Platform elevator door opening and closing protection method, device and equipment and storage medium

Abstract

The invention discloses a platform elevator door opening and closing protection method, device and equipment and a storage medium, and the platform elevator door opening and closing protection method comprises the steps that a TOF sensor for vertical downward detection is arranged above a landing door area of a platform elevator, and in the platform elevator door opening or closing process, a detection signal of the TOF sensor is received; determining whether a preset risk event occurs in the landing door area based on the detection signal, wherein the risk event comprises at least one of a hand clamping event and a door collision event; if yes, the platform elevator is controlled to be opened or closed according to the risk event; and if not, the platform elevator is controlled to be opened or closed, so that whether risk events such as hand pinching and door collision occur in the landing door area or not in the door opening or closing process of the platform elevator with the vertical hinged door is detected through the TOF sensor, and the platform elevator is controlled to be opened or closed according to the risk events when the risk events occur. The situation that the hands of passengers are pinched or the door is collided when the platform elevator is opened or closed is avoided, and the safety performance of opening or closing the door of the platform elevator is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of elevators, and in particular to a method, device, equipment and storage medium for protecting door opening and closing of a platform elevator. Background Art

[0002] As home elevators become more and more popular, platform home elevators are widely used in homes. They use a flat opening method to open and close doors to reduce the area of ​​the elevator shaft.

[0003] like Figure 1 The diagram shows a home elevator swing door. Figure 1 The door opening method of a medium-sized home elevator is to open the left and right doors 2 (hall doors) toward the outside of the car 1. The width of the door opening is roughly equal to the width of the car, so as to maximize the width of the hall door.

[0004] In the prior art, ordinary sliding door elevators use light curtain detection protection devices for protection detection to prevent the risks of fingers being pinched and hitting the door at the end of closing the elevator door. However, light curtain detection is not applicable to swing doors. Therefore, how to avoid the risks of fingers being pinched and hitting the door during the opening and closing process of swing door home elevators has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The present invention provides a platform elevator door opening and closing protection method, device, equipment and storage medium to solve the problem of hand pinching and door collision risks in the process of opening and closing the door of a flat door home elevator.

[0006] In a first aspect, the present invention provides a platform elevator door opening and closing protection method, wherein a TOF sensor for vertical downward detection is arranged above the hall door area of ​​the platform elevator, comprising:

[0007] During the process of the platform elevator door opening or closing, receiving a detection signal of the TOF sensor;

[0008] Determine whether a preset risk event occurs in the hall door area based on the detection signal, wherein the risk event includes at least one of a hand-caught event and a door-slamming event;

[0009] If yes, control the platform elevator to open or close the door according to the risk event;

[0010] If not, control the platform elevator to open or close the door.

[0011] Optionally, the TOF sensor includes a single-point TOF sensor disposed on a door lintel in a lobby for vertically downward detection of a preset door gap area formed by a left door leaf and a right door leaf of the platform elevator. During the process of opening or closing a door of the platform elevator, a detection signal of the TOF sensor is received, including:

[0012] During the process of the platform elevator opening or closing the door, a first distance detected by the single-point TOF sensor is received.

[0013] Optionally, determining whether a preset risk event occurs in the hall door area based on the detection signal includes:

[0014] Determining whether the first distance is less than a preset value;

[0015] If yes, it is determined that a preset risk event occurs in the hall door area, and the preset risk event is a hand-pinching event;

[0016] If not, it is determined that no preset risk event occurs in the hall door area.

[0017] Optionally, the TOF sensor includes an array TOF sensor disposed on a door lintel in the lobby for vertically downward detection of the hall door area. During the process of opening or closing the door of the platform elevator, receiving a detection signal of the TOF sensor includes:

[0018] During the process of opening or closing the door of the platform elevator, second distances of each sub-area of ​​the hall door area detected by the area array TOF sensor are received.

[0019] Optionally, determining whether a preset risk event occurs in the hall door area based on the detection signal includes:

[0020] Determine the angle of the elevator door;

[0021] Determine, from each sub-area of ​​the hall door area, a first sub-area blocked by the left door leaf and the right door leaf of the platform elevator based on the elevator door angle;

[0022] Determine a second sub-region other than the first sub-region from among the sub-regions;

[0023] Determine whether there is a second sub-area where the second distance is smaller than a preset value;

[0024] If yes, it is determined that a preset risk event occurs in the hall door area, and the preset risk event is a door collision event;

[0025] If not, it is determined that no preset risk event occurs in the hall door area.

