Elevator car door control method and apparatus, terminal device, and medium

Abstract

The application discloses an elevator car door control method and device, terminal equipment and a computer readable storage medium. The method comprises the following steps: obtaining an opening instruction, and controlling the elevator car door to move to a preset opening in-place position according to the opening instruction; when the elevator car door is in the opening in-place position, the elevator car door is controlled to retreat from the opening in-place position and maintain at a target position, wherein at the target position, the output torque of the elevator door machine is reduced to a value that can control the elevator car door to maintain a zero speed state. The application can improve the control efficiency of the elevator car door and the anti-interference performance of the elevator door machine.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology, and in particular to an elevator car door control method, device, terminal equipment, and computer-readable storage medium. Background Technology

[0002] The elevator door operator (hereinafter referred to as the door operator) is mainly used to execute the door opening and closing commands of the elevator control system. When it receives the door opening command from the elevator control system, the door operator executes the door opening and sends the door opening complete signal to the elevator control system after the door is fully opened. When it receives the door closing command from the system, it executes the door closing and sends the door closing complete signal to the elevator control system after the door is fully closed.

[0003] When the door operator is in the open position, to prevent the elevator car door from detaching from its designated position due to external interference, a low-frequency torque is continuously output in the opening direction. This output torque is at the set upper limit, ensuring that even if the elevator car door is slightly moved in the closing direction by external forces, it will automatically return to the open position. However, this method results in the output torque remaining at the upper limit when the door is in the open position. This causes the PI control to desaturate too slowly when the elevator car door transitions from open to closed, reducing the door opening / closing speed. Furthermore, the consistently high torque output can easily lead to motor overheating and wasteful power.

[0004] In other solutions, the door operator gradually reduces the upper limit of torque after the door is fully open and stable for a period of time, until the door experiences slight displacement, and then maintains this torque. However, this method is prone to slight door vibration during the adjustment of the upper limit of torque, and the reduction of the upper limit of torque weakens the anti-interference ability of the elevator car door when it is fully open, making the elevator car door easily move in the closing direction under the action of external force.

[0005] In summary, existing elevator car door control strategies cannot simultaneously balance the efficiency of elevator car door opening and closing and the resistance of elevator car doors to external interference. Summary of the Invention

[0006] The main objective of this invention is to provide an elevator car door control method, device, terminal equipment, and computer-readable storage medium, which aims to improve the efficiency of elevator car door control while enhancing the anti-interference capability of the elevator car door.

[0007] To achieve the above objectives, the present invention provides an elevator car door control method, which is applied to an elevator door operator and includes:

[0008] Obtain the door opening command, and control the elevator car door to move to the preset door opening position according to the door opening command;

[0009] The elevator car door is controlled to retract from the open position and maintain at the target position, wherein at the target position, the output torque of the elevator door operator is reduced to a level that allows the elevator car door to maintain a zero-speed state.

[0010] Optionally, after the step of controlling the elevator car door to retract from the open position and maintain it at the target position, the method further includes:

[0011] When the elevator car door remains open, it is detected whether the elevator car door has deviated from the target position;

[0012] If the elevator car door deviates from the target position, the direction of the elevator car door's deviation is determined, and the elevator car door is controlled to return to the target position according to the direction of the deviation.

[0013] Optionally, the offset direction includes: the elevator car door opening direction, and the step of controlling the elevator car door to return to the target position according to the offset direction includes:

[0014] When the elevator car door shifts relative to the target position in the direction of the elevator car door opening, the elevator car door is controlled to return to the target position.

[0015] Optionally, the offset direction includes: the elevator car door closing direction, and the step of controlling the elevator car door to return to the target position according to the offset direction includes:

[0016] When the elevator car door shifts in the closing direction relative to the target position, the elevator car door is controlled to return to the open position and then retract from the open position back to the target position.

[0017] Optionally, after the step of detecting whether the elevator car door has deviated from the target position, the method further includes:

[0018] If the elevator car door has not shifted relative to the target position, then determine whether a door closing command has been received;

[0019] If the door closing command is received, the elevator car door is controlled to close from the target position.

