Elevator door operator control methods, devices, systems and computer equipment

Abstract

This application relates to an elevator door operator control method, device, system, and computer equipment. The method includes: acquiring the door operator's operating information and determining whether the door operator is obstructed or overshooting based on the operating information; if the door operator is obstructed, and its operating speed is greater than a first preset speed, then controlling the door operator's operating speed to decrease until it is no greater than the first preset speed, and updating the original operating speed curve based on the obstruction position, the original operating speed curve including the correspondence between the door operator's operating position and operating speed; if the door operator overshoots, controlling the door operator's operating speed to decrease based on a preset adjustment coefficient until the door operator's operating speed matches the original operating speed curve. The elevator door operator control method provided by this application can ensure the safety of subsequent passengers and the safe operation of the elevator door, making the process of the elevator door resuming operation after encountering obstruction smoother, and making the control of the door position and door speed more precise.

Description

Technical Field

[0001] This application relates to the field of elevator technology, and in particular to an elevator door operator control method, device, system and computer equipment. Background Technology

[0002] With the increase in high-rise residential buildings, villas, and commercial buildings, elevators have gradually become an indispensable tool. To prevent passengers from being injured by elevator doors, elevator door systems are usually equipped with door obstruction detection devices, requiring the elevator door operator to have the function of restarting operation after obstruction.

[0003] However, in traditional elevator door operators, upon detecting obstruction, they typically counteract the resistance by setting a fixed torque. Once the resistance is removed, they resume operation at a fixed speed. If the torque is too high when the elevator is obstructed, it could injure passengers; if the torque is too low, the door operator will recover to normal operation slowly after the resistance is removed. For example, in traditional home elevators, after detecting obstruction, the door operator continues to control its operation with a fixed torque based on the original speed curve. In the short period after the obstruction is removed, the door operator will have a high instantaneous speed, potentially injuring passengers entering or exiting the elevator, posing a significant safety hazard. On the other hand, traditional technology, after detecting overshoot, continues to control the door operator with the original adjustment coefficient. This results in a high door operator speed, making it difficult for the operator to quickly return to smooth operation, potentially causing the elevator door to collide with another door or injure passengers, creating a safety hazard.

[0004] Therefore, there is an urgent need in traditional technology for an elevator door operator control method that can enable the elevator door operator to operate safely and smoothly. Summary of the Invention

[0005] Therefore, it is necessary to provide an elevator door operator control method, device, system, and computer equipment that enables the safe and smooth operation of the elevator door operator, addressing the aforementioned technical problems.

[0006] Firstly, this application provides an elevator door operator control method. The method includes:

[0007] Obtain the operating information of the gantry crane, and determine whether the gantry crane is obstructed or overshoots based on the operating information;

[0008] If the gantry crane's operation is obstructed, and the operating speed of the gantry crane when it is obstructed is greater than a first preset speed, then the operating speed of the gantry crane when it is obstructed is controlled to decrease until it is no greater than the first preset speed. The original operating speed curve is updated based on the position where the gantry crane is obstructed. The original operating speed curve includes the correspondence between the gantry crane's operating position and its operating speed.

[0009] In the event of overshoot during gantry crane operation, the gantry crane operating speed is reduced based on a preset adjustment coefficient until the gantry crane operating speed matches the original operating speed curve.

[0010] This design serves two purposes: firstly, it avoids generating significant instantaneous speed and torque when the elevator door is removed after being obstructed, ensuring the safety of subsequent passengers and the elevator door itself, and making the process of the elevator door resuming operation after encountering obstruction smoother, with more precise control over the door position and speed; secondly, it allows the elevator door to quickly stabilize when it overshoots, preventing the door from colliding with other doors, further achieving safe and smooth operation of the elevator door operator.

[0011] In one embodiment, the operating information includes the gantry motor speed and gantry position information, and the step of determining whether the gantry is obstructed or overshooting based on the operating information includes:

[0012] Determine whether the gate operator speed error is greater than a preset error, wherein the gate operator speed error includes the difference between the preset motor speed and the gate operator motor speed;

[0013] If the door operator speed error is greater than the preset error, then the elevator door is judged to be in position based on the door operator position information and the preset position information. The position being in position includes opening the door or closing the door.

[0014] If the elevator door does not reach its designated position, determine whether the direction of the door operator speed error is consistent with the direction of the preset motor speed.

[0015] If the direction of the gantry speed error is consistent with the direction of the preset motor speed, and the duration of the gantry speed error is greater than the preset error, which is greater than the first preset time, then it is determined that the gantry operation is obstructed.

[0016] If the direction of the gantry speed error is inconsistent with the direction of the preset motor speed, and the duration of the gantry speed error is greater than the preset error, which is greater than the second preset time, then the gantry operation is determined to be overshoot.

[0017] This configuration allows for a more accurate determination of whether the elevator door operator is experiencing obstruction or overshoot, effectively reducing the possibility of misjudging obstruction or overshoot during normal operation and improving the stability of elevator operation.

[0018] In one embodiment, the method further includes controlling the operation of the gantry crane based on speed parameters when the crane's operation is obstructed.

[0019] This design prevents the motor's output torque from continuously accumulating during the obstruction process, avoiding the high instantaneous speed and impact after the obstruction is removed. This allows the gantry to run more smoothly after the obstruction is removed, and further improves the safety of resuming operation after the gantry is obstructed.

