Thermal protection method and device for elevator door motor, electronic equipment and storage medium

Abstract

The invention discloses a thermal protection method and device for an elevator door motor, electronic equipment and a storage medium, and the method comprises the steps: detecting the temperature of the motor, determining a target action of the motor when the temperature is greater than a temperature threshold value, obtaining a speed curve of the target action, and determining a first control parameter and a second control parameter of the motor according to the speed curve, and controlling the motor to be turned off when the first control parameter is detected and controlling the motor to be turned on when the second control parameter is detected in the process of executing the target action by the motor. And the elevator door can be continuously opened or closed under the action of the heavy hammer after the motor is closed, and the motor is controlled to be started to be continuously opened or closed under the second control parameter, so that the heating value of the motor can be reduced, and the safety of the elevator is improved. And door opening or closing can be controlled by referring to a speed curve, and the method is suitable for the scene of thermal protection when the motor drives the elevator door.

Description

Technical Field

[0001] The present invention relates to the technical field of elevators, and in particular to a thermal protection method, device, electronic equipment and storage medium for an elevator door motor. Background Art

[0002] In elevators, the motor and control board that drive the elevator door are usually combined into one to form an integrated door motor, that is, the control board is designed and installed inside the motor, forming an integrated design with the motor.

[0003] In an integrated motor, the temperature of the motor will affect the operating temperature of the control board. When the motor is in operation for a long time or the outside temperature is too high, the motor will overheat. Continuous overheating will affect the life and use of the motor and the control board. In extreme cases, the motor and control board may be burned. Therefore, thermal protection of the integrated door motor is very important.

[0004] In traditional motor temperature control technology, the temperature inside the motor is usually directly detected. When the temperature inside the motor is greater than a threshold, the motor is limited in voltage and current, or even controlled to stop running. However, in the scenario where the motor drives the elevator door to close or open, traditional motor temperature control technology will cause safety risks when the elevator door is opened or closed, that is, traditional motor temperature control technology is not applicable to elevator door motors. Summary of the invention

[0005] The present invention provides a thermal protection method, device, electronic equipment and storage medium for an elevator door motor, so as to solve the problem that traditional motor temperature control technology cannot be applied to the thermal protection of an elevator door motor.

[0006] In a first aspect, the present invention provides a thermal protection method for an elevator door motor, which is used to control the motor temperature of an elevator door provided with a heavy hammer, comprising:

[0007] detecting the temperature of the motor;

[0008] When the temperature is greater than a preset first temperature threshold, determining a target action of the motor, the target action being an elevator door opening or an elevator door closing;

[0009] Acquire a speed curve of the target action;

[0010] Determining a first control parameter and a second control parameter of the motor according to the speed curve;

[0011] During the process of the motor performing the target action, the motor is controlled to be turned off when the first control parameter is detected, and the motor is controlled to be turned on when the second control parameter is detected.

[0012] In a second aspect, the present invention provides a thermal protection device for an elevator door motor, which is used to control the motor temperature of an elevator door provided with a heavy hammer, comprising:

[0013] A motor temperature detection module, used to detect the temperature of the motor;

[0014] an action determination module, used to determine a target action of the motor when the temperature is greater than a preset first temperature threshold, the target action being an elevator door opening or an elevator door closing;

[0015] A speed curve acquisition module, used to acquire the speed curve of the target action;

[0016] A control parameter determination module, used to determine a first control parameter and a second control parameter of the motor according to a speed curve;

[0017] The motor control module is used to control the motor to be turned off when the first control parameter is detected, and to control the motor to be turned on when the second control parameter is detected during the process of the motor performing the target action.

[0018] In a third aspect, the present invention provides an electronic device, the electronic device comprising:

[0019] at least one processor; and

[0020] a memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the thermal protection method for the elevator door motor described in the first aspect of the present invention.

[0022] In a fourth aspect, the present invention provides a computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a processor to implement the thermal protection method for an elevator door motor according to the first aspect of the present invention when executed.

[0023] When the embodiment of the present invention detects that the temperature of the motor is greater than a preset temperature threshold, the first control parameter for closing the motor and the second control parameter for reopening the motor during the door opening or closing process are determined according to the speed curve of the elevator door opening or closing. When the first control parameter is detected during the door opening or closing process, the motor is controlled to be closed to avoid excessive heat generated by the motor during the door opening or closing process, thereby reducing the motor temperature. After the motor is closed, the elevator door can continue to open or close under the action of a heavy hammer, and the motor can be controlled to open or close at the second control parameter, which can reduce the heat generated by the motor and control the door opening or closing with reference to the speed curve, thereby ensuring safe and smooth opening or closing of the elevator door. The embodiment of the present invention can control the motor to be closed when the first control parameter is detected during the door opening or closing process, thereby preventing the motor from being continuously powered on and generating heat during the door opening or closing process, thereby reducing the motor temperature.