[0026] Optionally, determine the door angle, including:

[0027] Get the elevator door angle from the door controller;

[0028] or,

[0029] Obtaining door opening or closing time from the door controller;

[0030] The elevator door angle is determined based on the door opening or closing time and a preset speed curve.

[0031] Optionally, controlling the platform elevator to open or close a door according to the risk event includes:

[0032] When the elevator door of the platform elevator is in the door-opening position, controlling the elevator door to maintain the door-opening position;

[0033] When the elevator door of the platform elevator is in the process of closing, controlling the elevator door to switch to opening;

[0034] When the elevator door of the platform elevator is in a door-closed state and receives a door-opening instruction, the elevator door is controlled to open at a preset door-opening speed.

[0035] In a second aspect, the present invention provides a platform elevator door opening and closing protection device, wherein a TOF sensor for vertically downward detection is arranged above the hall door area of ​​the platform elevator, comprising:

[0036] A TOF sensor detection signal receiving module, used for receiving the detection signal of the TOF sensor during the process of opening or closing the door of the platform elevator;

[0037] A risk event judgment module, used to determine whether a preset risk event occurs in the hall door area based on the detection signal, wherein the risk event includes at least one of a hand-caught event and a door-slamming event; if so, execute the first control module, and if not, execute the second control module;

[0038] A first control module, used for controlling the platform elevator to open or close a door according to the risk event;

[0039] The second control module is used to control the platform elevator to open or close the door.

[0040] In a third aspect, the present invention provides an electronic device, the electronic device comprising:

[0041] at least one processor; and

[0042] a memory communicatively connected to the at least one processor; wherein,

[0043] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the platform elevator door opening and closing protection method described in any one of the first aspects of the present invention.

[0044] In a fourth aspect, the present invention provides a computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a processor to implement the platform elevator door opening and closing protection method described in any one of the first aspects of the present invention when executed.

[0045] The present invention arranges a TOF sensor for vertically downward detection above the hall door area of ​​the platform elevator, receives a detection signal of the TOF sensor during the process of opening or closing the door of the platform elevator, determines whether risk events such as hand pinching or door collision occur in the hall door area based on the detection signal, and if so, controls the platform elevator to open or close according to the risk event; if not, controls the platform elevator to open or close, thereby realizing the detection of whether risk events such as hand pinching or door collision occur in the hall door area during the process of opening or closing the door of the platform elevator with a swing door by the TOF sensor, and controls the platform elevator to open or close according to the risk event when the risk event occurs, thereby avoiding the occurrence of passengers' hands pinching or door collision when the platform elevator opens or closes the door, and improving the safety performance of opening or closing the door of the platform elevator.

[0046] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of 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 creative work.

[0048] Figure 1 This is a schematic diagram of the door opening of the platform elevator;

[0049] Figure 2 This is a flow chart of a platform elevator door opening and closing protection method provided by Embodiment 1 of the present invention;

[0050] Figure 3 This is a schematic diagram of the TOF sensor installation;

[0051] Figure 4 This is a flow chart of a platform elevator door opening and closing protection method provided by Embodiment 2 of the present invention;

[0052] Figure 5 It is a schematic diagram of single-point TOF sensor detection;

[0053] Figure 6 It is a schematic diagram of the echo detection distance of a single-point TOF sensor;

[0054] Figure 7 It is a schematic diagram of the detection of the area array TOF sensor;

[0055] Figure 8 is a schematic diagram of the sub-region and the sub-region excluding the obscured;

[0056] Fig. 9 It is a curve diagram of door closing angle and time;

[0057] Fig.10 It is a structural schematic diagram of a platform elevator door opening and closing protection device provided in Embodiment 3 of the present invention;

[0058] Fig.11 It is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0059] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0060] Embodiment 1

[0061] Figure 2 This is a flow chart of a platform elevator door opening and closing protection method provided in the first embodiment of the present invention. This embodiment can be applied to control the opening or closing of a flat-opening platform elevator. The method can be executed by a platform elevator door opening and closing protection device. The platform elevator door opening and closing protection device can be implemented in the form of hardware and / or software, and can be configured in an electronic device, such as a main control computer of the platform elevator. Figure 2 As shown, the platform elevator door opening and closing protection method includes:

[0062] S201. During the process of opening or closing the door of the platform elevator, a detection signal of a TOF sensor is received.

