An elevator car door anti-collision action signal recognition and control system

Abstract

The application provides an elevator car door anti-collision action signal recognition and control system, relates to the technical field of elevator car doors, collects and analyzes performance parameters of a door machine drive machine, generates a comprehensive performance evaluation coefficient and labels an abnormal category, keeps the same source and the same scale of the determination caliber of the recognition side and the available performance of the execution side, avoids the mismatch that the recognition is still interpreted according to the nominal performance while the execution end is in current limiting / saturation, thereby reducing the determination deviation and action delay caused by the fact that the derating is not perceived, obtaining the running state of the car door and determining whether the anti-collision action signal is recognized at the end of the monitoring period, calling the recognition result and executing a hierarchical control decision according to the evaluation coefficient when the anti-collision action signal is not recognized, issuing an audible and visual early warning and deciding to open the door in the opposite direction or keep the door open according to the evaluation coefficient when the anti-collision action signal is recognized, so that the protection action is consistent with the real available performance and the misjudgment and trigger delay are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of elevator car door, in particular to an elevator car door anti-collision action signal recognition and control system. BACKGROUND

[0002] The prior art usually operates according to the following closed-loop process. In the door closing stage, the environment and door body state are synchronously collected by the door area infrared, pressure sensitive edge, millimeter wave / ultrasonic and vision sensing units, and are time-aligned, denoised and integrity-verified together with the door machine side encoder, in-place switch, door lock and safety chain signals. Then, the control unit fuses and consistency-determines the multi-channel results to form a comprehensive judgment on the personnel occupancy, minimum safety distance and potential collision time. According to this, the pre-set hierarchical control strategy is triggered to output the open door, speed reduction, time delay or reverse door opening instructions as needed, and the door machine drive device and electromagnetic brake are smoothly executed along the predetermined speed-acceleration curve. At the same time, the system continuously returns the key operating quantities and records the event log for subsequent parameter setting and maintenance, so that the anti-collision recognition and control realize continuous and auditable safety coordination under the premise of meeting the interlocking condition.

[0003] For example, the Chinese invention patent with the publication number CN110562831B discloses an elevator door control system and method, wherein at least one of an avoidance operation signal for identifying whether there is a temporarily alighting avoidance passenger, elevator state information and passenger information is received by an information collection unit; the avoidance operation signal received by the information collection unit is identified by a recognition unit, or the elevator state information and / or passenger information received by the information collection unit is identified to determine whether there is a temporarily alighting avoidance passenger, and an identification result is output; if the identification result output by the recognition unit is that there is a temporarily alighting avoidance passenger, then a control unit selects a waiting mode and controls the elevator until the avoidance operation signal is released or the temporarily alighting avoidance passenger reenters the car, otherwise the control unit selects a conventional control mode and controls the elevator.

[0004] For example, the Chinese invention patent with the publication number CN118205976B discloses an automatic recognition elevator control system, which comprises a recognition module, an image acquisition module, a processing module and a control module; the image acquisition module is used to acquire image information in the running of the elevator; the recognition module is connected with the image acquisition module and is used to receive the collection signal of the image acquisition module and output an execution instruction; the processing module is used to process infrared image data and thermal imaging image data; the control module is used to receive the running instruction; through the recognition module, it can be ensured that the camera in the elevator is at the best camera angle and the widest camera range, and it can be ensured that the camera angle can be recognized after a slight change; through the image acquisition and processing module, the electric vehicle in the elevator can be recognized to prevent the electric vehicle from entering the building.

[0005] The prior art has the following technical problems:

[0006] In the process of closing the elevator door, the door machine driver sets a maximum torque / current limit to prevent overload. However, as the running time and environmental conditions change, the door machine driver exhibits a decaying nature of parameters and capabilities, decoupling the signal recognition-control execution link from the actual available performance of the door machine. The recognition module still recognizes the signal according to the nominal performance, while the execution end is already in a reduced or saturated working condition, thereby inducing a late or misjudged anti-collision determination or a trigger time shift of the protection action. SUMMARY

[0007] To solve the technical problems of late or misjudged anti-collision determination or trigger time shift of the protection action in the prior art, the embodiments of the present application provide an elevator car door anti-collision action signal recognition and control system. The technical solution is as follows:

[0008] On the one hand, an elevator car door anti-collision action signal recognition and control system is provided, which comprises: an abnormal type judgment module, configured to acquire performance parameters of a door machine driver of an elevator car door within a monitoring period, and perform data analysis on the performance parameters of the door machine driver to acquire and determine whether the door machine driver has an abnormal type based on the performance parameter analysis result; a hierarchical control module, configured to acquire a running state of the elevator car door under the last working condition of the monitoring period, and determine whether the elevator car door recognizes an anti-collision action signal, and if not, to acquire a signal recognition result and execute a hierarchical control decision; and an anti-collision process control module, configured to issue a warning signal when the anti-collision action signal is recognized, and control the anti-collision process of the elevator car door based on the performance parameter analysis result.

[0009] The technical scheme provided by the embodiments of the present application has at least the following beneficial effects:

[0010] (1) The present application provides an elevator car door anti-collision action signal recognition and control system. Within the monitoring period, the performance parameters of the door machine driver are collected and analyzed, a comprehensive performance evaluation coefficient is generated, and an abnormal category is labeled. The determination caliber of the recognition side and the available performance of the execution side remain the same source and the same scale, avoiding the mismatch between the recognition still being interpreted according to the nominal performance and the execution end being in a current limiting / saturated state, thereby reducing the determination deviation and action delay caused by the failure to perceive the reduction in capacity. Until the end of the monitoring period, the running state of the car door is acquired and it is determined whether the anti-collision action signal is recognized. If not, the recognition result is retrieved and a hierarchical control decision is executed according to the evaluation coefficient. When the anti-collision action signal is recognized, an audible and visual warning is issued and the decision to open the door in reverse or keep it open is made according to the evaluation coefficient, so that the protection action is consistent with the actual available performance and the misjudgment and trigger delay are reduced.

[0011] (2) The present application realizes accurate response to the performance change of the door machine drive machine by comprehensive performance evaluation deviation value, unnecessary resource consumption and operation interference can be avoided, and the overall operation cost of the elevator can be reduced when the comprehensive performance evaluation deviation value is small; the monitoring and operation parameters can be adjusted in a targeted manner, the further development of the abnormality can be effectively curbed, the aging process of the door machine drive machine can be slowed down, the service life thereof can be prolonged, the response of the door machine drive machine can be ensured to always fit the current performance state, the elevator car door action delay or out of control caused by insufficient performance can be avoided, the stable and normal work of the elevator car door anti-collision system can be ensured, the safety and reliability of the elevator operation can be significantly improved, the number of fault shutdowns can be reduced, the work burden of the operation and maintenance personnel can be reduced, and the comfort and safety of the passengers during the elevator ride can be improved.

[0012] (3) The present application is aimed at the problem that the parameter and capability attenuation of the door machine drive machine due to the change of the running length and environmental conditions causes the decoupling of the signal recognition-control execution link and the actual available performance of the door machine, the signal recognition strategy and the anti-collision control scheme are dynamically adjusted by combining the comprehensive performance evaluation deviation value, the situation that the identification module still identifies signals according to the nominal performance and the execution end is in the reduced or saturated working condition is avoided; when the conflict bit is marked as 1, the door closing rate and the sampling frequency are adjusted, the distance safety margin and the door closing delay are adapted according to different abnormal types, the actual performance of the door machine can be accurately matched, the problems of anti-collision judgment delay and misjudgment caused by performance attenuation can be effectively avoided, the timing offset of the protection action triggering is corrected, the door machine drive machine is ensured to be within the set maximum torque / current limit, the accurate linkage of signal recognition and control execution is realized, and the reliable operation of the elevator car door anti-collision system is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. 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 creative labor.

[0014] Figure 1 is a structure schematic diagram of an elevator car door anti-collision action signal recognition and control system provided by an embodiment of the present application;

[0015] Figure 2 is an example curve diagram of an emergency abnormal type provided by an embodiment of the present application;

[0016] Figure 3 is an example curve diagram of an emergency abnormal type provided by an embodiment of the present application;

[0017] Figure 4 is an example curve diagram of an emergency abnormal type provided by an embodiment of the present application;

[0018] Figure 5 is a second example curve of the abnormal type provided by the embodiment of the present application. DETAILED DESCRIPTION

[0019] The technical solutions in the present application will be described below with reference to the drawings.

[0020] In the embodiments of the present application, the words such as "example", "for example" are used to represent an example, illustration or description. Any embodiment or design scheme described as "example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the word "example" is intended to present the concept in a specific manner. In addition, in the embodiments of the present application, the meaning expressed by "and / or" can be both, or can be one of the two.

