A door machine detection method, system and elevator control module

Abstract

The application relates to a door machine detection method, a system and an elevator control module. The door machine detection method is applied to the elevator control module. The elevator control module is connected with a current sampling circuit and an encoder of a door machine module. The door machine module further comprises a hall door, a car door, a door machine motor and a door machine driver. The current sampling circuit is arranged in the door machine driver and is used for acquiring current data of the door machine module. The encoder is used for acquiring pulse data of the door machine module. The door machine detection method comprises the following steps: acquiring the current data and the pulse data; processing the pulse data to obtain speed data; processing the current data to obtain torque data; obtaining a speed detection result of the door machine module according to the speed data and speed reference data; obtaining a torque detection result of the door machine module according to the torque data and torque reference data; and obtaining a state detection result of the door machine module according to the speed detection result and the torque detection result. The application can improve the efficiency of elevator door machine detection.

Description

TECHNICAL FIELD

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

[0002] During use of an elevator, the elevator door may fail, which may be that the door cannot be closed or that the door cannot be opened. The causes of these failures are mostly related to mechanical transmission of the elevator door. The elevator door includes a car door and a hall door. When the elevator is opened, the door machine controller controls the motor to output torque, which drives the car door to open through a transmission belt. At the same time, the car door is opened through a mechanical structure to drive the hall door to open. When the elevator is used for a long time, the mechanical structure between the car door and the hall door may fail. It is difficult for maintenance personnel to test the opening and closing of the door on each floor to verify whether the door system on each floor is faulty when the maintenance personnel maintain the elevator on site.

[0003] Currently, maintenance measures for the elevator door are completed on site by maintenance personnel. Usually, when the elevator door cannot be opened or closed, the maintenance personnel go to the site to repair and solve the problem, which is low in maintenance efficiency and causes certain losses to the passengers and risks of elevator closing. SUMMARY

[0004] The technical problem solved by the embodiments of the present application is to provide a door machine detection method, system and elevator control module, which can improve the efficiency of elevator door machine detection.

[0005] To solve the above technical problems, one technical solution adopted by the embodiments of the present application is to provide a door machine detection method, which is applied to an elevator control module. The elevator control module is connected with a current sampling circuit and an encoder of a door machine module. The door machine module further includes a hall door, a car door, a door machine motor and a door machine driver. The door machine driver includes the current sampling circuit. The current sampling circuit is used to obtain current data of the door machine module. The encoder is used to obtain pulse data of the door machine module. The door machine detection method includes the following steps.

[0006] Obtaining the current data and the pulse data;

[0007] Processing the pulse data to obtain speed data;

[0008] Processing the current data to obtain torque data;

[0009] Obtaining a speed detection result of the door machine module according to the speed data and speed reference data;

[0010] Obtaining a torque detection result of the door machine module according to the torque data and torque reference data;

[0011] obtaining a state detection result of the door machine module according to the speed detection result and the torque detection result.

[0012] In some embodiments, the state detection result comprises door opening and closing abnormality and door opening and closing normality, and the door machine detection method further comprises:

[0013] when the state detection result is door opening and closing abnormality, controlling the door machine module to run to an abnormal floor and controlling the door machine module to perform door opening and closing action at the abnormal floor;

[0014] when the door machine module performs door opening and closing action at the abnormal floor, obtaining supplementary current data and supplementary pulse data;

[0015] processing the supplementary pulse data to obtain supplementary speed data;

[0016] processing the supplementary current data to obtain supplementary torque data;

[0017] obtaining a supplementary speed detection result of the door machine module according to the supplementary speed data and speed reference data;

[0018] obtaining a supplementary torque detection result of the door machine module according to the supplementary torque data and torque reference data;

[0019] obtaining a target detection result of the door machine module according to the supplementary speed detection result and the supplementary torque detection result.

[0020] In some embodiments, the obtaining a speed detection result of the door machine module according to the speed data and speed reference data comprises:

[0021] obtaining the speed reference data;

[0022] comparing the speed data and the speed reference data to obtain the speed detection result.

[0023] In some embodiments, the obtaining the speed reference data comprises:

[0024] controlling the door machine module to run to each floor and controlling the door machine module to perform door opening and closing action at each floor;

[0025] when the door machine module performs door opening and closing action at one floor of the each floor, obtaining pulse reference data;

[0026] processing the pulse reference data to obtain speed reference data.