[0020] Optionally, after the step of controlling the elevator car door to retract from the open position and maintain it at the target position, the method further includes:

[0021] Check if a door closing command has been received;

[0022] If the door closing command is received, the elevator car door will be closed directly.

[0023] If the door closing command is not received, the elevator car door is determined to be in the open state, and it is detected whether the elevator car door has deviated from the target position.

[0024] Optionally, before the step of controlling the elevator car door to retract from the open position and maintain it in the target position, the following may be included:

[0025] The retraction distance of the elevator door operator from the door opening position to the target position is determined, so as to control the elevator car door to retract based on the retraction distance.

[0026] To achieve the above objectives, the present invention also provides an elevator car door control device, the elevator car door control device comprising:

[0027] The first control module is used to acquire the door opening command and control the elevator car door to move to the preset door opening position according to the door opening command;

[0028] The second control module is used to control the elevator car door to retract from the open position and maintain it at the target position, wherein, at the target position, the output torque of the elevator door operator is reduced to a level that can control the elevator car door to maintain a zero-speed state.

[0029] To achieve the above objectives, the present invention also provides a terminal device, the terminal device including a memory, a processor, and an elevator car door control program stored in the memory and executable on the processor, wherein the elevator car door control program, when executed by the processor, implements the steps of the elevator car door control method as described above.

[0030] Furthermore, to achieve the above objectives, the present invention also proposes a computer-readable storage medium storing an elevator car door control program, wherein the elevator car door control program, when executed by a processor, implements the steps of the elevator car door control method as described above.

[0031] To achieve the above objectives, the present invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the elevator car door control method described above.

[0032] This invention provides an elevator car door control method, device, terminal equipment, computer-readable storage medium, and computer program product. By acquiring an opening command, and according to the opening command, the method controls the elevator car door to move to a preset opening position; and controls the elevator car door to retract from the opening position and maintain it at the target position, wherein at the target position, the output torque of the elevator door operator is reduced to a level that allows the elevator car door to maintain a zero-speed state.

[0033] Compared to existing elevator door opening and closing control methods, in this invention, after controlling the elevator to reach the open position, the elevator door operator can further control the elevator car door to retract from that position to the target position. This avoids excessive output torque caused by the elasticity of the belt driving the elevator car door in the open position, significantly reducing the output torque of the elevator door operator at the target position. Consequently, the switching rate of the elevator car door from the open to the closed state is faster, improving the door closing efficiency. Furthermore, this invention can control the elevator car door to remain at the target position, preventing movement caused by external forces and improving the elevator car door's anti-interference capability. Additionally, because the output torque of the elevator door operator is lower at the target position, the possibility of motor overheating due to the elevator car door remaining open for extended periods is reduced, thus ensuring the normal operation of the elevator door operator, improving its control efficiency, and simultaneously saving power resources. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the hardware operating environment involved in the embodiments of the present invention;

[0035] Figure 2 This is a first flowchart illustrating an embodiment of the elevator car door control method of the present invention;

[0036] Figure 3 This is a second flowchart illustrating an embodiment of the elevator car door control method of the present invention;

[0037] Figure 4 This is a schematic diagram of the third process of an embodiment of the elevator car door control method of the present invention;

[0038] Figure 5 This is a schematic diagram of the fourth process of an embodiment of the elevator car door control method of the present invention;

[0039] Figure 6 This is a schematic diagram of the functional modules of an embodiment of the elevator car door control device of the present invention.

[0040] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0041] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0042] like Figure 1 As shown, Figure 1 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiments of the present invention.

[0043] The terminal device in this embodiment of the invention can be an elevator door operator, or a mobile phone, tablet computer, server, or other network device. The terminal device in this embodiment can be used to control the opening and closing of the elevator car door.

