An elevator landing door state detection method and device, equipment, storage medium

Abstract

The application provides an elevator landing door state detection method and device, equipment and storage medium, and belongs to the elevator detection technical field. The method is applied to an elevator landing door state detection system. The elevator landing door state detection system comprises a control device, a same number of Hall sensors arranged above two sides of an elevator door frame, and a magnetic coding belt arranged in a groove at the top of the elevator landing door. The method is executed by the control device and comprises the following steps: obtaining state information of an elevator landing door lock device based on door control instruction information; in response to the state information being in an unlocked state, obtaining 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; and detecting the opening state of the elevator based on the first detection information. The elevator landing door state detection method and device, equipment and storage medium provided by the application can comprehensively and accurately detect the state of the elevator landing door.

Description

Technical Field

[0001] This application belongs to the field of elevator inspection technology, and more specifically, relates to an elevator landing door status detection method, device, equipment, and storage medium. Background Technology

[0002] As a critical component ensuring passenger safety, the status detection of elevator landing doors is essential for the safe operation of elevators. Current landing door status detection methods mostly employ single sensors (such as mechanical limit switches or photoelectric sensors), which suffer from limitations in detection dimensions and weak anti-interference capabilities. Mechanical limit switches are prone to signal lag due to long-term wear, making it impossible to reflect the door's movement status in real time; photoelectric sensors are easily interfered with by dust and light, resulting in a high false alarm rate in complex shaft environments. In addition, traditional methods mostly focus on whether the door is fully open or closed, making it difficult to detect subtle anomalies such as jamming or deviation during the opening process, which can easily lead to safety hazards such as people being trapped or the door jamming, thus failing to comprehensively and accurately detect the status of elevator landing doors. Summary of the Invention

[0003] The purpose of this application is to provide a method, device, equipment, and storage medium for detecting the status of elevator landing doors, so as to achieve comprehensive and accurate detection of the status of elevator landing doors.

[0004] In a first aspect of this application, an elevator landing door status detection method is provided, which is applied to an elevator landing door status detection system. The elevator landing door status detection system includes a control device, a plurality of Hall sensors of the same number respectively disposed above both sides of the elevator door frame, and a magnetic coding strip disposed in a groove at the top of the elevator landing door. The method is executed by a control device and includes: The status information of the elevator landing door lock device is obtained based on the door control command information; the door control command information is the command information to control the opening or closing of the elevator landing door after the elevator reaches the designated floor; the status information includes the locked status and the unlocked status. In response to the status information being unlocked, the elevator door frame acquires first detection information corresponding to each side of the elevator door frame based on multiple Hall sensors installed on each side of the elevator door frame; the first detection information is information representing the motion state of the elevator door during the opening process of the elevator door. The elevator door opening status is detected based on the first detection information.

[0005] A second aspect of this application provides an elevator landing door status detection device, disposed in a control device. The control device includes an elevator landing door status detection system, which further includes a plurality of Hall sensors disposed on both sides above the elevator door frame and a magnetic coding strip disposed in a groove at the top of the elevator landing door. The device includes: The door lock status detection module is used to obtain the status information of the elevator floor door lock device based on the door control command information; the door control command information is the command information to control the elevator floor door to open or close after the elevator reaches the designated floor; the status information includes locked status and unlocked status. The information acquisition module is used to respond to the status information being unlocked, and to acquire the first detection information corresponding to each side of the elevator door frame based on multiple Hall sensors set on each side of the elevator door frame; the first detection information is information representing the motion state of the elevator door during the opening process of the elevator door. The status detection module is used to detect the elevator door opening status based on the first detection information.

[0006] A third aspect of this application provides a control device, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it implements the steps of the elevator landing door status detection method described above.

[0007] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the elevator landing door status detection method described above.

