Elevator control method, device, system and computer readable storage medium

Abstract

An elevator control method, device, system and computer-readable storage medium. The elevator control method is applied to an elevator system, wherein the elevator system comprises: an elevator car and a distance measuring module, wherein at least one of the distance measuring modules continuously measures the distance of a target object in a predetermined area outside the car door when the car door is open, and the method comprises: when the car door of the elevator car is open, obtaining the distance between the target object and a light curtain at the car door using the distance measured by the distance measuring module, and judging whether the car door will hit the target object when closed based on the obtained distance to the light curtain; in response to the judgment result that the car door will hit the target object when closed, delaying the closing of the car door to avoid the target object being caught when riding the elevator, thereby ensuring the safety of the target object when riding the elevator.

Description

Technical Field

[0001] The present invention relates to elevator control technology, and more particularly to an elevator control method, device, system and computer-readable storage medium. Background Art

[0002] With the popularization of elevator applications, many passengers hope that elevators can be controlled intelligently to avoid being caught by the elevator door when entering the elevator car. However, there are no relevant preventive measures in the existing methods, and passengers are often caught by the elevator door when entering the elevator car. Therefore, how to prevent passengers from being caught by the elevator door is very important to ensure the safety of passengers. Summary of the invention

[0003] The disclosed embodiment provides an elevator control method, which can delay closing of the car door when it is determined, based on the distance between the target object and the light curtain, that the car door will hit the target object when closing, thereby avoiding the target object from being pinched when riding the elevator, thereby ensuring the safety of the target object.

[0004] The embodiments of the present disclosure also provide an elevator control device, system and computer-readable storage medium.

[0005] The elevator control method provided by the embodiment of the present disclosure is applied to an elevator system.

[0006] The elevator system comprises: an elevator car and a distance measuring module, at least one of the distance measuring modules continuously measures the distance of a target object within a predetermined area outside the car door when the car door is open, and the method comprises:

[0007] When the elevator car door is open, the distance between the target object and the light curtain at the car door is obtained by using the distance measured by the distance measuring module, and whether the car door will hit the target object when it is closed is determined according to the obtained distance to the light curtain;

[0008] In response to a determination that the car door will hit the target object when closing, closing of the car door is delayed.

[0009] In some exemplary embodiments, the distance measuring module is disposed on an elevator hall door or a rear wall panel of the elevator car, and the predetermined area is an area within a preset range from the car door.

[0010] In some exemplary embodiments, the determining whether the car door will hit the target object when closing includes:

[0011] Determine whether the target object moves toward the car door, and whether the target object can block the light curtain before the car door starts to close;

[0012] In response to a determination that the target object moves toward the car door and the target object cannot block the light curtain, determining that the car door will hit the target object when closing;

[0013] In response to a determination that the target object moves toward the car door and the target object can block the light curtain, it is determined that the car door will not hit the target object when closing.

[0014] In some exemplary embodiments, the determining whether the target object can block the light curtain before the car door starts to close includes:

[0015] The time for the target object to move to a position capable of blocking the light curtain is calculated based on the obtained distance from the light curtain and the moving speed of the target object obtained by using the measurement result of the ranging module. In response to the calculated time being equal to or earlier than the time when the car door starts to close, it is judged that the target object can block the light curtain before the car door starts to close. In response to the calculated time being later than the time when the car door starts to close, it is judged that the target object cannot block the light curtain before the car door starts to close.

[0016] In some exemplary embodiments, the method further comprises:

[0017] When the target object moves toward the car door, in response to the target object blocking the light curtain, starting timing;

[0018] In response to the timing time reaching the first preset time and the target object still blocking the light curtain, the target object is prompted in a first preset manner to move toward the rear wall panel of the elevator car.

[0019] In some exemplary embodiments,

[0020] The distance measuring module includes: a distance measuring module arranged on the rear wall panel of the elevator car, or a distance measuring module respectively arranged on the rear wall panel and at least one side panel of the elevator car, the distance measuring signal of each distance measuring module covers the area in the car door, and continuously measures the distance of the target object entering the covered area in the car door, and the method further includes:

[0021] When the target object enters the elevator car and does not block the light curtain, using each of the distance measurement modules to measure the distance to the target object whose position does not change within a set first time period;

[0022] Determine the position of the target object in the elevator car according to the measured multiple distances, and determine whether the target object causes the elevator car to be overloaded according to the position;

[0023] In response to the judgment result that the target object causes the car to be overloaded, the closing of the elevator car door is delayed, and the situation that the target object causes the overload is prompted in a second preset manner.

