Elevator door motor control method, device and equipment and storage medium

Abstract

The invention provides an elevator door motor control method, device and equipment and a storage medium, and the method comprises the steps that in the opening or closing process of an elevator door, when a reverse operation instruction of the elevator door is received, the target high-speed duration of reverse operation of the elevator door is determined according to the remaining operation stroke of the elevator door in the original operation direction; the running direction of the elevator door is switched, the running frequency of the elevator door motor is controlled according to the first frequency to control the elevator door to run at a high speed, and when the elevator door runs to the target high-speed duration, the running frequency of the elevator door motor is reduced to control the elevator door to run at a low speed until stopping and closing; on the basis that safe operation of the elevator door is guaranteed, the door opening and closing control precision of the elevator door is improved, the operation time needed when the direction of the elevator door changes is shortened, and therefore the operation efficiency of the elevator door is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of elevator control, and in particular to an elevator door machine control method, device, equipment and storage medium. Background Art

[0002] The elevator door is the passage for passengers or goods to enter and exit the elevator car. Generally, the opening and closing of the elevator door is controlled by controlling the operation of the elevator door machine. However, the existing elevator door machine control method is relatively simple, and the opening and closing speed of the elevator door is difficult to accurately control, resulting in low elevator door operation efficiency.

[0003] During the process of opening, closing or shutting the elevator door, you may encounter a scenario where the elevator door needs to change direction. For example, when the elevator door is closed, the user presses the door opening button, causing the elevator door to change direction from closing to opening. Summary of the invention

[0004] The present invention provides an elevator door machine control method, device, equipment and storage medium to solve the problem that the existing elevator door machine control method is relatively simple, the elevator door opening and closing speed is difficult to accurately control, resulting in low elevator door operation efficiency.

[0005] In a first aspect, an embodiment of the present application provides an elevator door machine control method, comprising:

[0006] When the elevator door is opened or closed, when a reverse running instruction of the elevator door is received, the target high-speed duration of the reverse running of the elevator door is determined according to the remaining running distance of the elevator door in the original running direction;

[0007] Switch the running direction of the elevator door, control the running frequency of the elevator door machine according to the first frequency to control the elevator door to run at high speed, and when running to the target high-speed time, reduce the running frequency of the elevator door machine to control the elevator door to run at low speed until it stops and closes.

[0008] In a second aspect, an embodiment of the present application provides a door machine control device, including:

[0009] A determination module is used to determine the target high-speed duration of the reverse operation of the elevator door according to the remaining running distance of the elevator door in the original running direction when receiving the reverse operation instruction of the elevator door during the process of opening or closing the elevator door;

[0010] The control module is used to switch the running direction of the elevator door, control the running frequency of the elevator door machine according to the first frequency to control the elevator door to run at high speed, and reduce the running frequency of the elevator door machine when the running reaches the target high-speed time to control the elevator door to run at low speed until it stops and closes.

[0011] In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the electronic device implements the above-mentioned elevator door machine control method.

[0012] In a fourth aspect, an embodiment of the present application provides a readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned elevator door machine control method is executed.

[0013] In a solution provided by the above-mentioned elevator door machine control method, device, equipment and storage medium, during the process of opening or closing the elevator door, when the reverse running instruction of the elevator door is received, the target high-speed duration of the elevator door's reverse running is determined according to the remaining running distance of the elevator door in the original running direction; the running direction of the elevator door is switched, and the running frequency of the elevator door machine is controlled according to the first frequency to control the elevator door to run at high speed, and when the running reaches the target high-speed duration, the running frequency of the elevator door machine is reduced to control the elevator door to run at low speed until it stops and closes. In this embodiment, in the elevator door reversing scenario, the running frequency of the elevator door machine is first controlled according to the first frequency to control the elevator door to reversing at high speed, and then the running frequency of the elevator door machine is controlled according to the low-frequency stop curve to control the elevator door to run at low speed until it stops and closes. On the basis of ensuring the safe operation of the elevator door, the control accuracy of the elevator door opening and closing is improved, and the running time required for the elevator door to change direction is reduced, thereby improving the operating efficiency of the elevator door. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0015] Figure 1 is a structural schematic diagram of an elevator door machine control system in one embodiment of the present invention;

[0016] Figure 2 It is a flow chart of an elevator door machine control method in one embodiment of the present invention;

[0017] Figure 3 yes Figure 2 A schematic diagram of an implementation process of step S10;

[0018] Figure 4 yes Figure 3 A schematic diagram of an implementation process of step S11;

[0019] Figure 5is a normal door opening and closing curve diagram in one embodiment of the present invention;

[0020] Figure 6 is a curve diagram of a low-speed shutdown stage in one embodiment of the present invention;

[0021] Figure 7 is a graph of starting a low speed stage and a high speed stage in one embodiment of the present invention;

[0022] Figure 8 yes Figure 2 A schematic diagram of an implementation process of step S20;

[0023] Fig. 9 is a curve diagram of a reversing door opening and closing in one embodiment of the present invention;

[0024] Fig.10 is a structural schematic diagram of a door machine control device in one embodiment of the present invention;

[0025] Fig.11 It is a schematic diagram of the structure of an electronic device in one embodiment of the present invention. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are 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 are within the scope of protection of the present invention.

[0027] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or their collections. It should also be understood that the term "and / or" used in the present specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0028] In addition, in the description of the present specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0029] References to "one embodiment" or "some embodiments" etc. described in the present specification mean that one or more embodiments of the present invention include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0030] It should be understood that the order of execution of the steps in the following embodiments does not imply a precedence of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0031] In order to illustrate the technical solution of the present invention, specific embodiments are provided below for illustration.

[0032] It should be understood that unlike traditional elevators, which open and close doors horizontally, some unmanned elevators, especially industrial unmanned elevators, open and close doors vertically. The elevator door machine of the unmanned elevator is driven by a frequency converter to realize the vertical opening and closing of the elevator door. During the operation, the elevator runs at high speed. If it is necessary to open or close the door during operation, before approaching the limit position, it is necessary to ensure that the current operating frequency of the elevator door machine has dropped to a low-speed frequency, and decelerate and stop after running at a low-speed frequency and hitting the limit. Otherwise, if the elevator door machine hits the limit position at a higher frequency to execute the elevator door deceleration and stop, because the elevator door speed is too fast, and the remaining elevator door travel cannot be reduced to cross the limit position, the elevator may rush to the top or bottom, causing a safety accident.

[0033] At the same time, during the actual door opening (or closing) process of the unmanned elevator, there may be a scene where the door needs to be closed (or opened) suddenly by changing direction, such as triggering a light curtain or anti-pinch during the door closing process, or actively pressing the door opening button, etc., and the elevator door needs to change its running direction. When the elevator door changes direction, traditional elevators usually use encoders or other position sensors installed on the elevator door machine to detect the current position of the elevator door machine in real time. When it is detected that the position of the elevator door machine reaches the preset deceleration position, the elevator door machine operating frequency is reduced to a low-speed frequency, and high-speed operation can be performed before the deceleration position, so that the elevator door can still accurately control the high and low speeds after the direction switching, reducing the time of direction switching while ensuring safety, and improving the operating efficiency of the elevator door.

[0034] However, due to cost considerations or other factors, some unmanned elevators, especially those for industrial use, are not equipped with encoders or position sensors, so these elevators cannot obtain the real-time position of the door machine during the door opening and closing process. When encountering a direction-changing switching scenario where the elevator door changes direction, in order to ensure safe operation, the elevator door machine of this type of elevator needs to maintain a low-frequency operation state throughout the entire process after the elevator door changes direction, so that the elevator door can reach the limit position at a lower speed and then stop, resulting in a longer running time after the elevator door changes direction and low elevator door operation efficiency.

[0035] In view of the above problems, the elevator door machine control method provided by the embodiment of the present invention can be applied in Figure 1 In the elevator door machine control system shown, the elevator door machine control system includes an elevator door machine and a door machine control device, wherein the door machine control device communicates with the elevator door machine through a cable. The elevator door machine is a motor installed on the elevator door to drive and control the opening and closing of the elevator door. The door machine control device is a control device for the elevator door machine, and the door machine control device can be a variable frequency controller.

[0036] Among them, the door machine control device is used for: during the process of opening or closing the elevator door, when the elevator door machine receives the reverse running instruction of the elevator door, the elevator door machine determines the target high-speed duration of the elevator door's reverse running according to the remaining running distance of the elevator door in the original running direction; the elevator door machine switches the running direction of the elevator door, controls the running frequency of the elevator door machine according to the first frequency to control the elevator door to run at high speed, and when running to the target high-speed duration, reduces the running frequency of the elevator door machine to control the elevator door to run at low speed until it stops and closes. Among them, in the process of the elevator door running at low speed after running at high speed for the target high-speed duration, its low-speed running duration is less than the target high-speed duration, so that the elevator door maintains high-speed operation for a longer time and low-speed operation for a shorter time after changing direction, further reducing the running time required for the elevator door to change direction.

[0037] In this embodiment, during the process of opening or closing the elevator door, when the door machine control device receives the reverse running instruction of the elevator door, the door machine control device determines the target high-speed duration of the elevator door's reverse running according to the remaining running distance of the elevator door in the original running direction; after receiving the reverse running instruction of the elevator door, the door machine control device switches the running direction of the elevator door, controls the running frequency of the elevator door machine according to the first frequency to control the elevator door to run at high speed, and when running to the target high-speed duration, reduces the running frequency of the elevator door machine to control the elevator door to run at low speed until it stops and closes, so as to avoid the elevator from rushing to the top or bottom and ensure safety. In the elevator door changing direction scenario, the elevator door machine first controls the running frequency of the elevator door machine according to the first frequency to control the elevator door to change direction at high speed, and then reduces the running frequency of the elevator door machine to control the elevator door to run at low speed until it stops and closes, which can improve the control accuracy of the elevator door opening and closing on the basis of ensuring the safe operation of the elevator door, reduce the running time required when the elevator door changes direction, and thus improve the running efficiency of the elevator door.