[0008] The beneficial effects of the elevator landing door status detection method, device, equipment, and storage medium provided in this application embodiment are as follows: This application embodiment triggers the detection process with door control commands, ensuring that monitoring is only initiated during the landing door unlocking and opening phase, reducing invalid calculations; by using multiple Hall sensors arranged on both sides, the first detection information is captured, reflecting the landing door speed and jamming situation from a time dimension, and the multi-sensor correlation verifies the integrity of the door opening stroke, comprehensively covering the key state parameters of the door opening process; compared with traditional single sensor detection, this embodiment has stronger anti-interference capabilities and can accurately identify faults such as jamming, deviation, and incomplete opening, thereby achieving comprehensive and accurate detection of the elevator landing door status. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 A schematic diagram of an elevator landing door provided in an embodiment of this application; Figure 2 A flowchart illustrating an elevator landing door status detection method according to an embodiment of this application; Figure 3 This is a schematic diagram of a two-dimensional map of a door opening state provided in an embodiment of this application; Figure 4 A structural block diagram of an elevator landing door status detection device provided in an embodiment of this application; Figure 5 This is a schematic block diagram of a control device provided in an embodiment of this application. Detailed Implementation

[0011] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0012] To make the objectives, technical solutions, and advantages of this application clearer, the following description will be provided in conjunction with the accompanying drawings and specific embodiments.

[0013] Please refer to Figure 1 , Figure 1 This is a schematic diagram of an elevator landing door provided in an embodiment of this application. An elevator landing door status detection method is applied to an elevator landing door status detection system. The elevator landing door status detection system includes a control device, a plurality of Hall sensors 101 of the same number respectively arranged above both sides of the elevator door frame, and a magnetic coding strip 202 arranged in the groove at the top of the elevator landing door.

[0014] In this embodiment, an equal number of Hall sensors 101 (e.g., 3-5 on each side, evenly distributed along the door width) are symmetrically arranged above both sides of the elevator door frame. The Hall sensors 101 are used to detect changes in the magnetic field of the magnetic coding strip 202 in real time and output initial detection information. The dense distribution of multiple sensors can cover the full width of the magnetic coding strip 202, avoiding the omission of local magnetic features by a single sensor.

[0015] The magnetic coding strip 202 is installed in the groove at the top of the elevator landing door and moves synchronously with the landing door (moving with the door body when it opens / closes). Its surface is covered with magnets of different magnetic field strengths and pole directions (such as alternating N / S poles) according to a preset pattern, forming a unique spatial magnetic coding feature. When the landing door moves, the magnetic features of the magnetic coding strip 202 are captured by the Hall sensor 101 as its position changes.

[0016] The control equipment is used to receive sensor signals, analyze the status of the floor doors, execute detection logic (such as determining whether the door opening is normal), and output control commands or alarm signals.

[0017] Based on the elevator landing door status detection system described above, please refer to... Figure 2 , Figure 2 This is a flowchart illustrating an elevator landing door status detection method according to an embodiment of this application. The method provided in this embodiment can be executed by a control device and includes: S101: Obtain the status information of the elevator landing door lock device based on the door control command information; the door control command information is the command information to control the opening or closing of the elevator landing door after the elevator reaches the designated floor; the status information includes the locked status and the unlocked status.

[0018] In this embodiment, the door control command is issued by the elevator control system to control the opening or closing of the elevator floor doors (such as when a passenger presses a floor or when the car arrives at the target floor). It is the start signal for detecting the elevator door opening status or the elevator door closing status in this embodiment of the application.

[0019] The status information of the locking device refers to the status of the landing door locking device. Before the landing door is opened, the locking device is in the locked state (to prevent the door from being opened accidentally). After receiving the opening command, the locking device performs the unlocking action, and the status changes to the unlocked state. This state switch is the condition for triggering subsequent detection (only after unlocking can the landing door be driven to open, at which time it is necessary to check whether the opening process is normal).

[0020] S102: In response to the status information being in the unlocked state, based on the multiple Hall sensors 101 respectively set on each side of the elevator door frame, the first detection information corresponding to each side of the elevator door frame is obtained; the first detection information is information indicating the motion state of the elevator door during the opening process of the elevator door.

[0021] In this embodiment, when the control device detects that the status information changes from locked to unlocked, it triggers the signal acquisition of the landing door opening process.

[0022] Multiple Hall sensors 101 on both sides of the elevator door frame begin to synchronously record the magnetic field changes of the magnetic coding strip 202, generating the first detection information. As the magnetic coding strip 202 moves with the landing door, the spatial distribution of its magnetic characteristics is converted into a time series signal of the sensor (e.g., when a certain magnetic pole passes the sensor, the signal strength reaches a peak; the time interval between peaks varies depending on the speed at which the coding strip moves).