[0027] In some embodiments, the method further comprises:

[0028] The step of acquiring the speed reference data is performed multiple times to obtain multiple sets of speed reference data;

[0029] According to the multiple sets of speed reference data, second speed reference data is obtained;

[0030] Comparing the speed data and the second speed reference data obtains second speed detection results.

[0031] In some embodiments, the speed data includes door opening speed data, the door opening speed data includes a door opening running speed data, a door opening closing speed data and a door opening holding speed data, the speed reference data includes door opening speed reference data, the door opening speed reference data includes a door opening running speed reference data, a door opening closing speed reference data and a door opening holding speed reference data, and the speed detection results include door opening speed detection results;

[0032] The comparing the speed data and the speed reference data to obtain the speed detection results includes:

[0033] Comparing the door opening running speed data and the door opening running speed reference data obtains a door opening running speed result;

[0034] Comparing the door opening holding speed data and the door opening holding speed reference data obtains a door opening holding speed result;

[0035] Comparing the door opening closing speed data and the door opening closing speed reference data obtains a door opening closing speed result;

[0036] According to the door opening running speed result, the door opening holding speed result and the door opening closing speed result, the door opening speed detection results are obtained.

[0037] In some embodiments, the speed data includes door closing speed data, the door closing speed data includes a door closing running speed data, a door closing closing speed data and a door closing holding speed data, the speed reference data includes door closing speed reference data, the door closing speed reference data includes a door closing running speed reference data, a door closing closing speed reference data and a door closing holding speed reference data, and the speed detection results include door closing speed detection results;

[0038] The comparing the speed data and the speed reference data to obtain the speed detection results includes:

[0039] Comparing the door closing running speed data and the door closing running speed reference data obtains a door closing running speed result;

[0040] Comparing the door closing closing speed data and the door closing closing speed reference data obtains a door closing closing speed result;

[0041] The door closing keeping speed data is compared with the door closing keeping speed reference data to obtain a door closing keeping speed result.

[0042] The door closing speed detection result is obtained according to the door closing operation speed result, the door closing speed result and the door closing keeping speed result.

[0043] To solve the above technical problems, another technical solution adopted by the embodiments of the present application is to provide an elevator control module, which comprises:

[0044] at least one processor; and a memory connected with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the door machine detection method.

[0045] To solve the above technical problems, another technical solution adopted by the embodiments of the present application is to provide an elevator control module, which comprises:

[0046] a door machine module and an elevator control module as described above;

[0047] The door machine module comprises a hall door, a car door, a door machine motor, a door machine driver, a current sampling circuit and an encoder, the current sampling circuit is included in the door machine driver, the current sampling circuit is used to obtain current data of the door machine module, and the encoder is used to obtain pulse data of the door machine module; and the elevator control module is connected with the current sampling circuit and the encoder.

[0048] In some embodiments, the elevator control module comprises an elevator controller and a car roof, the elevator controller is connected with the car roof through a first communication mode, and the car roof is connected with the door machine module through a second communication mode.

[0049] Different from the related art, the embodiment of the present application provides a door machine detection method, a system and an elevator control module. The door machine detection method is applied to the elevator control module, the elevator control module is connected with a current sampling circuit and an encoder of a door machine module, the door machine module further comprises a hall door, a car door, a door machine motor and a door machine driver, the current sampling circuit is included in the door machine driver, the current sampling circuit is used to acquire current data of the door machine module, the encoder is used to acquire pulse data of the door machine module, and the door machine detection method comprises the following steps: acquiring the current data and the pulse data; processing the pulse data to obtain speed data; processing the current data to obtain torque data; obtaining a speed detection result of the door machine module according to the speed data and speed reference data; obtaining a torque detection result of the door machine module according to the torque data and torque reference data; and obtaining a state detection result of the door machine module according to the speed detection result and the torque detection result. The door machine detection method, the system and the elevator control module provided by the embodiment of the present application can improve the efficiency of the door machine system detection and reduce the risk of the elevator because of the elevator door failure. BRIEF DESCRIPTION OF DRAWINGS

[0050] One or more embodiments are illustrated by way of example with reference to the accompanying drawings, which are schematic and not intended to be limiting of the embodiments, and in which like reference numerals designate similar items in the figures, in which: the drawings do not limit the proportion.