[0038] In one embodiment, if Figure 2 As shown, a method for controlling an elevator door machine is provided, and the method is applied in Figure 1 The door machine control device in the example is used as an example to illustrate, including the following steps:

[0039] S10: When a reverse running instruction of the elevator door is received during the process of opening or closing the elevator door, a target high-speed duration of the reverse running of the elevator door is determined according to the remaining running distance of the elevator door in the original running direction.

[0040] During the operation of the elevator, the door machine control device needs to continuously monitor the operating status of the elevator door, including the opening and closing status of the elevator door, the direction of movement of the elevator door (opening or closing the door), and monitor the command reception. During the process of opening or closing the elevator door, a reverse operation command (such as emergency stop, reverse opening or reverse closing) may be received. When receiving the reverse operation command of the elevator door, the door machine control device needs to determine the remaining running distance of the elevator door in the original running direction, and determine the target high-speed duration of the elevator door's reverse operation based on the remaining running distance of the elevator door in the original running direction. The target high-speed duration determines the time the elevator door needs to reverse at a higher speed, provides a control basis for subsequent direction change control, ensures the running time of the elevator door in reverse operation, and ensures the operating efficiency, stability and safety of the elevator door during direction change switching. Among them, the original running direction is the running direction of the elevator door before the elevator door machine receives the reverse running command.

[0041] S20: Switch the running direction of the elevator door, control the running frequency of the elevator door machine according to the first frequency to control the elevator door to run at high speed, and when running to the target high-speed time, reduce the running frequency of the elevator door machine to control the elevator door to run at low speed until it stops and closes.

[0042] After receiving the reverse running instruction of the elevator door, the door machine control device needs to respond to the reverse running instruction to switch the running direction of the elevator door, and after switching the running direction of the elevator door, the door machine control device immediately controls the running frequency of the elevator door machine according to a preset first frequency, so that the elevator door can move in the opposite direction at high speed, the purpose is to switch the elevator door from the original direction to the new reverse movement in the shortest time, and maintain high-speed operation, improve the operation response efficiency and user experience. Among them, the elevator door machine is provided with a high-speed gear and a low-speed gear, the operating frequency of the high-speed gear of the elevator door machine is the first frequency, and the operating frequency of the low-speed gear of the elevator door machine is the second frequency. When the elevator door machine runs at the first frequency, the speed of opening and closing the elevator door is greater than the speed of opening and closing the elevator door when the elevator door machine runs at the second frequency.

[0043] After controlling the operating frequency of the elevator door machine according to the first frequency to control the elevator door to run at high speed to the target high-speed duration, the door machine control device needs to reduce the operating frequency of the elevator door machine to control the elevator door to run at low speed until it stops and closes, and switch to low-speed control after high-speed operation, so that the elevator door decelerates smoothly until the elevator door stops completely and closes, avoiding the elevator door speed from missing the limit and hitting the top or bottom due to excessive speed, ensuring the safety of the elevator and the service life of the elevator. Among them, the operating frequency of the elevator door machine can be controlled according to a pre-calibrated low-frequency stop curve to control the elevator door to run at low speed until it stops and closes. In the low-frequency stop curve, the operating frequency of the elevator door machine gradually decreases from the first frequency to the stop frequency (such as 0Hz), and the door machine control device will gradually reduce the operating frequency of the elevator door machine according to the curve, so that the elevator door decelerates smoothly until the elevator door stops completely and closes.

[0044] In this embodiment, during the process of opening or closing the elevator door, when the door machine control device receives the reverse running instruction of the elevator door, the door machine control device determines the target high-speed duration of the elevator door's reverse running according to the remaining running distance of the elevator door in the original running direction; after receiving the reverse running instruction of the elevator door, the door machine control device switches the running direction of the elevator door, controls the running frequency of the elevator door machine according to the first frequency to control the elevator door to run at high speed, and when running to the target high-speed duration, reduces the running frequency of the elevator door machine to control the elevator door to run at low speed until it stops and closes, so as to avoid the elevator from rushing to the top or bottom and ensure safety. In the elevator door changing direction scenario, the elevator door machine running frequency is first controlled according to the first frequency to control the elevator door to change direction at high speed, and then the elevator door machine running frequency is controlled according to the low-frequency stop curve to control the elevator door to run at low speed until it stops and closes, which improves the control accuracy of the elevator door opening and closing on the basis of ensuring the safe operation of the elevator door, reduces the running time required for the elevator door to change direction, and thus improves the running efficiency of the elevator door.

[0045] In one embodiment, before step S10, that is, before determining the target high-speed duration of the elevator door's reverse running according to the remaining running distance of the elevator door in the original running direction, the method further includes the following steps:

[0046] S30: Determine a target deceleration time of the elevator door before the elevator door switches the running direction according to the running frequency of the elevator door machine when receiving the reverse running instruction.

[0047] Before switching the running direction of the elevator door, in order to ensure the stability and safety of the elevator door, the door machine control device needs to first control the elevator door to decelerate and stop in the original running direction, and then switch the running direction of the elevator door to reverse running after stopping. Therefore, when receiving a reverse running instruction for the elevator door, the door machine control device needs to determine the target deceleration time of the elevator door before switching the running direction according to the running frequency of the elevator door machine when receiving the reverse running instruction.

[0048] For example, in order to ensure the smoothness of deceleration, the door machine control device can determine the maximum operating frequency of the elevator door machine and the first time required for the elevator door machine to reduce from the maximum operating frequency to the stop frequency (such as 0Hz) at a certain slope, and then multiply the ratio of the operating frequency of the elevator door machine when receiving the reverse operation instruction to the maximum operating frequency of the elevator door machine by the first time to obtain the target deceleration time. In other embodiments, a pre-calibrated change of direction deceleration time can also be reduced as the target deceleration time, which is simple and convenient. Among them, the maximum operating frequency of the elevator door machine is the maximum operating frequency that the elevator door machine can allow.

[0049] S40: Controlling the operating frequency of the elevator door machine to decrease to the stop frequency within the target deceleration time, so as to control the elevator door to decelerate and run to a stop in the original running direction within the target deceleration time.

[0050] After receiving the reverse running instruction for the elevator door, the door machine control device controls the operating frequency of the elevator door machine to gradually decrease from the current operating frequency to the stop frequency according to a certain slope within the target deceleration time, so as to control the elevator door to decelerate and run to stop in the original running direction within the target deceleration time, and then the door machine control device switches the running direction of the elevator door, controls the operating frequency of the elevator door machine according to the first frequency to control the elevator door to run at high speed, and when running to the target high-speed time, reduces the operating frequency of the elevator door machine to control the elevator door to run at low speed until it stops and closes.

[0051] In this embodiment, before switching the running direction of the elevator door, the target deceleration time of the elevator door before the running direction of the elevator door is switched is determined according to the running frequency of the elevator door machine when receiving the reverse running instruction, and the running frequency of the elevator door machine is controlled to be reduced to the stopping frequency within the target deceleration time, so as to control the elevator door to decelerate and stop in the original running direction within the target deceleration time, thereby ensuring the stability and safety of the elevator door operation.

[0052] In one embodiment, in step S30, that is, according to the operating frequency of the elevator door machine when receiving the reverse running instruction, determining the target deceleration time of the elevator door before the elevator door switches the running direction specifically includes the following steps:

[0053] S31: upon receiving a reverse running instruction of the elevator door, determining a pre-set forward deceleration mode of the elevator door.

[0054] In this embodiment, the deceleration mode before the elevator door changes direction includes at least two modes: the first mode and the second mode. The deceleration time of the first mode is longer than the deceleration time of the second mode, that is, the second mode is an emergency deceleration mode, and the first mode is a smooth deceleration mode. The user can pre-set the second mode for the elevator door according to their own needs. When the user does not set the second mode, the deceleration mode before the elevator door changes direction defaults to the first mode.

[0055] S32: When the forward deceleration mode of the elevator door is the first mode, the ratio of the operating frequency of the elevator door machine when receiving the reverse operation instruction to the maximum operating frequency of the elevator door machine is multiplied by the first duration to obtain the target deceleration duration.

[0056] When receiving the reverse operation instruction of the elevator door, the door machine control device determines the pre-set deceleration mode of the elevator door before changing direction. When the deceleration mode of the elevator door before changing direction is the first mode, the door machine control device multiplies the ratio of the operating frequency of the elevator door machine when receiving the reverse operation instruction to the maximum operating frequency of the elevator door machine by the first duration to obtain the target deceleration duration. After receiving the reverse operation instruction for the elevator door, the door machine control device controls the operating frequency of the elevator door machine to gradually decrease from the current operating frequency to the stop frequency, i.e., 0Hz, according to the first slope within the target deceleration duration, so as to control the elevator door to decelerate and stop in the original running direction within the target deceleration duration. Among them, the first duration is the time required for the elevator door to decrease from the maximum operating frequency to the stop frequency (i.e., the frequency is 0Hz) at a preset slope. The first slope is the same as the preset slope.

[0057] Among them, when the deceleration mode of the elevator door turning forward is the first mode, the target deceleration time is calculated by the following formula:

[0058] Tn=DecTime*Fsw / Fmax;

[0059] Among them, Tn represents the target deceleration time of the elevator door before the elevator door switches its running direction; DecTime represents the pre-calibrated first time, that is, the time required for the elevator door to decrease from the maximum operating frequency to the shutdown frequency (that is, the frequency is 0Hz) at a preset slope; Fsw represents the operating frequency of the elevator door machine when it receives the reverse running instruction; Fmax represents the pre-calibrated maximum operating frequency of the elevator door machine.