[0020] In one embodiment, before the operating speed of the gantry crane is reduced when the control is obstructed, the method further includes:

[0021] The original given speed of the gantry crane is determined based on the obstructed location and the original operating speed curve;

[0022] If the original given speed is greater than the second preset speed, then the first preset speed is determined based on the original given speed and the first preset coefficient;

[0023] If the original given speed is greater than the third preset speed and not greater than the second preset speed, then the first preset speed is determined based on the original given speed and the second preset coefficient.

[0024] If the original given speed is not greater than the third preset speed, then the first preset speed is determined based on the original given speed and the third preset coefficient.

[0025] This setting allows the gantry crane to be kept in a suitable pre-restart state, ensuring that the torque output of the gantry crane motor is moderate. This enables more precise control of the gantry crane to operate smoothly and safely after any obstruction is removed.

[0026] In one embodiment, updating the original operating speed curve based on the obstructed position of the gantry crane includes:

[0027] The target operating distance of the gantry crane is determined based on the location where the gantry crane is obstructed.

[0028] The updated operating speed curve is determined based on the target operating distance of the gantry crane, the preset operating acceleration, and the preset rate of change of operating acceleration.

[0029] This configuration allows for more precise control of the gantry crane's position and speed, enabling a smoother restart after obstruction and effectively improving the safety of elevator operation when obstructed.

[0030] In one embodiment, the operating information includes the gantry motor speed, and after updating the original operating speed curve based on the gantry obstruction location, it further includes:

[0031] Determine whether the gate operator speed error is greater than a preset error, wherein the gate operator speed error includes the difference between the preset motor speed and the gate operator motor speed;

[0032] If the gantry crane speed error is not greater than the preset error, the gantry crane operation is controlled based on the updated operating speed curve.

[0033] This configuration allows for control of the gantry crane's operation based on the updated operating speed curve after the crane is removed from obstruction, resulting in a smoother and safer resumption of operation.

[0034] In one embodiment, the operating information includes the gantry motor speed, and after the gantry operating speed is reduced based on a preset adjustment coefficient, it further includes:

[0035] Determine whether the gate operator speed error is greater than a preset error, wherein the gate operator speed error includes the difference between the preset motor speed and the gate operator motor speed;

[0036] If the gantry crane speed error is not greater than the preset error, the gantry crane operation is controlled based on the original adjustment coefficient and the original operating speed curve.

[0037] This configuration allows the gantry crane to be controlled based on the original adjustment coefficient and the original operating speed curve after it recovers from overshoot operation. This ensures that the gantry crane can quickly return to normal operation after the overshoot is resolved.

[0038] Secondly, this application also provides an elevator door operator control device. The device includes:

[0039] The gantry crane operation judgment module is used to acquire the operation information of the gantry crane and determine whether the gantry crane is obstructed or over-excited based on the operation information.

[0040] The door operator obstruction handling module is used to control the door operator to reduce its operating speed when the door operator is obstructed until it is no greater than the first preset speed if the operating speed of the door operator is greater than the first preset speed. The module also updates the original operating speed curve based on the obstruction position of the door operator. The original operating speed curve includes the correspondence between the door operator's operating position and the door operator's operating speed.

[0041] The gantry crane overshoot handling module is used to control the gantry crane running speed to decrease based on a preset adjustment coefficient when the gantry crane runs overshoot, until the gantry crane running speed matches the original running speed curve.

[0042] Secondly, this application also provides an elevator door operator control system. The elevator door operator control system includes an elevator door operator control device, an elevator door operator, and an elevator door as described in the second aspect above, wherein the elevator door operator is connected to both the elevator door operator control device and the elevator door.

[0043] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of any of the elevator door operator control methods described in the first aspect above.

[0044] The aforementioned elevator door operator control method, device, system, and computer equipment, by reducing the operating speed of the door operator when obstruction is detected until it does not exceed a first preset speed, can avoid large instantaneous speeds and torques after the obstruction is removed, ensuring the safety of subsequent passengers and the safe operation of the elevator door. Simultaneously, by updating the original operating speed curve based on the obstruction location, the door operator can be controlled based on the newly determined operating curve after the obstruction is removed, further making the process of the elevator door resuming operation after encountering obstruction smoother, and the control of door position and speed more precise. On the other hand, when it is determined that the door operator is overshooting, the operating speed of the door operator is reduced based on a preset adjustment coefficient until it matches the original operating speed curve. This allows the elevator door to quickly stabilize when it overshoots, preventing door collisions and further achieving safe and smooth operation of the elevator door operator.

