An elevator door control method, system, device and medium

Abstract

This invention discloses an elevator door control method, system, device, and medium. The elevator door control method includes: real-time acquisition of elevator door motor current signals; data processing of the door motor current signals to obtain the ripple frequency and ripple amplitude of the door motor current; determining whether the current ripple frequency and ripple amplitude meet preset reopening conditions; if they meet the preset reopening conditions, it is assumed that an obstacle exists during the elevator door closing process, and the elevator is controlled to reopen. This invention detects whether an obstacle is encountered during the elevator door closing process by analyzing the current ripple of the elevator door motor, eliminating the need for additional detection components and reducing elevator costs; it is also unaffected by environmental factors such as strong light, dust, or fog, resulting in high reliability of the detection effect.

Description

Technical Field

[0001] This invention belongs to the field of elevator technology, specifically relating to an elevator door control method, system, device, and medium. Background Technology

[0002] Existing elevators typically employ technologies such as safety touch panels and infrared light curtains to implement anti-pinch functions when opening and closing doors, ensuring the safety of passengers and goods.

[0003] Safety contact plate working principle: A metal or rubber elastic contact plate is installed on the edge of the elevator door. The elastic contact plate is connected to an internal micro switch. When the elevator door encounters an obstacle during the closing process, the elastic contact plate is pressed and triggers the micro switch. After receiving the signal, the elevator control system immediately stops the closing action and reopens the door.

[0004] Infrared light curtain working principle: By installing multiple sets of infrared emitting and receiving devices (light curtains) on both sides of the elevator door, one or more infrared beam barriers are formed. When the elevator door closes, if any object blocks any beam of light, the elevator control system immediately stops closing the door and reopens it.

[0005] The existing methods described above have the following drawbacks:

[0006] 1) All require the installation of specific detection devices for obstacle detection.

[0007] 2) After long-term use, the elasticity of the safety contact plate may decrease, requiring regular maintenance and replacement.

[0008] 3) Infrared light curtains are easily affected by strong light, dust or fog, which may lead to false triggering or missed detection; the lens needs to be cleaned regularly, and the detection effect on transparent or semi-transparent objects (such as glass, thin gauze, etc.) is poor. Summary of the Invention

[0009] To overcome one or more of the above-mentioned technical defects, the present invention provides an elevator door control method and system that can detect obstacles during the elevator door closing process without installing additional detection devices, thereby reducing elevator costs and providing highly reliable detection results.

[0010] To address the above problems, the first aspect of the present invention provides an elevator door control method, comprising:

[0011] Real-time acquisition of elevator door motor current signals;

[0012] Data processing is performed on the gate motor current signal to obtain the ripple frequency and ripple amplitude of the gate motor current;

[0013] Determine whether the current ripple frequency and ripple amplitude meet the preset reopening conditions. If they do, it is assumed that there is an obstacle during the elevator closing process, and the elevator is controlled to reopen.

[0014] Furthermore, the data processing of the door motor current signal to obtain the ripple frequency and ripple amplitude of the door motor current includes:

[0015] Filter the DC component in the current signal;

[0016] The frequency domain is obtained by performing a fast Fourier transform on the current signal after filtering the DC component.

[0017] Calculate the frequency resolution and frequency axis based on the frequency domain.

[0018] Calculate the ripple frequency and ripple amplitude based on the frequency domain and frequency resolution.

[0019] Furthermore, it also includes:

[0020] Record the ripple frequency and ripple amplitude during normal elevator operation, and generate standard ripple frequency curves and standard ripple amplitude curves respectively.

[0021] Furthermore, the step of determining whether the current ripple frequency and ripple amplitude meet the preset reopening conditions, and if they do, assuming there is an obstacle during the elevator door closing process, and controlling the elevator to reopen, includes:

[0022] At each time interval, obtain the current ripple frequency and ripple amplitude;

[0023] Obtain the standard ripple frequency at the same time interval from the standard ripple frequency curve, and obtain the standard ripple amplitude at the same time interval from the standard ripple amplitude curve.

