Method for matching laser radar with shielding detection and control system in cage door area

Abstract

The invention relates to the technical field of cage door area shielding detection, in particular to a method for matching a laser radar with a cage door area shielding detection and control system.The laser radar is installed at the fixed position of the upper end of a cage door, the shielding condition of the cage door area is detected downwards, the laser radar scans the shielding distance of each angle, and the shielding distance of each angle is calculated; whether area shielding exists or not is judged by judging the shielding distance, different shielding areas are detected by matching with different action states of an elevator, the two sides of the bottom of a cage door are each additionally provided with a small baffle used for shielding distance feedback of a laser radar, and the opening height of the cage door and whether the door is closed in place or not are judged through the shielding distance. And in the cage door opening and closing process, the cage door opening height and the frequency conversion action time are mutually verified to judge whether the cage door is normally opened and closed. The shielding distance of each angle is detected through a laser radar to judge whether shielding exists in a cage door opening and closing area or not; different shielding areas are detected according to different working states through mutual cooperation of a laser radar and intelligent driving, and various cage door area detection can be configured.

Description

Technical Field

[0001] The present invention relates to the technical field of cage door area occlusion detection, and in particular to a method for coordinating a cage door area occlusion detection and control system with a laser radar. Background Art

[0002] LiDAR is used for cage door area occlusion detection and control system coordination. It mainly monitors the cage door area in real time through LiDAR and transmits the detected signal to the control system, which makes corresponding control decisions based on the signal.

[0003] LiDAR has core advantages in cage door area occlusion detection, such as high precision, high reliability, strong real-time performance, and good environmental adaptability. It can significantly improve the safety and operating efficiency of equipment such as construction elevators.

[0004] In the existing technology, the switch light curtain detects whether there is any obstruction in the automatic cage door area of the elevator, and outputs the switch status of whether it is obstructed; the communication light curtain detects the position of the obstruction in the automatic cage door area of the elevator, and outputs the height point of the obstruction; the intelligent light curtain detects the position of the obstruction in the automatic cage door area of the elevator and cooperates with the operating status of the automatic door, outputs the height point of the obstruction, and can cooperate with the operating status detection of the automatic door.

[0005] The above method has the following problems during use: it is easily disturbed by strong light and rain, the detection accuracy is insufficient, it cannot detect whether the cage door is closed, and the light curtain installation is relatively complicated.

[0006] To this end, a method for coordinating lidar for cage door area occlusion detection and control system is proposed. Summary of the Invention

[0007] The purpose of the present invention is to provide a method for cooperating with a laser radar for cage door area occlusion detection and control system, cooperating with the automatic cage door control and movement state of the elevator, detecting different occlusion areas in different states, and accurately detecting the opening height of the cage door and whether the cage door is closed in place. The cage door frequency conversion switch action time and the automatic door opening height are mutually verified, and whether there is any abnormality in the operation of the automatic door can be discovered in time to solve the problems raised in the above background technology.

[0008] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: Laser radar is used for cage door area occlusion detection and control system coordination method. A laser radar is installed at a fixed position on the upper end of the cage door to detect the occlusion of the cage door area downward. The laser radar scans the occlusion distance at each angle, and determines whether there is area occlusion by judging the occlusion distance. Different occlusion areas are detected by coordinating with different action states of the elevator. A small baffle is added on each side of the bottom of the cage door for feedback of the laser radar's occlusion distance. The opening height of the cage door and whether it is closed in place are determined by the occlusion distance. During the opening and closing process of the cage door, the opening height of the cage door and the frequency conversion action time are cross-checked to determine whether the cage door is opened and closed normally.

[0009] Preferably, when the intelligent driving executes the action of opening the cage door, the laser radar detects the distance of the barrier rod at the bottom of the cage door during the upward opening process, and the detection accuracy is less than 5mm. The barrier rod distance is used to reflect the opening height of the cage door and calculate the opening and closing speed of the cage door. The cage door opening height and speed are combined with the cage door frequency conversion drive to verify whether the automatic door is operating normally. The barrier rod distance after the cage door is closed is used to determine whether it is closed in place. If it is not closed in place, the elevator is not allowed to run to prevent safety hazards.

