Elevator landing door state detection method and device, equipment and storage medium

Abstract

The invention provides an elevator landing door state detection method and device, equipment and a storage medium, and belongs to the technical field of elevator detection. The elevator landing door state detection system comprises a control device, a plurality of Hall sensors which are arranged above the two sides of an elevator door frame respectively and have the same number as the Hall sensors, and a magnetic coding belt arranged in a groove in the top of an elevator landing door. The method is executed by control equipment and comprises the steps that state information of an elevator landing door lock device is obtained based on door control instruction information; when the state information is in the unlocking state, first detection information corresponding to the two sides of the elevator door frame is obtained on the basis of a plurality of Hall sensors arranged on the sides of the elevator door frame; and detecting the door opening state of the elevator based on the first detection information. According to the elevator landing door state detection method and device, the equipment and the storage medium, the state of the elevator landing door can be comprehensively and accurately detected.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of elevator detection, and more particularly to an elevator landing door state detection method and device, equipment and storage medium. BACKGROUND

[0002] The elevator landing door is a key component for passenger safety, and its state detection is crucial for the safety of elevator operation. The existing landing door state detection mostly uses a single sensor (such as a mechanical limit switch or a photoelectric sensor), which has limited detection dimensions and weak anti-interference ability. The mechanical limit switch is prone to signal lag due to long-term wear, and cannot reflect the door movement state in real time. The photoelectric sensor is easily disturbed by dust and light, and has a high false alarm rate in complex shaft environments. In addition, the traditional method focuses on whether the door is completely opened or closed, and cannot monitor subtle abnormalities such as jamming and deviation during door opening, which may cause safety hazards such as trapping and door blocking, and thus cannot comprehensively and accurately detect the state of the elevator landing door. SUMMARY

[0003] The purpose of the present application is to provide an elevator landing door state detection method and device, equipment and storage medium to comprehensively and accurately detect the state of the elevator landing door.

[0004] In a first aspect, an elevator landing door state detection method is provided, which is applied to an elevator landing door state detection system. The elevator landing door state detection system includes a control device, a plurality of Hall sensors of the same number arranged above both sides of an elevator door frame, and a magnetic encoding belt arranged in a groove at the top of the elevator landing door. The method is executed by the control device and includes the following steps. Based on the door control instruction information, the state information of the elevator landing door lock device is obtained. The door control instruction information is an instruction information for controlling the opening or closing of the elevator landing door after the elevator arrives at a specified floor. The state information includes a locked state and an unlocked state. In response to the state information being in the unlocked state, the first detection information corresponding to each side of the elevator door frame is obtained based on the plurality of Hall sensors arranged on each side of the elevator door frame. The first detection information is information indicating the movement state of the elevator landing door during the opening process of the elevator landing door. The opening state of the elevator is detected based on the first detection information.

[0005] In a second aspect, an elevator landing door state detection device is provided, which is arranged in a control device. The control device is included in an elevator landing door state detection system, which further includes a plurality of Hall sensors of the same number arranged above both sides of an elevator door frame and a magnetic encoding belt arranged in a groove at the top of the elevator landing door. The device includes the following steps. The door lock state detection module is configured to acquire state information of the elevator landing door lock device based on door control instruction information; the door control instruction information is instruction information for controlling the opening or closing of the elevator landing door after the elevator arrives at a specified floor; and the state information includes a locked state and an unlocked state. The information acquisition module is configured to, in response to the state information being the unlocked state, acquire first detection information corresponding to each side of the elevator door frame based on a plurality of Hall sensors arranged on each side of the elevator door frame; and the first detection information is information indicating the movement state of the elevator landing door during the opening of the elevator landing door. The state detection module is configured to detect the opening state of the elevator based on the first detection information.

[0006] In a third aspect, the embodiment of the present application provides a control device, including a memory, a processor, and a computer program stored in the memory and running on the processor, and the processor implements the steps of the elevator landing door state detection method when executing the computer program.

[0007] In a fourth aspect, the embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the elevator landing door state detection method.

[0008] The elevator landing door state detection method and device, the equipment, and the storage medium provided by the embodiment of the present application have the following beneficial effects: the detection process is triggered by the door control instruction, so that the monitoring is started only in the unlocking and opening stage of the landing door, and invalid operation is reduced; the first detection information is captured by means of the plurality of Hall sensors arranged on both sides, so that the speed and the jamming of the landing door are reflected from the time dimension, the opening stroke integrity is verified by the correlation of the plurality of sensors, and the key state parameters in the opening process are comprehensively covered; compared with the traditional single sensor detection, the anti-interference performance of the embodiment is stronger, and the faults such as the jamming, the deviation, and the incomplete opening can be accurately identified, so that the state of the elevator landing door can be comprehensively and accurately detected. BRIEF DESCRIPTION OF DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0010] Figure 1 A schematic diagram of an elevator landing door is provided for an embodiment of the present application. Figure 2 A flowchart of an elevator landing door state detection method is provided for an embodiment of the present application. Figure 3 A schematic diagram of a two-dimensional map of a door-open state is provided for an embodiment of the present application. Figure 4 A structural block diagram of an elevator landing door state detection device is provided for an embodiment of the present application. Figure 5 A schematic block diagram of a control device is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0011] In the following description, for the purpose of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0012] In order to make the objects, technical solutions and advantages of the present application clearer, the following will be described with reference to the accompanying drawings through specific embodiments.

