A pinch detection method and device, electronic equipment and storage medium

Abstract

The application discloses a kind of anti-pinch detection method, device, electronic equipment and storage medium, comprising: in the process of hall door closing, the door edge interval of two hall doors in horizontal direction is detected by TOF sensor, and the detection door edge interval is obtained, and the horizontal direction is the door body direction when hall door is completely closed;When obtaining detection door edge interval, obtain the included angle between hall door and horizontal direction as closing angle;Actual door edge interval of two hall doors is calculated based on closing angle and the total door body width of hall door;Based on the error between detection door edge interval and actual door edge interval at the same time, judge whether there is the obstacle that will be pinched between hall door;When there is the obstacle that will be pinched, then drive hall door to rebound to open door state.If there is obstacle between two hall doors, detection door edge interval is actually the distance from TOF sensor to obstacle, and obstacle is located between two hall doors, then detection door edge interval must be less than actual door edge interval, so it can be predicted that obstacle will be pinched.

Description

Technical Field

[0001] This invention relates to the field of elevator safety technology, and in particular to an anti-pinch detection method, device, electronic device, and storage medium. Background Technology

[0002] With social development, home elevators are becoming increasingly common. Platform home elevators typically use swing doors, where two doors open outwards, with the door width roughly matching the width of the car to maximize the hall door width. However, swing doors differ from traditional hall doors in that the edges of the two doors are not aligned during opening. Traditional light curtains cannot be used in platform home elevators, thus requiring a technology to provide anti-pinch functionality for the platform home elevator hall doors.

[0003] In existing technology, after receiving the elevator's door opening signal, the door controller drive module determines the elevator's leveling status. If the status is normal, the elevator's door drive activates the landing door. Normally, the data collected by the rotary encoder changes continuously. When the landing door is blocked, the data stops changing continuously (angle data remains unchanged or changes only slightly for a period). When the door is detected as blocked, it is driven to spring back to the open position to prevent further obstruction. However, this anti-pinch detection scheme only activates after obstruction or being blocked by an obstacle. Especially when the door is about to close, the clamping force between the two doors is large, causing impact damage to the landing door. If the obstacle is a person, it can easily cause injury, jeopardizing elevator safety. Summary of the Invention

[0004] This invention provides an anti-pinch detection method to solve the problem that existing anti-pinch strategies cannot predict when obstacles will be pinched, which may lead to damage to hall doors and people.

[0005] In a first aspect, the present invention provides an anti-pinch detection method applied to a platform home elevator, wherein the platform home elevator has two swing doors, and multiple TOF sensors are installed on the sides of the two swing doors. The anti-pinch detection method for the swing doors includes:

[0006] During the closing process of the hall doors, the TOF sensor detects the horizontal distance between the two hall doors to obtain the detected door edge distance. The horizontal direction is the direction of the door body when the hall doors are fully closed.

[0007] After obtaining the detected door edge distance, the angle between the hall door and the horizontal direction is obtained as the closing angle;

[0008] The actual door-to-door distance between the two hall doors is calculated based on the closing angle and the total width of the hall doors.

[0009] Based on the error between the detected door edge distance and the actual door edge distance at the same moment, it is determined whether there is an obstacle that will be trapped between the hall doors;

[0010] When there is an obstacle that is about to be trapped, the door will be driven to spring back to the open position.

[0011] Secondly, the present invention provides an anti-pinch detection device applied to a platform home elevator, wherein the two hall doors of the platform home elevator are double swing doors, and multiple TOF sensors are installed on the sides of the two hall doors. The anti-pinch detection device for the hall doors includes:

[0012] The door edge distance acquisition module is used to detect the horizontal door edge distance between the two hall doors through the TOF sensor during the closing process of the hall doors, and obtain the detected door edge distance. The horizontal direction is the door body direction when the hall doors are fully closed.

[0013] The closing angle acquisition module is used to obtain the angle between the hall door and the horizontal direction as the closing angle after obtaining the detected door edge distance;

[0014] The actual door edge spacing calculation module is used to calculate the actual door edge spacing between the two hall doors based on the closing angle and the total width of the hall doors;

[0015] The obstacle determination module is used to determine whether there is an obstacle that will be trapped between the hall doors based on the error between the detected door edge distance and the actual door edge distance at the same time.

[0016] The drive module is used to drive the hall door to the open state when there is an obstacle that is about to be trapped.

