Elevator landing door centering self-detection system

Abstract

The invention relates to the technical field of elevator landing door detection, in particular to an elevator landing door centering self-detection system which comprises a door machine controller, a door opener and an elevator controller. The current detection module is used for collecting current data of the door opener in the door opening process, and the detected current data in the door opening process are sent to the elevator controller through the communication module and stored in the storage module. The elevator controller is used for controlling an elevator to enter a detection mode and sending a detection mode command to the door machine controller; the displacement of the clamping device and a roller mechanism on the landing door in the door opening process is calculated according to the current data in the door opening process, whether centering of the landing door is abnormal or not is judged according to the relative displacement of the clamping device and the roller device, and landing door centering detection results of all floors are obtained. The landing door centering detection work can be automatically completed, the detection efficiency is improved, the landing door centering condition can be accurately detected and fed back in time, and safe operation of an elevator can be effectively guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of elevator landing door detection, and particularly relates to an elevator landing door centering self-detection system. Background Art

[0002] With the acceleration of the urbanization process, the number of high-rise buildings is increasing continuously. As an indispensable part of modern buildings, the safety and reliability of elevators are receiving more and more attention. The elevator landing door is a key passage for passengers to enter and exit the elevator car, and its installation quality is directly related to the safety and comfort of elevator operation. However, in the actual installation process, due to factors such as the process level and construction environment, the center position of each landing door may deviate, which not only affects the overall aesthetics of the elevator, but also generates abnormal noises during the door opening and closing process. At the same time, during the operation process, it may cause the door knife to collide with the door ball, resulting in an emergency stop of the elevator and affecting the safety of passengers taking the elevator.

[0003] At present, the installation of elevator landing doors mainly relies on manual measurement and adjustment. Manual layer-by-layer detection is time-consuming and laborious. This method is inefficient and vulnerable to human factors, making it difficult to ensure the installation quality of each landing door, and the monitoring department cannot effectively monitor the installation effect of the centering of each elevator landing door. Therefore, an automated elevator landing door centering self-detection system is needed to be able to detect the centering situation of the landing door in real time and effectively ensure the safe operation of the elevator. Summary of the Invention

[0004] To solve the technical problems existing in the prior art, the present invention provides an elevator landing door centering self-detection system, which can automatically complete the detection work of landing door centering, improving the detection efficiency; can monitor the centering situation of the landing door in real time, and send out an abnormal information alarm in time when a problem occurs, providing accurate fault information for maintenance personnel, facilitating timely maintenance, and enhancing elevator safety.

[0005] The object of the present invention can be achieved by adopting the following technical solutions:

[0006] An elevator landing door centering self-detection system includes a door machine controller, an opening machine, and an elevator controller. The door machine controller is electrically connected to the elevator controller and the opening machine respectively; the door machine controller includes a speed control module, a current detection module, a communication module, and a storage module. The door machine controller is used to receive the detection mode command sent by the elevator controller, enter the detection mode after receiving the detection mode command, adjust the door opening and closing speed to a preset speed through the speed control module, and control the opening machine to perform door opening and closing actions at the preset speed; the current detection module is used to collect the current data of the opening machine during the door opening process, and send the detected current data during the door opening process to the elevator controller through the communication module and store it in the storage module;

[0007] The door operator includes a clamping device and a driving device. The driving device is used to drive the opening and closing of the car door and the landing door through a motor. The clamping device is used to clamp the roller mechanism arranged on the landing door header, so that the landing door and the car door keep running synchronously.

[0008] The elevator controller is used to control the elevator to enter the detection mode, send the detection mode command to the door machine controller; control the elevator to automatically stop at all floors one by one and automatically open and close the door once.

[0009] It is also used to receive the current data of the opening process of all floors sent by the door machine controller, calculate the displacement of the clamping device and the roller mechanism on the landing door during the opening process according to the current data of the opening process, determine whether the landing door is misaligned abnormally according to the relative displacement between the clamping device and the roller device, and obtain the landing door alignment detection results of all floors; when it is determined that the landing door is misaligned abnormally, an abnormal information alarm is issued.

[0010] Specifically, it includes a right clamping device mechanism and a left clamping device mechanism. The right clamping device mechanism and the left clamping device mechanism are respectively located on the left and right sides of the elevator car door.