[0044] like Figure 1 As shown, the terminal device may 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 enable communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard. Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0045] Those skilled in the art will understand that Figure 1 The equipment structure shown does not constitute a limitation on the elevator car door control equipment, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0046] like Figure 1 As shown, the memory 1005, serving as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an elevator car door control program. The operating system is a program that manages and controls the hardware and software resources of the device, supporting the operation of the elevator car door control program and other software or programs. Figure 1 In the device shown, the user interface 1003 is mainly used for data communication with the client; the network interface 1004 is mainly used for establishing a communication connection with the server; and the processor 1001 can be used to call the elevator car door control program stored in the memory 1005 and perform the following operations:

[0047] Obtain the door opening command, and control the elevator car door to move to the preset door opening position according to the door opening command;

[0048] The elevator car door is controlled to retract from the open position and maintain at the target position, wherein at the target position, the output torque of the elevator door operator is reduced to a level that allows the elevator car door to maintain a zero-speed state.

[0049] Furthermore, after the step of controlling the elevator car door to retract from the open position and maintain it at the target position, the processor 1001 can be used to call the elevator car door control program stored in the memory 1005 and perform the following operations:

[0050] When the elevator car door remains open, it is detected whether the elevator car door has deviated from the target position;

[0051] If the elevator car door deviates from the target position, the direction of the elevator car door's deviation is determined, and the elevator car door is controlled to return to the target position according to the direction of the deviation.

[0052] Furthermore, the offset direction includes the elevator car door opening direction. The processor 1001 can be used to call the elevator car door control program stored in the memory 1005 and perform the following operations:

[0053] When the elevator car door shifts relative to the target position in the direction of the elevator car door opening, the elevator car door is controlled to return to the target position.

[0054] Furthermore, the offset direction includes the elevator car door closing direction. The processor 1001 can be used to call the elevator car door control program stored in the memory 1005 and perform the following operations:

[0055] When the elevator car door shifts in the closing direction relative to the target position, the elevator car door is controlled to return to the open position and then retract from the open position back to the target position.

[0056] Furthermore, after the step of detecting whether the elevator car door has deviated from the target position, the processor 1001 can be used to call the elevator car door control program stored in the memory 1005 and perform the following operations:

[0057] If the elevator car door has not shifted relative to the target position, then determine whether a door closing command has been received;

[0058] If the door closing command is received, the elevator car door is controlled to close from the target position.

[0059] Furthermore, after the step of controlling the elevator car door to retract from the open position and maintain it at the target position, the processor 1001 can be used to call the elevator car door control program stored in the memory 1005 and perform the following operations:

[0060] Check if a door closing command has been received;

[0061] If the door closing command is received, the elevator car door will be closed directly.

[0062] If the door closing command is not received, the elevator car door is determined to be in the open state, and it is detected whether the elevator car door has deviated from the target position.

[0063] Furthermore, before the step of controlling the elevator car door to retract from the open position and maintain it at the target position, the processor 1001 can be used to call the elevator car door control program stored in the memory 1005 and perform the following operations:

[0064] The retraction distance of the elevator door operator from the door opening position to the target position is determined, so as to control the elevator car door to retract based on the retraction distance.

[0065] Reference Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the elevator car door control method of the present invention.

[0066] This invention provides an embodiment of an elevator car door control method. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0067] In the existing elevator car door control method, in order to ensure that the elevator car door will not be dislodged from the door position due to external interference, a low frequency of torque is maintained to continuously output torque in the opening direction. The output torque is the set upper limit of torque. This ensures that even if the door is slightly moved in the closing direction by external force, it can automatically return to the opening position. In this way, the elevator car door can be stably kept in the opening position.

[0068] The aforementioned door-opening-to-position scheme results in the output torque remaining at its upper limit when the door is fully open. This leads to slow desaturation of the PI control in the elevator door operator during the closing process, reducing the door opening and closing speed. Furthermore, the output torque being at its upper limit can easily cause the motor to overheat, and it also results in wasted electricity.

[0069] Based on this, it is proposed that after the elevator door operator controls the elevator car door to the open position, the upper limit of the torque will be gradually reduced after a period of stabilization until the door has a slight displacement, and then the torque will be maintained at this level.

