Control method, system and equipment for elevator stopping and medium

Abstract

The invention discloses an elevator stopping control method, system and equipment and a medium, and relates to the technical field of elevator control. The operation duration of the current speed is adjusted according to the comparison relation between the theoretical deceleration distance and the actual deceleration distance corresponding to the current speed in different preset stages, and when the next stage corresponding to the preset stage enters is determined by determining the operation duration of the current speed. In the current adjusting process, the speed parameters corresponding to non-elevator stopping are adjusted in real time, the actual deceleration distance is shortened through the running duration of the current speed, the situation that the speed in the adjusting stage fluctuates due to conventional speed parameter adjustment corresponding to the constant speed stage is avoided, and the stability of the elevator is improved. Closed-loop control over the running duration is achieved in the preset stage, then real-time planning is conducted on the basis of the speed parameters in the speed reduction stage to determine the speed reduction curve, closed-loop control which is completely planned in advance in the whole running process is not needed, and the elevator stopping accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of elevator control, and in particular to a method, system, equipment and medium for controlling elevator parking. Background Art

[0002] Under the premise of ensuring the safety performance of the elevator, there are further requirements for the fast and smooth operation of the elevator.

[0003] The conventional elevator stopping method requires closed-loop real-time feedback control of speed throughout the entire process of elevator operation. Speed ​​parameters need to be adjusted in each stage of acceleration, constant speed and deceleration. Fluctuations occur during the adjustment stage of the elevator operation process, resulting in poor stability of the elevator operation, further affecting the user experience.

[0004] Therefore, how to improve the stability of elevator operation and user experience is a problem that technical personnel in this field urgently need to solve. Summary of the invention

[0005] The object of the present invention is to provide a control method, system, device and medium for elevator stopping, so as to solve the problems of stability of conventional elevator stopping and poor user experience.

[0006] In order to solve the above technical problems, the present invention provides a control method for elevator parking, comprising:

[0007] Obtaining the current speed and current running distance of the elevator when it is in a preset stage during operation; wherein the preset stage is a constant speed stage in the elevator motion curve or a linear constant acceleration stage in the elevator operation curve;

[0008] Determine a theoretical deceleration distance corresponding to the current speed based on the current speed and preset control parameters;

[0009] Determine the actual deceleration distance based on the current running distance and the elevator stop target position;

[0010] When the theoretical deceleration distance is greater than or equal to the actual deceleration distance, determining the running time corresponding to the preset stage, and controlling the elevator to enter the next stage of the preset stage;

[0011] When the elevator operation enters the next stage of the preset stage, a deceleration curve of the elevator operation is determined based on the current speed and the preset control parameters to complete the elevator stop.

[0012] On the one hand, when the preset stage is a constant speed stage in the elevator operation curve, the method further includes:

[0013] In the case where the theoretical deceleration distance is less than the actual deceleration distance, the running time corresponding to the current speed is increased by a first preset step length to obtain an adjusted running time of the current speed, and a new current running distance is determined based on the adjusted running time of the current speed;

[0014] Return to the step of determining the actual deceleration distance based on the current running distance and the elevator stop target position until the theoretical deceleration distance is greater than or equal to the actual deceleration distance.

[0015] On the other hand, the preset control parameters include a first critical speed value, a first acceleration time, a second acceleration time, and a first deceleration time; when the preset stage is a constant speed stage in the elevator motion curve, determining the theoretical deceleration distance corresponding to the current speed based on the current speed and the preset control parameters includes:

[0016] Obtaining a second critical speed value allowed by an elevator operation curve that does not include a constant speed stage, a linear constant acceleration stage, and a linear constant deceleration stage; wherein the second critical speed value is calculated based on the first critical speed value, the first acceleration time, and the second acceleration time; and the second critical speed value is less than the first critical speed value;

[0017] A theoretical deceleration distance for the elevator to decelerate from the current speed to a standstill is determined according to the current speed, the second critical speed value and the first deceleration time.

[0018] On the other hand, the preset control parameters include a first critical speed value, a first acceleration time, a second acceleration time, and a first deceleration time; when the preset stage is a linear constant acceleration stage in the elevator operation curve, determining the theoretical deceleration distance corresponding to the current speed based on the current speed and the preset control parameters includes:

[0019] Obtaining a second critical speed value allowed by an elevator operation curve that does not include a constant speed stage, a linear constant acceleration stage, and a linear constant deceleration stage; wherein the second critical speed value is calculated based on the first critical speed value, the first acceleration time, and the second acceleration time; and the second critical speed value is less than the first critical speed value;

[0020] Using the current speed as the initial speed value of the straight-line constant acceleration stage;

[0021] Determine a theoretical distance increment and a theoretical speed increment in the straight-line constant acceleration stage according to the initial speed value, the second critical speed value and the first acceleration time;

[0022] Determine a theoretical deceleration distance for the elevator to decelerate to a standstill at the current speed based on the theoretical distance increment, the current speed, the second critical speed value and the first deceleration time;

[0023] Correspondingly, determining the actual deceleration distance based on the current running distance and the elevator stop target position includes:

[0024] The actual deceleration distance is determined according to the current running distance, the theoretical distance increment and the elevator stop target position.

[0025] On the other hand, the step of determining the deceleration curve of the elevator operation based on the current speed and the preset control parameter includes:

[0026] According to the current speed, the second critical speed value and the first deceleration time, determining whether the deceleration curve of the elevator operation includes a linear constant deceleration stage;

[0027] If so, the speed parameter of the elevator in the deceleration stage is output according to the constant deceleration theoretical time corresponding to the linear constant deceleration stage, and the elevator stops.

[0028] On the other hand, judging whether the deceleration curve of the elevator operation includes a linear constant deceleration stage according to the current speed, the second critical speed value and the first deceleration time includes:

[0029] Calculating a constant deceleration theoretical time corresponding to the linear constant deceleration stage according to the current speed, the second critical speed value and the first deceleration time;

[0030] Determine whether the constant deceleration theoretical time is greater than a preset threshold;

[0031] If so, it is determined that the deceleration curve of the elevator operation contains a linear constant deceleration stage;

[0032] If not, it is determined that the deceleration curve of the elevator operation does not include a linear constant deceleration stage.

[0033] On the other hand, the deceleration stage of the elevator includes an acceleration and deceleration stage, a linear constant deceleration stage and a deceleration stage; the preset control parameters also include a second deceleration time; the determination process of the deceleration stage includes:

[0034] Calculating an actual speed of the acceleration / deceleration phase based on the current speed, the second critical speed value, the current running time in the acceleration / deceleration phase, and the second deceleration time to determine the deceleration / acceleration phase;

[0035] Based on the second critical speed value, the constant deceleration theoretical time and the current running time in the linear constant deceleration stage, the actual speed of the linear constant deceleration stage is calculated to determine the linear constant deceleration stage;

[0036] Based on the second critical speed value, the second deceleration time and the current running time in the deceleration phase, an actual speed of the deceleration phase is calculated to determine the deceleration phase.