[0051] Figure 1 is a structural schematic diagram of a door machine detection system provided by an embodiment of the present application;

[0052] Figure 2 is a structural schematic diagram of a door machine module provided by an embodiment of the present application;

[0053] Figure 3 is a structural schematic diagram of an elevator control module provided by an embodiment of the present application;

[0054] Figure 4 is a flowchart of a door machine detection method provided by an embodiment of the present application;

[0055] Figure 5 is a flowchart of a door machine detection method provided by another embodiment of the present application;

[0056] Figure 6 is a flowchart of a method for obtaining a speed detection result of a door machine module according to speed data and speed reference data provided by an embodiment of the present application;

[0057] Figure 7 is a flowchart of a method for obtaining a second speed detection result provided by an embodiment of the present application;

[0058] Figure 8 is a flowchart of a method for obtaining speed reference data according to an embodiment of the present application;

[0059] Figure 9 is a flowchart of a method for comparing speed data and speed reference data to obtain a speed detection result according to an embodiment of the present application;

[0060] Figure 10 is a flowchart of a method for comparing speed data and speed reference data to obtain a speed detection result according to another embodiment of the present application;

[0061] Figure 11 is a waveform diagram of an opening door speed curve;

[0062] Figure 12 is a waveform diagram of a closing door speed curve. DETAILED DESCRIPTION

[0063] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0064] It should be noted that the various features of the embodiments of the present application can be combined with each other without conflict, and are within the protection scope of the present application. In addition, although the functional modules are divided in the device schematic diagram, and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from the module division in the device schematic diagram or the order in the flowchart.

[0065] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. All publications, patent applications, patents, and other references mentioned herein are incorporated by reference in their entirety.

[0066] Please refer to Figure 1 , Figure 1 is a structural schematic diagram of a door machine detection system according to an embodiment of the present application.

[0067] The door machine detection system 100 includes a door machine module 20 and an elevator control module 10 as described below.

[0068] In some embodiments, the elevator control module 10 comprises an elevator controller 101 and a car top plate 102, the elevator controller 101 is connected with the car top plate 102 through a first communication mode, and the car top plate 102 is connected with the door machine module 20 through a second communication mode.

[0069] The first communication mode and the second communication mode can be communication modes through RS485, RS232 and the like.

[0070] Please refer to Figure 2 , Figure 2 is a structural schematic diagram of the door machine module provided by an embodiment of the application.

[0071] The door machine module 20 comprises a landing door 201, a car door 202, a door machine motor 203, a door machine driver 204, and an encoder 206. The door machine driver 204 comprises a current sampling circuit 2041, which is used to acquire current data of the door machine module 20. The encoder 206 is used to acquire pulse data of the door machine module 20.

[0072] The elevator control module 10 is connected with the current sampling circuit 205 and the encoder 206.

[0073] The car door 202 is the door of the elevator car, and one elevator has only one car door. The landing door 201 is provided on each floor.

[0074] When the elevator car needs to open the door at one of the floors, the door machine driver 204 controls the door machine motor 203 to output torque, drives the car door 202 to open through a transmission belt, and drives the landing door 201 to open through a mechanical structure at the same time.

[0075] When the elevator car needs to close the door, the door machine driver 204 controls the door machine motor 203 to output torque, drives the car door 202 to close through a transmission belt, and drives the landing door 201 to close through a mechanical structure at the same time.

[0076] The door machine driver 204 comprises a current sampling circuit 2041, which is used to sample current data of the door machine driver 204. The encoder 206 outputs pulse data.

[0077] Please refer to Figure 3 , Figure 3 is a structural schematic diagram of the elevator control module provided by an embodiment of the application.

[0078] As shown in Figure 3 , the elevator control module 10 comprises at least one processor 11, Figure 2 taking one processor 11 as an example; and a memory 12 connected with the at least one processor 11, Figure 2For example, the connection by bus.

[0079] The memory 12 stores instructions executable by the at least one processor 11, and the instructions are executed by the at least one processor 11 to enable the at least one processor 11 to perform the door machine detection method described below.

[0080] The memory 12 is a non-volatile computer-readable storage medium and can be used to store non-volatile software programs, non-volatile computer-executable programs and modules, such as program instructions / modules corresponding to the door machine detection method in the embodiments of the present application. The processor 11 executes various functional applications and data processing of the elevator control module 10 by running the non-volatile software programs, instructions and modules stored in the memory 12, i.e., implements the door machine detection method in the method embodiments described below.