[0024] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 is a flow chart of a thermal protection method for an elevator door motor provided in Embodiment 1 of the present invention;

[0027] Figure 2 is a flow chart of a thermal protection method for an elevator door motor provided by Embodiment 2 of the present invention;

[0028] Figure 3 is a schematic diagram of the door opening speed curve;

[0029] Figure 4 This is the control flow chart of the motor during the elevator door opening process;

[0030] Figure 5 is a flow chart of a thermal protection method for an elevator door motor provided by Embodiment 3 of the present invention;

[0031] Figure 6 is a schematic diagram of the door closing speed curve;

[0032] Figure 7 This is the control flow chart of the motor during the elevator door closing process;

[0033] Figure 8 It is the control diagram of motor voltage;

[0034] Fig. 9 1 is a schematic structural diagram of a thermal protection device for an elevator door motor provided by a fourth embodiment of the present invention;

[0035] Fig.10 It is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0037] Embodiment 1

[0038] Figure 1 This is a flow chart of a thermal protection method for an elevator door motor provided in the first embodiment of the present invention. This embodiment is applicable to the case of thermal protection of an elevator door motor. The method can be executed by a thermal protection device for an elevator door motor. The thermal protection device for an elevator door motor can be implemented in the form of hardware and / or software and can be configured in an electronic device. Figure 1 As shown, the thermal protection method of the elevator door motor includes:

[0039] S101, detecting the temperature of the motor.

[0040] The motor of this embodiment is used to drive the elevator door to open or close, wherein a control board may be provided inside the motor, and a temperature sensor may be provided in the cavity inside the motor to detect the temperature of the motor. For the control board, the temperature of the MCU may be detected by the temperature sensor provided by the MCU on the control board, and a thermistor may be provided around the switching tubes such as the IGBT on the control board, and the temperature of the IGBT may be detected by the thermistor. The temperature of the cavity inside the motor or the temperature of the IGBT detected by the temperature sensor may be used as the final detected temperature.

[0041] S102: When the temperature is greater than a preset first temperature threshold, determine a target action of the motor, where the target action is opening or closing the elevator door.

[0042] This embodiment can pre-configure a first temperature threshold and a second temperature threshold, wherein the first temperature threshold is greater than the second temperature threshold. If the detected temperature is greater than the second temperature threshold and less than the first temperature threshold, it is determined that the temperature of the motor is within a reasonable temperature range and there is no need to enter the thermal protection mode.

[0043] If the temperature is greater than the first temperature threshold, it is determined that the motor is overheated, and the thermal protection mode is entered to perform motor thermal protection. The target action of the motor can be determined first, and the target action is to drive the elevator door to open or close. In one example, the target action can be determined by the motor receiving a forward or reverse command. For example, if a forward command is received for the elevator door to open, then a reverse command is received for the elevator door to close.

[0044] S103: Obtain a speed curve of the target action.

[0045] The speed curve may be a pre-configured speed curve of the elevator door opening or closing when the elevator door changes with time during the opening or closing process. The speed curve may include a door opening speed curve and a door closing speed curve. The door opening speed curve may include an accelerated door opening section, a uniform door opening section, and a decelerated door opening section. The door closing speed curve may also include an accelerated door closing section, a uniform door closing section, and a decelerated door closing section. In this embodiment, different door opening speed curves and door closing speed curves may be pre-configured for different elevator doors.

[0046] S104 , determining a first control parameter and a second control parameter of the motor according to the speed curve.

[0047] In this embodiment, the first control parameter may be a parameter that triggers the motor to shut down during the opening or closing process of the elevator door, and the second control parameter may be a parameter that triggers the motor to reopen during the opening or closing process of the elevator door. Exemplarily, the first control parameter and the second control parameter may be the door opening or closing speed, the distance the elevator door opens or closes, or the duration the elevator door opens or closes. Specifically, at least one of the door opening or closing speed, the distance the elevator door opens or closes, and the duration the elevator door opens or closes may be determined as the first control parameter and the second control parameter based on the speed curve.

[0048] S105 . During the process of the motor executing the target action, when a first control parameter is detected, the motor is controlled to be turned off, and when a second control parameter is detected, the motor is controlled to be turned on.

[0049] Specifically, when the elevator door is opening, the motor can be controlled to be turned off when a first control parameter is detected, and the motor can be controlled to be restarted when a second control parameter is detected. For example, the first control parameter can be a target door opening distance, and the second control parameter can be a preset door opening speed. When the motor is controlled to start driving the elevator door to accelerate and open, the door opening distance is detected in real time. If the door opening distance is equal to the target door opening distance, the motor is controlled to be turned off, so that the elevator door automatically opens under the action of a heavy hammer. During the opening process of the elevator door, there is still the effect of friction, and the door opening speed gradually decreases. When the door opening speed decreases to the preset door opening speed, the motor can be controlled to be restarted to control the elevator door to stop after it opens to the full extent. Compared with the elevator door being powered on and opened all the time during the door opening process, the heat generated by the motor is reduced, and the internal temperature of the motor is prevented from being too high.

