Intelligent control system for home elevator

Abstract

The invention relates to the technical field of elevator control, and discloses an intelligent control system for a home elevator, comprising: an environment sensing module for collecting a user operation instruction, elevator running state parameters and external environment data in real time; the track generation module is connected with the environment sensing module and is used for dynamically generating an elevator running target track based on the running state parameters and the user operation instruction; the motor control module is connected with the track generation module; and the feedback correction module is connected with the motor control module and the environment sensing module and is used for dynamically correcting the running target track through a real-time feedback signal. A modularized and integrated intelligent control framework is adopted to replace a traditional relay and contactor logic circuit, the system effectively avoids the fault problem caused by aging of mechanical contacts and complex lines, the stability of overall operation is improved, and the service life of the overall operation is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of elevator control technology, in particular to an intelligent control system for a household elevator. BACKGROUND

[0002] With the acceleration of urbanization and the pursuit of people's quality of life, the demand for installing elevators in villas, duplex buildings and old communities is increasing. As a convenient vertical transportation tool, household elevators are gradually becoming an important part of modern residences. Unlike commercial passenger elevators, household elevators have relatively low use frequency, small passenger capacity, limited installation space and other characteristics, so they have higher requirements for control systems in terms of safety, comfort, energy efficiency and personalized experience.

[0003] At present, most of the household elevator control systems on the market are simplified or improved based on traditional commercial elevator control schemes. The core control logic usually relies on simple calling, responding and position determination. Specifically, the household elevator control system in the prior art generally uses a relay and contactor logic circuit or a simple programmable logic controller to realize basic functions such as starting and stopping, leveling and opening and closing doors. Such a system has a high failure rate and single function, and is difficult to achieve complex intelligent control. In addition, some household elevators use microprocessors as control cores to realize automatic operation, group selection control, safety protection and other functions through pre-set programs. Although more advanced than relay systems, their algorithms and functions are relatively fixed. Based on this, the present application designs an intelligent control system for household elevators to solve the above problems. SUMMARY

[0004] The present application aims to provide an intelligent control system for household elevators, which solves the problems of high failure rate and single function in the background art.

[0005] To solve the above technical problems, the present application provides the following technical solutions:

[0006] An intelligent control system for household elevators, comprising:

[0007] An environment perception module for real-time collection of user operation instructions, elevator running state parameters and external environment data, the running state parameters including current position, speed and load mass, and the environment data including landing crowd density, environmental noise and light intensity;

[0008] A trajectory generation module connected to the environment perception module for dynamically generating an elevator running target trajectory based on the running state parameters and user operation instructions, the target trajectory including an acceleration segment, a constant speed segment and a deceleration segment, and optimized by an algorithm to achieve smooth start and stop and energy saving;

[0009] A motor control module is connected to the trajectory generation module, and is configured to control the start-stop, torque and speed of a driving motor according to the running target trajectory, wherein the motor control adopts a closed-loop regulation mode, and outputs a PWM signal through a frequency converter;

[0010] A feedback correction module is connected to the motor control module and the environment perception module, and is configured to dynamically correct the running target trajectory through real-time feedback signals, so as to realize precise leveling and energy-saving operation, wherein the correction logic is based on an adaptive algorithm, and unnecessary stops and energy consumption are preferentially reduced.

[0011] Preferably, when the trajectory generation module generates the running target trajectory, the following steps are performed:

[0012] Obtaining a current floor position P c and a requested floor P r ;

[0013] Calculating an expected acceleration a, which satisfies the following formula:

[0014]

[0015] wherein K a is an acceleration proportionality coefficient, and t p is a preset prediction time window;

[0016] An S-shaped target speed curve is set according to the acceleration, so as to reduce the start-stop impact.

[0017] Preferably, the trajectory generation module is further configured to:

[0018] Reading a current speed v c and a load mass m;

[0019] Based on the destination floor P t and the load mass m, the travel time is predicted as follows:

[0020]

[0021] wherein k m is a load time adjustment coefficient;

[0022] The length of the constant-speed segment is dynamically adjusted by optimizing the travel time, so as to avoid frequent speed changes.

