 The preset first conversion rule shown determines the first obstruction time corresponding to the torque difference between the first torque and the second torque of each group. Then, the first obstruction time corresponding to each group is added together to obtain the first obstruction cumulative time. The minimum first obstruction cumulative time is 0 milliseconds.

[0098] Step S20: Obtain the feedback speed and set speed corresponding to the door operator, and determine the second obstruction accumulation time based on the feedback speed and the set speed;

[0099] In the embodiment, the elevator control system obtains the first torque and the second torque corresponding to the door machine, and obtains the feedback speed and the set speed corresponding to the door machine according to a preset acquisition time interval, and determines the second blocked cumulative time according to the feedback speed and the set speed based on a preset time length. It should be noted that the elevator control system can directly obtain the corresponding feedback speed and set speed during the door closing process. The preset acquisition time interval for obtaining the feedback speed and the set speed corresponding to the door machine can be the same as or different from the preset acquisition time interval for obtaining the first torque and the second torque. The preset time length for determining the second blocked cumulative time according to the feedback speed and the set speed is generally the same as the preset time length for determining the first blocked cumulative time according to the first torque and the second torque, but can also be different.

[0100] Specifically, the step of determining the second blocked cumulative time according to the feedback speed and the set speed comprises:

[0101] In step S201, the speed ratio of the set speed and the feedback speed is calculated, and it is determined whether the speed ratio meets a preset condition.

[0102] In step S202, if the speed ratio meets the preset condition, the second blocked cumulative time is determined based on a preset second conversion rule and the speed ratio.

[0103] In steps S201 to S202, after obtaining the feedback speed and the set speed, the elevator control system calculates the speed ratio of the set speed and the feedback speed, determines whether the speed ratio meets the preset condition, and if the speed ratio meets the preset condition, determines the second blocked cumulative time based on the preset second conversion rule and the speed ratio. If the speed ratio does not meet the preset condition, the second blocked cumulative time is not determined. For example, the preset acquisition time interval is 0.5 ms, the preset time length is 2 ms, and the elevator control system obtains a group of feedback speed and set speed corresponding to the door machine every 0.5 ms during the door closing process. When the preset time length of 2 ms is reached, the elevator control system obtains four groups of feedback speed and set speed corresponding to the door machine. At this time, the elevator control system calculates the speed ratio of the set speed and the feedback speed of each group, determines whether the speed ratio meets the preset condition, determines the second blocked time of each group based on the preset second conversion rule and the speed ratio meeting the preset condition, and then adds the second blocked time of each group to obtain the second blocked cumulative time.

[0104] It should be noted that the preset second conversion rule is a nonlinear cumulative rule, for example, Figure 4As shown, when the door machine door is blocked, the speed ratio between the set speed (f1) and the feedback speed (f2) often appears, which is usually lower than the set speed. The greater the speed ratio of the set speed and the feedback speed, the greater the resistance. At the same time, considering that the speed curve of the door machine door is not only affected by external disturbance when tracking, but also has a certain error when there is no disturbance, therefore, only when the speed ratio meets the preset condition (the speed ratio is greater than 2) can the second blocked time be determined. In order to ensure a certain hysteresis, when the deviation between the set speed and the feedback speed is less than 30%, the insurance is started to be returned and calculated. Assuming that the set speed of the system at a certain time is f1, and the feedback speed is f2, when f1>(2*f2), and the greater the deviation between 2*f2 and f1, the faster the second blocked time (△t2) increases, which presents a nonlinear growth; When f2>(0.7*f1), and the greater the deviation between f2 and 0.7*f1, the better the speed tracking, the faster the return and speed, and the second blocked time presents a nonlinear decrease. Therefore, the elevator control system can determine the second blocked time corresponding to the speed ratio of each set of set speed and feedback speed meeting the preset condition based on the preset second conversion rule as shown in the figure, and then add each corresponding second blocked time to obtain the second blocked cumulative time, wherein the minimum value of the second blocked cumulative time is 0 milliseconds. Figure 4

[0105] Step S30, detecting whether the door machine is blocked based on the first blocked cumulative time and the second blocked cumulative time.