[0060] S33: When the forward deceleration mode of the elevator door is the second mode, the target deceleration time is obtained by multiplying the ratio of the operating frequency of the elevator door machine when receiving the reverse operation instruction to the maximum operating frequency of the elevator door machine by the second time.

[0061] When receiving the reverse operation instruction of the elevator door, the door machine control device determines the pre-set deceleration mode of the elevator door before changing direction. When the deceleration mode of the elevator door before changing direction is the second mode, the door machine control device multiplies the ratio of the operating frequency of the elevator door machine when receiving the reverse operation instruction to the maximum operating frequency of the elevator door machine by the second duration to obtain the target deceleration duration. After receiving the reverse operation instruction for the elevator door, the door machine control device controls the operating frequency of the elevator door machine to gradually decrease from the current operating frequency to the stop frequency, i.e., 0Hz, according to the second slope within the target deceleration duration, so as to control the elevator door to decelerate and stop in the original running direction within the target deceleration duration. Among them, the second duration is a pre-set deceleration duration that is less than the first duration, and the second duration is the duration of emergency deceleration set by the user; the second slope is greater than the first slope.

[0062] Among them, when the deceleration mode of the elevator door turning forward is the second mode, the target deceleration time is calculated by the following formula:

[0063] Tn=EmergDecTime*Fsw / Fmax;

[0064] Among them, Tn represents the target deceleration time of the elevator door before the elevator door switches its running direction; EmergDecTie represents the pre-calibrated second time, that is, the emergency deceleration time set by the user; Fsw represents the operating frequency of the elevator door machine when it receives the reverse running instruction; Fmax represents the pre-calibrated maximum operating frequency of the elevator door machine.

[0065] In this embodiment, when the deceleration mode before the elevator door changes direction is the first mode, the door machine control device multiplies the ratio of the operating frequency of the elevator door machine when receiving the reverse operation instruction to the maximum operating frequency of the elevator door machine by the first time length to obtain the target deceleration time length, the first time length is the time length required for the elevator door to decrease from the maximum operating frequency to the stop frequency at a preset slope, and then controls the elevator door to decelerate at a relatively stable slope before changing direction, thereby improving the running stability and safety; when the deceleration mode before the elevator door changes direction is the second mode, the ratio of the operating frequency of the elevator door machine when receiving the reverse operation instruction to the maximum operating frequency of the elevator door machine is multiplied by the second time length to obtain the target deceleration time length, the second time length is the pre-set deceleration time length less than the first time length; before the elevator door changes direction, the elevator door is controlled to decelerate at a steeper slope to reduce the deceleration stop time, thereby increasing the running time of the entire direction change switching and improving the running efficiency. In addition, selecting different deceleration modes before the elevator door changes direction according to different user needs can also improve the user experience.

[0066] In one embodiment, if Figure 3 As shown, in step S10, the target high-speed duration of the elevator door's reverse operation is determined according to the remaining running distance of the elevator door in the original running direction, which specifically includes the following steps:

[0067] S11: Determine the remaining running distance of the elevator door in the original running direction.

[0068] During the process of opening or closing the elevator door, the door machine control device needs to monitor the operating status of the elevator door in real time, determine the current position of the elevator door, and calculate the initial remaining distance of the elevator door from the current position to fully open or fully close the door, so as to subsequently determine the high-speed duration of reverse operation based on the initial remaining distance of the elevator door.

[0069] Among them, when the elevator door machine is provided with an encoder or position sensor, the current position of the elevator door can be directly determined by the signal feedback value of the encoder or position sensor. When the elevator door machine is not provided with an encoder or position sensor, or the encoder or position sensor fails, the door machine control device controls the operating frequency of the elevator door machine through a pre-calibrated normal door opening and closing curve to drive the control of the normal door opening and closing of the elevator. At this time, the remaining running stroke of the elevator door in the original running direction can be determined according to the operating frequency of the elevator door machine when receiving the reverse running instruction and the pre-calibrated normal door opening and closing curve.

[0070] In this embodiment, the remaining running distance of the elevator door in the original running direction includes the elevator door distance that the elevator door has already run when the reverse running instruction is received during the current elevator door opening or closing process (i.e., the running distance), and the elevator door distance that the elevator door decelerates to stop running before switching the running direction after receiving the reverse running instruction (i.e., the deceleration stop distance).

[0071] S12: Determine the time required for the elevator door to complete the remaining running stroke at the first frequency as the running time of the elevator door in reverse running.

[0072] When the elevator door machine operates at the first frequency, the elevator door operates at a faster speed. After determining the remaining running distance of the elevator door in the original running direction, the door machine control device needs to determine the time required for the elevator door to complete the remaining running distance at the first frequency as the running time of the elevator door in the reverse direction.

[0073] Among them, the operation efficiency speed data calibrated in advance according to the actual operation data of the elevator door can be obtained, and the frequency speed data includes different elevator door machine frequencies and the elevator door operation speeds corresponding to each elevator door machine frequency. The first frequency is matched with each elevator door machine frequency in the frequency speed data, and the elevator door operation speed corresponding to the matched elevator door machine frequency is used as the elevator door operation speed corresponding to the first frequency, that is, the target speed is obtained; when the reverse operation instruction is received, the elevator door decelerates and stops in the original operation direction within the target deceleration time, if the elevator door needs to go through the closing timing sequence for the deceleration and stop here, and the elevator door also needs to go through the releasing timing during the subsequent reverse operation, then the remaining operation stroke is directly divided by the target speed to obtain the running time of the elevator door in the reverse operation, which is simple and accurate. After receiving the reverse operation instruction, the elevator door decelerates and stops in the original direction within the target deceleration time. If the elevator door does not go through the closing sequence when it decelerates and stops here, because the elevator door needs to go through the releasing sequence when it runs in the reverse direction later, the remaining running distance is divided by the target speed and then added to the closing time T1 of the elevator door to obtain the running time of the elevator door in the reverse direction. The releasing sequence is compensated for the running time of the elevator door in the reverse direction to improve the accuracy of the target high-speed time calculated later.

[0074] S13: Subtract the running time of the elevator door in reverse from the pre-calibrated high-speed running time of the direction change from the running time of the elevator door in reverse to obtain the target high-speed running time of the elevator door in reverse.

[0075] After obtaining the running time of the elevator door in reverse operation, the door machine control device needs to obtain the pre-calibrated high-speed running time of the direction change, which is the time that the elevator door runs at a higher speed during the entire reverse operation process. The pre-calibrated high-speed running time of the direction change minus the running time of the elevator door in reverse operation is subtracted to obtain the target high-speed time of the elevator door in reverse operation, so that after the elevator door running direction is switched in response to the reverse operation instruction, the running frequency of the elevator door machine is controlled according to the first frequency to control the elevator door to run at a high speed, and the target high-speed time is reached. The time required for the elevator door machine to complete the remaining running stroke at the first frequency is taken as the running time of the elevator door in reverse operation, which can reduce the subsequent time of the elevator door in reverse high-speed operation, reduce the overall running time of the elevator door in reverse operation, and improve the operation efficiency of the elevator door.

[0076] Among them, the reversing high-speed operation time can be the operation time corresponding to the high-frequency operation curve in the pre-calibrated reversing door opening and closing curve. The operation time corresponding to the high-frequency operation curve in the reversing door opening and closing curve is subtracted from the operation time of the elevator door in reverse operation to obtain the target high-speed time. It is simple and convenient, and the subsequent high-frequency operation curve can be used to control the operation frequency of the elevator door machine to control the high-speed operation of the elevator door, which can improve the control accuracy.

[0077] In this embodiment, by determining the remaining running distance of the elevator door in the original running direction, and determining the time required for the elevator door to complete the remaining running distance at the first frequency, as the running time of the elevator door's reverse running, then subtracting the pre-calibrated high-speed running time of the elevator door from the running time of the elevator door's reverse running, the target high-speed time of the elevator door's reverse running is obtained, and the time required for the elevator door machine to complete the remaining running distance at the first frequency is used as the running time of the elevator door's reverse running, which can reduce the subsequent time of the elevator door's reverse high-speed running, reduce the overall running time of the elevator door's reverse running, and improve the elevator door's operating efficiency.

[0078] In one embodiment, if Figure 4 As shown, the remaining running distance of the elevator door in the original running direction is determined by the following method, that is, in step S11, the remaining running distance of the elevator door in the original running direction is determined, which specifically includes the following steps:

[0079] S01: According to a pre-calibrated normal door opening and closing curve, determine the initial remaining travel of the elevator door in the original running direction when a reverse running instruction is received.

[0080] The elevator door machine in this embodiment cannot detect the real-time position of the elevator door through the encoder or position sensor, such as the elevator door machine is not equipped with an encoder or position sensor, or the installed encoder or position sensor fails and becomes ineffective.

[0081] Among them, when the elevator door machine cannot detect the real-time position of the elevator door through the encoder or position sensor, in the process of opening or closing the elevator door in step S10, the elevator door machine controls the elevator door to open or close according to the pre-calibrated normal door opening and closing curve, that is, the door machine control device controls the operating frequency of the elevator door machine according to the pre-calibrated normal door opening and closing curve to drive the elevator door to open or close. After receiving the reverse operation instruction of the elevator door, the door machine control device needs to determine the initial remaining travel of the elevator door in the original running direction when receiving the reverse operation instruction during the current elevator door opening or closing process based on the normal door opening and closing curve used in the current elevator door opening or closing process.