[0017] Thirdly, the present invention provides an electronic device, the electronic device comprising:

[0018] At least one processor; and

[0019] A memory communicatively connected to the at least one processor; wherein,

[0020] 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 anti-pinch detection method according to the first aspect of the present invention.

[0021] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the anti-pinch detection method described in the first aspect of the present invention.

[0022] This invention provides an anti-pinch detection method applied to a platform home elevator. The platform home elevator has two swing doors, and multiple Time-of-Flight (TOF) sensors are installed on the sides of the two doors. During the closing process, the TOF sensors detect the horizontal distance between the door edges of the two doors, obtaining the detected door edge distance. The horizontal direction is the direction of the door body when the doors are fully closed. When the detected door edge distance is obtained, the angle between the door and the horizontal direction is acquired as the closing angle. The actual door edge distance between the two doors is calculated based on the closing angle and the total door width. The error between the detected door edge distance and the actual door edge distance at the same moment is used to determine whether there is an obstacle that is about to be pinched between the doors. If there is an obstacle that is about to be pinched, the doors are driven to spring back to the open state. During the closing process of the hall doors, if there are no obstacles between the two hall doors, the distance from the TOF sensor to the opposite door edge detected by the TOF sensor is the door edge distance between the two hall doors. This door edge distance is the same as or close to the actual door edge distance. If there are obstacles between the two hall doors, the detected door edge distance is actually the distance from the TOF sensor to the obstacle. Since the obstacle is located between the two hall doors, the detected door edge distance will necessarily be less than the actual door edge distance. Therefore, based on the error between the detected door edge distance and the actual door edge distance at the same moment, it is possible to determine whether there is an obstacle that is about to be trapped between the hall doors. It is possible to predict that the obstacle is about to be trapped and to identify the obstacle before the hall door collides with the obstacle, thus avoiding damage to the hall door or injury to the human body.

[0023] 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

[0024] 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.

[0025] Figure 1 This is a schematic diagram of a gate system structure provided in Embodiment 1 of the present invention;

[0026] Figure 2 This is a schematic diagram of a double-leaf swing door provided in Embodiment 2 of the present invention;

[0027] Figure 3 This is a schematic diagram of a TOF sensor installed on the edge of a hall door, according to Embodiment 1 of the present invention;

[0028] Figure 4This is a flowchart of an anti-pinch detection method provided in Embodiment 1 of the present invention;

[0029] Figure 5 This is a three-dimensional schematic diagram of a hall door during the closing process provided in Embodiment 1 of the present invention;

[0030] Figure 6 This is a top view of a hall door during the closing process provided in Embodiment 1 of the present invention;

[0031] Figure 7 This is a flowchart of an anti-pinch detection method provided in Embodiment 2 of the present invention;

[0032] Figure 8 This is a schematic diagram of a TOF sensor installed on the edge of a hall door, according to Embodiment 2 of the present invention;

[0033] Figure 9 This is a schematic diagram of the structure of an anti-pinch detection device provided in Embodiment 3 of the present invention;

[0034] Figure 10 This is a schematic diagram of the structure of the electronic device provided in Embodiment 4 of the present invention. Detailed Implementation

[0035] 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.

[0036] Example 1

[0037] This invention provides an anti-pinch detection method, which can be applied to anti-pinch detection in elevators to prevent hall doors from colliding with obstacles and causing damage to the hall doors or injuries to the human body. The method can be executed by an anti-pinch detection device, which can be implemented in hardware and / or software and can be configured in an electronic device.

[0038] In this embodiment, the anti-pinch detection method is applied to a platform home elevator. The elevator door is the hall door. The two hall doors of the platform home elevator are double swing doors, which are composed of two door leaves that open in opposite directions during the opening process.

[0039] In this embodiment, the hall door is generally made of transparent glass, but it can also be made of other materials. Figure 1 This is a schematic diagram of a gate system structure provided in Embodiment 1, as shown below. Figure 1 As shown, the hall door system consists of three parts: door controller drive module 100, door detection module 200, and door body 300, which is the hall door itself.

[0040] The door controller drive module 100 consists of elevator data communication, elevator door drive, and elevator door detection communication. Elevator data communication is responsible for acquiring elevator operation information, elevator leveling information, elevator door opening signals, and other data. Elevator door drive is responsible for outputting elevator door drive signals and receiving door drive data, such as drive current. The elevator door drive should not be limited by its form factor; it can be an integrated device or a separate device, and it can be a motor-driven mode or a hydraulically driven or other electric door opening and closing method. Elevator door detection communication communicates with detection devices such as rotary encoders located on the door shaft.