[0011] During the opening process of the elevator car door, the door machine controller controls the right clamping device mechanism and the left clamping device mechanism to move towards each other at several speeds through the door operator until the right clamping device mechanism and the left clamping device mechanism clamp the roller mechanism on the landing door; after the clamping device clamps the roller mechanism, the door machine controller controls the driving device of the door operator to drag the car door open, and the landing door is driven by the car door and keeps running synchronously with the car door.

[0012] Specifically, the current detection module is electrically connected to the motor of the door operator, and real-time detects the current data of the motor of the door operator during the opening process of the elevator car door.

[0013] Specifically, the current detection module includes a 3-way half-bridge drive circuit, 3 sampling resistors, an operational amplifier module and a CPU controller. The 3 sampling resistors are respectively connected in series between the emitter of the IGBT (Insulated Gate Bipolar Transistor) of the lower bridge arm of the 3-way half-bridge drive circuit and GND. The operational amplifier module is respectively connected to the 3 sampling resistors and the CPU controller, and real-time detects the three-phase current data of the motor of the door operator through the 3 sampling resistors. The CPU controller is electrically connected to the motor of the door operator through an encoder.

[0014] Specifically, the current detection module is used to collect the current data of the door operator during the opening process, and send the detected current data of the opening process to the elevator controller through the communication module, specifically including: taking several microseconds as the time beat, recording a current value at each time beat, recording the current values of the entire opening process, summarizing the current values of each time beat and the current time beat serial number to generate current data, and sending the current data to the elevator controller through the communication module.

[0015] Specifically, the elevator controller includes a detection mode operation module and a control module. The detection mode operation module is used to provide a human-machine interaction interface. The operator controls the elevator to enter the detection mode through the human-machine interaction interface, and at the same time sends a detection mode command to the door machine controller through the communication module;

[0016] The control module is used to receive the current data during the door opening process sent by the door machine controller, draw the current curve of the door opening process for each floor according to the current data of the door opening process, calculate the starting time of the clamping roller device of the clamping device on each floor according to the current change of the current curve of the door opening process, and use the speed-displacement calculation formula through the starting time and the preset speed of the door opener to calculate the displacement of the clamping device and the roller mechanism on the landing door during the door opening process; compare the relative displacement between the clamping device and the roller device with the preset relative displacement standard value, and calculate the detection result of whether the landing door is misaligned on each floor; when the relative displacement between the clamping device and the roller device is greater than the preset relative displacement standard value, it is determined that the landing door is misaligned, and a landing door misalignment message is sent; otherwise, it is determined that the landing door is aligned normally.

[0017] Specifically, the speed-displacement calculation formula is expressed as:

[0018] s = v * t

[0019] Wherein, t is the time of the current rising point during door opening, and v is the preset door opening speed.

[0020] Specifically, it further includes an Internet of Things module and a cloud platform module. The elevator controller is communicatively connected to the cloud platform module through the Internet of Things module. The elevator controller uploads the landing door alignment detection results of all floors to the cloud platform module through the Internet of Things module.

[0021] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0022] The present invention provides a landing door alignment self-detection system, including a door machine controller, a door opener and an elevator controller. The opening and closing door speed is adjusted to a preset speed through a speed control module, and the door opener is controlled to perform opening and closing door actions at the preset speed; the current data during the door opening process of the door opener is collected through a current detection module, and the elevator controller calculates the displacement of the clamping device and the roller mechanism on the landing door during the door opening process according to the current data of the door opening process, and determines whether the landing door is misaligned according to the relative displacement between the clamping device and the roller device, and obtains the landing door alignment detection results of all floors, which can improve the detection accuracy and efficiency, reduce the labor cost, and enhance the safety. At the same time, the regular detection function can give early warning of potential problems and reduce the economic losses caused by elevator shutdown and maintenance. The system can automatically complete the detection work of landing door alignment without manual intervention, greatly improving the detection efficiency and avoiding the errors and omissions that may occur in manual detection. Brief Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following-described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to the structures shown in these drawings.