[0045] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0046] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0047] Figure 1 This is an application environment diagram of an elevator door operator control method in one embodiment;

[0048] Figure 2 This is a flowchart illustrating an elevator door operator control method in one embodiment;

[0049] Figure 3 This is a schematic diagram of a revolving door operator in one embodiment;

[0050] Figure 4 This is a flowchart illustrating the steps for updating the original running speed curve in one embodiment;

[0051] Figure 5 This is a flowchart illustrating an elevator door operator control method in a specific embodiment;

[0052] Figure 6 This is a structural block diagram of an elevator door operator control device in one embodiment;

[0053] Figure 7 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0055] Unless otherwise defined, the technical or scientific terms used in this application shall have the general meaning as understood by one of ordinary skill in the art to which this application pertains. Words such as “a,” “an,” “an,” “the,” “the,” and “these,” used in this application, do not indicate quantitative limitation and may be singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps or modules (units) is not limited to the listed steps or modules (units) but may include steps or modules (units) not listed, or may include other steps or modules (units) inherent to such processes, methods, products, or devices. The terms “connected,” “linked,” and “coupled,” used in this application, are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. The term “multiple” used in this application refers to two or more. The "and / or" operator describes the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: A alone, A and B simultaneously, and B alone. Typically, the character " / " indicates that the objects before and after it are in an "or" relationship. The terms "first," "second," and "third," etc., used in this application are merely for distinguishing similar objects and do not represent a specific ordering of the objects.

[0056] The terms “module”, “unit”, etc., used below refer to a combination of software and / or hardware that can perform a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in hardware, implementation in software, or a combination of software and hardware, is also possible and contemplated.

[0057] The elevator door operator control method provided in this application embodiment can be applied to, for example, Figure 1The application environment is shown. This solution can be used in scenarios where the elevator terminal interacts with the server for control, or it can be executed independently by the elevator terminal without interaction with the server. The elevator terminal 102 communicates with the server 104 via a network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104 or placed in the cloud or on another network server. The elevator terminal 102 obtains the elevator door operator's operating information and sends it to the server 104. The server 104 determines whether the door operator is obstructed or overshoots based on the operating information. If the server 104 determines that the door operator is obstructed, and the door operator's operating speed is greater than a first preset speed, it sends an obstruction control command to the elevator terminal 102. The elevator terminal 102 controls the door operator's operating speed to decrease based on the obstruction control command until it is no greater than the first preset speed, and updates the original operating speed curve based on the obstruction position. The original operating speed curve includes the correspondence between the door operator's operating position and its operating speed. If the server 104 determines that the door operator is overshooting, it sends an overshoot control command to the elevator terminal 102. Elevator terminal 102 controls the door operator's operating speed to decrease based on the overshoot control command and a preset adjustment coefficient until the door operator's operating speed matches the original operating speed curve. It is understood that any of the steps executed by server 104 can also be executed by a door operator control device connected to elevator terminal 102, and this application does not limit this. Elevator terminal 102 may include, but is not limited to, home elevators, commercial elevators, and freight elevators. Elevator terminal 102 may include elevator doors and elevator door operators. The elevator doors may include center-opening doors, side-opening doors, and revolving doors, and correspondingly, the elevator door operators may include center-opening door operators, side-opening door operators, and revolving door operators. Server 104 can be implemented using a standalone server or a server cluster composed of multiple servers.

[0058] In the embodiments of this application, such as Figure 2 As shown, an elevator door operator control method is provided, which is applied to... Figure 1 Taking the application scenario in [the text] as an example, the following steps are included:

[0059] S201: Obtain the operating information of the gantry crane, and determine whether the gantry crane is obstructed or over-over-run based on the operating information.

[0060] In this embodiment, the elevator door operator is used to control the opening or closing of the elevator door based on opening or closing control commands. The elevator door operator can convert the torque generated by the door operator motor into a force in a preset direction to control the opening or closing of the elevator door. The operating information of the door operator may include at least one of the following: door operator motor speed, door operator position information, and door operator running speed. In some embodiments, the door operator position information includes the door operator running direction and the distance between the current position of the door operator and the target point of the door opening. This distance includes the distance between the current position of the door operator and the target point of the door opening, and / or the distance between the current position of the door operator and the target point of the door closing. In other embodiments, the door operator motor speed and the door operator running speed can be converted to each other. The specific conversion method can refer to the prior art, and this application does not limit it.

[0061] In this embodiment, the gate operator motor speed can be obtained using any one or more methods, such as photoelectric digital speed measurement, magnetoelectric speed sensor speed measurement, leakage magnetic flux speed measurement, and vibration speed measurement. In other embodiments, the gate operator's position information can be obtained based on a position sensor, and the gate operator's operating speed can be obtained based on a speed sensor. The position sensor may include a laser position sensor, a Hall effect position sensor, etc., and the speed sensor may include an electromagnetic speed sensor, a photoelectric speed sensor, etc. This application does not limit the specific method for obtaining the gate operator's operating information.

[0062] In this embodiment, it is possible to determine whether the gate operator is experiencing operational obstruction or overshoot based on operational information. In some embodiments, determining whether the gate operator is experiencing operational obstruction or overshoot based on operational information includes determining whether the gate operator speed error at the current position is greater than a preset error based on the original operating speed curve (determining a preset motor speed). The gate operator speed error includes the difference between the preset motor speed at the current position determined based on the original operating speed curve and the gate operator motor speed. If the gate operator speed error is greater than the preset error, it is determined whether the gate operator speed error is greater than 0. If the gate operator speed error is greater than 0, it is determined that the gate operator is experiencing operational obstruction. If the gate operator speed error is less than 0, it is determined that the gate operator is experiencing operational overshoot.

