Platform elevator door opening and closing protection methods, devices, equipment and storage media

Abstract

This invention discloses a method, device, equipment, and storage medium for protecting the opening and closing of a platform elevator. The method includes: a TOF (Time-of-Flight) sensor installed above the hall door area of ​​the platform elevator; receiving detection signals from the TOF sensor during the opening or closing process of the platform elevator; determining whether a preset risk event has occurred in the hall door area based on the detection signals, where the risk event includes at least one of a hand-pinching event and a door-collision event; if so, controlling the opening or closing of the platform elevator according to the risk event; if not, controlling the opening or closing of the platform elevator achieves the goal of detecting whether a hand-pinching or door-collision event will occur in the hall door area of ​​a platform elevator with swing doors during the opening or closing process using a TOF sensor, and controlling the opening or closing of the platform elevator according to the risk event when it occurs, thereby preventing passengers from getting their hands pinched or colliding with the door during the opening or closing of the platform elevator and improving the safety performance of the platform elevator when opening or closing.

Description

Technical Field

[0001] This invention relates to the field of elevator technology, and in particular to a method, device, equipment, and storage medium for protecting the opening and closing of a platform elevator. Background Technology

[0002] As home elevators become increasingly popular, platform home elevators are widely used in homes. They use a swing-type door opening and closing mechanism to reduce the area of ​​the elevator shaft.

[0003] like Figure 1 The diagram shown is of a home elevator with swing doors. Figure 1 The opening method of the Chinese-style home elevator is to open the two doors 2 (hall doors) on the left and right sides outward towards 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 existing technology, ordinary sliding door elevators use light curtain detection protection devices to prevent the risk of hand pinching and door collision at the end of the elevator door closing. However, light curtain detection is not applicable to swing doors. Therefore, how to avoid the risk of hand pinching and door collision during the opening and closing process of swing door home elevators has become an urgent technical problem to be solved. Summary of the Invention

[0005] This invention provides a method, device, equipment, and storage medium for protecting platform elevators during door opening and closing, in order to solve the problem of hand pinching and door collision risks in home elevators with swing doors during the opening and closing process.

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

[0007] During the opening or closing of the elevator door on the platform, the detection signal from the TOF sensor is received;

[0008] Based on the detection signal, it is determined whether a preset risk event has occurred in the hall door area, and the risk event includes at least one of a hand trapping event and a door slamming event;

[0009] If so, control the platform elevator doors to open or close based on 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 installed on the lintel in the lobby, which vertically detects the pre-defined door gap area formed by the left and right doors of the platform elevator. During the opening or closing of the platform elevator doors, the sensor receives the detection signal, including:

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

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

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

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

[0016] If not, it is determined that no pre-set risk event has occurred in the hall entrance area.

[0017] Optionally, the TOF sensor includes an array TOF sensor mounted on the lintel in the lobby that detects vertically downwards in the lobby door area. During the opening or closing of the platform elevator door, the detection signal from the TOF sensor is received, including:

[0018] During the opening or closing of the elevator doors on the platform, the second distance of each sub-region of the hall door area is received by the area array TOF sensor.

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

[0020] Determine the angle of the stairwell door;

[0021] Based on the angle of the elevator doors, the first sub-region that is blocked by the left and right doors of the platform elevator is determined from each sub-region of the hall door area;

[0022] From the aforementioned sub-regions, a second sub-region other than the first sub-region is determined;

[0023] Determine whether there exists a second sub-region whose second distance is less than a preset value;

[0024] If so, it is determined that a preset risk event has occurred in the hall entrance area, and the preset risk event is a door-banging event;

[0025] If not, it is determined that no pre-set risk event has occurred in the hall entrance area.

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

[0027] Obtain the door angle from the door controller;

[0028] or,

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

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

[0031] Optionally, controlling the opening or closing of the platform elevator doors based on the risk event includes:

[0032] When the elevator door of the platform is in the open position, control the elevator door to remain in the open position.

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

[0034] When the elevator door on the platform is in the closed position and an opening command is received, the elevator door is controlled to open at a preset opening speed.

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

[0036] The TOF sensor detection signal receiving module is used to receive the detection signal of the TOF sensor during the opening or closing process of the elevator door on the platform.

[0037] The risk event judgment module is used to determine whether a preset risk event has occurred in the hall door area based on the detection signal. The risk event includes at least one of a hand pinching event and a door slamming event. If yes, the first control module is executed; if no, the second control module is executed.