[0013] Reference is made to Figure 1 , Figure 1 A schematic diagram of an elevator landing door is provided for an embodiment of the present application, an elevator landing door state detection method is applied to an elevator landing door state detection system, the elevator landing door state detection system includes a control device, a same number of multiple Hall sensors 101 arranged symmetrically above both sides of an elevator door frame, and a magnetic encoding belt 202 arranged in a groove at the top of the elevator landing door.

[0014] In the present embodiment, a same number of multiple Hall sensors 101 (such as 3-5 on each side, uniformly distributed along the door width direction) are arranged symmetrically above both sides of the elevator door frame. The Hall sensor 101 is used to detect the magnetic field change of the magnetic encoding belt 202 in real time, and outputs first detection information. The dense distribution of multiple sensors can cover the full width of the magnetic encoding belt 202, avoiding missing local magnetic features by a single sensor.

[0015] The magnetic encoding belt 202 is installed in the groove at the top of the elevator landing door and moves synchronously with the landing door (follows the door body when opening / closing). Its surface is distributed with magnets of different magnetic field strengths and magnetic pole directions (such as N / S poles arranged alternately), forming a unique spatial magnetic encoding feature. When the landing door moves, the magnetic features of the magnetic encoding belt 202 will be captured by the Hall sensor 101 as the position changes.

[0016] The control device is used to receive sensor signals, analyze the landing door state, execute detection logic (such as judging whether the door is opened normally), and output control instructions or alarm signals.

[0017] On the basis of the above elevator landing door state detection system, please refer to Figure 2 , Figure 2 The flowchart of an elevator landing door state detection method provided by an embodiment of the present application, the method provided by the embodiment of the present application can be executed by a control device, and includes the following steps. S101: obtaining state information of an elevator landing door lock device based on door control instruction information; the door control instruction information is instruction information for controlling the opening or closing of the elevator landing door after the elevator arrives at a specified floor; the state information includes a locking state and an unlocking state.

[0018] In the embodiment, the door control instruction is a control instruction for opening or closing the elevator landing door issued by an elevator control system (e.g., triggered after a passenger presses a floor and the car arrives at a target floor), which is a starting signal for detecting the opening state of the elevator landing door or detecting the closing state of the elevator landing door.

[0019] The state information of the lock device refers to the state of the landing door locking device. Before the landing door is opened, the locking device is in a locking state (to prevent the door body from being opened accidentally), and after receiving the opening instruction, the locking device performs an unlocking action, and the state is changed to an unlocking state. This state switching is a condition for triggering subsequent detection (only after unlocking, the landing door can be driven to open, and at this time, it is necessary to detect whether the opening process is normal).

[0020] S102: in response to the state information being in the unlocking state, obtaining first detection information corresponding to each side of the elevator door frame based on a plurality of Hall sensors 101 arranged on each side of the elevator door frame; the first detection information is information indicating the movement state of the elevator landing door during the opening process of the elevator landing door.

[0021] In the embodiment, when the control device detects that the state information is changed from the locking state to the unlocking state, the signal acquisition of the landing door opening process is triggered.

[0022] The plurality of Hall sensors 101 on both sides of the elevator door frame start to synchronously record the magnetic field changes of the magnetic coding belt 202, and generate the first detection information. Since the magnetic coding belt 202 moves with the landing door, the spatial distribution of its magnetic characteristics will be converted into a time sequence signal of the sensor (e.g., when a certain magnetic pole passes through the sensor, the signal strength appears a peak value; the time interval of the peak value will change with the moving speed of the coding belt).

[0023] In the embodiment, the first detection information can reflect information of the movement state of the landing door in the door opening process from multiple dimensions. For example, in the time dimension, the signal of a single Hall sensor 101 presents a certain change rule over time, which can reflect the moving speed of the landing door and whether it is stuck, such as uniform speed when the door is normally opened, stable signal peak interval, and if stuck, the interval will suddenly become longer; in the spatial dimension, by comparing the signals of the Hall sensors 101 at the symmetrical positions on both sides at the same time, it can be determined whether the left and right movements of the landing door are symmetrical, and the signal change trends on both sides are consistent when the door is normally opened, and if there is unilateral deviation, the signals on both sides will have obvious deviation; in the multi-sensor correlation aspect, the signal characteristics of multiple Hall sensors 101 on the same side can reflect whether the landing door is completely opened, for example, all sensors detect a complete magnetic code sequence, indicating that the landing door has been opened to the maximum stroke.

[0024] S103: detecting the door opening state of the elevator based on the first detection information.

[0025] In the embodiment, if a certain feature in the first detection information exceeds the preset range (such as unilateral sensor signal interruption, sudden increase in peak interval, and too large deviation between signals on both sides), it is determined that there is a door opening failure (such as door body blockage, track foreign matter, and locking device not completely unlocked), and the control device can trigger an alarm or suspend the door opening action.

[0026] From the above, it can be concluded that the embodiment triggers the detection process with the door control instruction, ensures that the monitoring is started only during the unlocking and opening stage of the landing door, and reduces invalid operations; with the aid of multiple Hall sensors 101 arranged on both sides, the first detection information is captured, the landing door speed and stuck condition are reflected from the time dimension, the multi-sensor correlation verifies the integrity of the door opening stroke, and the key state parameters of the door opening process are comprehensively covered; compared with the traditional single sensor detection, the anti-interference of the embodiment is stronger, and it can accurately identify failures such as stuck, deviation, and incomplete opening, so as to realize comprehensive and accurate detection of the state of the elevator landing door.