[0063] In this embodiment, the platform elevator may refer to an elevator whose elevator door adopts a flat opening method, such as Figure 1As shown, the platform elevator includes two left and right elevator doors 2, and the left and right elevator doors 2 open toward the outside of the car 1 to allow passengers to enter and exit. The opposite of the flat opening type is the sliding door elevator. In the sliding door elevator (a common vertical elevator), when the elevator door opens, the left and right doors move away from each other along the track to open the door, and when the door closes, the left and right doors move toward each other along the track to close the door. The anti-pinch or anti-collision door detection is to set a light curtain on the sides where the left and right doors are close to each other. When the light curtain is blocked, it is detected that there is an object between the two doors, thereby realizing the anti-pinch or anti-collision door detection. For the flat opening platform elevator, since the left and right doors open toward the outside of the car, the anti-pinch and anti-collision doors can no longer be detected by setting a light curtain on the sides where the left and right doors are close to each other. As Figure 3 The figure shows a side view of a platform elevator. In this embodiment, a TOF sensor 4 can be installed on the lintel 3 outside the hall door (the hall door is the elevator door in this case, and the platform elevator has no car door). The installed TOF sensor 4 vertically detects the hall door area of ​​the two elevator doors 2 (the active area of ​​the two elevator doors) to obtain a detection signal, which can be a distance signal, that is, the TOF sensor directly outputs the measured distance.

[0064] TOF sensors are mainly used for distance measurement. TOF sensors mainly use the flight time of the signal between two asynchronous transceivers to measure the distance between nodes. TOF ranging technology is a method of time of flight measurement. TOF sensors are photoelectric sensors with a conical detection range, that is, the TOF sensor body is used as the starting point to emit light source and receive reflected light source. The measurement distance of TOF sensors can reach several meters.

[0065] S202: Determine whether a preset risk event occurs in the hall door area based on the detection signal, where the risk event includes at least one of a hand-pinching event and a door-collision event.

[0066] In this embodiment, a risk event may be an event that has not occurred but is about to occur if not controlled, wherein the risk event may be at least one of a hand pinching event and a door hitting event. A hand pinching event may be an object (such as a passenger's finger) located in the door gap formed by the left and right doors when the doors are closed, and a door hitting event may be an object (such as a passenger or other object) located in the area where the doors are opened or closed, i.e., the hall door area, wherein the hall door area may refer to the activity area of ​​the left and right door leaves of the platform elevator when the doors are opened in a swing-type manner.

[0067] The detection signal can be a signal of the distance detected by the TOF sensor. After the TOF sensor is installed, the distance from the TOF sensor to the ground outside the hall door can be determined. The distance is used as a preset value, and the distance detected by the TOF sensor is compared with the preset value. If the detected distance is less than the preset value, it means that an object (such as a passenger's hand) is located in the door gap formed when the two doors are closed, or an object is located in the hall door area where the two doors are opened or closed. It is determined that a risk event is detected and S203 can be executed. If no risk event is detected, S204 can be executed to continue to close or open the door normally.

[0068] S203. Control the platform elevator to open or close the door according to the risk event.

[0069] In one embodiment, the elevator door can be controlled to open or close according to the elevator door status and the type of risk event. For example, when the elevator door is in the door-opening state, if at least one of a hand pinching event and a door-collision event is detected, the elevator door can be controlled to remain in the door-opening state; when the elevator door is in the door-closing process and has not yet closed, if a hand pinching event is detected, the elevator door can be controlled to switch to opening (i.e., reverse opening); if the elevator door is about to open when at the level floor (a door opening command is received), if a door-collision event is detected, the elevator door can be controlled to open at a slower speed to avoid opening the door too quickly and colliding with people or objects waiting for the elevator.

[0070] S204, control the platform elevator to open or close the door.

[0071] If no risk event is detected, the left and right doors of the platform elevator can be controlled to open or close normally.