[0050] When the elevator door is closing, the motor can be controlled to close when a first control parameter is detected, and the motor can be controlled to reopen when a second control parameter is detected. For example, the first control parameter can be a target door closing speed, and the second control parameter can be a preset door closing distance. When the motor is controlled to start driving the elevator door to accelerate door closing, the door closing speed is detected in real time. If it is detected that the door closing speed is equal to the target door closing speed, it is determined that the elevator door has sufficient inertia, and the motor can be controlled to close so that the elevator door continues to close automatically under the action of inertia and a heavy hammer. In order to have enough distance to decelerate and avoid a collision caused by excessive closing speed, the door closing distance can be detected during the door closing process. When the preset door closing distance is reached, the motor can be controlled to reopen to control the elevator door to start decelerating and closing. Compared with the motor being powered on all the time during the door closing process, the heat generated by the motor is reduced to avoid excessive internal temperature of the motor.

[0051] When the embodiment of the present invention detects that the temperature of the motor is greater than a preset temperature threshold, the first control parameter for closing the motor and the second control parameter for reopening the motor during the door opening or closing process are determined according to the speed curve of the elevator door opening or closing. When the first control parameter is detected during the door opening or closing process, the motor is controlled to be closed to avoid excessive heat generated by the motor during the door opening or closing process, thereby reducing the motor temperature. After the motor is closed, the elevator door can continue to open or close under the action of a heavy hammer, and the motor can be controlled to open or close at the second control parameter, which can reduce the heat generated by the motor and control the door opening or closing with reference to the speed curve, thereby ensuring safe and smooth opening or closing of the elevator door. The embodiment of the present invention can control the motor to be closed when the first control parameter is detected during the door opening or closing process, thereby preventing the motor from being continuously powered on and generating heat during the door opening or closing process, thereby reducing the motor temperature.

[0052] Embodiment 2

[0053] Figure 2 This is a flow chart of a thermal protection method for an elevator door motor provided in the second embodiment of the present invention. The embodiment of the present invention optimizes the motor thermal protection in the elevator door opening scenario based on the above-mentioned first embodiment. Figure 2 As shown, the thermal protection method of the elevator door motor includes:

[0054] S201, detecting the temperature of the motor.

[0055] S202: When the temperature is greater than a preset first temperature threshold, determine a target action of the motor, where the target action is opening of the elevator door.

[0056] This embodiment is for a scenario in which thermal protection of the motor is performed when the elevator door is opened. When the detected temperature is greater than a first temperature threshold, if the elevator door needs to be opened, it is determined that the target action of the motor is to open the elevator door.

[0057] S203: Obtain a door opening speed curve of the elevator door.

[0058] Specifically, the elevator door opening speed curve may be pre-configured in the memory, and when the elevator door needs to be opened and the temperature is greater than the first temperature threshold to enter the thermal protection mode, the elevator door opening speed curve may be read from the memory.

[0059] like Figure 3 The figure shows a schematic diagram of the door opening speed curve, which includes an accelerated door opening section S1, a uniform door opening section S2, and a decelerated door opening section S3. In the accelerated door opening section S1, the door opening speed is accelerated from 0 to V max , the uniform door opening section S2 is at the door opening speed V max Open the door at a uniform speed. In the deceleration opening section S3, the door opening speed changes from V max Reduce to V min .

[0060] S204. Determine a first door opening speed and a second door opening speed from the door opening speed curve, wherein the first door opening speed is greater than the second door opening speed.

[0061] like Figure 3 As shown, the door opening speed V of the uniform door opening section S2 can be max Determine the first door opening speed, and decelerate the final speed V of the door opening section S3 min Determined as the second door opening speed.

[0062] S205. Obtain the door opening acceleration of the elevator door under the action of the weight and the friction force.

[0063] The elevator door is equipped with a weight, and there is friction in the elevator door during the door opening process. The door opening acceleration can be calculated by the force and friction of the weight and the mass of the elevator door. The door opening acceleration refers to the acceleration of the elevator door under the action of the weight and friction, wherein the force and friction of the weight can be pre-detected and configured in the memory.

[0064] S206: Calculate a target door opening distance based on the elevator door width, the first door opening speed, the second door opening speed, and the door opening acceleration.

[0065] Specifically, the target door opening distance D can be calculated by the following formula: start :

[0066]

[0067]

[0068] Among them, V max is the first door opening speed, V min is the second door opening speed, F p is the force of the hammer, F f is the door opening friction, a open is the door opening acceleration, D width It is the preset total door opening width, that is, the total door opening distance when the elevator door is fully opened.

[0069] S207: Determine the target door opening distance as the first control parameter, and determine the second door opening speed as the second control parameter.