[0038] The first control module is used to control the opening or closing of the platform elevator door based on the risk event.

[0039] The second control module is used to control the opening or closing of the platform elevator doors.

[0040] Thirdly, 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 that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the platform elevator door opening and closing protection method according to any one of the first aspects of the present invention.

[0044] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the platform elevator door opening and closing protection method according to any one of the first aspects of the present invention.

[0045] This invention utilizes a TOF (Time-of-Flight) sensor installed vertically downwards above the hall door area of ​​a platform elevator. During the opening or closing of the platform elevator doors, the system receives detection signals from the TOF sensor and determines whether a risk event such as hand pinching or door collision has occurred in the hall door area. If so, the system controls the platform elevator to open or close the doors accordingly; otherwise, it does not. This achieves the goal of detecting potential risks such as hand pinching or door collisions in the hall door area of ​​a platform elevator with swing doors using a TOF sensor, and controlling the opening or closing of the platform elevator doors based on the risk event, thus preventing passengers from getting their hands pinched or being hit by the doors during opening or closing, and improving the safety performance of the platform elevator doors.

[0046] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 A diagram showing the elevator doors opening on the platform;

[0049] Figure 2 This is a flowchart of a platform elevator door opening and closing protection method provided in 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 flowchart of a platform elevator door opening and closing protection method provided in Embodiment 2 of the present invention;

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

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

[0054] Figure 7 This is a schematic diagram of detection by an area array TOF sensor;

[0055] Figure 8 This is a diagram illustrating the sub-regions and excluding occluded sub-regions;

[0056] Figure 9 It is a schematic diagram of the curve of the closing angle versus time;

[0057] Figure 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;

[0058] Figure 11 This is a schematic diagram of the structure of the electronic device provided in Embodiment 4 of the present invention. Detailed Implementation

[0059] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0060] Example 1

[0061] Figure 2 This is a flowchart illustrating a platform elevator door opening and closing protection method according to Embodiment 1 of the present invention. This embodiment is applicable to controlling the opening and closing of swing-type platform elevators. The method can be executed by a platform elevator door opening and closing protection device, which can be implemented in hardware and / or software and configured in electronic equipment, such as the main control computer of the platform elevator. Figure 2 As shown, the elevator opening and closing protection methods of this platform include:

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

[0063] In this embodiment, a platform elevator can refer to an elevator with swing-out doors, such as... Figure 1As shown, a platform elevator includes two elevator doors 2, one on the left and one on the right. These doors open outwards towards the car 1 to allow passengers to enter and exit. A swing-door elevator, where the doors open in opposite directions, is a type of elevator with sliding doors (common in vertical elevators). When the elevator doors open, they move in opposite directions along the tracks; when they close, they move towards each other. Anti-pinch or anti-collision detection is achieved by placing a light curtain on the sides where the two doors are close together. When the light curtain is blocked, an object is detected between the two doors, thus preventing hand pinching or collisions. However, for swing-door platform elevators, since the two doors open outwards towards the car, the light curtain on the sides where the doors are close together cannot detect hand pinching or collisions. Figure 3 The image shows a side view of the 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; the platform elevator has no car door). The installed TOF sensor 4 vertically detects the hall door area (the active area of ​​the two elevator doors) of the two elevator doors 2 and obtains a detection signal. This detection signal 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 time of flight of a 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, and their detection range is conical, that is, emitting light outward from the TOF sensor body and receiving reflected light. The measurement distance of TOF sensors can reach several meters.

[0065] S202. Determine whether a preset risk event has occurred in the hall door area based on the detection signal. The risk event includes at least one of the following: a hand pinching event and a door slamming event.

[0066] In this embodiment, a risk event can be an event that has not yet occurred but is about to occur if it is not controlled. The risk event can be at least one of a hand-pinching event and a door-collision event. A hand-pinching event can be an object (such as a passenger's finger) being located in the gap formed by the two doors when they are closing. A door-collision event can be an object (such as a passenger or other object) being located in the area where the two doors are opening or closing, i.e., the hall door area. The hall door area can refer to the activity area of ​​the left and right doors of the platform elevator when the doors are swing-open.

