A dual anti-pinch device and method for arc-shaped center-opening doors

Abstract

A double anti-pinch device suitable for arc-shaped center-opening door elevator, comprising: an arc-shaped elevator, two car doors movably connected to the surface of the arc-shaped elevator; an opening and closing mechanism installed on the top of the arc-shaped elevator, the opening and closing mechanism being in transmission connection with the top of the car door; the opening and closing mechanism being used for opening and closing the two car doors; a flexible door edge detection module installed along the arc-shaped edge or the door gap of the two car doors; the flexible door edge detection module being used for sensing in time and sending a signal to a control module when the car door contacts an obstacle; a top scanning module fixedly arranged on the top or the front edge of the car door, the top scanning module moving with the car door and being used for scanning the closing path of the car door in advance; and the control module being in communication connection with the opening and closing mechanism, the flexible door edge detection module and the top scanning module respectively. The present application can realize full-closing path coverage, advance scanning and real-time monitoring, thereby reducing the risk of missed detection and injury.

Description

Technical Field

[0001] This invention relates to the field of elevator safety protection, and in particular to a dual anti-pinch device and method suitable for curved center-opening elevators. Background Technology

[0002] Current elevator anti-pinch technologies mainly rely on devices such as light curtains, door gap touch strips, and pressure sensors. Light curtain systems are typically fixed along the door track and use infrared beams to detect obstacles at the elevator doorway. However, for center-opening curved doors, the door's closing trajectory is curved, while light curtains can usually only be arranged in a straight line, easily creating detection blind spots at the ends or curved areas of the door. When an obstacle enters these blind spots, the light curtain cannot detect it in time, and the door may continue to close without detecting the obstacle, thus creating a safety hazard.

[0003] Door gap sensor strips or flexible pressure strips are typically installed in door gaps or along the edges of the door. When the door comes into contact with an obstacle, they can trigger the door to reverse or stop immediately. However, this solution can only detect the area where the door gap contacts the object and cannot detect obstacles ahead of the door's closing path. When small objects or passengers' hands or feet quickly enter the closing path, the sensor strips often have a reaction delay, which cannot fully guarantee safety.

[0004] In addition, there are solutions that use fixed sensor arrays arranged on the door track or top to cover the door's closed path. However, to achieve full coverage of the curved trajectory, a large number of sensors are required, resulting in high costs and complex wiring. Furthermore, fixed sensors cannot move with the door, making it impossible to scan and continuously detect obstacles that dynamically enter the closed path in advance. These technical limitations mean that existing solutions cannot achieve full closed path coverage, advance scanning, and real-time monitoring in curved, center-opening door structures, thus posing risks of missed detections and pinching injuries.

[0005] Therefore, a dual anti-pinch device suitable for curved center-opening elevators is needed to solve the above problems. Summary of the Invention

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] A dual anti-pinch device for a curved center-opening elevator includes: a curved elevator with two car doors movably connected to its surface;

[0008] An opening and closing mechanism is installed on the top of the curved elevator and is connected to the top of the car door via a transmission connection; the opening and closing mechanism is used to open and close the two car doors.

[0009] The flexible door edge detection module is installed along the curved edge or door gap of the two car doors; the flexible door edge detection module is used to detect obstacles in real time and send signals to the control module.

[0010] The top scanning module is fixedly installed on the top or front edge of the car door. The top scanning module moves with the car door to scan the closing path of the car door in advance.

[0011] The control module is connected to the opening and closing mechanism, the flexible door edge detection module, and the top scanning module.

[0012] Preferably, the opening and closing mechanism includes two arc-shaped racks, a drive motor, and a drive gear; the two arc-shaped racks are respectively fixedly installed on the top of the corresponding car doors, and the two arc-shaped racks are respectively installed on both sides of the drive gear and mesh with the drive gear; the drive gear is fixedly connected to the rotating shaft of the drive motor; the drive motor is fixedly installed on the top of the arc-shaped elevator; the two car doors are opened or closed by the forward or reverse rotation of the drive motor; the drive motor is communicatively connected to the control module.

[0013] The top scanning module includes several scanning sensors, some of which are ultrasonic sensors or lidar sensors.

[0014] Furthermore, the scanning angle of the scanning sensor is set according to the door width or curvature of the car door. The scanning sensor communicates with the control module in real time via a sliding cable or flexible ribbon cable, and the sampling frequency is 50–100 Hz.