[0070] like Figure 3 As shown, T start The target door opening distance D start The corresponding time is the time when the elevator starts to open the door. The elevator door is controlled to open according to the door opening speed curve. start The door opening distance at the moment is equal to the target door opening distance D start , the target door opening distance D start As the first control parameter, and the second door opening speed V min is determined as the second control parameter.

[0071] In another embodiment, the door opening speed on the door opening speed curve may be equal to the second door opening speed V min Door opening distance D end as the second control parameter.

[0072] S208. When the motor receives the elevator door opening command, the motor is controlled to start driving the elevator door to open faster, and the opening speed of the elevator door is detected.

[0073] Specifically, Figure 3 As shown, when the motor receives the elevator door opening command, the motor can be controlled to start driving the elevator door to accelerate and open, and during the elevator door opening process, the speed sensor can detect the opening speed of the elevator door. The acceleration in the accelerated door opening stage S1 can be pre-configured, and this embodiment does not limit the control of the accelerated door opening stage S1.

[0074] S209. When the door opening speed reaches the first door opening speed, the control motor is continuously turned on to drive the elevator door to open at a uniform speed at the first door opening speed, and the door opening distance of the elevator door is detected.

[0075] like Figure 3 As shown, if it is detected that the door opening speed reaches the first door opening speed V max , the motor is controlled to continuously open the output torque, driving the elevator door at the first door opening speed V max Continue to open at a constant speed and detect the opening distance of the elevator door.

[0076] S210, when the door opening distance is equal to the target door opening distance, control the motor to close.

[0077] like Figure 3 As shown, when the door opening speed reaches the first door opening speed V max The uniform speed door opening section S2, if the door opening distance is detected to be equal to the target door opening distance D start , then the control motor is turned off, or it can be turned off at the moment T after the elevator starts to open the door start The motor is turned off, so that the elevator door enters the deceleration door opening stage S4 under the action of the weight and friction, and the door opening speed is detected in real time.

[0078] S211. When the door opening speed is equal to the second door opening speed, the motor is controlled to start, so as to control the elevator door to stop opening.

[0079] like Figure 3 As shown, when the door opening speed is equal to the second door opening speed V min When, or the door opening distance is equal to the door opening distance D end When the motor is restarted, the elevator door stops opening by controlling the motor.

[0080] like Figure 4 The figure shows a schematic diagram of the control of the motor during the elevator door opening process according to an embodiment of the present invention. First, the motor is turned on to control the elevator door opening. When the elevator door opens to a preset closing position (D start ) turns off the motor, the elevator door slows down under the action of the weight, and the elevator door slows down to the preset speed (V min ) or reaches the preset deceleration position (D end ), then turn on the motor again to control the elevator door to open fully.

[0081] Since the input voltage of the motor is controlled by the on-off of the IGBT on the control board, when the elevator door accelerates to the first door opening speed V max After the door is opened at a constant speed, if the door opening distance is detected to be equal to the target door opening distance D startWhen the motor is closed, the elevator door opens under the action of the heavy hammer. Since the motor is closed, no heat is generated, which avoids further increase in the temperature inside the motor and achieves a cooling effect. When the door opening speed drops to the second door opening speed V min When the elevator door stops opening, the motor is controlled to restart, so as to control the elevator door to open to the desired position and then stop opening. The temperature of the motor is controlled in combination with the elevator door opening speed curve during the elevator door opening process, which not only reduces the heat generated by the motor during the elevator door opening process, but also ensures that the elevator can open the door safely and smoothly.

[0082] Embodiment 3

[0083] Figure 5 This is a flow chart of a thermal protection method for an elevator door motor provided in Embodiment 3 of the present invention. Based on Embodiment 1 above, this embodiment of the present invention optimizes the thermal protection of the motor in the elevator door closing scenario. Figure 5 As shown, the thermal protection method of the elevator door motor includes:

[0084] S501, detecting the temperature of the motor.

[0085] S502: When the temperature is greater than a preset first temperature threshold, determine a target action of the motor, where the target action is opening of the elevator door.

[0086] This embodiment is for the scenario of performing thermal protection on the motor when the elevator door is closed. When the detected temperature is greater than the first temperature threshold, if the elevator door needs to be closed, it is determined that the target action of the motor is to close the elevator door.

[0087] S503: Obtain a closing speed curve of the elevator door.

[0088] Specifically, the closing speed curve of the elevator door may be pre-configured in the memory, and when the elevator door needs to be closed and the temperature is greater than the first temperature threshold to enter the thermal protection mode, the closing speed curve of the elevator door may be read from the memory.

[0089] like Figure 6 It is a schematic diagram of a door closing speed curve, which includes an accelerated door closing section S5, a uniform door closing section S6 and a decelerated door closing section S7.

[0090] S504: Determine a first door closing speed and a second door closing speed from the door closing speed curve, wherein the first door closing speed is less than the second door closing speed.

