Elevator door monitoring system and monitoring method

Abstract

The application provides an elevator door monitoring system and a monitoring method using the same. The monitoring system comprises a sensor system, a door machine controller and a memory. The door machine controller is connected with the sensor system and the memory respectively. The door machine controller judges and acquires information I that an elevator door moves to a certain area. The sensor system detects and acquires information II that the elevator door moves to the area. The door machine controller judges the running state of the elevator door according to the information I and the information II, and provides the judgment result to the sensor system. The sensor system maintains and / or modifies the judgment standard of the information II through the judgment result. Through the elevator door monitoring system and the monitoring method, the running state of the elevator door can be judged, so that the state of the hall door and the car door can be monitored more accurately.

Description

Technical Field

[0001] This invention generally relates to a monitoring system for elevator equipment, and more specifically, to a monitoring system for monitoring the operation of elevator doors and a monitoring method using the elevator door monitoring system. Background Technology

[0002] Door system malfunctions are one of the main causes of elevator accidents. Currently, online monitoring of elevator door systems is a crucial issue that needs to be addressed in both theoretical research and practical engineering to reduce elevator door malfunctions. Monitoring the status of elevator hall doors and car doors can predict the elevator's lifespan, quickly and accurately obtain fault conditions, and provide timely warnings and maintenance when faults are detected. This plays a vital role in preventing accidents and improving elevator operational safety. Therefore, major elevator manufacturers are focusing their research and development on this technology, and are continuously iterating and developing it.

[0003] In the prior art, reference 1 (CN201480044714A) discloses a monitoring system for elevator equipment and a method for using the monitoring system to detect elevator door usage data. This monitoring system is suitable for generating elevator door usage data and includes sensors arranged in the elevator equipment. By detecting at least one physical parameter around the sensor and evaluating it, the operating state of the elevator door can be determined using the curve of the physical parameter changing over time. The detection of the elevator door's state by the sensor allows the determination of the elevator door's operating state using the curve of the physical parameter changing over time. The physical parameter can be an optical parameter, an acoustic parameter, or a magnetic parameter.

[0004] However, the solution in Reference 1 monitors the door's operating status using an optical sensor, requiring an additional sensor-based monitoring system. Furthermore, the sensor cannot provide an elevator anti-pinch function similar to a 3D light curtain, and the solution does not describe the specific content to be monitored or its implementation, thus limiting its monitoring effectiveness.

[0005] Reference 2 (CN110817636A) discloses a method, device, medium, and equipment for fault diagnosis of elevator door systems. It obtains specified characteristic parameters from operational data generated during the operation of the elevator door system, and uses these parameters, along with a pre-trained fault diagnosis model, to determine the type and cause of the fault. By using operational data and a pre-trained fault diagnosis model to determine the fault type and cause, it achieves refined fault diagnosis and ensures accuracy.

[0006] However, the method in Reference 2 is to determine the elevator door status by training a model, which is relatively complex. The hardware costs, such as the door controller chip, are high, and the accuracy of the judgment depends on the accuracy of the model. There are currently no mature model cases, so it cannot be promoted and applied on a large scale.

[0007] Reference 3 (CN110407072A) provides a door control system including a sensor with a field of view of a threshold near an entrance to an occupied area. The sensor is adapted to detect objects in the threshold and a landing area near the threshold, and operates based on door movement within the threshold. Furthermore, based on the detection of an object at least in a portion of the threshold or within the landing area, the sensor is operable to signal a door operation controller to perform an action. However, the solution in Reference 3, which detects objects within the threshold's field of view using a sensor, can only monitor objects within the threshold's field of view and lacks the function of monitoring elevator doors.

[0008] It is evident that all of the above solutions have drawbacks: monitoring the door solely through additional sensors requires an additional sensor-based monitoring system. Furthermore, since the information readily available to the door controller itself is not utilized for judgment, monitoring subtle changes in the door status relies solely on the accuracy of the sensors and algorithms, which is less intuitive and accurate than the information obtained by the door controller. While judging the elevator door status through the door controller itself and through a trained model does not require additional hardware, the accuracy of this solution needs to be verified. In addition, the cost of the door controller chip itself also increases due to the burden of the algorithm.