[0015] Furthermore, the scanning angle of the scanning sensor is ±30° on both sides of the curved surface of the car door. If the width of the car door 101 is large, multiple scanning sensors are connected in series along the car door to form an array, so as to achieve full closed path coverage.

[0016] Furthermore, the flexible door edge detection module is a flexible pressure strip or a piezoelectric film sensor.

[0017] A dual anti-pinch method for curved center-opening elevators includes the following steps:

[0018] (1) Establish a model of the car door closing trajectory;

[0019] (2) Establish a decision model for the top scanning module;

[0020] (3) Set the closing speed of the car door according to the trigger signal of the flexible door edge detection module;

[0021] (4) Optimize the layout of the top scanning module.

[0022] In step (1), the closed trajectory of the car door is represented by a circular arc, with radius R and central angle θ. Therefore, the coordinates of any position of the car door are:

[0023]

[0024] Where θ(t) changes with time, the closing angular velocity is:

[0025] .

[0026] Establish a decision model for the top scanning module;

[0027] In step (2), the top scanning module moves with the car door. Scanning angle. The detection distance can be adjusted according to the width and curvature of the car door, and is d. s The area covered by the top scanning module can be represented as:

[0028]

[0029] Where (x) m (t),y m (t))) represents the position of the car door, and α is the scanning deflection angle. During the car door closing process, if obstacle O i =(x i ,y i If the data is located within the scanning area, the top scanning module determines that it is occupied.

[0030]

[0031] The occupancy determination of the car door's closing path is calculated using the following formula:

[0032] .

[0033] In step (3), the flexible door edge detection module is arranged along the arc edge or door gap of the car door, using a pressure sensing unit length Δl. During the closing process, the flexible door edge detection module is subjected to the obstacle pressure F. j The signal is triggered at time (t):

[0034]

[0035] The Fth safety trigger threshold, and the determination of door edge occupancy of the car door, are as follows:

[0036]

[0037] The final door closing control logic of the car is as follows:

[0038]

[0039] The closing speed v of the car door c Safety response conditions are met:

[0040]

[0041] Where t r Here, d is the system response time, and dsafed is the safety distance threshold. This formula ensures that the car door can stop or reverse in time when an obstacle appears. When StopDoor(t)=1, the control module immediately stops the car door closing or reverses its opening; when StopDoor(t)=0, the car door continues to close. This logic ensures that the dual protection functions of top scanning and flexible door edge modules can be effective simultaneously, realizing real-time monitoring of dynamic obstacles. Car door closing speed v c This is achieved by controlling the rotation speed of the output shaft of the drive motor through the control module.

[0042] In step (4), to ensure full path coverage, the number of top scanning modules Ns and the spacing dspacingd can be optimized by the following formula:

[0043]

[0044] Where L is the length of the car door closing path. This formula can be used to calculate the minimum number of top scanning modules and their optimal arrangement, achieving scanning without blind spots.

[0045] Due to the adoption of the above technical solution, the technical progress achieved by this invention compared to the prior art is as follows:

[0046] 1. Avoid missed detections caused by arc-shaped blind spots and improve safety and reliability.

[0047] 2. Scan the closing path in advance to enhance the ability to detect obstacles before the car door closes.

[0048] 3. Combine flexible door edge real-time contact detection to supplement dynamic obstacle protection and ensure real-time safety during the closing process.

[0049] 4. Modular design, simple wiring, convenient maintenance, and moderate cost. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0051] Figure 1 This is a schematic diagram of the structure of a dual anti-pinch device applicable to an arc-shaped center-opening elevator according to the present invention;

[0052] Figure 2 This is a perspective structural diagram of a double anti-pinch device applicable to an arc-shaped center-opening elevator according to the present invention;

[0053] Figure 3 This invention relates to the connection structure of a control module for a dual anti-pinch device suitable for curved center-opening elevators.

[0054] Explanation of main component symbols

[0055] Flexible door edge detection module 400 Top Scan Module 500 Arc-shaped rack 201 Drive gear 203 Scanning sensor 501 Control Module 300 Drive motor 202

[0056] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0057] To enable those skilled in the art to better understand the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The terms "first," "second," etc., in the specification, claims, and accompanying drawings are used to distinguish different objects and not to describe a particular order. Furthermore, the terms "comprising" and "having," and any variations thereof, are used. For example, a process, method, system, product, or device that comprises a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0058] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0059] Please see Figure 1-3 This invention provides a dual anti-pinch device suitable for curved center-opening elevators, comprising: a curved elevator 100, wherein two car doors 101 are movably connected to the surface of the curved elevator 100;

[0060] An opening and closing mechanism 200 is installed on the top of the curved elevator 100 and is connected to the top of the car door 101 via a transmission connection; the opening and closing mechanism 200 is used to open and close the two car doors 101.