[0024] Figure 1 It is a front view and a top view of the header of an elevator car door in an embodiment of the present invention;

[0025] Figure 2 It is a front view and a top view of the header of a landing door in an embodiment of the present invention;

[0026] Figure 3 It is a schematic diagram of the car door and the landing door in the closed state in an embodiment of the present invention;

[0027] Figure 4 It is a structural block diagram of a landing door centering self-detection system in an embodiment of the present invention;

[0028] Figure 5 It is a schematic circuit diagram of a current detection module in an embodiment of the present invention;

[0029] Figure 6 It is a current curve graph of the opening process of each floor in an embodiment of the present invention. Detailed Embodiments

[0030] The following will further describe the technical solutions of the present invention in detail in combination with the drawings and embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The implementation manners of the present invention are not limited thereto. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0031] Embodiment 1:

[0032] As Figure 1 shown, for the front view and the top view of the header of an elevator car door, a clamping device is commonly provided on the current car door header. The clamping device includes a right mechanism 1 of the clamping device and a left mechanism 2 of the clamping device. The right mechanism 1 and the left mechanism 2 of the elevator car door clamping device. There are guiding devices at the edges of the car door, such as sliders, etc. The guiding devices are used to ensure the smooth sliding of the car door on the guide rails and prevent the door from deflecting during the closing process. When the car moves in the hoistway, the car door separates the interior of the car from the hoistway, preventing passengers or objects from falling into the hoistway from the side of the car. It is ensured that only when the car reaches the corresponding floor leveling and the car door aligns with the landing door and opens, are people allowed to enter and exit the car.

[0033] As Figure 2 shown in the front view and top view of the landing door header, a roller mechanism is provided on the landing door header. The roller mechanism includes a lower roller mechanism 3 and an upper roller mechanism 4. During the operation of the landing door, the lower roller mechanism 3 and the upper roller mechanism 4 cooperate with each other to ensure the smooth opening and closing of the landing door and the overall stability. The landing door is located at the hoistway entrance of each floor and is an important barrier to prevent people from accidentally falling into the hoistway. Under normal circumstances, the landing door should remain closed to ensure the enclosure of the floor even when the elevator car is not on that floor. The landing door cooperates with the car door to achieve safe entry and exit after the elevator stops normally. When the car reaches the floor and stops stably, the car door and the landing door open automatically. The power device of the elevator door is installed on the car door. The landing door only has a door without a power device. When the elevator door opens, the clamping device of the car door clamps the roller mechanism of the landing door. When the door machine controller controls the car door to open, the opening force is transmitted to the landing door through the clamping device to open the landing door synchronously. This is the general structure of the industry.

[0034] As Figure 3As shown in the figure, it is a schematic diagram of the car door and landing door in the closed state, which is the closed state when both the car door and the landing door are used at the same time. During the opening process of the elevator car door, that is, when the elevator is in the closed state, when the door machine controller receives the opening instruction, the door machine controller controls the right mechanism and the left mechanism of the clamping device to move towards each other at a certain speed through the door machine until the right mechanism and the left mechanism of the clamping device clamp the roller mechanism. After the clamping device clamps the roller mechanism, the driving device of the door machine starts to drive the car door to open. Driven by the car door, the landing door runs synchronously with the car door. When the car door and the landing door are opened to the maximum position, the driving device stops working, and the opening action of the elevator is completed. During the closing process of the car door, the clamping device releases the landing door roller mechanism, and the driving device drives the car door to close in the reverse direction. Driven by the car door, the landing door moves synchronously to achieve closing. In this solution, due to the influence of the installation personnel's operation method, there are often certain position deviations in the installation of each floor elevator landing door, which makes it difficult to accurately align the landing door installation. In practical applications, this situation will cause many problems. When the elevator door opens, due to the misalignment of the landing door installation, the cooperation between related components is no longer perfect, resulting in abnormal noises. In more serious cases, during the operation of the elevator, the clamping device of the landing door may hit the roller mechanism. This impact will interfere with the normal operation system of the elevator, resulting in abnormal elevator door lock signals. Once the door lock signal is abnormal, it will directly cause the elevator to malfunction and the elevator cannot operate normally. This will not only bring a lot of inconvenience to passengers, but also may make passengers feel worried and scared during the elevator ride, seriously affecting the elevator ride experience and posing a potential threat to the safe operation of the elevator. The present invention proposes a landing door alignment self-detection system, which can improve the accuracy and efficiency of landing door alignment detection, reduce labor costs, and enhance the safety of the elevator. At the same time, the regular detection function can early warn potential problems and reduce the economic losses caused by elevator shutdown and maintenance.