[0010] Preferably, when the intelligent driving performs the action of opening the cage door, the distance of the barrier rod should decrease upward from the bottom according to the cage door driving speed during the upward opening process, and the blocking angle should be enlarged to both sides at the same time; the blocking that is not in the barrier rod position belongs to the blocking of the door opening and closing area, the blocking alarm is triggered and the machine is shut down; the barrier rod speed should be proportional to the cage door driving speed. When a mutual verification is not proportional, the cage door drive is stopped and a cage door jam fault is reported;

[0011] On the contrary, when the intelligent driving executes the action of closing the cage door, the distance of the barrier rod should increase downward from the top according to the cage door driving speed during the process of closing downward, and the blocking angle should decrease towards the middle at the same time; the obstruction that is not in the barrier rod position belongs to the obstruction of the door opening and closing area, the cage door obstruction alarm is triggered and the door is reopened in the reverse direction; the barrier rod speed should be proportional to the cage door driving speed. When the mutual verification is not proportional, the cage door drive is stopped and a cage door jam fault is reported.

[0012] Preferably, when the cage door is opened, the electric flap door is opened. During the opening process of the electric flap door, the bottom distance will be blocked in sequence from 50 to 5 cm for 3 seconds. During this process, the laser radar detects that the bottom of the door frame area is blocked from 50 to 5 cm. The system considers that the opening of the electric flap door is normal.

[0013] Preferably, when the cage door is opened, the electric flap door is opened. During the opening process of the electric flap door, the distance of 50 to 5 cm at the bottom will be blocked in sequence for 3 seconds. During this process, the laser radar detects that there is occlusion feedback at a position more than 50 cm in the door frame area. The system then considers that there is occlusion when the electric flap door is opened, stops the electric flap door action and issues an alarm to remind of the occlusion.

[0014] Preferably, when the cage door is opened, the electric flap door is opened. If there is no obstruction of 50 to 5 cm for 5 seconds during the electric flap door opening process, the flap door action is stopped and an alarm is issued. The flap door does not move or is stuck and cannot move.

[0015] Preferably, when the cage door is about to close, the electric flap door is retracted first. During the retraction process, the electric flap door will block a distance of 5 to 50 cm from the bottom in sequence after 2 seconds. During this process, the laser radar detects that the downward blocking distance of the bottom of the door frame area is from 5 to 50 cm. The system considers that the retraction of the electric flap door is normal.

[0016] Preferably, when the cage door is about to close, the electric flap door is retracted first. During the retraction process, the electric flap door will block the bottom distance of 5 to 50 cm in sequence for 2 seconds. During this process, the laser radar detects that there is occlusion feedback at a position more than 50 cm in the door frame area. The system then considers that there is occlusion when the electric flap door is retracted, stops the electric flap door action and issues an alarm to remind of the occlusion.

[0017] Preferably, when the cage door is about to close, the electric flap door is retracted first. If there is no obstruction of 5-50cm distance for 4 seconds during the retraction process of the electric flap door, the flap door action is stopped and an alarm is issued. The flap door does not move or is stuck and cannot move.

[0018] Preferably, when the cage door is closed, a laser radar is used to determine whether the cage door is closed. If the detection lever is not in the cage door closing position, an abnormal cage door failure is reported and the smart driving is prohibited from starting and running. Otherwise, the smart driving is allowed to run.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. Use the laser radar to detect the obstruction distance at each angle to determine whether there is any obstruction in the cage door opening and closing area;

[0021] 2. Through the cooperation between LiDAR and intelligent driving, different occlusion areas can be detected according to different working states, and various cage door area detection can be configured;

[0022] 3. Use laser radar to detect the opening and closing speed and height of the cage door, and verify it with the cage door frequency conversion drive to ensure timely detection and alarm when the cage door opens and closes abnormally;

[0023] 4. Use laser radar to detect whether the cage door is fully closed, to prevent the hidden danger of intelligent driving mistakenly detecting that the door is fully closed due to poor contact of the door limit switch;

[0024] 5. Easy to install, anti-sunlight interference, high protection level and easy to maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 This is a diagram of the cage door of the present invention in an open state;

[0027] Figure 2 This is a diagram of the closed state of the cage door of the present invention. DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] See also Figures 1 to 2 , the present invention provides a technical solution:

[0030] Laser radar is used in the method of coordinating the detection and control system of the cage door area. A laser radar is installed at a fixed position on the upper end of the cage door to detect the obstruction of the cage door area downward. The laser radar scans the obstruction distance at each angle and determines whether there is area obstruction by judging the obstruction distance. Different obstruction areas are detected by coordinating with different action states of the elevator (such as electric flap doors). A small baffle is added on both sides of the bottom of the cage door for feedback of the laser radar's obstruction distance. The opening height of the cage door and whether it is in the closed position are judged by the obstruction distance. During the opening and closing process of the cage door, the opening height of the cage door and the frequency conversion action time are cross-checked to determine whether the cage door is opening and closing normally.