[0067] The detection signal can be the distance signal 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. This distance is used as a preset value. 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 there is an object (such as a passenger's hand) in the gap formed when the two doors are closed, or there is an object in the hall door area where the two doors are open or closed. In this case, a risk event is detected and S203 can be executed. If no risk event is detected, S204 can be executed to continue closing or opening the door normally.

[0068] S203. The elevator door is opened or closed according to the risk event control platform.

[0069] In one embodiment, the elevator door can be controlled to open or close based on the elevator door status and the type of risk event. For example, when the elevator door is in the open position, 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 open position. When the elevator door is in the closing process and not in the closed position, if a hand pinching event is detected, the elevator door can be controlled to switch to the open position (i.e., reverse opening). If the elevator door is about to open when it is level (receiving an opening command), if a door collision event is detected, the elevator door can be controlled to open at a slower speed to avoid the door opening speed being too fast and colliding with waiting personnel or objects.

[0070] S204. Control the elevator doors on the control platform to open or close.

[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] This invention utilizes a TOF (Time-of-Flight) sensor installed vertically downwards above the hall door area of ​​a platform elevator. During the opening or closing of the platform elevator doors, the system receives detection signals from the TOF sensor and determines whether a risk event such as hand pinching or door collision has occurred in the hall door area. If so, the system controls the platform elevator to open or close the doors accordingly; otherwise, it does not. This achieves the goal of detecting potential risks such as hand pinching or door collisions in the hall door area of ​​a platform elevator with swing doors using a TOF sensor, and controlling the opening or closing of the platform elevator doors based on the risk event, thus preventing passengers from getting their hands pinched or being hit by the doors during opening or closing, and improving the safety performance of the platform elevator doors.

[0073] Example 2

[0074] Figure 4 This is a flowchart 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 an optimization based on Embodiment 1 described above, such as... Figure 4As shown, the elevator opening and closing protection methods of this platform include:

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

[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. The single-point TOF sensor can be a TOF sensor with a small detection area, and the area array TOF sensor can be a TOF sensor with a large detection area. The area array TOF sensor can be a sensor with a large field of view (FOV) or it can be composed of several TOF sensors with smaller FOVs.

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

[0078] In an optional embodiment, the single-point TOF sensor can be a DTOF (Direct Time of Flight) sensor, which can employ a dual-peak detection range, such as... Figure 6 The diagram shown illustrates the detection range of the dual-peak system. Figure 5 If there is no object in the door gap area 5, such as no passenger inserting a long, thin object like a finger into the door gap area 5, the light waves emitted by the DTOF sensor will form echo B after being reflected by the ground. If there is a long, thin object in the door gap area 5, such as a passenger inserting a finger into the door gap area 5, the light waves emitted by the DTOF sensor will first be reflected by the long, thin finger to form echo A, and then reflected by the ground to form echo B. The signal strength of echo B reflected by the ground is higher than that of echo A formed by the finger. The distance detected first or the distance calculated based on the lower echo strength can be used as the first distance. Thus, the distance of long, thin objects (such as fingers) in the door gap area 5 can be detected by the DTOF sensor and the dual-peak detection distance, enabling the detection of small objects in the door gap area 5.

[0079] S402. Determine whether the first distance is less than the 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 a passenger's finger is inserted into the door gap area, the detected first distance is much smaller than the preset value. 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 a passenger's finger in the door gap area, and S403 can be executed. If the first distance is smaller 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 sensor, and there are no objects in the door gap area, and S412 can be executed.

[0081] S403. Determine that a pre-set risk event has occurred in the hall door area. The pre-set risk event is a hand-pinching event.

[0082] When the first distance detected by the single-point TOF sensor in the door gap area is less than the preset value, it indicates that there are objects such as passengers' 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 panels are not controlled during the closing process, a hand pinching event will occur if the door continues to close.

[0083] S404. Determine the angle of the ladder door.

[0084] In this embodiment, the single-point TOF sensor and the area array TOF sensor are detected simultaneously when the platform elevator is level. For the area array TOF sensor, it is necessary to shield the hall door area blocked by the left and right doors of the platform elevator. Therefore, it is necessary to determine the positions of the left and right doors. Optionally, the angles of the left and right doors can be determined first, and these angles can be used as the positions of the left and right doors.

[0085] In one embodiment, the door angle can be obtained from the door controller. The door angle can refer to the angle between the left and right door panels relative to when the door is closed. For example, for a door equipped with a rotary encoder, the 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 door angle can be determined based on the door opening or closing time and a preset speed curve. The speed curve is a curve with time t as the horizontal axis and door angle as the vertical axis.