[0023] In this embodiment, the first detection information can reflect the motion state of the landing door during the opening process from multiple dimensions. For example, in the time dimension, the signal of a single Hall sensor 101 exhibits a specific change pattern over time, which can reflect the moving speed of the landing door and whether it is stuck. For example, when the door is opening normally, the speed is uniform and the signal peak interval is stable. If a stuck situation occurs, the interval will suddenly become longer. In the spatial dimension, by comparing the signals of Hall sensors 101 at symmetrical positions on both sides at the same moment, it can be determined whether the left and right movements of the landing door are symmetrical. When the door is opening normally, the signal change trends on both sides are consistent. If there is a unilateral offset, the signals on both sides will show obvious deviations. In terms of multi-sensor correlation, the signal characteristics of multiple Hall sensors 101 on the same side can reflect whether the landing door is fully opened. For example, if all sensors detect a complete magnetic coding sequence, it indicates that the landing door has been opened to its maximum travel.

[0024] S103: Detect the elevator door opening status based on the first detection information.

[0025] In this embodiment, if a certain feature in the first detection information exceeds the preset range (such as a single-sided sensor signal interruption, a sudden increase in the peak interval, or an excessive deviation between the signals on both sides), it is determined to be a door opening failure (such as door jamming, foreign objects in the track, or the locking device not being fully unlocked). The control device can trigger an alarm or suspend the door opening action.

[0026] As can be seen from the above, this embodiment triggers the detection process with a door control command, ensuring that monitoring is only initiated during the door unlocking and opening phase, reducing invalid calculations. By utilizing multiple Hall sensors 101 arranged on both sides, the first detection information is captured, reflecting the door speed and jamming situation from a time dimension. The multi-sensor correlation verifies the integrity of the door opening stroke, comprehensively covering the key state parameters of the door opening process. Compared with traditional single-sensor detection, this embodiment has stronger anti-interference capabilities and can accurately identify faults such as jamming, deviation, and incomplete opening, thereby achieving comprehensive and accurate detection of the elevator door status.

[0027] In one embodiment of this application, for each side of the elevator door frame, based on a plurality of Hall sensors 101 installed on that side, first detection information corresponding to that side is obtained, including: The electrical signal corresponding to each Hall sensor 101 is obtained based on the time series. The graph is generated based on the electrical signal; the graph is a time-series voltage amplitude curve output by the Hall sensor 101 during the opening process of the elevator door. The curves corresponding to each Hall sensor 101 on this side are fused together to obtain the first detection information corresponding to this side.

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

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

[0030] The time-series electrical signal is mapped to a curve in a two-dimensional coordinate system, with the horizontal axis representing time (in milliseconds) and the vertical axis representing voltage amplitude (in volts). This curve can reflect different state information of the elevator door during the opening process. For example, it can reflect the position information of the elevator door; the extreme points of the voltage amplitude (such as peaks and valleys) correspond to the center position of the magnet, and the time interval between adjacent extreme points can be converted into the distance the door moves. It can reflect the speed information of the elevator door; the slope of the curve (voltage change rate) is proportional to the speed of the door movement, and abrupt changes in the slope may indicate a pause or acceleration. It can reflect the direction of movement of the elevator door; the sequence of electrical signals output by the Hall sensor 101 can determine whether the door is open or closed.

[0031] In this embodiment, multiple Hall sensors 101 are installed on both sides of the elevator door frame, each with its corresponding curve. These curves are fused to comprehensively utilize information from multiple sensors, improving the accuracy and reliability of the detection. Fusion can be achieved by overlaying multiple curves or by processing the curve data using specific algorithms, such as averaging or weighted averaging. Fusion provides a more comprehensive understanding of the landing door's state, such as determining if the door is tilted. If the curves from the Hall sensors 101 on both sides differ significantly, it indicates that the landing door has shifted to one side during opening; conversely, if the curves are essentially the same, it indicates that the landing door is opening normally, ultimately yielding the fused first detection information.

[0032] As can be seen from the above, this embodiment acquires the electrical signal of Hall sensor 101 by time series acquisition and generates a voltage amplitude curve, and then fuses the curves of multiple sensors on the same side to obtain the first detection information. This can comprehensively capture the temporal characteristics and spatial state of the door opening, improve the completeness and accuracy of detection, reduce misjudgments caused by the limitations of a single sensor, and enhance the ability to identify anomalies such as jamming and offset.

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

[0034] In this embodiment, a Fourier transform is performed on the time-domain voltage amplitude curve V(t) of each Hall sensor 101, decomposing it into a superposition of different frequency components to obtain the spectrum S(f). The amplitude and phase of each frequency component in the spectrum S(f) constitute a frequency feature vector. , where: A i Represents frequency f i The amplitude of a component reflects the strength of the signal at that frequency. Represents frequency f i The phase of the component reflects the time offset of the signal, i=1,2,...,n.