[0072] The present invention arranges a TOF sensor for vertically downward detection above the hall door area of ​​the platform elevator, receives a detection signal of the TOF sensor during the process of opening or closing the door of the platform elevator, determines whether risk events such as hand pinching or door collision occur in the hall door area based on the detection signal, and if so, controls the platform elevator to open or close according to the risk event; if not, controls the platform elevator to open or close, thereby realizing the detection of whether risk events such as hand pinching or door collision occur in the hall door area during the process of opening or closing the door of the platform elevator with a swing door by the TOF sensor, and controls the platform elevator to open or close according to the risk event when the risk event occurs, thereby avoiding the occurrence of passengers' hands pinching or door collision when the platform elevator opens or closes the door, and improving the safety performance of opening or closing the door of the platform elevator.

[0073] Embodiment 2

[0074] Figure 4 This is a flow chart of a platform elevator door opening and closing protection method provided in Embodiment 2 of the present invention. This embodiment of the present invention is optimized based on the above Embodiment 1. Figure 4As shown, the platform elevator door opening and closing protection method includes:

[0075] S401. During the process of opening or closing the door of the platform elevator, a first distance detected by a single-point TOF sensor and a second distance of each sub-area of ​​the hall door area detected by an array TOF sensor are received.

[0076] In this embodiment, a single-point TOF sensor and an area array TOF sensor can be installed on the lintel outside the hall door, wherein the single-point TOF sensor can be a TOF sensor with a smaller detection area, the area array TOF sensor can be a TOF sensor with a larger detection area, and the area array TOF sensor can be a sensor with a larger FOV, or can be composed of multiple TOF sensors with a smaller FOV.

[0077] Specifically in this embodiment, Figure 5 As shown, the single-point TOF sensor is used to detect the door gap area 5 formed by the left door leaf 21 and the right door leaf 22 of the platform elevator during the door closing process to obtain a first distance. For example, the single-point TOF sensor is installed just above the door gap area 5, such as Figure 7 As shown, the area array TOF sensor is used to detect each sub-area in the hall door area 6 to obtain the second distance of each sub-area, such as Figure 8 Shown is a schematic diagram of each sub-area in the hall door area 6.

[0078] In an optional embodiment, the single-point TOF sensor may be a DTOF (Direct Time of Flight) sensor, which may use a dual-peak detection distance, such as Figure 6 The figure shows the schematic diagram of the double peak detection distance. Figure 5 In the embodiment, if there is no object in the door gap area 5, such as no passenger inserting a slender object such as a finger into the door gap area 5, the light wave emitted by the DTOF sensor is reflected by the ground to form an echo B. If there is a slender object in the door gap area 5, such as a passenger's finger inserted into the door gap area 5, the light wave emitted by the DTOF sensor is first reflected by the slender finger to form an echo A, and then reflected by the ground to form an echo B. The signal strength of echo B reflected by the ground is higher than that of echo A formed by the finger. The first detected distance or the distance calculated by the low echo intensity can be used as the first distance, thereby realizing the detection of the distance of the slender object (such as a finger) in the door gap area 5 by the DTOF sensor and the double-peak detection distance, and realizing the detection of small objects in the door gap area 5.

[0079] S402: Determine whether the first distance is less than a preset value.

[0080] In this embodiment, the preset value can be the distance from the ground to the single-point TOF sensor. For the door gap area, if the passenger's finger goes deep into the door gap area, the detected first distance is much smaller than the preset value, and the first distance detected by the single-point TOF sensor can be compared with the preset value. If the first distance is smaller than the preset value, it is determined that there may be objects such as the passenger's finger in the door gap area, and S403 can be executed. If the first distance is less than or equal to the preset value, it is determined that the first distance is the distance from the ground to the single-point TOF, and there is no object in the door gap area, and S412 can be executed.

[0081] S403: Determine whether a preset risk event occurs in the hall door area, where the preset risk event is a hand-pinching event.

[0082] When the first distance detected by the single-point TOF sensor to the door gap area is less than the preset value, it means that there are objects such as passenger fingers in the door gap area. It can be determined that a preset risk event has occurred in the hall door area. If the left and right door leaves are not controlled during the door closing process, a hand pinching incident will occur if the door continues to be closed.