[0041] The door detection module 200 includes a rotary encoder (Hall sensor) mounted on the door hinge. The rotary encoder mounted on the door hinge is used to collect the opening and closing angles (specifically the opening angle and closing angle) and opening and closing speed of the elevator door.

[0042] Figure 2 This is a schematic diagram of a double-leaf swing door, such as... Figure 2 As shown, the door body 300 of the double swing door includes two hall doors, the side edges of which are door edges 302, and a rotary encoder 301 is installed at the door hinge of the hall door. Figure 3 This is a schematic diagram of a TOF sensor installed on the edge of a hall door according to Embodiment 1 of the present invention. Figure 3 As shown, multiple TOF sensors 10 are installed on the door edges of two hall doors. The door edges 302 include a first door edge 3021 and a second door edge 3022. When the two hall doors are fully closed, the TOF sensors 10 (probes) on the door edges of the two hall doors are opposite each other. It should be noted that the shape of the hall door shown in this embodiment is a straight panel, but in practical applications, it can also be other shapes, such as an arc. However, in the calculation, the plane formed by the door axis and the door edge line is taken as the effective surface, which is also equivalent to the straight panel door shown in the attached drawings of this embodiment.

[0043] Time-of-flight (TOF) ranging is a two-way ranging technology that primarily uses the round-trip time of a signal between two asynchronous transceivers to measure the distance between nodes. TOF ranging technology is a time-of-flight measurement method. The TOF sensor is a photoelectric sensor with a cone-shaped detection range, meaning it emits and receives light from the sensor itself. The measurement distance of a TOF sensor can reach several meters.

[0044] Figure 4A flowchart of an anti-pinch detection method is provided in an embodiment of the present invention, as follows: Figure 4 As shown, the anti-pinch detection method includes:

[0045] S401. During the closing process of the hall doors, the horizontal distance between the two hall doors is detected by a TOF sensor to obtain the detected door edge distance.

[0046] The horizontal direction refers to the direction of the door when it is fully closed.

[0047] Figure 5 This is a three-dimensional schematic diagram of a hall door during the closing process. Figure 6 This is a top view of a hall door during the closing process. Figure 6 In the diagram, P represents the car boundary that is adjacent to or near the landing door, and the shaded area represents the detection range of the TOF sensor. When the landing door is fully closed, the landing door and the car boundary P are parallel; therefore, the horizontal direction is also the direction of the car boundary P.

[0048] In this embodiment, a plastic sleeve is provided on the edge of the hall door, and the TOF sensor is installed inside the plastic sleeve on the edge of the door. The surface of the TOF sensor is covered with a filter and protected with soft rubber on the outermost side.

[0049] During the closing process of the hall door, the Time-of-Flight (TOF) sensor continuously emits detection light and receives reflected light to determine the distance between the object and the TOF sensor. Since the detection range of the TOF sensor is cone-shaped, meaning it has a certain detection width and distance, therefore, if... Figure 6 As shown, when the hall door is closed to a certain angle, the TOF sensor can detect the edge of the opposite hall door, thus obtaining the recognition distance of the TOF sensor.

[0050] like Figure 6 As shown, once the detection angle range and detection distance of the TOF sensor are determined, it can be determined that during the closing process of the hall door, as the closing angle of the hall door gradually decreases to a certain angle, the TOF sensor on one side of the hall door can detect the edge of the other side of the hall door. Figure 6 As shown, the TOF sensor 10 on the door edge 3021 can detect the door edge 3022.

[0051] The door edge spacing is detected by the TOF sensor in the horizontal direction. The closing angle of the two hall doors is the same at any time. Therefore, the line connecting the edges of the two hall doors is always parallel to the horizontal direction, which is the direction of the door body when the hall doors are fully closed.

[0052] The TOF sensor cannot determine whether it detects an obstacle or the opposite hall door. When the edges of the opposite hall door are both within the detection range of the TOF sensor, the following explanation uses sensor 10 on door edge 3021 as an example. Figure 6 As shown in the schematic diagram in part (a), when there are no obstacles between the edges of the two hall doors, the nearest object detected by the TOF sensor 10 is the door edge 3022. The detected door edge distance is the distance from the TOF sensor 10 to the door edge 3022, which is also the length of the line connecting the edges of the two hall doors; Figure 6 As shown in the schematic diagram in part (b), when there is an obstacle 11 between the edges of the two hall doors, the nearest object detected by the TOF sensor is the surface of the obstacle 11, and the detection distance between the door edges is the length of the line connecting the TOF sensor 10 to the surface of the obstacle 11.