[0086] like Figure 9 The figure shows a curve illustrating the relationship between the closing time t and the door angle. Figure 9 The points in the curves shown represent the relationship between time t and door angle. For platform elevators, multiple curves can be set for opening and closing. When determining the door angle, the target speed curve used for opening or closing can be determined, and after obtaining the opening or closing time, the door angle corresponding to the opening or closing time can be determined from the corresponding target speed curve.

[0087] For example, during the design phase, the angles corresponding to different door opening or closing speed curves at different times can be recorded, as shown in the table below, which is a mapping table of speed curves, times, and angles:

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

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

[0090] S405. Based on the angle of the elevator doors, determine the first sub-region that is blocked by the left and right doors of the platform elevator from each sub-region of the hall door area.

[0091] This embodiment can record the mapping relationship of the sub-areas blocked by the left and right doors at different door angles during the design phase. Through this mapping relationship, the first sub-area blocked by the left and right doors at different door angles can be found.

[0092] like Figure 8 The diagram shown is a sub-area diagram of hall entrance area 6. Figure 8 In the design, when the left door 21 and the right door 22 are at angles θ1, θ2, and θ3, they respectively block different sub-regions. For example, the mapping relationship [θ1, (1,1)], [θ1, (2,1)], [θ1, (3,1)], [θ1, (1,4)], [θ1, (2,4)], [θ1, (3,4)] is established, indicating that when the door angle is θ1, the sub-regions blocked by the left door 21 include (1,1), (2,1), and (3,1), and the sub-regions blocked by the right door 22 include (1,4), (2,4), and (3,4). And so on, the first sub-region blocked by the left door 21 and the right door 22 at different angles is recorded during the design phase.

[0093] S406. Determine the second sub-region other than the first sub-region from each sub-region.

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

[0095] S407. Determine whether there exists a second sub-region with a distance less than a preset value.

[0096] For the second sub-region that is not blocked by the ladder door, it can be determined whether the second distance of each second sub-region detected by the area array TOF sensor is less than a preset value. The preset value can be the distance from the ground of each second sub-region to the area array TOF sensor. If yes, it means that there is an object in the second sub-region, such as a person, animal or other object, and S408 can be executed. If no, S412 can be executed.

[0097] S408. Determine that a pre-set risk event has occurred in the hall entrance area. The pre-set risk event is a door-collision event.

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

[0099] S409. When the elevator door of the platform is in the open position, control the elevator door to remain in the open position.

[0100] When a pre-set risk event is detected, the elevator door can be controlled in conjunction with the current state of the elevator door. For example, if the elevator door is in the open position, and a hand pinching event or door collision event is detected, i.e., an object is detected in the hall door area, the elevator door can be controlled to remain in the open position, and a prompt sound can be played to remind people that the elevator door is about to close and that people need to leave the hall door area to avoid colliding with the door and getting their hands pinched when the door closes.

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

[0102] If the elevator door is in the closing process but not fully closed, and a hand-pinching or door-collision event is detected (i.e., an object is detected in the hall door area), the elevator door can be controlled to open in reverse. This means the elevator door can be switched from the current closing process to the opening process to avoid door-collision and hand-pinching when it continues to close.

[0103] S411. When the elevator door of the platform is in the closed position and an opening command is received, control the elevator door to open at a preset opening speed.

[0104] If the elevator door is in the closed position and receives an opening command, such as when the elevator is about to open at a landing, if an object is detected in the hall door area, the elevator door can be opened at a slower speed to avoid people in the hall door area being unable to avoid the door hitting the elevator or damaging the objects in the hall door area due to the excessively fast opening speed.

[0105] S412. Confirm that no pre-set risk events have occurred in the hall entrance area.

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

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

[0108] When no pre-set risk event occurs in the hall door area, the platform elevator can be controlled to open or close according to normal procedures. For example, if the platform elevator is about to open or is in the process of opening, the elevator door can be controlled to open normally; if the platform elevator is about to close or is in the process of closing, the elevator door can be controlled to close normally.