[0083] S404: Determine the elevator door angle.

[0084] In this embodiment, the single-point TOF sensor and the area array TOF sensor perform detection simultaneously when the platform elevator is leveled. The area array TOF sensor needs to shield the hall door area blocked by the left and right door leaves of the platform elevator. Therefore, it is necessary to determine the positions of the left and right door leaves. Optionally, the angles of the left and right door leaves can be determined first, and the angles can be used as the positions of the left and right door leaves.

[0085] In one embodiment, the elevator door angle can be obtained from the door controller. The elevator door angle may refer to the angle of the left door leaf and the right door leaf relative to the closed door. For example, for an elevator door equipped with a rotary encoder, the elevator door angle can be detected by the rotary encoder. In another embodiment, if there is no rotary encoder, the door opening or closing time can be obtained from the door controller, and the elevator door angle can be determined based on the door opening or closing time and a preset speed curve, wherein the speed curve is a curve with time t as the horizontal axis and the elevator door angle as the vertical axis.

[0086] like Fig. 9 The figure shows the curve diagram of the door closing time t and the elevator door angle. Fig. 9 Each point in the curve shown represents the corresponding relationship between time t and the elevator door angle. For platform elevators, multiple curves can be set for opening and closing the door respectively. When determining the elevator door angle, the target speed curve used for opening or closing the door can be determined, and after obtaining the door opening or closing time, the elevator door angle corresponding to the door opening or closing time can be determined from the corresponding target speed curve.

[0087] For example, the angles corresponding to different closing or opening speed curves at different times may be recorded during the design phase. The following table is a mapping table of speed curves, time, and angles:

[0088] S1 S2 S3 θ1 t11 t21 t31 θ2 t12 t22 t32 θ3 t13 t23 t33

[0089] In the above table, the time t corresponding to the angles θ1, θ2, θ3 of the curves S1, S2, S3 is recorded respectively. Of course, the time corresponding to more angles can also be recorded.

[0090] S405: Determine, based on the elevator door angle, a first sub-area blocked by the left door leaf and the right door leaf of the platform elevator from among the sub-areas of the hall door area.

[0091] This embodiment can record the mapping relationship between the sub-areas blocked by the left door leaf and the right door leaf at different elevator door angles during the design stage, and through the mapping relationship, the first sub-area blocked by the left door leaf and the right door leaf at different elevator door angles can be found.

[0092] like Figure 8 The schematic diagram of the sub-area of ​​the hall door area 6 is shown. Figure 8 In the figure, when the left door leaf 21 and the right door leaf 22 are at angles θ1, θ2, and θ3, they block different sub-areas respectively. For example, mapping relationships [θ1, (1, 1)], [θ1, (2, 1)], [θ1, (3, 1)], [θ1, (1, 4)], [θ1, (2, 4)], and [θ1, (3, 4)] are established, indicating that when the angle of the elevator door is θ1, the sub-areas blocked by the left door leaf 21 include (1, 1), (2, 1), and (3, 1), and the sub-areas blocked by the right door leaf 22 include (1, 4), (2, 4), and (3, 4), and so on. The first sub-areas blocked by the left door leaf 21 and the right door leaf 22 are recorded at different angles during the design stage.

[0093] S406: Determine a second sub-region other than the first sub-region from among the sub-regions.

[0094] Specifically, after shielding the first sub-region blocked by the left door leaf and the right door leaf from the hall door region, the second sub-region is obtained, and the second sub-region is the region not blocked by the left door leaf and the right door leaf. It should be noted that, in this embodiment, blocking means that in the projection perpendicular to the ground, the projection of the left door leaf and the right door leaf on the ground overlaps with the sub-region, such as Figure 8 As shown in the schematic diagram, in the top view direction, at the angle θ1, the vertical projection of the left door leaf 21 overlaps on the sub-area (1, 1), the sub-area (2, 1), and the sub-area (3, 1), that is, the sub-area (1, 1), the sub-area (2, 1), and the sub-area (3, 1) are blocked by the left door leaf 21.

[0095] S407: Determine whether there is a second sub-region where the second distance is less than a preset value.