[0021] In the embodiments of the present application, sometimes the subscript such as W1 may be written in the form of non-subscript such as W1, and the meanings expressed thereby are consistent when the distinction is not emphasized.

[0022] In order to make the technical problems, technical solutions and advantages to be solved by the present application more clear, the following will be described in detail with reference to the drawings and specific embodiments.

[0023] The embodiment of the present application provides an elevator car door anti-collision action signal recognition and control system, such as Figure 1 As shown in a kind of elevator car door anti-collision action signal recognition and control system structure schematic diagram of the system, it includes abnormal type judging module, hierarchical control module, anti-collision process control module and database;

[0024] Abnormal type judging module is connected with hierarchical control module, hierarchical control module is connected with anti-collision process control module, and abnormal type judging module, hierarchical control module and anti-collision process control module are all connected with database.

[0025] Database, for storing the parameters involved in a kind of elevator car door anti-collision action signal recognition and control system, is formulated by relevant technical personnel according to elevator industry safety specification, door machine performance characteristics and system control logic, parameter is stored according to function and is divided into three modules of basic performance and determination, adjustment control, early warning and log: basic module stores benchmark value and determination threshold value (such as comprehensive performance evaluation coefficient), with parameter ID-standard value etc. field;Adjustment module stores dynamic adjustment parameter (such as the maximum closing rate allowed range, deviation value and increment corresponding relationship), is structured according to associated scene-deviation interval;Early warning module stores early warning rule and log field.Database is built using MySQL, is called by primary key association (such as when abnormal type two is according to deviation value to search increment), supports remote maintenance and updates trace, ensures that parameter calling is accurate, traceable.

[0026] The abnormal type judgment module is configured to acquire performance parameters of a door machine drive machine of the elevator car door in a monitoring period, and perform data analysis on the performance parameters of the door machine drive machine to acquire and determine whether the door machine drive machine has an abnormal type based on an analysis result of the performance parameters.

[0027] Specifically, the performance parameters of the door machine drive machine are analyzed, and the specific analysis process is as follows: the performance parameters of the door machine drive machine include working efficiency of the door machine drive machine, effective capacity of a direct current bus capacitor of the door machine drive machine, and bearing health degree of the door machine drive machine.

[0028] The working efficiency of the door machine drive machine refers to a ratio of an effective mechanical power output in a running process of the door machine drive machine to an electric power input, is a core index for measuring energy conversion efficiency, directly reflects rationality of energy utilization of the door machine drive machine, and indicates that the higher the efficiency is, the less the loss of conversion of electric energy into mechanical power is. The working efficiency is acquired by real-time monitoring in the following manner: first, input electric power (including voltage and current signals and a product thereof) and output mechanical power (output torque collected by a torque sensor and running speed collected by a speed sensor, and a product thereof is mechanical power) of the door machine drive machine are collected by means of a power sensor, and then the working efficiency is calculated by a formula of "output mechanical power / input electric power*100%".

[0029] The effective capacity of the direct current bus capacitor of the door machine drive machine refers to actual effective capacity of the direct current bus capacitor capable of stably storing and releasing electric charges under a door machine running condition. When the door machine drive machine normally runs, a voltage change curve of the direct current bus capacitor is collected by a voltage sensor in real time, and a charging and discharging current curve of the capacitor is collected by a current sensor. According to a principle of "capacitance capacity=charge quantity / voltage change quantity", a ratio of effective charging and discharging electric charges of the capacitor to corresponding voltage change quantity under an actual working condition is calculated, and the ratio is the effective capacity of the direct current bus capacitor.

[0030] The bearing health degree of the door machine drive machine is an index for indirectly reflecting a health state of the bearing when the bearing runs. A corresponding relationship between a bearing vibration amplitude interval and the bearing health degree is stored in a database. According to vibration data (covering all stages from new to failure and scrap, and collected under a standard working condition) of bearings of the same type of door machine drive machine in a whole life cycle, and in combination with a component wear amount detected by disassembly, performance test data and the like, a relevant technical person first quantitatively labels the bearing health degree corresponding to different vibration amplitudes, and then divides the amplitude interval and verifies and optimizes by statistical analysis, and finally formulates the corresponding relationship between the two in the database. The bearing vibration amplitude of the current bearing is taken as an index, and the corresponding bearing health degree can be inquired.

[0031] It needs to be explained that a decline in bearing health will lead to increased bearing wear and rotational resistance, resulting in increased mechanical friction loss during the operation of the gantry motor. This, in turn, increases the amount of input electrical power converted into ineffective losses, causing a decrease in working efficiency. The decay of the effective capacity of the DC bus capacitor will weaken its ability to stabilize the DC bus voltage, causing fluctuations in the power supply voltage of the gantry motor. Voltage instability will affect the normal current output of the motor windings. This may further increase the bearing load and accelerate bearing aging due to abnormal current increases, and will also directly lead to unstable mechanical power output of the motor, ultimately resulting in a decrease in working efficiency. These three parameters affect the overall performance of the gantry motor through the above-mentioned mutual influence mechanism, and all three are positively correlated with the overall performance evaluation coefficient. When any parameter decays, it will lead to a decrease in other parameters. After weighted summation, the overall performance evaluation coefficient will decrease accordingly.

[0032] The comprehensive performance evaluation coefficient of the gantry motor is obtained by comparing the working efficiency with the preset minimum allowable working efficiency, the effective capacity of the DC bus capacitor with the preset minimum allowable DC bus capacitor capacity, and the bearing health with the preset minimum allowable bearing health, and by weighting and summarizing the comparison results.

[0033] The weighted aggregation of several comparison results refers to multiplying each comparison result by the corresponding weight factor. The weight factor ranges from 0 to 1, representing the proportion of the parameter in the comprehensive performance evaluation coefficient.

[0034] The minimum allowable values ​​for working efficiency, effective DC bus capacitor capacity, and bearing health, as well as the weighting factors, are determined by relevant technical personnel based on the design standards and safe operation requirements of the gantry crane drive, combined with the full life-cycle operation data of the same model of equipment (including parameter decay patterns at different aging stages), and with reference to industry safety specifications and manufacturer technical manuals. Through experimental testing, it is determined that when each parameter is below a certain value, the gantry crane drive is prone to operational abnormalities (such as excessively low efficiency leading to a sudden increase in energy consumption, insufficient capacitor capacity leading to voltage instability, and poor bearing health leading to an increased risk of failure). Then, the minimum allowable values ​​and the proportion of each parameter in the comprehensive performance evaluation coefficient are defined. Based on the degree of influence of each parameter on the overall performance of the gantry crane drive, the corresponding weighting factors are determined. Finally, these values ​​are compiled and stored in the database for subsequent parameter comparison.

[0035] The comprehensive performance evaluation coefficient of the gantry motor represents the usability and health level of the gantry motor in terms of aging.

[0036] Based on the comprehensive performance evaluation coefficient of the gantry crane drive, an in-depth analysis of the performance parameters of the gantry crane drive is conducted.

[0037] The working efficiency, effective capacity of the DC bus capacitor, and bearing health of the gantry crane drive will only gradually decrease with the passage of time and component aging during the operation of the gantry crane drive. There will be no natural increase. The working efficiency will decrease due to the aging of the motor windings and the increase of mechanical friction. The effective capacity of the DC bus capacitor will decrease due to electrolyte loss and dielectric aging. The bearing will increase the characteristic frequency band vibration amplitude and decrease its health due to increased wear. Therefore, the comprehensive performance evaluation coefficient obtained by weighting these three parameters will also decrease synchronously with the decrease of the parameters, and will not increase. At the same time, the influence of these three parameters on the aging process is gradual and will not fluctuate significantly in a short period of time. This stable decay characteristic provides a reliable basis for the aging process analysis of the gantry crane drive, avoids the aging judgment deviation caused by parameter abrupt changes, and facilitates accurate tracking of aging trends and early formulation of maintenance strategies.