[0063] In other embodiments, determining whether the door operator is obstructed or overshoots based on operational information further includes, when the door operator speed error is greater than a preset error and the elevator door is not in the correct position (correct position includes opening or closing), determining whether the direction of the door operator speed error is consistent with the direction of a preset motor speed. If the direction of the door operator speed error is consistent with the direction of the preset motor speed, and the duration of the door operator speed error exceeding the preset error is greater than a first preset time, then the door operator is determined to be obstructed. If the direction of the door operator speed error is inconsistent with the direction of the preset motor speed, and the duration of the door operator speed error exceeding the preset error is greater than a second preset time, then the door operator is determined to be overshooting. Here, the first preset time is the obstruction determination time, and the second preset time is the overshoot determination time.

[0064] S203: If the operating speed of the door operator is obstructed when the door operator is obstructed is greater than the first preset speed, then the operating speed of the door operator when obstructed is controlled to decrease until it is no greater than the first preset speed, and the original operating speed curve is updated based on the obstruction position of the door operator. The original operating speed curve includes the correspondence between the door operator's operating position and the door operator's operating speed.

[0065] In this embodiment, when the gantry crane's operation is obstructed, it is determined whether the crane's operating speed at the time of obstruction exceeds a first preset speed. The first preset speed is a speed threshold for obstruction. The purpose is to control the operating speed during obstruction within the set speed threshold, providing a suitable restart preparation state for the gantry crane after the obstruction is determined to be removed. The operating speed during obstruction can be determined based on the obstruction location and the original operating speed curve. In some embodiments, the first preset speed can be manually set according to actual operating needs or experience, or it can be determined based on the obstruction location and a preset coefficient. If the operating speed during obstruction exceeds the first preset speed, the operating speed is controlled to decrease until it does not exceed the first preset speed. In this embodiment of the application, the first preset speed is used to limit the operating speed of the door operator when it is obstructed. It is understood that at the instant after the obstruction is removed, the operating speed of the door operator is maintained at the operating speed when it was obstructed. However, if the operating speed of the door operator is too high after the obstruction is removed, the door operator or the elevator door may be damaged due to the large output torque of the door operator motor, and there may also be a safety risk of pinching and injuring subsequent passengers. By limiting the operating speed of the door operator when it is obstructed by the first preset speed, the door operator can be controlled in a safe and smooth state of preparation for restart.

[0066] Under normal elevator operation, the door operator follows the original operating speed curve. However, if the door operator continues to operate according to the original speed curve after obstruction, the door operator motor will generate a large output torque after the obstruction is removed, resulting in a large instantaneous speed. Continuing to operate according to the original speed curve may damage the door operator, its motor, or the elevator door, and may also pose a safety risk of injuring subsequent passengers. In this embodiment, when the door operator is obstructed, the original operating speed curve can be updated based on the obstruction location. The original operating speed curve includes the correspondence between the door operator's operating position and its operating speed. The updated operating speed curve will redefine the correspondence between the door operator's operating position and its operating speed, starting from the obstruction location and ending at the door's open or closed position. After the operating speed curve is updated, the door operator can resume operation more smoothly after the obstruction is removed, ensuring elevator operation safety and effectively avoiding safety risks.

[0067] S205: In the event of overshoot in the operation of the gantry crane, the operating speed of the gantry crane is reduced based on a preset adjustment coefficient until the operating speed of the gantry crane matches the original operating speed curve.

[0068] In this embodiment of the application, applying external force in the opening direction during the elevator door opening process may cause the door operator to overshoot; similarly, applying external force in the closing direction during the elevator door closing process may also cause the door operator to overshoot. For example, a child pushing or pulling in the opening direction when the elevator door is opening may cause the door operator to overshoot.

[0069] In this embodiment, if the door operator continues to operate according to the original adjustment coefficient in the event of overshoot, it will be difficult for the door operator to quickly return to a running state matching the original speed curve, potentially causing the elevator to collide with and damage the door. In this embodiment, the door operator speed can be reduced based on a preset adjustment coefficient until it matches the original speed curve, allowing the door operator to quickly return to smooth operation after overshoot. The preset adjustment coefficient includes the PI coefficient (integral proportional coefficient) set in the door operator speed loop and current loop. The preset adjustment coefficient can be set to specific parameter values ​​according to the specific usage. In some specific embodiments, the preset adjustment coefficient can be defaulted to 10 times the original PI coefficient.

[0070] In this embodiment, by reducing the operating speed of the elevator door operator when obstruction is detected until it is no greater than a first preset speed, it is possible to avoid large instantaneous speeds and torques immediately after the obstruction is removed, ensuring the safety of subsequent passengers and the safe operation of the elevator door. Simultaneously, updating the original operating speed curve based on the obstruction location allows for door operator control based on the newly determined operating curve after obstruction removal, further smoothing the elevator door's recovery process and making door position and speed control more precise. For example, at the instant obstruction is removed, the door operator maintains the operating speed at the obstruction point; upon receiving the updated operating speed curve, it operates at the speed given at the initial position. On the other hand, when door operator overshoot is detected, the operating speed is reduced based on a preset adjustment coefficient until it matches the original operating speed curve. This allows the elevator door to quickly stabilize when overshoot occurs, preventing door collisions and further achieving safe and smooth operation of the elevator door operator.