[0096] For the second sub-area that is not blocked by the elevator door, it can be determined whether the second distance of each second sub-area detected by the area array TOF sensor is less than a preset value, where the preset value can be the distance from the ground to the area array TOF sensor of each second sub-area. If so, it means that there is an object in the second sub-area, such as a person, animal or other object, and S408 can be executed. If not, S412 can be executed.

[0097] S408: Determine whether a preset risk event occurs in the hall door area, where the preset risk event is a door collision event.

[0098] If there is no object in each sub-area, the area array TOF sensor detects that the second distance of each sub-area is equal to the preset value. If there is a person, animal or other object, the second distance is less than the preset value. If the closing and opening of the door are not controlled, a door collision incident will occur during the closing or opening process.

[0099] S409: When the elevator door of the platform elevator is in the door-opening position, control the elevator door to maintain the door-opening position.

[0100] When it is determined that a preset risk event has occurred, the elevator door can be controlled in combination with the current state of the platform elevator's elevator door. For example, if the platform elevator's elevator door is in the fully open state, if a hand pinching event or a door collision event is detected, that is, an object is detected in the hall door area, the elevator door can be controlled to remain in the fully open state, and a prompt sound can be broadcast to remind people that the elevator door is about to close and they need to leave the hall door area to avoid door collisions and hand pinching when closing the door.

[0101] S410: When the door of the platform elevator is in the process of closing, control the door to switch to opening.

[0102] If the door of the platform elevator is in the process of closing but has not yet fully closed, if a hand pinching event or a door collision event is detected, that is, an object is detected in the hall door area, the door can be controlled to open in the opposite direction, that is, the door can be controlled to switch from the current closing process to the opening process to avoid door collision and hand pinching when continuing to close the door.

[0103] S411. When the elevator door of the platform elevator is in the door-closed state and receives a door-opening command, the elevator door is controlled to open at a preset door-opening speed.

[0104] If the door of the platform elevator is in the closed state and receives a door opening command, for example, the platform elevator is about to open its door when leveling, if an object is detected in the hall door area, the door can be opened at a slower speed to avoid the door opening speed being too fast, and people in the hall door area cannot avoid it in time and hit the door, damaging the elevator or objects in the hall door area.

[0105] S412: Determine whether a preset risk event has not occurred in the hall door area.

[0106] If the first distance detected by the single-point TOF sensor is equal to the preset value, and the second distance of the second sub-area among the second distances of each sub-area detected by the area array TOF sensor is equal to the preset value, it can be determined that no preset risk event occurs in the hall door area.

[0107] S413, control the platform elevator to open or close the door.

[0108] When no preset risk events occur in the hall door area, the platform elevator can be controlled to open or close the door according to normal procedures. For example, if the platform elevator is in a state of about to open the door or in the process of opening the door, the elevator door can be controlled to open normally; if the platform elevator is in a state of about to close the door or in the process of closing the door, the elevator door can be controlled to close normally.

[0109] In the process of opening or closing the door of the platform elevator, the present embodiment detects a first distance of the door gap area through a single-point TOF sensor, and detects a second distance of each sub-area of ​​the hall door area through an array TOF sensor. When the first distance is less than a preset value, it is determined that a hand-pinching event occurs, and based on the determined elevator door angle, a first sub-area blocked by the elevator door is determined, and after shielding the first sub-area, a plurality of second sub-areas not blocked by the elevator door are obtained. When the second distance of the second sub-area is less than a preset value, it is determined that a door-collision event occurs. When a hand-pinching event and / or a door-collision event occurs, If the elevator door is in the door-opening state, it is controlled to remain in the door-opening state. If the elevator door is in the door-closing process, it is controlled to switch to the door-opening state. If the elevator door is in the door-closing state and receives the door-opening command, it is controlled to open the door at the preset door-opening speed. The TOF sensor is used to detect the distance between the hall door area and the door gap area, and whether hand pinching and door collision incidents will occur are determined by the distance, so that corresponding measures can be taken to control the elevator door, avoid hand pinching and door collision incidents during the opening or closing process of the elevator door, and improve the safety performance of the platform elevator's swing-type door opening and closing.