[0024] In some exemplary embodiments, after responding to the determination result that the target object has an unbalanced load, the method further includes:

[0025] Start the timer;

[0026] In response to the timing time reaching a second preset time, determining again based on the distances measured by each distance measurement module whether the target object still causes an offset load;

[0027] In response to the determination result that the target object still causes the elevator car to be overloaded, the car door is controlled to close, the elevator car is operated according to the requested floor, and the overload operation condition is reported.

[0028] In some exemplary embodiments,

[0029] The distance measuring module comprises: a distance measuring module arranged in the elevator car, and the method further comprises:

[0030] In the case where the target object enters the elevator car, determining the distance between the target object and the rear wall panel of the elevator car using the measurement result of the distance measurement module; in response to the distance between the target object and the rear wall panel being less than a preset non-collision safety distance, prompting that the target object may collide with the rear wall panel; or

[0031] When the target object enters the elevator car, the distance and moving speed between the target object and the rear wall panel of the elevator car are determined using the measurement results of the ranging module; based on the distance and moving speed between the target object and the rear wall panel, if it is determined that the distance between the target object and the rear wall panel within a set time period will be less than a preset non-collision safety distance, it is prompted that the target object may collide with the rear wall panel.

[0032] The elevator control device provided by the embodiment of the present disclosure is applied to an elevator system.

[0033] The control device includes: a memory and a processor, wherein the memory is configured to store an executable program;

[0034] The processor is configured to read the executable program and execute any of the above-mentioned elevator control methods.

[0035] The elevator system provided by the embodiment of the present disclosure includes: at least one elevator car, a distance measurement module arranged on the rear wall plate of the elevator car, and the elevator control device as described above

[0036] The computer-readable storage medium provided by the embodiments of the present disclosure stores a computer program, wherein when the computer program is executed by a processor, any of the above-mentioned elevator control methods can be implemented.

[0037] Compared with the related art, the elevator control method, device, system and computer-readable storage medium provided in the embodiments of the present application measure the distance of the target object outside the car door through a distance measuring module, obtain the distance between the target object and the light curtain at the car door using the distance measured by the distance measuring module, and judge whether the car door will hit the target object when closing based on the obtained distance between the target object and the light curtain. If it is judged that the car door will hit the target object when closing, the closing of the car door is delayed, thereby avoiding the situation where the target object is clamped when riding the elevator, thereby ensuring the safety of the target object when riding the elevator.

[0038] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by implementing the present application. Other advantages of the present application can be realized and obtained by the schemes described in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings are used to provide an understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0040] Figure 1 A schematic diagram of a flow chart of an elevator control method according to an embodiment of the present disclosure;

[0041] Figure 2 It is a flowchart of another elevator control method according to an embodiment of the present disclosure;

[0042] Figure 3 It is a schematic diagram of an elevator car overload according to an embodiment of the present disclosure;

[0043] Figure 4 A flowchart of another elevator control method according to an embodiment of the present disclosure;

[0044] Figure 5 This is a structural schematic diagram of an elevator control device according to an embodiment of the present disclosure;

[0045] Figure 6 The present invention is a schematic structural diagram of an elevator system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The present application describes multiple embodiments, but the description is exemplary rather than restrictive, and it is obvious to those skilled in the art that there may be more embodiments and implementations within the scope of the embodiments described in the present application. Although many possible feature combinations are shown in the drawings and discussed in the specific embodiments, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with any other feature or element in any other embodiment, or may replace any other feature or element in any other embodiment.

[0047] The present application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features and elements disclosed in the present application may also be combined with any conventional features or elements to form a unique invention scheme. Any features or elements of any embodiment may also be combined with features or elements from other invention schemes to form another unique invention scheme. Therefore, it should be understood that any feature shown and / or discussed in the present application may be implemented individually or in any appropriate combination. Therefore, except for the limitations made according to the attached claims and their equivalents, the embodiments are not subject to other restrictions. In addition, various modifications and changes may be made within the scope of protection of the attached claims.