[0037] In order to solve the above technical problems, the present invention also provides a control device for elevator parking, comprising:

[0038] An acquisition module, used for acquiring the current speed and the current running distance of the elevator motion curve when it is in a preset stage; wherein the preset stage is a constant speed stage when the elevator motion curve includes a constant speed stage, or a linear constant acceleration stage when the elevator operation curve does not include a constant speed stage and includes a linear constant acceleration stage;

[0039] A first determination module, configured to determine a theoretical deceleration distance corresponding to the current speed based on the current speed and a preset control parameter;

[0040] A second determination module is used to determine an actual deceleration distance based on the current running distance and the elevator stop target position;

[0041] A third determination module is used to determine the running time corresponding to the preset stage when the theoretical deceleration distance is greater than or equal to the actual deceleration distance, and control the elevator to enter the next stage of the preset stage;

[0042] The fourth determination module is used to determine the deceleration curve of the elevator operation based on the current speed and the preset control parameters when the elevator operation enters the next stage of the preset stage to complete the elevator stop.

[0043] In order to solve the above technical problems, the present invention further provides an electronic device, comprising:

[0044] Memory for storing computer programs;

[0045] A processor is used to implement the steps of the elevator parking control method as described above when executing the computer program.

[0046] In order to solve the above technical problems, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the elevator stop control method as described above are implemented.

[0047] The present invention provides a control method for elevator parking. Based on different preset stages, the current speed and current running distance corresponding to different preset stages are obtained, and the theoretical deceleration distance corresponding to the current speed is determined based on the current speed and preset control parameters; the actual deceleration distance is determined based on the current running distance and the elevator parking target position; the running time of the current speed is adjusted according to the theoretical deceleration distance and the actual deceleration distance to enter the deceleration stage; in the elevator deceleration stage, the deceleration curve of the elevator operation is determined based on the current speed and the preset control parameters to complete the elevator parking. First, the present invention adjusts the running time of the current speed by comparing the theoretical deceleration distance and the actual deceleration distance corresponding to the current speed in different preset stages (constant speed stage or linear constant acceleration stage), and determines when to enter the next stage corresponding to the preset stage by determining the running time of the current speed. The current adjustment process is the real-time adjustment of the speed parameters corresponding to the non-elevator parking. The present invention shortens the actual deceleration distance by adjusting the running time of the current speed in real time, and determines the running time corresponding to the constant speed stage or the linear constant acceleration stage to avoid the fluctuation of the speed in the adjustment stage caused by the conventional speed parameter adjustment corresponding to the constant speed stage, thereby improving the stability of the elevator. Secondly, the present invention determines the running time of the preset stage, and then makes real-time changes to the current running process for real-time improvement and adjustment. There is no need to adjust the parameters according to the effect of the current running result, so that the problem of poor leveling effect in the current running process caused by the adjustment effect can be seen in the next run, thereby improving the comfort of the current operation of the elevator. Finally, the present invention implements closed-loop control of the running time in the preset stage, and then performs real-time planning and determination of the deceleration curve based on the speed parameters of the deceleration stage, without the need for closed-loop control of the entire running process pre-planned, thereby improving the accuracy of the elevator stop.

[0048] In addition, the present invention also provides a control system, electronic equipment and medium for elevator parking, which have the same beneficial effects as the above-mentioned elevator parking control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 A flow chart of a method for controlling elevator parking provided by an embodiment of the present invention;

[0051] Figure 2 A schematic diagram of an S-shaped speed curve provided by an embodiment of the present invention;

[0052] Figure 3A schematic diagram of an S-shaped speed curve not including a constant speed stage provided by an embodiment of the present invention;

[0053] Figure 4 A schematic diagram of an S-shaped speed curve provided by an embodiment of the present invention that does not include a constant acceleration phase, a constant deceleration phase, and a constant speed phase;

[0054] Figure 5 A structural diagram of an elevator parking control system provided by an embodiment of the present invention;

[0055] Figure 6 A structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0056] 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 only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] The core of the present invention is to provide a control method, system, device and medium for elevator parking to solve the problems of stability of conventional elevator parking and poor user experience.

[0058] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0059] Conventional elevator stops include direct stops and crawling stops. In direct stops, a magnetic isolation plate is set at each missed ride, and the elevator enters the deceleration stage after sensing the magnetic isolation plate. Whether the stop is accurate depends on the installation position of the isolation plate and the control of the elevator control system. In the entire process of elevator operation, real-time feedback control will be performed through position closed loop and speed closed loop, and then in the process of position and speed adjustment, the stability of the elevator operation will be affected, resulting in a poor user experience. For crawling stops, the elevator first decelerates to the crawling speed in the deceleration stage, and runs at the corresponding crawling speed constant speed for a period of time. During this period of time, the remaining distance is recorded, and the crawling speed is maintained until the elevator stops after entering the target leveling position. The crawling speed is low, and the duration of the crawling speed constant speed is long. In addition, there is also real-time feedback of the speed closed loop method during the deceleration to the crawling speed in the crawling stage, and crawling is performed according to the planned parameters before the elevator runs, resulting in stability and docking accuracy being affected. The control method for elevator docking provided by the present invention can solve the above technical problems.

[0060] Figure 1A flow chart of a method for controlling elevator parking provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the method includes:

[0061] S11: Obtain the current speed and current running distance of the elevator when it is in a preset stage of operation.

[0062] The preset stage is a constant speed stage in the elevator motion curve or a linear constant acceleration stage in the elevator operation curve.

[0063] Specifically, the preset stage in the elevator operation process can be a constant speed stage of the elevator operation curve including a constant speed stage, or a linear constant acceleration stage of the elevator operation curve corresponding to the linear constant acceleration stage but not including a constant speed stage. It should be noted that during the operation of the elevator, the judgment of whether deceleration is required occurs in two stages, one is the constant speed stage when the corresponding operating speed during the elevator operation can reach the maximum speed Vmax allowed for operation; the other is when the corresponding operating speed during the elevator operation cannot reach the maximum speed Vmax allowed for operation, that is, when the constant speed stage is not included, it is necessary to judge whether deceleration is required in the linear constant acceleration stage.

[0064] Here, based on different preset stages, the corresponding current speed and current running distance are different. Combined with the first stage in the previous paragraph, in the constant speed stage, the current running distance is the running distance of the curve acceleration, straight line constant acceleration, curve deceleration and constant speed stage during the elevator operation. Combined with the second stage in the previous paragraph, in the straight line constant acceleration stage, the corresponding current running distance is the running distance of the curve acceleration and straight line constant acceleration during the elevator operation.

