A method, device, and storage medium for detecting a rope

Abstract

The application discloses a rope detection method, device and equipment and a storage medium. The method comprises the following steps: driving a sensor to learn a detection threshold value for detecting a rope; receiving a closed signal that a hall door and a car door are both closed; in response to the closed signal, driving the sensor to detect a real-time distance of an obstacle in a detection range, the detection range being located between a first door gap, a second door gap and a plane below a sill, and excluding a hall sill and a car sill; and detecting whether the hall door and / or the car door is clamped with the rope according to the detection threshold value and the real-time distance. According to the embodiment, the detection range of the sensor is restricted, the precision requirement of the sensor is reduced, the hardware cost is reduced as much as possible, the rope can be restricted from entering the detection range of the sensor when the door is closed, the detection threshold value is self-adapted according to the elevator learning, and whether the hall door and / or the car door is clamped with the rope can be effectively detected.

Description

Technical Field

[0001] This invention relates to the technical field of elevators, and more particularly to a method, apparatus, equipment, and storage medium for detecting rope-like objects. Background Technology

[0002] In residential buildings, office buildings, shopping malls and other buildings, multiple elevators are often installed for users to go up and down floors and move goods.

[0003] Elevator doors are typically equipped with devices that detect foreign objects, such as light curtains, touch panels, motors, door lock contacts, etc. When the elevator doors are closing, if these devices detect a foreign object near the elevator doors, they will stop the elevator doors from closing.

[0004] Since these devices are mainly used to detect large foreign objects, in scenarios where users are moving miscellaneous items or leading pets, they may use rope-like objects (such as strips of cloth or leashes). These rope-like objects are small in size and may be missed during detection. As the elevator doors close normally, the rope-like objects may get caught. When the elevator is running, they may drag the user and their belongings or pets, causing injury and leading to a safety accident. Summary of the Invention

[0005] This invention provides a method, apparatus, device, and storage medium for detecting rope-like objects, in order to solve the problem of how to detect rope-like objects when elevator doors are closed.

[0006] According to one aspect of the present invention, a method for detecting rope-like objects is provided, wherein a sensor with a downward detection direction is installed in an elevator, the sensor being located between the upper sill of the hall door and the upper sill of the car door, and between a first door gap when the hall door is closed and a second door gap when the car door is closed, the method comprising:

[0007] The sensor is driven to learn a detection threshold for detecting rope-like objects in the elevator.

[0008] Receive a closing signal indicating that both the hall door and the car door are closed;

[0009] In response to the closing signal, the sensor is driven to detect the real-time distance of the obstacle within the detection range, which is located between the first door gap, the second door gap and the plane below the sill, and excludes the hall door sill and the car door sill;

[0010] Based on the detection threshold and the real-time distance, detect whether the hall door and / or the car door are clamped with rope-like objects.

[0011] According to another aspect of the present invention, a rope-like object detection device is provided, wherein a downward-facing sensor is provided in an elevator, the sensor being located between the upper sill of the landing door and the upper sill of the car door, and between a first door gap when the landing door is closed and a second door gap when the car door is closed, the device comprising:

[0012] A detection threshold learning module is used to drive the sensor to learn the detection threshold for detecting rope-like objects in the elevator.

[0013] A closure signal receiving module is used to receive closure signals that both the hall door and the car door are closed;

[0014] A real-time distance detection module is used to respond to the closing signal and drive the sensor to detect the real-time distance of the obstacle within the detection range, wherein the detection range is located between the first door gap, the second door gap and the plane below the sill, and excludes the hall door sill and the car door sill;

[0015] A rope-like object detection module is used to detect whether the hall door and / or the car door are clamped with rope-like objects based on the detection threshold and the real-time distance.

[0016] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0017] At least one processor; and

[0018] A memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the rope detection method according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program, the computer program being configured to cause a processor to execute and implement the rope detection method according to any embodiment of the present invention.