[0023] Preferably, the trajectory generation module is further configured to:

[0024] Collecting a layer station passenger flow density D through a visual sensor;

[0025] Calculating a priority weight w, and the formula is as follows:

[0026]

[0027] Where D is the real-time statistical passenger flow; when w < 0.5, skip unnecessary intermediate stops, directly navigate to the highest priority floor.

[0028] Preferably, the motor control module executes speed regulation when:

[0029] Extract target speed v from trajectory data t And current speed v c ;

[0030] Calculate torque instruction T m , the formula is as follows:

[0031]

[0032] Where k t is the torque gain coefficient, t r is the acceleration slope time;

[0033] Convert torque instruction to PWM duty ratio through PID controller to drive motor to track target speed synchronously.

[0034] Preferably, the feedback correction module executes dynamic correction when:

[0035] Monitor the error e between actual leveling position P m And target position P t ; ;

[0036] If e > ε, where ε is the allowable error threshold, trigger trajectory correction, adjust the deceleration point position, and the correction amount ΔT is as follows:

[0037]

[0038] k e is the error compensation coefficient;

[0039] Recalculate the motor torque instruction after correction to ensure leveling accuracy.

[0040] Preferably, the feedback correction module is configured to:

[0041] Monitor the car door state D s And the number of people N in the car, realized by weight sensor;

[0042] If D s is in the open state and N ≤ 1, trigger the energy-saving brake logic in advance, cancel the standby delay, and directly enter the low-speed running state;

[0043] The feedback correction module is also configured to:

[0044] The ambient light intensity L is obtained using a photosensor.

[0045] To adjust the brightness B of the car lighting, use the following formula:

[0046]

[0047] Where k is the brightness adjustment coefficient;

[0048] The lighting is activated only when the elevator is running, and switches to the lowest power consumption mode when idle.

[0049] Preferably, it also includes an emergency rescue module, which is configured to automatically switch to emergency power supply mode when a main power failure is detected; calculate the optimal rescue path based on the real-time load, current position and target floor information of the elevator car; control the drive motor to run the car to the nearest available floor at a safe speed and level the floor to open the door; wherein, the energy of the emergency power supply mode comes from an independent backup power supply unit.

[0050] Preferably, the system identifies a specific user; retrieves the user's locally stored personalized elevator preferences, including frequently used floors, car lighting brightness, and air conditioning temperature; and automatically sets the destination floor and adjusts the car's internal environmental parameters based on the identification results to provide a customized elevator experience.

[0051] Preferably, when applied to a residential building equipped with multiple elevators, it further includes a group collaborative scheduling module. This module is configured to receive call requests from all floors and the real-time status of each elevator car, including its location, load, and registered destination floor; dynamically allocate each call request to the most suitable elevator based on an algorithm that minimizes total waiting time, balances elevator losses, or optimizes overall energy efficiency; establish real-time communication between multiple elevators, share operating intentions, prevent task conflicts, and achieve collaborative operation when necessary.

[0052] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0053] 1. This invention, by adopting a modular and integrated intelligent control architecture to replace the traditional relay and contactor logic circuits, effectively avoids the failure problems caused by mechanical contact aging and complex wiring, and improves the overall operational stability and service life.

[0054] 2. This invention, through its system's functions such as dynamic trajectory generation, real-time feedback correction, and environmental adaptive adjustment, can autonomously adjust its operating strategy according to the actual operating status and external environment, overcoming the shortcomings of existing systems with single functions and fixed algorithms, and providing a more comfortable, energy-saving, and personalized elevator riding experience.

[0055] 3. This invention, through strategies such as S-shaped speed curve planning, load adaptive adjustment, and automatic entry into low-power mode during idle periods, effectively reduces energy consumption while ensuring operational efficiency, which is in line with the intermittent operation characteristics of home elevators and has good economic and environmental benefits. Attached Figure Description

[0056] Figure 1 This is a diagram showing the overall system structure of the present invention;

[0057] Figure 2 This is a flowchart of the trajectory generation module of the present invention;

[0058] Figure 3 This is a flowchart of the motor control module of the present invention;

[0059] Figure 4 This is a flowchart of the feedback correction module of the present invention;