[0038] Specifically, an in-depth analysis of the performance parameters of the gantry crane drive is conducted. The specific analysis process is as follows: A pre-set database stores the correspondence between reference comprehensive performance evaluation coefficients and the number of occurrences of operating conditions. This correspondence is established by relevant technical personnel based on the operating data of the gantry crane drive throughout its entire life cycle. First, data on the performance parameters (working efficiency, effective capacity of DC bus capacitor, bearing health) corresponding to the number of occurrences of different operating conditions (i.e., cumulative number of operating cycles) of the same model of gantry crane drive under standard operating conditions are collected. Combined with the determined minimum allowable values ​​and weighting factors of each parameter, the comprehensive performance evaluation coefficients that the gantry crane drive should have under different numbers of occurrences of operating conditions are calculated and used as reference values. Next, through experimental verification and data correction, interference from abnormal operating data is eliminated to ensure that the reference comprehensive performance evaluation coefficients corresponding to the number of occurrences of different operating conditions can accurately reflect the normal performance level of the gantry crane drive in that operating stage. Finally, the number of occurrences of each operating condition and the corresponding reference comprehensive performance evaluation coefficients are matched one by one and organized into a standardized correspondence table and stored in the database. This allows for the rapid retrieval of the corresponding reference comprehensive performance evaluation coefficients based on the sequence number of each operating condition during the monitoring period.

[0039] It's important to explain that the performance degradation of the gantry crane drive is directly related to the number of operating conditions that occur. The more frequent these operating conditions, the more often the gantry crane drive experiences start-stop cycles, load changes, and mechanical friction. This leads to increased aging of its core components (such as motor windings, DC bus capacitors, and bearings). Bearings experience accelerated wear due to repeated rotation and friction; DC bus capacitors suffer electrolyte loss and capacity reduction due to frequent charging and discharging; and the motor experiences decreased winding insulation and increased mechanical losses due to prolonged operation, ultimately resulting in reduced efficiency. The reference comprehensive performance evaluation coefficient is based on these three performance parameters, and these parameters decay with the number of operating conditions, inevitably causing the reference comprehensive performance evaluation coefficient to show a corresponding changing trend. Furthermore, establishing this correlation allows subsequent monitoring to quickly match the expected normal performance level of the gantry crane drive at this stage (i.e., the reference comprehensive performance evaluation coefficient) based on the current number of operating conditions. This provides an accurate benchmark for determining whether the actual comprehensive performance evaluation coefficient is abnormal and assessing the degree of equipment aging, avoiding performance judgment biases caused by a lack of stage-specific references.

[0040] During each operating condition within the monitoring period, reference comprehensive performance evaluation coefficients for each operating condition are obtained from the database. The comprehensive performance evaluation coefficients of the gantry crane drive are then compared with the corresponding reference comprehensive performance evaluation coefficients to determine the deviation. The results of this deviation processing are then summarized to obtain the comprehensive performance evaluation deviation value, as shown in the following expression:

[0041] ;

[0042] In the formula, P is the comprehensive performance evaluation deviation value, CP(m) is the comprehensive performance evaluation coefficient of the gantry motor under the m-th operating condition in the monitoring period, CCP(m) is the reference comprehensive performance evaluation coefficient of the gantry motor under the m-th operating condition in the monitoring period, m is the sequence number of the operating condition, y is the total number of occurrences of the operating condition, and n is the number of the first operating condition at the beginning of the monitoring period. For example, if the total number of operating conditions of the gantry motor has been accumulated to 100, and the current monitoring period needs to cover operating conditions from number 100 to 120, then the number n of the first operating condition at the beginning of this monitoring period is 100.

[0043] The above-mentioned parameter analysis regarding the door operator drive efficiency, effective DC bus capacitor capacity, and bearing health, along with the calculation logic of the comprehensive performance evaluation coefficient, are the core technical support for the stable operation of the elevator car door anti-collision action signal recognition and control system. This directly addresses the system's need to solve the problem of decoupling the signal recognition and control execution link caused by door operator drive performance degradation: the door operator drive, as the power source for the elevator car door opening and closing action, determines the stability of the door opening and closing power output; the effective DC bus capacitor capacity ensures stable power supply to avoid door movement lag; and bearing health affects the smoothness of door operation. The degradation of these three factors will lead to a discrepancy between the actual performance of the door operator and its specifications. If the recognition system still identifies the anti-collision signal according to the nominal performance and the control system executes the action according to the original parameters, it is easy for the anti-collision judgment to be delayed or the timing of the protective action to be off. However, by calculating the comprehensive performance evaluation coefficient by weighting, the actual performance level of the door machine after aging can be accurately quantified, providing a real-time performance benchmark for the anti-collision system. The system can adjust the sampling frequency of signal recognition, the judgment threshold (such as reducing the closing rate when the conflict bit is 1), and the anti-collision control strategy (such as increasing the safety margin in case of abnormality) according to the coefficient, so as to ensure that the signal recognition and control execution always match the actual performance of the door machine, avoid anti-collision failure induced by performance degradation, and ensure the reliable operation of the elevator car door anti-collision system.

[0044] The monitoring cycle is set according to the rule that the current operating condition is the end point and the starting operating condition number is synchronously shifted according to the technician's preset step size (e.g., 50 operating conditions). The number of operating conditions covered within the cycle can change dynamically. For example, if the operating condition number range of the previous monitoring cycle was 200-500 (the ending operating condition was 500, corresponding to the current operating condition), when new operating conditions continue to occur and the current operating condition number moves to 550, the starting operating condition number of the monitoring cycle moves forward by 50 steps to 250, and the new monitoring cycle becomes 250-550. Subsequently, for every 50 new operating conditions (the current operating condition number is updated to 600, 650, etc.), the starting operating condition number is synchronously shifted forward by 50 steps. The advantages of this setting are as follows: First, the rule of using the current operating condition as the end point plus the preset step size ensures that each monitoring covers a sufficient amount of operating condition data (the basic range of 200-500). First, the system offers several advantages: 1) It avoids deviations in the calculation of comprehensive performance evaluation coefficients due to insufficient data, while skipping analyzed historical data to improve processing efficiency. 2) The dynamically changing cycle length adapts to different operating scenarios of the gantry crane drive. When the operating load is high and the operating frequency is dense, shortening the cycle can more quickly capture performance fluctuations (such as a rapid decline in bearing health caused by frequent start-stop cycles). When the operating load is low and the operating frequency is sparse, extending the cycle can accumulate sufficient data to support trend judgment, avoiding data fragmentation due to an excessively short cycle. 3) The combination of fixed step size and dynamic cycle ensures the consistency of the basic data span when calculating the rate of decline of the comprehensive performance evaluation coefficient (each calculation is based on at least 50 changes in operating conditions), and allows for adjustments to the cycle to address sudden changes in operating conditions. This provides a more flexible and practical data analysis foundation for accurately identifying emergency anomalies (such as a rate of decline exceeding the maximum allowable value), reducing the risk of missed or incorrect anomaly detection due to a rigid fixed cycle.

[0045] In the performance monitoring of gantry crane drives, the number of operating conditions in different monitoring cycles does not start from 1, nor is it reset with the update of the monitoring cycle. Instead, it is continuously accumulated based on the total operating history of the gantry crane drive after it has been put into use. The number of operating conditions is a key basis for reflecting the actual usage intensity and aging process of the gantry crane drive. If it is reset with each cycle, it will break the continuity of its operating history, making it impossible to accurately trace the cumulative impact of different stages of operating conditions on performance. The continuously accumulated numbering ensures that the correspondence between the reference comprehensive performance evaluation coefficient and the total number of operating conditions is always consistent. This makes the calculation of the comprehensive performance evaluation deviation value (based on the actual and reference coefficients corresponding to the cumulative operating conditions) more consistent with the actual performance degradation law of the gantry crane drive, avoiding the aging analysis deviation caused by the reset of the operating condition number.

[0046] Specifically, the results of performance parameter analysis are used to determine whether there is an abnormality in the gantry motor. The specific determination process is as follows: the performance parameter analysis results include the decrease in the comprehensive performance evaluation coefficient of the gantry motor and the comprehensive performance evaluation deviation value.

[0047] The decrease in the comprehensive performance evaluation coefficient of the gantry crane drive specifically refers to the decrease in the comprehensive performance evaluation coefficient of the last operating condition compared to the comprehensive performance evaluation coefficient of the first operating condition among several adjacent operating conditions within the monitoring period (the specific number of times is determined by relevant technical personnel). In this embodiment, the absolute value of the difference between the two is recorded as the decrease in the comprehensive performance evaluation coefficient, and the specific number of times is selected.

[0048] Determine if the gantry crane drive motor has an emergency fault type.

[0049] Emergency anomaly type refers to the decrease in the comprehensive performance evaluation coefficient of the gantry crane drive that is greater than or equal to the maximum allowable decrease rate. The maximum allowable decrease rate is determined by relevant technical personnel in combination with the safe operation requirements and fault risk threshold of the gantry crane drive and is stored in the database.