[0024] Compare the current ripple frequency with the standard ripple frequency and calculate the ripple frequency decay rate;

[0025] Compare the current ripple amplitude with the standard ripple amplitude, and calculate the ripple amplitude rise rate;

[0026] Determine whether the ripple frequency decrease rate exceeds the preset decrease rate threshold and whether the ripple amplitude increase rate exceeds the preset increase rate threshold. If both the ripple frequency decrease rate and the ripple amplitude increase rate exceed the corresponding preset thresholds, it is considered that there is an obstacle during the elevator door closing process, and the elevator is controlled to reopen.

[0027] Furthermore, the step of determining whether the current ripple frequency and ripple amplitude meet the preset reopening conditions, and if they do, assuming there is an obstacle during the elevator door closing process and controlling the elevator to reopen, further includes:

[0028] Determine whether the ripple frequency decrease rate exceeds a preset decrease rate threshold and the ripple amplitude increase rate exceeds a preset increase rate threshold within a preset multiple consecutive sampling periods. If both the ripple frequency decrease rate and the ripple amplitude increase rate exceed the corresponding preset thresholds within the preset multiple consecutive sampling periods, it is considered that there is an obstacle during the elevator door closing process, and the elevator door is controlled to reopen.

[0029] A second aspect of the present invention provides an elevator door control system for implementing the above-described elevator door control method, comprising:

[0030] The current acquisition module is used to acquire the real-time operating current of the elevator door motor and to filter, amplify, and perform analog-to-digital conversion on the raw operating current signal.

[0031] The door operator control module is used to perform ripple characteristic analysis on the current signal to determine whether there is an obstacle during the elevator door closing process. If there is an obstacle, it sends an elevator door reopening signal.

[0032] The motor drive module is used to drive the motor to run in reverse according to the elevator reopening signal, so as to reopen the elevator door.

[0033] Furthermore, the gantry crane control module includes:

[0034] The ripple characteristic analysis unit is used to process the gate motor current signal to obtain the ripple frequency and ripple amplitude of the gate motor current.

[0035] The judgment unit is used to determine whether the current ripple frequency and ripple amplitude meet the preset reopening conditions. If the preset reopening conditions are met, it is assumed that there is an obstacle during the elevator door closing process, and an elevator reopening signal is sent.

[0036] A third aspect of the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method described above.

[0037] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method described above.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] This invention discloses an elevator door control method and system. The elevator door control method includes real-time acquisition of elevator door motor current signals; data processing of the door motor current signals to obtain the ripple frequency and ripple amplitude of the door motor current; determining whether the current ripple frequency and ripple amplitude meet preset reopening conditions; if they meet the preset reopening conditions, it is assumed that an obstacle exists during the elevator door closing process, and the elevator is controlled to reopen. By analyzing the current ripple of the elevator door motor to detect whether an obstacle is encountered during the elevator door closing process, no additional detection components are needed, reducing elevator costs; and the detection effect is highly reliable, unaffected by environmental factors such as strong light, dust, or fog. Attached Figure Description

[0040] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, wherein:

[0041] Figure 1 This is a flowchart of the elevator door control method described in Example 1;

[0042] Figure 2 This is a flowchart of step S3 of the elevator door control method described in Example 1;

[0043] Figure 3 This is a structural diagram of the elevator door control system described in Example 2;

[0044] Figure 4 This is a schematic diagram of the electronic device described in Example 3;

[0045] Labeling descriptions: 100, Current acquisition module; 200, Door operator control module; 210, Ripple characteristic analysis unit; 220, Judgment unit; 300, Motor drive module. Detailed Implementation

[0046] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0047] Example 1

[0048] This embodiment discloses an elevator door control method, such as... Figure 1 ,include:

[0049] S1. Real-time acquisition of elevator door motor current signal.

[0050] Specifically, after S1 acquires the elevator door motor current signal in real time, it also includes the following steps:

[0051] The collected elevator door motor current signal is filtered, amplified, and converted from analog to digital.

[0052] S2. Perform data processing on the gate motor current signal to obtain the ripple frequency and ripple amplitude of the gate motor current.