[0053] It should be noted that in this embodiment, the detected door edge distance is only valid when the obstacle is located between the two hall doors, that is, when the obstacle is on the line connecting the edges of the two hall doors. If the obstacle is within the TOF detection range but not on the line connecting the edges of the two hall doors, firstly, the obstacle does not pose a risk of being trapped, so no special processing is needed. Secondly, the door edge distance is the horizontal line connecting the edges of the two hall doors; when the obstacle is not on this line, the obtained distance will not be the correct door edge distance, and no special processing is needed either. Therefore, when measuring the door edge distance, the measurement data can be filtered based on the object's position.

[0054] For Time-of-Flight (TOF) sensors, a smaller detection angle range and detection distance result in a smaller detection error, but also less detected information. Since the angle change of a hall door during opening and closing is significant, a smaller TOF sensor range may only detect the door edge when it is very close to the door's edge. Conversely, a larger TOF sensor range and detection distance result in more detected information, but also a greater detection error. Therefore, the detection angle range and detection distance of a TOF sensor can be set according to actual needs, specifically by adjusting the TOF sensor parameters and probe position.

[0055] In this invention, optionally, the detection distance of the TOF sensor does not exceed the width of a single hall door, and the detection angle range does not exceed 90°, which can avoid detecting interference information from objects outside the hall door's range. Optionally, to increase the detection capability of the TOF sensor, the center line of the TOF sensor's detection range is kept parallel to the plane of the hall door, and an angle adjustment structure is added between the plastic sleeve on which the sensor is installed and the door glass. The elevator's door controller drive module calculates the closing angle r of the hall door based on the data from the rotary encoder at this time. If the sensor angle is equal to the closing angle r, the sensor angle is always parallel to the door, and the two hall doors move synchronously, with the sensors on both sides adjusting synchronously.

[0056] S102. After obtaining the detection door edge distance, obtain the angle between the hall door and the horizontal direction as the closing angle.

[0057] Due to the limited detection angle range of the TOF sensor, it is difficult for the TOF sensor to obtain the detection distance between the door edges in the horizontal direction at the initial stage of closing the hall door. Therefore, after obtaining the detection distance between the door edges, the angle between the hall door and the horizontal direction is obtained as the closing angle. Only the closing angle before the hall door is completely closed can be used as data for subsequent calculations.

[0058] like Figure 6 As shown, the horizontal direction can be the direction of the car boundary P, and the angle r between the hall door and the horizontal direction can be acquired by the rotary encoder of the door shaft. The closing angle in this step changes in real time and is not a fixed value.

[0059] S103. Calculate the actual door edge distance between the two hall doors based on the closing angle and the total width of the hall doors.

[0060] The two hall doors are symmetrical, and their widths are equal. The total width of the hall doors is equal to the sum of the widths of the two doors. Figure 6 As shown, the horizontal width occupied by the hall door can be calculated based on the closing angle and the width of a single hall door (i.e., 1 / 2 of the total door width); then, by calculating the difference between the total door width and the occupied width, the actual door-to-door distance between the two hall doors can be obtained.

[0061] Therefore, optionally, the actual door edge distance between the two hall doors can be calculated based on the closing angle and the total width of the hall doors, including: calculating the horizontal width occupied by the two hall doors based on the closing angle and the total width of the hall doors; calculating the difference between the total width of the hall doors and the occupied width to obtain the actual door edge distance between the two hall doors.

[0062] S104. Based on the error between the detected door edge distance and the actual door edge distance at the same time, determine whether there is an obstacle that will be trapped between the hall doors.

[0063] Depend on Figure 6 As shown in the schematic diagrams in (a) and (b), when there are no obstacles between the two hall doors, the door edge distance that the TOF sensor can detect is L1. At this time, L1 is equal to or very close to the actual door edge distance (when the detection error of the TOF sensor is small). That is, the detected door edge distance L1 is equal to or approximately equal to the actual door edge distance. When there are obstacles between the two hall doors, the detected door edge distance is L2. Obviously, L2 is less than L1. That is, the detected door edge distance L2 is significantly less than the actual door edge distance. Therefore, the presence of an obstacle that will be trapped between the hall doors can be determined based on the error between the detected door edge distance and the actual door edge distance at the same time.