[0050] like Figure 2 The example curve of the emergency anomaly type is shown. The horizontal axis represents the operating conditions in terms of times, and the vertical axis represents the comprehensive performance evaluation coefficient in terms of percentage. In section A, the decrease in the comprehensive performance evaluation coefficient is greater than the maximum allowable rate of decrease. This situation means that the performance of the door operator drive has experienced a sudden decline, rather than normal gradual aging. Under normal aging, the comprehensive performance evaluation coefficient decreases slowly and steadily, and the system has sufficient time to monitor and respond. However, when the rate of decrease reaches or exceeds the maximum allowable rate, it indicates that the door operator drive may have a sudden failure. If not intervened immediately, the door operator drive may fail completely in a short period of time, which may lead to safety hazards such as uncontrolled opening and closing of the elevator car door and failure of the anti-collision system to trigger normally. Therefore, this anomaly type has the highest priority and requires immediate warning and reduction of the maximum operating speed of the elevator car door to quickly curb the expansion of risks and ensure the safe operation of the elevator.

[0051] If an anomaly is detected, an immediate warning will be issued, and the maximum operating speed of the elevator car doors will be reduced to the minimum allowable value specified in the database. The anomaly warning will trigger two mechanisms: firstly, the elevator-side audio warning device will be activated, emitting a continuous, clear, and easily identifiable warning sound (such as a high-frequency buzzer or a preset voice prompt indicating a door operator system malfunction). This sound will be simultaneously played in the elevator car and on the speakers outside the elevator doors to remind passengers and those waiting in the car to be aware of safety and avoid approaching or operating the elevator. Secondly, the system will automatically retrieve the maintenance personnel contact information stored in the database and send a warning message containing details of the anomaly. This message will include at least the anomaly type (emergency door operator drive malfunction), the time of occurrence, the elevator number, the current elevator location, and the rate of decrease in the comprehensive performance evaluation coefficient, enabling maintenance personnel to quickly grasp the situation and promptly proceed to the site for repair.

[0052] If not, the comprehensive performance evaluation deviation value will be compared with the preset comprehensive performance evaluation allowable deviation value. The formulation of the comprehensive performance evaluation allowable deviation value fully considers the objective situation that the performance parameters of the door operator drive motor are subject to reasonable deviations from the reference value due to factors such as environmental fluctuations (such as slight changes in temperature and voltage) and monitoring errors (such as sensor accuracy deviations) during actual operation. Relevant technical personnel first use a large amount of operating data of the same model of door operator drive motor under standard and complex actual conditions to statistically analyze the deviation range between the comprehensive performance evaluation coefficient and the corresponding reference value during normal aging, and select the maximum deviation value under more than 95% of normal operating scenarios as the basic reference. Secondly, in combination with the safety redundancy requirements of the elevator car door anti-collision system, if the deviation is too large, it will affect the accuracy of the anti-collision judgment, and if it is too small, it will easily trigger unnecessary warnings. Therefore, an appropriate safety margin is reserved on the basic reference value. At the same time, the deviation control standards for door operator performance monitoring in the industry and the error allowable range provided by the equipment manufacturer are referenced to finally define the comprehensive performance evaluation allowable deviation value and store it in the database for subsequent comprehensive performance evaluation deviation value comparison. This ensures that both normal deviations are avoided from being misjudged as abnormalities and true abnormalities exceeding the reasonable range can be identified in a timely manner.

[0053] If the deviation value of the comprehensive performance evaluation is less than or equal to the allowable deviation value of the comprehensive performance evaluation, then it is determined that the gantry motor drive does not have an abnormal type. Figure 3As shown in the example curve, there are no abnormal types. The horizontal axis represents the operating conditions in terms of cycles, and the vertical axis represents the comprehensive performance evaluation coefficient in terms of percentage. The curve trend shows that both the comprehensive performance evaluation coefficient and the reference comprehensive performance evaluation coefficient gradually decrease with the increase in the number of operating conditions, and their decreasing trends are basically synchronized. The deviation of the comprehensive performance evaluation coefficient from the reference value remains within a small range. Further analysis shows that both the instantaneous deviation of the two under a single operating condition and the cumulative value of all single deviations within the monitoring period remain at a low level, not exceeding the preset allowable deviation range for comprehensive performance evaluation (as shown by the stable deviation state in intervals B, C, and D in the figure). This result indicates that the actual comprehensive performance of the gantry crane drive motor is highly consistent with the benchmark reference performance, the performance degradation follows normal patterns, and there are no abnormal types.

[0054] If the deviation value of the comprehensive performance evaluation is greater than the allowable deviation value of the comprehensive performance evaluation, it is necessary to conduct a secondary judgment to determine whether there is an abnormal type of the gantry motor.

[0055] Furthermore, a secondary assessment is conducted to determine if the gantry crane drive exhibits any abnormalities. The specific process involves obtaining the comprehensive performance evaluation coefficient of the gantry crane drive under the last operating condition of the monitoring cycle and comparing it with the corresponding reference comprehensive performance evaluation coefficient. If the comprehensive performance evaluation coefficient of the gantry crane drive is greater than or equal to the corresponding reference comprehensive performance evaluation coefficient, then the gantry crane drive is determined to be free of abnormalities. The core reason is that the comprehensive performance evaluation coefficient reflects the performance status of the gantry crane drive during long-term operation, while the reference comprehensive performance evaluation coefficient is a baseline performance value established based on the normal aging process of the equipment and under corresponding operating conditions. During normal operation, the gantry crane drive... The overall performance evaluation coefficient is affected by the aging process of core components (bearings, DC bus capacitors, etc.), and generally shows a slow downward trend without significant fluctuations or rebounds. Since the duration of a monitoring cycle (or the number of operating conditions covered) is limited, it is insufficient for the already slowly decreasing overall performance evaluation coefficient to complete the reverse change from below the reference overall performance evaluation coefficient to above the reference overall performance evaluation coefficient. If the overall performance evaluation coefficient is still greater than or equal to the corresponding reference overall performance evaluation coefficient at the end of the cycle, it indicates that the equipment performance has always been maintained at or above the benchmark level throughout the entire monitoring cycle, and there has been no performance degradation beyond the normal aging range. Therefore, it can be determined that there is no abnormal type.

[0056] If the comprehensive performance evaluation coefficient of the gantry motor is less than the corresponding reference comprehensive performance evaluation coefficient, then the duration during which the comprehensive performance evaluation coefficient of the gantry motor is less than the corresponding reference comprehensive performance evaluation coefficient is obtained. If the duration is greater than or equal to the defined duration, then it is determined that the gantry motor has an abnormality type, and it is abnormality type one.

[0057] If the duration is less than the defined duration, the door operator driver is determined to have an abnormality type, specifically abnormality type two.

[0058] The duration is defined and stored in the database, representing the maximum allowed duration.

[0059] like Figure 4 As shown in the example curve of anomaly type 1, the horizontal axis represents the operating condition in times, and the vertical axis represents the comprehensive performance evaluation coefficient in percentage. The duration of interval E is greater than the defined duration, which corresponds to the state in which the comprehensive performance of the gantry motor slowly declines and is detected in real time. From the perspective of performance change logic, the core feature of this type of anomaly is that the comprehensive performance shows a slow downward trend. Since the end time of the monitoring cycle is the current moment of real-time update, the system can capture in real time the process of the comprehensive performance evaluation coefficient gradually decreasing from higher than or equal to the reference comprehensive performance evaluation coefficient to lower than the reference comprehensive performance evaluation coefficient.

[0060] like Figure 5 As shown in the example curve for Anomaly Type 2, the horizontal axis represents the operating condition in cycles, and the vertical axis represents the comprehensive performance evaluation coefficient in percentages. The duration corresponding to interval F is less than the defined duration. Anomaly Type 2 indicates a rapid decline in the comprehensive performance of the gantry motor drive, which is detected and monitored in real time. When the comprehensive performance evaluation coefficient of the gantry motor drive is less than or equal to the corresponding reference comprehensive performance evaluation coefficient, combined with the real-time nature of the monitoring cycle end time, the system can detect in real time that the rate of decline in the comprehensive performance evaluation coefficient is significantly faster than in Anomaly Type 1. Compared to the slow decay of the former, the coefficient of Anomaly Type 2 may drop from the normal level to less than or equal to the reference comprehensive performance evaluation coefficient in a shorter period, reflecting an accelerated pace of gantry performance degradation, which may be due to non-natural aging factors (such as increased component wear or minor precursors to malfunctions). If this rapid decline is not addressed promptly, it may escalate into an emergency anomaly where the rate of decline exceeds the maximum allowable value. Therefore, Anomaly Type 2 is a real-time warning for performance deviating rapidly from the benchmark and continuously exceeding the limit.