[0053] In this embodiment, step S2 performs data processing on the door motor current signal to obtain the ripple frequency and ripple amplitude of the door motor current, including:

[0054] The DC component in the current signal is filtered out. The current acquisition follows the Nyquist sampling theorem, with a sampling frequency f. s The highest frequency f in the current signal is greater than or equal to max Twice that of the sampling point N, where N is the number of sampling points. Current signals generally contain DC and AC ripple components. To analyze ripple data more accurately, this application filters out the DC component: calculating the average value of the current signal... Subtract the average value from the original current signal i[n] Obtain the current signal i after removing the DC component. ac [n]:

[0055]

[0056] Where n is the sequence number of the discrete data sampling point.

[0057] For the current signal i after filtering the DC component ac [n] is subjected to Fast Fourier Transform (FFT) to obtain the frequency domain I[k]:

[0058]

[0059] Where k = 0, 1, 2, ..., N-1.

[0060] Calculate the frequency resolution and frequency axis based on the frequency domain I[k]: The frequency resolution Δf represents the interval between two adjacent frequency points in the frequency domain.

[0061]

[0062] Frequency axis f[k]:

[0063] f[k]=kΔf

[0064] Where k = 0, 1, 2, ..., N-1.

[0065] Based on the frequency domain and frequency resolution, calculate the ripple frequency and ripple amplitude: obtain the frequency point k corresponding to the maximum value in the absolute value |I[k]| excluding the DC component (k=0). max The frequency corresponding to this frequency point is the dominant frequency f of the ripple. main :

[0066] f main =k max Δf

[0067] Ripple amplitude A ripple Through the |I[k] corresponding to the main frequency max The result is calculated as follows: Since the FFT result is a two-sided spectrum, the amplitude of the one-sided spectrum is |I[k] max | represents the bilateral spectral amplitude A ripple Divide by N / 2, then:

[0068]

[0069] In this embodiment, the ripple frequency and ripple amplitude during normal elevator operation are recorded, and standard ripple frequency curves and standard ripple amplitude curves are generated respectively to compare real-time data and identify anomalies.

[0070] When collecting elevator door motor current signals, mark the opening and closing times. For example, when the elevator door opens or closes, record the sampling point number corresponding to the current signal.

[0071] Based on the marked door opening and closing times, the current signal is divided into the door opening stage, door closing stage, and normal operation stage (non-door opening and closing stage). For each stage, the ripple frequency and ripple amplitude of the corresponding current signal are obtained.

[0072] Plot the curve of ripple frequency changing with time during the opening and closing of the door, with time (sampling point number) as the x-axis and ripple frequency as the y-axis; plot the curve of ripple amplitude changing with time during the opening and closing of the door, with time (sampling point number) as the x-axis and ripple amplitude as the y-axis.

[0073] S3. Determine whether the current ripple frequency and ripple amplitude meet the preset reopening conditions. If they meet the preset reopening conditions, it is assumed that there is an obstacle during the elevator closing process, and the elevator is controlled to reopen.

[0074] In this embodiment, as Figure 2 S3 determines whether the current ripple frequency and ripple amplitude meet the preset reopening conditions. If the preset reopening conditions are met, it is assumed that there is an obstacle during the elevator door closing process, and the elevator is controlled to reopen, including:

[0075] At each time interval, obtain the current ripple frequency f. ripple (t) and ripple amplitude A ripple (t).

[0076] Obtain the standard ripple frequency f at the same time interval from the standard ripple frequency curve. n (t), obtain the standard ripple amplitude A at the same time interval from the standard ripple amplitude curve. n (t).

[0077] Compare the current ripple frequency fripple (t) and standard ripple frequency f n (t), calculate the ripple frequency decay rate R f :

[0078]

[0079] Compare the current ripple amplitude A ripple (t) and standard ripple amplitude A n (t), calculate the ripple amplitude rise rate R A :

[0080]

[0081] Determine the ripple frequency descent rate R f Does it exceed the preset decline rate threshold R? fN And the rate of increase of ripple amplitude R A Does it exceed the preset rise rate threshold R? AN If the ripple frequency decrease rate R f Rise rate of increase R A All exceeded the corresponding preset threshold R fN R AN The system assumes there is an obstacle during the elevator door closing process, drives the elevator door motor to rotate in the opposite direction, and controls the elevator to reopen the door.