[0064] Optionally, the system determines whether there is an obstacle about to be trapped between the hall doors based on the error between the detected door edge distance and the actual door edge distance at the same time. This includes: calculating the ratio of the detected door edge distance to the actual door edge distance at the same time; determining whether the ratio is less than a preset ratio threshold; if so, determining that there is an obstacle about to be trapped between the hall doors; if not, determining that the elevator doors are closing normally. When it is determined that there is an obstacle about to be trapped between the hall doors, step S105 is executed.

[0065] For example, the preset percentage threshold is 95%.

[0066] Combination Figure 6 It is known that if there is an obstacle between the doors (in the direction of the line connecting the door edges), the detected door edge distance will be smaller than the actual door edge distance. This difference in detection and actual door edge distance will create an error, which can be used to determine if an obstacle exists between the doors. Even if the door edge does not touch the obstacle, it can still be detected when an obstacle is present, allowing for prediction that the obstacle is about to be trapped and enabling appropriate safety braking strategies to be implemented in advance. This is equivalent to identifying the obstacle before it collides with the door, preventing damage to the door or injury to the person.

[0067] S105. When there is an obstacle that is about to be trapped, the hall door is driven to spring back to the open state.

[0068] When an obstacle that is about to be trapped is detected between the hall doors, the door controller drive module drives the hall doors to spring back to the open state.

[0069] Optionally, after the drive hall door springs back to the open state, the system may also issue a corresponding alarm to remind elevator users to remove obstacles. When the obstacle is a human body, the system will remind elevator users to evacuate between the hall doors. When the obstacle is an object, the system will remind elevator users to remove the obstacle between the hall doors.

[0070] Optionally, after the drive door springs back to the open state, the process further includes: determining whether the time elapsed after the door is open has reached a preset time threshold; if so, driving the drive door back to the closed state.

[0071] This invention provides an anti-pinch detection method applied to a platform home elevator. The platform home elevator has two swing doors, and multiple Time-of-Flight (TOF) sensors are installed on the sides of the two doors. During the closing process, the TOF sensors detect the horizontal distance between the door edges of the two doors, obtaining the detected door edge distance. The horizontal direction is the direction of the door body when the doors are fully closed. When the detected door edge distance is obtained, the angle between the door and the horizontal direction is acquired as the closing angle. The actual door edge distance between the two doors is calculated based on the closing angle and the total door width. The error between the detected door edge distance and the actual door edge distance at the same moment is used to determine whether there is an obstacle that is about to be pinched between the doors. If there is an obstacle that is about to be pinched, the doors are driven to spring back to the open state. During the closing process of the hall doors, if there is no obstacle between the two hall doors, the distance from the TOF sensor to the actual object detected by the TOF sensor is the door edge distance between the two hall doors. This door edge distance is the same as or close to the actual door edge distance. If there is an obstacle between the two hall doors, the detected door edge distance is actually the distance from the TOF sensor to the obstacle. Since the obstacle is located between the two hall doors, the detected door edge distance will necessarily be less than the actual door edge distance. Therefore, based on the error between the detected door edge distance and the actual door edge distance at the same moment, it is possible to determine whether there is an obstacle that is about to be trapped between the hall doors. It is possible to predict that the obstacle is about to be trapped and to identify the obstacle before the hall door collides with the obstacle, thus avoiding damage to the hall door or injury to the human body.

[0072] Example 2

[0073] Figure 7 This is a flowchart of an anti-pinch detection method provided in Embodiment 2 of the present invention. This embodiment is an optimization based on Embodiment 1 described above, such as... Figure 7 As shown, the anti-pinch detection method includes:

[0074] S701. During the closing process of the hall doors, the horizontal distance between the two hall doors is detected by a TOF sensor to obtain the detected door edge distance.

[0075] The horizontal direction refers to the direction of the door when it is fully closed.