[0048] In addition, when describing representative embodiments, the specification may have presented the method and / or process as a specific sequence of steps. However, to the extent that the method or process does not rely on the specific order of the steps described herein, the method or process should not be limited to the steps of the specific order described. As will be understood by those of ordinary skill in the art, other sequences of steps are also possible. Therefore, the specific sequence of the steps set forth in the specification should not be interpreted as a limitation to the claims. In addition, the claims for the method and / or process should not be limited to the steps of performing them in the order written, and those skilled in the art can easily understand that these sequences can be changed and still remain within the spirit and scope of the embodiments of the present application.

[0049] The present disclosure provides an elevator control method, which is applied to an elevator system. The elevator system includes an elevator car and a distance measuring module. When the car door is open, at least one of the distance measuring modules continuously measures the distance of a target object within a predetermined area outside the car door. Figure 1 As shown, the method includes:

[0050] Step 101, when the elevator car door is open, the distance between the target object and the light curtain at the car door is obtained using the distance measured by the distance measuring module, and whether the car door will hit the target object when it is closed is determined according to the obtained distance to the light curtain;

[0051] Step 102: In response to a determination that the car door will hit the target object when closing, delay closing the car door.

[0052] In this embodiment, the distance measuring module may perform distance measurement when the car door is closed, or may not perform distance measurement, which is not limited in this application. The distance measuring module only performs distance measurement when the car door is open, which can be achieved in the following manner: when the car door is detected to be open, a distance measurement instruction is sent to the distance measuring module, and the distance measuring module performs distance measurement according to the received distance measurement instruction.

[0053] In this embodiment, there may be one or more target objects in the predetermined area outside the car door. When there are multiple target objects, steps 101 and 102 may be performed for each target object.

[0054] In this embodiment, a distance threshold (eg, 0.3 M) may be set. When the distance between the target object and the light curtain at the car door is less than the threshold, it is determined that the car door will hit the target object when closing.

[0055] In this embodiment, the ranging module can send out a ranging signal, and perform ranging through the sent ranging signal. When the ranging module uses the ranging signal to measure the distance, the predetermined area can be determined according to the coverage area formed by the ranging signal of the ranging module outside the car door. The coverage area formed by the ranging module outside the car door can be a spatial area, then the spatial area can be directly determined as the predetermined area, or any sub-spatial area included in the spatial area can be determined as the predetermined area, and the spatial area can also be projected onto the ground to obtain a plane area, and the plane area can be directly determined as the predetermined area, or any sub-plane area included in the plane area can be determined as the predetermined area.

[0056] In practical applications, in order to avoid delaying the closing of the car door for objects that are too far away from the car door, which may cause the normal operation of the elevator to be blocked, the predetermined area can be set in accordance with the actual situation. In addition, the predetermined area outside the car door can be selected according to the actual situation, and then the setting position of the ranging module can be "reversely deduced" based on the principle that the ranging signal coverage area must include the set predetermined area.

[0057] In this embodiment, the ranging module can be set in the elevator car. When the elevator car door is opened, the ranging signal of the ranging module reaches the outside of the elevator car, and the ranging signal is used to continuously measure the distance of the target object in the predetermined area outside the car door; the ranging module can be set in the elevator lobby. When the elevator car door is opened, the ranging module uses the ranging signal to continuously measure the distance of the target object in the predetermined area outside the car door; the ranging module can be set on the partition wall opposite to the car door in the elevator waiting area and facing the car door. When the elevator car door is opened, the ranging module uses the ranging signal to continuously measure the distance of the target object in the predetermined area outside the car door.

[0058] In this embodiment, when the target object begins to enter the predetermined area, the distance measured by the ranging module may not be the distance between a point on the target object and the ranging module, but the distance between multiple points on the surface of the target object (the multiple points can be called a point cloud) and the ranging module. Therefore, the shortest distance can be used as the distance between the target object and the ranging module.

[0059] The light curtain at the car door is usually formed by a row of signals emitted by a signal transmitter arranged on one side of the car door. In the related art, whether a passenger has entered the elevator car is often determined by detecting whether a signal receiver arranged on the other side of the car door receives all the signals emitted by the signal transmitter.

[0060] In this embodiment, the ranging module can be a radar detection module. The radar detection module transmits radar wave signals through an antenna. When these waves encounter obstacles, part of the waves will be reflected back and the arriving waves will be received by the receiving antenna. By measuring the time difference between the transmitted signal and the received signal, combined with the propagation speed of the radar wave, the distance between the target object and the radar detection module can be calculated.