[0035] As Figure 4 shown, it is a block diagram of the mechanism of a landing door alignment self-detection system. The landing door alignment self-detection system described in the present invention includes a door machine controller, an elevator controller, and a door machine. The door machine controller is electrically connected to the elevator controller and the door machine respectively.

[0036] Door machine controller. The door machine controller includes a speed control module, a current detection module, a communication module, and a storage module. The door machine controller is used to receive the detection mode command sent by the elevator controller, enter the detection mode after receiving the detection mode command, adjust the opening and closing door speed to a preset speed through the speed control module, and control the door opener to perform the opening and closing door actions at the preset speed. The current detection module is used to collect the current data of the door opener during the opening process, and send the detected current data during the opening process to the elevator controller through the communication module and store it in the storage module. The door opener includes a clamping device and a driving device. The driving device is used to drive the opening and closing of the car door and the landing door through a motor, and the clamping device is used to clamp the roller mechanism arranged on the landing door header to keep the landing door and the car door running synchronously.

[0037] As Figure 5 shown, it is a schematic diagram of the circuit structure of the current detection module. The current detection module includes 3 half-bridge drive circuits, 3 sampling resistors, an operational amplifier module, and a CPU controller. The 3 sampling resistors are respectively connected in series between the emitter of the IGBT (Insulated Gate Bipolar Transistor) of the 3 lower bridge arms and GND. The operational amplifier module is respectively connected to the 3 sampling resistors and the CPU controller. The CPU controller detects the U / V / W three-phase current data of the door opener in real time through the 3 sampling resistors. The CPU controller is electrically connected to the motor of the door opener through an encoder. Among them, the CPU controller provides appropriate control signals to the IGBTs (Q1 / Q3 / Q5) of the upper bridge arm and the IGBTs (Q2 / Q4 / Q6) of the lower bridge arm through a three-phase integrated drive circuit, and realizes the control of the load current by controlling the conduction and cut-off of the IGBT (Insulated Gate Bipolar Transistor), and detects the U / V / W three-phase current of the door opener in real time through the sampling resistors connected in series between the IGBT (Insulated Gate Bipolar Transistor) of the lower bridge arm and GND. The weak current signal (such as ±50mV) is differentially amplified by the operational amplifier circuit (the gain is about 30-50 times), and the level is adjusted to the ADC input range of the CPU (such as 0~3.3V). The amplified analog signal is converted into a digital signal through the ADC conversion module integrated inside the CPU controller. The commonly used sampling resistor model is WSLP2726, the operational amplifier model is INA240A2, and the CPU model is STM32H743.

[0038] The calculation formula for the three-phase current is as follows:

[0039]

[0040] Among them, I phase is the phase current, ADC_value is the numerical value of the digital signal converted inside the CPU, V ref is the ADC reference voltage, which is taken as 3.3V in this example, N is the ADC bit number, which is taken as 13 bits in this instance, G is the operational amplifier gain, which is taken as 50 in this example, R shuntis the sampling resistor, which is 0.001 ohm in this example.

[0041] In this embodiment, the current detection module is used to collect the current data of the door opener during the door opening process, and send the detected current data of the door opening process to the elevator controller through the communication module. Specifically, with a time beat of 20 microseconds, a current value is recorded every 20 microseconds, and the current values of the entire door opening process are recorded. After the current value detection of the entire door opening process is completed, the current values of each time beat and the current time beat serial number are summarized to generate current data, and the current data is sent to the elevator controller through the communication module.

[0042] The elevator controller is used to control the elevator to enter the detection mode, send the detection mode command to the door machine controller; control the elevator to automatically stop at all floors layer by layer, and automatically open and close the door once. The elevator controller is also used to receive the current data of the door opening process sent by the door machine controller, calculate the displacement of the clamping device and the roller mechanism on the landing door during the door opening process according to the current data of the door opening process, determine whether the landing door is misaligned abnormally according to the relative displacement between the clamping device and the roller device, and obtain the landing door alignment detection results of all floors; when it is determined that the landing door is misaligned abnormally, an abnormal information alarm is issued.