[0065] The speed curve of the elevator operation can determine different types of speed curve paths according to actual needs, which can be an S-shaped speed curve or a trapezoidal speed curve, etc., which is not limited here.

[0066] S12: Determine a theoretical deceleration distance corresponding to the current speed based on the current speed and preset control parameters.

[0067] It can be understood that the preset control parameters are based on the corresponding control parameters during the operation of the elevator, such as the target position Pset of the elevator, the maximum speed Vmax allowed to run (the first critical speed value), the first acceleration time (such as the sum of the time Ts_acc used for the S1 process (the curve acceleration phase of the acceleration phase) and the S3 process (the curve deceleration phase of the acceleration phase) of the corresponding S curve during the operation of the elevator), the second acceleration time (such as the Tacc time corresponding to the acceleration of the corresponding S curve from 0 to the maximum speed Vmax allowed to run during the operation of the elevator), the first deceleration time (such as the sum of the time Ts_dec used for the S5 process (the curve deceleration phase of the deceleration phase) and the S7 process (the curve deceleration phase of the deceleration phase) of the corresponding S curve during the operation of the elevator), etc. The specific control parameters can be determined according to the actual situation.

[0068] The theoretical deceleration distance is the theoretical distance that the elevator needs to travel in the deceleration stage from the current speed to 0, calculated in real time. In combination with the above embodiment, when the preset stage is the constant speed stage, the speed of the elevator exceeds the maximum speed Vmax allowed. Figure 2 A schematic diagram of an S-shaped speed curve provided by an embodiment of the present invention, such as Figure 2 As shown, the theoretical deceleration distance in this embodiment is the area of ​​a triangle corresponding to the S5, S6 and S7 stages, where the base is the sum of the time of the S5, S6 and S7 stages, and the height of the triangle corresponds to the current speed in the constant speed stage. The theoretical deceleration distance can be determined by calculating the area of ​​the triangle.

[0069] When the preset stage is the linear constant acceleration stage, the elevator running speed does not exceed the maximum allowable running speed Vmax, then it starts to decelerate to 0 based on the current speed. Due to the sum of the running speeds and times of the corresponding S5 and S7 stages in the preset control parameters, the corresponding theoretical deceleration distance at the current speed is calculated.

[0070] S13: Determine the actual deceleration distance based on the current running distance and the elevator stop target position.

[0071] The actual deceleration distance is calculated based on the running distance that has been run and the elevator stop target position corresponding to the elevator stop, that is, the target remaining distance of the elevator from the target position. In combination with the above embodiments, there are two sub-schemes. When the first preset stage is the constant speed stage, the actual deceleration distance needs to be subtracted from the elevator stop target position and the current running distance. The current running distance here is the sum of the running distance of the constant speed stage determined by the running distance of the acceleration stage, the current speed of the constant speed stage, and the running time. Corresponding to the second preset stage being the linear constant acceleration stage, the corresponding current running distance is the sum of the running distance under the acceleration of the current speed of the linear constant acceleration stage and the running distance of the curve acceleration stage.

[0072] S14: When the theoretical deceleration distance is greater than or equal to the actual deceleration distance, the running time corresponding to the preset stage is determined, and the elevator is controlled to enter the next stage of the preset stage.

[0073] Specifically, when the theoretical deceleration distance is greater than or equal to the actual deceleration distance, it means that the theoretical deceleration distance exceeds the actual deceleration distance. It should be noted that when the theoretical deceleration distance is greater than the actual deceleration distance, the excess range here is the range where errors are allowed, not the range that is far exceeded. In the current situation, it is necessary to enter the deceleration stage immediately. The immediate entry into the deceleration stage here corresponds to the generation of the deceleration point position. At this time, it is necessary to determine the running time corresponding to the preset stage, and control the elevator to enter the next stage of the preset stage.

[0074] In combination with the above embodiments, when the preset stage is the constant speed stage, the running time of the preset stage is the running time corresponding to the current speed of the constant speed stage, and then the elevator enters the curve deceleration stage of the S5 stage of the S curve of the elevator operation process. When the preset stage is the linear constant acceleration stage, the running time corresponding to the current speed of the linear constant acceleration stage is immediately followed by the curve deceleration stage of the S3 stage of the S curve of the elevator operation process. The current speed of the linear constant acceleration stage corresponds to a constant acceleration, and its speed value is always in an increasing process. When entering the curve deceleration stage of the S3 stage, the corresponding acceleration value decreases until the acceleration value becomes 0.

[0075] If the theoretical deceleration distance is less than the actual deceleration distance, it means that the elevator cannot reach the target stop position according to the current theoretical deceleration distance, and the running time of the current speed in the preset stage needs to be adjusted. The adjustment can be to extend the running time or terminate in time to enter the next stage.

[0076] S15: When the elevator operation enters the next stage of the preset stage, a deceleration curve of the elevator operation is determined based on the current speed and the preset control parameters to complete the elevator stop.

[0077] Specifically, when entering the next stage of the preset stage, the deceleration curve of the elevator operation is determined based on the current speed and the preset control parameters. In essence, it is determined whether there is a linear constant deceleration stage in the deceleration stage and the speed parameters corresponding to each stage in the deceleration curve.

[0078] An elevator parking control method provided by an embodiment of the present invention obtains the current speed and the current running distance corresponding to different preset stages based on different preset stages, determines the theoretical deceleration distance corresponding to the current speed based on the current speed and the preset control parameters; determines the actual deceleration distance based on the current running distance and the elevator parking target position; adjusts the running time of the current speed according to the theoretical deceleration distance and the actual deceleration distance to enter the deceleration stage; in the elevator deceleration stage, determines the deceleration curve of the elevator operation based on the current speed and the preset control parameters to complete the elevator parking. First, the present invention adjusts the running time of the current speed by comparing the theoretical deceleration distance and the actual deceleration distance corresponding to the current speed in different preset stages (constant speed stage or linear constant acceleration stage), and determines when to enter the next stage corresponding to the preset stage by determining the running time of the current speed. The current adjustment process is the real-time adjustment of the speed parameters corresponding to the non-elevator parking. The present invention shortens the actual deceleration distance by adjusting the running time of the current speed in real time, and determines the running time corresponding to the constant speed stage or the linear constant acceleration stage to avoid the fluctuation of the speed in the adjustment stage caused by the conventional speed parameter adjustment corresponding to the constant speed stage, thereby improving the stability of the elevator. Secondly, the present invention determines the running time of the preset stage, and then makes real-time changes to the current running process for real-time improvement and adjustment. There is no need to adjust the parameters according to the effect of the current running result, so that the problem of poor leveling effect in the current running process caused by the adjustment effect can be seen in the next run, thereby improving the comfort of the current operation of the elevator. Finally, the present invention implements closed-loop control of the running time in the preset stage, and then performs real-time planning and determination of the deceleration curve based on the speed parameters of the deceleration stage, without the need for closed-loop control of the entire running process pre-planned, thereby improving the accuracy of the elevator stop.