[0027] In an embodiment of the present application, for each side of the elevator door frame, based on the multiple Hall sensors 101 arranged on the side, the corresponding first detection information of the side is obtained, including: obtaining the electrical signal corresponding to each Hall sensor 101 based on the time sequence; generating a curve based on the electrical signal; the curve is a voltage amplitude curve with a time sequence output by the Hall sensor 101 during the door opening process of the elevator landing door; fusing the curve corresponding to each Hall sensor 101 on the side respectively to obtain the first detection information corresponding to the side.

[0028] In this embodiment, the output of the Hall sensor 101 is an analog electrical signal, and the amplitude of the signal is proportional to the magnetic field strength. When the layer door is opened, the magnetic code strip 202 moves with the door body, and the magnets on the code strip cause periodic changes in the magnetic field around the sensor, which in turn translates into fluctuations in the voltage amplitude.

[0029] In this embodiment, the change pattern of the voltage sequence directly reflects the motion state of the layer door. For example, when the layer door moves at a constant speed, the time interval between the passage of adjacent magnets through the sensor is equal, and the voltage sequence presents periodic fluctuations. When the layer door is stuck or decelerates, the time interval between the passage of adjacent magnets increases, and the voltage fluctuation period also increases.

[0030] The time sequence electrical signal is mapped to a curve in a two-dimensional coordinate system, with the horizontal axis representing time (in ms) and the vertical axis representing voltage amplitude (in V). This curve can reflect different state information of the elevator layer door during the opening process. For example, it can reflect the position information of the elevator layer door, the extreme points (such as peaks and valleys) of the voltage amplitude correspond to the center positions of the magnets, and the time interval between adjacent extreme points can be converted into the moving distance of the layer door. It can reflect the speed information of the elevator layer door, and the slope (voltage change rate) of the curve is proportional to the moving speed of the layer door, and the sudden change point of the slope may indicate a jam or acceleration. It can reflect the moving direction of the elevator layer door, and the order of the output electrical signals of the Hall sensors 101 can be used to determine whether the door body is opening or closing.

[0031] In this embodiment, multiple Hall sensors 101 are arranged on both sides of the elevator door frame, and each sensor has its corresponding curve. These curves are fused to comprehensively utilize the information of multiple sensors and improve the accuracy and reliability of detection. The fusion method can be to superimpose multiple curves or to process the curve data through a specific algorithm, such as taking the average or weighted average. Through fusion, the state of the layer door can be more comprehensively understood, such as determining whether the layer door is skewed. If the curves of the Hall sensors 101 on both sides are significantly different, it indicates that the layer door is skewed to one side during opening, and if the curves are basically the same, it indicates that the layer door is normally opened, and the first detection information after fusion is obtained.

[0032] From the above, it can be seen that the present embodiment collects the electrical signals of the Hall sensors 101 in time sequence and generates voltage amplitude curves, and then fuses the curves of multiple sensors on the same side to obtain the first detection information. This can comprehensively capture the timing characteristics and spatial state of the layer door opening, improve the detection integrity and accuracy, reduce false judgments caused by the limitations of a single sensor, and enhance the recognition ability of abnormalities such as jamming and skewing.

[0033] In one embodiment of the present application, the curves corresponding to each Hall sensor 101 on the same side are fused to obtain the corresponding first detection information on the same side, including: Feature extraction is performed on the curve corresponding to each Hall sensor 101 on the side to obtain a frequency feature vector corresponding to the Hall sensor 101; Based on the frequency feature vectors corresponding to each Hall sensor 101 on the side, the phase difference sequence between the frequency feature vectors corresponding to adjacent Hall sensors 101 on the side is determined. The phase difference sequences corresponding to the elevator door frame on the side are fused to obtain an opening state two-dimensional atlas corresponding to the opening process of the elevator door, and the opening state two-dimensional atlas is taken as the first detection information.

[0034] In this embodiment, the time-domain voltage amplitude curve V(t) of each Hall sensor 101 is subjected to Fourier transform to decompose it into superposition of different frequency components to obtain a frequency spectrum S(f). The amplitude and phase of each frequency component in the frequency spectrum S(f) constitute a frequency feature vector , wherein: i represents the amplitude of the frequency f i component, reflecting the strength of the frequency signal; represents the phase of the frequency f i component, reflecting the time offset of the signal, i = 1, 2,..., n.

[0035] The fundamental frequency component (corresponding to the magnet passing frequency) in the frequency spectrum is directly related to the door speed (e.g., the faster the speed, the higher the fundamental frequency); the high frequency component (e.g., above 100 Hz) can represent the harmonics generated by door vibration or blocking.

[0036] In this embodiment, the frequency feature vectors F i and F i+1 of the adjacent two Hall sensors 101 on the same side are calculated to obtain the phase difference of the corresponding frequency components: ; , wherein: represents the phase difference value of the i-th and i+1-th adjacent Hall sensors 101 on the same side elevator door frame at the frequency f k , represents the phase value of the output signal of the i-th Hall sensor 101 at the frequency f k , represents the phase value of the output signal of the i+1-th Hall sensor 101 at the frequency f k , represents the k-th frequency component contained in the output electrical signal of the Hall sensor 101.

[0037] In this embodiment, this calculation is repeated for all frequency components to obtain a set of phase differences between adjacent sensors at each frequency. These phase differences are arranged in time sequence to form a phase difference sequence This reflects the time difference between adjacent sensors detecting the same magnetic feature.

[0038] Under normal circumstances, the phase difference between adjacent sensors should conform to the design rules of magnetic coding band 202 (such as the fixed phase difference caused by equally spaced magnets). If the phase difference suddenly increases at a certain moment, it indicates that the door is stuck near that position, resulting in a longer magnetic feature passage time; the symmetry of the phase difference sequence of the two sides of the sensor can reflect whether the door is offset to the left or right (if the phase difference sequence on the left side fluctuates significantly, it indicates that there is a blockage in the left guide rail).