[0082] Among them, the operation stages of the normal door opening and closing curve include the starting low-speed stage, the high-speed stage and the low-speed stop stage connected in sequence, and the door machine frequency in the high-speed stage is greater than the door machine frequency in the starting low-speed stage and the low-speed stop stage. Among them, in the starting low-speed stage, the operating frequency of the elevator door machine increases from the starting frequency (such as 0Hz) to the second frequency with a certain slope, and maintains at the second frequency, the second frequency is less than the first frequency, and the first frequency is less than the maximum operating frequency of the elevator door machine; the operating frequency of the elevator door machine in the high-speed stage increases from the second frequency to the first frequency with a certain slope, and maintains at the first frequency; in the low-speed stop stage, the operating frequency of the elevator door machine decreases from the first frequency to the stop frequency (such as 0Hz) with a certain slope and then stops. The first frequency is the high-speed gear frequency. When the elevator door machine runs at the first frequency, the elevator door runs at a faster speed to open or close the door; the second frequency is the low-speed gear frequency. When the elevator door machine runs at the second frequency, the elevator door runs at a slower speed to open or close the door.

[0083] Among them, the pre-calibrated normal opening and closing door curve is as follows Figure 5 shown. Figure 5 The horizontal axis represents time, and the vertical axis represents frequency. The operating frequency of the elevator door machine in the normal door opening and closing curve changes with time as shown in the figure. Figure 5 Shown by the middle curve. Figure 5 F0 in the figure indicates the starting frequency or the stopping frequency 0Hz, F2 indicates the first frequency, and F1 indicates the pre-calibrated second frequency. Figure 5 As shown, the time period from T1 to T3 is the low-speed start-up phase of the normal door opening and closing curve, the time period from T4 to T5 is the high-speed phase of the normal door opening and closing curve; the time period from T6 to T9 is the low-speed shutdown phase of the normal door opening and closing curve. Figure 5The middle time period T1 represents the closing stage of the elevator door, during which the elevator door machine is 0Hz; the time period T2 represents the initial frequency increase stage, during which the operating frequency of the elevator door machine begins to increase from the starting frequency (such as 0Hz) to the second frequency F1 at a certain slope; the time period T3 represents the stage in which the elevator door machine maintains operation at the second frequency F1; the time period T4 represents the secondary frequency increase stage, during which the operating frequency of the elevator door machine begins to increase from the second frequency F1 to the first frequency F2 at a certain slope; the time period T5 represents the stage in which the elevator door machine maintains operation at the first frequency F1; the time period T6 represents the initial frequency reduction stage, during which the operating frequency of the elevator door machine begins to decrease from the first frequency to the second frequency F1 at a certain slope; time period T7 represents the stage in which the elevator door machine maintains operation at the second frequency F1; time period T8 represents the secondary frequency reduction stage, during which the operating frequency of the elevator door machine begins to decrease from the second frequency F1 to the shutdown frequency (such as 0Hz) at a certain slope, wherein the starting point of time period T8 and the end point of time period T7 are the time points when the elevator door hits the limit position during the process of opening or closing the door; time period T9 represents the closing time period of the elevator door.

[0084] from Figure 5 It can be clearly seen that in a complete normal door opening and closing curve, during the elevator door release process, the elevator door machine is in the T1 stage with an operating efficiency of 0Hz, and after the release is completed, the operating frequency of the elevator door machine in the T2 stage increases rapidly from the starting frequency 0Hz to the second frequency F1 at a preset slope, and maintains the second frequency F1 in the T3 stage, and then accelerates to the first frequency F2 in the T4 stage and maintains the T5 time period, so that the elevator door is released and accelerated to the speed corresponding to F2. In this process, the elevator door machine is in a high-frequency acceleration operation stage, and the elevator door closes or opens at a faster speed. After the completion of stage T5, the operating efficiency of the elevator door machine in stage T6 decreases from the first frequency F2 with a certain slope. When it decreases to the second frequency F1, the elevator door decreases to the speed corresponding to F1 at a faster speed; in stage T7, the second frequency F1 is maintained, so that the elevator door runs at a slower and uniform speed, and enters the secondary speed reduction stage T8 after running at a slower and uniform speed for a period of time. The operating efficiency of the elevator door machine decreases from the second frequency F1 with a smaller slope to the stop frequency 0Hz, so that the elevator door decreases to 0Hz at a slower speed, reaches the limit position at a slow speed and closes the switch, ensuring the smooth operation and safety of the elevator door.

[0085] In summary, the low-speed startup stage of the normal door opening and closing curve includes the elevator door release stage T1, the frequency initial increase stage T2, and the second frequency F1 maintenance stage T3; the high-speed stage of the normal door opening and closing curve includes the frequency secondary increase stage T4 and the first frequency F1 maintenance stage T5; the low-speed shutdown stage of the normal door opening and closing curve includes the frequency initial reduction stage T6, the second frequency F1 maintenance stage T7, the frequency secondary reduction stage T8 and the elevator door closing time period T9. Among them, the elevator door release stage T1 and the elevator door closing time period T9 are calibrated according to the actual release and closing time of the elevator door. The elevator door travel corresponding to the time periods T1-T9 in the normal door opening and closing curve, when the operating frequency and operating time are known, can be obtained by converting the operating frequency into the corresponding speed, and the elevator door travel of the corresponding time period in the area formula, that is, the elevator door travel of each time period T1 to T9 in the normal door opening and closing curve is known.

[0086] Among them, the acquisition process of the normal door opening and closing curve is as follows: determine the total opening and closing strokes of the elevator door: use the low-speed gear frequency F1 to complete a complete door opening or closing process respectively, and record the required running time respectively, and draw the operating frequency change curve of the elevator door machine; based on the operating frequency change curve of the elevator door machine, the total door opening stroke and the total door closing stroke can be calculated respectively by the area formula; according to the elevator door release stage and the initial frequency increase stage, determine the running time of the starting low-speed stage, and according to the secondary frequency reduction stage and the elevator door closing time period, determine the running time of the low-speed shutdown stage; according to the running time of the starting low-speed stage and the running time of the low-speed shutdown stage, determine the running time of the high-speed stage, and dynamically adjust the duration of different stages to obtain the normal door opening and closing curve. Among them, the running time of the starting low-speed stage must be at least longer than the elevator door release stage T1 + the frequency initial increase stage T2, that is, longer than the elevator door start-up release time + the time of starting acceleration to the low-speed gear frequency F1; the running time of the low-speed stop stage must be at least longer than the frequency secondary reduction stage T8 and the elevator door closing time period T9, that is, longer than the time from the low-speed gear frequency F1 to stop + elevator door closing time. In the case where the real-time position of the elevator door cannot be detected by the encoder or position sensor, the elevator door machine is controlled by the normal door opening and closing curve to drive the elevator door switch, which can improve the elevator door control accuracy, improve the elevator door operation efficiency, and improve the operation stability and safety.

[0087] S02: Determine the deceleration stop stroke in which the elevator door decelerates to a stop after receiving the reverse operation command.

[0088] As mentioned above, during the process of opening or closing the elevator door, when the reverse running instruction of the elevator door is received, the door machine control device will control the operating frequency of the elevator door machine to be reduced to the stop frequency within the target deceleration time, so as to control the elevator door to decelerate and stop in the original running direction within the target deceleration time. During this process, the elevator door will continue to run a certain distance in the original running direction, that is, the deceleration and stop distance. Therefore, when determining the remaining running distance of the elevator door in the original running direction, it is necessary to determine the deceleration and stop distance of the elevator door decelerating to stop after receiving the reverse running instruction, and then calculate the actual remaining running distance. Among them, the deceleration and stop distance is the target deceleration time multiplied by the running frequency of the elevator door machine when the reverse running instruction is received and divided by 2.

[0089] That is, the deceleration stop stroke is calculated by the following formula:

[0090] Sn=Tn*Fsw / 2;

[0091] Among them, Sn represents the deceleration stop distance of the elevator door after receiving the reverse operation command; Tn represents the target deceleration time of the elevator door before the elevator door switches the running direction; Fsw represents the operating frequency of the elevator door machine when receiving the reverse operation command.

[0092] S03: Subtract the deceleration stop stroke from the initial remaining stroke of the elevator door in the original running direction when the reverse running instruction is received, to obtain the remaining running stroke of the elevator door in the original running direction.

[0093] After determining the initial remaining stroke and the deceleration stop stroke, the door machine control device will receive the initial remaining stroke of the elevator door in the original running direction when the reverse running command is received, minus the deceleration stop stroke, to obtain the remaining running stroke of the elevator door in the original running direction.

[0094] In this embodiment, according to the pre-calibrated normal door opening and closing curve, the initial remaining stroke of the elevator door in the original running direction when the reverse running instruction is received is determined, and the elevator door machine drives the elevator door to open or close according to the normal door opening and closing curve; the deceleration and stop stroke of the elevator door decelerating to stop after receiving the reverse running instruction is determined; the initial remaining stroke of the elevator door in the original running direction when the reverse running instruction is received is subtracted from the deceleration and stop stroke to obtain the remaining running stroke of the elevator door in the original running direction. This process refines the specific calculation method of the remaining running stroke, and the initial remaining stroke of the elevator door in the original running direction when the reverse running instruction is received is determined through the normal door opening and closing curve used in this elevator door opening or closing process, and the deceleration and stop stroke of the elevator door decelerating to stop after receiving the reverse running instruction is subtracted, thereby obtaining the remaining running stroke, thereby improving the accuracy of the remaining running stroke, improving the accuracy of the subsequent target high-speed time, and improving the accuracy of the subsequent reverse running control of the elevator door.

[0095] In one embodiment, step S01, i.e., determining the initial remaining travel of the elevator door in the original running direction when receiving the reverse running instruction according to the pre-calibrated normal door opening and closing curve, specifically includes the following steps:

[0096] S011: Determine the running time of the elevator door in the instruction triggering phase when receiving the reverse running instruction during the current elevator door opening or closing process.

[0097] The command triggering stage is the operation stage of the elevator door machine in the normal door opening and closing curve when receiving the reverse operation command.