[0061] First, it needs to be clarified that the duration for which the comprehensive performance evaluation coefficient used to determine the anomaly type is less than the reference comprehensive performance evaluation coefficient refers to the continuous duration from the time the system first detects that the comprehensive performance evaluation coefficient is lower than the corresponding reference comprehensive performance evaluation coefficient to the current real-time determination time, rather than being limited to the duration within a certain monitoring period. Furthermore, to avoid the rigidity of a fixed duration leading to all subsequent determinations of the same anomaly type once the duration exceeds the threshold for the first time, the system dynamically adjusts the defined duration each time an anomaly is identified (regardless of whether it is initially determined to be type one or type two), appropriately lengthening it to cover previously accumulated anomalies. The duration of the calculation ensures that subsequent judgments can still accurately distinguish the degree of abnormality based on the updated threshold. The core reason for this dynamic adjustment logic is that the performance degradation of the gantry motor is a continuous and potentially changing process. If the defined duration is fixed, once the duration exceeds the threshold for the first time, all subsequent judgments will be unable to distinguish changes in the degradation rate (such as from slow degradation to rapid degradation) because the duration is always greater than the fixed threshold. Dynamically extending the defined duration can both retain the traceability of historical degradation duration and set a new duration judgment benchmark for subsequent monitoring, so that the classification of abnormal types always matches the actual trend of performance degradation and avoids the failure of the judgment logic.

[0062] For example, if the initial defined duration is set to 10 hours, and the system first detects that the overall performance evaluation coefficient is less than the corresponding reference overall performance evaluation coefficient at time T1, and this overall performance evaluation coefficient continues to be lower than the corresponding reference value thereafter, then at time T2 (8 hours from T1, duration 8 hours < 10 hours), the anomaly is first identified and initially determined to be anomaly type two. Simultaneously, the defined duration is dynamically adjusted to 18 hours (the original 10 hours + the accumulated 8 hours). If the overall performance evaluation coefficient continues to be lower than the corresponding reference overall performance evaluation coefficient, then at time T3 (15 hours from T1, duration 8 hours < 10 hours), the anomaly is first identified and initially determined to be anomaly type two. At the same time, the defined duration is dynamically adjusted to 18 hours (the original 10 hours + the accumulated 8 hours). When monitoring is performed again after 15 hours (18 hours), the anomaly is still classified as type 2 based on the updated 18-hour threshold, indicating that the performance degradation rate has not accelerated significantly. If monitoring is performed at time T4 (20 hours from T1, with a duration of 20 hours ≥ 18 hours), the anomaly is classified as type 1 based on the updated threshold, indicating that although the performance continues to degrade, the degradation rate remains stable and there is no acceleration trend. However, if the threshold is not dynamically adjusted and only the initial 10 hours is used as the baseline, the duration of T3 and T4 is greater than 10 hours, which will mistakenly classify the anomalies in different degradation stages as type 1, failing to accurately reflect the actual performance status.

[0063] Furthermore, determining whether there are any abnormalities in the door operator drive motor based on performance parameter analysis results also includes optimizing the monitoring process of the elevator car door based on the abnormality type. The specific optimization process is as follows: If abnormality type one exists, increase the time shift step based on the comprehensive performance evaluation deviation value and immediately update the start time of the monitoring cycle, while slightly reducing the acceleration threshold of the elevator car door; using the comprehensive performance evaluation deviation value as the core basis, and combining it with the average daily number of elevator operation conditions (e.g., 200 door openings and closings per day), determine the step increase. If the comprehensive performance evaluation deviation value is small (only slightly increased), the step increase is further reduced. If the deviation exceeds the allowable deviation value for comprehensive performance evaluation (e.g., deviation < 5%), the original time shift step size will be increased from 200 times / step to 300 times / step. The correspondence between the comprehensive performance evaluation deviation value and the time shift step size is determined by technical personnel and stored in the database. First, based on the performance benchmark parameters of the door operator drive, technical personnel clarify the grading standard for the comprehensive performance evaluation deviation value. Combining the normal aging patterns of the door operator's core components (such as bearings and capacitors), the deviation value is divided into different ranges (e.g., deviation 0-5% is slight deviation, 5%-10% is moderate deviation). Each range corresponds to a different stage of door operator performance degradation, ensuring that the deviation grading accurately reflects the actual performance status. Second, for each deviation value range, technical personnel combine historical elevator operation monitoring data (e.g., the performance change rate and failure probability of the door operator under different deviation states over the past 3-5 years) to determine the appropriate time shift step size increment, thus forming a correspondence stored in the database. The original acceleration threshold of the elevator car door is usually set at 0.6-0.8 m / s² (to ensure a balance between passenger comfort and opening / closing efficiency). The acceleration threshold of the elevator car door is slightly reduced from 0.6... The speed is slightly reduced from -0.8 m / s² to 0.55-0.75 m / s². This adjustment range is preset by elevator maintenance technicians based on door machine performance parameters (such as comprehensive performance evaluation deviation value and power output stability). Each time an adjustment request of abnormal type one is triggered, this fixed range is executed. This avoids significantly extending the door opening and closing time due to excessive adjustment (affecting operating efficiency), and also offsets the power fluctuations caused by the slow decline in door machine performance through a slight reduction in the threshold, ensuring the smooth operation of the car door and preventing any perceptible jerking or overshooting phenomena for passengers.

[0064] The performance degradation rate of anomaly type 1 is stable. By increasing the time shift step size in conjunction with the deviation value, redundant monitoring data can be avoided during periods of limited performance change, reducing system resource consumption. Immediately updating the start time of the monitoring cycle allows the new cycle to focus on the latest operating data, accurately tracking whether the degradation trend is intensifying and avoiding missing key changes due to cycle lag. On the other hand, slightly reducing the acceleration threshold can specifically offset the slight decrease in power output stability caused by the slow degradation of the door operator's performance, preventing passengers from experiencing perceptible jerks or overshoots during car door operation. Moreover, the magnitude of the slight adjustment is preset by technicians, which can avoid significantly extending the door opening and closing time without affecting elevator operating efficiency, ultimately achieving the dual goals of efficient monitoring and stable operation.

[0065] If an anomaly type 2 exists, the sampling frequency for key channel identification will be increased based on the deviation value of the comprehensive performance evaluation, and the acceleration threshold of the elevator car door will be reduced. A performance warning will be issued. The performance warning refers to the buzzer on the elevator car door emitting a warning sound. A warning work order will be generated in the background and sent to the mobile terminal (such as APP, SMS) of the maintenance personnel. The push content will include a link to view details to ensure that the maintenance personnel receive it in real time. The warning information includes clear handling suggestions.

[0066] Key channels refer to the key parameter acquisition channels that directly reflect the core performance status of the gantry crane and can detect potential faults at an early stage, such as mechanical transmission parameter channels (gantry crane belt tension acquisition channel, guide rail friction acquisition channel, bearing vibration acquisition channel).

[0067] The database stores the correspondence between the comprehensive performance evaluation deviation value and the key channel identification sampling frequency increment, as well as the correspondence between the comprehensive performance evaluation deviation value and the acceleration threshold reduction. Using the comprehensive performance evaluation deviation value as an index, the corresponding key channel identification sampling frequency increment and acceleration threshold reduction can be retrieved. The adjustment is completed by adding the key channel identification sampling frequency increment to the current key channel identification sampling frequency and subtracting the acceleration threshold reduction from the current elevator car door acceleration.

[0068] The correspondence between the comprehensive performance evaluation deviation value and the incremental sampling frequency and the reduction of the acceleration threshold of the key channel identification is formulated by technical personnel in combination with the failure mechanism of the door machine drive, historical monitoring data and elevator operation safety specifications, and stored in the system database. The core logic is to accurately match the degree of abnormality and the degree of intervention.

[0069] Compared to the slow decay of anomaly type one, the performance data fluctuations of anomaly type two are more subtle. Increasing the sampling frequency according to the corresponding relationship can intensively collect key channel data such as motor current and guide rail tension, avoiding the omission of fault precursor signals due to excessively long sampling intervals. This provides accurate data support for subsequent fault sources such as insufficient lubrication of positioning bearings, preventing potential problems from escalating into gate jamming. In anomaly type two, the gate's power stability decreases significantly. Reducing the acceleration threshold according to the corresponding relationship can directly reduce the gate's operating load (e.g., reducing motor output power from 1.2kW to 0.9kW), slowing down bearing wear and preventing the gate from jamming due to insufficient power. This balances the need for fault delay and smooth operation. In addition, increasing the sampling frequency and adjusting the acceleration complement each other. The former focuses on risk capture, while the latter focuses on risk control. This can quickly locate potential problems while reducing the causes of fault development, buying time for operation and maintenance, and avoiding the problem of being able to detect potential problems but not control their deterioration due to a single adjustment.