[0031] When the intelligent driving executes the action of opening the cage door, the laser radar detects the distance of the barrier rod at the bottom of the cage door during the upward opening process. The detection accuracy is less than 5mm. The barrier rod distance is used to reflect the opening height of the cage door and calculate the opening and closing speed of the cage door. The cage door opening height and speed are combined with the cage door frequency conversion drive to verify whether the automatic door is operating normally. After the cage door is closed, the barrier rod distance is used to determine whether it is closed in place. If it is not closed in place, the elevator is not allowed to operate to prevent safety hazards.

[0032] When the intelligent driving executes the action of opening the cage door, the distance of the barrier rod should decrease upward from the bottom according to the cage door driving speed during the upward opening process, and the blocking angle should be enlarged to both sides at the same time; the blocking that is not in the barrier rod position is considered as blocking in the door opening and closing area, and the blocking alarm will be issued and the machine will be shut down; the barrier rod speed should be proportional to the cage door driving speed. When a mutual verification is not proportional, the cage door drive will be stopped and a cage door jam fault will be reported;

[0033] On the contrary, when the intelligent driving executes the action of closing the cage door, the distance of the barrier rod should increase downward from the top according to the cage door driving speed during the process of closing downward, and the blocking angle should decrease towards the middle at the same time; the obstruction that is not in the barrier rod position belongs to the obstruction of the door opening and closing area, the cage door obstruction alarm is triggered and the door is reopened in the reverse direction; the barrier rod speed should be proportional to the cage door driving speed. When the mutual verification is not proportional, the cage door drive is stopped and a cage door jam fault is reported.

[0034] When the cage door is opened, the electric flap door is opened. During the opening process of the electric flap door, it will block the bottom distance of 50 to 5 cm in sequence for 3 seconds. During this process, the laser radar detects that the downward blocking distance of the bottom of the door frame area is from 50 to 5 cm. The system considers that the opening of the electric flap door is normal.

[0035] When the cage door is opened, the electric flap door will be opened. During the opening process, the electric flap door will block the bottom distance of 50 to 5 cm in sequence for 3 seconds. During this process, the laser radar detects that there is occlusion feedback at a position more than 50 cm in the door frame area. The system then considers that there is occlusion when the electric flap door is opened, stops the electric flap door action and issues an alarm to remind of the occlusion.

[0036] When the cage door is opened, the electric flap door will be opened. If there is no obstruction of 50 to 5 cm for 5 seconds during the opening process of the electric flap door, the flap door will stop and an alarm will be issued. The flap door will not move or will be stuck and cannot move.

[0037] When the cage door is about to close, the electric flap door is retracted first. During the retraction process, the electric flap door will block the bottom distance of 5 to 50 cm in sequence for 2 seconds. During this process, the laser radar detects that the downward blocking distance of the bottom of the door frame area increases from 5 to 50 cm. The system considers that the retraction of the electric flap door is normal.

[0038] When the cage door is about to close, the electric flap door will be retracted first. After 2 seconds of retraction, the electric flap door will block the bottom distance of 5 to 50 cm in sequence. During this process, the laser radar detects that there is occlusion feedback at a position more than 50 cm in the door frame area. The system will then consider that there is occlusion when the electric flap door is retracted, stop the electric flap door action and sound an alarm to remind of the occlusion.

[0039] When the cage door is about to close, the electric flap door will be retracted first. If there is no obstruction of 5-50cm for 4 seconds during the retraction process, the flap door will stop and an alarm will be issued. The flap door will not move or will be stuck and cannot move.

[0040] When the cage door is closed, the laser radar is used to determine whether the cage door is closed. If the detection lever is not in the cage door closing position, the cage door abnormal fault is reported and the smart driving is prohibited from starting and running. Otherwise, the smart driving is allowed to run.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for coordinating a laser radar system for detecting and controlling an obstruction in a cage door area, characterized in that: A laser radar is installed at a fixed position above the cage door to detect the obstruction of the cage door area downward. The laser radar scans the obstruction distance at each angle and determines whether there is regional obstruction by judging the obstruction distance. Different obstruction areas are detected by coordinating with different action states of the elevator. A small baffle is added on both sides of the bottom of the cage door for feedback of the laser radar's obstruction distance. The opening height of the cage door and whether it is in the closed position are determined by the obstruction distance. During the opening and closing process of the cage door, the opening height of the cage door and the frequency conversion action time are cross-checked to determine whether the cage door is opening and closing normally.