[0081] The memory 12 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function. In addition, the memory 12 can include a high-speed random access memory and can also include a non-volatile memory. For example, it includes at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device. In some embodiments, the memory 12 can optionally include a memory remotely disposed with respect to the processor 11.

[0082] One or more modules are stored in the memory 12 and, when executed by the one or more processors 11, perform the door machine detection method in any of the method embodiments described below, for example, perform the method steps described below in the method embodiments. Figure 4

[0083] The elevator control module 10 described above can execute the door machine detection method provided by the embodiments of the present application and has a functional module corresponding to the execution method. Technical details not described in detail in the present embodiment can be referred to the door machine detection method provided by the embodiments of the present application.

[0084] The embodiments of the present application provide a door machine detection system 100, which comprises a door machine module 20 and an elevator control module 10. The door machine module 20 comprises a hall door 201, a car door 202, a door machine motor 203, a door machine driver 204, and an encoder 206. The door machine driver 204 comprises a current sampling circuit 2041, which is used to obtain current data of the door machine module 20. The encoder 206 is used to obtain pulse data of the door machine module 20. The elevator control module 10 is connected with the current sampling circuit 205 and the encoder 206. The elevator control module 10 can execute the door machine detection method described below. The door machine detection system 100 provided by the embodiments of the present application can improve the efficiency of the door machine system detection and reduce the risk of trapping people due to elevator door failure. ​

[0085] Referring to Figure 4 , Figure 4 is a flowchart of a door machine detection method provided by an embodiment of the present application.

[0086] The door machine detection method is applied to the elevator control module described above, and the elevator control module is connected with a current sampling circuit and an encoder of the door machine module. The door machine module further includes a hall door, a car door, a door machine motor, and a door machine driver. The door machine driver includes the current sampling circuit, which is used to obtain current data of the door machine module. The encoder is used to obtain pulse data of the door machine module.

[0087] The door machine detection method includes the following steps:

[0088] Step S1: obtaining current data and pulse data.

[0089] The current data is data obtained by the elevator control module from the current sampling circuit of the door machine module. The pulse data is data obtained by the elevator control module from the encoder of the door machine module.

[0090] Specifically, when the car door of the door machine module is opened or closed, the elevator control module obtains the current data and the pulse data in real time.

[0091] Step S2: processing the pulse data to obtain speed data.

[0092] The speed data can be the speed when the car door is opened and the speed when the car door is closed.

[0093] According to the speed data, an opening speed curve and a closing speed curve can be drawn.

[0094] Step S3: processing the current data to obtain torque data.

[0095] The torque data can be the torque when the car door is opened and the torque when the car door is closed.

[0096] Step S4: obtaining a speed detection result of the door machine module according to the speed data and speed reference data.

[0097] The speed reference data is data pre-stored in the elevator control module, and the speed reference data is the speed data when the car door of the door machine module is normally opened or closed.

[0098] Specifically, the collected speed data is compared with the speed reference data to obtain the speed detection result.

[0099] The speed detection result includes normal opening and closing speed and abnormal opening and closing speed.

[0100] Step S5, obtaining torque detection result of the door machine module according to the torque data and torque reference data.

[0101] The torque reference data is pre-stored data of the elevator control module, and the torque reference data is torque data of the car door of the door machine module when the car door is normally opened or normally closed.

[0102] The torque detection result includes normal opening and closing torque and abnormal opening and closing torque.

[0103] Specifically, the collected torque data is compared with the torque reference and speed reference data to obtain the torque detection result.

[0104] Step S6, obtaining state detection result of the door machine module according to the speed detection result and the torque detection result.

[0105] The state detection result includes normal opening and closing and abnormal opening and closing.

[0106] Specifically, when the speed detection result is normal opening and closing speed and the torque detection result is normal opening and closing torque, it is determined that the state detection result is normal opening and closing.

[0107] When the speed detection result is abnormal opening and closing speed and the torque detection result is normal opening and closing torque, or when the speed detection result is normal opening and closing speed and the torque detection result is abnormal opening and closing torque, or when the speed detection result is abnormal opening and closing speed and the torque detection result is abnormal opening and closing torque, it is determined that the state detection result is abnormal opening and closing.