[0009] Therefore, there is an urgent need to provide an accurate, effective, convenient, and cost-efficient elevator door monitoring system. Summary of the Invention

[0010] The present invention aims to solve at least one aspect of the above-mentioned problems and defects.

[0011] According to one aspect of the present invention, an elevator door monitoring system is provided, comprising a sensor system, a door operator controller, and a memory. The door operator controller is connected to both the sensor system and the memory. The door operator controller controls the movement of the car door, which in turn drives the hall door to open and close the entrance / exit. The system is characterized in that: the door operator controller determines and acquires information one indicating that the elevator door has moved to a certain area; the sensor system detects and acquires information two indicating that the elevator door has moved to the area; the door operator controller determines the operating state of the elevator door based on information one and information two, and provides the determination result to the sensor system; the sensor system maintains and / or modifies the determination criteria of information two based on the determination result.

[0012] According to an exemplary embodiment of the present invention, the first information includes abnormal movement and no abnormal movement; the second information includes collision, suspected collision and no collision.

[0013] According to an exemplary embodiment of the present invention, the door operator controller obtains information 1 by comparing initial physical data and actual physical data, wherein the initial physical data is the physical data of the elevator door opening and closing normally after the elevator is installed and debugged; and the actual physical data is the physical data of the elevator door operation after each floor stop during elevator operation.

[0014] According to an exemplary embodiment of the present invention, the physical data is current data and / or velocity data.

[0015] According to an exemplary embodiment of the present invention, the second information is information within the threshold field of view provided by the sensor system, including at least information on the entry and exit of people or objects.

[0016] According to an exemplary embodiment of the present invention, the information within the threshold field of view includes information on whether an object has collided with the door, and information on small debris on the door sliding guide rail.

[0017] According to an exemplary embodiment of the present invention, the sensor in the sensor system includes at least one of radar sensor, time-of-flight sensor, infrared sensor, three-dimensional light curtain and optical sensor.

[0018] According to an exemplary embodiment of the present invention, the sensor is a three-dimensional light curtain.

[0019] According to an exemplary embodiment of the present invention, the sensor is mounted on the car door head.

[0020] According to another aspect of the present invention, a monitoring method for an elevator door monitoring system is provided, comprising the following steps:

[0021] S1, the door controller determines and obtains information one that the elevator door has moved to a certain area, the sensor system detects and obtains information two that the elevator door has moved to that area, and transmits information two to the door controller;

[0022] S2, the door operator controller makes a comprehensive judgment based on information one and information two, and the elevator door monitoring system outputs a normal operation or fault warning based on the judgment result;

[0023] S3, the door operator controller feeds back the judgment result to the sensor system;

[0024] S4, the sensor system maintains and / or modifies the judgment criteria of the second information based on the judgment result.

[0025] According to an exemplary embodiment of the present invention, in step S2, the door operator controller makes a comprehensive judgment by determining that the priority of information one indicating that the elevator door has moved to a certain area is greater than the priority of information two indicating that the elevator door has moved to that area.

[0026] According to an exemplary embodiment of the present invention, when information one indicates abnormal movement and information two indicates collision or suspected collision, the elevator door monitoring system outputs "normal operation" and the door operator controller feeds back to the sensor system "collision"; when information one indicates abnormal movement and information two indicates no collision, the elevator door monitoring system outputs "fault warning".

[0027] According to an exemplary embodiment of the present invention, when the sensor system receives feedback of a collision, if information two is determined to be a collision first, the judgment criterion of information two is maintained; if information two is determined to be a suspected collision first, the suspected collision state is classified as a collision, and this is used as the judgment criterion of information two.

[0028] According to an exemplary embodiment of the present invention, when information one indicates no abnormality and information two indicates a collision or suspected collision, the elevator door monitoring system outputs "normal operation" and the door operator controller feeds back "no collision" to the sensor system; when information one indicates no abnormality and information two indicates no collision, the elevator door monitoring system outputs "normal operation".

[0029] According to an exemplary embodiment of the present invention, when the sensor system receives feedback that there is no collision, it classifies the state of collision or suspected collision as no collision, and uses this as the judgment criterion for the second information.