[0061] The elevator control method provided in the embodiment of the present application measures the distance of the target object outside the car door through a distance measuring module, obtains the distance between the target object and the light curtain at the car door using the distance measured by the distance measuring module, and judges whether the car door will hit the target object when closing based on the obtained distance to the light curtain. If it is judged that the car door will hit the target object when closing, the closing of the car door is delayed, thereby avoiding the situation where the target object is clamped when riding the elevator, thereby ensuring the safety of the target object when riding the elevator.

[0062] In some exemplary embodiments, the distance measuring module is disposed on an elevator hall door or a rear wall panel of the elevator car, and the predetermined area is an area within a preset range from the car door.

[0063] When the ranging module is set on the elevator hall door, it needs to be set on the elevator lobby on each floor. When the module is set on the rear wall panel of the elevator car, the elevator car will arrive at the corresponding floor due to the elevator call request for each floor, and then continuously measure the distance to the target object in the predetermined area outside the car door on the corresponding floor.

[0064] In some exemplary embodiments, the step of determining whether the car door will hit the target object when closing includes:

[0065] Determine whether the target object moves toward the car door, and whether the target object can block the light curtain before the car door starts to close;

[0066] In response to a determination that the target object moves toward the car door and the target object cannot block the light curtain, determining that the car door will hit the target object when closing;

[0067] In response to a determination that the target object moves toward the car door and the target object can block the light curtain, it is determined that the car door will not hit the target object when closing.

[0068] In this embodiment, the time before the car door starts to close may refer to the time before the car door closing action is triggered, or the time before the car door closing action is triggered plus a set time. The set time can be set to 0.1s, or can be set according to the situation of different elevators, for example, through testing, it is determined that the car door closing action has just started, and when the set time is very short, the space between the two car doors is large enough and the target object will not be hit.

[0069] In some exemplary embodiments, the determining whether the target object can block the light curtain before the car door starts to close includes:

[0070] The time for the target object to move to a position capable of blocking the light curtain is calculated based on the obtained distance from the light curtain and the moving speed of the target object obtained by using the measurement result of the ranging module. In response to the calculated time being equal to or earlier than the time when the car door starts to close, it is judged that the target object can block the light curtain before the car door starts to close. In response to the calculated time being later than the time when the car door starts to close, it is judged that the target object cannot block the light curtain before the car door starts to close.

[0071] In this embodiment, calculating the time for the target object to move to a position capable of blocking the light curtain may include the following steps: first calculating the time required for the target object to move from a current position to a position capable of blocking the light curtain, and then obtaining the time for the target object to move to a position capable of blocking the light curtain based on the current time and the calculated required time.

[0072] The blocking light curtain includes a partial blocking light curtain and a full blocking light curtain. Both the partial blocking light curtain and the full blocking light curtain can be referred to as a blocking light curtain.

[0073] In this embodiment, when the ranging module itself has a speed measurement function, the measurement result of the ranging module may refer to the moving speed of the target object directly measured by the ranging module, and when the ranging module itself does not have a speed measurement function, the measurement result of the ranging module may refer to the distance between the ranging module and the target object obtained by multiple measurements by the ranging module. When the measurement result of the ranging module is the distance between the ranging module and the target object obtained by multiple measurements by the ranging module, the moving speed of the target object can be obtained by combining the time when the distance between the ranging module and the target object is measured multiple times, for example, the moving distance of the target object is obtained by subtracting the distance between the ranging module and the target object obtained by two measurements, the time taken by the target object to move the obtained moving distance is obtained by subtracting the time taken by the two measurements, and the moving speed of the target object is obtained according to the moving distance and the time taken.

[0074] In some exemplary embodiments, the method further comprises:

[0075] When the target object moves toward the car door, in response to the target object blocking the light curtain, starting timing;

[0076] In response to the timing time reaching the first preset time and the target object still blocking the light curtain, the target object is prompted in a first preset manner to move toward the rear wall panel of the elevator car.

[0077] The first preset mode may be a voice reminder mode, or a light reminder mode, or a sound and light reminder mode (a reminder mode with both voice reminder and light reminder). When the voice reminder mode is adopted, a voice playback device needs to be installed in the elevator car, when the sound and light reminder mode is adopted, a light device needs to be installed in the elevator car, and when the sound and light reminder mode is adopted, a sound and light device needs to be installed in the elevator car. When the first preset mode is a voice reminder mode, the first preset mode may be a reminder sound such as "beep" or "beep", or a reminder sentence such as "please move inward".