[0108] Please refer to Figure 5 , Figure 5 is a flowchart of a door machine detection method provided by another embodiment of the application.

[0109] In some embodiments, the state detection result includes abnormal opening and closing and normal opening and closing. The door machine detection method further includes the following steps:

[0110] Step S11, when the state detection result is abnormal opening and closing, controlling the door machine module to run to an abnormal floor and controlling the door machine module to perform opening and closing actions at the abnormal floor.

[0111] Step S12, when the door machine module performs opening and closing actions at the abnormal floor, obtaining supplementary current data and supplementary pulse data.

[0112] Step S13, processing the supplementary pulse data to obtain supplementary speed data.

[0113] Step S14, processing the supplementary current data to obtain supplementary torque data.

[0114] Step S15, obtaining a supplementary speed detection result of the door machine module according to the supplementary speed data and the speed reference data.

[0115] Step S16, obtaining a supplementary torque detection result of the door machine module according to the supplementary torque data and the torque reference data.

[0116] Step S17, obtaining a target detection result of the door machine module according to the supplementary speed detection result and the supplementary torque detection result.

[0117] The target detection result includes normal door opening and closing and abnormal door opening and closing.

[0118] Specifically, when the state detection result is abnormal door opening and closing and the elevator is stopped, the elevator control module controls the door machine module to detect again at the floor where the abnormal door opening and closing occurs to obtain the target detection result.

[0119] If the target detection result is still abnormal door opening and closing, it is determined that there is a fault in the door opening and closing of the elevator at the floor. The elevator control module can communicate with the electronic device of the maintenance personnel to inform the maintenance personnel to come to repair the elevator.

[0120] If the target detection result is normal door opening and closing, it is determined that there is a risk in the door opening and closing of the elevator at the floor. The elevator control module can communicate with the electronic device of the maintenance personnel to inform the maintenance personnel to come to check the elevator.

[0121] Referring to Figure 6 , Figure 6 is a flowchart of a method for obtaining a speed detection result of a door machine module according to speed data and speed reference data provided by an embodiment of the present application.

[0122] In some embodiments, obtaining a speed detection result of a door machine module according to speed data and speed reference data includes the following steps:

[0123] Step S41, obtaining speed reference data.

[0124] Step S42, comparing the speed data and the speed reference data to obtain a speed detection result.

[0125] Referring to Figure 7 , Figure 7 is a flowchart of a method for obtaining a second speed detection result provided by an embodiment of the present application.

[0126] In some embodiments, the method further includes:

[0127] Step S43, the step of obtaining speed reference data is performed multiple times to obtain multiple sets of speed reference data.

[0128] Step S44, obtaining second speed reference data according to the multiple sets of speed reference data.

[0129] The second speed reference data is obtained from the most frequently repeated speed in each stage of opening and closing the door in the multiple sets of speed reference data.

[0130] Step S45, comparing the speed data and the second speed reference data to obtain second speed detection result.

[0131] Similarly, the second torque detection result can be obtained. The state detection result is obtained according to the second speed detection result and the second torque detection result.

[0132] Please refer to Figure 8 , Figure 8 is a flowchart of a method for obtaining speed reference data provided by an embodiment of the present application.

[0133] In some embodiments, the method for obtaining speed reference data comprises the following steps:

[0134] Step S411, controlling the door machine module to run to each floor and controlling the door machine module to perform the action of opening and closing the door at each floor.

[0135] Step S412, obtaining pulse reference data when the door machine module performs the action of opening and closing the door at one of the floors.

[0136] Step S413, processing the pulse reference data to obtain speed reference data.

[0137] Specifically, when the elevator can normally open and close the door and the elevator stops, the elevator control module controls the door machine module to run to each floor and controls the door machine module to perform the action of opening and closing the door at each floor. Pulse reference data is obtained when the door machine module performs the action of opening and closing the door at one of the floors. The elevator control module needs to obtain the pulse reference data of each floor. Then, the elevator processes the pulse reference data of each floor to obtain the speed reference data of each floor. Similarly, torque reference data can be obtained.

[0138] Please refer to Figure 9 , Figure 9 is a flowchart of a method for comparing speed data and speed reference data to obtain speed detection result provided by an embodiment of the present application.