[0030] In the aforementioned exemplary embodiments of the present invention, the door operator controller and the sensor system work together to comprehensively determine the operating status of the elevator door, thereby more accurately monitoring the status of the hall door and the car door; at the same time, the judgment result of the elevator door monitoring system can be fed back to the sensor system, thereby improving the accuracy of the sensor system. Attached Figure Description

[0031] Other objects and advantages of the invention will become apparent from the following description of the invention with reference to the accompanying drawings, and will help to provide a comprehensive understanding of the invention.

[0032] Figure 1 This is a schematic diagram illustrating the connection relationship of system components according to an exemplary embodiment of the present invention.

[0033] Figure 2 This is a schematic diagram illustrating the monitoring process of a monitoring system according to an exemplary embodiment of the present invention.

[0034] Figure 3This is a top view showing the structure within the field of vision of the elevator threshold in the fully open state, according to an exemplary embodiment of the present invention.

[0035] Figure 4 This is a structural side view within the field of vision of an elevator threshold according to an exemplary embodiment of the present invention.

[0036] Figure 5 This is a schematic diagram illustrating a scenario where a hall door collides with an object according to an exemplary embodiment of the present invention.

[0037] Figure 6 This is a schematic diagram illustrating a situation where a hall door collides with an object stuck on a guide rail according to an exemplary embodiment of the present invention.

[0038] Figure 7 This is a schematic diagram illustrating the movement of a hall door onto dry paint falling on a guide rail, according to an exemplary embodiment of the present invention.

[0039] Figure 8 This is a schematic diagram illustrating a scenario where a hall door collides with a small object that gets stuck in the guide rail, according to an exemplary embodiment of the present invention.

[0040] In the diagram, 1: Sensor system; 2: Door operator controller; 3: Memory; 10: Hall door; 11: Car door; 12: Hall door guide rail; 13: Car door guide rail; 14: Hall door threshold; 15: Car door threshold; 16: Car door head; 20: Wall; 30: Car wall; 40: Collision object; 41: Object stuck in the guide rail; 42: Dried paint on the guide rail; 43: Small object stuck in the guide rail; 50: Sensor detection space when the door is fully open; 50′: Sensor detection space when the door is moving. Detailed Implementation

[0041] The technical solution of the present invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. In this specification, the same or similar reference numerals indicate the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the overall inventive concept of the present invention and should not be construed as a limitation thereof.

[0042] Furthermore, in the following detailed description, numerous specific details are set forth for ease of explanation to provide a thorough understanding of the embodiments disclosed herein. However, it will be apparent that one or more embodiments may be practiced without these specific details. In other instances, well-known structures and apparatuses are illustrated to simplify the figures.

[0043] In this invention, terms describing the relationships between components or structures, such as "connection" and "communication," should be interpreted broadly unless otherwise explicitly specified and limited. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be an indirect connection or a direct connection. Similarly, "communication" refers to the ability to allow fluids such as gases or liquids to pass through, and can be a direct or indirect communication.

[0044] Furthermore, terms describing orientation or positional relationships, such as "above," "below," "bottom," and "top," are all based on the installation state of this device. The installation state refers to the state in which this device is capable of normal operation.

[0045] According to a general technical concept of the present invention, an elevator door monitoring system is provided to maintain the safe operation of an elevator and perform maintenance as needed. The elevator door monitoring system includes a door operator controller, a sensor system, and a memory. The door operator controller controls the movement of the car door through output signals. The car door mechanically drives the landing door to move horizontally, thereby opening and closing the entrance / exit. Simultaneously, physical data on the operation of the car door and landing door are fed back to the door operator controller. Combined with data obtained from the sensors, the door operator controller can intelligently determine the elevator's operating status, thereby identifying the elevator's operating condition, and providing the determination result to the sensor system.

[0046] The elevator door monitoring system and monitoring method using the elevator door monitoring system provided by the present invention can be used in conjunction with existing sensors and door controllers to determine the door status by eliminating abnormal current / speed curves fed back to the door controller. The method is simple and has low computational requirements. At the same time, the monitoring results can also be fed back to the sensor system. By learning from these results, the data accuracy of the sensor system can be further improved.