[0035] The fundamental frequency component in the spectrum (corresponding to the frequency at which the magnet passes through) is directly related to the speed of the door (e.g., the faster the speed, the higher the fundamental frequency); high-frequency components (e.g., above 100Hz) can represent harmonics generated by door vibration or jamming.

[0036] In this embodiment, the frequency feature vector F of two adjacent Hall sensors 101 on the same side is... i and F i+1 Calculate the phase difference of its corresponding frequency components: ; in, This indicates that the i-th and (i+1)-th adjacent Hall sensors 101 on the same side of the elevator door frame are at a frequency of f. k Phase difference value at time, This indicates that the i-th Hall sensor 101 operates at a frequency of f. k The phase value of the output signal at that time. This indicates that the (i+1)th Hall sensor 101 operates at a frequency of f. k The phase value of the output signal at that time. This indicates the k-th frequency component contained in the output electrical signal of 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 then arranged in a time series 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 this embodiment, the two-dimensional map of the door opening state (horizontal axis: time; vertical axis: sensor pair number; value: phase difference) is expanded into a one-dimensional vector X by rows or columns, and the standard two-dimensional map is similarly expanded into a one-dimensional vector Y. For example, when there are 3 sensors on each side, 2 phase difference sequences (S1-S2, S2-S3) will be generated. If the acquisition time is divided into T time moments, the map can be expanded into a vector of length 2×T.

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

[0045] This embodiment evaluates similarity by calculating the cosine of the angle between two vectors: Similarity = ; Where m represents the number of data points. This represents the value at the i-th position after the two-dimensional map of the door-open state is expanded into a one-dimensional vector. This represents the value at the i-th position after the standard two-dimensional map of a normal door opening is expanded into a one-dimensional vector.

[0046] The closer the similarity value is to 1, the more consistent the phase difference trends of the two maps are (i.e., the closer the door movement state is to normal); the closer it is to 0, the greater the difference between the maps. When the similarity between the real-time map and the standard map is lower than the threshold, a fault is determined to exist. For example: guide rail jamming (abnormal phase difference sequence at a specific time period, causing distortion of local features in the map and reducing the overall similarity) or door misalignment (disruption of the phase difference symmetry between the sensors on both sides, causing the overall map pattern to deviate from the standard), etc.

[0047] For example, suppose the phase difference between the S1-S2 sensor pair in the standard two-dimensional map should be 135° at 2 seconds (corresponding to normal door speed), while the real-time two-dimensional map shows a phase difference of 150° at that moment (abnormal door speed). This position will appear as a local deviation in the map, resulting in a decrease in the overall cosine similarity. By comparing this deviation, real-time monitoring of the door status can be achieved.

[0048] As can be seen from the above, this embodiment can accurately assess the operating status of the door in a quantitative manner by calculating the first cosine similarity between the two-dimensional map of the door opening state and the standard map. Compared with traditional threshold judgment, cosine similarity is more sensitive to the overall features of the map and can capture minor anomalies; combined with the dynamic threshold mechanism, it maintains anti-interference capability and can provide timely warnings of faults such as guide rail jamming and door body offset, thereby improving detection reliability and fault prediction capability.

[0049] In one embodiment of this application, the frequency feature vector includes multiple feature values; Based on the frequency feature vectors corresponding to each Hall sensor 101 on this side, the phase difference sequence between the frequency feature vectors corresponding to adjacent Hall sensors 101 on this side is determined, including: Calculate the frequency matching degree between multiple eigenvalues ​​of each frequency feature vector on this side and multiple eigenvalues ​​of the preset frequency feature vector; the preset frequency feature vector is obtained by collecting the electrical signal output by Hall sensor 101 when the elevator door is operating normally without electromagnetic interference and after extracting features from the electrical signal. The feature values ​​corresponding to the frequency feature vectors with a frequency matching degree less than the matching degree threshold are filtered out to obtain new frequency feature vectors; The phase difference sequence of adjacent Hall sensors 101 on each side of the elevator door frame is obtained based on the new frequency feature vector.