[0061] The flexible door edge detection module 400 is installed along the arc-shaped edge or door gap of the two car doors 101; the flexible door edge detection module 400 is used to detect and send a signal to the control module 300 in real time when the car door 101 comes into contact with an obstacle.

[0062] The top scanning module 500 is fixedly installed on the top or front edge of the car door 101. The top scanning module 500 moves with the car door 101 to perform pre-scanning of the closing path of the car door 101.

[0063] The control module 300 is communicatively connected to the opening and closing mechanism 200, the flexible door edge detection module 400, and the top scanning module 500.

[0064] In one embodiment of the present invention, the opening and closing mechanism 200 includes two arc-shaped racks 201, a drive motor 202, and a drive gear 203; the two arc-shaped racks 201 are respectively fixedly disposed on the top of the corresponding car door 101, the two arc-shaped racks 201 are respectively disposed on both sides of the drive gear 203 and mesh with the drive gear 203, the drive gear 203 is fixedly connected to the rotating shaft of the drive motor 202, and the drive motor 202 is fixedly disposed on the top of the arc-shaped elevator 100; the two car doors 101 are opened or closed by the forward or reverse rotation of the drive motor 202; the drive motor 202 is communicatively connected to the control module 300.

[0065] The top scanning module 500 includes several scanning sensors 501, which are ultrasonic sensors or lidar sensors.

[0066] Furthermore, the scanning angle of the scanning sensor 501 can be set according to the door width or curvature of the car door 101. The scanning sensor 501 communicates with the control module 300 in real time via a sliding cable or flexible ribbon cable, and the sampling frequency is 50–100 Hz to ensure continuous real-time scanning.

[0067] Furthermore, the scanning angle of the scanning sensor is ±30° on both sides of the curved surface of the car door. If the width of the car door 101 is large, multiple scanning sensors 501 are connected in series along the car door 101 to form an array, thereby achieving full closed path coverage.

[0068] Furthermore, the flexible door edge detection module 400 is a flexible pressure strip or piezoelectric film sensor.

[0069] A dual anti-pinch method for curved center-opening elevators includes the following steps:

[0070] (1) Establish a model of the car door closing trajectory;

[0071] (2) Establish a decision model for the top scanning module;

[0072] (3) Set the closing speed of the car door according to the trigger signal of the flexible door edge detection module;

[0073] (4) Optimize the layout of the top scanning module.

[0074] The closed trajectory of the car door 101 is represented by a circular arc. Let the radius of the car door be R and the central angle be θ. Then the coordinates of any position of the car door are:

[0075]

[0076] Where θ(t) changes with time, the closing angular velocity is:

[0077]

[0078] This model allows for the precise calculation of the position of the car door 101 during the closing process, providing a mathematical basis for motion scanning and obstacle detection.

[0079] Establish a decision model for the top scanning module;

[0080] The top scanning module moves with the car door. Scanning angle. The detection distance can be adjusted according to the width and curvature of the car door, and is d. s The area covered by the top scanning module can be represented as:

[0081]

[0082] Where (x) m (t),y m (t))) represents the position of the car door, and α is the scanning deflection angle. During the car door closing process, if obstacle O i =(x i ,y i If the data is located within the scanning area, the top scanning module determines that it is occupied.

[0083]

[0084] The determination of the occupancy of the car door closing path is calculated using the following formula:

[0085]

[0086] In step (3), the flexible door edge detection module is arranged along the arc edge or door gap of the car door, using a pressure sensing unit length Δl. During the closing process, the door edge sensor is subjected to the pressure F of the obstacle. j The signal is triggered at time (t):

[0087]

[0088] The Fth safety trigger threshold. Door edge occupancy determination is as follows:

[0089]

[0090] The final car door closing control logic is as follows:

[0091]

[0092] Car door closing speed v c Safety response conditions are met:

[0093]

[0094] Where t r Here, d is the system response time, and dsafed is the safety distance threshold. This formula ensures that the car door can stop or reverse in time when an obstacle appears. When StopDoor(t)=1, the control module immediately stops the car door closing or reverses its opening; when StopDoor(t)=0, the car door continues to close. This logic ensures that the dual protection functions of top scanning and flexible door edge modules can be effective simultaneously, realizing real-time monitoring of dynamic obstacles. Car door closing speed v c Controlled by control module 300

[0095] In step (4), to ensure full path coverage, the number of top scanning modules Ns and the spacing dspacingd can be optimized by the following formula:

[0096]

[0097] Where L is the length of the car door closing path. This formula can be used to calculate the minimum number of top scanning modules and their optimal arrangement, achieving scanning without blind spots.