[0021] In this embodiment, a downward-facing sensor is installed in the elevator, located between the upper sill of the hall door and the upper sill of the car door, and between the first door gap when the hall door is closed and the second door gap when the car door is closed. The sensor is driven to learn a detection threshold for detecting rope-like objects from the elevator. It receives a closing signal when both the hall door and the car door are closed. In response to the closing signal, the sensor is driven to detect the real-time distance of obstacles within its detection range. The detection range is located between the first door gap, the second door gap, and the plane below the sill, excluding the hall door sill and the car door sill. Based on the detection threshold and the real-time distance, it detects whether a rope-like object is caught in the hall door and / or car door. This embodiment reduces the accuracy requirements of the sensor by constraining its detection range, minimizing hardware costs. When the doors are closed, it can restrict rope-like objects from entering the sensor's detection range. Using an adaptive detection threshold learned by the elevator, it can effectively detect whether a rope-like object is caught in the hall door and / or car door.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart of a method for detecting rope-like objects according to Embodiment 1 of the present invention;

[0025] Figure 2 This is a schematic diagram of a sensor installation according to Embodiment 1 of the present invention;

[0026] Figure 3 This is a schematic diagram of a sensor for detecting a rope-like object on a sill according to Embodiment 1 of the present invention;

[0027] Figure 4 This is a schematic diagram showing the detection range of a sensor covering a sill according to Embodiment 1 of the present invention;

[0028] Figure 5 This is a schematic diagram of the structure of a rope-like object detection device according to Embodiment 2 of the present invention;

[0029] Figure 6 This is a schematic diagram of the structure of an electronic device provided according to Embodiment 3 of the present invention. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be used interchangeably where appropriate so that the embodiments of the invention described herein can cover implementations in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] Example 1

[0033] Figure 1 This is a flowchart of a rope-like object detection method provided in Embodiment 1 of the present invention. This embodiment is applicable to detecting rope-like objects when elevator doors are closed. The method can be executed by a rope-like object detection device, which can be implemented in hardware and / or software and can be configured in an electronic device. Figure 1 As shown, the method includes:

[0034] Step 101: Drive the sensor to learn the detection threshold for detecting rope-like objects on the elevator.

[0035] Different types of buildings, especially high-rise buildings, have different transportation needs for people, pets, and goods. Therefore, different types of elevators can be deployed in buildings according to different transportation needs, such as passenger elevators, freight elevators, sightseeing elevators, etc. This embodiment does not impose any restrictions on this.

[0036] The structure of elevators also varies among different types of elevators.

[0037] In one example, the components of a certain type of elevator include the elevator control system, car, traction machine, control cabinet, speed governor, door operator, car frame, car door, counterweight guide rail, car guide rail, guide rail support, traveling cable, counterweight device, compensating chain (cable), landing door, guide device for compensating chain (cable), buffer, etc.

[0038] In some types of elevators, the traction machine, control cabinet, speed governor, traveling cable, etc., can be omitted.

[0039] These components can be divided into different sets according to their functions, thus forming various subsystems that support the operation of the elevator. The elevator control system is connected to the multiple systems of the elevator via wired means such as serial port or serial clock line (SCL). The elevator control system monitors each system and controls the operation of each subsystem, so that the car moves in the hoistway and reaches each floor of the building.

[0040] In one example, the system includes a door system, a frequency conversion system, a call system, and a traction system. The door system controls the elevator doors. The car is equipped with a car door, and the elevator has hall doors on each floor. The elevator doors include the car door and the hall doors on each floor. The car door and the hall door are of the same type and open and close simultaneously. The frequency conversion system controls the frequency converter. The call system controls the logic of internal call (calling the elevator from inside the car) and external call (calling the elevator from the hall). The traction system controls the car's movement in the hoistway.

[0041] like Figure 2 As shown, a sensor 201 with a downward detection direction (especially vertically downward) is installed in the elevator. The sensor 201 is generally a distance sensor, that is, the sensor 201 emits a signal (such as an infrared signal, ultrasonic signal, laser signal, etc.) along the detection direction. When the emitted signal is reflected by the obstacle, the distance from the obstacle to the sensor is detected by using the principle of the time of flight of the signal.

[0042] The sensor 201 is located between the upper threshold 211 of the hall door and the upper threshold 212 of the car door, and between the first door gap when the hall door is closed and the second door gap when the car door is closed, so that the detection range 202 of the sensor is parallel to the first door gap and the second door gap.

[0043] Normally, sensor 201 is installed on the side of car door sill 212 facing hall door sill 111. Therefore, sensor 201 can move with the car to detect rope-like objects on each floor, minimizing hardware costs.

[0044] If both the sedan door and the hall door are center-opening doors, then both the sedan door and the hall door include a left door and a right door. In this case, the first door gap is the junction of the left and right doors of the hall door, and the second door gap is the junction of the left and right doors of the sedan door.

[0045] If both the sedan door and the hall door are side-opening doors, then both the sedan door and the hall door are foldable doors. In this case, the first door gap is the junction of the hall door and the door frame, and the second door gap is the junction of the sedan door and the door frame.