[0110] Embodiment 3

[0111] Fig.10 This is a schematic diagram of the structure of a platform elevator door opening and closing protection device provided in Embodiment 3 of the present invention. Fig.10 As shown, the platform elevator door opening and closing protection device includes:

[0112] A TOF sensor detection signal receiving module 1001, used to receive the detection signal of the TOF sensor during the process of opening or closing the door of the platform elevator;

[0113] A risk event judgment module 1002 is used to determine whether a preset risk event occurs in the hall door area based on the detection signal, and the risk event includes at least one of a hand-caught event and a door-slamming event; if so, execute the first control module 1003, and if not, execute the second control module 1004;

[0114] The first control module 1003 is used to control the platform elevator to open or close the door according to the risk event;

[0115] The second control module 1004 is used to control the platform elevator to open or close the door.

[0116] Optionally, the TOF sensor includes a single-point TOF sensor disposed on a door lintel in the lobby for vertically downward detection of a preset door gap area formed by a left door leaf and a right door leaf of the platform elevator, and the TOF sensor detection signal receiving module 1001 includes:

[0117] The first distance receiving unit is used to receive the first distance detected by the single-point TOF sensor during the process of opening or closing the door of the platform elevator.

[0118] Optionally, the risk event determination module 1002 includes:

[0119] A first distance judging unit, configured to judge whether the first distance is less than a preset value, and if so, execute a first determining unit;

[0120] A first determining unit is used to determine that a preset risk event occurs in the hall door area, wherein the preset risk event is a hand-pinching event;

[0121] The second determining unit is used to determine that no preset risk event occurs in the hall door area.

[0122] Optionally, the TOF sensor includes an array TOF sensor disposed on a door lintel in the hallway for vertically downward detection of the hall door area, and the TOF sensor detection signal receiving module 1001 includes:

[0123] The second distance calculation unit is used to receive the second distances of each sub-area of ​​the hall door area detected by the area array TOF sensor during the process of opening or closing the door of the platform elevator.

[0124] Optionally, the risk event determination module 1002 includes:

[0125] An elevator door angle determination unit, used to determine the elevator door angle;

[0126] A blocked sub-area determining unit, configured to determine, based on the elevator door angle, a first sub-area blocked by the left door leaf and the right door leaf of the platform elevator from among the sub-areas of the hall door area;

[0127] A second sub-region determining unit, configured to determine a second sub-region other than the first sub-region from among the sub-regions;

[0128] A second distance judging unit, used for judging whether there is a second sub-area where the second distance is less than a preset value, and if so, executing the third determining unit, and if not, executing the second determining unit;

[0129] The third determining unit is used to determine whether a preset risk event occurs in the hall door area, and the preset risk event is a door collision event.

[0130] Optionally, the elevator door angle determination unit is specifically used for:

[0131] Get the elevator door angle from the door controller;

[0132] or;

[0133] Obtaining door opening or closing time from the door controller;

[0134] The elevator door angle is determined based on the door opening or closing time and a preset speed curve.

[0135] Optionally, the first control module 1003 includes:

[0136] A first control unit is used to control the elevator door to maintain the door-opening state when the elevator door of the platform elevator is in the door-opening state;

[0137] A second control unit is used to control the elevator door to switch to an open state when the elevator door of the platform elevator is in the process of closing the door;

[0138] The third control unit is used to control the elevator door to open at a preset door opening speed when the elevator door of the platform elevator is in a door-closed state and receives a door opening command.

[0139] The platform elevator door opening and closing protection device provided in the embodiment of the present invention can execute the platform elevator door opening and closing protection method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0140] Embodiment 4

[0141] Fig.11A schematic diagram of the structure of an electronic device 40 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0142] like Fig.11 As shown, the electronic device 40 includes at least one processor 41, and a memory connected to the at least one processor 41, such as a read-only memory (ROM) 42, a random access memory (RAM) 43, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 41 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 42 or the computer program loaded from the storage unit 48 to the random access memory (RAM) 43. In the RAM 43, various programs and data required for the operation of the electronic device 40 can also be stored. The processor 41, the ROM 42, and the RAM 43 are connected to each other through a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0143] A number of components in the electronic device 40 are connected to the I / O interface 45, including: an input unit 46, such as a keyboard, a mouse, etc.; an output unit 47, such as various types of displays, speakers, etc.; a storage unit 48, such as a disk, an optical disk, etc.; and a communication unit 49, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 49 allows the electronic device 40 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0144] The processor 41 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 41 executes the various methods and processes described above, such as the platform elevator door opening and closing protection method.