[0047] Figure 1 This is a schematic diagram illustrating the connection relationship of system components according to an exemplary embodiment of the present invention.

[0048] According to an embodiment of the present invention, the elevator door monitoring system includes: a sensor system 1, a door operator controller 2, and a memory 3. The sensor system 1 is used to detect information within the threshold's field of view, including but not limited to the entry and exit of people or objects, whether an object is colliding with the door, and information about small debris on the door's sliding guide rail. The memory 3 is used to store data information, such as initial physical data during the elevator commissioning phase. The door operator controller 2 is connected to both the sensor system 1 and the memory 3 via signal lines, and can access the memory 3. The door operator controller 2 controls the movement of the car door 11 by outputting signals. The car door 11 mechanically drives the landing door 10 to move horizontally on the guide rail to achieve the opening and closing of the entrance and exit. Simultaneously, the physical data of the car door 11 and the landing door 10 during operation are also fed back to the door operator controller 2.

[0049] Based on the aforementioned physical data, the door operator controller 2 can determine and obtain information 1 regarding the door's movement to a certain area. This information 1 includes whether there is abnormal movement or not. Specifically, the door operator controller 2 obtains information 1 by comparing initial physical data and actual physical data. In this embodiment, the initial physical data refers to the physical data during normal door opening and closing after the elevator installation and commissioning are completed; the actual physical data refers to the physical data of the elevator door movement after each floor stop during elevator operation. The physical data can be current data and / or speed data.

[0050] According to an embodiment of the present invention, when using speed data to determine information one, an encoder can be used to obtain the movement position of the elevator door, and the actual running speed can be determined based on the movement position to determine whether it exceeds the positive or negative speed limit of this position, thereby determining whether the elevator door has any abnormal movement; when using current data to determine information one, the magnitude of the torque is calculated using the actual current, and after compensation by combining the force on the elevator door (e.g., caused by friction, counterweight or spring), the inertia of the door, etc., it is determined whether the torque fluctuation exceeds a certain limit within a certain period of time, thereby determining whether the elevator door has any abnormal movement; and other auxiliary judgments.

[0051] Figure 3 This is a top view showing the structure within the field of vision of the elevator threshold in the fully open state, according to an exemplary embodiment of the present invention. Figure 4 This is a structural side view within the field of vision of an elevator threshold according to an exemplary embodiment of the present invention.

[0052] Furthermore, sensor system 1 detects and acquires information 2, which states that the door has moved to a certain area, through sensors. This information 2 includes: there is a collision, there is a suspected collision, and there is no collision.

[0053] According to an embodiment of the present invention, the sensor system 1 can provide information within the threshold field of view, which, combined with the physical data of the car door 11 and hall door 10 operation, can be used to make a comprehensive judgment, thereby more accurately and conveniently monitoring the elevator door's operating status. Specifically, the sensor must first be able to detect the entry or exit of people or objects within the threshold field of view and be able to send this information to the door operator 2; furthermore, the information within the threshold field of view also includes whether there are objects colliding with the door, and information about small debris on the door's sliding guide rails. In this embodiment, the sensor system can distinguish abnormal situations unrelated to the elevator door's operating status from the elevator door's own state, thereby improving monitoring efficiency.

[0054] Preferably, the sensor comprises at least one of a radar sensor, a time-of-flight sensor, an infrared sensor, a three-dimensional light curtain, and an optical sensor. Particularly preferably, the sensor is a three-dimensional light curtain.

[0055] Preferably, the sensor system 1 is installed on the car door head 16.