[0106] Specifically, step S30 includes:

[0107] Step S301, determining a third blocked cumulative time according to the first blocked cumulative time and the second blocked cumulative time;

[0108] Step S302, comparing the third blocked cumulative time with a preset blocked cumulative time;

[0109] Step S303, if the third blocked cumulative time is greater than the preset blocked cumulative time, it is determined that the door machine is blocked;

[0110] Step S304, if the third blocked cumulative time is not greater than the preset blocked cumulative time, it is determined that the door machine is not blocked.

[0111] ​In the embodiment, after determining the first blocked cumulative time and the second blocked cumulative time, the elevator control system adds the first blocked cumulative time and the second blocked cumulative time to obtain a third blocked cumulative time, and compares the third blocked cumulative time with a preset blocked cumulative time; if the elevator control system determines that the third blocked cumulative time is greater than the preset blocked cumulative time, it is determined that the door machine is blocked; if the elevator control system determines that the third blocked cumulative time is not greater than the preset blocked cumulative time, it is determined that the door machine is not blocked. It should be noted that the preset blocked cumulative time can be set according to actual conditions, and is preferably 500 ms. When the third blocked cumulative time exceeds 500 ms, the door machine recognizes that it is blocked. In general, the preset blocked cumulative time is not recommended to be too small. If it is too small, it is easily affected by the speed tracking of the door machine itself. Even if the preset blocked cumulative time is set to be relatively large, by using the double-channel nonlinear method to calculate the blocked cumulative time, in actual application, the time for determining that the door is blocked is very short, and some non-real blocked working conditions can be filtered out.

[0112] Further, if the third blocked cumulative time is greater than the preset blocked cumulative time, after the step of determining that the door machine is blocked, the method further comprises:

[0113] Step S40, sending an opening door instruction to the door machine to control the door machine to stop the door closing action and perform an opening door action.

[0114] In this step, after determining that the door machine is blocked, the elevator control system sends an opening door instruction to the door machine to control the door machine to stop the door closing action and perform an opening door action, thereby protecting the safety of the person or object blocking the door and improving the safety of riding the elevator.

[0115] The elevator control system of the embodiment obtains the first torque corresponding to the door machine based on a preset acquisition rule when the door machine performs door closing during elevator operation, calculates the current self-closing force and acceleration of the door machine, and obtains the friction and inertia of the door machine; the elevator control system determines the second torque of the door machine according to the current self-closing force, the friction, the inertia and the acceleration, and determines the first blocked cumulative time according to the first torque and the second torque; the elevator control system obtains the feedback speed and the set speed corresponding to the door machine, and determines the second blocked cumulative time according to the feedback speed and the set speed; the elevator control system determines the third blocked cumulative time according to the first blocked cumulative time and the second blocked cumulative time, compares the third blocked cumulative time with the preset blocked cumulative time; if the elevator control system determines that the third blocked cumulative time is greater than the preset blocked cumulative time, it is determined that the door machine is blocked; if the elevator control system determines that the third blocked cumulative time is not greater than the preset blocked cumulative time, it is determined that the door machine is not blocked. According to the first torque and the second torque of the door machine, the first blocked cumulative time is determined by non-linear calculation, and the second blocked cumulative time is determined by non-linear calculation according to the feedback speed and the set speed of the door machine, and then whether the door machine is blocked is determined by superimposing the first blocked cumulative time and the second blocked cumulative time, which improves the detection efficiency of the door machine blocking.

[0116] As shown in Figure 5 The application also provides a door machine door blocking detection device. The door machine door blocking detection device comprises:

[0117] The first determination module 101 is configured to obtain the first torque and the second torque corresponding to the door machine, and determine the first blocked cumulative time according to the first torque and the second torque;

[0118] The second determination module 102 is configured to obtain the feedback speed and the set speed corresponding to the door machine, and determine the second blocked cumulative time according to the feedback speed and the set speed;

[0119] The detection module 103 is configured to detect whether the door machine is blocked according to the first blocked cumulative time and the second blocked cumulative time.