[0070] However, with the above method, the adjustment of the upper limit of torque can easily cause slight door vibration. Furthermore, reducing the upper limit of torque also reduces the anti-interference ability of the door system when it is in the opening position. At this time, the door can easily move in the closing direction under the action of external force, making the elevator car door easy to move, which leads to a decrease in the safety of the elevator.

[0071] In addition to the methods mentioned above, some door lockers may respond to the closing command before the door is fully open, in order to increase the speed of opening and closing, or manually adjust the torque to maintain the door in place.

[0072] It is evident that the existing method of controlling elevator doors through elevator door operators cannot simultaneously increase the opening and closing speed of elevator car doors while ensuring that the elevator car doors remain stable, i.e., not easily displaced under the action of external forces, thereby improving the safety of elevator operation.

[0073] To address the aforementioned issues, this embodiment proposes an elevator car door control method, which is applied to an elevator door operator. It is understood that the elevator door operator in this embodiment is a mechanism responsible for opening and closing the elevator car door. For a variable frequency elevator door operator, this operator includes a variable frequency door operator control system, an AC asynchronous motor, and a mechanical system. The mechanical system includes a belt that drives the elevator car door and guide rails for the elevator car door to move. Based on this structure, when the door operator receives elevator opening / closing commands from the elevator controller, it can control the motor through the variable frequency door operator control system, converting the torque generated by the motor into a force in a specific direction to drive the belt, which in turn drives the elevator car door to close or open via the guide rails.

[0074] Understandably, let's assume that to control the elevator car door to move to the open position, the motor needs to output a force F1:

[0075] F1 = F c +F f

[0076] Among them, F c F represents the self-closing force of the elevator car door at the open position (the magnitude of the self-closing force can be the force that causes the elevator car door to move in the closing direction at that position). f This refers to all frictional forces generated during the elevator car door control process, such as the frictional force between the elevator car door and the guide rails, which has a significant impact.

[0077] When the elevator car door moves from the open position to the closing position controlled by the motor, the direction of the frictional force changes due to the elasticity of the belt (from the aforementioned F). f Change to -F f At this point, the motor needs to output a force F2:

[0078] F2 = F c -F f

[0079] It is evident that F1 is much larger than F2. Actual measurements show that the difference between F1 and F2 can reach approximately 30% (the difference may vary for different gate systems).

[0080] For the reasons mentioned above, due to the effect of the elastic belt, even if the elevator car door is at zero speed and in the open and closed positions, the corresponding frictional forces (at this time, the frictional force is static friction) are in opposite directions, which makes the torque output when the elevator car door is in the open position very large.

[0081] Therefore, in order to minimize or eliminate the impact of the elastic belt and reduce the torque required for the motor to control the elevator car door to move to the open position and maintain zero speed at that position, this invention proposes to retract the elevator car door a certain distance after it reaches the open position. This significantly reduces the output torque of the elevator door operator and enables the elevator car door to maintain zero speed, thus offsetting most, or even all, of the impact of the elastic belt.

[0082] Specifically, the elevator car door control method in this embodiment may include:

[0083] Step S10: Obtain the door opening command, and control the elevator car door to move to the preset door opening position according to the door opening command;

[0084] In this embodiment, the door opening command is a command triggered by the elevator controller after the elevator arrives at the floor selected by the passenger, which is used to control the elevator door operator to perform the door opening operation. The elevator door operator is generally a variable frequency elevator door operator, which can control the elevator car door to open and close in a variable speed manner. For example, the elevator car door can be controlled to open at a low speed first, then at a high speed, and finally at a low speed to reach the door opening position, so as to ensure both the elevator door opening speed and passenger safety.

[0085] Based on this, after receiving the above-mentioned door opening command, the elevator door operator will control the elevator car door to move to the preset door opening position according to the door opening command. The door opening position can be understood as the position where the elevator car door is just fully open.

[0086] However, when the door is fully open, the elevator door operator's output torque is at its maximum. Understandably, excessive output torque will cause the PI control in the elevator door operator system to desaturate too slowly, reducing the door opening and closing switching speed. If the elevator car door is controlled to close in this open state, the elevator door operator will also output a larger reverse torque and consume more closing time, greatly reducing the closing efficiency.