[0046] Furthermore, such as Figure 2 As shown, the sensor has the following characteristics:

[0047] 1. The range (also known as the detection distance) of sensor 201 is greater than or equal to the door opening height H, where the door opening height H is the height of the space when both the car door and the hall door are open.

[0048] 2. The sensor 201 has a narrow detection angle and is prohibited from detecting the hall door sill 231 and the car door sill 232.

[0049] Furthermore, such as Figure 3 and Figure 4 As shown, if the sensor's detection range covers the sill (hall door sill or car door sill), when the rope 300 hangs down close to the sill, the distance change caused by the rope 300 is the size of the rope (such as the length of the cross section) d.

[0050] To detect the rope-like object 300 under the above working conditions, the sensor's resolution should be higher than the size of the rope-like object 300, reaching the sub-millimeter level. This would result in higher hardware costs, and slight vibrations, leveling errors, and other factors could cause false detections.

[0051] If the sensor's detection range does not cover the sill, then under the above working conditions, the distance change caused by the rope-like object 300 close to the sill will be much larger. The sensor's resolution can be at the centimeter level, which can reduce costs and facilitate promotion and application.

[0052] Specifically, in order to detect the rope-like object 300 that is close to the embankment, the resolution of the sensor should be greater than d. However, since the size of the rope-like object 300 is generally small, its size d is mostly within 20mm. Some coiled and stored traction ropes may only have a diameter of 2-3mm. That is, the resolution of the sensor should reach 1mm or higher.

[0053] If the sensor's detection range does not cover the sill, but is within a distance L (e.g., 100mm) below the sill and does not reach the footboard or well wall, then when the rope 300 is close to the sill, the distance detected by the sensor will change by no less than (L+d). That is, the sensor's resolution only needs to reach L / 2 (e.g., 50mm).

[0054] 3. The signal emitted by sensor 201 can penetrate directly in the shaft without hitting any obstacles within its range, or it can hit obstacles such as shaft wall 260, hall door foot guard 251, or car door foot guard 252 within its range.

[0055] If the signal emitted by sensor 201 hits the shaft wall 260, the hall door foot guard 251, or the car door foot guard 252, then the distance L between the position of the signal emitted by sensor 201 hitting the shaft wall 260, the hall door foot guard 251, or the car door foot guard 252 and the surface of the sill (hall door sill 231 or car door sill 232) is greater than the resolution of sensor 201. That is, sensor 201 can distinguish the background (shaft wall, hall door foot guard, car door foot guard) and the foreground (obstacles higher than the sill).

[0056] Since there are certain structural differences between different elevators, in business scenarios such as debugging sensors, the sensors can be driven to learn the detection threshold for detecting rope-like objects for the current elevator, thereby improving the accuracy of detecting rope-like objects.

[0057] In one embodiment of the present invention, step 101 may include the following steps:

[0058] Step 1011: When both the hall door and the car door are closed and there are no rope-like objects in the detection range, drive the sensor to detect the distance of obstacles within the detection range.

[0059] In this embodiment, the detection range is between the first door gap, the second door gap and a plane below the sill (such as the shaft wall, the hall door foot guard, the car door foot guard and a logically set plane), excluding the hall door sill and the car door sill.

[0060] The elevator is activated in rope learning mode. In rope learning mode, objects (especially ropes) that obstruct the closing of the hall door and car door are closed at the same time, and it is ensured that there are no objects (especially ropes) in the detection range that would obstruct the closing of the hall door and car door. At this time, the drive sensor detects the distance between the sensor and the obstacle in the detection range, and records it as the debugging distance.

[0061] Among them, rope-like objects refer to objects with the same or similar shape as ropes. They can have a fixed shape or a non-fixed shape, such as pet leashes, binding lines, electrical wires, textiles, small wooden sticks, etc.

[0062] Step 1012: Set the reference distance for the sensor based on the debugging distance.

[0063] Since the signal emitted by the sensor can penetrate directly in the shaft and not hit any obstacles within its range, or it can hit obstacles such as the shaft wall, hall door foot guard, or car door foot guard within its range, a reference distance can be set for the sensor based on the adjustment distance to indicate the distance detected when there are no rope-like objects in the detection range.

[0064] In practical implementation, the sensor's measurement range L max This is one of the hyperparameters of the sensor. It can be pre-entered by technicians into the database of the elevator control system, etc. Therefore, the sensor's range L can be queried from the database of the elevator control system. max .

[0065] Adjustment distance L t With the sensor's range L max Compare them.

[0066] If the debugging distance is L t Less than or equal to the range L max Then the debugging distance L t Set the reference distance L0 for the sensor, i.e., L t ≤L max L0 = L t .