[0060] Figure 5 This is a flowchart illustrating the energy-saving logic of the present invention. Detailed Implementation

[0061] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0062] Example 1;

[0063] Please see Figures 1-5 In this embodiment of the invention, an intelligent control system for a home elevator is characterized by comprising: an environmental sensing module, used to collect user operation commands, elevator operating status parameters, and external environmental data in real time; the operating status parameters include current position, speed, and load mass; and the environmental data includes floor passenger density, ambient noise, and light intensity; a trajectory generation module, connected to the environmental sensing module, used to dynamically generate a target elevator trajectory based on the operating status parameters and user operation commands; the target trajectory includes an acceleration segment, a constant speed segment, and a deceleration segment, and is optimized by an algorithm to achieve smooth start-stop and energy saving; a motor control module, connected to the trajectory generation module, used to control the start-stop, torque, and speed of the drive motor according to the target trajectory, wherein the motor control adopts a closed-loop regulation method and outputs a PWM signal through a frequency converter; and a feedback correction module, connected to the motor control module and the environmental sensing module, used to dynamically correct the target trajectory through real-time feedback signals to achieve precise leveling and energy-saving operation, wherein the correction logic is based on an adaptive algorithm, prioritizing the reduction of unnecessary stops and energy consumption.

[0064] When the trajectory generation module generates the target trajectory:

[0065] Get the current floor position P c and request floor P r ;

[0066] The expected acceleration 'a' is calculated according to the following formula:

[0067]

[0068] Where K a For acceleration proportionality coefficient, t p This is a preset prediction time window;

[0069] The target velocity curve is set according to the acceleration to reduce the start-stop impact.

[0070] The trajectory generation module is also configured as follows:

[0071] Read the current speed v c and load mass m;

[0072] Based on the target floor P t Given the load mass m, the predicted travel time is as follows:

[0073]

[0074] Where, k m This is the load time adjustment factor;

[0075] By optimizing the travel time and dynamically adjusting the length of the constant speed segment, frequent speed changes can be avoided.

[0076] The working principle of this invention embodiment is as follows: After the system starts, the environmental perception module first begins to work, collecting user operation commands, elevator operating status parameters, and external environmental data in real time. Among these, the operating status parameters include the elevator's current position P. c Operating speed v c The data includes load mass (m); environmental data covers diverse information such as station pedestrian density (D), ambient noise, and light intensity (L). This data provides a comprehensive input basis for intelligent decision-making in subsequent modules.

[0077] After receiving data from the environmental perception module, the trajectory generation module initiates the dynamic trajectory generation process. This module first obtains the current floor position P. c And the user requested floor P r According to the formula:

[0078]

[0079] Calculate the expected acceleration a, where K aFor the optimized acceleration proportionality coefficient, t p This is a preset prediction time window. Based on this acceleration value, the module generates an S-shaped target velocity curve with acceleration, constant speed, and deceleration segments. This curve characteristic can significantly reduce the impact during elevator start-up and stop, improving ride comfort.

[0080] Furthermore, the trajectory generation module reads the current velocity v c And the load mass m, through the formula:

[0081]

[0082] Predict the total travel time T, where k m This is the load time adjustment coefficient. Based on the prediction results, the module dynamically adjusts the length of the constant speed section to avoid frequent speed changes during elevator operation, thus ensuring operating efficiency and reducing energy consumption.

[0083] The motor control module precisely controls the drive motor using a closed-loop regulation method based on the target trajectory provided by the trajectory generation module. This module outputs a PWM signal through a frequency converter to adjust the motor's start / stop, torque, and running speed in real time, ensuring the elevator operates strictly according to the target trajectory.

[0084] The feedback correction module forms the closed-loop control link of the system. This module continuously monitors the execution effect of the motor control module and the real-time data from the environmental perception module, and dynamically corrects the target trajectory through an adaptive algorithm. When an operational deviation is detected, the module immediately initiates the correction logic, prioritizing the reduction of unnecessary stops and energy consumption, ultimately achieving the combined goals of precise leveling and energy-saving operation.