[0071] This application provides a method for determining whether a gantry crane is experiencing operational obstruction or overshoot. The operational information includes the gantry crane motor speed and gantry crane position information. The method for determining whether the gantry crane is experiencing operational obstruction or overshoot based on the operational information includes:

[0072] S301: Determine whether the door operator speed error is greater than the preset error, wherein the door operator speed error includes the difference between the preset motor speed and the door operator motor speed.

[0073] S303: If the door operator speed error is greater than the preset error, then determine whether the elevator door has moved to the correct position based on the door operator position information and the preset position information. The correct position includes whether the door is fully open or fully closed.

[0074] S305: If the elevator door does not reach its designated position, determine whether the direction of the door operator speed error is consistent with the direction of the preset motor speed.

[0075] S307: If the direction of the gantry speed error is consistent with the direction of the preset motor speed, and the duration of the gantry speed error exceeding the preset error is greater than a first preset time, then it is determined that the gantry operation is obstructed. The first preset time is the obstruction determination time.

[0076] S309: If the direction of the gantry speed error is inconsistent with the direction of the preset motor speed, and the duration of the gantry speed error exceeding the preset error is greater than the second preset time, then the gantry operation is determined to be overshoot. The second preset time is the overshoot determination time.

[0077] In this embodiment, it is determined whether the door operator speed error is greater than a preset error. The door operator speed error includes the difference between the preset motor speed and the door operator motor speed. The preset motor speed refers to the speed given based on the original operating speed curve, while the door operator motor speed refers to the real-time feedback speed of the door operator motor. If the door operator speed error is greater than the preset error, it indicates that the operating speed of the door operator at its current position deviates significantly from the set speed at the current position in the original operating speed curve, and the door operator may be in an abnormal operating state. Further, it is necessary to determine whether the elevator door has reached its designated position. The determination of whether the elevator door has reached its designated position is based on the door operator position information and the preset position information. Reaching the designated position includes either opening or closing. The preset position information includes the position information for opening and closing. If the door operator position information matches the preset position information, it indicates that the elevator door has reached its designated position; if the door operator position information does not match the preset position information, it indicates that the elevator door has not reached its designated position.

[0078] In this embodiment, if the elevator door fails to reach its designated position, it is further determined whether the direction of the door operator's speed error is consistent with the direction of the preset motor speed. If the direction of the door operator's speed error is consistent with the direction of the preset motor speed, it indicates that the door operator's operation is obstructed. Furthermore, if the door operator's speed error exceeds the duration of the preset error and exceeds the first preset time, it further indicates that the door operator's non-instantaneous operation is obstructed, thus confirming that the door operator's operation is obstructed. If the direction of the door operator's speed error is inconsistent with the direction of the preset motor speed, it indicates that the door operator's operation is overshooted. Furthermore, if the door operator's speed error exceeds the duration of the preset error and exceeds the second preset time, it further indicates that the door operator's non-instantaneous operation is overshooted, thus confirming that the door operator's operation is overshooted.

[0079] To further control the smooth operation of the elevator door operator, in this embodiment of the application, the elevator door operator control method further includes:

[0080] S401: Control the operation of the gantry crane based on the speed parameters when the gantry crane operation is obstructed.

[0081] Under normal operating conditions, the elevator door operator's speed loop continuously integrates based on a preset adjustment coefficient according to the speed error, causing the door operator's running speed to accumulate. If the door operator is obstructed but the speed loop continues to integrate, causing the motor's output torque to continuously accumulate, the elevator door will generate a large instantaneous speed and impact force after the obstruction is removed, posing a safety risk. In this embodiment, the speed parameter includes the speed loop integral of the door operator. Controlling the door operator's operation based on the speed parameter when the door operator's operation is obstructed includes, when the door operator's operation is obstructed, setting the adjustment coefficient of the speed loop integral to zero, causing the speed loop to stop continuous integration, and controlling the door operator's operation based on the speed parameter when obstructed.

[0082] In this embodiment, when it is determined that the gantry crane is obstructed, the gantry crane operation is controlled based on the speed parameters when the operation is obstructed. This allows the speed loop to stop integrating after the gantry crane is obstructed, and the output of the speed loop to be controlled within a preset obstruction speed threshold range. This prevents the output torque of the motor from continuously accumulating during the obstruction process, avoids the high instantaneous speed and impact after the obstruction is removed, and enables the gantry crane to run more smoothly after the obstruction is removed. This also further improves the safety of the gantry crane to resume operation after obstruction.

[0083] Furthermore, in this embodiment of the application, before reducing the operating speed when the gantry is obstructed, the method further includes:

[0084] S501: Determine the original given speed of the gantry crane based on the obstructed position and the original operating speed curve.

[0085] S503: If the original given speed is greater than the second preset speed, then the first preset speed is determined based on the original given speed and the first preset coefficient.

[0086] S505: If the original given speed is greater than the third preset speed and not greater than the second preset speed, then the first preset speed is determined based on the original given speed and the second preset coefficient.

[0087] S507: If the original given speed is not greater than the third preset speed, then the first preset speed is determined based on the original given speed and the third preset coefficient.

[0088] In this embodiment, the original given speed of the gantry crane can be determined based on the obstructed position and the original operating speed curve. If the original given speed is greater than the second preset speed, the first preset speed can be determined according to equation (1) based on the original given speed and the first preset coefficient.