[0067] If the debugging distance is L t Greater than the range L max Then the range L max Set the reference distance L0 for the sensor, i.e., L t >L max L0 = L max .

[0068] Step 1013: Query the elevator door opening height and the sensor resolution.

[0069] In practical implementation, the elevator door opening height is one of the elevator's hyperparameters, and the sensor resolution is one of the sensor's hyperparameters. These can be pre-input into the elevator control system's database or other objects by technicians. Therefore, the elevator door opening height and sensor resolution can be queried from the elevator control system's database or other objects.

[0070] Step 1014: Based on the reference distance, door opening height, and resolution, the elevator learns a first threshold representing the upper limit of the error range and a second threshold representing the lower limit of the error range for detecting rope-like objects, and uses them as detection thresholds.

[0071] In this embodiment, two detection thresholds for detecting rope-like objects can be learned for the elevator, denoted as the first threshold C. h With the second threshold C l If there is an error range when detecting rope-like objects, then the first threshold C h Indicates the upper limit of the error range, the second threshold C l This represents the lower limit of the error range. Therefore, the first threshold C... h Greater than the second threshold C l That is, C h >C l .

[0072] In practical implementation, the first threshold C for the elevator can be learned by combining the sensor's reference distance L0, the elevator's door opening height H, and the sensor's resolution p. h With the second threshold C l .

[0073] Wherein, the first threshold C h Positively correlated with the sensor's reference distance L0, the first threshold C h The threshold C is negatively correlated with both the elevator door opening height H and the sensor resolution p; that is, the larger the sensor's reference distance L0, the lower the threshold C. h The larger the value, the smaller the reference distance L0 of the sensor, and the smaller the first threshold C. h The smaller the value; the larger the door opening height H, the higher the sensor resolution p, and the higher the first threshold C. h The larger the opening height H, the lower the sensor resolution p, and the lower the first threshold C. h The smaller.

[0074] Second threshold C l Positively correlated with the sensor's reference distance L0, the second threshold C l The second threshold C is negatively correlated with both the elevator door opening height H and the sensor resolution p; that is, the larger the sensor's reference distance L0, the lower the threshold C. l The larger the value, the smaller the reference distance L0 of the sensor, and the smaller the second threshold C. l The smaller the threshold value, the larger the door opening height H, the higher the sensor resolution p, and the higher the second threshold value C. l The larger the opening height H, the lower the sensor resolution p, and the lower the second threshold C. l The smaller.

[0075] For example, on the one hand, for the current elevator, the reference distance L0 of the sensor is subtracted from the elevator door opening height H and the sensor resolution p respectively to obtain a first threshold C, which represents the upper limit of the error range, for detecting rope-like objects. h That is, C h =L0-Hp.

[0076] On the other hand, the resolution p of the sensor is magnified. In this case, the resolution p of the sensor can be multiplied by a preset magnification weight x, where x≥2.

[0077] For the current elevator, subtract the elevator door opening height H and the magnified sensor resolution p from the sensor's reference distance L0 to obtain the second threshold C, which represents the upper limit of the error range for detecting rope-like objects. l That is, C l =L0-H-xp.

[0078] In another embodiment of the present invention, step 101 may include the following steps:

[0079] Step 1015: Query the sensor resolution.

[0080] In practical implementation, the sensor resolution is one of the sensor's hyperparameters. It can be pre-input into the database of the elevator control system by technicians. Therefore, the sensor resolution can be determined from the database of the elevator control system.

[0081] Step 1016: For the elevator, the product between the resolution and the preset first magnification factor is set as the first threshold representing the upper limit of the error range for detecting rope-like objects, and is used as the detection threshold.

[0082] For the current elevator, the sensor resolution p can be multiplied by a preset first amplification factor y (y≥1) to amplify the sensor resolution p, thus obtaining a first threshold C representing the upper limit of the error range for detecting rope-like objects. h , as the detection threshold, i.e., C h =yp.

[0083] Step 1017: For the elevator, subtract the product between the resolution and the preset first magnification factor from the first threshold to obtain the second threshold, which represents the lower limit of the error range for detecting rope-like objects, and use it as the detection threshold.

[0084] For the current elevator, the first threshold C can be... h Subtracting the product between the sensor's resolution p and the preset second amplification factor z (z≥1), we obtain the second threshold C, which represents the lower limit of the error range, used for detecting rope-like objects. l , as the detection threshold, i.e., C l =C h -zp.