[0078] The elevator control method provided in the embodiment of the present application can prompt the target object when the duration of the target object blocking the light curtain reaches a preset time, so that the car door can be safely closed, thereby ensuring the safe operation of the elevator.

[0079] In some exemplary embodiments, the ranging module includes: a ranging module arranged on the rear wall panel of the elevator car, or a ranging module respectively arranged on the rear wall panel and at least one side panel of the elevator car, the ranging signal of each ranging module covers the area inside the car door, and continuously measures the distance of the target object entering the covered area inside the car door, such as Figure 2 As shown, the method also includes:

[0080] Step 201: When the target object enters the elevator car and does not block the light curtain, use each of the distance measurement modules to measure the distance between the target object and the target object whose position does not change within a set first time period;

[0081] Step 202: determining the position of the target object in the elevator car according to the measured distance, and judging whether the target object causes the elevator car to be overloaded according to the position;

[0082] Step 203: In response to the judgment result that the target object causes the car to be overloaded, the closing of the elevator car door is delayed, and the situation that the target object causes the overload is prompted in a second preset manner.

[0083] In this embodiment, the position of the target object in the car may refer to the relative position of the target object in the car and the non-biased load area, and the non-biased load area may be a circular area set in the car floor with the center of the floor as the center. When the non-biased load area is a circular area set in the car floor with the center of the floor as the center, and the distance measuring module is only set on the rear wall of the elevator car, the schematic diagram of determining the elevator car eccentric load can be as follows: Figure 3 As shown, the distance measuring module 31 is set on the rear wall plate and the height from the ground is H1. The closest distance between the distance measuring module 31 and the non-biased loading area (indicated by A in the figure) is L1, and the farthest distance from the non-biased loading area is L2. In addition, the distance from the rear wall plate of the elevator car to the car door (that is, the depth of the elevator car) is L3, L1 is smaller than L2, and L2 is smaller than L3. When the distance measured by the distance measuring module to the target object is greater than L1 and less than L2, it is determined that the target object is in the non-biased loading area. When the distance measured by the distance measuring module to the target object is not greater than L1 or greater than L2, it is determined that the target object is not in the non-biased loading area.

[0084] When the non-biased load area is a circular area set in the car floor with the center of the floor as the center, and the ranging modules are respectively set on the rear wall panel and the ranging modules on at least one side panel of the elevator car, the closest distance between the ranging module on the rear wall panel and the non-biased load area is L1, and the farthest distance from the non-biased load area is L2, the closest distance between the ranging module on at least one side panel and the non-biased load area is L4, and the farthest distance from the non-biased load area is L5, wherein L1=L4, L2=L5, when the distance measured by the ranging module on the rear wall panel to the target object is greater than L1 and less than L2, and the distance measured by the ranging module on at least one side panel to the target object is greater than L4 and less than L5, it is determined that the target object is in the non-biased load area.

[0085] Exemplarily, the second preset mode may be a voice reminder mode, or a light reminder mode, or a sound and light reminder mode (a reminder mode with both voice reminder and light reminder). When the voice reminder mode is adopted, a voice playback device needs to be installed in the elevator car, when the sound and light reminder mode is adopted, a light device needs to be installed in the elevator car, and when the sound and light reminder mode is adopted, a sound and light device needs to be installed in the elevator car. When the second preset mode is a voice reminder mode, the second preset mode may be a reminder sound such as "beep" or "beep", or a reminder statement such as "the elevator is overloaded, please pay attention to adjust the position".

[0086] The first preset mode and the second preset mode may be the same or different. When both the first preset mode and the second preset mode are voice reminder modes, and they are voice reminder modes with prompt sounds, the specific prompt sounds of the first preset mode and the second preset mode should be different. For example, the first preset mode uses a "beep" prompt sound, and the second preset mode uses a "di" prompt sound; when both the first preset mode and the second preset mode are light reminder modes, the specific light display modes of the first preset mode and the second preset mode should be different. For example, the first preset mode uses a red light flashing mode, and the second preset mode uses a blue light flashing mode.

[0087] In some exemplary embodiments, after the determination result that the target object has an unbalanced load occurs, Figure 4 As shown, the method also includes:

[0088] Step 401, start timing;

[0089] Step 402: In response to the timing time reaching a second preset time, determining again based on the distances measured by each distance measurement module whether the target object still causes the elevator car to be overloaded;

[0090] Step 403: In response to the determination result that the target object still causes the elevator car to be overloaded, the car door is controlled to close, the elevator car runs according to the requested floor, and the overload running condition is reported.