[0145] In some embodiments, the platform elevator door opening and closing protection method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 48. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 40 via the ROM 42 and / or the communication unit 49. When the computer program is loaded into the RAM 43 and executed by the processor 41, one or more steps of the platform elevator door opening and closing protection method described above can be performed. Alternatively, in other embodiments, the processor 41 can be configured to execute the platform elevator door opening and closing protection method in any other appropriate manner (for example, by means of firmware).

[0146] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0147] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0148] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0149] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0150] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0151] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0152] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0153] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A platform elevator door opening and closing protection method, characterized in that: A TOF sensor for vertical downward detection is arranged above the hall door area of ​​the platform elevator, including: During the process of the platform elevator door opening or closing, receiving a detection signal of the TOF sensor; Determine whether a preset risk event occurs in the hall door area based on the detection signal, wherein the risk event includes at least one of a hand-pinching event and a door-collision event; If yes, control the platform elevator to open or close the door according to the risk event; If not, control the platform elevator to open or close the door.

2. The method according to claim 1, characterized in that The TOF sensor includes a single-point TOF sensor arranged on a door lintel in a lobby for vertically downward detection of a preset door gap area formed by a left door leaf and a right door leaf of a platform elevator. During the process of opening or closing a door of the platform elevator, a detection signal of the TOF sensor is received, including: During the process of the platform elevator opening or closing the door, a first distance detected by the single-point TOF sensor is received.

3. The method according to claim 2, characterized in that Determining whether a preset risk event occurs in the hall door area based on the detection signal includes: Determining whether the first distance is less than a preset value; If yes, it is determined that a preset risk event occurs in the hall door area, and the preset risk event is a hand-pinching event; If not, it is determined that no preset risk event occurs in the hall door area.

4. The method according to any one of claims 1 to 3, characterized in that: The TOF sensor includes an array TOF sensor disposed on a door lintel in the lobby and detecting the hall door area vertically downward. During the process of opening or closing the door of the platform elevator, a detection signal of the TOF sensor is received, including: During the process of opening or closing the door of the platform elevator, second distances of each sub-area of ​​the hall door area detected by the area array TOF sensor are received.

5. The method according to claim 4, characterized in that Determining whether a preset risk event occurs in the hall door area based on the detection signal includes: Determine the angle of the elevator door; Determine, from each sub-area of ​​the hall door area, a first sub-area blocked by the left door leaf and the right door leaf of the platform elevator based on the elevator door angle; Determine a second sub-region other than the first sub-region from among the sub-regions; Determine whether there is a second sub-area where the second distance is smaller than a preset value; If yes, it is determined that a preset risk event occurs in the hall door area, and the preset risk event is a door collision event; If not, it is determined that no preset risk event occurs in the hall door area.

6. The method according to claim 5, characterized in that Determine the door angle, including: Get the elevator door angle from the door controller; or, Obtaining door opening or closing time from the door controller; The elevator door angle is determined based on the door opening or closing time and a preset speed curve.

7. The method according to claim 1, characterized in that Controlling the platform elevator to open or close a door according to the risk event includes: When the elevator door of the platform elevator is in the door-opening position, controlling the elevator door to maintain the door-opening position; When the elevator door of the platform elevator is in the process of closing, controlling the elevator door to switch to opening; When the elevator door of the platform elevator is in a door-closed state and receives a door-opening instruction, the elevator door is controlled to open at a preset door-opening speed.

8. A platform elevator door opening and closing protection device, characterized in that: A TOF sensor for vertical downward detection is arranged above the hall door area of ​​the platform elevator, including: A TOF sensor detection signal receiving module, used for receiving the detection signal of the TOF sensor during the process of opening or closing the door of the platform elevator; A risk event judgment module, used to determine whether a preset risk event occurs in the hall door area based on the detection signal, wherein the risk event includes at least one of a hand-caught event and a door-slamming event; if so, execute the first control module, and if not, execute the second control module; A first control module, used for controlling the platform elevator to open or close a door according to the risk event; The second control module is used to control the platform elevator to open or close the door.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the platform elevator door opening and closing protection method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the platform elevator door opening and closing protection method according to any one of claims 1 to 7 when executed.

Images