[0050] In this embodiment, the frequency feature vector contains multiple feature values, each corresponding to a specific frequency component of the magnetic field change of the magnetic coding band 202 (such as amplitude and phase information at different frequencies). The preset frequency feature vector also contains multiple feature values, which is a set of reference feature values ​​obtained by collecting electrical signals through the Hall sensor 101 and extracting features (such as Fourier transform) under normal operating conditions without electromagnetic interference. It reflects the inherent laws of each frequency component during normal movement (such as the amplitude range and phase relationship of a specific frequency).

[0051] In real-time detection, the frequency feature vector is the specific parameters (such as the amplitude and phase of the 10Hz component, the amplitude and phase of the 20Hz component, etc.) obtained after extracting features from the electrical signal output by a single Hall sensor 101 on one side of the elevator door frame.

[0052] Frequency matching degree calculation needs to be performed individually for each feature value. Each feature value (corresponding to a parameter of a certain frequency component) in the real-time frequency feature vector is compared with the feature value of the same frequency component in the preset frequency feature vector. The frequency matching degree of a single feature value is obtained by calculating the consistency between the two (such as amplitude deviation rate, phase difference range). For example, for a 10Hz component, if the real-time amplitude is 5V and the preset amplitude is 4.8-5.2V, then the feature value has a high matching degree; if the real-time amplitude is 8V, far exceeding the preset range, then the matching degree is low.

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

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

[0055] After the new frequency feature vector is filtered by a single feature value, only the feature values ​​with a matching degree that meet the standard are retained in each frequency component, which more accurately reflects the magnetic field law of the actual movement of the door. Based on this, when calculating the phase difference sequence of adjacent Hall sensors 101, each phase difference is derived from an effective feature value, avoiding the interference of a single abnormal feature value on the overall sequence, so that the phase difference sequence can more accurately reflect the movement state of the door (such as the time point and position of jamming and offset).

[0056] As can be seen from the above, this embodiment achieves more refined interference removal by filtering the matching degree of individual feature values ​​in the frequency feature vector. It removes only abnormal feature values ​​while retaining valid feature values, avoiding the loss of effective information that may be caused by overall vector filtering. This feature value-by-feature processing method further improves the purity of the frequency feature vector, making the subsequent calculation of the phase difference sequence more reliable, and ultimately enhancing the accuracy and anti-interference capability of the gate state detection.

[0057] In one embodiment of this application, the method further includes: The second detection information of two target Hall sensors a1 located on the upper sides of the elevator door frame and near the middle of the elevator landing door is obtained respectively. The second detection information is the detection information corresponding to the closed state of the elevator landing door. For each target Hall sensor a1, in response to the state information changing from unlocked to locked, the second cosine similarity between the second detection information and the preset detection information is calculated; the predicted detection information is the detection information corresponding to the normal closing of the elevator landing door after the state information changes from unlocked to locked. An alarm signal for elevator door closing failure is generated in response to the second cosine similarity being less than the first similarity threshold.

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

[0059] The second detection information is the magnetic field amplitude signal output by the two target Hall sensors a1 when the door is closed. Essentially, it is the voltage amplitude corresponding to the magnetic field strength generated by the magnet on the two target Hall sensors a1 when the magnetic coding band 202 is completely closed, reflecting the final position and magnetic feature matching degree of the two sides of the door after they are closed.

[0060] For example, when closed normally, both target Hall sensors a1 on both sides detect the preset peak amplitude; if one side is not closed properly (such as the left side door being offset), the amplitude of the target sensor on the left side will be significantly lower, while the right side will still maintain the normal peak value. The fault location can be located by detecting the abnormality on one side.

[0061] In this embodiment, during the closing process of the landing door, the locking device initially remains in the unlocked state. Once the landing door is fully closed, the locking device performs a locking action (the state changes from unlocked to locked). This triggers the detection of the final closed state. By using the locking device state switch as the trigger signal, it ensures that the detection occurs after the landing door is fully closed and locked, avoiding misjudgments during the closing process (such as the intermediate state when the door is not yet in place).

[0062] In this embodiment, the preset detection information is the standard amplitude signal output by two target Hall sensors a1 located near the center of the landing door on both sides of the elevator door frame after the landing door is normally closed and locked. It is calibrated through a large amount of normal door closing data, including the voltage amplitude range corresponding to the magnetic feature in the middle of the magnetic coding band 202 when the landing door is fully closed.