[0139] In some embodiments, the speed data comprises door opening speed data, the door opening speed data comprises a door opening releasing speed data, a door opening running speed data and a door opening holding speed data, the speed reference data comprises door opening speed reference data, the door opening speed reference data comprises a door opening releasing speed reference data, a door opening running speed reference data and a door opening holding speed reference data. The speed detection result comprises a door opening speed detection result. The comparing the speed data and the speed reference data to obtain the speed detection result comprises the following steps:

[0140] Step S421, comparing the door opening releasing speed data and the door opening releasing speed reference data to obtain a door opening releasing speed result.

[0141] The door opening releasing speed result comprises a door opening releasing speed normal and a door opening releasing speed abnormal.

[0142] Specifically, if the speed at a certain moment in the door opening releasing speed data is different from the speed at the corresponding moment in the door opening releasing speed reference data by more than a preset value, it is considered that the door opening releasing speed result is a door opening releasing speed abnormal; otherwise, it is considered that the door opening releasing speed result is a door opening releasing speed normal. The preset value can be 0.2 m / s or other appropriate values.

[0143] Step S422, comparing the door opening running speed data and the door opening running speed reference data to obtain a door opening running speed result.

[0144] The door opening running speed result comprises a door opening running speed normal and a door opening running speed abnormal.

[0145] Specifically, if the speed at a certain moment in the door opening running speed data is different from the speed at the corresponding moment in the door opening running speed reference data by more than a preset value, it is considered that the door opening running speed result is a door opening running speed abnormal; otherwise, it is considered that the door opening running speed result is a door opening running speed normal. The preset value can be 0.5 m / s or other appropriate values.

[0146] Step S423, comparing the door opening holding speed data and the door opening holding speed reference data to obtain a door opening holding speed result.

[0147] The door opening holding speed result comprises a door opening holding speed normal and a door opening holding speed abnormal.

[0148] Specifically, if the speed at a certain moment in the door opening holding speed data is different from the speed at the corresponding moment in the door opening holding speed reference data by more than a preset value, it is considered that the door opening holding speed result is a door opening holding speed abnormal; otherwise, it is considered that the door opening holding speed result is a door opening holding speed normal. The preset value can be 0.01 m / s or other appropriate values.

[0149] Step S424, obtaining a door opening speed detection result according to the door opening releasing speed result, the door opening running speed result and the door opening holding speed result.

[0150] The door opening speed detection result includes a normal door opening speed detection result and an abnormal door opening speed detection result.

[0151] Specifically, if the knife releasing speed result, the door opening running speed result and the door opening maintaining speed result are all normal, it is considered that the door opening speed detection result is the normal door opening speed detection result; otherwise, it is considered that the door opening speed detection result is the abnormal door opening speed detection result.

[0152] Similarly, a door opening torque detection result can be obtained.

[0153] The knife releasing speed data, the door opening running speed data and the door opening maintaining speed data can be used to draw a door opening speed curve.

[0154] Referring to Figure 11 , Figure 11 is a waveform diagram of the door opening speed curve.

[0155] Specifically, the door opening process of the door machine module includes three stages: knife releasing, door opening running and door opening maintaining.

[0156] As shown in Figure 11 , the time period of the knife releasing is from 0 to t2. The time period of the door opening running is from t2 to t7. The time period of the door opening maintaining is after t7.

[0157] The knife releasing speed data is the speed corresponding to the time period from 0 to t2 in Figure 11 .

[0158] The door opening running speed data is the speed corresponding to the time period from t2 to t7 in Figure 11 .

[0159] The door opening maintaining speed data is the speed corresponding to the time period after t7 in Figure 11 .

[0160] Referring to Figure 10 , Figure 10 is a flowchart of a method for comparing speed data and speed reference data to obtain a speed detection result provided by another embodiment of the present application.

[0161] In some embodiments, the speed data includes door closing speed data, the door closing speed data includes door closing running speed data, knife collecting speed data and door closing maintaining speed data, the speed reference data includes door closing speed reference data, the door closing speed reference data includes door closing running speed reference data, knife collecting speed reference data and door closing maintaining speed reference data, and the speed detection result includes door closing speed detection result. The method for comparing the speed data and the speed reference data to obtain the speed detection result includes the following steps:

[0162] Step S422, comparing the closing door running speed data and the closing door running speed reference data to obtain a closing door running speed result.

[0163] The closing door running speed result includes a closing door running speed normal and a closing door running speed abnormal.