[0056] According to an embodiment of the present invention, the door operator controller 2 obtains information 1 by comparing initial physical data and actual physical data, and adds information 2 obtained from the sensor system 1 to make a comprehensive judgment, thereby obtaining the operating status of the elevator door; at the same time, the door operator controller 2 provides the result of the comprehensive judgment to the sensor system 1, and the sensor system 1 maintains and / or modifies the judgment criteria of information 2 through the judgment result to improve the accuracy of the sensor information. Specifically, when the door operator controller 2 determines that there is an abnormality and the sensor detects a suspected collision, the door operator controller 2 classifies it as a collision output and sends this result to the sensor system 1. The sensor system 1 internally reclassifies the data detected in this situation from the originally suspected collision state to a collision state, which will be used as the judgment standard for Information 2 in the future. When the door operator controller 2 determines that there is no abnormality and the sensor detects a suspected collision, the door operator controller 2 classifies it as a no-collision output and sends this result to the sensor system 1. The sensor system 1 internally reclassifies the data detected in this situation from the originally suspected collision state to a no-collision state, which will be used as the judgment standard for Information 2 in the future. When the door operator controller 2 determines that there is no abnormality and the sensor detects no collision, or when the door operator controller 2 determines that there is an abnormality and the sensor detects a collision, the sensor system 1 accepts the feedback and maintains the judgment standard for Information 2.

[0057] Furthermore, Figure 2 This illustrates a monitoring method for a monitoring system according to an exemplary embodiment of the present invention, comprising the following steps:

[0058] Step 1 (S1): The door controller 2 determines and obtains information 1 that the elevator door has moved to a certain area, and the sensor system 1 determines and obtains information 2 that the elevator door has moved to that area, and transmits information 2 to the door controller.

[0059] Step 2 (S2): The door operator controller 2 makes a comprehensive judgment based on information 1 and information 2, and the elevator door monitoring system outputs a normal operation or fault warning based on the judgment result;

[0060] Step 3 (S3): The door operator controller 2 feeds back the judgment result to the sensor system 1;

[0061] Step 4 (S4): Sensor system 1 maintains and / or modifies the judgment criteria of information 2 by judging the result.

[0062] In step two (S2), the comprehensive judgment method of the door operator controller 2 is as follows:

[0063] The priority of information 1 and information 2 when the elevator door moves to a certain area is: information 1 > information 2.

[0064] Table 1

[0065]

[0066] In this embodiment, as shown in Table 1, when the door operator controller 2 determines "abnormal movement," i.e., information one indicates abnormal movement, it means that the hall door 10 / car door 11 is experiencing an abnormal condition during operation for some reason. At this time, if the sensor system 1 detects "collision or suspected collision," i.e., information two indicates collision or suspected collision, it means that the hall door 10 / car door 11 is experiencing an abnormal operation due to external reasons (e.g., colliding with an object during operation). In this case, the elevator door monitoring system will report "normal operation," indicating that the hall door 10 and car door 11 are in a "fault-free" state at this time, and the door operator controller 2 will report "collision" to the sensor system 1. Conversely, if the sensor system 1 detects "no collision," i.e., information two indicates no collision, it means that the hall door 10 / car door 11 is experiencing an abnormal operation due to a problem with the elevator system itself. In this case, the elevator door monitoring system will report "fault warning," indicating that the hall door and car door are in a "fault" state at this time, thus providing a warning of a door system fault.

[0067] According to step four (S4), when sensor system 1 receives feedback that there is a collision, if information two was judged to be a collision first, then the judgment criterion of information two is maintained; if information two was judged to be a suspected collision first, then the suspected collision state is reclassified as a collision, and used as the judgment criterion of information two.

[0068] Furthermore, when the door operator controller 2 determines "no abnormal movement," i.e., information one indicates no abnormal movement, it means that the hall door 10 / car door 11 is operating normally. At this time, if the sensor system 1 detects "collision or suspected collision," i.e., information two indicates collision or suspected collision, it means that the sensor system 1's detection is incorrect. The elevator door monitoring system then reports "normal operation," indicating that the hall door 10 and car door 11 are in a "fault-free" state, and the door operator controller 2 reports "no collision" to the sensor system 1.

[0069] According to step four (S4), when sensor system 1 receives feedback that there is no collision, if information two was previously judged to be a collision or a suspected collision, then the state of having a collision or a suspected collision will be reclassified as no collision, and used as the judgment criterion for information two, so as to further improve the detection accuracy of the sensor.