[0091] like Figure 6As shown, in one embodiment, a speed can be selected from the accelerated door closing section S5 as the first door closing speed V0. For example, a speed can be selected from the accelerated door closing section S5 as the first door closing speed V0 according to the performance of the motor, the mass of the elevator door, the mass of the weight, and the friction force, and the selected first door closing speed V0, the door closing acceleration a of the elevator door under the action of the weight and the friction force. close , calculate the second door closing acceleration based on the door closing time preset on the door closing speed curve, wherein the preset door closing time can be the time from when the elevator starts to close the door to when the motor is restarted.

[0092] S505: Obtain the closing acceleration of the elevator door under the action of the weight and the friction force.

[0093] The elevator door is equipped with a weight, and there is friction when the elevator door is closing. The door closing acceleration can be calculated based on the force of the weight, the friction, and the mass of the elevator door. The door closing acceleration refers to the acceleration of the elevator door under the action of the weight and the friction.

[0094] S506: Calculate a target door closing distance based on the first door closing speed, the second door closing speed, and the door closing acceleration.

[0095] The target door closing distance P is calculated by the following formula:

[0096]

[0097] Among them, Fk is the force of the hammer, f is the friction force of closing the door, V0 is the first closing speed, V end is the second closing speed, a close is the door closing acceleration, P set is the door closing distance when the door closing speed reaches V0, which can be specifically determined based on the door closing acceleration in the accelerated door closing stage S5 and the time T to reach the door closing speed V0. start Calculate P set .

[0098] S507: Determine the first door closing speed as the first control parameter, and determine the target door closing distance and the second door closing speed as the second control parameter.

[0099] Specifically, Figure 6 As shown, the first door closing speed V0 is determined as the first control parameter, and the target door closing distance P and the second door closing speed V end And the preset duration T end At least one of the following is determined as the second control parameter.

[0100] S508. When the motor receives the elevator door closing instruction, the motor is controlled to start and drive the elevator door to close faster, and the closing speed of the elevator door is detected.

[0101] Specifically, Figure 6 As shown, when the motor receives the elevator door closing instruction, the motor can be controlled to start driving the elevator door to accelerate the door closing, and during the elevator door closing process, the closing speed of the elevator door can be detected by the speed sensor. Among them, the acceleration in the accelerated door closing stage S5 can be pre-configured, and this embodiment does not limit the control of the accelerated door closing stage S5.

[0102] S509: When the door closing speed reaches the first door closing speed, the motor is controlled to be turned off, and the closing distance of the elevator door is detected.

[0103] like Figure 6 As shown, if it is detected that the door closing speed reaches the first door closing speed V0, the motor is controlled to be turned off, so that the elevator door continues to close at an accelerated speed under the action of the weight and friction.

[0104] S510: When the door closing distance is equal to the target door closing distance, or the door closing speed is equal to the second door closing speed, the motor is controlled to start and decelerate the door closing.

[0105] like Figure 6 As shown, after the control motor is turned off, the door closing speed continues to increase in the door closing stage S8, and the door closing distance can be detected in real time. If the door closing distance reaches the target door closing distance P, or the door closing speed reaches the door closing speed V end , or the closing time reaches the preset closing time T end , the control motor is turned on to decelerate and close the door, entering the deceleration and closing stage S9.

[0106] like Figure 7 The figure is a schematic diagram of the control of the motor during the elevator door closing process according to the embodiment of the present invention. First, the motor is turned on to control the elevator door closing. When the door closing speed reaches the first door closing speed V0, the motor is turned off and the elevator door closes by inertia. When the door closing speed reaches the second door closing speed V end , or when the preset door closing time Tend is reached, or when the preset door closing position P is reached, the motor is turned on again to control the elevator door to close in place.

[0107] In this embodiment, since the input voltage of the motor is controlled by the on-off of the IGBT on the control board, the motor is controlled to be turned off after the elevator door accelerates to close to the first door opening speed V0, and the elevator door closes under the action of the heavy hammer. Since the motor is closed, no heat is generated, which avoids further increase in the temperature inside the motor, achieving a cooling effect. When the closing speed reaches the second closing speed V end , or the preset closing time T is reached end, or when the preset closing position P is reached, the control motor is restarted to control the elevator door to stop closing after it is in place, thereby realizing temperature control of the motor during the elevator door closing process in combination with the closing speed curve of the elevator door, which not only reduces the heat generated by the motor during the elevator door closing process, but also ensures that the elevator can close safely and smoothly.

[0108] The above-mentioned embodiments 1, 2 and 3 provide thermal protection for over-temperature when the temperature is higher than the first temperature threshold. On the basis of embodiments 1, 2 and 3, if the temperature of the motor is detected to be lower than the preset second temperature threshold (for example, -10°C), if the elevator door is in the fully opened or fully closed state, the input voltage of the motor is increased and the clock frequency of the controller is increased. Furthermore, the motor is a three-phase motor. In the process of increasing the input voltage of the motor, the phase angle and voltage value of the input voltage of the motor are determined by the following formula:

[0109] Ang(t)=Ang0±(t×Det);

[0110] Vout(t)=V0×(1±COS(t×Det));

[0111] Among them, Ang0 is the initial phase angle, t is time, V0 is the initial voltage value, Det is the phase angle change per unit time, Ang(t) is the phase angle at time t, and Vout(t) is the voltage at time t.