[0039] The phase difference sequences of all adjacent sensors on the same side are arranged into a matrix, with the horizontal axis representing time (corresponding to the door opening process) and the vertical axis representing the sensor pair number (e.g., sensor pair 1-2, sensor pair 2-3). The matrix element values ​​are the phase difference values ​​at the corresponding moments, forming a two-dimensional map of the door opening state. This two-dimensional map can intuitively display the temporal relationship changes of each position during the door opening process.

[0040] like Figure 3 As shown, this graph uses three Hall sensors 101 on each side as an example (e.g., Hall sensors 101 on one side are S1, S2, and S3). It's a two-dimensional graph for any side, with the horizontal axis representing time (seconds) and the vertical axis representing phase difference (degrees). The solid lines represent the phase difference changes between sensors S1-S2 and S2-S3 when the elevator door opens normally (at a constant speed), steadily increasing over time, reflecting the regularity of magnetic field changes under constant door movement. The dashed lines represent the phase difference of the corresponding sensors during abnormal opening (2-3 seconds of pause). The pause disrupts the rhythm of magnetic field changes within 2-3 seconds, causing abnormal fluctuations in the phase difference. The marked areas clearly show the pause period, visually presenting the difference between normal and abnormal door opening processes.

[0041] As can be seen from the above, this embodiment, through frequency domain analysis, can more accurately capture the periodicity and regularity of door movement, and the phase difference sequence can represent the temporal correlation between sensors. Compared with directly judging by voltage amplitude, it avoids the problem that amplitude is easily affected by interference (such as magnetic field fluctuations and sensor deviations), and mines more stable features from the frequency domain and phase dimensions, improving the accuracy of anomaly identification. The two-dimensional map can also intuitively present the entire process of door opening, helping to quickly locate faults such as jamming and displacement, and enhancing the reliability and comprehensiveness of detection.

[0042] In one embodiment of this application, for each side of the elevator door frame, the opening state of the elevator is detected based on first detection information, including: Calculate the first cosine similarity between the two-dimensional map of the door opening state and the standard two-dimensional map of the door opening state; the standard two-dimensional map of the door opening state is the phase map when the elevator door is normally open. The elevator door opening status is detected based on the first cosine similarity.

[0043] In the embodiment, the door opening state two-dimensional atlas (horizontal axis: time; vertical axis: sensor pair number; value: phase difference) is expanded into a one-dimensional vector X by row or column, and the standard two-dimensional atlas is expanded into a one-dimensional vector Y in the same way. For example, when there are 3 sensors on each side, 2 phase difference sequences (S1-S2, S2-S3) are generated, and if the collection time is divided into T time points, the atlas can be expanded into a vector with a length of 2*T.

[0044] The embodiment can calibrate the similarity range of normal door opening through a large amount of experimental data, set a first similarity threshold, and the setting of the first similarity threshold can consider the fault tolerance to allow slight installation errors or small fluctuations caused by environmental interference.

[0045] The embodiment evaluates the similarity by calculating the cosine of the angle between the two vectors: Similarity= ; wherein m represents the number of data points, represents the value corresponding to the i-th position after the door opening state two-dimensional atlas is expanded into a one-dimensional vector, represents the value corresponding to the i-th position after the normal door opening standard two-dimensional atlas is expanded into a one-dimensional vector.

[0046] The closer the similarity value is to 1, the more consistent the phase difference change trend of the two atlases is (i.e., the closer the door movement state is to normal); the closer it is to 0, the greater the atlas difference is. When the similarity of the real-time atlas and the standard atlas is lower than the threshold, it is determined that there is a fault. For example: rail jamming (abnormal phase difference sequence of a specific period, causing local feature distortion of the atlas, reducing the overall similarity) or door body offset (symmetry of the two sides of the sensor phase difference is destroyed, making the overall pattern of the atlas deviate from the standard).

[0047] For example, assuming that the phase difference of the S1-S2 sensor pair in the standard two-dimensional atlas should be 135° at 2 seconds (corresponding to normal door speed), and the real-time two-dimensional atlas shows that the phase difference at this time is 150° (abnormal door speed), then this position shows local deviation in the atlas, causing the overall cosine similarity to decrease. By comparing such deviations, real-time monitoring of the door state is realized.

[0048] From the above, it can be seen that the embodiment can accurately evaluate the door running state in a quantitative manner by calculating the first cosine similarity between the door opening state two-dimensional atlas and the standard atlas. Compared with the traditional threshold judgment, the cosine similarity is more sensitive to the overall features of the atlas and can capture slight abnormalities; combined with the dynamic threshold mechanism, it not only maintains the anti-interference ability, but also can timely warn the rail jamming, door body offset and other faults, and improves the detection reliability and fault prediction ability.

[0049] In an embodiment of the present application, the frequency feature vector includes a plurality of feature values; Based on the frequency feature vector corresponding to each Hall sensor 101 on the side, the phase difference sequence between the frequency feature vectors corresponding to the adjacent Hall sensors 101 on the side is determined, including: The frequency matching degree between the plurality of characteristic values of each frequency feature vector on the side and the plurality of characteristic values of the preset frequency feature vector is calculated respectively; the preset frequency feature vector is obtained by collecting the electrical signal output by the Hall sensor 101 when the elevator landing door is in a normal running state without electromagnetic interference, and performing feature extraction on the electrical signal; The characteristic values corresponding to the frequency feature vectors with a frequency matching degree less than the matching degree threshold are filtered out to obtain a new frequency feature vector; Based on the new frequency feature vector, the phase difference sequence of the adjacent Hall sensors 101 on each side of the elevator door frame is obtained.