[0109] In this embodiment, during the opening or closing of the platform elevator door, a single-point TOF sensor detects a first distance in the door gap area, and an array TOF sensor detects a second distance in each sub-area of ​​the hall door area. When the first distance is less than a preset value, a hand-pinching event is determined. Based on the determined door angle, a first sub-area obstructed by the door is identified. After shielding the first sub-area, multiple unobstructed second sub-areas are obtained. When the second distance of the second sub-area is less than a preset value, a door-collision event is determined. In the event of a hand-pinching event and / or a door-collision event... If the elevator door is in the open position, the elevator door will remain in the open position. If the elevator door is in the closing process, the elevator door will switch to the open position. If the elevator door is in the closed position and receives an opening command, the elevator door will open at a preset opening speed. This system uses a TOF sensor to detect the distance in the hall door area and door gap area, and determines whether hand pinching or door collision events will occur based on the distance. Corresponding measures can then be taken to control the elevator door and prevent hand pinching or door collision events from occurring during the opening or closing process. This improves the safety performance of the swing door opening and closing of the platform elevator.

[0110] Example 3

[0111] Figure 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. Figure 10 As shown, the elevator opening and closing protection devices on this platform include:

[0112] The TOF sensor detection signal receiving module 1001 is used to receive the detection signal of the TOF sensor during the opening or closing process of the platform elevator.

[0113] The risk event judgment module 1002 is used to determine whether a preset risk event has occurred in the hall door area based on the detection signal. The risk event includes at least one of a hand pinching event and a door slamming event. If yes, the first control module 1003 is executed; if no, the second control module 1004 is executed.

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

[0115] The second control module 1004 is used to control the opening or closing of the platform elevator door.

[0116] Optionally, the TOF sensor includes a single-point TOF sensor installed on the lintel in the lobby, which detects vertically downwards the pre-defined door gap area formed by the left and right doors of the platform elevator. 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 opening or closing process of the platform elevator door.

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

[0119] The first distance determination unit is used to determine whether the first distance is less than a preset value; if so, the first determination unit is executed.

[0120] The first determining unit is used to determine that a preset risk event has occurred in the hall door area, and the preset risk event is a hand-pinching event;

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

[0122] Optionally, the TOF sensor includes an array TOF sensor mounted on the lintel in the foyer that detects vertically downwards in the foyer door area. The TOF sensor detection signal receiving module 1001 includes:

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

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

[0125] The ladder door angle determination unit is used to determine the ladder door angle;

[0126] The obstruction sub-region determination unit is used to determine, based on the elevator door angle, the first sub-region obstructed by the left and right doors of the platform elevator from each sub-region of the hall door area;

[0127] The second sub-region determination unit is used to determine a second sub-region other than the first sub-region from the various sub-regions;

[0128] The second distance determination unit is used to determine whether there is a second sub-region whose second distance is less than a preset value. If yes, the third determination unit is executed; if no, the second determination unit is executed.

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

[0130] Optionally, the ladder door angle determining unit is specifically used for:

[0131] Obtain the door angle from the door controller;

[0132] or;

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

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

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

[0136] The first control unit is used to control the elevator door to remain in the open position when the elevator door of the platform is in the open position.

[0137] The second control unit is used to control the elevator door to switch to opening when the elevator door of the platform is in the closing process;

[0138] The third control unit is used to control the elevator door to open at a preset opening speed when the elevator door is in the closed position and an opening command is received.

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

[0140] Example 4

[0141] Figure 11A schematic diagram of an electronic device 40 that can be used to implement embodiments 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 processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0142] like Figure 11 As shown, the electronic device 40 includes at least one processor 41 and a memory, such as a read-only memory (ROM) 42 or a random access memory (RAM) 43, communicatively connected to the at least one processor 41. The memory stores computer programs executable by the at least one processor. The processor 41 can perform various appropriate actions and processes based on the computer program stored in the ROM 42 or loaded into the RAM 43 from storage unit 48. The RAM 43 may also store various programs and data required for the operation of the electronic device 40. The processor 41, ROM 42, and RAM 43 are interconnected via a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

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

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

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

[0146] Various embodiments 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-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0147] Computer programs used to implement 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, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