[0087] Step S20: Control the elevator car door to retract from the open position and maintain it at the target position, wherein at the target position, the output torque of the elevator door operator is reduced to a level that can control the elevator car door to maintain a zero speed.

[0088] It should be noted that in this embodiment, the output torque at the target position is significantly lower than the upper limit of the torque at the door-opening position in the prior art. Simultaneously, this output torque allows the elevator car door to maintain a zero-speed state. Therefore, the output torque of the elevator door operator is greatly reduced, improving the opening and closing efficiency of the elevator car door. However, the target position is not specifically limited; that is, the retraction distance of the elevator car door from the door-opening position to the target position is not specifically limited. It is understood that the retraction distance can be preset. For example, in this embodiment, the retraction distance is 0.5% of the elevator car door width. Similarly, as long as the reduction in the output torque of the elevator door operator, the improvement in the opening and closing efficiency, and the process of the elevator car door retracting and maintaining itself at the target position are not perceptible to the passenger's naked eye, the retraction distance can also be 0.4%, 0.6%, etc., of the door width.

[0089] Specifically, for example, after the elevator door operator moves the elevator car door to the open position, in order to improve the door opening / closing switching speed and closing speed, it will further control the elevator car door to retract from the open position by 0.5% of the door width to the target position. At the target position, the output torque of the elevator door operator is significantly reduced compared to the upper limit of torque, and the elevator car door is in a zero-speed holding state at this target position, thus accelerating the opening and closing speed. At the same time, the smaller output torque can reduce the probability of motor overheating when maintaining the open position for a long time, while saving electricity.

[0090] In this embodiment, after receiving an opening command, the elevator door operator will control the elevator car door to move to a preset opening position, where the elevator car door is fully open. After moving the elevator car door to the opening position, to improve the opening / closing speed, the elevator door operator will further control the elevator car door to retract from the opening position to the target position. At the target position, the output torque of the elevator door operator is significantly reduced compared to the upper limit of the torque at the opening position. Furthermore, the elevator car door maintains a zero-speed hold at this target position.

[0091] Compared to existing elevator door opening and closing control methods, in this invention, after controlling the elevator to reach the open position, the elevator door operator can further control the elevator car door to retract from that position to the target position. This avoids excessive output torque caused by the elastic belt in the elevator door operator that drives the elevator car door. At the target position, the output torque of the elevator door operator is reduced to maintain the elevator car door at zero speed. Consequently, when the elevator car door switches from the open to the closed state, the switching rate is faster, improving the door closing efficiency. Furthermore, maintaining the elevator car door at the target position prevents movement caused by external forces, improving the elevator car door's anti-interference capability. In addition, because the output torque of the elevator door operator is lower at the target position, the possibility of motor overheating due to the elevator car door remaining open for extended periods is reduced. This ensures the normal operation of the elevator door operator, improves its control efficiency, and simultaneously saves power resources.

[0092] Furthermore, based on the first embodiment of the elevator car door control method of the present invention, a second embodiment of the elevator car door control method of the present invention is proposed.

[0093] In this embodiment, as Figure 3 As shown, after step S20, "controlling the elevator car door to retract from the open position and maintain it at the target position", it may further include:

[0094] Step S30: When the elevator car door remains open, detect whether the elevator car door has deviated from the target position;

[0095] Step S40: If the elevator car door deviates from the target position, the direction of the elevator car door's deviation is determined, and the elevator car door is controlled to return to the target position according to the direction of the deviation.

[0096] It should be noted that in this embodiment, after the elevator door operator controls the elevator car door to retract from the open position to the target position where the elevator car door is in a zero-speed holding state, it needs to maintain and improve the stability and safety of the elevator car door. That is, when the elevator car door is in the open state, it should be able to maintain the target position even under the action of external force, and should not deviate due to external force. It is understandable that during the use of the elevator, there may be external forces that move the elevator car door in the opening or closing direction, moving the elevator car door away from the target position. This movement may be a relatively small deviation, but it still needs to be corrected.