[0070] The hierarchical control module is used to obtain the operating status of the elevator car door at the end of the monitoring cycle and determine whether the elevator car door has recognized the anti-collision action signal. If the anti-collision action signal is not recognized, the module obtains the signal recognition result and executes the hierarchical control decision.

[0071] Specifically, the signal recognition results are acquired and hierarchical control decisions are executed. The acquisition process is as follows: if the signal recognition results indicate that the elevator car door is in a vertical travel state, the operating status of the elevator car door is continuously acquired; if the signal recognition results indicate that the elevator car door is stationary and currently in an open state, the operating status of the elevator car door is continuously acquired; if the signal recognition results indicate that the elevator car door is stationary and currently in a closed state, the operating status of the elevator car door is continuously acquired, and the signal recognition results are then subjected to in-depth analysis.

[0072] The closing phase is the main period when people / obstacles enter the door area and are likely to be crushed by the door, and it is also the key window for triggering anti-collision actions. Focusing in-depth analysis on this phase can improve the sensitivity of judgment and the timeliness of action at the moment of highest risk, while reducing excessive intervention during the opening and driving phases, reducing false alarms and unnecessary degraded control, thereby balancing safety and traffic efficiency.

[0073] In one example embodiment, the hierarchical control module first collects signals through door anti-collision sensors (such as infrared light curtains and ultrasonic sensors) to determine whether the car door has recognized an anti-collision action signal. If the sensor does not return an obstruction signal (i.e., no anti-collision action signal is recognized), the module further retrieves door operating parameters and working condition data to perform signal recognition: the operating status is determined by the position change data collected by the door encoder. If the encoder reports that the door position changes linearly over time and matches the vertical trajectory data of the elevator shaft, it is identified as a vertical travel state. At this time, the module continuously acquires operating status parameters such as door speed and position. If the encoder reports that the door position has not changed (determined as a stationary state), the module then combines the door controller... The output operating condition commands (door opening signal or door closing signal) are further identified. If the controller outputs a door opening command (currently in the door opening condition) or a door closing command (currently in the door closing condition), the hierarchical control module will first continuously acquire operating status parameters such as door current and door lock status. Only when the door is identified as stationary and is currently in the door closing condition will the module start signal deep analysis. That is, by combining the running trajectory of the door before it stops (such as whether there is sudden deceleration), closing torque data (such as whether torque protection is triggered due to increased resistance), door lock circuit voltage stability and other multi-dimensional data, the module will check whether the stationary state is caused by unexpected factors (such as slight jamming or signal delay) to ensure the accuracy of signal identification and operational safety.

[0074] Furthermore, the signal recognition results are analyzed in depth. The specific analysis process is as follows: within the door closing monitoring time window, the consistency rate of each data acquisition channel (such as infrared, pressure band, millimeter wave, and visual channels) is calculated and a majority vote is taken; if an abnormal conclusion occurs, the conflict bit is marked as 1; if no abnormal conclusion occurs, the conflict bit is marked as 0; an abnormal conclusion refers to a channel conclusion consistency rate lower than the defined consistency rate or a strong conflict conclusion; when the conflict bit is marked as 1, the maximum closing speed of the elevator car door is reduced based on the comprehensive performance evaluation deviation value, and an early warning signal is issued, while the sampling frequency of key channels is increased. The defined consistency rate refers to the minimum allowable consistency rate stored in the database.

[0075] To reduce the maximum closing speed of the elevator car doors based on the comprehensive performance evaluation deviation value, it is necessary to rely on the preset correspondence between the comprehensive performance evaluation deviation value and the maximum closing speed reduction (stored in the system database). First, the system retrieves the comprehensive performance evaluation deviation value of the current door operator drive motor, and uses this as an index to query the database for the matching maximum closing speed reduction. For example, if the comprehensive performance evaluation deviation value is in a slightly deviated range, the original maximum closing speed (e.g., 0.6 m / s) is reduced by the maximum closing speed reduction (0.1 m / s), thus reducing it to 0.5 m / s. The core function of the warning signal here is to simultaneously remind passengers and maintenance personnel to pay attention to the risk, and it must include two layers of content: in terms of sound characteristics, the warning signal must be highly recognizable and not harsh, usually set as a periodic buzzing sound, which is emitted from the speaker in the elevator car; in terms of information transmission, the warning signal simultaneously triggers the elevator control system to record and push information, pushing the warning information (including the triggering reason, current deviation value, and conflict channel type) to the mobile terminal of the maintenance personnel.

[0076] In one example embodiment, within the elevator car door closing monitoring time window (i.e., the preset door closing process monitoring period, such as the 10-15 seconds from the door operator initiating the closing command to the door being fully closed), the consistency rate calculation of infrared, pressure band, millimeter wave, and visual channels requires first clarifying the core monitoring targets of each channel. All four types of channels are used to identify whether there are obstacles (such as passenger limbs or foreign objects) during the closing process. Specifically, the infrared channel determines whether there is an object blocking the door by using infrared beam obstruction, the pressure band channel senses whether there is contact with an object through a door edge pressure sensor, the millimeter wave channel detects the distance to the obstacle by using millimeter wave reflection signals, and the visual channel analyzes whether there are foreign objects by recognizing and analyzing camera images. When calculating the consistency rate, first count the judgment results of each channel within the monitoring window (1 for obstacles and 0 for no obstacles), then calculate the ratio of the number of channels with the same judgment result to the total number of channels (4). For example, if 3 out of 4 channels are judged to be without obstacles and 1 is judged to be with obstacles, the consistency rate is 3 / 4 = 75%; if 2 are judged to be with obstacles and 2 are judged to be without obstacles, the consistency rate is 2 / 4 = 50%.

[0077] The majority vote is based on the decision-making rules of each channel's judgment results: after obtaining the independent judgment results of the four channels, the number of channels for each type of result is counted, and the result that obtains the support of a majority of channels (i.e., more than half of the total number of channels, and at least 3 out of 4 channels) is used as the final judgment conclusion. For example, if 2 channels judge no obstacle and 2 channels judge an obstacle, the consistency rate of the channel conclusions is less than half, and it is directly classified as an abnormal conclusion. This process, through cross-validation of multi-channel data, can reduce misjudgments caused by single-channel failures (such as false triggering of the infrared channel or decreased sensitivity of the pressure band), ensuring the accuracy of obstacle identification during the door closing process; when the consistency rate is too low (e.g., below 75%) or the majority vote cannot form a clear conclusion, the abnormal conclusion result judgment is triggered, and then the conflict position is marked and subsequent adjustment measures are implemented.

[0078] Among these, a strongly conflicting conclusion is the highest priority criterion for judgment. Once a strongly conflicting conclusion is detected within the current time window, an anomaly judgment can be made directly and corresponding controls can be triggered without further verification of other comparison conditions. In elevator car door closing monitoring, a strongly conflicting conclusion represents an extreme contradictory state of multi-channel judgments, meaning that the judgment results of key functional channels (such as contact-type pressure bands, non-contact millimeter wave, and visual channels) are completely contradictory (e.g., the pressure band shows an obstacle, while the millimeter wave and visual channels show no obstacle), and there is no intermediate consensus. In such cases, there is no need to refer to the consensus rate or voting; once it occurs, it is directly classified as an abnormal conclusion. The core reason lies in its contradictory nature and the high requirements for elevator door closing safety: On the one hand, the principles of key functional channels (such as contact-type pressure bands and non-contact millimeter wave / visual channels) are complementary and should form a monitoring synergy. If the judgments are completely contradictory (e.g., the pressure band shows an obstacle, while others show no obstacle), it indicates that at least one type of channel may have a malfunction (e.g., the pressure band is falsely triggered or the millimeter wave fails) or be subject to complex interference. In this case, referring to the consensus rate or voting may easily mask the risk (e.g., a few correct judgments are ignored); on the other hand, the door closing process... Since the process involves passenger safety, if an extremely contradictory judgment is not intervened immediately, it may lead to misjudgment, such as people being trapped in the door or the door jamming during closing. Therefore, without additional consideration, measures such as conflict position marking, speed reduction, and warning are directly triggered. This can not only quickly avoid safety hazards, but also check for channel faults by increasing the sampling frequency, ensuring the safety and reliability of the door closing process. When a strong conflict conclusion is found, the maximum closing speed of the elevator car door is directly reduced to the minimum value set by the technicians, and the warning information is marked as the highest priority. This can significantly reduce the closing kinetic energy and the probability of being trapped within the risk window, prioritizing safety.