[0120] Further, the first determination module further comprises an acquisition module, which is configured to:

[0121] obtain the first torque corresponding to the door machine based on a preset acquisition rule;

[0122] calculate the current self-closing force and acceleration of the door machine, and obtain the friction and inertia of the door machine;

[0123] determine the second torque corresponding to the door machine according to the current self-closing force, the friction, the inertia and the acceleration.

[0124] Further, the acquisition module is further configured to:

[0125] acquire a current position, an initial self-closing force and an initial speed of the door machine;

[0126] calculate a current self-closing force of the door machine according to the current position and the initial self-closing force;

[0127] calculate an acceleration of the door machine according to the current position and the initial speed.

[0128] Further, the acquisition module is further configured to:

[0129] calculate a torque difference between the first torque and the second torque;

[0130] determine a first blocked cumulative time based on a preset first conversion rule and the torque difference.

[0131] Further, the second determination module is further configured to:

[0132] calculate a speed ratio of the set speed and the feedback speed, and determine whether the speed ratio meets a preset condition;

[0133] if the speed ratio meets the preset condition, determine a second blocked cumulative time based on a preset second conversion rule and the speed ratio.

[0134] Further, the detection module is further configured to:

[0135] determine a third blocked cumulative time according to the first blocked cumulative time and the second blocked cumulative time;

[0136] compare the third blocked cumulative time with a preset blocked cumulative time;

[0137] if the third blocked cumulative time is greater than the preset blocked cumulative time, determine that the door of the door machine is blocked;

[0138] if the third blocked cumulative time is not greater than the preset blocked cumulative time, determine that the door of the door machine is not blocked.

[0139] Further, the detection module further comprises a control module, and the control module is configured to:

[0140] send an opening instruction to the door machine to control the door machine to stop the door closing action and perform an opening action.

[0141] The application further provides a door machine door blocking detection system.

[0142] The door blocking detection system of the door machine comprises a safety brake contactor, a brake circuit, an operation contactor, a brake contactor, a memory, a processor and a door blocking detection program stored in the memory and executable on the processor, and the door blocking detection program is executed by the processor to realize the steps of the door blocking detection method.

[0143] The method realized when the door blocking detection program executable on the processor is executed can refer to the embodiments of the door blocking detection method of the door machine, which will not be described here.

[0144] The application further provides a readable storage medium.

[0145] The readable storage medium stores the door blocking detection program, and the door blocking detection program is executed by the processor to realize the steps of the door blocking detection method.

[0146] The method realized when the door blocking detection program executable on the processor is executed can refer to the embodiments of the door blocking detection method of the door machine, which will not be described here.

[0147] It should be noted that, in this document, the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusions, so that the process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or system. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0148] The above-mentioned embodiment numbers of the application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0149] Through the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by means of software and necessary general hardware platforms, of course, they can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the application or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes a plurality of instructions for making a terminal device (which can be a mobile phone, computer, server or network device) execute the methods described in the embodiments of the application.

[0150] The above merely describes the preferred embodiments of the present application, and is not intended to limit the patent scope of the present application, and any equivalent structure or equivalent process conversion, or direct or indirect application in other related technical fields, which are made by using the content of the present application specification and drawings, are also included in the patent protection scope of the present application.