[0050] In this embodiment, the frequency feature vector contains a plurality of characteristic values, each characteristic value corresponding to a specific frequency component of the magnetic field change of the magnetic coding belt 202 (such as amplitude and phase information at different frequencies). The preset frequency feature vector also contains a plurality of characteristic values, which are a set of reference characteristic values obtained by collecting the electrical signal by the Hall sensor 101 in a normal running state of the elevator landing door without electromagnetic interference, and performing feature extraction (such as Fourier transform) on the electrical signal, reflecting the inherent law of each frequency component (such as the amplitude range and phase relationship of a specific frequency) in normal motion.

[0051] The frequency feature vector is in real-time detection, and the specific parameters (such as the amplitude and phase of the 10Hz component, the amplitude and phase of the 20Hz component, etc.) corresponding to each frequency component are obtained by performing feature extraction on the electrical signal output by a single Hall sensor 101 on one side of the elevator door frame.

[0052] The calculation of the frequency matching degree needs to be performed separately for each characteristic value, and the consistency (such as amplitude deviation rate and phase difference range) between each characteristic value (corresponding to the parameters of a certain frequency component) in the real-time frequency feature vector and the characteristic value of the same frequency component in the preset frequency feature vector is calculated to obtain the frequency matching degree of a single characteristic value. For example, for the 10Hz component, if the real-time amplitude is 5V and the preset amplitude is 4.8-5.2V, then the characteristic value matching degree is high; if the real-time amplitude is 8V, which is far beyond the preset range, then the matching degree is low.

[0053] In this embodiment, the matching degree threshold can be calibrated based on a large amount of normal running data to distinguish whether a single characteristic value is a valid signal. When the frequency matching degree of a certain characteristic value is less than the threshold, it is determined that the characteristic value is an abnormal signal introduced by electromagnetic interference (such as a 200Hz high-frequency component amplitude anomaly caused by motor noise), and only the characteristic value is removed from the frequency feature vector, and the other characteristic values with a matching degree meeting the standard are retained.

[0054] For example, the base frequency 10 Hz and the second harmonic 20 Hz of the normal operation magnetic encoding band 202 are effective characteristic values. If the matching degree of the 10 Hz characteristic value meets the standard and the matching degree of the 20 Hz characteristic value is insufficient due to interference in real-time detection, only the 20 Hz characteristic value is filtered out, and the 10 Hz characteristic value and other effective characteristic values are retained to form a new frequency characteristic vector.

[0055] After the new frequency characteristic vector is screened by a single characteristic value, only the characteristic values with a matching degree meeting the standard in each frequency component are retained, and the magnetic field law of the real movement of the layer door is more accurately reflected. Based on this, when calculating the phase difference sequence of the adjacent Hall sensors 101, each phase difference is derived from the effective characteristic value, avoiding the interference of a single abnormal characteristic value on the overall sequence, so that the phase difference sequence can more accurately reflect the movement state of the layer door (such as the time point and position of the jam and deviation).

[0056] From the above, it can be seen that, by screening the matching degree of a single characteristic value in the frequency characteristic vector, the embodiment realizes more refined interference removal, removes only abnormal characteristic values and retains effective characteristic values, and avoids the loss of effective information that may be caused by overall vector screening. This way of processing each characteristic value further improves the purity of the frequency characteristic vector, makes the calculation of the subsequent phase difference sequence more reliable, and finally enhances the accuracy and anti-interference ability of the layer door state detection.

[0057] In an embodiment of the present application, the method further comprises: respectively acquiring second detection information of two target Hall sensors a1 above the two sides of the elevator door frame near the middle position of the elevator door; the second detection information is detection information corresponding to the closed state of the elevator door; For each target Hall sensor a1, in response to the state information changing from the unlocked state to the locked state, calculating a second cosine similarity between the second detection information and the preset detection information; the preset detection information is detection information corresponding to the normal closing of the elevator door after the state information changes from the unlocked state to the locked state; In response to the second cosine similarity being less than the first similarity threshold, generating an alarm signal of the elevator door closing failure.

[0058] In the embodiment, two target Hall sensors a1 (one on each side, symmetrically distributed at the corresponding position of the middle of the door) are selected above the two sides of the elevator door frame near the middle of the door. The electrical signals output by the two target Hall sensors a1 can respectively reflect the alignment state after closing from both sides, improving the detection redundancy.

[0059] The second detection information is the magnetic field amplitude signals output by the two target Hall sensors a1 in the closed state of the layer door. The essence is that when the magnetic coding belt 202 is completely closed, the voltage amplitude corresponding to the magnetic field strength generated by the magnet on the two target Hall sensors a1 reflects the matching degree of the final position of the two sides of the layer door after closing and the magnetic characteristics.

[0060] For example, when normally closed, both target Hall sensors a1 detect the preset amplitude peak value; if one side is not closed to the position (such as left door body offset), the left target sensor amplitude is significantly lower, and the right side still maintains the normal peak value, and the fault position can be located through one-side abnormality.

[0061] In this embodiment, during the closing of the layer door, the lock device is first kept in an unlocked state, and after the layer door is completely closed, the lock device performs a locking action (the state changes from unlocked to locked). The detection of the final closed state is triggered. The state switching of the lock device is used as a trigger signal to ensure that the detection occurs after the layer door is completely closed and the locking is completed, thereby avoiding misjudgment during the closing of the door (such as the intermediate state when the door body has not reached the position).