[0076] Specifically, there are multiple TOF sensors. During the closing process of the hall doors, the TOF sensors detect the horizontal distance between the door edges of the two hall doors to obtain the detected door edge distance. This includes: during the closing process of the hall doors, when the closing angle of the hall doors is less than or equal to a preset detection angle, the TOF sensors detect the horizontal distance between the door edges of the two hall doors to obtain the recognition distance of each TOF sensor; the preset detection angle is the angle at which the TOF sensors can detect the door edge of the opposite hall door during the closing process; the recognition distance with the smallest value is taken as the detected door edge distance.

[0077] The recognition distance of a TOF sensor is multiple. Since the specific location of an obstacle between the doors is unknown, only some TOF sensors may be interfered with by the obstacle, resulting in a recognition distance that is less than the actual door edge distance. Furthermore, when there is one obstacle, the distance from the obstacle to the two hall doors is also uncertain. That is, the TOF sensor on the left hall door may detect a recognition distance of L3, while the TOF sensor on the right hall door may detect a recognition distance of L4. L3 is not equal to L4. Using the smaller recognition distance as the detection door edge distance can amplify the error between the detected door edge distance and the actual door edge distance. For example, if there is an obstacle in the hall door at a certain moment, and L3 is less than L4, L3 is first used as the detection door edge distance. When calculating the error between the detected door edge distance and the actual door edge distance based on L3, the error is already greater than the preset error threshold, so the presence of an obstacle can be determined. However, when calculating the error between the detected door edge distance and the actual door edge distance based on L4 at the same moment, the error is not yet greater than the preset error threshold, so the presence of an obstacle cannot be determined. It can be seen that using the smallest recognition distance as the detection door edge distance can identify obstacles between hall doors more quickly and accurately, give full play to the function of predicting obstacles that are about to be trapped, and improve elevator safety.

[0078] The situation with multiple obstacles is similar to the situation with one obstacle. Using the smallest recognition distance as the detection door edge distance can detect obstacles faster. With the corresponding safety braking strategy, the hall door will not be caught by the obstacle corresponding to the smallest recognition distance, nor will it be caught by other obstacles. The specific principle is similar to the principle described above, and will not be repeated here.

[0079] Figure 8 This is a schematic diagram of a TOF sensor installed on the edge of a hall door according to Embodiment 2 of the present invention. Figure 8 As shown, the TOF sensors are staggered on the two hall doors, which can increase the detection range of the TOF sensors and avoid missing any detection space.

[0080] Furthermore, by arranging the TOF sensors with staggered detection ranges, the number of TOF sensors can be saved while avoiding missing detection space and preventing waste of consumables.

[0081] S702. When the distance between the detected door edges is obtained, the angle between the hall door and the horizontal direction is obtained as the closing angle.

[0082] S703. Calculate the horizontal width occupied by the two hall doors based on the closing angle and the total width of the hall doors.

[0083] The total width of the hall entrance is the sum of the widths of the two hall doors, such as... Figure 6As shown, the width occupied by each hall door in the horizontal direction can be calculated based on the closing angle r and the width of a single hall door. Then, the sum of the widths occupied by the single doors can be calculated to obtain the width occupied by the two hall doors in the horizontal direction.

[0084] S704. Calculate the difference between the total door width and the occupied width to obtain the actual door edge distance between the two hall doors.

[0085] Optionally, the formula for calculating the actual door edge spacing is:

[0086] L d =LL / 2*cos(r)*2;

[0087] Among them, L d L represents the actual door edge spacing, L represents the total door width, and r represents the closing angle.

[0088] Furthermore, the above calculation formula can be simplified to: L d =L d [1-cos(r)]=L*sin(r).

[0089] S705. Based on the error between the detected door edge distance and the actual door edge distance at the same time, determine whether there is an obstacle that will be trapped between the hall doors.

[0090] S706. When there is an obstacle that is about to be trapped, the hall door is driven to spring back to the open position.

[0091] S702, S705-S706 are similar to S402, S404-S405 in Embodiment 1. For details, please refer to the relevant content in Embodiment 1.

[0092] In this embodiment, during the closing process of the hall doors, when the closing angle of the hall doors is less than or equal to a preset detection angle, the distance between the edges of the two hall doors is detected by a TOF sensor to obtain the recognition distance of each TOF sensor. The preset detection angle is the angle at which the TOF sensor can detect the edge of the opposite hall door during the closing process. The recognition distance with the smallest value is taken as the detected door edge distance. This allows for faster and more accurate identification of obstacles between hall doors, fully utilizing the function of predicting obstacles that are about to be trapped, and improving elevator safety.