[0112] Specifically, if the temperature of the motor is lower than a preset second temperature threshold (e.g. -10°C), the low temperature protection mode is activated to maintain the internal temperature of the motor by increasing the heat generated by the motor. For example, when the elevator door is opening or closing, current is input into the motor to generate heat, which can increase the temperature of the motor without the need for low temperature protection.

[0113] If the elevator door is fully open or fully closed, the motor is in a stalled state and does not run. In order to maintain the elevator door in an open or closed state, the motor still needs to output torque. In order to ensure that the motor maintains its temperature, the motor voltage needs to be increased, thereby increasing the motor current. Due to the long-term increase in current, the motor continues to stall, resulting in excessive current in one phase line of the motor, which overheats the phase line, and the current in the other two phases is too small to maintain the temperature. The voltage of each phase line of the motor can be adjusted to adjust the current to avoid long-term overheating of a phase line.

[0114] like Figure 8 The figure shows the control schematic diagram of the voltage of each phase line of the motor. Through the calculation formula of the phase angle and voltage value of the above voltage, the three-phase line voltage of the motor can be cyclically output in a balanced manner, which can not only provide sufficient torque in the stalled state, but also make the three-phase line heat up evenly to maintain the temperature and avoid the motor temperature being too low.

[0115] In addition, for controllers such as MCU, the operation speed of MCU can be increased by increasing the operating clock frequency of MCU. For example, the clock frequency used by MCU is 60M under normal circumstances. When MCU needs to generate heat for low temperature protection, the clock frequency can be switched to 100M, which increases the power consumption of MCU and the heat generation of MCU, so that MCU can maintain a certain temperature.

[0116] In another embodiment, a braking resistor may be provided on the control board. By controlling the conduction of the circuit where the braking resistor is located, the braking resistor is pressurized so that current flows through the braking resistor to generate heat, thereby ensuring the temperature of the control board, preventing the temperature of the control board from being too low, and realizing low temperature protection of the control board.

[0117] Embodiment 3

[0118] Fig. 9 This is a schematic diagram of the structure of a thermal protection device for an elevator door motor provided by the third embodiment of the present invention. Fig. 9 As shown, the thermal protection device of the elevator door motor includes:

[0119] A motor temperature detection module 901 is used to detect the temperature of the motor;

[0120] An action determination module 902, configured to determine a target action of the motor when the temperature is greater than a preset first temperature threshold, wherein the target action is an elevator door opening or an elevator door closing;

[0121] A speed curve acquisition module 903 is used to acquire a speed curve of the target action;

[0122] A control parameter determination module 904, configured to determine a first control parameter and a second control parameter of the motor according to a speed curve;

[0123] The motor control module 905 is used to control the motor to be turned off when the first control parameter is detected, and to control the motor to be turned on when the second control parameter is detected during the process of the motor performing the target action.

[0124] Optionally, the speed curve includes a door opening speed curve, and the control parameter determination module 904 includes:

[0125] a door opening speed determining unit, configured to determine a first door opening speed and a second door opening speed from the door opening speed curve, wherein the first door opening speed is greater than the second door opening speed;

[0126] A door opening acceleration acquisition unit, used to acquire the door opening acceleration of the elevator door under the action of a weight and friction;

[0127] a target door opening distance determination unit, configured to calculate a target door opening distance based on a door width of the elevator door, a first door opening speed, a second door opening speed, and the door opening acceleration;

[0128] The door opening control parameter determination unit is used to determine the target door opening distance as a first control parameter and to determine the second door opening speed as a second control parameter.

[0129] Optionally, the target door opening distance determination unit is specifically used for:

[0130] Calculate the target door opening distance D by the following formula start :

[0131]

[0132] Among them, V max is the first door opening speed, V min is the second door opening speed, F p is the force of the hammer, F f is the door opening friction, a open is the door opening acceleration, D width The total width of the door opening.

[0133] Optionally, the motor control module 905 includes:

[0134] A first opening control unit, used for controlling the motor to start and drive the elevator door to open faster when the motor receives an elevator door opening command, and detecting the opening speed of the elevator door;

[0135] A continuous opening control unit, configured to control the motor to be continuously turned on to drive the elevator door to open at a uniform speed at the first door opening speed when the door opening speed reaches the first door opening speed, and detect the door opening distance of the elevator door;

[0136] A first closing control unit, used for controlling the motor to close when the door opening distance is equal to the target door opening distance;

[0137] The first re-opening control unit is used to control the motor to start when the door opening speed is equal to the second door opening speed, so as to control the elevator door to stop opening.