[0043] Specifically, the elevator controller includes a detection mode operation module, a control module and a communication module. The detection mode operation module is used to provide a human-machine interaction interface. The operator controls the elevator to enter the detection mode through the human-machine interaction interface, and at the same time sends the detection mode command to the door machine controller through the communication module. After receiving the detection mode command, the door machine controller enters the detection mode. After the elevator enters the detection mode, control the elevator to automatically stop at all floors layer by layer, and automatically open and close the door once. In the detection mode, the door machine controller adjusts the door opening and closing speed to a preset speed through the speed control module. Generally, the preset speed is a low speed. For example: the preset speed v = 0.001 m / s.

[0044] The control module is used to receive the current data during the door opening process sent by the door machine controller, draw the current curve of the door opening process for each floor based on the current data during the door opening process, calculate the starting time of the clamping roller device of the clamping device for each floor according to the current change of the current curve during the door opening process, and use the speed-displacement calculation formula through the starting time and the preset speed of the door machine to calculate the displacement of the clamping device and the roller mechanism on the landing door during the door opening process. Compare the relative displacement between the clamping device and the roller device with the preset relative displacement standard value, and calculate the detection result of whether the landing door is misaligned on each floor; when the relative displacement between the clamping device and the roller device is greater than the preset relative displacement standard value, it is determined that the landing door is misaligned; otherwise, it is determined that the landing door is aligned normally. When it is determined that the landing door is misaligned, an abnormal information alarm is issued, and the abnormal information can be displayed on the human-machine interaction interface provided by the measurement mode operation module. Upload the detection results of whether the landing doors on each floor are misaligned to the cloud platform module through the Internet of Things module. The control module is also used to control the operation and function realization of the elevator, which is a conventional function and will not be described in detail.

[0045] Specifically, the preset relative displacement standard value is different according to different clamping mechanisms, and the adjustment scheme is also related to the design of the door head. The relevant adjustment guidelines are configured inside the product manual. By default, the distance between the roller mechanism and the clamping mechanism remains the same after the clamping mechanism is fully opened. An example is 9mm. For floors greater than the standard value, the deviated floors can be adjusted according to the position adjustment method in the product manual.

[0046] Specifically, the speed-displacement calculation formula is expressed as:

[0047] s = v * t

[0048] In the formula, t is the time of the current rising point during door opening, and v is the preset door opening speed.

[0049] Such as Figure 6As shown in the figure, it is the current curve graph of the door opening process on each floor. The elevator controller plots the current curve of the door opening process on each floor with time T as the abscissa and the current value as the ordinate according to the current data during the door opening process of the elevator car door. During the door opening process on the Nth floor, there is a specific phenomenon, that is, the current will rise when opening the door. The time corresponding to the current rising point when opening the door is set as t, and the preset door opening speed of the door opener is v. Then under such set conditions, when the door opening action starts, the relative displacement situation between the clamping device and the roller device during this door opening process can be calculated according to relevant kinematic formulas, that is, s = v * t. That is to say, the displacement of the clamping device and the roller device during the door opening process is exactly equal to the product of the set door opening speed v and the time t of the current rising point. Through such a relationship, it is possible to accurately calculate the relative displacement between the clamping device and the roller device on the premise of knowing the door opening speed and the time of the current rising point. For example: the door opening speed v = 0.001 m / s, the time t is 0.5 seconds, and the displacement s = 0.5 * 0.001 = 0.005 m = 5 mm.

[0050] Specifically, the elevator landing door centering self-detection system further includes an Internet of Things module and a cloud platform module. The elevator controller is communicatively connected to the cloud platform module through the Internet of Things module. The elevator controller uploads the landing door centering detection results of all floors to the cloud platform module through the Internet of Things module.

[0051] The Internet of Things module is used to connect the elevator controller and the cloud platform. It can upload the processed data to the cloud platform module through wired or wireless communication methods, such as 4G, 5G, Ethernet, etc. The cloud platform module, as the data storage and management center, can receive the landing door centering detection results from all floors, store and manage the data, establish an elevator operation database, and can perform data analysis on a large amount of abnormal data. The cloud platform module can also realize real-time monitoring and remote control of the elevator operation state, facilitating maintenance personnel to manage and maintain the elevator anytime and anywhere. By real-time monitoring the displacement data, it is possible to determine the landing door centering abnormality in a timely and accurate manner and avoid accidents. Through the combination of the Internet of Things module and the cloud platform module, remote monitoring and management of the elevator are realized, improving the maintenance efficiency. This system can be widely applied to various types of elevators, whether it is a residential elevator, a commercial elevator or a public transportation elevator, and can effectively guarantee the safe operation of the elevator.