[0089] First preset speed = Original given speed × First preset coefficient (1)

[0090] If the original given speed is greater than the third preset speed but not greater than the second preset speed, the first preset speed can be determined based on the original given speed and the second preset coefficient according to equation (2).

[0091] First preset speed = Original given speed × Second preset coefficient (2)

[0092] If the original given speed is not greater than the third preset speed, the first preset speed can be determined based on the original given speed and the third preset coefficient according to equation (3).

[0093] First preset speed = Original given speed × Third preset coefficient (3)

[0094] The first preset speed is a preset obstructed operating speed threshold, while the second and third preset speeds are different original given speed thresholds.

[0095] In some specific embodiments, the second preset speed is 300 mm / s, the third preset speed is 100 mm / s, the first preset coefficient is 1.1, the second preset coefficient is 1.5, and the third preset coefficient is 2.0.

[0096] In this embodiment, by determining the corresponding first preset speed according to different original given speeds, the gate machine can be controlled in a suitable pre-restart state, so that the torque output of the gate machine motor is moderate, and the gate machine can be controlled more precisely to operate smoothly and safely after the obstruction is removed.

[0097] In the embodiments of this application, such as Figure 4 As shown, the update of the original operating speed curve based on the obstructed position of the gantry crane includes:

[0098] S601: Determine the target running distance of the gantry crane based on the location where the gantry crane is obstructed.

[0099] S603: Determine the updated operating speed curve based on the target operating distance of the gantry crane, the preset operating acceleration, and the preset rate of change of operating acceleration.

[0100] In this embodiment, the target running distance includes the distance between the current position of the gantry crane and its final position. When the original running direction of the gantry crane is the opening direction, the target running distance includes at least the target distance for obstruction during opening (the distance between the current position of the gantry crane and the final position of opening); when the original running direction of the gantry crane is the closing direction, the target running distance includes at least the target running distance for obstruction during closing (the distance between the current position of the gantry crane and the final position of closing). Specifically, determining the target running distance of the gantry crane based on the obstruction position includes: if the gantry crane is obstructed during opening, the distance between the obstruction position and the final position of opening is determined as the target running distance; if the gantry crane is obstructed during closing, the distance between the obstruction position and the final position of closing is determined as the target running distance.

[0101] It is understandable that elevator doors may be obstructed during both opening and closing. In some specific embodiments, if the elevator door is a center-opening or side-opening door, passengers or obstacles may suddenly enter or exit the elevator during the door closing process. In this case, if the elevator door moves to the sides of the passengers or obstacles, it will cause the door operator to be obstructed.

[0102] In other specific embodiments, if the elevator door is a revolving door, such as Figure 3 The image shows a spiral staircase door for a villa. If a passenger or obstacle is in the opening or closing trajectory of the door during the opening or closing process, it will obstruct the normal opening or closing of the door, causing the door operator to be hindered.

[0103] In this embodiment, an updated operating speed curve can be determined based on the target operating distance of the door operator, a preset operating acceleration, and a preset rate of change of operating acceleration. The updated operating speed curve includes a continue operating speed curve or a reverse restart operating speed curve. When the elevator door operator is obstructed, the operator can be controlled to continue opening or closing the door based on the updated operating speed curve after the obstruction is removed, or the operator can be controlled to restart operation in reverse based on the updated operating speed curve. For example, if the elevator door operator encounters obstruction during door closing, the operator can be controlled to continue closing the door based on the updated continue operating speed curve after the obstruction is removed; alternatively, the operator can be controlled to open the door in reverse and then close it based on the updated reverse restart operating speed curve. In this embodiment, the operator can be configured to continue opening or closing or restart operation in reverse after the obstruction is removed, depending on the actual application scenario or user needs.

[0104] In some embodiments, after the door operator continues to open or close the elevator door based on the updated operating speed curve after the obstruction is removed, or after the door operator restarts operation in reverse based on the updated operating speed curve, the system may further include controlling the door operator's operation based on the original operating speed curve. For example, if the door operator is obstructed during opening, after the obstruction is removed and the door continues to open to the completed opening position based on the updated operating speed curve, the door operator can still be controlled to close and open according to the original operating speed curve. Similarly, if the door operator is obstructed during opening, after the door operator closes in reverse to the completed closing position based on the updated operating speed curve, the door operator can still be controlled to open and close according to the original operating speed curve.

[0105] In this embodiment, by updating the original operating speed curve, the operating curve of the door machine can be replanned starting from the position where the door machine is blocked, so as to control the operating position and speed of the door machine more accurately, and the door machine can restart operation more smoothly after being blocked, which effectively improves the safety of elevator operation after being blocked.

[0106] In this embodiment of the application, after the gantry crane's operation is obstructed, it can be set to continue operation only after the obstruction is removed. The operation information includes the gantry crane motor speed. After updating the original operating speed curve based on the location of the obstruction, the following is also included:

[0107] S701: Determine whether the door operator speed error is greater than the preset error, wherein the door operator speed error includes the difference between the preset motor speed and the door operator motor speed.

[0108] S703: If the gantry speed error is not greater than the preset error, the gantry operation is controlled based on the updated operating speed curve.