[0138] Optionally, the speed curve includes a door closing speed curve, and the control parameter determination module 904 includes:

[0139] a door closing speed determining unit, configured to determine a first door closing speed and a second door closing speed from the door closing speed curve, wherein the first door closing speed is less than the second door closing speed;

[0140] A door closing acceleration acquisition unit, used to acquire the door closing acceleration of the elevator door under the action of a weight and a friction force;

[0141] a target door closing distance calculation unit, configured to calculate a target door closing distance based on the first door closing speed, the second door closing speed, and the door closing acceleration;

[0142] The door closing control parameter determining unit is configured to determine the first door closing speed as a first control parameter, and determine the target door closing distance and the second door closing speed as second control parameters.

[0143] Optionally, the target door closing distance calculation unit is used to:

[0144] The target door closing distance P is calculated by the following formula:

[0145]

[0146] Among them, Fk is the force of the hammer, f is the friction force of closing the door, V0 is the first closing speed, V end is the second closing speed, a close is the door closing acceleration, P set It is the door closing distance when the door closing speed reaches V0.

[0147] Optionally, the motor control module 905 includes:

[0148] A second opening control unit is used to control the motor to start and drive the elevator door to close faster when the motor receives an elevator door closing instruction, and detect the closing speed of the elevator door;

[0149] a second closing control unit, configured to control the motor to close when the door closing speed reaches the first door closing speed, and detect the door closing distance of the elevator door;

[0150] The second re-opening control unit is used to control the motor to start and decelerate the door closing when the door closing distance is equal to the target door closing distance, or the door closing speed is equal to the second door closing speed.

[0151] Optionally, also include:

[0152] The low temperature protection module is used to increase the input voltage of the motor and the clock frequency of the controller when the temperature is lower than a preset second temperature threshold and the elevator door is in a fully opened state or a fully closed state.

[0153] Optionally, the motor is a three-phase motor, further comprising:

[0154] The phase angle and phase voltage determination module is used to determine the phase angle and voltage value of the input voltage of the motor by the following formula in the process of increasing the input voltage of the motor:

[0155] Ang(t)=Ang0±(t×Det);

[0156] Vout(t)=V0×(1±COS(t×Det));

[0157] Among them, Ang0 is the initial phase angle, t is time, V0 is the initial voltage value, Det is the phase angle change per unit time, Ang(t) is the phase angle at time t, and Vout(t) is the voltage at time t.

[0158] The thermal protection device for an elevator door motor provided in an embodiment of the present invention can execute the thermal protection method for an elevator door motor provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0159] Embodiment 4

[0160] Fig.10 A schematic diagram of the structure of an electronic device 40 that can be used to implement an embodiment 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 processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0161] like Fig.10 As shown, the electronic device 40 includes at least one processor 41, and a memory connected to the at least one processor 41, such as a read-only memory (ROM) 42, a random access memory (RAM) 43, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 41 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 42 or the computer program loaded from the storage unit 48 to the random access memory (RAM) 43. In the RAM 43, various programs and data required for the operation of the electronic device 40 can also be stored. The processor 41, the ROM 42, and the RAM 43 are connected to each other through a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0162] A number of components in the electronic device 40 are connected to the I / O interface 45, including: an input unit 46, such as a keyboard, a mouse, a temperature sensor, etc.; an output unit 47, such as various types of displays, speakers, etc.; a storage unit 48, such as a disk, an optical disk, etc.; and a communication unit 49, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 49 allows the electronic device 40 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0163] The processor 41 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 41 performs the various methods and processes described above, such as a thermal protection method for an elevator door motor.

[0164] In some embodiments, the thermal protection method of the elevator door motor can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 48. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 40 via the ROM 42 and / or the communication unit 49. When the computer program is loaded into the RAM 43 and executed by the processor 41, one or more steps of the thermal protection method of the elevator door motor described above can be performed. Alternatively, in other embodiments, the processor 41 can be configured to execute the thermal protection method of the elevator door motor in any other appropriate manner (for example, by means of firmware).

[0165] Various implementations 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 chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0166] Computer programs for implementing 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, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0167] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0168] To provide interaction with a user, the systems and techniques described herein may 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 a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0169] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0170] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0171] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0172] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A thermal protection method for an elevator door motor, characterized in that: Used to control the motor temperature of an elevator door equipped with a heavy hammer, including: detecting the temperature of the motor; When the temperature is greater than a preset first temperature threshold, determining a target action of the motor, the target action being an elevator door opening or an elevator door closing; Acquire a speed curve of the target action; Determining a first control parameter and a second control parameter of the motor according to the speed curve; During the process of the motor performing the target action, the motor is controlled to be turned off when the first control parameter is detected, and the motor is controlled to be turned on when the second control parameter is detected.