[0093] Example 3

[0094] Figure 9 This is a schematic diagram of an anti-pinch detection device provided in Embodiment 3 of the present invention. This anti-pinch detection device is applied to a platform home elevator. The two hall doors of the platform home elevator are double-leaf swing doors, and multiple TOF sensors are installed on the sides of the two hall doors, such as... Figure 9 As shown, the hall door anti-pinch detection device includes:

[0095] The door edge distance acquisition module 901 is used to detect the horizontal door edge distance between the two hall doors through the TOF sensor during the closing process of the hall doors, and obtain the detected door edge distance. The horizontal direction is the door body direction when the hall doors are fully closed.

[0096] The closing angle acquisition module 902 is used to obtain the angle between the hall door and the horizontal direction as the closing angle after obtaining the detected door edge distance;

[0097] The actual door edge spacing calculation module 903 is used to calculate the actual door edge spacing between the two hall doors based on the closing angle and the total width of the hall doors;

[0098] The obstacle determination module 904 is used to determine whether there is an obstacle that will be trapped between the hall doors based on the error between the detected door edge distance and the actual door edge distance at the same time.

[0099] The drive module 905 is used to drive the hall door to the open state when there is an obstacle that is about to be trapped.

[0100] The drive module 905 can be equivalent to the gate controller drive module mentioned in Embodiment 1.

[0101] Optionally, the detection door edge distance acquisition module 901 includes:

[0102] The distance acquisition submodule is used to detect the horizontal distance between the two hall doors using the TOF sensor when the hall door is closing and the closing angle of the hall door is less than or equal to a preset detection angle, thereby obtaining the recognition distance of each TOF sensor; the preset detection angle is the angle at which the TOF sensor can detect the edge of the opposite hall door during the closing process.

[0103] The door edge spacing determination submodule is used to determine the minimum value of the identification distance as the door edge spacing.

[0104] Optionally, the actual door edge spacing calculation module 903 includes:

[0105] The occupancy width calculation submodule is used to calculate the occupancy width of the two hall doors in the horizontal direction based on the closing angle and the total width of the hall doors;

[0106] The actual door edge spacing calculation submodule is used to calculate the difference between the total door width and the occupied width to obtain the actual door edge spacing between the two hall doors.

[0107] Optionally, the obstacle determination module 904 includes:

[0108] The ratio calculation submodule is used to calculate the ratio of the detected door edge spacing to the actual door edge spacing at the same time.

[0109] The ratio threshold calculation submodule is used to determine whether the ratio is less than a preset ratio threshold; if yes, the content of the obstacle determination submodule is executed; if no, it is determined that the elevator door closing is normal.

[0110] The obstacle determination submodule is used to determine whether there are obstacles between the hall doors that will be trapped.

[0111] Optionally, the formula for calculating the actual door edge spacing is:

[0112] L d =LL / 2*cos(r)*2;

[0113] Among them, L d The actual door edge spacing is L, the total door width is r, and the closing angle is r.

[0114] Optionally, the TOF sensors are staggered on the two hall doors.

[0115] Optionally, the center line of the detection range of the TOF sensor is parallel to the plane of the hall door.

[0116] The anti-pinch detection device provided in the embodiments of the present invention can execute the anti-pinch detection method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0117] Example 4

[0118] Figure 10 A schematic diagram of an electronic device 40 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 electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. 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.

[0119] like Figure 10As shown, the electronic device 40 includes at least one processor 41 and a memory, such as a read-only memory (ROM) 42 or a random access memory (RAM) 43, communicatively connected to the at least one processor 41. The memory stores computer programs executable by the at least one processor. The processor 41 can perform various appropriate actions and processes based on the computer program stored in the ROM 42 or loaded into the RAM 43 from storage unit 48. The RAM 43 may also store various programs and data required for the operation of the electronic device 40. The processor 41, ROM 42, and RAM 43 are interconnected via a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0120] Multiple components in electronic device 40 are connected to I / O interface 45, including: input unit 46, such as keyboard, mouse, etc.; output unit 47, such as various types of monitors, speakers, etc.; storage unit 48, such as disk, optical disk, etc.; and communication unit 49, such as network card, modem, wireless transceiver, etc. Communication unit 49 allows electronic device 40 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0121] Processor 41 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 41 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 41 performs the various methods and processes described above, such as the anti-pinch detection method.