Claims

1. A method for detecting obstruction when closing a door, characterized in that, The door closing obstruction detection method includes the following steps: Obtain the first torque and the second torque corresponding to the gantry crane, and determine the first obstruction accumulation time based on the first torque and the second torque; Obtain the feedback speed and set speed corresponding to the gate operator, and determine the second obstruction accumulation time based on the feedback speed and the set speed; The door operator is detected as being obstructed from closing based on the first cumulative obstruction time and the second cumulative obstruction time. The step of determining the first obstruction accumulation time based on the first torque and the second torque includes: Calculate the torque difference between the first torque and the second torque; The first obstruction accumulation time is determined based on the preset first conversion rule and the torque difference; The step of determining the second obstruction accumulation time based on the feedback speed and the set speed includes: Calculate the speed ratio between the set speed and the feedback speed, and determine whether the speed ratio meets the preset conditions; If the speed ratio meets the preset conditions, the second obstruction accumulation time is determined based on the preset second conversion rule and the speed ratio; Wherein, both the preset first conversion rule and the preset second conversion rule are non-linear cumulative rules.

2. The door closing obstruction detection method as described in claim 1, characterized in that, The steps for obtaining the first torque and the second torque corresponding to the gantry crane include: Based on preset acquisition rules, the first torque corresponding to the gantry crane is acquired; Calculate the current self-closing force and acceleration of the gantry crane, and obtain the friction force and inertia of the gantry crane; The second torque corresponding to the gantry crane is determined based on the current self-closing force, the frictional force, the inertia, and the acceleration.

3. The door closing obstruction detection method as described in claim 2, characterized in that, The steps for calculating the current self-closing force and acceleration of the gantry crane include: Obtain the current position, initial self-closing force, and initial velocity of the gantry crane; Based on the current position and the initial self-closing force, the current self-closing force of the gantry crane is calculated; The acceleration of the gantry crane is calculated based on the current position and the initial velocity.

4. The door closing obstruction detection method as described in claim 1, characterized in that, The step of detecting whether the door operator is obstructed from closing based on the first cumulative obstruction time and the second cumulative obstruction time includes: The third cumulative time of obstruction is determined based on the first cumulative time of obstruction and the second cumulative time of obstruction; Compare the third accumulated obstruction time with the preset accumulated obstruction time; If the third cumulative obstruction time is greater than the preset cumulative obstruction time, then it is determined that the door is obstructed from closing. If the third cumulative obstruction time is not greater than the preset cumulative obstruction time, then it is determined that the door is not obstructed.

5. The door closing obstruction detection method as described in claim 4, characterized in that, The step of determining that the door is blocked if the third cumulative obstruction time is greater than the preset cumulative obstruction time includes: Send an opening command to the door operator to control the door operator to stop closing and open.

6. A door closing obstruction detection device, characterized in that, The door obstruction detection device includes: The first determining module is used to obtain the first torque and the second torque corresponding to the gantry crane, and to determine the first obstruction accumulation time based on the first torque and the second torque; The second determining module is used to obtain the feedback speed and set speed corresponding to the gate machine, and determine the second obstruction accumulation time based on the feedback speed and the set speed; The detection module is used to detect whether the door operator is obstructed from closing based on the first cumulative obstruction time and the second cumulative obstruction time; The first determining module is further configured to calculate the torque difference between the first torque and the second torque; The first determining module is further configured to determine the first obstruction accumulation time based on a preset first conversion rule and the torque difference; The second determining module is further configured to calculate the speed ratio between the set speed and the feedback speed, and determine whether the speed ratio meets the preset conditions; The second determining module is further configured to determine a second obstruction accumulation time based on a preset second conversion rule and the speed ratio when the speed ratio is determined to meet a preset condition; Wherein, both the preset first conversion rule and the preset second conversion rule are non-linear cumulative rules.

7. A door closing obstruction detection system, characterized in that, The door closing obstruction detection system includes: a memory, a processor, and a door closing obstruction detection program stored in the memory and executable on the processor. When the door closing obstruction detection program is executed by the processor, it implements the steps of the door closing obstruction detection method as described in any one of claims 1 to 5.

8. A readable storage medium, characterized in that, The readable storage medium stores a door closing obstruction detection program, which, when executed by a processor, implements the steps of the door closing obstruction detection method as described in any one of claims 1 to 5.

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