[0164] Specifically, if the speed at a certain moment in the closing door running speed data and the speed at the corresponding moment in the closing door running speed reference data differ by more than a preset value, it is considered that the closing door running speed result is a closing door running speed abnormal; otherwise, it is considered that the closing door running speed result is a closing door running speed normal. The preset value can be 0.7 m / s or other appropriate values.

[0165] Step S424, comparing the closing door running speed data and the closing door running speed reference data to obtain a closing door running speed result.

[0166] The closing door running speed result includes a closing door running speed normal and a closing door running speed abnormal.

[0167] Specifically, if the speed at a certain moment in the closing door running speed data and the speed at the corresponding moment in the closing door running speed reference data differ by more than a preset value, it is considered that the closing door running speed result is a closing door running speed abnormal; otherwise, it is considered that the closing door running speed result is a closing door running speed normal. The preset value can be 0.7 m / s or other appropriate values.

[0168] Step S426, comparing the closing door running speed data and the closing door running speed reference data to obtain a closing door running speed result.

[0169] The closing door running speed result includes a closing door running speed normal and a closing door running speed abnormal.

[0170] Specifically, if the speed at a certain moment in the closing door running speed data and the speed at the corresponding moment in the closing door running speed reference data differ by more than a preset value, it is considered that the closing door running speed result is a closing door running speed abnormal; otherwise, it is considered that the closing door running speed result is a closing door running speed normal. The preset value can be 0.7 m / s or other appropriate values.

[0171] Step S428, obtaining a closing door speed detection result according to the closing door running speed result, the closing door running speed result and the closing door running speed result.

[0172] The closing door speed detection result includes a closing door speed detection normal and a closing door speed detection abnormal.

[0173] Specifically, if the closing door running speed result, the closing door running speed result and the closing door running speed result are all normal, it is considered that the closing door speed detection result is a closing door speed detection normal; otherwise, it is considered that the closing door speed detection result is a closing door speed detection abnormal.

[0174] Similarly, the closing torque detection result can be obtained.

[0175] The closing speed data, the closing running speed data and the closing maintaining speed data can draw a closing speed curve.

[0176] Please refer to Figure 12 , Figure 12 is a waveform diagram of the closing speed curve.

[0177] Specifically, the closing process of the door machine module includes three stages of closing blade, closing running and closing maintaining.

[0178] As shown in Figure 12 , the closing running time is the time period from 0 to t6. The closing blade time is the time period from t6 to t11. The closing maintaining time is the time period after t11.

[0179] The closing blade speed data is the speed corresponding to the time period from t6 to t11 in Figure 12 .

[0180] The closing running speed data is the speed corresponding to the time period from 0 to t6 in Figure 12 .

[0181] The closing maintaining speed data is the speed corresponding to the time period after t11 in Figure 12 .

[0182] The door machine detection method provided by the embodiment of the present application is applied to an elevator control module, the elevator control module is connected with a current sampling circuit and an encoder of a door machine module, the door machine module further includes a hall door, a car door, a door machine motor and a door machine driver, the current sampling circuit is included in the door machine driver, the current sampling circuit is used to acquire current data of the door machine module, the encoder is used to acquire pulse data of the door machine module, the door machine detection method includes the following steps: acquiring the current data and the pulse data; processing the pulse data to obtain speed data; processing the current data to obtain torque data; obtaining a speed detection result of the door machine module according to the speed data and speed reference data; obtaining a torque detection result of the door machine module according to the torque data and torque reference data; and obtaining a state detection result of the door machine module according to the speed detection result and the torque detection result. The door machine detection method provided by the embodiment of the present application can improve the efficiency of the door machine system detection and reduce the risk of closing people caused by the elevator door failure.

[0183] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, but not limited to them; under the idea of the present application, the technical features of the above examples or different examples can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above, which are not provided in details for simplicity; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A door machine detection method applied to an elevator control module, the elevator control module being connected with a current sampling circuit and an encoder of a door machine module, the door machine module further comprising a landing door, a car door, a door machine motor, a door machine driver, the door machine driver comprising the current sampling circuit, the current sampling circuit being used to acquire current data of the door machine module, the encoder being used to acquire pulse data of the door machine module, characterized in that, The door machine detection method comprises: obtaining the current data and the pulse data; processing the pulse data to obtain speed data; processing the current data to obtain torque data; when the elevator can normally open and close the door and the elevator is stopped, controlling the door machine module to run to each floor and controlling the door machine module to perform the action of opening and closing the door at each floor; when the door machine module performs the action of opening and closing the door at one of the floors, obtaining pulse reference data; wherein the pulse reference data of each floor is obtained, and the pulse reference data of each floor is processed to obtain speed reference data of each floor; similarly, torque reference data can be obtained; obtaining a speed detection result of the door machine module according to the speed data and the speed reference data; obtaining a torque detection result of the door machine module according to the torque data and the torque reference data; obtaining a state detection result of the door machine module according to the speed detection result and the torque detection result.