[0098] First, the door machine control device needs to determine the total running time of the elevator door from starting and releasing the brake to receiving the reverse running command during the current elevator door opening or closing process, and then match and compare the total running time with the various running stages (i.e., each time period) in the normal door opening and closing curve to determine the running stage of the elevator door machine in the normal door opening and closing curve when the reverse running command is received, i.e., determine the command triggering stage, and determine the running time of the elevator door in the command triggering stage.

[0099] Among them, the instruction triggering stage is determined as follows: when the total running time of the elevator door from the start-up release to the receipt of the reverse running instruction is less than or equal to the running time of the starting low-speed stage (i.e., the sum of T1 to T3), the instruction triggering stage is determined to be the starting low-speed stage in the normal door opening and closing curve; when the total running time of the elevator door from the start-up release to the receipt of the reverse running instruction is greater than the running time of the starting low-speed stage and less than the sum of the running time of the starting low-speed stage and the high-speed stage (i.e., the sum of T1 to T5), the instruction triggering stage is determined to be the high-speed stage in the normal door opening and closing curve; when the total running time of the elevator door from the start-up release to the receipt of the reverse running instruction is greater than the sum of the running time of the starting low-speed stage and the high-speed stage, and less than the sum of the running time of the starting low-speed stage, the high-speed stage and the low-speed stop stage (i.e., the sum of T1 to T9), the instruction triggering stage is determined to be the low-speed stop stage in the normal door opening and closing curve. In other embodiments, the instruction triggering stage can also be a subdivided time period in the starting low-speed stage, the high-speed stage and the low-speed stop stage, that is, subdivided into stages such as T1, T2...T9.

[0100] Similarly, after determining the command triggering stage, the total running time is subtracted from the sum of the running time of each running stage before the command triggering stage to obtain the running time of the elevator door in the command triggering stage when the reverse running command is received. Figure 5 When the elevator door is in the T4 stage, the total running time is subtracted from T1+T2 to obtain the running time of the elevator door in the T4 stage when the reverse running command is received.

[0101] S012: Determine the remaining travel of the elevator door in the command triggering phase according to the operating frequency of the elevator door machine when receiving the reverse running command, the first frequency and the running time in the command triggering phase.

[0102] After determining the running time of the elevator door in the instruction triggering phase when the reverse running command is received, the door machine control device determines the remaining travel of the elevator door in the instruction triggering phase according to the running frequency Fsw of the elevator door machine when the reverse running command is received, the first frequency F2 and the running time Fsw in the instruction triggering phase.

[0103] For example, Figure 5 As shown, according to the operating efficiency curve segment where the instruction trigger stage is located in the normal switching curve, based on the operating frequency Fsw of the elevator door machine when receiving the reverse running instruction, the first frequency F2 and the running time Fsw in the instruction trigger stage, the running stroke of the elevator door in the instruction trigger stage can be calculated using the area formula, and the elevator door stroke corresponding to the instruction trigger stage in the normal switching curve is subtracted from the running stroke of the elevator door in the instruction trigger stage to obtain the remaining stroke of the elevator door in the instruction trigger stage.

[0104] S013: When the command triggering stage is not the last running stage in the normal door opening and closing curve, the remaining travel of the elevator door in the command triggering stage is added to the travel of the elevator door after the command triggering stage in the normal door opening and closing curve to obtain the initial remaining travel of the elevator door in the original running direction when the reverse running command is received.

[0105] Among them, the elevator door travel in each operation stage in the normal door opening and closing curve is known. After determining the remaining travel of the elevator door in the command triggering stage, when the command triggering stage is not the last operation stage in the normal door opening and closing curve, that is, when there are other stages after the command triggering stage, the door machine control device adds the remaining travel of the elevator door in the command triggering stage to the elevator door travel after the command triggering stage in the normal door opening and closing curve to obtain the initial remaining travel of the elevator door in the original operation direction when the reverse operation command is received. When the command triggering stage is the last operation stage in the normal door opening and closing curve, the remaining travel of the elevator door in the command triggering stage is used as the initial remaining travel of the elevator door in the original operation direction when the reverse operation command is received.

[0106] In this embodiment, the elevator door machine determines the running time of the elevator door in the command triggering stage when the reverse running command is received during the current elevator door opening or closing process. The command triggering stage is the running stage of the elevator door machine in the normal door opening and closing curve when the reverse running command is received. Then, according to the running frequency, the first frequency and the running time of the command triggering stage of the elevator door machine when the reverse running command is received, the remaining stroke of the elevator door in the command triggering stage is determined. Then, the remaining stroke of the elevator door in the command triggering stage is added to the elevator door stroke after the command triggering stage in the normal door opening and closing curve to obtain the initial remaining stroke of the elevator door in the original running direction when the reverse running command is received, and the specific calculation process of the initial remaining stroke of the elevator door in the original running direction is clarified. The elevator door machine determines the remaining stroke of the elevator door in the command triggering stage, thereby calculating the running stroke of the motor elevator door based on the different running stages of the normal door opening and closing curve, which is simple and convenient.

[0107] In one embodiment, the operation phase of the normal door opening and closing curve includes a starting low-speed phase, a high-speed phase and a low-speed stop phase connected in sequence, wherein the low-speed stop phase includes a frequency initial reduction phase, a second frequency F1 maintenance phase, a frequency secondary reduction phase and an elevator door closing time period. In step S012, the remaining travel of the elevator door in the command triggering phase is determined according to the operating frequency of the elevator door machine when receiving the reverse operation command, the first frequency and the running time of the command triggering phase, which specifically includes the following steps:

[0108] S0121: When the command triggering stage of the elevator door machine is the initial reduction stage of the operating efficiency in the low-speed stopping stage, the running distance of the elevator door in the initial frequency reduction stage is determined according to the operating frequency of the elevator door machine when receiving the reverse running command, the first frequency and the running time in the initial frequency reduction stage, and the elevator door travel corresponding to the initial frequency reduction stage is subtracted from the running distance of the elevator door in the initial frequency reduction stage to obtain the remaining travel in the command triggering stage.

[0109] in, Figure 6 The operating frequency change curve of the low-speed shutdown stage in the normal door opening and closing curve is shown. The low-speed shutdown stage of the normal door opening and closing curve includes the initial frequency reduction stage T6, the second frequency F1 maintenance stage T7, the secondary frequency reduction stage T8 and the elevator door closing time period T9.

[0110] like Figure 6As shown, when the command triggering stage of the elevator door machine is the initial reduction stage T6 of the operating efficiency of the low-speed stop stage, the running distance S1 of the elevator door in the initial frequency reduction stage is determined according to the running frequency Fsw of the elevator door machine when receiving the reverse running command, the first frequency F2 and the running time Tsw1 of the elevator door machine in the initial frequency reduction stage, then the running distance S1 of the elevator door in the initial frequency reduction stage is calculated by the following formula:

[0111] S1=(vsw+v2)*Tsw1 / 2;

[0112] Among them, S1 represents the running distance of the elevator door in the initial frequency reduction stage; vsw represents the elevator door speed corresponding to the operating frequency Fsw of the elevator door machine when receiving the reverse running instruction, which is determined according to the aforementioned operating efficiency speed data; v2 represents the elevator door speed corresponding to the first frequency F2; Tsw1 represents the running time of the elevator door in the initial frequency reduction stage.

[0113] S0122: When the command triggering stage of the elevator door machine is the second frequency maintaining stage of the low-speed stopping stage, the elevator door speed corresponding to the second frequency is multiplied by the running time in the second frequency maintaining stage to obtain the running distance of the elevator door in the second frequency maintaining stage, and the elevator door distance corresponding to the second frequency maintaining stage is subtracted from the running distance of the elevator door in the second frequency maintaining stage to obtain the remaining distance in the command triggering stage.

[0114] like Figure 6 As shown, when the command triggering stage of the elevator door machine is the second frequency maintaining stage T7 of the low-speed stop stage, the running stroke S2 ​​of the elevator door in the second frequency maintaining stage is determined according to the second frequency F1 and the running time Tsw2 of the elevator door machine in the second frequency maintaining stage, and the running stroke of the elevator door in the second frequency maintaining stage is subtracted from the running stroke of the elevator door in the second frequency maintaining stage from the elevator door stroke corresponding to the second frequency maintaining stage to obtain the remaining stroke in the command triggering stage. Among them, the running stroke S2 ​​of the elevator door in the initial frequency reduction stage is calculated by the following formula:

[0115] S2 = Tsw2*v1;

[0116] Among them, S2 represents the running distance of the elevator door in the second frequency maintenance stage; v1 represents the elevator door speed corresponding to the first frequency F1; Tsw2 represents the running time of the elevator door machine in the second frequency maintenance stage.

[0117] S0123: When the command triggering stage of the elevator door machine is the secondary reduction stage of the operating efficiency of the low-speed stopping stage, the running distance of the elevator door in the secondary frequency reduction stage is determined according to the running time in the secondary frequency reduction stage, the elevator door speed corresponding to the running frequency of the elevator door machine when receiving the reverse running command, and the elevator door speed corresponding to the second frequency, and the running distance of the elevator door in the secondary frequency reduction stage is subtracted from the running distance of the elevator door in the secondary frequency reduction stage to obtain the remaining distance in the command triggering stage.

[0118] like Figure 6 As shown, when the instruction triggering stage of the elevator door machine is the secondary reduction stage T8 of the operating efficiency of the low-speed shutdown stage, the running distance S3 of the elevator door in the secondary frequency reduction stage is determined according to the running time Tsw3 in the secondary frequency reduction stage, the elevator door speed corresponding to the first frequency F2, and the elevator door speed corresponding to the second frequency F1, and the elevator door travel distance S3 in the secondary frequency reduction stage is subtracted from the elevator door travel distance corresponding to the secondary frequency reduction stage to obtain the remaining travel in the instruction triggering stage.