[0052] In this example, a method for using an elevator landing door centering self-detection system specifically includes the following steps:

[0053] S1. After the elevator is installed, the operator controls the elevator to enter the detection mode on the operation module of the elevator controller, and the elevator controller controls the elevator to run to the bottom floor;

[0054] S2. After the elevator runs to the bottom floor, the elevator controller sends a detection command to the door machine controller. After receiving the detection command, the door machine controller enters the detection mode.

[0055] Specifically, after the installation of the elevator is completed, the operator operates on the elevator controller and presses a specific key combination to control the elevator to slowly enter the detection mode. The elevator controller controls the elevator to run to the bottom floor. After reaching the bottom floor, the elevator controller sends a detection command to the door machine controller. After receiving the detection command, the door machine controller enters the detection mode.

[0056] S3. The door machine controller adjusts the door opening speed to a preset speed. The preset speed is usually a relatively small speed v, and the speed control module is used to control the door to open at the detection speed.

[0057] S4. The current detection module is used to detect and collect the current data of the door opener during the door opening process in real time, and detect the current value of the door opener during the door opening process on each floor, which is used to draw the current curve of the door opening process on each floor in the subsequent steps.

[0058] S6. After the door machine controller completes this detection, it uploads the detected current data to the elevator controller through the communication module.

[0059] S7. After receiving the detection result of the door machine controller, the elevator controller controls the elevator to run to the next floor, and repeats steps S5, S6, and S7.

[0060] S8: After all floors are detected, the elevator controller draws the current curve of the door opening process on each floor. According to the current change during the door opening process, the starting time of the clamping device clamping the roller device on each floor can be calculated. Using the common speed-displacement calculation formula with this time and the preset speed of the door machine, the relative displacement s between the clamping device and the roller device can be calculated.

[0061] S9: After the elevator controller calculates the relative displacement between the clamping device and the roller device on each floor, it determines whether the landing door is misaligned according to the relative displacement between the clamping device and the roller device, obtains the landing door alignment detection results for all floors, and outputs them on the operation interface as a guide for the operator to adjust, thus completing the detection. The elevator controller can also be communicatively connected to the cloud platform module through the Internet of Things module. The elevator controller uploads the landing door alignment detection results for all floors to the cloud platform module through the Internet of Things module.

[0062] In summary, a landing door centering self-detection system proposed by the present invention can improve the detection accuracy and efficiency, reduce labor costs, and enhance safety. At the same time, the regular detection function can give early warnings of potential problems and reduce the economic losses caused by elevator shutdown for maintenance. The landing door centering self-detection system can automatically complete the detection work of landing door centering, greatly improving the detection efficiency and avoiding errors and omissions that may occur in manual detection. With real-time monitoring and feedback, the system can monitor the centering situation of the landing door in real time and issue an alarm in a timely manner when problems occur, providing accurate fault information for maintenance personnel and facilitating timely maintenance. By accurately detecting and timely feedback the centering situation of the landing door, the safety of the elevator can be effectively guaranteed, and the occurrence of safety accidents can be reduced.

[0063] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited by the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. An elevator landing door centering self-detection system, characterized in that, It includes a door machine controller, a door opener and an elevator controller. The door machine controller is electrically connected to the elevator controller and the door opener respectively. The door machine controller includes a speed control module, a current detection module, a communication module and a storage module. The door machine controller is used to receive the detection mode command sent by the elevator controller, enter the detection mode after receiving the detection mode command, adjust the door opening and closing speed to a preset speed through the speed control module, and control the door opener to perform door opening and closing actions at the preset speed. The current detection module is used to collect the current data of the door opener during the door opening process, and send the detected current data of the door opening process to the elevator controller through the communication module and store it in the storage module. The door opener includes a clamping device and a driving device. The driving device is used to drive the car door and the landing door to open and close through a motor. The clamping device is used to clamp the roller mechanism arranged on the landing door head to keep the landing door and the car door running synchronously. The elevator controller is used to control the elevator to enter the detection mode, send the detection mode command to the door machine controller, control the elevator to automatically stop at all floors one by one, and automatically open and close the door once. It is also used to receive the current data of the door opening process of all floors sent by the door machine controller, calculate the displacement of the clamping device and the roller mechanism on the landing door during the door opening process according to the current data of the door opening process, determine whether the landing door is misaligned abnormally according to the relative displacement between the clamping device and the roller device, and obtain the landing door alignment detection results of all floors. When it is determined that the landing door is misaligned abnormally, an abnormal information alarm is issued.