[0079] In some embodiments, when the preset stage is a constant speed stage in the elevator operation curve, the method further includes:

[0080] When the theoretical deceleration distance is less than the actual deceleration distance, the running time corresponding to the current speed is increased by a first preset step length to obtain the running time of the adjusted current speed, and a new current running distance is determined based on the running time of the adjusted current speed;

[0081] Return to the step of determining the actual deceleration distance based on the current running distance and the elevator stop target position until the theoretical deceleration distance is greater than or equal to the actual deceleration distance.

[0082] Specifically, when the theoretical deceleration distance is less than the actual deceleration distance, it means that the elevator cannot reach the target stop position according to the current theoretical deceleration distance, so it is necessary to adjust the running time of the current speed in the constant speed stage. The adjustment here is mainly to extend the running time or terminate it in time to enter the next stage, that is, the deceleration stage. By adjusting the running time, the current speed is not adjusted, avoiding the elevator fluctuation caused by the adjustment of the speed value, and improving the user experience.

[0083] During the conventional elevator stop process, the elevator decelerates based on the predetermined deceleration point position. After the elevator stops, the corresponding deceleration point position is checked based on the leveling effect of the stop to see whether it needs to be adjusted. If the leveling effect is not good, the deceleration point position is adjusted, but the corresponding adjusted deceleration point position can only be seen in the next operation process. In this embodiment, the new theoretical deceleration distance obtained after the adjusted running time is compared with the actual deceleration distance after the adjustment. If the new theoretical deceleration distance is greater than or equal to the actual deceleration distance, the adjustment is stopped and the deceleration stage is entered. Here, the adjustment effect corresponding to the operation process is reflected and processed in real time during the current operation process to improve the stability of the elevator in the current operation process.

[0084] The first preset step length here can be a fixed step length, with a fixed time added each time for adjustment, or it can be a real-time adjustment of the step length based on the difference between the theoretical deceleration distance and the actual deceleration distance each time, which is not limited here.

[0085] The present embodiment provides an extension or timely termination of the running time in the constant speed stage, and does not adjust the current speed, thereby avoiding the elevator fluctuation caused by the adjustment of the speed value and improving the running stability.

[0086] In other embodiments, when the preset stage is a straight-line constant acceleration stage when the elevator operation curve does not include a constant speed stage and includes a straight-line constant acceleration stage, when the theoretical deceleration distance is less than the actual deceleration distance, the running time corresponding to the straight-line constant acceleration stage is increased by a second preset step length to obtain an adjusted running time corresponding to the straight-line constant acceleration stage and an adjusted current speed, and a new current running distance is determined based on the adjusted running time corresponding to the straight-line constant acceleration stage and the adjusted current speed;

[0087] Return to the step of determining the actual deceleration distance based on the current running distance and the elevator stop target position until the theoretical deceleration distance is greater than or equal to the actual deceleration distance.

[0088] Specifically, the change of the current speed in this embodiment is not based on the numerical adjustment of the speed value, but is based on the change of the current speed corresponding to the fixed acceleration in the straight-line constant acceleration stage. The running time corresponding to the straight-line constant acceleration stage is adjusted, and the running time is increased to a certain extent to obtain the adjusted current speed. The new current running distance is determined based on the running time corresponding to the adjusted straight-line constant acceleration stage and the adjusted current speed until the theoretical deceleration distance is greater than or equal to the actual deceleration distance.

[0089] The second preset step length here can be a fixed step length, with a fixed time added each time for adjustment, or it can be a real-time adjustment of the step length based on the difference between the theoretical deceleration distance and the actual deceleration distance each time, which is not limited here.

[0090] When the preset stage provided in this embodiment is the linear constant acceleration stage, the adjustment of the running time of the current speed in the linear constant acceleration stage corresponds to the acceleration value being in a fixed state, thereby affecting the current speed, but the current speed is not adjusted in real time beyond the original trajectory. This also improves the stability of the elevator operation.

[0091] In some embodiments, the preset control parameters include a first critical speed value, a first acceleration time, a second acceleration time, and a first deceleration time; when the preset stage is a constant speed stage in the elevator motion curve, determining a theoretical deceleration distance corresponding to the current speed based on the current speed and the preset control parameters includes:

[0092] Obtaining a second critical speed value allowed by an elevator operation curve that does not include a constant speed stage, a linear constant acceleration stage, and a linear constant deceleration stage; wherein the second critical speed value is calculated based on the first critical speed value, the first acceleration time, and the second acceleration time; and the second critical speed value is less than the first critical speed value;

[0093] A theoretical deceleration distance for the elevator to decelerate to a standstill at the current speed is determined according to the current speed, the second critical speed value and the first deceleration time.

[0094] Specifically, the second critical speed value is the maximum speed value allowed to run in the S curve corresponding to the curve stage, that is, excluding the constant speed stage, the linear constant acceleration stage and the linear constant deceleration stage. The second speed value is determined by the first critical speed value, the first acceleration time and the second acceleration time, and the formula is as follows:

[0095] ;

[0096] in, is the first acceleration time, is the first critical speed value; the first distance parameter is ; is the second acceleration time, and the first time parameter is ; is the second critical speed value, and the digital coefficients of the first distance parameter and the first time parameter can be set according to actual conditions. At this time, the first critical speed value is greater than the second critical speed value.

[0097] According to the current speed, the second critical speed value and the first deceleration time, the formula for determining the theoretical deceleration distance is as follows:

[0098] ;

[0099] in, is the current speed, is the second critical speed value, and the first speed difference is ; The first scale parameter is ; The first deceleration time is ; The second time parameter is ; The third time parameter is ; The theoretical deceleration distance is .

[0100] It should be noted that π and the coefficient of the first time parameter in this embodiment can be set according to actual conditions. Here, π is used for subsequent participation in consideration of the trapezoidal speed curve being obtained by cosine or sine processing.

[0101] When the preset stage provided in this embodiment is the constant speed stage in the elevator motion curve, the theoretical deceleration distance required to run in the deceleration stage from the current speed of the current elevator to 0 is calculated in real time. The running time of each stage of the deceleration curve and the current speed are used as the maximum speed to perform a solution process, thereby improving the accuracy of determining the theoretical deceleration distance.

[0102] In some embodiments, determining the actual deceleration distance according to the running distance and the elevator stop target position includes:

[0103] The actual deceleration distance is obtained by subtracting the elevator stop target position from the position corresponding to the running distance.

[0104] Specifically, the formula is as follows:

[0105] ;

[0106] The actual deceleration distance is ; The elevator stops at the target location ; The running distance is .