[0063] After the landing door closes, the amplitude signals (such as voltage value sequences or key feature point amplitudes) output in real time by two target Hall sensors a1 located on both sides of the elevator door frame near the center of the landing door are converted into one-dimensional vectors. The preset detection information is also converted into one-dimensional vectors. Then, the cosine value of the angle between the two vectors is calculated by cosine similarity to evaluate the consistency between the real-time amplitude and the standard amplitude. The closer the similarity is to 1, the higher the matching degree of waveform, peak position, and intensity between the real-time amplitude and the standard amplitude, indicating that the landing door is closed properly. The lower the similarity (less than the first similarity threshold), the more significant the amplitude deviation (such as missing peaks or insufficient intensity), indicating that the landing door is not completely closed (such as door offset or jamming causing the magnetic coding band 202 to be misaligned).

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

[0065] As can be seen from the above, this embodiment collects the closing state information of two target Hall sensors a1 located in the middle of both sides of the door frame, combines this information with the state switching of the locking device, and uses cosine similarity comparison to determine whether the landing door is completely closed. By focusing on key positions and locking moments, it accurately detects the final closing state, reduces redundant calculations, effectively identifies faults such as doors not being fully closed, improves elevator operation safety, forms a closed loop for door opening and closing state detection, and enhances reliability.

[0066] In one embodiment of this application, second detection information of two target Hall sensors a1 located above both sides of the elevator door frame and near the center of the elevator landing door is obtained, including: Calculate the phase difference between the electrical signals output by the two target Hall sensors a1; The second detection information is obtained based on the phase difference.

[0067] In this embodiment, two target Hall sensors a1 (symmetrically distributed) located near the center of the landing door on both sides of the elevator door frame will output different electrical signals depending on the positional accuracy of the landing door when it closes (such as whether it is aligned or whether there is a shift). Since the target Hall sensors a1 on both sides are symmetrically installed, when the door is closed normally, the phase of their output signals should show a stable corresponding relationship (such as a fixed phase difference); if the landing door closes abnormally (such as unilateral shift or 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 positional synchronization of the two sides of the landing door can be quantified: if the phase difference is within the preset range (such as close to 0 or a fixed value), it indicates that the alignment of the landing 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 closure of the landing door (such as the left door closing lagging behind, which causes the phase difference of the signals on both sides to increase).

[0069] This phase difference is used as the core indicator of the second detection information. Compared with the amplitude signal of a single sensor, the phase difference between the two target sensors can more directly reflect the relative positional relationship between the two sides of the door, effectively eliminating the interference of single factors such as environmental magnetic field fluctuations and individual sensor errors on the detection, and more accurately depicting the overall state when the door is fully closed.

[0070] As can be seen from the above, this embodiment obtains the second detection information by calculating the phase difference of the electrical signals of the Hall sensors 101 in the middle of both sides of the door frame, which can accurately reflect the alignment of both sides when the landing door is closed. Compared with a single signal, the phase difference has stronger anti-interference ability and can effectively identify problems such as tilting and incomplete closure, thereby improving the accuracy and reliability of door closing status detection and ensuring the safety of elevator operation.

[0071] Corresponding to the elevator landing door status detection method in the above embodiment, Figure 4This is a structural block diagram of an elevator landing door status detection device according to an embodiment of this application. For ease of explanation, only the parts related to the embodiment of this application are shown. An elevator landing door status detection device is applied to an elevator landing door status detection system, which includes a control device, a plurality of Hall sensors 101 of the same number disposed above both sides of the elevator door frame, and a magnetic coding strip 202 disposed in a groove at the top of the elevator landing door. refer to Figure 4 An elevator landing door status detection device 20 is installed in a control device, which includes an elevator landing door status detection system. The elevator landing door status detection system also includes a plurality of Hall sensors 101 respectively installed on the upper sides of the elevator door frame and a magnetic coding strip 202 installed in the groove at the top of the elevator landing door. The elevator landing door status detection device 20 includes: a door lock status detection module 21, an information acquisition module 22 and a status detection module 23.

[0072] Among them, the door lock status detection module 21 is used to obtain the status information of the elevator floor door lock device based on the door control command information; the door control command information is the command information to control the elevator floor door to open or close after controlling the elevator to reach the designated floor; the status information includes the locked status and the unlocked status. Information acquisition module 22 is used to respond to the status information being in the unlocked state, and to acquire the first detection information corresponding to each side of the elevator door frame based on multiple Hall sensors 101 respectively set on each side of the elevator door frame; the first detection information is information indicating the movement state of the elevator door during the opening process of the elevator door. The status detection module 23 is used to detect the opening status of the elevator based on the first detection information.