[0097] Therefore, to ensure the elevator door remains in the target position at zero speed, the elevator door operator continuously monitors whether the elevator door has deviated from the target position when it is open. If a deviation is detected, the direction of the deviation is determined, and the door is then controlled to return to the target position. This allows the elevator door to quickly return to its target position under external force, ensuring its stability and safety. Furthermore, it improves the efficiency of opening and closing the elevator door and its closing speed.

[0098] Furthermore, such as Figure 4 As shown, in step S40 above, "controlling the elevator car door to return to the target position according to the offset direction" may include:

[0099] Step S401: When the elevator car door shifts relative to the target position in the direction of the elevator car door opening, control the elevator car door to return to the target position.

[0100] Step S402: When the elevator car door shifts in the closing direction relative to the target position, control the elevator car door to return to the open position and then back to the target position.

[0101] It should be noted that, in this embodiment, taking a split double-folding door elevator as an example, the elevator car door includes two parts, left and right. Taking one of the elevator car doors as an example, the running direction of the elevator car door can be divided into the elevator car door opening direction and the elevator car door closing direction.

[0102] Based on this, the elevator door operator determines that the elevator car door is deflected in the direction of its opening (this may be due to an external force pushing the elevator car door in the opening direction). Figure 5 As shown, the elevator car door will be controlled to retract directly to the target position;

[0103] If the elevator door operator detects that the elevator car door is shifting in the closing direction, such as... Figure 5 As shown, the elevator car door will first reach the open position again, and then retreat from the open position to the target position.

[0104] Therefore, in this embodiment, when the elevator car door is displaced due to external force, the elevator door operator can promptly move it back to the target position, ensuring the stability and safety of the elevator car door and improving the efficiency of elevator car door opening and closing.

[0105] Furthermore, after step S30 above, "detecting whether the elevator car door has deviated from the target position," the following may also be included:

[0106] Step S50: If the elevator car door has not shifted relative to the target position, determine whether a door closing command has been received.

[0107] Step S60: If the door closing command is received, control the elevator car door to close from the target position.

[0108] When the elevator door operator determines that the elevator car door has not shifted relative to the target position, it will further detect whether a closing command has been received. This closing command can be triggered by an elevator passenger through a mechanical button on the inner wall of the elevator, or it can be automatically triggered by the door operator controller after detecting passenger operation within a preset time period. This embodiment does not specifically limit the triggering method of the closing command and the aforementioned opening command.

[0109] Furthermore, if the elevator door operator detects that it has received the aforementioned door closing command, it will directly control the elevator car door to close.

[0110] In one embodiment, if it is determined that the above-mentioned door closing command has not been received, the elevator car door will continue to be detected to see if it has shifted relative to the target position, so as to realize real-time monitoring of the elevator car door shift and ensure that the elevator car door is always kept in the target position.

[0111] Furthermore, after step S20 above, "controlling the elevator car door to retract from the open position and maintain it at the target position," it may also include:

[0112] Step S70: Check if a door closing command has been received;

[0113] Step S80: If the door closing command is received, the elevator car door is closed directly.

[0114] Step S90: If the door closing command is not received, it is determined that the elevator car door is in the open state, and it is detected whether the elevator car door has deviated from the target position.

[0115] When the elevator door operator controls the elevator car door to retract and maintain it in the target position, it will detect in real time whether it receives a door closing command.

[0116] If the elevator door operator receives a closing command, such as Figure 5As shown, the elevator car door will be closed directly. If no closing command is received, the elevator door operator must first determine that it is currently in the open state, and then detect whether the elevator car door has shifted relative to the target position. This embodiment realizes real-time detection of the elevator car door's position when it is in the open state, ensuring that the elevator car door can always remain in the target position. This prevents the elevator door operator's motor from overheating due to maintaining the open state for a long time, improving the switching efficiency of the elevator car door opening and closing, and saving some power resources.