[0107] The actual deceleration distance provided in this embodiment is the actual deceleration distance determined based on the set target position and the feedback current position of the elevator, that is, the target remaining distance, so as to facilitate the subsequent adjustment basis for determining the deceleration point position corresponding to the deceleration stage based on the two parameters of the actual deceleration distance and the theoretical deceleration distance.

[0108] In some embodiments, the preset control parameters include a first critical speed value, a first acceleration time, a second acceleration time, and a first deceleration time; when the preset stage is a linear constant acceleration stage in the elevator operation curve, determining a theoretical deceleration distance corresponding to the current speed based on the current speed and the preset control parameters includes:

[0109] Obtaining a second critical speed value allowed by an elevator operation curve that does not include a constant speed stage, a linear constant acceleration stage, and a linear constant deceleration stage; wherein the second critical speed value is calculated based on the first critical speed value, the first acceleration time, and the second acceleration time; and the second critical speed value is less than the first critical speed value;

[0110] The current speed is used as the initial speed value of the linear constant acceleration stage;

[0111] Determine the theoretical distance increment and theoretical speed increment in the straight-line constant acceleration stage according to the initial speed value, the second critical speed value and the first acceleration time;

[0112] Determine a theoretical deceleration distance for the elevator to decelerate from the current speed to a standstill based on the theoretical distance increment, the current speed, the second critical speed value and the first deceleration time;

[0113] Correspondingly, the actual deceleration distance is determined based on the current running distance and the elevator stop target position, including:

[0114] The actual deceleration distance is determined based on the current running distance, theoretical distance increment and elevator stop target position.

[0115] Specifically, the determination process of the second critical speed value of this embodiment is the same as that of the above embodiment, and reference may be made to the above embodiment, which will not be described in detail here. The current speed is used as the initial speed value of the straight-line constant acceleration stage, and the theoretical distance increment and theoretical speed increment of the straight-line constant acceleration stage are determined based on the initial speed value, the second critical speed value and the first acceleration time.

[0116] It should be noted that the current speed is based on the speed value corresponding to the linear constant acceleration stage. Starting from the current speed, the elevator enters the curve deceleration stage (S3 stage) of the S curve of the operation curve, which is the initial speed value of the S3 stage. Starting from the time of the initial speed value, the theoretical distance increment is determined, that is, the running distance of the S3 stage. The theoretical speed increment is the speed increment from the beginning to the end of the S3 stage.

[0117] The entire process of the S curve during the operation of the elevator includes an acceleration stage, a constant speed stage, and a deceleration stage. Corresponding to the acceleration stage, it can be the same as the acceleration method of the conventional elevator operation, or it can be different. It should be noted that the acceleration method in this embodiment is not a real-time adjustment of the speed parameters. According to the preset planning parameters, the preset speed values ​​of the preset planning parameters are executed in different acceleration stages, which reduces the real-time adjustment process of the closed-loop control method, and also reduces the elevator fluctuations that occur during the speed parameter adjustment process, thereby improving the stability of the elevator operation. In addition, the acceleration stage corresponding to the acceleration method of the elevator operation can include a curve acceleration stage, a straight line constant acceleration stage, and a curve deceleration stage, or can only include a curve acceleration stage and a curve deceleration stage. It is not limited here, and it can be determined whether to include a straight line constant acceleration stage according to actual conditions.

[0118] The curve stage and deceleration curve stage in this embodiment correspond to other dimensions in the elevator operation process. The curve stage is the operation of the elevator in the speed curve during operation. The curve stage here combines the curve acceleration stage and curve deceleration stage corresponding to the acceleration mode mentioned in the previous paragraph and the curve deceleration stage and curve deceleration stage corresponding to the deceleration mode. The deceleration curve stage corresponds to the curve deceleration and deceleration stage and curve deceleration and acceleration stage of the deceleration stage.

[0119] In the acceleration phase of the elevator operation, the corresponding speed formula is as follows:

[0120] ;

[0121] The formula includes three sub-formulas, and the three sub-formulas from top to bottom correspond to the speed curve of the S1 stage, the speed curve of the S2 stage, and the speed curve of the S3 stage, respectively.

[0122] is the first current time parameter, is the first acceleration time, is the second scale parameter, is the first parameter, is the second critical speed value, It is the speed parameter of the acceleration phase of the S1 phase curve. is the second current time parameter, is the second parameter, is the first speed parameter, It is the speed parameter of the linear constant acceleration stage in stage S2. is the third current time parameter, is the third scale parameter, is the third parameter, is the second speed parameter, is the fourth scale parameter, is the third speed parameter, It is the speed parameter of the deceleration and acceleration phase of the S3 phase curve.

[0123] In addition, in the above formula, It represents the change over time, where the value range in the Vacc_1 curve is [0, Ts_acc / 2], and the value range in the Vacc_3 curve is [Ts_acc / 2, Ts_acc]; tacc_cons represents the change over time, and its value range is [0, Tacc_cons].

[0124] It should be noted that if Figure 2 As shown, in this embodiment, Vacc_1 represents the speed curve formula of the S-curve acceleration stage (S1 stage); Vacc_2 represents the speed curve formula of the straight line constant acceleration stage (S2 stage); Vacc_3 represents the speed curve formula of the S-curve deceleration stage (S3 stage).

[0125] Based on the speed curve formula of the S5 stage curve deceleration stage, the speed value corresponding to the starting point of the constant speed stage is Vacc_3, and its expression is: ,in, For Vacc_3, is the speed value in the constant speed stage.

[0126] The speed parameter determination process corresponding to each stage of the speed curve provided in this embodiment avoids real-time control adjustment of the speed corresponding to the entire acceleration stage, and improves the stability of elevator operation by pre-planning the acceleration stage of the speed curve determined by parameters.

[0127] Based on the third sub-formula of the above formula, we can know the specific acceleration value of the S3 stage. The first speed time is the sum of the time of the S1 stage and the S3 stage, which is a fixed value. From the linear constant acceleration stage of the S2 stage, we can get the running time of the S1 stage, and thus we know the time required to run the S3 stage. The second critical speed value is the sum of the speed value corresponding to the S1 stage and the speed value of the S3 stage, and we know the final speed value of the S3 stage. Knowing the initial speed, acceleration, final speed value and time of the S3 stage, we also know the theoretical distance increment and theoretical speed increment corresponding to the current S3 stage.

[0128] At the same time, the theoretical deceleration distance is determined based on the theoretical distance increment, the current speed, the second critical speed value and the first deceleration time. The process of determining the theoretical deceleration distance here is the same as the process of determining the theoretical deceleration distance corresponding to the constant acceleration stage in the above embodiment. The theoretical deceleration distance is known by adding the running distance based on the S5 stage, the S6 stage and the S7 stage to the theoretical distance increment.