[0079] It should be explained that the multi-channel consistency rate calculation and majority voting can cross-verify the judgment results of each channel on the presence of obstacles. Especially for core anti-collision channels such as infrared and pressure band, it can effectively reduce anti-collision misjudgments caused by single-channel failures (such as infrared false triggering or decreased pressure band sensitivity). This avoids frequent interruptions in door closing due to misjudgment of obstacles, which affects operational efficiency, and also prevents the oversight of real obstacles (such as passenger hands) due to misjudgment of no obstacles. This directly enhances the reliability of the anti-collision function and reduces the safety risks of people or objects being trapped during door closing. When the conflict bit is marked as 1 (an abnormal conclusion has occurred), the maximum closing speed is reduced based on the deviation value of the comprehensive performance evaluation. The rate can further reduce the fault tolerance pressure of the anti-collision response when the door operator's power is unstable (e.g., after the rate decreases, even if the anti-collision signal is slightly delayed, the door will have more time to stop). The warning signal with audible prompts can promptly remind passengers to stay away from the door and avoid the risk of collision. Increasing the sampling frequency of key channels can quickly capture abnormal data of the anti-collision channels (e.g., continuous signal conflict in a certain anti-collision channel), helping operation and maintenance to accurately troubleshoot faults. Ultimately, a closed loop from monitoring to judgment to intervention to tracing is formed, which not only comprehensively ensures the anti-collision safety and smooth operation of the door closing process, but also provides data support for subsequent fault handling, significantly improving the reliability and safety of elevator door monitoring.

[0080] The anti-collision process control module is used to issue a warning signal when an anti-collision action signal is detected, and at the same time control the anti-collision process of the elevator car door based on the performance parameter analysis results.

[0081] Specifically, the anti-collision process of the elevator car door is controlled based on the performance parameter analysis results. The specific control process is as follows: the performance parameter analysis results include no abnormal type, an abnormal type exists and it is an emergency abnormal type, an abnormal type exists and it is abnormal type one, and an abnormal type exists and it is abnormal type two. If the performance parameter analysis result is no abnormal type, the current anti-collision control scheme is maintained to control the anti-collision process of the elevator car door. The current anti-collision control scheme is a standardized control strategy formulated by technicians based on the reference comprehensive performance evaluation coefficient of the elevator car door drive motor. It is applicable to scenarios where the performance parameter analysis result is no abnormal type. The scheme parameters and control logic are all preset in the database. For example, the current anti-collision control scheme developed by the technicians is as follows: the infrared channel monitoring frequency is set to collect a signal once every 0.5 seconds, the pressure band channel trigger threshold is set to 5 Newtons (an anti-collision signal is fed back when contact with an object), the millimeter wave channel detection distance range is set to 0.3 meters to 1.5 meters, the visual channel image recognition sensitivity is set to be able to identify obstacles with a minimum size of 5 cm × 5 cm, and the maximum closing speed of the elevator car door is set to 0.6 meters per second. If any anti-collision channel feeds back a signal indicating the presence of an obstacle, the door operator immediately executes the door opening action, with the opening speed set to 0.5 meters per second, thereby achieving safety protection during the closing process.

[0082] If the performance parameter analysis result indicates the existence of an anomaly type, specifically anomaly type one, then the safety margin of the elevator car door distance is increased based on the comprehensive performance evaluation deviation value. The database stores the correspondence between the comprehensive performance evaluation deviation value and the increase in the safety margin. The increase in the safety margin can be obtained by using the comprehensive performance evaluation deviation value as an index, and then coupled with the current safety margin to increase the safety margin increment.

[0083] The safety margin between elevator car doors refers to the safe distance reserved between the two car doors during the closing process to avoid pinching passengers or colliding with foreign objects. It is the minimum gap that the two doors still maintain when the doors are about to close (usually 5-10 mm under normal conditions). This distance must ensure that even if a small foreign object (such as a finger or the edge of an object) is inserted, the door can trigger the anti-collision mechanism in time to stop closing. It is an important guarantee for anti-collision safety.

[0084] If the performance parameter analysis results indicate the existence of an anomaly type, specifically anomaly type two, then the safety margin of the elevator car door distance is increased based on the comprehensive performance evaluation deviation value. Simultaneously, the closing delay of the elevator car door is increased based on the comprehensive performance evaluation deviation value. The database stores the correspondence between the comprehensive performance evaluation deviation value and the closing delay increment. The closing delay increment can be obtained by using the comprehensive performance evaluation deviation value as an index, and then coupled with the current closing delay to increase the closing delay.

[0085] The correspondence between the comprehensive performance evaluation deviation value and the distance safety margin increment, as well as the correspondence between the comprehensive performance evaluation deviation value and the door closing delay increment, are all formulated by technical personnel in combination with the performance degradation law of different abnormal types of door machine drive motors, elevator door closing safety specifications, and historical fault data, and are uniformly stored in the database.

[0086] When the performance parameter analysis result is anomaly type one (the overall performance of the gantry crane is slowly declining, with low risk), the safety margin is increased based on the deviation value of the overall performance assessment. The benefits focus on solving the problem of anti-collision response delay caused by power decline and strengthening the basic anti-collision capability: Although the gantry crane of anomaly type one is only slowly declining, the stability of power output has already decreased slightly (such as the braking response speed being 0.1 seconds slower than normal). If the original safety margin is maintained, the gate may not be able to stop in time after being caught by foreign objects due to the response delay. By indexing the increment corresponding to the deviation value in the database, the increased safety margin can cover the safety gap caused by the response delay. Even if the gantry crane reacts slightly slower, the anti-collision signal can be triggered in advance by the longer reserved distance, solving the technical problem of the mismatch between power decline and the original safety distance. At the same time, it avoids a significant decrease in closing efficiency due to excessive safety margin, balancing safety and operational needs.

[0087] When the performance parameter analysis result is anomaly type two (rapid degradation of the door operator's overall performance, with potential early failure risks), in addition to increasing the distance safety margin, an additional closing delay is added based on the deviation value. The benefits are reflected in the dual solution to the superimposed risks of power degradation and potential failure risks, and the maximization of collision avoidance safety: On the one hand, the door operator with faster power degradation has poorer power stability (e.g., a braking response that is 0.2 seconds slower). Increasing the distance safety margin can specifically address the technical problem of increased response delay, avoiding the failure of basic collision avoidance. On the other hand, potential early failure risks (e.g., bearing wear, decreased sensor sensitivity) may lead to misjudgment or delay of collision avoidance signals. Increasing the closing delay can solve the problem of insufficient collision avoidance decision time caused by potential failure risks. A longer closing time not only allows the collision avoidance system more time to verify multi-channel signals (reducing misjudgment), but also gives passengers more time to move away from the door, avoiding injury caused by rapid door closing and signal delay. The combination of the two forms a dual collision avoidance guarantee of space margin + time margin, which not only addresses the technical problem of power degradation, but also avoids the additional risks of potential failure risks, significantly improving the closing safety under abnormal conditions.

[0088] Furthermore, controlling the anti-collision process of the elevator car door based on the performance parameter analysis results also includes optimizing the anti-collision control of the elevator car door. The specific optimization process is as follows: during the anti-collision control of the elevator car door, each adjustment parameter is compared with its corresponding allowable adjustment range; if an adjustment parameter exceeds its corresponding allowable adjustment range, the adjustment parameter is set as a boundary value and a control warning is issued; if an adjustment parameter does not exceed its corresponding allowable adjustment range, the adjustment parameter is set according to a predetermined value.

[0089] When controlling the elevator car door anti-collision process based on performance parameter analysis results, the optimization of anti-collision control needs to focus on parameter compliance verification. The specific process is as follows: For each adjustment parameter involved in anti-collision control (such as the maximum closing rate, distance safety margin, closing delay, key channel sampling frequency, acceleration threshold, etc. mentioned above), the system first retrieves the allowable adjustment range of each parameter pre-defined and stored in the database by the technical personnel (for example, the allowable range of the maximum closing rate is set to 0.3 m / s - 0.6 m / s), and then compares the current parameter value to be adjusted with the corresponding allowable range in real time. If an adjustment parameter exceeds the allowable range during the increase or decrease process (for example, the maximum closing rate is to be reduced to 0.25 m / s due to excessive deviation, which is lower than the allowable lower limit of 0.25 m / s), the system will be activated. If the speed is 3 meters per second, or the safety margin is increased to 0.18 meters (exceeding the allowable upper limit), the system determines that the adjustment may cause abnormal elevator door operation (e.g., the closing efficiency is severely reduced due to the excessively low speed, or the door cannot close normally due to the excessive safety margin). At this time, the system automatically sets the adjustment parameter to the boundary value of the allowable range (e.g., setting the maximum closing speed to 0.3 meters per second) and triggers a control warning (including the name of the parameter that exceeds the range, the current value, the allowable range, and the abnormal risk warning, which is pushed to the operation and maintenance system and mobile terminal). If the adjustment parameter does not exceed the allowable range, the setting is completed according to the preset value (e.g., the result of incremental coupling based on the deviation value) to ensure that each adjustment parameter is always in the safe operating range, further improving the stability and safety of the anti-collision control.