[0085] The first amplification factor is greater than the second amplification factor.

[0086] Step 102: Receive the closing signal indicating that both the hall door and the car door are closed.

[0087] During elevator operation, when the hall door and car door are opening and closing, the closing signal generated when both the hall door and car door are closed (such as when the door lock contacts are closed) can be monitored in real time.

[0088] Step 103: In response to the closing signal, drive the sensor to detect the real-time distance of the obstacle within the detection range.

[0089] Because the sensor has a small detection range, the rope may be located in other positions when the elevator doors (hall door and car door) are not fully closed. However, when the elevator doors (hall door and car door) are closed, the traction rope will be confined to the door gaps (first door gap and second door gap) and enter the sensor's detection range to achieve measurement.

[0090] Therefore, after detecting the closing signal and before the car moves, the sensor can be driven to emit a signal within the detection range and receive the signal returned by the obstacle, thereby detecting the distance between the sensor and the obstacle, which is recorded as the real-time distance.

[0091] Step 104: Detect whether there are rope-like objects caught in the hall door and / or car door based on the detection threshold and real-time distance.

[0092] In this embodiment, a detection threshold can be compared with a real-time distance to detect whether a rope-like object is caught in the hall door (especially the first door gap) and / or the car door (especially the second door gap).

[0093] In a case where a rope-like object is caught in the door (especially the first door gap), the end of the rope-like object extends between the first door gap of the door and the second door gap of the sedan door, while the sedan door (especially the second door gap) is not caught in the rope-like object.

[0094] In another case where a rope-like object is clamped, the sedan door (especially the second door gap) is clamped with a rope-like object, the end of which extends between the first door gap of the hall door and the second door gap of the sedan door, while the hall door (especially the first door gap) is not clamped with a rope-like object.

[0095] In another case where a rope-like object is caught in the doorway (especially the first door gap), a portion of the rope extends between the first door gap of the doorway and the second door gap of the sedan door, and the sedan door (especially the second door gap) is also caught in the rope-like object.

[0096] In the specific implementation, for each moment, the reference distance L0 detected by the sensor when there is no rope-like object in the detection range can be queried, and the real-time distance L can be subtracted from the reference distance L0. i The distance deviation ΔL is obtained. i That is, ΔL i =L0-L i .

[0097] ΔL i respectively with the first threshold C h With the second threshold C l Compare them.

[0098] If the distance deviation ΔL i Greater than the first threshold C h That is, ΔL i >C h If so, it is determined that the hall door and / or sedan door are currently clamped with a rope-like object.

[0099] If the distance deviation ΔL i Less than the second threshold C l That is, ΔL i <C l This confirms that neither the hall door nor the sedan door has any rope-like objects caught in them at the current moment.

[0100] If the distance deviation ΔL i Less than or equal to the first threshold C h And greater than or equal to the second threshold C l That is, C h ≥ΔL i ≥C l Then, whether the hall door and / or sedan door had a rope-like object caught in the previous moment is assigned as whether the hall door and / or sedan door have a rope-like object caught in the current moment.

[0101] If the hall door and / or sedan door both had ropes in the previous moment, then the hall door and / or sedan door have ropes in the current moment; if neither the hall door nor the sedan door had ropes in the previous moment, then neither the hall door nor the sedan door has ropes in the current moment.

[0102] If neither the hall door nor the car door is entangled with any rope, the elevator's operating instructions remain unchanged. For example, if the operating instruction is an internal call instruction, the elevator responds to the internal call instruction, controls the car to move, and transports the user to the floor indicated by the internal call instruction; if the operating instruction is an external call instruction, the elevator responds to the external call instruction, controls the car to move, and goes to the floor that triggered the external call instruction to pick up the user; if the operating instruction is a standby instruction, the elevator stops controlling the car to move or moves the car to the designated floor and keeps the elevator doors closed.

[0103] If a rope is caught in the hall door and / or car door, both doors will be opened simultaneously to allow the user to safely enter or leave the car with their belongings or pets.

[0104] Currently, the devices used to detect foreign objects in elevators and the methods for detecting them are as follows:

[0105] 1. Light curtain

[0106] For elevator doors, a pair of light curtains are installed between the left and right door panels or between the door panel and the door frame. The transmitter of the light curtain emits a signal (usually infrared light), and the receiver of the light curtain receives the signal. When a passenger, object, or pet passes through the plane detected by the light curtain, it blocks the signal between the transmitter and receiver. The receiver cannot receive the signal, thus detecting the user, object, or pet.