[0109] In this embodiment, when the gantry crane's operation is obstructed, the speed loop error of the gantry crane is continuously monitored to determine whether the gantry crane speed error is greater than a preset error. The gantry crane speed error includes the difference between the preset motor speed and the gantry crane motor speed. If the gantry crane speed error is not greater than the preset error, it indicates that the obstruction has been removed, and the gantry crane operation can be controlled based on the updated operating speed curve, making the gantry crane's resumption of operation smoother and safer.

[0110] In this embodiment of the application, after the gantry crane overshoots, it can be set to wait for the overshoot to recover before controlling the gantry crane to operate normally. The operating information includes the gantry crane motor speed. After the gantry crane operating speed is reduced based on a preset adjustment coefficient, the following is also included:

[0111] S801: Determine whether the door operator speed error is greater than the preset error, wherein the door operator speed error includes the difference between the preset motor speed and the door operator motor speed.

[0112] S803: If the gantry speed error is not greater than the preset error, then the gantry operation is controlled based on the original adjustment coefficient and the original running speed curve.

[0113] In this embodiment, when the gantry crane experiences overshoot, the speed loop error of the gantry crane is continuously monitored to determine whether the gantry crane speed error is greater than a preset error. The gantry crane speed error includes the difference between the preset motor speed and the gantry crane motor speed. If the gantry crane speed error is not greater than the preset error, it indicates that the gantry crane has recovered from the overshoot operation state to the normal operation state. The gantry crane operation can be controlled based on the original adjustment coefficient and the original operating speed curve, so that the gantry crane can quickly return to the normal operation state after the overshoot is recovered.

[0114] The steps of the elevator door operator control method of this application are described in detail below through a specific embodiment. Figure 5 As shown, after obtaining the gantry crane's operating direction and speed error based on its operating information, the system determines whether the speed error judgment function is normal. If normal, it further determines whether the speed error is greater than a preset error. If greater, it determines whether the door has reached the correct opening / closing position. During the above judgment process, if the speed error judgment function is not enabled, the speed error is not greater than the preset error, or the door has reached the correct opening / closing position, the system resets the gantry crane obstruction timer and the gantry crane overshoot timer, and then terminates the control process.

[0115] If the door does not open or close completely, check whether the direction of the door operator speed error is consistent with the direction of the preset motor speed:

[0116] If the conditions are consistent, the obstruction timer is started, and the duration for which the gantry speed error exceeds a preset error is further determined. If this duration exceeds a first preset time, the control process is stopped. If it does not exceed the preset time, the speed loop stops continuous integration, and the gantry speed is reduced until it does not exceed the first preset speed. The original operating speed curve is then updated based on the obstruction position. Next, it is determined whether the gantry speed error does not exceed the preset error. If it does, the obstruction is removed, and the gantry is controlled to run based on the updated operating speed curve before the control process stops. If not, the control process ends directly.

[0117] If there is a discrepancy, the gantry crane overshoot timer is started, and the duration for which the gantry crane speed error exceeds a preset error is further determined. If this duration exceeds a second preset time, the control process is stopped. If it exceeds a preset time, the gantry crane speed is reduced based on a preset adjustment coefficient until the gantry crane speed matches the original speed curve. Then, it is determined whether the gantry crane speed error is not greater than the preset error. If it is, overshoot recovery is confirmed, and the gantry crane is controlled to run based on the original adjustment coefficient and the original speed curve before the control process stops. If not, the control process ends directly.

[0118] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0119] Based on the same inventive concept, this application also provides an elevator door operator control device 900 for implementing the elevator door operator control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the elevator door operator control device provided below can be found in the limitations of the elevator door operator control method described above, and will not be repeated here.

[0120] In one embodiment, such as Figure 6 As shown, an elevator door operator control device 900 is provided, comprising:

[0121] The gantry crane operation judgment module 901 is used to acquire the operation information of the gantry crane and determine whether the gantry crane is obstructed or over-over-run based on the operation information.

[0122] The door operator obstruction processing module 902 is used to, when the door operator is obstructed, if the operating speed of the door operator when obstructed is greater than a first preset speed, control the operating speed of the door operator when obstructed to decrease until it is no greater than the first preset speed, and update the original operating speed curve based on the obstruction position of the door operator, wherein the original operating speed curve includes the correspondence between the door operator operating position and the door operator operating speed.

[0123] The gantry crane overshoot processing module 903 is used to control the gantry crane running speed to decrease based on a preset adjustment coefficient when the gantry crane runs overshoot, until the gantry crane running speed matches the original running speed curve.

[0124] Each module in the elevator door operator control device 900 described above can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0125] Based on the same inventive concept, this application also provides an elevator door operator control system for implementing the elevator door operator control method described above. The solution provided by this system is similar to the implementation scheme described in the above method; therefore, the specific limitations of one or more elevator door operator control system embodiments provided below can be found in the limitations of the elevator door operator control method described above, and will not be repeated here.

[0126] In one embodiment, an elevator door operator control system is provided, including an elevator door operator control device 900, an elevator door operator, and an elevator door as described in the above embodiment, wherein the elevator door operator is connected to the elevator door operator control device and the elevator door respectively.

[0127] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 7 As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements an elevator door operator control method. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0128] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0129] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the elevator door operator control method in any of the above embodiments.