[0129] Similarly, corresponding to the actual deceleration distance, the corresponding running distance is the sum of the actual current running distance and the theoretical distance increment. The actual deceleration distance is obtained by subtracting the running distance from the elevator stop target position.

[0130] The present embodiment provides that when the preset stage is a straight-line constant acceleration stage, the S3 stage is entered by knowing when the current speed of the stage ends, and the running distance of the S3 stage is obtained by the theoretical distance increment and the theoretical speed increment of the S3 stage. The speed value of the deceleration point at the transition from the S3 stage to the S5 stage can be known, thereby improving the accuracy of determining the theoretical deceleration distance.

[0131] In some embodiments, determining a deceleration curve of elevator operation based on a current speed and preset control parameters includes:

[0132] According to the current speed, the second critical speed value and the first deceleration time, it is determined whether the deceleration curve of the elevator operation includes a linear constant deceleration stage;

[0133] If so, the speed parameters of the elevator in the deceleration phase are output according to the constant deceleration theoretical time corresponding to the linear constant deceleration phase, and the elevator stops.

[0134] Specifically, no matter what scheme is used for the preset stage, the process of determining the deceleration curve of the elevator operation in this embodiment is the same, that is, judging whether a linear constant deceleration stage (i.e., stage S6) is included according to the current speed, the second critical speed value, and the first deceleration time.

[0135] In some embodiments, judging whether the deceleration curve of the elevator operation includes a linear constant deceleration stage according to the current speed, the second critical speed value and the first deceleration time includes:

[0136] According to the current speed, the second critical speed value and the first deceleration time, the constant deceleration theoretical time corresponding to the linear constant deceleration stage is calculated;

[0137] Determine whether the constant deceleration theoretical time is greater than the preset threshold;

[0138] If so, it is determined that the deceleration curve of the elevator operation contains a linear constant deceleration stage;

[0139] If not, it is determined that the deceleration curve of the elevator operation does not include a linear constant deceleration stage.

[0140] The specific formula is as follows:

[0141] ;

[0142] The current speed is ; is the second critical speed value, and the first speed difference is ; The fifth scale parameter is ; The first deceleration time is ; The fourth time parameter is , the theoretical time of constant deceleration corresponding to the linear constant deceleration stage is .

[0143] When the constant deceleration theoretical time corresponding to the linear constant deceleration stage is greater than the preset threshold, it is determined that the deceleration curve of the elevator operation includes the linear constant deceleration stage; if it is equal to or less than, it is determined that the deceleration curve of the elevator operation does not include the linear constant deceleration stage. There is no limitation on the specific value of the preset threshold, which can be 0 or other values.

[0144] It is understandable that Figure 2 Taking the S-curve of the elevator as an example, the theoretical constant deceleration time corresponding to the linear constant deceleration stage corresponding to the elevator deceleration stage is the theoretical constant deceleration time of the S6 stage, where the speed of the S6 stage = the acceleration of the S6 stage × the theoretical constant deceleration time. Since the S6 stage is a linear constant deceleration stage, the acceleration of the S6 stage is the acceleration of the S5 stage.

[0145] Therefore, the acceleration in S5 is:

[0146] = ;

[0147] Speed ​​of S6 stage:

[0148] ;

[0149] .

[0150] The deceleration curve of the elevator operation provided in this embodiment determines whether the deceleration curve includes a linear constant deceleration stage through the determination process of the constant deceleration theoretical time corresponding to the linear constant deceleration stage, which facilitates the subsequent generation of the deceleration curve, realizes the deceleration curve determined by real-time planning parameters, and improves the accuracy of the deceleration curve during the elevator operation.

[0151] It can be understood that the speed parameters of the elevator in the deceleration stage are output according to the constant deceleration theoretical time corresponding to the linear constant deceleration stage to complete the elevator stop. It is necessary to initialize the initial speed curve using the constant deceleration theoretical time to output the speed parameters of each stage of the elevator's deceleration stage to complete the elevator stop. Figure 2 As shown, it includes S5-S7 stages. According to the deceleration stage speed curve after initialization, the elevator given speed value is output to control the elevator to complete the deceleration stage operation.

[0152] The present embodiment provides a process for determining a deceleration curve corresponding to a linear constant deceleration stage included in the deceleration curve of the elevator operation. The speed given value of the speed curve of the deceleration stage is output through the constant deceleration theoretical time of the real-time planning parameter, thereby avoiding speed value fluctuations caused by closed-loop control of the real-time speed value in the conventional parking process. The constant speed is maintained for a longer running time after decelerating to a certain stage during the crawling parking process. The present embodiment operates by giving the speed parameters of each stage to improve the stability and efficiency of the elevator operation.

[0153] In some embodiments, the deceleration stage of the elevator includes an acceleration and deceleration stage, a linear constant deceleration stage, and a deceleration and deceleration stage; the preset control parameters also include a second deceleration time; and the determination process of the deceleration stage includes:

[0154] Calculate the actual speed of the acceleration and deceleration phase based on the current speed, the second critical speed value, the current running time in the acceleration and deceleration phase, and the second deceleration time to determine the deceleration and acceleration phase;

[0155] Based on the second critical speed value, the constant deceleration theoretical time and the current running time in the linear constant deceleration stage, the actual speed of the linear constant deceleration stage is calculated to determine the linear constant deceleration stage;

[0156] Based on the second critical speed value, the second deceleration time and the current running time in the deceleration phase, the actual speed of the deceleration phase is calculated to determine the deceleration phase.

[0157] Specifically, the formula is as follows:

[0158] ;

[0159] The three fractions of the above formula correspond to the three deceleration stages from top to bottom, namely the curve deceleration and acceleration stage of the S5 stage, the linear constant deceleration stage of the S6 stage, and the curve deceleration and deceleration stage of the S7 stage.

[0160] In the curve deceleration phase of S5 stage, is the fourth current time in the curve deceleration phase of phase S5, is the second deceleration time, and the sixth proportional parameter is ; The third parameter is ; The first current speed is ; is the second critical speed value, and the first speed difference is ; The speed parameter of the curve deceleration phase in the S5 phase is It should be noted that, since the starting point of the first current speed in the curve deceleration stage of stage S5 is the current speed in the constant speed stage, it is continued here, and the corresponding first speed difference is the first speed value in this embodiment.

[0161] In the linear constant deceleration stage, is the fifth current time of the linear constant deceleration stage; is the second deceleration time, and the seventh proportional parameter is ; is the second critical speed value; the speed parameter of the linear constant deceleration stage is .

[0162] During the deceleration phase of the curve, The sixth current time parameter of the deceleration phase of the S6 phase curve; is the second deceleration time, and the sixth proportional parameter is ; The third parameter is ; is the second critical speed value; the speed parameter of the curve deceleration stage is .