[0062] In this embodiment, the preset detection information is the standard amplitude signal output by the two target Hall sensors a1 near the middle part of the layer door on the top of the two sides of the elevator door frame after the layer door is normally closed and locked. It is calibrated by a large number of normal closing data, and contains the voltage amplitude range corresponding to the magnetic characteristics in the middle part of the magnetic coding belt 202 when the layer door is completely closed.

[0063] The amplitude signal (such as voltage value sequence or key feature point amplitude) output by the two target Hall sensors a1 near the middle part of the layer door on the top of the two sides of the elevator door frame after the layer door is closed is converted into a one-dimensional vector, and the preset detection information is also converted into a one-dimensional vector. Then the cosine similarity is used to calculate the cosine value of the included angle of the two vectors to evaluate the consistency of the real-time amplitude and the standard amplitude. The closer the similarity is to 1, the higher the matching degree of the waveform, peak position, and intensity of the real-time amplitude and the standard amplitude, and the layer door is closed to the position; the lower the similarity (less than the first similarity threshold), the more significant the amplitude deviation (such as missing peak value, insufficient intensity), indicating that the layer door is not completely closed (such as door body offset, magnetic coding belt 202 not aligned due to jamming).

[0064] In this embodiment, when the second cosine similarity is less than the threshold, it is determined that the completely closed state of the layer door is abnormal, and the control device can generate a door closing fault alarm signal to trigger subsequent processing (such as re-closing, stopping for maintenance).

[0065] From the above, it can be concluded that the embodiment acquires the closing state information of the two target Hall sensors a1 in the middle of the door frame on both sides, combines the lock device state switching, and uses cosine similarity comparison to judge whether the door is completely closed. Focusing on the key position and locking time, the final state of closing the door is accurately detected, redundant calculation is reduced, faults such as the door not being closed tightly can be effectively identified, the safety of elevator operation is improved, a closed-loop detection of the opening and closing state of the door is formed, and the reliability is enhanced.

[0066] In an embodiment of the present application, second detection information of two target Hall sensors a1 above the elevator door frame on both sides near the middle of the elevator door is acquired respectively, including: calculating the phase difference between the output signals of the two target Hall sensors a1; obtaining the second detection information based on the phase difference.

[0067] In the embodiment, the two target Hall sensors a1 above the elevator door frame on both sides near the middle of the door will output different electrical signals due to the position accuracy when the door is closed (such as whether it is aligned, whether there is an offset). Since the two target Hall sensors a1 are symmetrically installed, the phase of their output signals should present a stable corresponding relationship (such as a fixed phase difference) when the door is normally closed. If the door is closed abnormally (such as one-sided offset, door deformation), the phase relationship of the signals on both sides will be broken, resulting in an abnormal phase difference.

[0068] By calculating the phase difference between the output electrical signals of the two target Hall sensors a1, the position synchronization of the doors on both sides can be quantified: if the phase difference is within a preset range (such as close to 0 or a fixed value), it means that the alignment of the doors on both sides is high; if the phase difference exceeds the preset range, it means that there are problems such as tilting, jamming, or incomplete closing of the doors (such as the left door lagging behind, resulting in an increase in the phase difference of the signals on both sides).

[0069] The phase difference is taken as the core indicator of the second detection information. Compared with the amplitude signal of a single sensor, the phase difference of the two target sensors can more directly reflect the relative position relationship of the doors on both sides, effectively exclude the interference of single factors such as environmental magnetic field fluctuation and single sensor error, and more accurately depict the overall state of the door when it is completely closed.

[0070] From the above, it can be concluded that the embodiment acquires the second detection information by calculating the phase difference of the electrical signals of the Hall sensors 101 in the middle of the door frame on both sides. It can accurately reflect the alignment of the doors on both sides when the door is closed. Compared with a single signal, the phase difference has stronger anti-interference performance and can effectively identify problems such as tilting and incomplete closing, improve the accuracy and reliability of the door closing state detection, and ensure the safety of elevator operation.

[0071] Corresponding to the above embodiment, an elevator door state detection method, Figure 4A structural block diagram of an elevator landing door state detection device provided in an embodiment of the present application. For ease of illustration, only parts related to the embodiment of the present application are shown. The elevator landing door state detection device is applied to an elevator landing door state detection system, which comprises a control device, a same number of multiple Hall sensors 101 respectively arranged above both sides of an elevator door frame, and a magnetic encoding belt 202 arranged in a groove at the top of the elevator landing door; Reference Figure 4 The elevator landing door state detection device 20 is arranged in the control device, which is included in the elevator landing door state detection system, which further comprises the same number of multiple Hall sensors 101 respectively arranged above both sides of the elevator door frame and the magnetic encoding belt 202 arranged in the groove at the top of the elevator landing door. The elevator landing door state detection device 20 comprises a door lock state detection module 21, an information acquisition module 22, and a state detection module 23.

[0072] The door lock state detection module 21 is configured to acquire state information of an elevator landing door lock device based on door control instruction information. The door control instruction information is instruction information for controlling the elevator landing door to open or close after the elevator arrives at a specified floor. The state information includes a locking state and an unlocking state. The information acquisition module 22 is configured to, in response to the state information being in the unlocking state, acquire first detection information corresponding to each side of the elevator door frame based on the multiple Hall sensors 101 respectively arranged on each side of the elevator door frame. The first detection information is information indicating the movement state of the elevator landing door during the opening process of the elevator landing door. The state detection module 23 is configured to detect the opening state of the elevator based on the first detection information.