2. The self-detection system for centering an elevator landing door according to claim 1, wherein The clamping device includes a right clamping mechanism and a left clamping mechanism. The right clamping mechanism and the left clamping mechanism of the clamping device are respectively located on the left and right sides of the elevator car door. During the elevator car door opening process, the door machine controller controls the right clamping mechanism and the left clamping mechanism of the clamping device to move towards each other at several speeds until the right clamping mechanism and the left clamping mechanism of the clamping device clamp the roller mechanism on the landing door. After the clamping device clamps the roller mechanism, the door machine controller controls the driving device of the door opener to drag the car door open, and the landing door is driven by the car door and runs synchronously with the car door.

3. The self-detection system for centering an elevator landing door according to claim 2, characterized in that, The current detection module is electrically connected to the motor of the door opener to detect the current data of the motor of the door opener in real time during the elevator car door opening process.

4. The self-detection system for centering an elevator landing door according to claim 3, characterized in that The current detection module includes a 3-phase half-bridge drive circuit, 3 sampling resistors, an operational amplifier module and a CPU controller. The 3 sampling resistors are respectively connected in series between the emitter of the IGBT (Insulated Gate Bipolar Transistor) of the lower bridge arm of the 3-phase half-bridge drive circuit and GND. The operational amplifier module is respectively connected to the 3 sampling resistors and the CPU controller to detect the three-phase current data of the motor of the door opener in real time through the 3 sampling resistors. The CPU controller is electrically connected to the motor of the door opener through an encoder.

5. The self-detection system for elevator landing door centering according to claim 4, characterized in that, The current detection module is used to collect the current data of the door opener during the door opening process, and send the detected current data of the door opening process to the elevator controller through the communication module. Specifically, taking several microseconds as the time beat, a current value is recorded at each time beat, the current values of the entire door opening process are recorded, the current values of each time beat and the current time beat serial number are summarized to generate current data, and the current data is sent to the elevator controller through the communication module.

6. The self-detection system for elevator landing door centering according to claim 1, wherein The elevator controller includes a detection mode operation module and a control module. The detection mode operation module is used to provide a human-machine interaction interface. The operator controls the elevator to enter the detection mode through the human-machine interaction interface, and at the same time sends the detection mode command to the door machine controller through the communication module; The control module is used to receive the current data during the door opening process sent by the door machine controller, draw the current curve of the door opening process for each floor according to the current data of the door opening process, calculate the starting time of the clamping roller device of the clamping device on each floor according to the current change of the current curve of the door opening process, and use the speed-displacement calculation formula through the starting time and the preset speed of the door opener to calculate the displacement of the clamping device and the roller mechanism on the landing door during the door opening process; compare the relative displacement between the clamping device and the roller device with the preset relative displacement standard value, and calculate the detection result of whether the landing door is abnormally centered on each floor; when the relative displacement between the clamping device and the roller device is greater than the preset relative displacement standard value, it is determined that the landing door is abnormally centered, and an abnormal landing door centering message is sent; otherwise, it is determined that the landing door is normally centered.

7. The self-detection system for elevator landing door centering according to claim 6, characterized in that, The speed-displacement calculation formula is expressed as: s = v * t where t is the time of the current rising point during door opening, and v is the preset door opening speed.

8. The self-detection system for centering an elevator landing door according to claim 1, characterized in that, It further includes an Internet of Things module and a cloud platform module. The elevator controller is communicatively connected to the cloud platform module through the Internet of Things module. The elevator controller uploads the landing door centering detection results of all floors to the cloud platform module through the Internet of Things module.

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