[0117] Furthermore, before step S20 above, "controlling the elevator car door to retract from the open position and maintain it at the target position," the following may also be included:

[0118] Step S100: Determine the retraction distance of the elevator door operator from the door opening position to the target position, so as to control the elevator car door to retract based on the retraction distance.

[0119] Based on the above description, in this embodiment, the retraction distance of the elevator car door from the open position to the target position is not specifically limited. As long as the output torque of the elevator door operator decreases, the opening and closing efficiency is improved, and the process of the elevator car door retracting and maintaining the target position is not perceptible to the naked eye of the passenger, it is acceptable.

[0120] Therefore, in this embodiment, the elevator door operator can predefine the retraction distance of the elevator car door. Then, after the elevator door operator controls the elevator car door to reach the open position, it will control the elevator car door to retract to the target position according to the above retraction distance.

[0121] In this embodiment, to ensure the elevator car door remains in a zero-speed holding state at all times and the elevator door operator's output torque is significantly reduced, the elevator door operator will continuously monitor whether the elevator car door has deviated from the target position when the elevator car door is in the open state. If a deviation is detected, the direction of the deviation will be further determined, and then, based on this direction, the deviated elevator car door will be controlled to return to the target position. If the elevator door operator determines that the elevator car door has deviated in the opening direction, it will control the elevator car door to directly return to the target position; if it determines that the elevator car door has deviated in the closing direction, it will control the elevator car door to first reach the open position and then return to the target position. If the elevator door operator determines that the elevator car door has not deviated from the target position, it will further check whether a closing command has been received. If a closing command has been received, the elevator door will be directly controlled to close.

[0122] Therefore, in this invention, upon detecting elevator door misalignment, the elevator door operator is promptly controlled to return to its original position, i.e., the target position. This causes the elevator door operator to retract a certain distance after the door is fully open and maintain a fixed position at zero speed with low torque. This ensures that the output torque is not excessive, and the elevator door remains in a zero-speed holding state. Consequently, because the output torque is precisely at the level that maintains the door at zero speed during the opening and closing process, the opening and closing speed is increased. Appropriate output torque reduces the likelihood of the elevator door operator motor overheating when maintaining the door fully open for extended periods, while also saving power resources.

[0123] Furthermore, embodiments of the present invention also propose an elevator car door control device, referring to... Figure 6 The elevator car door control device includes:

[0124] The first control module 10 is used to acquire the door opening command and, according to the door opening command, control the elevator car door to move to the preset door opening position.

[0125] The second control module 20 is used to control the elevator car door to retract from the open position and maintain it at the target position, wherein at the target position, the output torque of the elevator door operator is reduced to a level that can control the elevator car door to maintain a zero speed.

[0126] Furthermore, the elevator car door control device also includes:

[0127] The first offset detection module is used to detect whether the elevator car door has offset the target position when the elevator car door is kept open.

[0128] The first motion control module is used to determine the offset direction of the elevator car door if the elevator car door deviates from the target position, and control the elevator car door to return to the target position according to the offset direction.

[0129] Furthermore, the offset direction includes: the elevator car door opening direction, and the first movement control module includes:

[0130] A first control unit is configured to control the elevator car door to retract to the target position when the elevator car door shifts relative to the target position in the direction of the elevator car door opening.

[0131] Furthermore, the offset direction includes: the elevator car door closing direction, and the first movement control module includes:

[0132] The second control unit is used to control the elevator car door to return to the open position and then back to the target position when the elevator car door shifts in the closing direction relative to the target position.

[0133] Furthermore, the elevator car door control device also includes:

[0134] The judgment module is used to determine whether a door closing command has been received if the elevator car door has not shifted relative to the target position.

[0135] The first closing control module is used to control the elevator car door to close from the target position if the closing command is received.

[0136] Furthermore, the elevator car door control device also includes:

[0137] The first detection module is used to detect whether a door closing command has been received.

[0138] The second closing control module is used to directly close the elevator car door if the closing command is received.

[0139] The second detection module is used to determine that the elevator car door is in an open state if the closing command is not received, and to detect whether the elevator car door has deviated from the target position.