[0073] In an embodiment of the present application, the information acquisition module 22 is specifically configured to: acquire an electric signal corresponding to each Hall sensor 101 based on a time sequence; generate a curve graph based on the electric signal. The curve graph is a voltage amplitude curve graph with a time sequence output by the Hall sensor 101 during the opening process of the elevator landing door; fuse the curve graphs respectively corresponding to each Hall sensor 101 on the side to obtain the first detection information corresponding to the side.

[0074] In an embodiment of the present application, the information acquisition module 22 is specifically further configured to: extract a frequency feature vector corresponding to each Hall sensor 101 on the side based on the curve graph corresponding to the Hall sensor 101; determine a phase difference sequence between frequency feature vectors corresponding to adjacent Hall sensors 101 on the side based on the frequency feature vectors respectively corresponding to the Hall sensors 101 on the side. Fusing each phase difference sequence corresponding to the side elevator door frame, a door opening state two-dimensional graph corresponding to the opening process of the elevator door is obtained, and the door opening state two-dimensional graph is taken as the first detection information.

[0075] In an embodiment of the present application, the first state detection module 23 is specifically configured to: calculate a first cosine similarity between the door opening state two-dimensional graph and a door opening state standard two-dimensional graph; the door opening state standard two-dimensional graph is a phase graph when the elevator door is normally opened; detect the door opening state of the elevator based on the first cosine similarity.

[0076] In an embodiment of the present application, the information acquisition module 22 is specifically further configured to: determine a phase difference sequence between the frequency feature vectors corresponding to the adjacent Hall sensors 101 on the side based on the frequency feature vectors respectively corresponding to the Hall sensors 101 on the side, including: respectively calculate a frequency matching degree between a plurality of feature values of each frequency feature vector and a plurality of feature values of a preset frequency feature vector; the preset frequency feature vector is obtained by collecting the electric signals output by the Hall sensor 101 and performing feature extraction on the electric signals when the elevator door is normally operated without electromagnetic interference; filter out the feature values corresponding to the frequency feature vectors with a frequency matching degree less than a matching degree threshold to obtain new frequency feature vectors; obtain the phase difference sequence of the adjacent Hall sensors 101 on each side of the elevator door frame based on the new frequency feature vectors.

[0077] In an embodiment of the present application, an elevator door state detection device 20 further includes a second state detection module, which is specifically configured to: respectively acquire second detection information of two target Hall sensors 101 on the upper side of the elevator door frame near the middle part of the elevator door; the second detection information is detection information corresponding to a closed state of the elevator door; for each target Hall sensor 101, in response to the state information changing from the unlocked state to the locked state, calculate a second cosine similarity between the second detection information and a preset detection information; the preset detection information is detection information corresponding to the normal closing of the elevator door after the state information changes from the unlocked state to the locked state; in response to the second cosine similarity being less than a first similarity threshold, generate an alarm signal of an elevator door fault.

[0078] In an embodiment of the present application, the second state detection module is specifically further configured to: calculate a phase difference between the electric signals output by the two target Hall sensors 101; The second detection information is obtained based on the phase difference.

[0079] See Figure 5 , Figure 5 This is a schematic block diagram of a control device provided in one embodiment of this application. Figure 5 The control device 300 shown in this embodiment may include one or more processors 301, one or more input devices 302, one or more output devices 303, and one or more memories 304. The processors 301, input devices 302, output devices 303, and memories 304 communicate with each other via a communication bus 305. The memory 304 stores computer programs, including program instructions. The processors 301 execute the program instructions stored in the memory 304. Specifically, the processors 301 are configured to invoke the program instructions to perform the functions of the modules in the above-described device embodiments, for example... Figure 4 The functions of the door lock status detection module 21, information acquisition module 22, and status detection module 23 are shown.

[0080] It should be understood that, in the embodiments of this application, the processor 301 may be a central processing unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0081] Input device 302 may include a touchpad, a fingerprint sensor (for collecting the user's fingerprint information and fingerprint orientation information), a microphone, etc., and output device 303 may include a display (LCD, etc.), a speaker, etc.

[0082] The memory 304 may include read-only memory and random access memory, and provides instructions and data to the processor 301. A portion of the memory 304 may also include non-volatile random access memory. For example, the memory 304 may also store information such as two-dimensional maps and similarity thresholds.

[0083] In a specific implementation, the processor 301, the input device 302, and the output device 303 described in the embodiments of the present application can execute the implementation manners of the elevator landing door state detection method provided by the embodiments of the present application, and can also execute the implementation manners of the control device described in the embodiments of the present application, which will not be described herein again.

[0084] In another embodiment of the present application, a computer readable storage medium is provided, which stores a computer program. The computer program includes program instructions, which are executed by a processor to implement all or part of the processes of the above-mentioned embodiment methods. The computer program can also be used to instruct related hardware to complete the processes. The computer program can be stored in a computer readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc.

[0085] The computer readable storage medium can be an internal storage unit of the control device, such as a hard disk or a memory of the control device. The computer readable storage medium can also be an external storage device of the control device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the computer readable storage medium can include both the internal storage unit and the external storage device of the control device. The computer readable storage medium is used to store the computer program and other programs and data required by the control device. The computer readable storage medium can also be used to temporarily store data that has been output or will be output.

[0086] Those skilled in the art can clearly understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware, computer software or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been described in general terms in the above description. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0087] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the control device and the unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0088] In several embodiments provided in the present application, it should be understood that the disclosed control device and method can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and actual implementation can have another division manner, for example, multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be indirect coupling or communication connection through some interfaces or units, and can also be electrical, mechanical or other form of connection.