2. The thermal protection method for an elevator door motor according to claim 1, characterized in that: The speed curve includes a door opening speed curve, and determining the first control parameter and the second control parameter of the motor according to the speed curve includes: Determining a first door opening speed and a second door opening speed from the door opening speed curve, wherein the first door opening speed is greater than the second door opening speed; Obtaining the door opening acceleration of the elevator door under the action of a weight and friction force; Calculating a target door opening distance based on a door width of the elevator door, a first door opening speed, a second door opening speed, and the door opening acceleration; The target door opening distance is determined as a first control parameter, and the second door opening speed is determined as a second control parameter.

3. The thermal protection method for an elevator door motor according to claim 2, characterized in that: Calculating a target door opening distance based on the elevator door width, the first door opening speed, the second door opening speed, and the door opening acceleration includes: Calculate the target door opening distance D by the following formula start : Among them, V max is the first door opening speed, V min is the second door opening speed, F p is the force of the hammer, F f is the door opening friction, a open is the door opening acceleration, D width The total width of the door opening.

4. The thermal protection method for an elevator door motor according to claim 2, characterized in that: In the process of the motor performing the target action, when the first control parameter is detected, the motor is controlled to be turned off, and when the second control parameter is detected, the motor is controlled to be turned on, including: When the motor receives an elevator door opening command, the motor is controlled to start and drive the elevator door to open faster, and the opening speed of the elevator door is detected; When the door opening speed reaches the first door opening speed, controlling the motor to be continuously turned on to drive the elevator door to open at a uniform speed at the first door opening speed, and detecting the door opening distance of the elevator door; When the door opening distance is equal to the target door opening distance, controlling the motor to turn off; When the door opening speed is equal to the second door opening speed, the motor is controlled to start, so as to control the elevator door to stop opening.

5. The thermal protection method for an elevator door motor according to claim 1, characterized in that: The speed curve includes a door closing speed curve, and determining the first control parameter and the second control parameter of the motor according to the speed curve includes: Determining a first door closing speed and a second door closing speed from the door closing speed curve, wherein the first door closing speed is less than the second door closing speed; Obtaining the closing acceleration of the elevator door under the action of a weight and friction; calculating a target door closing distance based on the first door closing speed, the second door closing speed, and the door closing acceleration; The first door closing speed is determined as a first control parameter, and the target door closing distance and the second door closing speed are determined as second control parameters.

6. The thermal protection method for an elevator door motor according to claim 5, characterized in that: Calculating a target door closing distance based on the first door closing speed, the second door closing speed, and the door closing acceleration includes: The target door closing distance P is calculated by the following formula: Among them, Fk is the force of the hammer, f is the friction force of closing the door, V0 is the first closing speed, V end is the second closing speed, a close is the door closing acceleration, P set It is the door closing distance when the door closing speed reaches V0.

7. The thermal protection method for an elevator door motor according to claim 5, characterized in that: In the process of the motor performing the target action, when the first control parameter is detected, the motor is controlled to be turned off, and when the second control parameter is detected, the motor is controlled to be turned on, including: When the motor receives an elevator door closing instruction, the motor is controlled to start and drive the elevator door to close faster, and the closing speed of the elevator door is detected; When the door closing speed reaches the first door closing speed, controlling the motor to close, and detecting the door closing distance of the elevator door; When the door closing distance is equal to the target door closing distance, or the door closing speed is equal to the second door closing speed, the motor is controlled to start and decelerate the door closing.

8. The thermal protection method for an elevator door motor according to any one of claims 1 to 7, characterized in that: Also includes: When the temperature is less than a preset second temperature threshold, if the elevator door is in a fully opened state or a fully closed state, the input voltage of the motor is increased and the clock frequency of the controller is increased.

9. The thermal protection method for an elevator door motor according to claim 8, characterized in that: The motor is a three-phase motor and further comprises: In the process of increasing the input voltage of the motor, the phase angle and voltage value of the input voltage of the motor are determined by the following formula: Ang(t)=Ang0±(t×Det); Vout(t)=V0×(1±COS(t×Det)); Among them, Ang0 is the initial phase angle, t is time, V0 is the initial voltage value, Det is the phase angle change per unit time, Ang(t) is the phase angle at time t, and Vout(t) is the voltage at time t.

10. A thermal protection device for an elevator door motor, characterized in that: Used to control the motor temperature of an elevator door equipped with a heavy hammer, including: A motor temperature detection module, used to detect the temperature of the motor; an action determination module, used to determine a target action of the motor when the temperature is greater than a preset first temperature threshold, the target action being an elevator door opening or an elevator door closing; A speed curve acquisition module, used to acquire the speed curve of the target action; A control parameter determination module, used to determine a first control parameter and a second control parameter of the motor according to a speed curve; The motor control module is used to control the motor to be turned off when the first control parameter is detected, and to control the motor to be turned on when the second control parameter is detected during the process of the motor performing the target action.

11. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the thermal protection method for an elevator door motor according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the thermal protection method for an elevator door motor according to any one of claims 1 to 9 when executed.

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