[0085] Example 2;

[0086] Please see Figures 1-5 In this embodiment of the invention, the trajectory generation module is further configured as follows:

[0087] The population density D at each station is collected using a visual sensor. The visual sensor adopts the YOLOv5 model. The input is the station monitoring image, and the output is the bounding box and the population count. The confidence threshold is set to 0.7, and the D value is updated every 0.5 seconds.

[0088] The priority weight w is calculated using the following formula:

[0089]

[0090] Where D is the real-time count of people; when w < 0.5, skip unnecessary intermediate stops and navigate directly to the highest priority floor.

[0091] When the motor control module performs speed adjustment:

[0092] Extract the target velocity v from the trajectory data t and current speed v c ;

[0093] Calculate torque command T m The formula is as follows:

[0094]

[0095] Where k t t is the torque gain coefficient. r To accelerate the slope time;

[0096] The torque command is converted into a PWM duty cycle by a PID controller, which drives the motor to synchronously track the target speed.

[0097] When the feedback correction module performs dynamic correction:

[0098] Monitoring the actual leveling location P m With target location P t The error e, and ;

[0099] If e > ε, where ε is the allowable error threshold, then trajectory correction is triggered, and the deceleration point position is adjusted. The correction amount ΔT is as follows:

[0100]

[0101] k e This is the error compensation coefficient;

[0102] After correction, the motor torque command was recalculated to ensure leveling accuracy.

[0103] The feedback correction module is configured as follows:

[0104] Monitoring car door status D s The number of passengers N in the car is determined by a weight sensor.

[0105] If D s If the state is on and N≤1, the energy-saving braking logic is triggered in advance, the standby delay is canceled, and the system directly enters the low-speed operation state.

[0106] The feedback correction module is also configured as follows:

[0107] The ambient light intensity L is obtained using a photosensor.

[0108] To adjust the brightness B of the car lighting, use the following formula:

[0109]

[0110] Where k is the brightness adjustment coefficient;

[0111] The lighting is activated only when the elevator is running, and switches to the lowest power consumption mode when idle.

[0112] The working principle of this invention embodiment is as follows: the trajectory generation module adds a crowd density response function. It collects the crowd density D of each floor in real time using a visual sensor, and then applies the formula:

[0113]

[0114] The priority weight w of each floor is calculated. When the system detects that the weight w of a certain floor is less than 0.5, it automatically executes the intelligent skip-stop strategy, skipping unnecessary intermediate stops and directly navigating to the requested floor with the highest priority, which significantly improves the operating efficiency of the elevator.

[0115] When performing speed regulation, the motor control module extracts the target speed v from the trajectory data. t and current speed v c According to the formula:

[0116]

[0117] Precisely calculate torque command T m Where k t t is the torque gain coefficient. r To accelerate the slope time, a PID controller then converts the torque command into a precise PWM duty cycle signal, driving the motor to achieve synchronous tracking with the target speed, ensuring the smoothness of elevator operation and the accuracy of control.

[0118] When performing dynamic correction, the feedback correction module focuses on monitoring the actual leveling position P. m With target location P t The error e between them is given by the formula:

[0119]

[0120] Calculations show that when the error e exceeds the allowable threshold ε, the module immediately triggers the trajectory correction mechanism, according to the formula:

[0121]

[0122] Calculate the correction amount ΔT, where k e This is the error compensation coefficient. By adjusting the deceleration point position and recalculating the motor torque command, the elevator's precise leveling performance is effectively ensured.

[0123] Furthermore, the feedback correction module integrates advanced energy-saving control logic. It monitors the car door status via a weight sensor. sGiven the number of passengers N in the car, when the door is detected to be open and the number of passengers N≤1, the system automatically triggers the energy-saving braking logic in advance, canceling the conventional standby delay and directly entering the low-speed operation state. Simultaneously, the module obtains the ambient light intensity L through a photosensor, according to the formula:

[0124]

[0125] Dynamically adjust the brightness B of the car lighting, where k b This refers to the brightness adjustment factor. The system only activates the lighting when the elevator is running, and automatically switches to the lowest power consumption mode when idle, achieving comprehensive energy savings.