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

[0149] To provide interaction with a user, the systems and techniques described herein can 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 pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0150] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0151] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0152] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0153] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A landing door opening and closing protection method for a platform elevator, characterized by, A TOF sensor vertically downward detects above a landing door area of the platform elevator, comprising: During the process of opening or closing the landing door of the platform elevator, a detection signal of the TOF sensor is received; Based on the detection signal, it is determined whether a preset risk event occurs in the landing door area, the risk event including at least one of a hand-clamping event and a door collision event; If yes, the opening or closing of the landing door of the platform elevator is controlled according to the risk event; If no, the opening or closing of the landing door of the platform elevator is controlled; The TOF sensor vertically downward detects each sub-area of the landing door area on a lintel in a lobby, during the process of opening or closing the landing door of the platform elevator, a detection signal of the TOF sensor is received, comprising: During the process of opening or closing the landing door of the platform elevator, a second distance of each sub-area of the landing door area detected by the area array TOF sensor is received; Based on the detection signal, it is determined whether a preset risk event occurs in the landing door area, comprising: A door angle is determined; Based on the door angle, a first sub-area blocked by the left door leaf and the right door leaf of the platform elevator is determined from each sub-area of the landing door area; A second sub-area other than the first sub-area is determined from each sub-area; It is determined whether the second sub-area exists, in which the second distance is less than a preset value; If yes, it is determined that the preset risk event occurs in the landing door area, and the preset risk event is a door collision event; If no, it is determined that the preset risk event does not occur in the landing door area.

2. The method of claim 1, wherein, The TOF sensor further comprises a single-point TOF sensor vertically downward detecting a preset gap area formed by the left door leaf and the right door leaf of the platform elevator on a lintel in a lobby, during the process of opening or closing the landing door of the platform elevator, a detection signal of the TOF sensor is received, comprising: During the process of opening or closing the landing door of the platform elevator, a first distance detected by the single-point TOF sensor is received.

3. The method of claim 2, wherein, Based on the detection signal, it is determined whether a preset risk event occurs in the landing door area, comprising: It is determined whether the first distance is less than a preset value; If yes, it is determined that the preset risk event occurs in the landing door area, and the preset risk event is a hand-clamping event; If no, it is determined that the preset risk event does not occur in the landing door area.

4. The method of claim 1, wherein, The door angle is determined, comprising: The door angle is obtained from a door controller; Or, The opening or closing time is obtained from the door controller; Based on the opening or closing time and a preset speed curve, the door angle is determined.

5. The method of claim 1, wherein, The opening or closing of the landing door of the platform elevator is controlled according to the risk event, comprising: When the landing door of the platform elevator is in an open-to-position state, the landing door is controlled to remain in the open-to-position state; When the landing door of the platform elevator is in a closing process, the landing door is controlled to switch to an open state; When the landing door of the platform elevator is in a closed-to-position state and an open instruction is received, the landing door is controlled to open at a preset opening speed.

6. A landing door opening and closing protection device for a platform elevator, characterized by A TOF sensor vertically downward detects above a landing door area of the platform elevator, comprising: The TOF sensor detection signal receiving module is configured to receive a detection signal of the TOF sensor during opening or closing of the platform elevator. The risk event judging module is configured to determine whether a preset risk event occurs in the hall door area based on the detection signal, the risk event including at least one of a hand clamping event and a door collision event; if yes, the first control module is executed, and if no, the second control module is executed. The first control module is configured to control opening or closing of the platform elevator according to the risk event. The second control module is configured to control opening or closing of the platform elevator. The TOF sensor includes a face array TOF sensor arranged on a lintel in a hall and vertically downward detecting the hall door area. The second distance calculating unit is configured to receive a second distance of each sub-area of the hall door area detected by the face array TOF sensor during opening or closing of the platform elevator. The risk event judging module includes: The door angle determining unit is configured to determine a door angle. The blocked sub-area determining unit is configured to determine a first sub-area blocked by left and right door leaves of the platform elevator from each sub-area of the hall door area based on the door angle. The second sub-area determining unit is configured to determine a second sub-area other than the first sub-area from the each sub-area. The second distance judging unit is configured to determine whether the second sub-area with the second distance less than a preset value exists; if yes, the third determining unit is executed, and if no, the second determining unit is executed. The second determining unit is configured to determine that the preset risk event does not occur in the hall door area. The third determining unit is configured to determine that the preset risk event occurs in the hall door area, and the preset risk event is a door collision event.

7. An electronic device, comprising: The electronic device includes: at least one processor; and a memory connected with the at least one processor in communication; 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 to enable the at least one processor to execute the platform elevator opening and closing protection method in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to execute the platform elevator opening and closing protection method in any one of claims 1-5 when executed.

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