[0073] In one embodiment of this application, the information acquisition module 22 is specifically used for: The electrical signal corresponding to each Hall sensor 101 is obtained based on the time series. The graph is generated based on the electrical signal; the graph is a time-series voltage amplitude curve output by the Hall sensor 101 during the opening process of the elevator door. The curves corresponding to each Hall sensor 101 on this side are fused together to obtain the first detection information corresponding to this side.

[0074] In one embodiment of this application, the information acquisition module 22 is further configured to: Feature extraction is performed on the curve corresponding to each Hall sensor 101 on this side to obtain the frequency feature vector corresponding to the Hall sensor 101; Based on the frequency feature vectors corresponding to each Hall sensor 101 on this side, the phase difference sequence between the frequency feature vectors corresponding to adjacent Hall sensors 101 on this side is determined. The phase difference sequences corresponding to the elevator door frame on this side are fused to obtain a two-dimensional map of the door opening state corresponding to the door opening process of the elevator floor door. The two-dimensional map of the door opening state is used as the first detection information.

[0075] In one embodiment of this application, the first state detection module 23 is specifically used for: 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.

[0076] In one embodiment of this application, the information acquisition module 22 is further configured to: Based on the frequency feature vectors corresponding to each Hall sensor 101 on this side, the phase difference sequence between the frequency feature vectors corresponding to adjacent Hall sensors 101 on this side is determined, including: Calculate the frequency matching degree between multiple eigenvalues ​​of each frequency feature vector on this side and multiple eigenvalues ​​of the preset frequency feature vector; the preset frequency feature vector is obtained by collecting the electrical signal output by Hall sensor 101 when the elevator door is operating normally without electromagnetic interference and after extracting features from the electrical signal. The feature values ​​corresponding to the frequency feature vectors with a frequency matching degree less than the matching degree threshold are filtered out to obtain new frequency feature vectors; The phase difference sequence of adjacent Hall sensors 101 on each side of the elevator door frame is obtained based on the new frequency feature vector.

[0077] In one embodiment of this application, an elevator landing door status detection device 20 further includes: a second status detection module, which is specifically used for: The second detection information of two target Hall sensors 101 located on the upper sides of the elevator door frame and near the middle of the elevator landing door is obtained respectively. The second detection information is the detection information corresponding to the closed state of the elevator landing door. For each target Hall sensor 101, in response to the state information changing from unlocked to locked, the second cosine similarity between the second detection information and the preset detection information is calculated; the predicted detection information is the detection information corresponding to the normal closing of the elevator landing door after the state information changes from unlocked to locked. An alarm signal for elevator door closing failure is generated in response to the second cosine similarity being less than the first similarity threshold.

[0078] In one embodiment of this application, the second state detection module is further configured to: Calculate the phase difference between the electrical 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 specific implementations, the processor 301, input device 302, and output device 303 described in the embodiments of this application can execute the implementation method described in the elevator landing door status detection method provided in the embodiments of this application, or they can execute the implementation method of the control device described in the embodiments of this application, which will not be elaborated here.

[0084] In another embodiment of this application, a computer-readable storage medium is provided. This computer-readable storage medium stores a computer program, which includes program instructions. When executed by a processor, the program instructions implement all or part of the processes in the methods described above. Alternatively, the computer program can instruct related hardware to complete the process. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include any entity or device capable of carrying computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0085] The computer-readable storage medium can be an internal storage unit of the control device in any of the foregoing embodiments, such as a hard disk or 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, smart media card (SMC), secure digital card (SD), flash card, etc., provided on the control device. Furthermore, the computer-readable storage medium can include both internal storage units and external storage devices of the control device. The computer-readable storage medium is used to store computer programs 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 will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

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

[0088] In the several embodiments provided in this application, it should be understood that the disclosed control devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connections shown or discussed may be indirect coupling or communication connections through some interfaces or units, or they may be electrical, mechanical, or other forms of connection.

[0089] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of this application, depending on actual needs.