[0126] Example 3;

[0127] Please see Figures 1-5 In this embodiment of the invention, an emergency rescue module is also included. The emergency rescue module is configured to automatically switch to emergency power supply mode when a main power failure is detected; calculate the optimal rescue path based on the real-time load, current position and target floor information of the elevator car; control the drive motor to run the car to the nearest available floor at a safe speed and level the floor to open the door; wherein, the energy of the emergency power supply mode comes from an independent backup power supply unit.

[0128] The system retrieves the user's locally stored personalized elevator preferences, including frequently used floors, elevator car lighting brightness, and air conditioning temperature. Based on the recognition results, it automatically sets the destination floor and adjusts the elevator car's internal environmental parameters to provide a customized elevator experience. When applied to residential buildings equipped with multiple elevators, it further includes a group collaborative scheduling module. This module is configured to receive call requests from all floors and the real-time status of each elevator car, including location, load, and registered destination floors. Based on algorithms that minimize total waiting time, balance elevator losses, or optimize overall energy efficiency, it dynamically allocates each call request to the most suitable elevator. It establishes real-time communication among multiple elevators, shares operational intentions, prevents task conflicts, and enables collaborative operation when necessary.

[0129] The working principle of this invention is as follows: The system integrates an emergency rescue module. When a main power failure is detected, this module immediately initiates the emergency response process. The system automatically switches to an emergency mode powered by an independent backup power unit. Based on the real-time load of the elevator car, its current location, and the target floor information, an intelligent algorithm calculates the optimal rescue path. With the support of the emergency power supply, the drive motor is controlled to smoothly move the car to the nearest available floor at a safe speed, achieving precise leveling and automatic door opening operations to ensure the safe evacuation of passengers.

[0130] The system also supports personalized elevator experience features. After verifying a specific user's identity through identification technology, the system automatically retrieves the user's locally stored personalized elevator preferences, including frequently used floors, car lighting brightness, and air conditioning temperature. Based on the identification results, the system automatically sets the destination floor and adjusts the car's interior environmental parameters to provide the user with a highly customized elevator experience.

[0131] When the system is applied to residential buildings equipped with multiple elevators, the group collaborative scheduling module comes into play. This module receives call requests from all floors and the operating status of each elevator car in real time, including key parameters such as location, load, and registered destination floors. Based on algorithms that minimize total waiting time and balance elevator losses or optimize overall energy efficiency, it dynamically allocates each call request to the most suitable elevator. A real-time communication mechanism is established between multiple elevators to share operating intentions, effectively preventing task conflicts and enabling collaborative operation when necessary, significantly improving the overall operating efficiency and service quality of the multi-elevator system.

[0132] Working Principle: The intelligent control system for home elevators achieves intelligent operation through the collaboration of multiple modules. The system's environmental sensing module collects user commands, operating status, and environmental data in real time; the trajectory generation module dynamically calculates an S-shaped speed curve based on the above data, and achieves smooth start-stop and energy saving through acceleration optimization and travel time prediction; the motor control module adopts closed-loop PID regulation to convert trajectory commands into PWM signals to precisely drive the motor; and the feedback correction module dynamically adjusts the operating trajectory and energy consumption strategy by monitoring leveling errors and environmental parameters in real time to ensure accurate leveling and optimal energy efficiency.

[0133] The system further integrates intelligent response strategies, enabling dynamic station skipping based on passenger flow density at each level; automatically adjusting lighting and operating modes through load and light sensing; providing emergency power supply and rescue route planning functions; supporting user identification and personalized services; and achieving task allocation and collaborative operation through group control algorithms in multi-elevator scenarios.

[0134] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent control system for home elevators, characterized in that, include: The environmental perception module is used to collect user operation commands, elevator operating status parameters and external environmental data in real time. The operating status parameters include current position, speed and load mass, and the environmental data includes floor passenger density, environmental noise and light intensity. The trajectory generation module, connected to the environment perception module, is used to dynamically generate the elevator's target trajectory based on the operating status parameters and user operation instructions. The target trajectory includes an acceleration segment, a constant speed segment, and a deceleration segment, and is optimized by an algorithm to achieve smooth start-stop and energy saving. The motor control module, connected to the trajectory generation module, is used to control the start, stop, torque and speed of the drive motor according to the target running trajectory. The motor control adopts a closed-loop regulation method and outputs PWM signals through the frequency converter. The feedback correction module, connected to the motor control module and the environmental perception module, is used to dynamically correct the running target trajectory through real-time feedback signals to achieve precise leveling and energy-saving operation. The correction logic is based on an adaptive algorithm, which prioritizes reducing unnecessary stops and energy consumption.