[0119] The travel distance S3 of the elevator door in the secondary frequency reduction stage is calculated by the following formula:

[0120] S3 = Tsw3*(v1+vsw) / 2;

[0121] Among them, S3 represents the running distance of the elevator door in the secondary frequency reduction stage; v1 represents the elevator door speed corresponding to the first frequency F1; vsw represents the elevator door speed corresponding to the operating frequency Fsw of the elevator door machine when it receives the reverse running instruction; Tsw3 represents the running time of the elevator door machine in the secondary frequency reduction stage.

[0122] S0124: When the command triggering stage of the elevator door machine is the secondary increase stage of the operating efficiency in the high-speed stage, the remaining stroke of the elevator door in the secondary increase stage of the frequency is determined according to the running time in the secondary increase stage of the frequency, the elevator door speed corresponding to the running frequency of the elevator door machine when receiving the reverse running command, and the elevator door speed corresponding to the second frequency, as the remaining stroke in the command triggering stage.

[0123] in, Figure 7 The operating frequency change curves of the low-speed startup stage and the high-speed stage in the normal door opening and closing curve are shown. Among them, the low-speed startup stage of the normal door opening and closing curve includes the elevator door release stage T1, the frequency initial increase stage T2, and the second frequency F1 maintenance stage T3; the high-speed stage of the normal door opening and closing curve includes the frequency secondary increase stage T4 and the first frequency F1 maintenance stage T5;

[0124] like Figure 7As shown, when the instruction triggering stage of the elevator door machine is the secondary increase stage T4 of the operating efficiency in the high-speed stage, the remaining stroke S4 of the elevator door in the secondary increase stage of frequency is determined according to the running time Tsw4 of the elevator door machine in the secondary increase stage of frequency, the elevator door speed corresponding to the running frequency Fsw of the elevator door machine when receiving the reverse running instruction, and the elevator door speed corresponding to the second frequency F1, as the remaining stroke in the instruction triggering stage.

[0125] The remaining travel of the elevator door in the second frequency increase phase is calculated by the following formula:

[0126] S4 = (T4 - Tsw4) * (vsw + v1) / 2;

[0127] Among them, S4 represents the remaining travel of the elevator door in the secondary frequency increase stage; vsw represents the elevator door speed corresponding to the operating frequency Fsw of the elevator door machine when it receives the reverse operation instruction, which is determined according to the aforementioned operating efficiency speed data; v1 represents the elevator door speed corresponding to the second frequency F1; Tsw4 represents the operating time of the elevator door machine in the secondary frequency increase stage, and T4 represents the operating time in the secondary frequency increase stage.

[0128] S0125: When the command triggering stage of the elevator door machine is the first frequency maintaining stage of the high-speed stage, the running time of the first frequency maintaining stage is subtracted from the running time of the elevator door machine in the frequency secondary increasing stage, and then multiplied by the elevator door speed corresponding to the first frequency to obtain the remaining travel in the command triggering stage.

[0129] like Figure 7 As shown, when the command triggering stage of the elevator door machine is the first frequency maintaining stage T5 of the high-speed stage, the running time T5 of the first frequency maintaining stage is subtracted from the running time Tsw5 of the elevator door machine in the frequency secondary increasing stage, and then multiplied by the elevator door speed corresponding to the first frequency F2 to obtain the remaining stroke of the elevator door in the first frequency maintaining stage, that is, the remaining stroke in the command triggering stage.

[0130] The remaining travel of the elevator door in the first frequency maintenance stage is calculated by the following formula:

[0131] S5 = (T5 - Tsw5) * v2;

[0132] Among them, S5 represents the remaining travel of the elevator door in the frequency secondary increase stage; v2 represents the elevator door speed corresponding to the first frequency F2; T5 represents the running time of the first frequency maintenance stage.

[0133] In this embodiment, the remaining travel in different command triggering stages can be quickly calculated through the operating frequency, normal door closing curve and area formula of the elevator door machine when receiving the reverse running command, which is simple, convenient and highly accurate.

[0134] In one embodiment, if Figure 8 As shown, in step S20, the operating frequency of the elevator door machine is controlled according to the first frequency to control the elevator door to run at high speed, and when the elevator door runs to the target high-speed duration, the operating frequency of the elevator door machine is reduced to control the elevator door to run at low speed until it stops and closes, which specifically includes the following steps:

[0135] S21: Obtain a pre-calibrated direction-changing door opening and closing curve of the elevator door machine, where the direction-changing door opening and closing curve includes a high-frequency operation curve and a low-frequency stop curve connected in sequence.

[0136] After receiving the reverse operation instruction of the elevator door, a pre-calibrated reversing door opening and closing curve of the elevator door machine is obtained, and the reversing door opening and closing curve includes a high-frequency operation curve and a low-frequency stop curve connected in sequence. Among them, in the high-frequency operation curve, the operating frequency of the elevator door machine increases from the starting frequency (such as 0Hz) to the first frequency and maintains at the first frequency; in the low-frequency stop curve, the operating frequency of the elevator door machine decreases from the first frequency to the stop frequency (such as 0Hz).

[0137] The directional opening and closing curve of the elevator door machine is as follows Fig. 9 As shown, Fig. 9 The horizontal axis represents time, the vertical axis represents frequency, and the operating frequency of the elevator door machine in the reversing door opening and closing curve changes with time as shown in the curve in the figure. Fig. 9 F0 in the figure represents the starting frequency or the stopping frequency 0Hz, F2 represents the first frequency, and F1 represents the pre-calibrated second frequency, which is less than the first frequency and less than the maximum operating frequency of the elevator door machine. When the elevator door machine operates at the first frequency, the elevator door runs at a faster speed to open or close the door, and when the elevator door machine operates at the second frequency, the elevator door runs at a slower speed to open or close the door.

[0138] like Fig. 9 As shown, the curve segment corresponding to the time period from T1 to T3 is the high-frequency operation curve, and the curve segment corresponding to the time period from T4 to T7 is the low-frequency shutdown curve. Fig. 9The middle time period T1 represents the elevator door closing stage, in which the elevator door machine is 0Hz, the time period T2 represents the stage of increasing the operating efficiency of the elevator door machine, the time period T3 represents the first frequency maintenance stage, in which the elevator door machine maintains operation at the first frequency F2, the time period T4 represents the stage of the initial reduction in the operating efficiency of the elevator door machine, the time period T5 represents the second frequency maintenance stage, in which the elevator door machine maintains operation at the second frequency F1, the time period T6 represents the stage of secondary reduction in the operating efficiency of the elevator door machine, and the time period T7 represents the elevator door closing time period when the operating frequency of the elevator door machine is 0Hz. That is, the high-frequency operation curve includes the elevator door closing stage T1, the frequency increase stage T2 and the first frequency maintenance stage T3; the low-frequency shutdown curve includes the initial frequency reduction stage T4, the second frequency maintenance stage T5, the secondary frequency reduction stage T6 and the elevator door closing time period T7.

[0139] from Fig. 9 It can be clearly seen that in a complete reversing door opening and closing curve, during the elevator door release process, the elevator door machine's operating efficiency in stage T1 is maintained at 0Hz. After the release is completed, the operating frequency of the elevator door machine in stage T2 increases rapidly from the starting frequency (such as 0Hz) to the first frequency F2 at a preset slope, and is maintained at the first frequency F2 in stage T3, so that the elevator door is released and accelerated at a faster speed and accelerated to the speed corresponding to F2. In this process, the elevator door machine is in a high-frequency acceleration operation stage, and the elevator door closes or opens at a faster speed. After the completion of stage T3, the operating efficiency of the elevator door machine in stage T4 decreases from the first frequency F2 with a certain slope. When it decreases to the second frequency F1, the elevator door decreases to the speed corresponding to F1 at a faster speed; in stage T5, the second frequency F1 is maintained so that the elevator door runs at a slower and uniform speed, and enters the secondary speed reduction stage T6 after running at a slower and uniform speed for a period of time. The operating efficiency of the elevator door machine decreases from the second frequency F1 with a smaller slope to the stop frequency 0Hz, so that the elevator door decreases to the stop frequency at a slower speed, reaches the limit position at a slow speed and closes the switch, ensuring the smooth and safe operation of the elevator door.

[0140] In this embodiment, the reversing door opening and closing curve is determined according to the normal door opening and closing curve. Among them, the low-frequency stop curve in the reversing door opening and closing curve is the same as the operating efficiency curve of the low-speed stop stage in the normal door opening and closing curve, that is, the elevator door stroke corresponding to the low-frequency stop curve is the same as the elevator door stroke corresponding to the low-speed stop stage in the normal door opening and closing curve, and the time periods T4, T5, T6, and T7 in the low-frequency stop curve are respectively the same as the time periods T6, T7, T8, and T9 in the low-speed stop stage in the normal door opening and closing curve. The elevator door stroke corresponding to the high-frequency operation curve in the reversing door opening and closing curve is the total elevator door stroke of the low-speed start stage and the high-speed start stage in the normal door opening and closing curve.

[0141] After determining the low-frequency shutdown curve, the running time of different running stages in the high-frequency operation curve is calibrated according to the total elevator door travel of the low-speed and high-speed stages in the normal door opening and closing curve. Among them, the calculation process of the running time T2 of the operation efficiency increase stage of the high-frequency operation curve in the reversing door opening and closing curve is: multiply the first frequency F2 by the acceleration time AccTime required for the elevator door machine to accelerate from the starting frequency (such as 0Hz) to the maximum operating frequency Fmax of the elevator door machine, and then divide it by the maximum operating frequency Fmax, that is, the calculation formula of T2 is: T2 = AccTime*F2 / Fmax; then, the elevator door travel corresponding to the frequency increase stage T2 is T2*F2 / 2. Correspondingly, the calculation process of the running time T3 of the first frequency maintenance stage in the high-frequency operation curve is: subtract the elevator door travel corresponding to the frequency increase stage T2 from the total elevator door travel of the low-speed and high-speed stages in the normal door opening and closing curve, and multiply it by the first frequency F2 to obtain the running time T3 of the first frequency maintenance stage in the high-frequency operation curve. The total operation time of the high-frequency operation curve is the elevator door start-up release time + the operation time T2 of the frequency increase stage + the operation time T3 of the first frequency maintenance stage.