[0122] In some embodiments, the anti-pinch detection method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 48. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 40 via ROM 42 and / or communication unit 49. When the computer program is loaded into RAM 43 and executed by processor 41, one or more steps of the anti-pinch detection method described above may be performed. Alternatively, in other embodiments, processor 41 may be configured to perform the anti-pinch detection method by any other suitable means (e.g., by means of firmware).

[0123] 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), complex 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.

[0124] 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.

[0125] 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.

[0126] 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).

[0127] 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.

[0128] 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.

[0129] 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.

[0130] 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 anti-pinch, characterized in that, This method is applied to a platform-style home elevator, where the two hall doors are double-leaf swing doors. Multiple Time-of-Flight (TOF) sensors are installed on the sides of the two hall doors. The anti-pinch detection method for the hall doors includes: During the closing process of the hall doors, the TOF sensor detects the horizontal distance between the two hall doors to obtain the detected door edge distance. The horizontal direction is the direction of the door body when the hall doors are fully closed. After obtaining the detected door edge distance, the angle between the hall door and the horizontal direction is obtained as the closing angle; The actual door-to-door distance between the two hall doors is calculated based on the closing angle and the total width of the hall doors. Based on the error between the detected door edge distance and the actual door edge distance at the same moment, it is determined whether there is an obstacle that will be trapped between the hall doors; When there is an obstacle that is about to be trapped, the door will be driven to spring back to the open position.

2. The anti-pinch detection method as described in claim 1, characterized in that, During the closing process of the hall doors, the TOF sensor detects the horizontal distance between the two hall doors to obtain the detected door edge distance, including: During the closing process of the hall doors, when the closing angle of the hall doors is less than or equal to the preset detection angle, the TOF sensor detects the horizontal distance between the door edges of the two hall doors to obtain the recognition distance of each TOF sensor; the preset detection angle is the angle at which the TOF sensor can detect the door edge of the opposite hall door during the closing process. The minimum value of the recognition distance is taken as the detection door edge spacing.

3. The anti-pinch detection method as described in claim 1, characterized in that, The calculation of the actual door edge distance between the two hall doors based on the closing angle and the total width of the hall doors includes: The horizontal width occupied by the two hall doors is calculated based on the closing angle and the total width of the hall doors. The difference between the total door width and the occupied width is calculated to obtain the actual door edge distance between the two hall doors.

4. The anti-pinch detection method as described in claim 1, characterized in that, The method of determining whether there is an obstacle that will be trapped between the hall doors based on the error between the detected door edge distance and the actual door edge distance at the same time includes: Calculate the ratio of the detected door edge spacing to the actual door edge spacing at the same time. Determine whether the ratio is less than a preset ratio threshold; If so, confirm that there are obstacles between the hall doors that will be trapped; If not, confirm that the elevator doors closed normally.

5. The anti-pinch detection method according to any one of claims 1-4, characterized in that, The formula for calculating the actual door edge spacing is: IT d = L - L / 2*cos(r)*2; Among them, L d The actual door edge spacing is L, the total door width is r, and the closing angle is r.

6. The anti-pinch detection method according to any one of claims 1-4, characterized in that, The TOF sensors are staggered on the two hall doors.

7. The anti-pinch detection method according to any one of claims 1-4, characterized in that, The center line of the detection range of the TOF sensor is parallel to the plane of the hall door.

8. An anti-pinch detection device, characterized in that, This device is applied to a platform-style home elevator, wherein the two hall doors of the elevator are double-leaf swing doors. Multiple Time-of-Flight (TOF) sensors are installed on the sides of the two hall doors. The anti-pinch detection device for the hall doors includes: The door edge distance acquisition module is used to detect the horizontal door edge distance between the two hall doors through the TOF sensor during the closing process of the hall doors, and obtain the detected door edge distance. The horizontal direction is the door body direction when the hall doors are fully closed. The closing angle acquisition module is used to obtain the angle between the hall door and the horizontal direction as the closing angle after obtaining the detected door edge distance; The actual door edge spacing calculation module is used to calculate the actual door edge spacing between the two hall doors based on the closing angle and the total width of the hall doors; The obstacle determination module is used to determine whether there is an obstacle that will be trapped between the hall doors based on the error between the detected door edge distance and the actual door edge distance at the same time. The drive module is used to drive the hall door to the open state when there is an obstacle that is about to be trapped.

9. 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 anti-pinch detection method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the anti-pinch detection method according to any one of claims 1-7.

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