2. The intelligent control system for a home elevator according to claim 1, characterized in that, When the trajectory generation module generates the target trajectory: Get the current floor position P c and request floor P r ; The expected acceleration 'a' is calculated according to the following formula: ； Where K a For acceleration proportionality coefficient, t p This is a preset prediction time window; The target velocity curve is set according to the acceleration to reduce the start-stop impact.

3. The intelligent control system for a home elevator according to claim 1, characterized in that, The trajectory generation module is also configured to: Read the current speed v c and load mass m; Based on the target floor P t Given the load mass m, the predicted travel time is as follows: ； Where, k m This is the load time adjustment factor; By optimizing the travel time and dynamically adjusting the length of the constant speed segment, frequent speed changes can be avoided.

4. The intelligent control system for a home elevator according to claim 1, characterized in that, The trajectory generation module is also configured to: The population density D at each station is collected using a visual sensor. The priority weight w is calculated using the following formula: ； Where D is the real-time count of people; when w < 0.5, skip unnecessary intermediate stops and navigate directly to the highest priority floor.

5. The intelligent control system for a home elevator according to claim 1, characterized in that, When the motor control module performs speed adjustment: Extract the target velocity v from the trajectory data t and current speed v c ; Calculate torque command T m The formula is as follows: ； Where k t t is the torque gain coefficient. r To accelerate the slope time; The torque command is converted into a PWM duty cycle by a PID controller, which drives the motor to synchronously track the target speed.

6. The intelligent control system for a home elevator according to claim 1, characterized in that, When the feedback correction module performs dynamic correction: Monitoring the actual leveling location P m With target location P t The error e, and ; If e > ε, where ε is the allowable error threshold, then trajectory correction is triggered, and the deceleration point position is adjusted. The correction amount ΔT is as follows: ； k e This is the error compensation coefficient; After correction, the motor torque command was recalculated to ensure leveling accuracy.

7. The intelligent control system for a home elevator according to claim 1, characterized in that, The feedback correction module is configured as follows: Monitoring car door status D s The number of passengers N in the car is determined by a weight sensor. If D s If the state is on and N≤1, the energy-saving braking logic is triggered in advance, the standby delay is canceled, and the system directly enters the low-speed operation state. The feedback correction module is also configured to: The ambient light intensity L is obtained using a photosensor. To adjust the brightness B of the car lighting, use the following formula: ； Where k is the brightness adjustment coefficient; The lighting is activated only when the elevator is running, and switches to the lowest power consumption mode when idle.

8. The intelligent control system for a home elevator according to claim 1, characterized in that: It also includes an emergency rescue module, which is configured to automatically switch to emergency power supply mode when a main power failure is detected; calculate the optimal rescue path based on the real-time load, current position and target floor information of the elevator car; control the drive motor to run the car to the nearest available floor at a safe speed and level the door; wherein, the energy of the emergency power supply mode comes from an independent backup power supply unit.

9. The intelligent control system for a home elevator according to claim 1, characterized in that: Identify a specific user; retrieve the user's locally stored personalized elevator preferences, including frequently used floors, car lighting brightness, and air conditioning temperature; automatically set the destination floor and adjust the car's internal environmental parameters based on the identification results to provide a customized elevator experience.

10. The intelligent control system for a home elevator according to claim 1, characterized in that: When applied to residential buildings equipped with multiple elevators, the system further includes a group collaborative scheduling module. This module is configured to receive call requests from all floors and the real-time status of each elevator car, including its location, load, and registered destination floor. Based on an algorithm that minimizes total waiting time, balances elevator losses, or optimizes overall energy efficiency, the system dynamically allocates each call request to the most suitable elevator. Real-time communication is established between multiple elevators to share operational intentions, prevent task conflicts, and enable collaborative operation when necessary.

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