[0089] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0090] In addition, the functional modules in each embodiment of the present application can be integrated in one processing unit, or each module can exist physically, or two or more modules can be integrated in one unit. The integrated unit can be realized in the form of hardware or software functional unit.

[0091] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An elevator landing door state detection method characterized by comprising: The application is applied to an elevator landing door state detection system, which comprises a control device, a plurality of Hall sensors arranged on both sides of the elevator door frame, and a magnetic encoding belt arranged in a groove on the top of the elevator landing door. The method is executed by the control device, comprising: obtaining state information of the elevator landing door lock device based on the door control instruction information; the door control instruction information is an instruction information for controlling the opening or closing of the elevator landing door after the elevator arrives at a specified floor; the state information comprises a locking state and an unlocking state; in response to the state information being the unlocking state, obtaining first detection information corresponding to each side of the elevator door frame based on the plurality of Hall sensors arranged on each side of the elevator door frame; the first detection information is information representing the movement state of the elevator landing door during the opening process of the elevator landing door; detecting the opening state of the elevator based on the first detection information.

2. The elevator landing door status detection method of claim 1, wherein, For each side of the elevator door frame, obtaining the first detection information corresponding to the side based on the plurality of Hall sensors arranged on the side, comprising: obtaining the electrical signal corresponding to each Hall sensor based on the time sequence; generating a curve based on the electrical signal; the curve is a curve of the voltage amplitude of the electrical signal output by the Hall sensor with time sequence during the opening process of the elevator landing door; fusing the curves corresponding to each Hall sensor on the side to obtain the first detection information corresponding to the side.

3. The elevator landing door status detection method of claim 2, wherein, The fusing of the curves corresponding to each Hall sensor on the side to obtain the first detection information corresponding to the side comprises: extracting features from the curve corresponding to each Hall sensor on the side to obtain a frequency feature vector corresponding to the Hall sensor; determining the phase difference sequence between the frequency feature vectors corresponding to adjacent Hall sensors on the side based on the frequency feature vectors corresponding to each Hall sensor on the side; fusing each phase difference sequence corresponding to the elevator door frame on the side to obtain an opening state two-dimensional atlas corresponding to the opening process of the elevator landing door, and taking the opening state two-dimensional atlas as the first detection information.

4. The elevator landing door status detection method of claim 3, wherein For each side of the elevator door frame, the detection of the opening state of the elevator based on the first detection information comprises: calculating the first cosine similarity between the opening state two-dimensional atlas and an opening state standard two-dimensional atlas; the opening state standard two-dimensional atlas is a phase atlas when the elevator door is normally opened; detecting the opening state of the elevator based on the first cosine similarity.

5. The elevator landing door status detection method of claim 3, wherein, The frequency feature vector comprises a plurality of feature values; The determination of the phase difference sequence between the frequency feature vectors corresponding to adjacent Hall sensors on the side based on the frequency feature vectors corresponding to each Hall sensor on the side comprises: calculating the frequency matching degree between the plurality of feature values of each frequency feature vector on the side and the plurality of feature values of a preset frequency feature vector; the preset frequency feature vector is obtained by collecting the electrical signal output by the Hall sensor and extracting features from the electrical signal when the elevator landing door is normally operated without electromagnetic interference. The frequency matching degree is used to filter out the eigenvalue corresponding to the frequency feature vector less than the matching degree threshold, to obtain a new frequency feature vector; A phase difference sequence of adjacent Hall sensors on each side of the elevator door frame is obtained based on the new frequency feature vector.

6. The elevator landing door status detection method of claim 1, wherein, Further comprising: Second detection information of two target Hall sensors on the upper part of each side of the elevator door frame and close to the middle part of the elevator landing door is respectively acquired, the second detection information being detection information corresponding to a closed state of the elevator landing door; For each target Hall sensor, a second cosine similarity between the second detection information and preset detection information is calculated in response to the state information changing from the unlocked state to the locked state, the preset detection information being detection information corresponding to a normal closing of the elevator landing door after the state information changes from the unlocked state to the locked state; An alarm signal of an elevator door closing failure is generated in response to the second cosine similarity being less than a first similarity threshold.

7. The elevator landing door status detection method of claim 6, wherein, The second detection information of the two target Hall sensors on the upper part of each side of the elevator door frame and close to the middle part of the elevator landing door is respectively acquired, including: A phase difference between the output signals of the two target Hall sensors is calculated; The second detection information is obtained based on the phase difference.

8. An elevator landing door status detection device, characterized in that, The device is arranged in a control device, the control device being included in an elevator landing door state detection system, the elevator landing door state detection system further comprising a same number of Hall sensors arranged on the upper part of each side of the elevator door frame and a magnetic encoding belt arranged in a groove on the top of the elevator landing door; the device comprising: A door lock state detection module for acquiring state information of an elevator landing door lock device based on door control instruction information; the door control instruction information being instruction information for controlling the elevator landing door to open or close after the elevator arrives at a specified floor; the state information including a locked state and an unlocked state; An information acquisition module for acquiring first detection information corresponding to each side of the elevator door frame based on the Hall sensors arranged on each side of the elevator door frame in response to the state information being the unlocked state; the first detection information being information representing a movement state of the elevator landing door during opening of the elevator landing door; A state detection module for detecting an opening state of the elevator based on the first detection information.

9. A control device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, The processor executes the computer program to implement the steps of the method of any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 9. The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 7.

Images