[0090] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0091] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for detecting the status of elevator landing doors, characterized in that, An elevator landing door status detection system is used, which includes a control device, multiple Hall sensors of the same number respectively set above both sides of the elevator door frame, and a magnetic coding strip set in the groove at the top of the elevator landing door. The method is executed by the control device and includes: The status information of the elevator landing door lock device is obtained based on the door control command information; the door control command information is the command information to control the opening or closing of the elevator landing door after the elevator reaches the designated floor; the status information includes locked status and unlocked status. In response to the status information being 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 respectively installed on each side of the elevator door frame; the first detection information is information representing the motion state of the elevator door during the opening process of the elevator door. The elevator door opening status is detected based on the first detection information; For each side of the elevator door frame, based on the plurality of Hall sensors installed on that side, the corresponding first detection information is obtained, including: The electrical signal corresponding to each Hall sensor is obtained based on the time series. A curve is generated based on the electrical signal; the curve is a time-series voltage amplitude curve output by the Hall sensor during the opening process of the elevator landing door. The curves corresponding to each Hall sensor on this side are fused together to obtain the first detection information corresponding to this side. The step of fusing the curves corresponding to each Hall sensor on this side to obtain the first detection information corresponding to this side includes: Feature extraction is performed on the curve corresponding to each Hall sensor on this side to obtain the frequency feature vector corresponding to the Hall sensor; Based on the frequency feature vectors corresponding to each Hall sensor on this side, determine the phase difference sequence between the frequency feature vectors corresponding to adjacent Hall sensors on this side; The phase difference sequences corresponding to the elevator door frame on this side are fused to obtain a two-dimensional map of the door opening state corresponding to the door opening process of the elevator landing door, and the two-dimensional map of the door opening state is used as the first detection information. For each side of the elevator door frame, the detection of the elevator door opening status based on the first detection information includes: 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 of the elevator door when it is normally open. The elevator door opening status is detected based on the first cosine similarity.

2. The elevator landing door status detection method as described in claim 1, characterized in that, The frequency feature vector contains multiple feature values; The step of determining the phase difference sequence between the frequency feature vectors of adjacent Hall sensors on this side based on the frequency feature vectors corresponding to each Hall sensor on this side includes: The frequency matching degree between multiple feature values ​​of each frequency feature vector on this side and multiple feature values ​​of a preset frequency feature vector is calculated respectively; the preset frequency feature vector is obtained by collecting the electrical signal output by the Hall sensor when the elevator door is operating normally without electromagnetic interference, and then extracting features from the electrical signal. The frequency matching degree is filtered out for the feature values ​​corresponding to the frequency feature vectors that are less than the matching degree threshold, and a new frequency feature vector is obtained. The phase difference sequence of adjacent Hall sensors on each side of the elevator door frame is obtained based on the new frequency feature vector.

3. The elevator landing door status detection method as described in claim 1, characterized in that, Also includes: The second detection information of two target Hall sensors located above the two sides of the elevator door frame and near the middle of the elevator landing door is obtained respectively. The second detection information is the detection information corresponding to the closed state of the elevator landing door. For each target Hall sensor, in response to the state information changing from an unlocked state to a locked state, the second cosine similarity between the second detection information and the preset detection information is calculated; the preset detection information is the detection information corresponding to the elevator door closing normally after the state information changes from an unlocked state to a locked state. In response to the second cosine similarity being less than the first similarity threshold, an alarm signal for elevator door closing failure is generated.

4. The elevator landing door status detection method as described in claim 3, characterized in that, The acquisition of second detection information from two target Hall sensors located above the elevator door frame on both sides, near the center of the elevator landing door, includes: Calculate the phase difference between the electrical signals output by the two target Hall sensors; The second detection information is obtained based on the phase difference.

5. An elevator landing door status detection device using the elevator landing door status detection method according to any one of claims 1-4, characterized in that, The control device is installed in a control unit, which includes an elevator landing door status detection system. The elevator landing door status detection system further includes multiple Hall effect sensors, each of the same number, positioned above both sides of the elevator door frame, and a magnetic coding strip positioned within a groove at the top of the elevator landing door. The device comprises: The door lock status detection module is used to obtain the status information of the elevator landing door lock device based on door control command information; the door control command information is the command information to control the elevator landing door to open or close after controlling the elevator to reach the designated floor; the status information includes locked status and unlocked status. The information acquisition module is used to respond to the status information being in the unlocked state, and to acquire first detection information corresponding to each side of the elevator door frame based on the plurality of Hall sensors respectively installed on each side of the elevator door frame; the first detection information is information indicating the movement state of the elevator door during the opening process of the elevator door. The status detection module is used to detect the elevator door opening status based on the first detection information.

6. A control device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 4.

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