[0107] However, the light spot spacing at the transmitting end and the light spot spacing at the receiving end of the light curtain determine the minimum size of the foreign object that the light curtain can detect. Generally speaking, the size of a rope-like object is smaller than the minimum size of the foreign object that the light curtain can detect. If the light spots are to be densified and the photoelectric spacing is to be reduced, there will be problems such as increased cost and extended scanning time.

[0108] 2. Contact plate

[0109] The touch panel is installed on the elevator door and protrudes from the door. When the elevator door closes, if the touch panel hits a passenger or object, it triggers a microswitch behind the touch panel, thereby detecting the user, object, or pet.

[0110] However, rope-like objects such as traction ropes are mostly quite soft. When the contact plate clamps the rope-like object, the rope-like object may not be able to push the contact plate to the position that would trigger the micro switch.

[0111] 3. Motor

[0112] The elevator door motor controller can detect the speed and torque of the motor rotation. When the closing speed is less than a certain threshold and / or the torque is greater than a certain threshold, it will detect that the door is blocked by a user, object or pet.

[0113] However, when the elevator door is fully closed, the speed is low and the torque is mostly the preset torque used to keep the door closed. When the elevator door catches the rope, the change in speed and torque is small because the position is close to that of the fully closed door, and it may not reach the threshold.

[0114] D. Door lock contacts

[0115] For elevator doors, a pair of circuit contacts are installed between the door panels or between the door panel and the door frame. When the elevator door is closed, the contacts are connected; when the elevator door is not fully closed, the contacts are disconnected. If an object is trapped in the door, the contacts cannot be connected, thus detecting that the elevator door is blocked by a user, object, or pet.

[0116] However, since ropes such as traction ropes are small, even if the elevator door gets caught in the rope, the door lock contacts may still remain open.

[0117] In this embodiment, a downward-facing sensor is installed in the elevator, located between the upper sill of the hall door and the upper sill of the car door, and between the first door gap when the hall door is closed and the second door gap when the car door is closed. The sensor is driven to learn a detection threshold for detecting rope-like objects from the elevator. It receives a closing signal when both the hall door and the car door are closed. In response to the closing signal, the sensor is driven to detect the real-time distance of obstacles within its detection range. The detection range is located between the first door gap, the second door gap, and the plane below the sill, excluding the hall door sill and the car door sill. Based on the detection threshold and the real-time distance, it detects whether a rope-like object is trapped in the hall door and / or the car door. This embodiment reduces the accuracy requirements of the sensor by constraining its detection range, minimizing hardware costs. When the doors are closed, it can restrict rope-like objects from entering the sensor's detection range. Using an adaptive detection threshold learned by the elevator, it can effectively detect whether a rope-like object is trapped in the hall door and the car door.

[0118] Example 2

[0119] Figure 5 This is a schematic diagram of a rope-like object detection device provided in Embodiment 2 of the present invention. A sensor with a downward detection direction is installed in the elevator. The sensor is located between the upper sill of the hall door and the upper sill of the car door, and between the first door gap when the hall door is closed and the second door gap when the car door is closed. Figure 5 As shown, the device includes:

[0120] The detection threshold learning module 501 is used to drive the sensor to learn the detection threshold for detecting rope-like objects in the elevator.

[0121] The closing signal receiving module 502 is used to receive closing signals from both the hall door and the car door.

[0122] The real-time distance detection module 503 is used to respond to the closing signal and drive the sensor to detect the real-time distance of the obstacle within the detection range, wherein the detection range is located between the first door gap, the second door gap and the plane below the sill, and excludes the hall door sill and the car door sill;

[0123] The rope detection module 504 is used to detect whether the hall door and / or the car door are clamped with ropes based on the detection threshold and the real-time distance.

[0124] In one embodiment of the present invention, the detection threshold learning module 501 includes:

[0125] The debugging distance detection module is used to drive the sensor to detect the debugging distance of obstacles within the detection range when both the hall door and the car door are closed and there are no rope-like objects in the detection range;

[0126] A reference distance setting module is used to set a reference distance for the sensor based on the debugging distance;

[0127] The hyperparameter query module is used to query the elevator door opening height and the sensor resolution;

[0128] The dual threshold setting module is used to learn a first threshold representing the upper limit of the error range and a second threshold representing the lower limit of the error range for detecting rope-like objects based on the reference distance, the door opening height and the resolution, and use them as detection thresholds.

[0129] In one embodiment of the present invention, the reference distance setting module includes:

[0130] The range query module is used to query the range of the sensor;

[0131] The debugging distance setting module is used to set the debugging distance as the reference distance of the sensor if the debugging distance is less than or equal to the range.