[0082] In this embodiment, step S3, which determines whether the current ripple frequency and ripple amplitude meet the preset reopening conditions, and if they do, assumes there is an obstacle during the elevator door closing process and controls the elevator to reopen, further includes:

[0083] To avoid false triggering, the ripple frequency decrease rate R is determined within a preset m consecutive sampling periods (e.g., within 20ms). f Does it exceed the preset decline rate threshold R? fN And the rate of increase of ripple amplitude R A Does it exceed the preset rise rate threshold R? AN If the ripple frequency decreases by R within a preset m consecutive sampling periods f Rise rate of increase R A All exceeded the corresponding preset threshold R fN R AN They believed there was an obstacle during the elevator door closing process and controlled the elevator to reopen the door.

[0084] This invention compares the current ripple frequency with the standard ripple frequency and the current ripple amplitude with the standard ripple amplitude in real time. It determines the relationship between the ripple frequency decrease rate and a preset decrease rate threshold, and the ripple amplitude increase rate and a preset increase rate threshold, to identify whether an obstacle is encountered during the elevator door closing process. When an obstacle is encountered during elevator door opening / closing, the load on the elevator door motor suddenly increases, causing a change in the motor current ripple characteristics. At this time, the ripple frequency decreases and the ripple amplitude increases. Therefore, if both the ripple frequency decrease rate and the ripple amplitude increase rate exceed their corresponding preset thresholds, it is considered that an obstacle exists during the elevator door closing process. The current door closing action is stopped, the elevator door motor is driven to rotate in the opposite direction, and the elevator is controlled to reopen the door. The elevator door control method provided by this invention can achieve the elevator anti-pinch function without adding additional detection components, and is unaffected by environmental factors such as strong light and dust. It has low elevator cost, and the detection results are not affected by the wear and tear of the detection components, resulting in high reliability.

[0085] Example 2

[0086] Based on the same inventive concept, this embodiment discloses an elevator door control system for implementing the elevator door control method described in Embodiment 1. The solution provided by this control system is similar to the solution described in the above method. Therefore, the specific limitations of one or more elevator door control system embodiments provided below can be found in the limitations of the elevator door control method above, and will not be repeated here.

[0087] like Figure 3 The elevator door control system includes a current acquisition module 100, a door operator control module 200, and a motor drive module 300. The current acquisition module 100 is used to acquire the real-time operating current of the elevator door motor and to filter, amplify, and perform analog-to-digital conversion on the original operating current signal. The door operator control module 200 is used to perform ripple characteristic analysis on the current signal to determine whether there is an obstacle during the elevator door closing process. If there is an obstacle, an elevator reopening signal is sent. The motor drive module 300 is used to drive the motor to rotate in reverse according to the elevator reopening signal to reopen the elevator door.

[0088] In this embodiment, the door operator control module 200 includes a ripple feature analysis unit 210 and a judgment unit 220. The ripple feature analysis unit 210 is used to process the door motor current signal to obtain the ripple frequency and ripple amplitude of the door motor current. The judgment unit 220 is used to determine whether the current ripple frequency and ripple amplitude meet the preset reopening conditions. If the preset reopening conditions are met, it is considered that there is an obstacle during the elevator door closing process, and an elevator reopening signal is sent.

[0089] The various modules in the aforementioned elevator door control system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the electronic device in hardware form or independent of it, or stored in the memory of the electronic device in software form, so that the processor can call and execute the corresponding operations of each module.

[0090] Example 3

[0091] This embodiment discloses an electronic device, which can be a server or terminal of an integrated scheduler, and its internal structure diagram can be as follows. Figure 4 As shown, the electronic device includes a processor, memory, and network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements the elevator door control method described in Embodiment 1.

[0092] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0093] In this embodiment, an electronic device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0094] Real-time acquisition of elevator door motor current signals;

[0095] Data processing is performed on the gate motor current signal to obtain the ripple frequency and ripple amplitude of the gate motor current;

[0096] Determine whether the current ripple frequency and ripple amplitude meet the preset reopening conditions. If they do, it is assumed that there is an obstacle during the elevator closing process, and the elevator is controlled to reopen.