[0070] According to an embodiment of the present invention, when the elevator door collides with an object, collides with an object 41 stuck in the guide rail, moves to the position of the dry paint 42 that has fallen on the guide rail, collides with a small object 43 stuck in the guide rail, or when the door mechanical parts malfunction, different information 1 and information 2 can be obtained. Based on the obtained information 1 and information 2, the elevator monitoring system can determine different results and improve the results of sensor erroneous or ambiguous judgments. Specific examples are as follows.

[0071] Example 1: Collision of objects

[0072] Combination Figure 5 The diagram illustrates a scenario where a hall door collides with an object according to an exemplary embodiment of the present invention. When the door operator controller 2 controls the car door 11 to move the hall door 10 to close, the hall door 10 collides with an object. At this time, the door operator controller 2 detects information one, indicating an abnormal movement, and the sensor system 1 detects information two, indicating a collision. The elevator door monitoring system of the present invention then determines that the elevator door is fault-free and feeds back (a collision has occurred) to the sensor system 1.

[0073] Example 2: An object stuck in the guide rail

[0074] Combination Figure 6 This diagram illustrates a scenario where a hall door collides with an object stuck on the guide rail, according to an exemplary embodiment of the present invention. When the door operator controller 2 controls the car door 11 to move the hall door 10 to close, the hall door 10 collides with an object stuck on the guide rail. At this time, the door operator controller 2 detects information one, indicating an abnormal movement, and the sensor system 1 detects information two, indicating a collision. Therefore, the elevator door monitoring system of the present invention determines that the elevator door is fault-free and feeds back (a collision has occurred) to the sensor system 1.

[0075] Example 3: Dry paint falling onto the guide rail

[0076] Combination Figure 7 The diagram illustrates a scenario where the hall door of the present invention moves to a position where a piece of dry paint has fallen onto the guide rail, according to an exemplary embodiment of the present invention. When the door operator controller 2 controls the car door 11 to move the hall door 10 to close, the hall door 10 moves to a position where a piece of dry paint has fallen onto the guide rail. At this time, the door operator controller 2 detects information one, indicating no abnormal movement, and the sensor system 1 detects information two, indicating a suspected collision. Therefore, the elevator door monitoring system of the present invention determines that the elevator door is fault-free and feeds back (no collision) to the sensor system 1.

[0077] Example 4: A small object stuck in the guide rail

[0078] Combination Figure 8 This diagram illustrates a scenario where a hall door collides with a small object stuck in the guide rail, according to an exemplary embodiment of the present invention. When the door operator controller 2 controls the car door 11 to move the hall door 10 to close, the hall door 10 collides with a small object stuck in the guide rail. At this time, the door operator controller 2 detects information one, indicating an abnormal movement, and the sensor system 1 detects information two, indicating a suspected collision. The elevator door monitoring system of the present invention then determines that the door is fault-free and feeds back (a collision has occurred) to the sensor system 1.

[0079] Example 5: Door mechanical component failure, causing vibration during operation.

[0080] When the door operator controller 2 controls the car door 11 to move the hall door 10 to close, the elevator door vibrates. The door operator controller 2 detects information one, indicating abnormal movement, while the sensor system 1 detects information two, indicating no collision. At this point, the elevator door monitoring system of the present invention determines that the elevator door is faulty.

[0081] Those skilled in the art will understand that the embodiments described above are exemplary and can be improved upon. The structures described in the various embodiments can be freely combined without causing any conflict in structure or principle.

[0082] Although the invention has been described in conjunction with the accompanying drawings, the embodiments disclosed in the drawings are intended to illustrate preferred embodiments of the invention and should not be construed as limiting the invention.

[0083] While some embodiments of the present general inventive concept have been shown and described, those skilled in the art will understand that changes may be made to these embodiments without departing from the principles and spirit of the present general inventive concept, the scope of which is defined by the claims and their equivalents.

[0084] It should be noted that the word "comprising" does not exclude other elements or steps, and the words "a" or "an" do not exclude multiple elements. Furthermore, any reference numerals in the claims should not be construed as limiting the scope of the invention.