[0130] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the elevator door operator control method in any of the above embodiments.

[0131] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the elevator door operator control method in any of the above embodiments.

[0132] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0133] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0134] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0135] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. An elevator door operator control method, characterized in that, The method includes: Obtain the operating information of the gantry crane, and determine whether the gantry crane is obstructed or overshoots based on the operating information; If the door operator's operation is obstructed, and the operating speed of the door operator when obstructed is greater than a first preset speed, then the operating speed of the door operator when obstructed is reduced until it is no greater than the first preset speed. The original operating speed curve is updated based on the obstruction position of the door operator, and the original operating speed curve includes the correspondence between the door operator's operating position and the door operator's operating speed. The updated operating speed curve redefines the correspondence between the door operator's operating position and operating speed with the obstruction position as the starting point and the position where the door is open or closed as the ending point. In the event of overshoot during gantry crane operation, the gantry crane operating speed is reduced based on a preset adjustment coefficient until the gantry crane operating speed matches the original operating speed curve; the preset adjustment coefficient includes the PI coefficient set by the gantry crane speed loop and current loop.

2. The method according to claim 1, characterized in that, The operational information includes the gantry motor speed and gantry position information. The step of determining whether the gantry is experiencing operational obstruction or overshoot based on the operational information includes: Determine whether the gate operator speed error is greater than a preset error, wherein the gate operator speed error includes the difference between the preset motor speed and the gate operator motor speed; If the door operator speed error is greater than the preset error, then the elevator door is judged to be in position based on the door operator position information and the preset position information. The position being in position includes opening the door or closing the door. If the elevator door does not reach its designated position, determine whether the direction of the door operator speed error is consistent with the direction of the preset motor speed. If the direction of the gantry speed error is consistent with the direction of the preset motor speed, and the duration of the gantry speed error is greater than the preset error, which is greater than the first preset time, then it is determined that the gantry operation is obstructed. If the direction of the gantry speed error is inconsistent with the direction of the preset motor speed, and the duration of the gantry speed error is greater than the preset error, which is greater than the second preset time, then the gantry operation is determined to be overshoot.

3. The method according to claim 1, characterized in that, Also includes: The gantry crane's operation is controlled based on the speed parameters when its operation is obstructed.

4. The method according to claim 1, characterized in that, Before the reduction in operating speed when the control of the gantry crane is obstructed, the method further includes: The original given speed of the gantry crane is determined based on the obstructed location and the original operating speed curve; If the original given speed is greater than the second preset speed, then the first preset speed is determined based on the original given speed and the first preset coefficient; If the original given speed is greater than the third preset speed and not greater than the second preset speed, then the first preset speed is determined based on the original given speed and the second preset coefficient. If the original given speed is not greater than the third preset speed, then the first preset speed is determined based on the original given speed and the third preset coefficient.

5. The method according to claim 1, characterized in that, The method of updating the original operating speed curve based on the obstructed position of the gantry crane includes: The target operating distance of the gantry crane is determined based on the location where the gantry crane is obstructed. The updated operating speed curve is determined based on the target operating distance of the gantry crane, the preset operating acceleration, and the preset rate of change of operating acceleration.

6. The method according to claim 1, characterized in that, The operational information includes the gantry motor speed, and after updating the original operating speed curve based on the gantry's obstructed position, it also includes: Determine whether the gate operator speed error is greater than a preset error, wherein the gate operator speed error includes the difference between the preset motor speed and the gate operator motor speed; If the gantry crane speed error is not greater than the preset error, the gantry crane operation is controlled based on the updated operating speed curve.

7. The method according to claim 1, characterized in that, The operating information includes the gantry motor speed, and after the gantry operating speed is reduced based on a preset adjustment coefficient, it also includes: Determine whether the gate operator speed error is greater than a preset error, wherein the gate operator speed error includes the difference between the preset motor speed and the gate operator motor speed; If the gantry crane speed error is not greater than the preset error, the gantry crane operation is controlled based on the original adjustment coefficient and the original operating speed curve.

8. An elevator door operator control device, characterized in that, The device includes: The gantry crane operation judgment module is used to acquire the operation information of the gantry crane and determine whether the gantry crane is obstructed or over-excited based on the operation information. The door operator obstruction handling module is used to, when the door operator's operation is obstructed, if the door operator's operating speed is greater than a first preset speed, control the door operator's operating speed to decrease until it is no greater than the first preset speed, and update the original operating speed curve based on the door operator's obstruction position. The original operating speed curve includes the correspondence between the door operator's operating position and its operating speed. The updated operating speed curve redefines the correspondence between the door operator's operating position and its operating speed, using the door operator's obstruction position as the starting point and the door opening or closing position as the ending point. The gantry crane overshoot handling module is used to control the gantry crane operating speed to decrease based on a preset adjustment coefficient when the gantry crane operates overshoots, until the gantry crane operating speed matches the original operating speed curve; the preset adjustment coefficient includes the PI coefficient set by the gantry crane speed loop and current loop.

9. An elevator door operator control system, characterized in that, The elevator door operator control system includes an elevator door operator control device, an elevator door operator, and an elevator door as described in claim 8, wherein the elevator door operator is connected to the elevator door operator control device and the elevator door respectively.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

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