[0090] It should be noted that the various curves (such as the comparison curve between the comprehensive performance evaluation coefficient and the reference comprehensive performance evaluation coefficient) and specific data (including parameter values ​​stored in the database, adjustment increments corresponding to deviation value ranges, etc.) involved in this embodiment are only for illustrative purposes. The data are not actual measured values ​​in real operating scenarios, and the curves are only used to present the parameter relationships more intuitively (such as clearly showing the trend of the comprehensive performance evaluation coefficient changing with the operating conditions). Although the specific values ​​do not have practical reference value, the design direction of all data and curves conforms to the technical logic of the elevator car door anti-collision system (such as the adjustment increment increasing synchronously when the deviation value increases). The core purpose is to help understand the parameter relationships, control flow and database storage logic of the system, rather than to define standard parameters in actual applications.

[0091] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An elevator car door bump action signal recognition and control system, characterized by, The system comprises: an abnormal type judgment module, configured to acquire performance parameters of a door machine drive machine of an elevator car door in a monitoring period, and perform data analysis on the performance parameters of the door machine drive machine, and judge whether the door machine drive machine has an abnormal type based on an analysis result of the performance parameters; a hierarchical control module, configured to acquire a running state of the elevator car door in a last working condition of the monitoring period, and determine whether the elevator car door identifies an anti-collision action signal, and if not, acquire a signal identification result and execute a hierarchical control decision; an anti-collision process control module, configured to issue a warning signal when the anti-collision action signal is identified, and control an anti-collision process of the elevator car door based on the analysis result of the performance parameters; the judgment of whether the door machine drive machine has an abnormal type based on the analysis result of the performance parameters comprises: the analysis result of the performance parameters comprises a decrease range of a comprehensive performance evaluation coefficient of the door machine drive machine and a comprehensive performance evaluation deviation value; judging whether the door machine drive machine has an emergency abnormal type; the emergency abnormal type refers to that the decrease range of the comprehensive performance evaluation coefficient of the door machine drive machine is greater than or equal to a maximum value of an allowed decrease rate; if so, immediately performing an abnormal warning, and reducing a maximum running speed of the elevator car door to a specified minimum allowed value; if not, comparing the comprehensive performance evaluation deviation value with a preset comprehensive performance evaluation allowed deviation value; if the comprehensive performance evaluation deviation value is less than or equal to the comprehensive performance evaluation allowed deviation value, it is judged that the door machine drive machine has no abnormal type; if the comprehensive performance evaluation deviation value is greater than the comprehensive performance evaluation allowed deviation value, it is necessary to judge whether the door machine drive machine has an abnormal type again; the judgment of whether the door machine drive machine has an abnormal type again comprises: acquiring the comprehensive performance evaluation coefficient of the door machine drive machine and a corresponding reference comprehensive performance evaluation coefficient in a last running working condition of the monitoring period, and comparing them, if the comprehensive performance evaluation coefficient of the door machine drive machine is greater than or equal to the corresponding reference comprehensive performance evaluation coefficient, it is judged that the door machine drive machine has no abnormal type; if the comprehensive performance evaluation coefficient of the door machine drive machine is less than the corresponding reference comprehensive performance evaluation coefficient, acquiring a continuous time length during which the comprehensive performance evaluation coefficient of the door machine drive machine is less than the corresponding reference comprehensive performance evaluation coefficient, if the continuous time length is greater than or equal to a defined continuous time length, it is judged that the door machine drive machine has an abnormal type, and the abnormal type is type one; if the continuous time length is less than the defined continuous time length, it is judged that the door machine drive machine has an abnormal type, and the abnormal type is type two; the judgment of whether the door machine drive machine has an abnormal type based on the analysis result of the performance parameters further comprises optimizing a monitoring process of the elevator car door according to the abnormal type, and the optimization process comprises: if there is type one, increasing a time moving step length based on the comprehensive performance evaluation deviation value, immediately updating a starting time point of the monitoring period, and slightly reducing an acceleration threshold value of the elevator car door; if there is type two, increasing a key passage identification sampling frequency based on the comprehensive performance evaluation deviation value, reducing the acceleration threshold value of the elevator car door, and performing a performance warning. The anti-collision process of the elevator car door is controlled based on the performance parameter analysis result, and the specific control process is as follows: The performance parameter analysis result includes no abnormal type, abnormal type and emergency abnormal type, abnormal type and abnormal type one, and abnormal type and abnormal type two; If the performance parameter analysis result is no abnormal type, the current anti-collision control scheme is maintained to control the anti-collision process of the elevator car door; If the performance parameter analysis result is abnormal type and abnormal type one, the distance safety margin of the elevator car door is increased based on the comprehensive performance evaluation deviation value; If the performance parameter analysis result is abnormal type and abnormal type two, the distance safety margin of the elevator car door is increased based on the comprehensive performance evaluation deviation value, and the door closing delay of the elevator car door is increased based on the comprehensive performance evaluation deviation value.

2. The elevator car door crash action signal recognition and control system of claim 1, wherein, The performance parameters of the door machine drive are analyzed, and the specific analysis process is as follows: The performance parameters of the door machine drive include the working efficiency of the door machine drive, the effective capacity of the DC bus capacitor of the door machine drive, and the bearing health degree of the door machine drive; The working efficiency is compared with the preset minimum allowed working efficiency, the effective capacity of the DC bus capacitor is compared with the preset minimum allowed effective capacity of the DC bus capacitor, and the bearing health degree is compared with the preset minimum allowed bearing health degree, and a plurality of comparison results are weighted and summarized to obtain a comprehensive performance evaluation coefficient of the door machine drive; The comprehensive performance evaluation coefficient of the door machine drive represents the available performance and health level of the door machine drive at the aging level; Based on the comprehensive performance evaluation coefficient of the door machine drive, the performance parameters of the door machine drive are analyzed in depth.

3. The elevator car door crash action signal recognition and control system of claim 2, wherein, The performance parameters of the door machine drive are analyzed in depth, and the specific analysis process is as follows: The reference comprehensive performance evaluation coefficient and the corresponding relationship between the number of operating conditions are stored in the preset database; Under each operating condition in the monitoring period, the reference comprehensive performance evaluation coefficient under each operating condition is obtained; The comprehensive performance evaluation coefficient of the door machine drive is compared with the corresponding reference comprehensive performance evaluation coefficient, and the deviation processing result is summarized to obtain a comprehensive performance evaluation deviation value.

4. The elevator car door crash action signal recognition and control system of claim 1, wherein, The signal recognition result is obtained and a hierarchical control decision is made, and the specific obtaining process is as follows: If the signal recognition result shows that the elevator car door is in a vertical running state, the running state of the elevator car door is continuously obtained; If the signal recognition result shows that the elevator car door is in a stationary state and is currently in an open door condition, the running state of the elevator car door is continuously obtained; If the signal recognition result shows that the elevator car door is in a stationary state and is currently in a closed door condition, the running state of the elevator car door is continuously obtained, and the signal recognition result is analyzed in depth.

5. The elevator car door crash action signal recognition and control system of claim 4, wherein, The signal recognition result is analyzed in depth, and the specific analysis process is as follows: In the door closing monitoring time window, the consistency rate of each data acquisition channel is calculated and majority voting is performed; If there is a conclusion abnormal result, the conflict bit is marked as 1; If there is no conclusion abnormal result, the conflict bit is marked as 0; The conclusion abnormal result refers to that the consistent rate of the passage conclusion is lower than the defined consistent rate or a strong conflict conclusion occurs; When the conflict position is marked as 1, the maximum closing speed of the elevator car door is reduced based on the comprehensive performance evaluation deviation value, a warning signal is sent out, and the sampling frequency of the key passage is increased.

6. The elevator car door crash action signal recognition and control system of claim 1, wherein, The control of the anti-collision process of the elevator car door based on the performance parameter analysis result further comprises optimizing the anti-collision control of the elevator car door, and the specific optimization process is: In the anti-collision control process of the elevator car door, each adjustment parameter is compared with the corresponding allowed adjustment range; If a certain adjustment parameter exceeds the corresponding allowed adjustment range, the adjustment parameter is set to a boundary value, and a control warning is performed; If a certain adjustment parameter does not exceed the corresponding allowed adjustment range, the adjustment parameter is set according to a predetermined value.

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