[0140] Furthermore, the elevator car door control device also includes:

[0141] The retraction distance determination module is used to determine the retraction distance of the elevator door operator from the door opening position to the target position, so as to control the elevator car door to retract based on the retraction distance.

[0142] The extended content of the specific implementation of the elevator car door control device of the present invention is basically the same as the various embodiments of the elevator car door control method described above, and will not be repeated here.

[0143] Furthermore, embodiments of the present invention also propose a computer-readable storage medium storing an elevator car door control program, wherein the elevator car door control program, when executed by a processor, implements the steps of the elevator car door control method described above.

[0144] The various embodiments of the elevator car door control device and computer-readable storage medium of the present invention can be referred to the various embodiments of the elevator car door control method of the present invention, and will not be repeated here.

[0145] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0146] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0147] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which can be a controller, such as a controller in an elevator system, or a mobile phone, tablet computer, server, and other network devices, etc.) to execute the methods described in the various embodiments of the present invention.

[0148] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method for controlling elevator car doors, characterized in that, The elevator car door control method is applied to an elevator door operator, and the elevator car door control method includes: Obtain the door opening command, and control the elevator car door to move to the preset door opening position according to the door opening command; Determine the retraction distance from the door opening position to the target position, and control the elevator car door to retract based on the retraction distance; The elevator car door is controlled to retract from the open position and maintain at the target position, wherein at the target position, the output torque of the elevator door operator is reduced to a level that allows the elevator car door to maintain a zero-speed state.

2. The elevator car door control method as described in claim 1, characterized in that, After the step of controlling the elevator car door to retract from the open position and maintain it at the target position, the method further includes: When the elevator car door remains open, it is detected whether the elevator car door has deviated from the target position; If the elevator car door deviates from the target position, the direction of the elevator car door's deviation is determined, and the elevator car door is controlled to return to the target position according to the direction of the deviation.

3. The elevator car door control method as described in claim 2, characterized in that, The offset direction includes the elevator car door opening direction. The step of controlling the elevator car door to return to the target position according to the offset direction includes: When the elevator car door shifts relative to the target position in the direction of the elevator car door opening, the elevator car door is controlled to return to the target position.

4. The elevator car door control method as described in claim 2, characterized in that, The offset direction includes the elevator car door closing direction. The step of controlling the elevator car door to return to the target position according to the offset direction includes: When the elevator car door shifts in the closing direction relative to the target position, the elevator car door is controlled to return to the open position and then retract from the open position back to the target position.

5. The elevator car door control method as described in claim 2, characterized in that, After the step of detecting whether the elevator car door has deviated from the target position, the method further includes: If the elevator car door has not shifted relative to the target position, then determine whether a door closing command has been received; If the door closing command is received, the elevator car door is controlled to close from the target position.

6. The elevator car door control method as described in claim 1, characterized in that, After the step of controlling the elevator car door to retract from the open position and maintain it at the target position, the method further includes: Check if a door closing command has been received; If the door closing command is received, the elevator car door will be closed directly. If the door closing command is not received, the elevator car door is determined to be in the open state, and it is detected whether the elevator car door has deviated from the target position.

7. An elevator car door control device, characterized in that, The elevator car door control device is installed in the elevator door operator, and the elevator car door control device includes: The first control module is used to acquire the door opening command and control the elevator car door to move to the preset door opening position according to the door opening command; The second control module is used to determine the retraction distance from the door opening position to the target position, so as to control the elevator car door to retract according to the retraction distance; and to control the elevator car door to retract from the door opening position and maintain it at the target position, wherein, at the target position, the output torque of the elevator door operator is reduced to a level that can control the elevator car door to maintain a zero speed state.

8. A terminal device, characterized in that, The terminal device includes a memory, a processor, and an elevator car door control program stored in the memory and executable on the processor. When the elevator car door control program is executed by the processor, it implements the steps of the elevator car door control method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an elevator car door control program, which, when executed by a processor, implements the steps of the elevator car door control method as described in any one of claims 1 to 6.

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