[0097] In this embodiment, when the processor executes the computer program, it also performs the following steps:

[0098] Filter the DC component in the current signal;

[0099] The frequency domain is obtained by performing a fast Fourier transform on the current signal after filtering the DC component.

[0100] Calculate the frequency resolution and frequency axis based on the frequency domain.

[0101] Calculate the ripple frequency and ripple amplitude based on the frequency domain and frequency resolution.

[0102] In this embodiment, when the processor executes the computer program, it also performs the following steps:

[0103] Record the ripple frequency and ripple amplitude during normal elevator operation, and generate standard ripple frequency curves and standard ripple amplitude curves respectively.

[0104] In this embodiment, when the processor executes the computer program, it also performs the following steps:

[0105] At each time interval, obtain the current ripple frequency and ripple amplitude;

[0106] Obtain the standard ripple frequency at the same time interval from the standard ripple frequency curve, and obtain the standard ripple amplitude at the same time interval from the standard ripple amplitude curve.

[0107] Compare the current ripple frequency with the standard ripple frequency and calculate the ripple frequency decay rate;

[0108] Compare the current ripple amplitude with the standard ripple amplitude, and calculate the ripple amplitude rise rate;

[0109] Determine whether the ripple frequency decrease rate exceeds the preset decrease rate threshold and whether the ripple amplitude increase rate exceeds the preset increase rate threshold. If both the ripple frequency decrease rate and the ripple amplitude increase rate exceed the corresponding preset thresholds, it is considered that there is an obstacle during the elevator door closing process, and the elevator is controlled to reopen.

[0110] In this embodiment, when the processor executes the computer program, it also performs the following steps:

[0111] Determine whether the ripple frequency decrease rate exceeds a preset decrease rate threshold and the ripple amplitude increase rate exceeds a preset increase rate threshold within a preset multiple consecutive sampling periods. If both the ripple frequency decrease rate and the ripple amplitude increase rate exceed the corresponding preset thresholds within the preset multiple consecutive sampling periods, it is considered that there is an obstacle during the elevator door closing process, and the elevator door is controlled to reopen.

[0112] Example 4

[0113] This embodiment discloses a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, performs the following steps:

[0114] Real-time acquisition of elevator door motor current signals;

[0115] Data processing is performed on the gate motor current signal to obtain the ripple frequency and ripple amplitude of the gate motor current;

[0116] Determine whether the current ripple frequency and ripple amplitude meet the preset reopening conditions. If they do, it is assumed that there is an obstacle during the elevator closing process, and the elevator is controlled to reopen.

[0117] In this embodiment, when the computer program is executed by the processor, it also performs the following steps:

[0118] Filter the DC component in the current signal;

[0119] The frequency domain is obtained by performing a fast Fourier transform on the current signal after filtering the DC component.

[0120] Calculate the frequency resolution and frequency axis based on the frequency domain.

[0121] Calculate the ripple frequency and ripple amplitude based on the frequency domain and frequency resolution.

[0122] In this embodiment, when the computer program is executed by the processor, it also performs the following steps:

[0123] Record the ripple frequency and ripple amplitude during normal elevator operation, and generate standard ripple frequency curves and standard ripple amplitude curves respectively.

[0124] In this embodiment, when the computer program is executed by the processor, it also performs the following steps:

[0125] At each time interval, obtain the current ripple frequency and ripple amplitude;

[0126] Obtain the standard ripple frequency at the same time interval from the standard ripple frequency curve, and obtain the standard ripple amplitude at the same time interval from the standard ripple amplitude curve.

[0127] Compare the current ripple frequency with the standard ripple frequency and calculate the ripple frequency decay rate;

[0128] Compare the current ripple amplitude with the standard ripple amplitude, and calculate the ripple amplitude rise rate;

[0129] Determine whether the ripple frequency decrease rate exceeds the preset decrease rate threshold and whether the ripple amplitude increase rate exceeds the preset increase rate threshold. If both the ripple frequency decrease rate and the ripple amplitude increase rate exceed the corresponding preset thresholds, it is considered that there is an obstacle during the elevator door closing process, and the elevator is controlled to reopen.