2. The method for coordinating a laser radar system for detecting and controlling a cage door obstruction according to claim 1, characterized in that: When the intelligent driving executes the action of opening the cage door, the laser radar detects the distance of the barrier rod at the bottom of the cage door during the upward opening process. The detection accuracy is less than 5mm. The barrier rod distance is used to reflect the opening height of the cage door and calculate the opening and closing speed of the cage door. The cage door opening height and speed are combined with the cage door frequency conversion drive to verify whether the automatic door is operating normally. After the cage door is closed, the barrier rod distance is used to determine whether it is closed in place. If it is not closed in place, the elevator is not allowed to operate to prevent safety hazards.

3. The method for coordinating a laser radar system for detecting and controlling a cage door obstruction according to claim 1 is characterized in that: When the intelligent driving executes the action of opening the cage door, the distance of the barrier rod should decrease upward from the bottom according to the cage door driving speed during the upward opening process, and the blocking angle should be enlarged to both sides at the same time; the blocking that is not in the barrier rod position is considered as blocking in the door opening and closing area, and the blocking alarm will be issued and the machine will be shut down; the barrier rod speed should be proportional to the cage door driving speed. When a mutual verification is not proportional, the cage door drive will be stopped and a cage door jam fault will be reported; On the contrary, when the intelligent driving executes the action of closing the cage door, the distance of the barrier rod should increase downward from the top according to the cage door driving speed during the process of closing downward, and the blocking angle should decrease towards the middle at the same time; the obstruction that is not in the barrier rod position belongs to the obstruction of the door opening and closing area, the cage door obstruction alarm is triggered and the door is reopened in the reverse direction; the barrier rod speed should be proportional to the cage door driving speed. When the mutual verification is not proportional, the cage door drive is stopped and a cage door jam fault is reported.

4. The method for coordinating a laser radar system for detecting and controlling a cage door obstruction according to claim 1, characterized in that: When the cage door is opened, the electric flap door is opened. During the opening process of the electric flap door, it will block the bottom distance of 50 to 5 cm in sequence for 3 seconds. During this process, the laser radar detects that the downward blocking distance of the bottom of the door frame area is from 50 to 5 cm. The system considers that the opening of the electric flap door is normal.

5. The method for coordinating a laser radar system for detecting and controlling a cage door obstruction according to claim 1, characterized in that: When the cage door is opened, the electric flap door will be opened. During the opening process, the electric flap door will block the bottom distance of 50 to 5 cm in sequence for 3 seconds. During this process, the laser radar detects that there is occlusion feedback at a position more than 50 cm in the door frame area. The system then considers that there is occlusion when the electric flap door is opened, stops the electric flap door action and issues an alarm to remind of the occlusion.

6. The method for coordinating a laser radar system for detecting and controlling a cage door obstruction according to claim 1, characterized in that: When the cage door is opened, the electric flap door will be opened. If there is no obstruction of 50 to 5 cm for 5 seconds during the opening process of the electric flap door, the flap door will stop and an alarm will be issued. The flap door will not move or will be stuck and cannot move.

7. The method for coordinating a laser radar system for detecting and controlling a cage door obstruction according to claim 1, characterized in that: When the cage door is about to close, the electric flap door is retracted first. During the retraction process, the electric flap door will block the bottom distance of 5 to 50 cm in sequence for 2 seconds. During this process, the laser radar detects that the downward blocking distance of the bottom of the door frame area increases from 5 to 50 cm. The system considers that the retraction of the electric flap door is normal.

8. The method for coordinating a laser radar system for detecting and controlling a cage door obstruction according to claim 1, characterized in that: When the cage door is about to close, the electric flap door will be retracted first. After 2 seconds of retraction, the electric flap door will block the bottom distance of 5 to 50 cm in sequence. During this process, the laser radar detects that there is occlusion feedback at a position more than 50 cm in the door frame area. The system will then consider that there is occlusion when the electric flap door is retracted, stop the electric flap door action and sound an alarm to remind of the occlusion.

9. The method for coordinating a laser radar system for detecting and controlling a cage door obstruction according to claim 1, characterized in that: When the cage door is about to close, the electric flap door will be retracted first. If there is no obstruction of 5-50cm for 4 seconds during the retraction process, the flap door will stop and an alarm will be issued. The flap door will not move or will be stuck and cannot move.

10. The method for coordinating a laser radar system for detecting and controlling a cage door obstruction according to claim 1, characterized in that: When the cage door is closed, the laser radar is used to determine whether the cage door is closed. If the detection lever is not in the cage door closing position, the cage door abnormal fault is reported and the smart driving is prohibited from starting and running. Otherwise, the smart driving is allowed to run.

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