[0142] S22: Switch the running direction of the elevator door, and control the running frequency of the elevator door machine according to the high-frequency running curve to control the elevator door to run at high speed until the target high-speed running time is reached.

[0143] After obtaining the high-frequency operation curve and low-frequency stop curve of the reversing door opening and closing curve, the door machine control device needs to respond to the reverse operation command to switch the running direction of the elevator door. After switching the running direction of the elevator door, the door machine control device controls the running frequency of the elevator door machine according to the high-frequency operation curve to control the elevator door to run at high speed until it runs to the target high-speed duration. Among them. The target high-speed duration is less than the total running duration of the high-frequency operation curve. The target high-speed duration is the running duration corresponding to the high-frequency operation curve (i.e., the duration from T1 to T3 in T5), minus the running duration calculated according to the remaining running stroke of the elevator door in the original running direction and the second frequency F2.

[0144] S23: Control the operating frequency of the elevator door machine according to the low-frequency stop curve to control the elevator door to run at a low speed until it stops and closes.

[0145] The door machine control device controls the operating frequency of the elevator door machine according to the high-frequency operating curve to control the elevator door to run at high speed. When the door machine control device reaches the target high-speed duration, the door machine control device controls the operating frequency of the elevator door machine according to the low-frequency stop curve to control the elevator door to run at low speed until it stops and closes.

[0146] In this embodiment, a pre-calibrated reversing door opening and closing curve of the elevator door machine is obtained. The reversing door opening and closing curve includes a high-frequency operation curve and a low-frequency stop curve connected in sequence. Then the running direction of the elevator door is switched, and the running frequency of the elevator door machine is controlled according to the high-frequency operation curve to control the elevator door to run at high speed until the target high-speed duration is reached. The running frequency of the elevator door machine in the high-frequency operation curve increases from the starting frequency (such as 0Hz) to the first frequency and is maintained at the first frequency. The target high-speed duration is less than the total running duration of the high-frequency operation curve; the running frequency of the elevator door machine is controlled according to the low-frequency stop curve to control the elevator door to run at low speed until it stops and closes. The running frequency of the elevator door machine in the low-frequency stop curve is reduced from the first frequency to the stop frequency. It is clear that after receiving the reverse running instruction of the elevator door, the elevator door machine is accurately controlled according to the reversing door opening and closing curve, and the elevator door can be controlled to run at high speed in the reverse direction to reduce the running time. After running at high speed, the elevator door is controlled to run at low speed until it stops and closes, which improves the control accuracy of the elevator door, that is, reduces the reverse running time, improves the running efficiency, and ensures the smoothness and safety of the elevator operation.

[0147] In one embodiment, the elevator door machine operates according to a pre-calibrated normal door opening and closing curve to drive the elevator door to open or close. Before step S10, that is, before determining the target high-speed duration of the elevator door's reverse operation according to the remaining running distance of the elevator door in the original running direction, the method further includes the following steps:

[0148] S50: Determine the command triggering stage of the elevator door machine, where the command triggering stage is the running stage of the elevator door machine in the normal door opening and closing curve when receiving the reverse running command.

[0149] The normal door opening and closing curve is a pre-calibrated normal door opening and closing curve. In actual application, the door machine control device controls the elevator door machine to operate according to the pre-calibrated normal door opening and closing curve to drive the elevator door to open or close. The operation phase of the normal door opening and closing curve includes a sequentially connected start-up low-speed phase, a high-speed phase, and a low-speed stop phase. The door machine frequency in the high-speed phase is greater than the door machine frequency in the start-up low-speed phase and the low-speed stop phase. The normal door opening and closing curve is as follows: Figure 5 As shown, no further description is given here.

[0150] When receiving the reverse running instruction of the elevator door, the door machine control device determines the target deceleration time of the elevator door before the elevator door switches the running direction according to the running frequency of the elevator door machine when receiving the reverse running instruction, and controls the running frequency of the elevator door machine to be reduced to the stopping frequency within the target deceleration time, so as to control the elevator door to decelerate and run to a stop in the original running direction within the target deceleration time; within the target deceleration time or after receiving the reverse running instruction of the elevator door, it is necessary to determine the command triggering stage of the elevator door machine, that is, to determine the running stage of the elevator door machine in the normal door opening and closing curve when receiving the reverse running instruction, so as to execute different elevator door machine control strategies according to different determination results.

[0151] Among them, the command triggering stage of the elevator door machine is determined in the following way: according to the time when the reverse operation command is received, the running time of the elevator door opening or closing process is determined, and the time is compared with the time of each operation stage in the normal door opening and closing curve. The operation stage of the elevator door machine in the normal door opening and closing curve when the reverse operation command is received can be quickly determined, that is, the command triggering stage.

[0152] For example, if the duration of the elevator door opening or closing process is less than or equal to Figure 5 The sum of T1 to T3 in the command trigger phase is the starting low-speed phase in the normal door opening and closing curve; if the duration of the elevator door opening or closing process is less than or equal to Figure 5 The sum of T1 to T5, the command triggering stage is the high-speed stage in the normal door opening and closing curve; if the duration of the elevator door opening or closing process is less than or equal to Figure 5 The sum of T1 to T9 indicates that the command triggering stage is the low-speed stop stage in the normal door opening and closing curve. The matching calculation is performed through time, which is simple, convenient and accurate.

[0153] S60: When the command triggering stage is the low-speed stop stage in the normal door opening and closing curve, the target high-speed duration of the elevator door's reverse operation is determined according to the remaining running distance of the elevator door in the original running direction to switch the running direction of the elevator door, and the running frequency of the elevator door machine is controlled according to the first frequency to control the elevator door to run at high speed, and when the running reaches the target high-speed duration, the running frequency of the elevator door machine is reduced to control the elevator door to run at low speed until it stops and closes.

[0154] When the command triggering stage is the low-speed stop stage in the normal door opening and closing curve, it means that the elevator door has traveled a certain distance in the process of closing or opening the door, and the subsequent reverse running distance is long, which can support reverse high-speed running without causing safety accidents such as bottoming or top hitting. At this time, the target high-speed duration of the elevator door's reverse running can be determined according to the remaining running distance of the elevator door in the original running direction, so as to switch the running direction of the elevator door in the subsequent time, control the running frequency of the elevator door machine according to the first frequency to control the high-speed running of the elevator door, and when running to the target high-speed duration, reduce the running frequency of the elevator door machine to control the elevator door to run at a low speed until it stops and closes.

[0155] That is, when receiving the reverse running instruction of the elevator door, the door machine control device determines the target deceleration time of the elevator door before the elevator door switches the running direction according to the running frequency of the elevator door machine when receiving the reverse running instruction, and controls the running frequency of the elevator door machine to be reduced to the stopping frequency within the target deceleration time, so as to control the elevator door to decelerate and stop in the original running direction within the target deceleration time; when the instruction triggering stage is the high-speed stage or the low-speed stopping stage in the normal door opening and closing curve, the above steps S10 and S20 are executed to realize precise control of the elevator door.

[0156] S70: When the command triggering stage is the starting low-speed stage in the normal door opening and closing curve, the running direction of the elevator door is switched, and the running frequency of the elevator door machine is controlled to be reduced from the current running frequency to the stopping frequency, so as to control the elevator door to run at a low speed until it stops and closes.

[0157] When the command trigger stage is the starting low-speed stage in the normal door opening and closing curve, it means that the distance the elevator door runs during closing or opening is short, and the subsequent reverse running distance is short, which is not enough to support reverse high-speed operation. If safety accidents such as bottoming out or top hitting may occur during subsequent reverse high-speed operation, the door machine control device does not need to determine the target high-speed duration of the elevator door's reverse operation, but switches the running direction of the elevator door, controls the running frequency of the elevator door machine from the current running frequency to the shutdown frequency (such as 0Hz), so as to control the elevator door to run at a low speed until it stops and closes.

[0158] Specifically, when the command trigger stage is the starting low-speed stage in the normal door opening and closing curve, the duration of the elevator door opening or closing process is taken as the target duration. Within the target duration, the operating frequency of the elevator door machine is controlled to be reduced from the current operating frequency to the shutdown frequency, so as to control the elevator door to run at a low speed until it stops and closes. This is simple and convenient with high control accuracy, ensuring smooth and safe electrical operation.

[0159] S80: When the command triggering stage is the high-speed stage in the normal door opening and closing curve, the elevator door is controlled to change direction according to the travel distance of the elevator door in the original running direction.

[0160] Among them, when the command triggering stage is the high-speed stage in the normal door opening and closing curve, if the running stroke of the elevator door in the original running direction is greater than the pre-calibrated preset stroke, it means that the subsequent reverse running stroke is longer and can support the elevator door to perform high-speed direction change operation, then steps S10 to S20 are executed, that is, according to the remaining running stroke of the elevator door in the original running direction, the target high-speed duration of the reverse running of the elevator door is determined, and the running direction of the elevator door is switched, and the running frequency of the elevator door machine is controlled according to the first frequency to control the high-speed operation of the elevator door, and when the running reaches the target high-speed duration, the running frequency of the elevator door machine is reduced to control the elevator door to run at a low speed until it stops and closes.

[0161] When the command trigger stage is the high-speed stage in the normal door opening and closing curve, if the elevator door has run in the original direction of operation less than the pre-calibrated preset stroke, it means that the subsequent reverse running stroke is short and cannot support the elevator door to change direction at high speed, and can only change direction and run at low speed. In this case, the running direction of the elevator door is switched, and the operating frequency of the elevator door machine is controlled to be reduced from the current operating frequency to the shutdown frequency, so as to control the elevator door to run at low speed until it stops and closes.