[0130] In this embodiment, when the computer program is executed by the processor, it also performs the following steps:

[0131] Determine whether the ripple frequency decrease rate exceeds a preset decrease rate threshold and the ripple amplitude increase rate exceeds a preset increase rate threshold within a preset multiple consecutive sampling periods. If both the ripple frequency decrease rate and the ripple amplitude increase rate exceed the corresponding preset thresholds within the preset multiple consecutive sampling periods, it is considered that there is an obstacle during the elevator door closing process, and the elevator door is controlled to reopen.

[0132] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0133] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered to be within the scope of this specification.

[0134] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

[0135] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. An elevator door control method, characterized by, include: Real-time acquisition of elevator door motor current signals; Data processing is performed on the gate motor current signal to obtain the ripple frequency and ripple amplitude of the gate motor current; Record the ripple frequency and ripple amplitude during normal elevator operation, and generate standard ripple frequency curve and standard ripple amplitude curve respectively; Determine whether the current ripple frequency and ripple amplitude meet the preset reopening conditions. If they do, it is assumed that there is an obstacle during the elevator closing process, and the elevator is controlled to reopen. The data processing of the gate motor current signal to obtain the ripple frequency and ripple amplitude of the gate motor current includes: Filter the DC component in the current signal; The frequency domain is obtained by performing a fast Fourier transform on the current signal after filtering the DC component. Calculate the frequency resolution and frequency axis based on the frequency domain. Calculate the ripple frequency and ripple amplitude based on the frequency domain and frequency resolution; The step of determining whether the current ripple frequency and ripple amplitude meet the preset reopening conditions, and if they do, assuming there is an obstacle during the elevator door closing process, and controlling the elevator to reopen, includes: At each time interval, obtain the current ripple frequency and ripple amplitude; Obtain the standard ripple frequency at the same time interval from the standard ripple frequency curve, and obtain the standard ripple amplitude at the same time interval from the standard ripple amplitude curve. Compare the current ripple frequency with the standard ripple frequency and calculate the ripple frequency decay rate; Compare the current ripple amplitude with the standard ripple amplitude, and calculate the ripple amplitude rise rate; Determine whether the ripple frequency decrease rate exceeds the preset decrease rate threshold and whether the ripple amplitude increase rate exceeds the preset increase rate threshold. If both the ripple frequency decrease rate and the ripple amplitude increase rate exceed the corresponding preset thresholds, it is considered that there is an obstacle during the elevator door closing process, and the elevator door is controlled to reopen. The step of determining whether the current ripple frequency and ripple amplitude meet the preset reopening conditions, and if they do, assuming there is an obstacle during the elevator door closing process and controlling the elevator to reopen, further includes: Determine whether the ripple frequency decrease rate exceeds a preset decrease rate threshold and the ripple amplitude increase rate exceeds a preset increase rate threshold within a preset multiple consecutive sampling periods. If both the ripple frequency decrease rate and the ripple amplitude increase rate exceed the corresponding preset thresholds within the preset multiple consecutive sampling periods, it is considered that there is an obstacle during the elevator door closing process, and the elevator door is controlled to reopen.

2. An elevator door control system for implementing the elevator door control method according to claim 1, characterized by include: The current acquisition module is used to acquire the real-time operating current of the elevator door motor and to filter, amplify, and perform analog-to-digital conversion on the raw operating current signal. The door operator control module is used to perform ripple characteristic analysis on the current signal to determine whether there is an obstacle during the elevator door closing process. If there is an obstacle, it sends an elevator door reopening signal. The motor drive module is used to drive the motor to run in reverse according to the elevator reopening signal, so as to reopen the elevator door.

3. The elevator door control system of claim 2, wherein, The gantry crane control module includes: The ripple characteristic analysis unit is used to process the gate motor current signal to obtain the ripple frequency and ripple amplitude of the gate motor current. The judgment unit is used to determine whether the current ripple frequency and ripple amplitude meet the preset reopening conditions. If the preset reopening conditions are met, it is assumed that there is an obstacle during the elevator door closing process, and an elevator reopening signal is sent.

4. An electronic device comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method of claim 1.

5. A computer-readable storage medium having stored thereon a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method of claim 1.

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