Claims

1. An elevator door monitoring system, comprising a sensor system (1), a door operator controller (2), and a memory (3), wherein the door operator controller (2) is connected to the sensor system (1) and the memory (3) respectively, and the door operator controller (2) controls the movement of the car door (11), the car door (11) drives the hall door (10) to realize the opening and closing of the entrance and exit, characterized in that: The door controller (2) determines and acquires information one that the elevator door has moved to a certain area, and the sensor system (1) detects and acquires information two that the elevator door has moved to the area. The information one includes abnormal movement and no abnormal movement; the information two includes collision, suspected collision and no collision. The door operator controller (2) determines the operating status of the elevator door based on the information one and information two, and outputs the judgment result according to the following rules: when the information one indicates abnormal movement and the information two indicates collision or suspected collision, it outputs normal operation; when the information one indicates abnormal movement and the information two indicates no collision, it outputs a fault warning; when the information one indicates no abnormal movement and the information two indicates collision, suspected collision, or no collision, it outputs normal operation; and provides the judgment result to the sensor system (1). The sensor system (1) maintains and / or modifies the judgment criteria of the second information through the judgment result.

2. The elevator door monitoring system according to claim 1, characterized in that, The door operator controller (2) obtains information by comparing the initial physical data and the actual physical data. The initial physical data is the physical data when the elevator is normally opening and closing after installation and commissioning. The actual physical data is the physical data of the elevator door operation after each floor stop during elevator operation.

3. The elevator door monitoring system according to claim 2, characterized in that, The physical data are current data and / or velocity data.

4. The elevator door monitoring system according to claim 1, characterized in that, The second information is information within the threshold field of view provided by the sensor system (1), including at least information on the entry and exit of people or objects.

5. The elevator door monitoring system according to claim 4, characterized in that, The information within the threshold field of view includes whether there is an object colliding with the door, and information about small debris on the door sliding rail.

6. An elevator door monitoring system according to any one of claims 1-5, characterized in that, The sensors in the sensor system (1) include at least one of the following: radar sensor, time-of-flight sensor, infrared sensor, three-dimensional light curtain, and optical sensor.

7. The elevator door monitoring system according to claim 6, characterized in that, The sensor is a three-dimensional light curtain.

8. An elevator door monitoring system according to any one of claims 1-5, characterized in that, The sensor is installed on the car door head (16).

9. A monitoring method using the elevator door monitoring system as described in any one of claims 1-8, comprising the following steps: S1, the door operator controller (2) determines and obtains information one that the elevator door has moved to a certain area; the sensor system (1) detects and obtains information two that the elevator door has moved to that area, and transmits information two to the door operator controller (2); S2, the door operator controller (2) makes a comprehensive judgment based on information one and information two, and the elevator door monitoring system outputs a normal operation or fault warning based on the judgment result; S3, the door controller (2) feeds back the judgment result to the sensor system (1). S4, the sensor system (1) maintains and / or modifies the judgment criteria of the second information through the judgment result.

10. The monitoring method according to claim 9, characterized in that, In step S2, the door operator controller (2) makes a comprehensive judgment as follows: Information 1 about the elevator door moving to a certain area has a higher priority than information 2 about the elevator door moving to that area.

11. The monitoring method according to claim 10, characterized in that, When information one indicates abnormal movement and information two indicates collision or suspected collision, the elevator door monitoring system outputs "normal operation" and the door controller (2) feeds back "collision" to the sensor system (1); when information one indicates abnormal movement and information two indicates no collision, the elevator door monitoring system outputs "fault warning".

12. The monitoring method according to claim 11, characterized in that, When the sensor system (1) receives feedback that there is a collision, if information two is judged to be a collision first, then the judgment criterion of information two is maintained; if information two is judged to be a suspected collision first, then the suspected collision state is classified as a collision, and used as the judgment criterion of information two.

13. The monitoring method according to claim 10, characterized in that, When information one indicates no abnormality and information two indicates a collision or suspected collision, the elevator door monitoring system outputs "normal operation" and the door controller (2) feeds back "no collision" to the sensor system (1); when information one indicates no abnormality and information two indicates no collision, the elevator door monitoring system outputs "normal operation".

14. The monitoring method according to claim 13, characterized in that, When the sensor system (1) receives feedback that there is no collision, it classifies the state of collision or suspected collision as no collision, and uses this as the judgment criterion for the second information.

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