[0162] The preset stroke is the elevator door stroke corresponding to the low-frequency stop curve in the reversing door opening and closing curve. The low-frequency stop curve in the reversing door opening and closing curve is the same as the curve segment corresponding to the low-speed stop stage in the normal door opening and closing curve, that is, the elevator door stroke corresponding to the low-frequency stop curve in the reversing door opening and closing curve is the same as the elevator door stroke in the low-speed stop stage in the normal door opening and closing curve.

[0163] In this embodiment, the command triggering stage of the elevator door machine is first determined before determining the target high-speed duration of the elevator door's reverse operation according to the remaining operation stroke of the elevator door in the original operation direction. The command triggering stage is the operation stage of the elevator door machine in the normal door opening and closing curve when the reverse operation command is received; when the command triggering stage is the high-speed stage or the low-speed stop stage in the normal door opening and closing curve, the target high-speed duration of the elevator door's reverse operation is determined according to the remaining operation stroke of the elevator door in the original operation direction, so as to switch the operation direction of the elevator door, control the operation frequency of the elevator door machine according to the first frequency, so as to control the elevator door to run at high speed, and when the operation reaches the target high-speed duration, reduce the operation frequency of the elevator door machine to control the elevator door to run at low speed until it stops and closes; when the command triggering stage is the starting low-speed stage in the normal door opening and closing curve, switch the operation direction of the elevator door, control the operation frequency of the elevator door machine to reduce from the current operation frequency to the stop frequency, so as to control the elevator door to run at low speed until it stops and closes, thereby improving the control accuracy and ensuring the smooth and safe operation of the elevator.

[0164] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0165] In one embodiment, a door machine control device is provided, which corresponds one-to-one to the elevator door machine control method in the above embodiment. Fig.10 As shown, the door machine control device includes a determination module 101 and a control module 102. Each functional module is described in detail as follows:

[0166] The determination module 101 is used to determine the target high-speed duration of the reverse operation of the elevator door according to the remaining operation distance of the elevator door in the original operation direction when receiving the reverse operation instruction of the elevator door during the process of opening or closing the elevator door;

[0167] The control module 102 is used to switch the running direction of the elevator door, control the running frequency of the elevator door machine according to the first frequency to control the elevator door to run at high speed, and when the running reaches the target high-speed time, reduce the running frequency of the elevator door machine to control the elevator door to run at low speed until it stops and closes.

[0168] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0169] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0170] The present application also provides an electronic device, such as Fig.11As shown, the electronic device 2 includes: at least one processor 20, a memory 21, and a computer program 22 stored in the memory 21 and executable on at least one processor 20. When the processor 20 executes the computer program 22, the steps in any of the above-mentioned method embodiments are implemented, or when the processor 20 executes the computer program 22, the functions of each module / unit in the above-mentioned device embodiments are implemented.

[0171] Exemplarily, the computer program 22 may be divided into one or more modules / units, one or more modules / units are stored in the memory 21, and are executed by the processor 20 to complete the present application. One or more modules / units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 22 in the electronic device 2.

[0172] Those skilled in the art will understand that Fig.11 These are merely examples of electronic devices and do not constitute a limitation of the electronic device. The electronic device may include more or fewer components than those shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0173] The processor may be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, field programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0174] The memory may be an internal storage unit of an electronic device, such as a hard disk or memory of the electronic device. The memory may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, etc. equipped on the electronic device. Furthermore, the memory may also include both an internal storage unit of the electronic device and an external storage device.

[0175] The embodiment of the present application also provides a readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned elevator door machine control method is executed.

[0176] An embodiment of the present application provides a computer program product, which enables the above-mentioned elevator door machine control method to be executed when the computer program product is run on an electronic device.

[0177] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, which can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory, random access memory, electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0178] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0179] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0180] In the embodiments provided in the present application, it should be understood that the disclosed devices / equipment and methods can be implemented in other ways. For example, the device / equipment embodiments described above are merely schematic, for example, the division of the modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0181] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0182] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for controlling an elevator door machine, characterized in that: include: During the process of opening or closing the elevator door, when a reverse running instruction of the elevator door is received, a target high-speed duration of the reverse running of the elevator door is determined according to the remaining running distance of the elevator door in the original running direction; Switch the running direction of the elevator door, control the running frequency of the elevator door machine according to the first frequency to control the elevator door to run at high speed, and when running to the target high-speed duration, reduce the running frequency of the elevator door machine to control the elevator door to run at low speed until it stops and closes.

2. The elevator door machine control method according to claim 1, characterized in that: The switching of the running direction of the elevator door, controlling the running frequency of the elevator door machine according to the first frequency to control the elevator door to run at high speed, and when running to the target high-speed duration, reducing the running frequency of the elevator door machine to control the elevator door to run at low speed until it stops and closes, includes: Acquire a pre-calibrated direction-changing door opening and closing curve of the elevator door machine, wherein the direction-changing door opening and closing curve includes a high-frequency operation curve and a low-frequency stop curve connected in sequence; Switching the running direction of the elevator door, controlling the running frequency of the elevator door machine according to the high-frequency running curve, so as to control the elevator door to run at high speed until the target high-speed duration is reached, the running frequency of the elevator door machine in the high-frequency running curve increases from the starting frequency to the first frequency, and is maintained at the first frequency, and the target high-speed duration is less than the total running duration of the high-frequency running curve; The operating frequency of the elevator door machine is controlled according to the low-frequency stop curve to control the elevator door to run at a low speed until it stops and closes. The operating frequency of the elevator door machine in the low-frequency stop curve is reduced from the first frequency to the stop frequency.

3. The elevator door machine control method according to claim 1, characterized in that: The step of determining the target high-speed duration of the reverse operation of the elevator door according to the remaining operation distance of the elevator door in the original operation direction includes: Determine the time required for the elevator door to complete the remaining running distance at the first frequency as the running time of the elevator door in reverse running; The pre-calibrated high-speed running time of the direction change is subtracted from the running time of the elevator door in reverse direction to obtain the target high-speed running time of the elevator door in reverse direction.

4. The elevator door machine control method according to claim 1, characterized in that: The elevator door machine drives the elevator door to open or close according to a pre-calibrated normal door opening and closing curve, and before determining the target high-speed duration of the elevator door's reverse operation according to the remaining running distance of the elevator door in the original running direction, the method further includes: Determine the command triggering stage of the elevator door machine, the command triggering stage being the running stage of the elevator door machine in the normal door opening and closing curve when receiving the reverse running command; When the instruction triggering stage is the low-speed stop stage in the normal door opening and closing curve, the target high-speed duration of the elevator door's reverse operation is determined according to the remaining running distance of the elevator door in the original running direction to switch the running direction of the elevator door, and the running frequency of the elevator door machine is controlled according to the first frequency to control the elevator door to run at high speed, and when running to the target high-speed duration, the running frequency of the elevator door machine is reduced to control the elevator door to run at low speed until it stops and closes.

5. The elevator door machine control method according to any one of claims 1 to 4, characterized in that: Before determining the target high-speed duration of the reverse operation of the elevator door according to the remaining running distance of the elevator door in the original running direction, the method further includes: Determining a target deceleration time of the elevator door before the elevator door switches its running direction according to the running frequency of the elevator door machine when receiving a reverse running instruction; The operating frequency of the elevator door machine is controlled to be reduced to the stop frequency within the target deceleration time, so as to control the elevator door to decelerate and run to stop in the original running direction within the target deceleration time.

6. The elevator door machine control method according to any one of claims 1 to 4, characterized in that: The remaining travel distance is determined by: According to a pre-calibrated normal door opening and closing curve, the initial remaining travel of the elevator door in the original running direction when the reverse running instruction is received is determined, and the elevator door machine drives the elevator door to open or close according to the normal door opening and closing curve; Determine the deceleration stop stroke in which the elevator door decelerates to a stop after receiving the reverse operation instruction; The initial remaining travel of the elevator door in the original running direction when the reverse running instruction is received is subtracted from the deceleration stop travel to obtain the remaining running travel of the elevator door in the original running direction.

7. The elevator door machine control method according to claim 6, characterized in that: The determining, based on a pre-calibrated normal door opening and closing curve, the initial remaining travel of the elevator door in the original running direction when the reverse running instruction is received comprises: Determine the running time of the elevator door in the instruction triggering stage when the reverse running instruction is received during the opening or closing process of the elevator door, wherein the instruction triggering stage is the running stage of the elevator door machine in the normal door opening and closing curve when the reverse running instruction is received; Determine the remaining travel of the elevator door in the instruction triggering stage according to the operating frequency of the elevator door machine when receiving the reverse running instruction, the first frequency and the running time in the instruction triggering stage; When the instruction triggering stage is not the last stage in the normal door opening and closing curve, the remaining stroke of the elevator door in the instruction triggering stage is added to the elevator door stroke after the instruction triggering stage in the normal door opening and closing curve to obtain the initial remaining stroke of the elevator door in the original running direction when the reverse running instruction is received.

8. An elevator door machine control device, characterized in that: The elevator door machine control device comprises: A determination module, configured to determine a target high-speed duration of the reverse operation of the elevator door according to the remaining operation distance of the elevator door in the original operation direction when receiving a reverse operation instruction of the elevator door during the process of opening or closing the elevator door; A control module is used to switch the running direction of the elevator door, control the running frequency of the elevator door machine according to the first frequency to control the elevator door to run at high speed, and when running to the target high-speed time, reduce the running frequency of the elevator door machine to control the elevator door to run at low speed until it stops and closes.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the electronic device implements the elevator door machine control method according to any one of claims 1 to 7.

10. A readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the elevator door machine control method according to any one of claims 1 to 7 is executed.

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