[0163] In addition, the corresponding numerical parameters in the above formulas are used as coefficients and can be changed according to actual conditions, which are not limited here. Indicates the speed value at the moment of entering the deceleration phase. represents the change over time, where The value range of the curve is [0, T s_dec / 2], The value range of the curve is [T s_dec / 2,T s_dec ]; t dec_cons It represents the change over time, and its value range is [0, T dec_cons ].

[0164] The formulas for the various speed curves corresponding to the deceleration curve provided in this embodiment and the process for determining the speed parameters do not require closed-loop control of the entire curve process, while also speeding up the deceleration speed, avoiding the constant speed waiting time during crawling and stopping, and improving the operating efficiency of the elevator.

[0165] It should be noted that the straight line constant acceleration stage can be determined by calculating the constant acceleration theoretical time of the straight line constant acceleration stage; if there is a constant acceleration theoretical time greater than the first threshold, it is determined to be included; if there is no constant acceleration theoretical time greater than the first threshold, it is determined not to be included, and the final S curve is determined through different situations.

[0166] The specific formula for determining the constant acceleration theoretical time is as follows:

[0167] ;

[0168] in, is the first acceleration time, is the first deceleration time, is the fifth time parameter, is the distance parameter corresponding to the elevator stop target position, is the second critical speed value, is the sixth time parameter, is the eighth proportional parameter, is the constant acceleration theoretical time. The numerical coefficients and the square root calculation corresponding to the fifth proportional parameter are set according to the actual situation.

[0169] It should be noted that the first threshold value may be 0 or other values, which are not limited here. If the constant acceleration theoretical time in this embodiment is less than or equal to 0, it means that the current path planning process does not include a constant acceleration phase, a constant deceleration phase, and a constant speed phase. Figure 3 A schematic diagram of an S-shaped speed curve not including a constant speed stage provided by an embodiment of the present invention, Figure 4 A schematic diagram of an S-shaped speed curve not including a constant acceleration phase, a constant deceleration phase and a constant speed phase is provided for an embodiment of the present invention.

[0170] The process of determining the time of the straight-line constant acceleration stage provided in this embodiment is to determine whether the acceleration stage has the setting of the constant acceleration stage, the constant deceleration stage and the constant speed stage according to the time parameters of the straight-line constant acceleration stage, so as to facilitate the flexibility of speed curve selection.

[0171] It can be understood that the maximum time that can be theoretically run in the linear constant acceleration stage of the S2 stage, that is, the theoretical critical time of the linear constant acceleration stage, is as follows:

[0172] ;

[0173] in, is the first critical speed value, is the second critical speed value, is the fourth speed value, is the ninth scale parameter, is the first acceleration time, is the theoretical critical time.

[0174] It should be noted that the constant acceleration theoretical time in this embodiment is compared with the theoretical critical time. When the constant acceleration theoretical time is less than or equal to 0, it means that the trapezoidal speed curve does not include the constant acceleration stage, the constant deceleration stage and the constant speed stage. Figure 4 The speed curve 3 shown in FIG. 3 does not include the constant speed stage when the constant acceleration theoretical time is greater than 0 and the constant acceleration theoretical time is less than the theoretical critical time. Figure 3The speed curve 2 shown in FIG. 2 is a complete speed curve when the constant acceleration theoretical time is greater than 0 and the constant acceleration theoretical time is greater than the theoretical critical time. Figure 2 The speed curve shown is 1. The comparison formula is as follows:

[0175] ;

[0176] in, is the constant acceleration theoretical time, is the theoretical critical time.

[0177] This embodiment provides a method for determining the maximum time parameter (theoretical critical time) that the constant acceleration section can theoretically run, and determining the speed curve corresponding to the acceleration stage of the elevator according to the comparison between the constant acceleration theoretical time and the theoretical critical time, so as to improve the flexibility of speed curve selection.

[0178] The above describes in detail various embodiments corresponding to the elevator parking control method. On this basis, the present invention also discloses an elevator parking control system corresponding to the above method. Figure 5 The structure diagram of a control system for elevator parking provided by an embodiment of the present invention. Figure 5 As shown, the control system for elevator parking includes:

[0179] The acquisition module 11 is used to acquire the current speed and the current running distance of the elevator motion curve when it is in a preset stage; wherein the preset stage is a constant speed stage when the elevator motion curve includes a constant speed stage, or a linear constant acceleration stage when the elevator operation curve does not include a constant speed stage and includes a linear constant acceleration stage;

[0180] A first determination module 12, configured to determine a theoretical deceleration distance corresponding to the current speed based on the current speed and preset control parameters;

[0181] A second determination module 13 is used to determine an actual deceleration distance based on a current running distance and a target stop position of the elevator;

[0182] The third determination module 14 is used to determine the running time corresponding to the preset stage when the theoretical deceleration distance is greater than or equal to the actual deceleration distance, and control the elevator to enter the next stage of the preset stage;

[0183] The fourth determination module 15 is used to determine the deceleration curve of the elevator operation based on the current speed and preset control parameters when the elevator operation enters the next stage of the preset stage to complete the elevator stop.

[0184] Since the embodiments of the system part correspond to the above embodiments, please refer to the description of the embodiments of the method part for the embodiments of the system part, and will not be repeated here.

[0185] For an introduction to an elevator stop control system provided by the present invention, please refer to the above method embodiment, and the present invention will not be repeated here. It has the same beneficial effects as the above elevator stop control method.

[0186] Figure 6 A structural diagram of an electronic device provided by an embodiment of the present invention, such as Figure 6 As shown, the electronic device includes:

[0187] A memory 21, used for storing computer programs;

[0188] The processor 22 is used to implement the steps of the elevator parking control method when executing the computer program.

[0189] The electronic device provided in this embodiment may include but is not limited to a smart phone, a tablet computer, a laptop computer, or a desktop computer.

[0190] Among them, the processor 22 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 22 may be implemented in at least one hardware form of a digital signal processor (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 22 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 22 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 22 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

[0191] The memory 21 may include one or more computer-readable storage media, which may be non-transitory. The memory 21 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 21 is at least used to store the following computer program 211, wherein, after the computer program is loaded and executed by the processor 22, it can implement the relevant steps of the elevator stop control method disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 21 may also include an operating system 212 and data 213, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 212 may include Windows, Unix, Linux, etc. The data 213 may include, but is not limited to, data involved in the elevator stop control method, etc.

[0192] In some embodiments, the electronic device may further include a display screen 23 , an input / output interface 24 , a communication interface 25 , a power source 26 , and a communication bus 27 .

[0193] Those skilled in the art can understand that Figure 6 The structure shown in the figure does not constitute a limitation on the electronic device, and may include more or fewer components than shown in the figure.

[0194] The processor 22 implements the elevator parking control method provided by any of the above embodiments by calling the instructions stored in the memory 21.

[0195] For an introduction to an electronic device provided by the present invention, please refer to the above method embodiment, and the present invention will not be repeated here. It has the same beneficial effects as the above elevator parking control method.