[0091] If the unbalanced load is still detected, the elevator car will be controlled to start normal operation, but the unbalanced load operation will be reported. The unbalanced load operation can be protected with the help of the Internet of Things module in the elevator car.

[0092] In some exemplary embodiments, the ranging module includes: a ranging module disposed in the elevator car, and the method further includes:

[0093] When the target object enters the elevator car, the distance between the target object and the rear wall panel of the elevator car is determined using the measurement result of the ranging module; in response to the distance between the target object and the rear wall panel being less than a preset non-collision safety distance, it is prompted that the target object may collide with the rear wall panel.

[0094] In this embodiment, the non-collision safety distance cannot be set very large, otherwise many invalid prompts will appear. In practical applications, if both eccentric load detection and collision detection are provided, and the distance measuring module is only provided on the rear wall of the elevator car, the non-collision safety distance can be less than the shortest distance to the distance measuring module in the non-eccentric load area.

[0095] In some exemplary embodiments, the ranging module includes: a ranging module disposed in the elevator car, and the method further includes:

[0096] When the target object enters the elevator car, the distance and moving speed between the target object and the rear wall panel of the elevator car are determined using the measurement results of the ranging module; based on the distance and moving speed between the target object and the rear wall panel, if it is determined that the distance between the target object and the rear wall panel within a set time period will be less than a preset non-collision safety distance, it is prompted that the target object may collide with the rear wall panel.

[0097] When an object moves toward the rear wall at a very fast speed, if a prompt is only given when the distance is less than the non-collision safety distance, it is likely that people will not have enough reaction time to avoid a collision. This embodiment considers both distance and speed, which can avoid invalid prompts as much as possible and give people more reaction time.

[0098] The embodiment of the present disclosure also provides an elevator control device, which is applied to an elevator system, and the control device includes: a memory and a processor, wherein the memory is configured to store an executable program;

[0099] The processor is configured to read the executable program and execute the elevator control method as described in any embodiment of the present disclosure.

[0100] In this embodiment, the elevator control device can be as follows Figure 5 As shown, it includes: a programmable logic controller (PLC) module 51, an elevator main control board 52, an Internet of Things module 53, a radar ranging module 54, a voice prompt module 55 and an audio and visual alarm module 56.

[0101] The elevator main control board 52 is used to detect whether the car door is open, and send a car door opening signal to the PLC module 51 when the car door is detected to be open; it is also used to delay closing the car door according to the instruction of delaying closing the car door.

[0102] The PLC module 51 is used to send a distance measurement instruction to the radar distance measurement module 54 according to the received signal of the car door opening; it is also used to judge whether the car door will hit the target object when it is closed according to the distance measurement result, and when it is judged whether the car door will hit the target object when it is closed, it sends a delay instruction to close the car door to the elevator main control board 52; it is also used to judge whether the target object will cause the elevator car to be overloaded after entering the elevator car and its position no longer changes according to the distance measurement result, and when it is judged that it will cause the elevator car to be overloaded for the first time, it sends a voice prompt instruction to the voice prompt module so that the voice prompt module can voice the target object. The target object is prompted for overloading. When it is judged again after a preset time period that the target object will cause overloading of the elevator car, the overloading operation status is reported through the Internet of Things module 53; it is also used to judge whether the target object is likely to collide with the rear wall panel after entering the elevator car according to the ranging result. When it is judged that the target object is likely to collide with the rear wall panel, a sound and light alarm instruction is sent to the sound and light alarm module 56, so that the sound and light alarm module prompts the target object to have the possibility of colliding with the rear wall panel in the form of sound and light alarm; it is also used to send a stop ranging instruction to the radar ranging module 54 after both the overloading detection and the collision possibility detection are completed.

[0103] The radar ranging module 54 is used to measure the distance of the target object according to the ranging instruction and return the ranging result to the PLC module 51.

[0104] The present disclosure also provides an elevator system such as Figure 6 As shown, it includes: at least one elevator car 32, a distance measurement module 31 arranged in the elevator car 32, and an elevator control device 33 as described in any of the above embodiments of the present disclosure.

[0105] The embodiments of the present disclosure further provide a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the elevator control method as described in any of the above embodiments can be implemented.