[0132] The range setting module is used to set the range as the reference distance of the sensor if the debugging distance is greater than the range.

[0133] In one embodiment of the present invention, the dual threshold setting module includes:

[0134] The first threshold setting module is used to subtract the door opening height and the resolution from the reference distance for the elevator to obtain a first threshold representing the upper limit of the error range for detecting rope-like objects.

[0135] The second threshold setting module is used to subtract the door opening height and the magnified resolution from the reference distance for the elevator to obtain a second threshold representing the upper limit of the error range for detecting rope-like objects.

[0136] In another embodiment of the present invention, the detection threshold learning module 501 includes:

[0137] A resolution query module is used to query the resolution of the sensor;

[0138] The first threshold calculation module is used to set the product between the resolution and the preset first magnification factor as a first threshold for detecting rope-like objects, representing the upper limit of the error range, for the elevator.

[0139] The second threshold calculation module is used to subtract the product between the resolution and the preset first magnification factor from the first threshold for the elevator to obtain a second threshold representing the lower limit of the error range for detecting rope-like objects, which is then used as the detection threshold.

[0140] In one embodiment of the present invention, the detection threshold includes a first threshold representing the upper limit of the error range and a second threshold representing the lower limit of the error range; the rope-like object detection module 504 includes:

[0141] The reference distance query module is used to query the reference distance detected by the sensor when there are no rope-like objects in the detection range;

[0142] The distance deviation calculation module is used to subtract the real-time distance from the reference distance to obtain the distance deviation.

[0143] The first detection result determination module is used to determine that if the distance deviation is greater than the first threshold, the hall door and / or the car door is clamped with a rope-like object.

[0144] The second detection result determination module is used to determine that neither the hall door nor the car door has any rope-like objects if the distance deviation is less than the second threshold.

[0145] The third detection result determination module is used to assign the value of whether the hall door and / or the car door had a rope-like object in the previous moment to whether the hall door and / or the car door had a rope-like object in the current moment if the distance deviation is less than or equal to the first threshold and greater than or equal to the second threshold.

[0146] In one embodiment of the present invention, it further includes:

[0147] An operation command maintenance module is used to maintain the operation command of the elevator if neither the hall door nor the car door is caught with a rope-like object.

[0148] The door opening control module is used to simultaneously open the hall door and the car door if a rope-like object is caught in the hall door and / or the car door.

[0149] The rope-like object detection device provided in this embodiment of the invention can execute the rope-like object detection method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing the rope-like object detection method.

[0150] Example 3

[0151] Figure 6 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0152] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0153] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0154] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the rope detection method.

[0155] In some embodiments, the rope detection method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the rope detection method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the rope detection method by any other suitable means (e.g., by means of firmware).

[0156] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0157] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0158] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0159] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0160] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0161] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0162] Example 4

[0163] This invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the rope detection method provided in any embodiment of this invention.

[0164] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0165] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0166] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for detecting rope-like objects, characterized in that, A downward-facing sensor is installed in the elevator, located between the upper sill of the hall door and the upper sill of the car door, and between the first door gap when the hall door is closed and the second door gap when the car door is closed. The method includes: The sensor is driven to learn a detection threshold for detecting rope-like objects in the elevator; the detection threshold includes a first threshold representing the upper limit of the error range and a second threshold representing the lower limit of the error range. Receive a closing signal indicating that both the hall door and the car door are closed; In response to the closing signal, the sensor is driven to detect the real-time distance of the obstacle within the detection range, which is located between the first door gap, the second door gap and the plane below the sill, and excludes the hall door sill and the car door sill; Query the reference distance detected by the sensor when there are no rope-like objects in the detection range; Subtract the real-time distance from the reference distance to obtain the distance deviation; If the distance deviation is greater than the first threshold, it is determined that the hall door and / or the car door is clamped with a rope-like object; If the distance deviation is less than the second threshold, it is determined that neither the hall door nor the car door has any rope-like objects caught in them. If the distance deviation is less than or equal to the first threshold and greater than or equal to the second threshold, then whether the hall door and / or the car door had a rope-like object in the previous moment is assigned as whether the hall door and / or the car door has a rope-like object in the current moment. The step of driving the sensor to learn a detection threshold for detecting rope-like objects in the elevator includes: When both the hall door and the car door are closed and there are no rope-like objects within the detection range, the sensor is driven to detect obstacles within the detection range at a specified distance. Set a reference distance for the sensor based on the aforementioned debugging distance; Query the elevator door opening height and the sensor resolution; Based on the reference distance, the door opening height, and the resolution, the elevator learns a first threshold representing the upper limit of the error range and a second threshold representing the lower limit of the error range for detecting rope-like objects, and uses these as the detection threshold; or, Query the resolution of the sensor; For the elevator, the product of the resolution and the preset first magnification factor is set as a first threshold representing the upper limit of the error range for detecting rope-like objects, and is used as the detection threshold. For the elevator, the first threshold is subtracted from the product of the resolution and the preset second magnification factor to obtain a second threshold representing the lower limit of the error range for detecting rope-like objects, which is used as the detection threshold.