2. The gate machine detection method of claim 1, wherein, The state detection result comprises door opening and closing abnormalities and door opening and closing normality, and the door machine detection method further comprises: when the state detection result is door opening and closing abnormalities, controlling the door machine module to run to an abnormal floor and controlling the door machine module to perform the action of opening and closing the door at the abnormal floor; when the door machine module performs the action of opening and closing the door at the abnormal floor, obtaining supplementary current data and supplementary pulse data; processing the supplementary pulse data to obtain supplementary speed data; processing the supplementary current data to obtain supplementary torque data; obtaining a supplementary speed detection result of the door machine module according to the supplementary speed data and the speed reference data; obtaining a supplementary torque detection result of the door machine module according to the supplementary torque data and the torque reference data; obtaining a target detection result of the door machine module according to the supplementary speed detection result and the supplementary torque detection result.

3. The door detection method of claim 1, wherein, The method further comprises: the step of obtaining the speed reference data is performed multiple times to obtain multiple sets of speed reference data; obtaining second speed reference data according to the multiple sets of speed reference data; comparing the speed data and the second speed reference data to obtain a second speed detection result.

4. The gate machine detection method of claim 1, wherein, The speed data comprises door opening speed data, the door opening speed data comprises door opening release speed data, door opening running speed data and door opening holding speed data, the speed reference data comprises door opening speed reference data, the door opening speed reference data comprises door opening release speed reference data, door opening running speed reference data and door opening holding speed reference data, and the speed detection result comprises door opening speed detection result; obtaining a door opening release speed result by comparing the door opening release speed data and the door opening release speed reference data; obtaining a door opening running speed result by comparing the door opening running speed data and the door opening running speed reference data; obtaining a door opening holding speed result by comparing the door opening holding speed data and the door opening holding speed reference data; obtaining the door opening speed detection result according to the door opening release speed result, the door opening running speed result and the door opening holding speed result. ​ 5. The gate machine detection method according to claim 1 or 4, characterized in that, The speed data comprises door closing speed data, the door closing speed data comprises door closing running speed data, door closing retraction speed data and door closing holding speed data, the speed reference data comprises door closing speed reference data, the door closing speed reference data comprises door closing running speed reference data, door closing retraction speed reference data and door closing holding speed reference data, and the speed detection result comprises door closing speed detection result. The speed detection result is obtained according to the speed data and the speed reference data, comprising: comparing the door closing running speed data with the door closing running speed reference data to obtain door closing running speed result; comparing the door closing retraction speed data with the door closing retraction speed reference data to obtain door closing retraction speed result; comparing the door closing holding speed data with the door closing holding speed reference data to obtain door closing holding speed result; and obtaining the door closing speed detection result according to the door closing running speed result, the door closing retraction speed result and the door closing holding speed result.

6. An elevator control module, characterized by The elevator control module comprises: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the door machine detection method of any one of claims 1-5.

7. A gantry detection system characterized by, The door machine detection system comprises: a door machine module and an elevator control module as claimed in claim 6; The door machine module comprises a hall door, a car door, a door machine motor, a door machine driver and an encoder, the door machine driver comprises a current sampling circuit therein, the current sampling circuit is used to obtain current data of the door machine module, and the encoder is used to obtain pulse data of the door machine module; and the elevator control module is connected with the current sampling circuit and the encoder.

8. The gate machine detection system of claim 7, wherein, The elevator control module comprises an elevator controller and a car top plate, the elevator controller is connected with the car top plate in communication through a first communication mode, and the car top plate is connected with the door machine module through a second communication mode. The elevator control module comprises an elevator controller and a car top plate, the elevator controller is connected with the car top plate in communication through a first communication mode, and the car top plate is connected with the door machine module through a second communication mode.

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