[0106] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or transient medium). As is known to those skilled in the art, the term "computer storage medium" includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

Claims

1. An elevator control method, applied in an elevator system, characterized in that: The elevator system comprises: an elevator car and a distance measuring module, at least one of the distance measuring modules continuously measures the distance of a target object within a predetermined area outside the car door when the car door is open, and the method comprises: When the elevator car door is open, the distance between the target object and the light curtain at the car door is obtained by using the distance measured by the distance measuring module, and whether the car door will hit the target object when it is closed is determined according to the obtained distance to the light curtain; In response to a determination that the car door will hit the target object when closing, delaying closing of the car door; Wherein, the determining whether the car door will hit the target object when closing includes: Determine whether the target object moves toward the car door, and whether the target object can block the light curtain before the car door starts to close; In response to a determination that the target object moves toward the car door and the target object cannot block the light curtain, determining that the car door will hit the target object when closing; The determining whether the target object moves toward the car door and whether the target object can block the light curtain before the car door starts to close includes: The time for the target object to move to a position capable of blocking the light curtain is calculated based on the obtained distance from the light curtain and the moving speed of the target object obtained by using the measurement result of the ranging module. In response to the calculated time being equal to or earlier than the time when the car door starts to close, it is judged that the target object can block the light curtain before the car door starts to close. In response to the calculated time being later than the time when the car door starts to close, it is judged that the target object cannot block the light curtain before the car door starts to close.

2. The method according to claim 1, characterized in that The distance measuring module is arranged on the elevator hall door or the rear wall plate of the elevator car, and the predetermined area is an area within a preset range from the car door.

3. The method according to claim 1, characterized in that The determining whether the car door will hit the target object when closing also includes: In response to a determination that the target object moves toward the car door and the target object can block the light curtain, it is determined that the car door will not hit the target object when closing.

4. The method according to claim 1, characterized in that: The method further comprises: When the target object moves toward the car door, in response to the target object blocking the light curtain, starting timing; In response to the timing time reaching the first preset time and the target object still blocking the light curtain, the target object is prompted in a first preset manner to move toward the rear wall panel of the elevator car.

5. The method according to any one of claims 1 to 4, characterized in that: The distance measuring module includes: a distance measuring module arranged on the rear wall panel of the elevator car, or a distance measuring module respectively arranged on the rear wall panel and at least one side panel of the elevator car, the distance measuring signal of each distance measuring module covers the area in the car door, and continuously measures the distance of the target object entering the covered area in the car door, and the method further includes: When the target object enters the elevator car and does not block the light curtain, using each of the distance measurement modules to measure the distance to the target object whose position does not change within a set first time period; Determine the position of the target object in the elevator car according to the measured distance, and determine whether the target object causes the elevator car to be overloaded according to the position; In response to the judgment result that the target object causes the car to be overloaded, the closing of the elevator car door is delayed, and the situation that the target object causes the overload is prompted in a second preset manner.

6. The method according to claim 5, characterized in that After responding to the determination result that the target object has an unbalanced load, the method further includes: Start the timer; In response to the timing time reaching a second preset time, determining again based on the distances measured by each distance measurement module whether the target object still causes the elevator car to be overloaded; In response to the determination result that the target object still causes the elevator car to be overloaded, the car door is controlled to close, the elevator car is operated according to the requested floor, and the overload operation condition is reported.

7. The method according to any one of claims 1 to 4, characterized in that: The distance measuring module comprises: a distance measuring module arranged in the elevator car, and the method further comprises: In the case where the target object enters the elevator car, determining the distance between the target object and the rear wall panel of the elevator car using the measurement result of the distance measurement module; in response to the distance between the target object and the rear wall panel being less than a preset non-collision safety distance, prompting that the target object may collide with the rear wall panel; or When the target object enters the elevator car, the distance and moving speed between the target object and the rear wall panel of the elevator car are determined using the measurement results of the ranging module; based on the distance and moving speed between the target object and the rear wall panel, if it is determined that the distance between the target object and the rear wall panel within a set time period will be less than a preset non-collision safety distance, it is prompted that the target object may collide with the rear wall panel.

8. An elevator control device, used in an elevator system, characterized in that: The control device includes: a memory and a processor, wherein the memory is configured to store an executable program; The processor is configured to read the executable program and execute the elevator control method according to any one of claims 1 to 7.

9. An elevator system, comprising at least one elevator car, a distance measuring module arranged on a rear wall panel of the elevator car, and the elevator control device according to claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the elevator control method according to any one of claims 1 to 7 can be implemented.

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