2. The method according to claim 1, characterized in that, Setting a reference distance for the sensor based on the debugging distance includes: Query the range of the sensor; If the adjustment distance is less than or equal to the range, then the adjustment distance is set as the reference distance of the sensor; If the adjustment distance is greater than the range, then the range is set as the reference distance of the sensor.

3. The method according to claim 1, characterized in that, The method of learning a first threshold representing the upper limit of the error range and a second threshold representing the lower limit of the error range for detecting rope-like objects based on the reference distance, the door opening height, and the resolution, and using these as detection thresholds, includes: For the elevator, the reference distance is subtracted from the door opening height and the resolution respectively to obtain a first threshold representing the upper limit of the error range for detecting rope-like objects; For the elevator, the reference distance is subtracted from the door opening height and the magnified resolution to obtain a second threshold representing the lower limit of the error range for detecting rope-like objects.

4. The method according to any one of claims 1-3, characterized in that, Also includes: If neither the hall door nor the car door is caught with any rope-like object, then the elevator operation command is maintained; If the hall door and / or the car door are fitted with a rope-like object, then the hall door and the car door shall be opened simultaneously.

5. A detection device for rope-like objects, characterized in that, A downward-facing sensor is installed in the elevator, located between the upper sill of the hall door and the upper sill of the car door, and between the first door gap when the hall door is closed and the second door gap when the car door is closed. The device includes: A detection threshold learning module is used to drive the sensor to learn the detection threshold for detecting rope-like objects in the elevator. A closure signal receiving module is used to receive closure signals that both the hall door and the car door are closed; A real-time distance detection module is used to respond to the closing signal and drive the sensor to detect the real-time distance of the obstacle within the detection range, wherein the detection range is located between the first door gap, the second door gap and the plane below the sill, and excludes the hall door sill and the car door sill; A rope-like object detection module is used to detect whether the hall door and / or the car door are stuck with rope-like objects based on the detection threshold and the real-time distance. The detection threshold learning module includes: The debugging distance detection module is used to drive the sensor to detect the debugging distance of obstacles within the detection range when both the hall door and the car door are closed and there are no rope-like objects in the detection range; A reference distance setting module is used to set a reference distance for the sensor based on the debugging distance; The hyperparameter query module is used to query the elevator door opening height and the sensor resolution; A dual-threshold setting module is used to learn, based on the reference distance, the door opening height, and the resolution, a first threshold representing the upper limit of the error range and a second threshold representing the lower limit of the error range for detecting rope-like objects in the elevator, and use these as detection thresholds; or... A resolution query module is used to query the resolution of the sensor; The first threshold calculation module is used to set the product between the resolution and the preset first magnification factor as a first threshold for detecting rope-like objects, representing the upper limit of the error range, for the elevator. The second threshold calculation module is used to subtract the product between the resolution and the preset second magnification factor from the first threshold for the elevator to obtain a second threshold representing the lower limit of the error range for detecting rope-like objects, which is used as the detection threshold. The detection threshold includes a first threshold representing the upper limit of the error range and a second threshold representing the lower limit of the error range; the rope-like object detection module includes: The reference distance query module is used to query the reference distance detected by the sensor when there are no rope-like objects in the detection range; The distance deviation calculation module is used to subtract the real-time distance from the reference distance to obtain the distance deviation. The first detection result determination module is used to determine that if the distance deviation is greater than the first threshold, the hall door and / or the car door is clamped with a rope-like object. The second detection result determination module is used to determine that neither the hall door nor the car door has any rope-like objects if the distance deviation is less than the second threshold. The third detection result determination module is used to assign the value of whether the hall door and / or the car door had a rope-like object in the previous moment to whether the hall door and / or the car door had a rope-like object in the current moment if the distance deviation is less than or equal to the first threshold and greater than or equal to the second threshold.

6. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the rope detection method according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method for detecting a rope-like object as described in any one of claims 1-4.

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