[0196] Furthermore, the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by the processor 22, the steps of the control method for elevator parking as described above are implemented.

[0197] It is understandable that if the method in the above embodiment 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 technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium to execute all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program codes.

[0198] For an introduction to a computer-readable storage medium provided by the present invention, please refer to the above method embodiment, which will not be described in detail herein. It has the same beneficial effects as the above elevator parking control method.

[0199] The above is a detailed introduction to the control method, system, device and medium for elevator parking provided by the present invention. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, the present invention can also be improved and modified in several ways, and these improvements and modifications also fall within the scope of protection of the present invention.

[0200] It should also be noted that, in this specification, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A method for controlling elevator parking, characterized in that: include: Obtaining the current speed and current running distance of the elevator when it is in a preset stage during operation; wherein the preset stage is a constant speed stage in the elevator motion curve or a linear constant acceleration stage in the elevator operation curve; Determine a theoretical deceleration distance corresponding to the current speed based on the current speed and preset control parameters; Determine the actual deceleration distance based on the current running distance and the elevator stop target position; When the theoretical deceleration distance is greater than or equal to the actual deceleration distance, determining the running time corresponding to the preset stage, and controlling the elevator to enter the next stage of the preset stage; When the elevator operation enters the next stage of the preset stage, a deceleration curve of the elevator operation is determined based on the current speed and the preset control parameters to complete the elevator stop.

2. The elevator parking control method according to claim 1, characterized in that: When the preset stage is a constant speed stage in the elevator operation curve, the method further includes: In the case where the theoretical deceleration distance is less than the actual deceleration distance, the running time corresponding to the current speed is increased by a first preset step length to obtain an adjusted running time of the current speed, and a new current running distance is determined based on the adjusted running time of the current speed; Return to the step of determining the actual deceleration distance based on the current running distance and the elevator stop target position until the theoretical deceleration distance is greater than or equal to the actual deceleration distance.

3. The elevator parking control method according to claim 1, characterized in that: The preset control parameters include a first critical speed value, a first acceleration time, a second acceleration time and a first deceleration time; When the preset stage is a constant speed stage in the elevator motion curve, determining the theoretical deceleration distance corresponding to the current speed based on the current speed and the preset control parameter includes: Obtaining a second critical speed value allowed by an elevator operation curve that does not include a constant speed stage, a linear constant acceleration stage, and a linear constant deceleration stage; wherein the second critical speed value is calculated based on the first critical speed value, the first acceleration time, and the second acceleration time; and the second critical speed value is less than the first critical speed value; A theoretical deceleration distance for the elevator to decelerate from the current speed to a standstill is determined according to the current speed, the second critical speed value and the first deceleration time.

4. The elevator parking control method according to claim 1, characterized in that: The preset control parameters include a first critical speed value, a first acceleration time, a second acceleration time and a first deceleration time; When the preset stage is a straight-line constant acceleration stage in the elevator operation curve, determining the theoretical deceleration distance corresponding to the current speed based on the current speed and the preset control parameter includes: Obtaining a second critical speed value allowed by an elevator operation curve that does not include a constant speed stage, a linear constant acceleration stage, and a linear constant deceleration stage; wherein the second critical speed value is calculated based on the first critical speed value, the first acceleration time, and the second acceleration time; and the second critical speed value is less than the first critical speed value; Using the current speed as the initial speed value of the straight-line constant acceleration stage; Determine a theoretical distance increment and a theoretical speed increment in the straight-line constant acceleration stage according to the initial speed value, the second critical speed value and the first acceleration time; Determine a theoretical deceleration distance for the elevator to decelerate to a standstill at the current speed based on the theoretical distance increment, the current speed, the second critical speed value and the first deceleration time; Correspondingly, determining the actual deceleration distance based on the current running distance and the elevator stop target position includes: The actual deceleration distance is determined according to the current running distance, the theoretical distance increment and the elevator stop target position.

5. The elevator parking control method according to claim 3 or 4, characterized in that: The step of determining the deceleration curve of the elevator operation based on the current speed and the preset control parameter comprises: According to the current speed, the second critical speed value and the first deceleration time, determining whether the deceleration curve of the elevator operation includes a linear constant deceleration stage; If so, the speed parameter of the elevator in the deceleration stage is output according to the constant deceleration theoretical time corresponding to the linear constant deceleration stage, and the elevator stops.

6. The elevator parking control method according to claim 5, characterized in that: Judging whether the deceleration curve of the elevator operation includes a linear constant deceleration stage according to the current speed, the second critical speed value and the first deceleration time includes: Calculating a constant deceleration theoretical time corresponding to the linear constant deceleration stage according to the current speed, the second critical speed value and the first deceleration time; Determine whether the constant deceleration theoretical time is greater than a preset threshold; If so, it is determined that the deceleration curve of the elevator operation contains a linear constant deceleration stage; If not, it is determined that the deceleration curve of the elevator operation does not include a linear constant deceleration stage.

7. The elevator parking control method according to claim 5, characterized in that: The deceleration stage of the elevator includes an acceleration and deceleration stage, a linear constant deceleration stage and a deceleration and deceleration stage; the preset control parameters also include a second deceleration time; The process of determining the deceleration stage includes: calculating an actual speed of the acceleration / deceleration phase based on the current speed, the second critical speed value, the current running time in the acceleration / deceleration phase, and the second deceleration time to determine the deceleration / acceleration phase; Based on the second critical speed value, the constant deceleration theoretical time and the current running time in the linear constant deceleration stage, the actual speed of the linear constant deceleration stage is calculated to determine the linear constant deceleration stage; Based on the second critical speed value, the second deceleration time and the current running time in the deceleration phase, an actual speed of the deceleration phase is calculated to determine the deceleration phase.

8. An elevator parking control device, characterized in that: include: An acquisition module, used to acquire the current speed and current running distance of the elevator motion curve when it is in a preset stage; wherein the preset stage is a constant speed stage when the elevator motion curve includes a constant speed stage, or a linear constant acceleration stage when the elevator operation curve does not include a constant speed stage and includes a linear constant acceleration stage; A first determination module, configured to determine a theoretical deceleration distance corresponding to the current speed based on the current speed and a preset control parameter; A second determination module is used to determine an actual deceleration distance based on the current running distance and the elevator stop target position; A third determination module is used to determine the running time corresponding to the preset stage when the theoretical deceleration distance is greater than or equal to the actual deceleration distance, and control the elevator to enter the next stage of the preset stage; The fourth determination module is used to determine the deceleration curve of the elevator operation based on the current speed and the preset control parameters when the elevator operation enters the next stage of the preset stage to complete the elevator stop.

9. An electronic device, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the elevator parking control method as described in any one of claims 1 to 7 when executing the computer program.

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

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