[0098] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. A dual anti-pinch device suitable for curved center-opening elevators, characterized in that: include: The curved elevator has two movable doors connected to its surface. An opening and closing mechanism is installed on the top of the curved elevator and is connected to the top of the car door via a transmission connection; the opening and closing mechanism is used to open and close the two car doors. The flexible door edge detection module is installed along the curved edge or door gap of the two car doors; the flexible door edge detection module is used to detect obstacles in real time and send signals to the control module. The top scanning module is fixedly installed on the top or front edge of the car door. The top scanning module moves with the car door to scan the closing path of the car door in advance. The control module is connected to the opening and closing mechanism, the flexible door edge detection module, and the top scanning module.

2. The dual anti-pinch device for an arc-shaped center-opening elevator as described in claim 1, characterized in that: The opening and closing mechanism includes two arc-shaped racks, a drive motor, and a drive gear. The two arc-shaped racks are fixedly installed on the top of the corresponding car doors. The two arc-shaped racks are respectively installed on both sides of the drive gear and mesh with the drive gear. The drive gear is fixedly connected to the rotating shaft of the drive motor. The drive motor is fixedly installed on the top of the arc-shaped elevator. The two car doors are opened or closed by the forward or reverse rotation of the drive motor. The drive motor is connected to the control module.

3. A double anti-pinch device for an arc-shaped center-opening elevator as described in claim 2, characterized in that: The top scanning module includes several scanning sensors, some of which are ultrasonic sensors or lidar sensors.

4. A double anti-pinch device for an arc-shaped center-opening elevator as described in claim 3, characterized in that: The scanning angle of the scanning sensor is set according to the door width or curvature of the car door. The scanning sensor communicates with the control module in real time via a sliding cable or flexible ribbon cable, and the sampling frequency is 50–100 Hz.

5. A dual anti-pinch method applicable to curved center-opening elevators, characterized in that, Based on the dual anti-pinch device for curved center-opening elevators as described in any one of claims 1-4, the method includes the following steps: (1) Establish a model of the car door closing trajectory; (2) Establish a decision model for the top scanning module; (3) Set the closing speed of the car door according to the trigger signal of the flexible door edge detection module; (4) Optimize the layout of the top scanning module.

6. The dual anti-pinch method for an arc-shaped center-opening elevator as described in claim 5, characterized in that: In step (1), the closed trajectory of the car door is represented by a circular arc, with radius R and central angle θ. The coordinates of any position of the car door are: ； Where θ(t) changes with time, the closing angular velocity is: 。 7. A dual anti-pinch method for an arc-shaped center-opening elevator as described in claim 5, characterized in that: Scanning angle in step (2) The detection distance is adjusted according to the width and curvature of the car door, and is d. s The area covered by the top scanning module can be represented as: ； Where (x) m (t),y m (t))) represents the position of the car door, α is the scanning deflection angle, and during the closing process of the car door, if obstacle O i =(x i ,y i If the data is located within the scanning area, the top scanning module determines that it is occupied. ； The determination of the occupancy of the car door closing path is calculated using the following formula: 。 8. A dual anti-pinch method for an arc-shaped center-opening elevator as described in claim 5, characterized in that: In step (3), the flexible door edge detection module is arranged along the arc edge or door gap of the car door, using a pressure sensing unit length Δl. During the closing process, the flexible door edge detection module is subjected to the obstacle pressure F. j The signal is triggered at time (t): ； Where Fth is the safety trigger threshold, and the occupancy determination of the car door edge is as follows: ； The car door closing control logic is as follows: ； The closing speed v of the car door c Safety response conditions are met: ； Where t r The system response time is dsafed, and the safety distance threshold is dsafed. When StopDoor(t)=1, the control module immediately stops the car door from closing or opens in the reverse direction. When StopDoor(t)=0, the car door continues to close.

9. A dual anti-pinch method for an arc-shaped center-opening elevator as described in claim 5, characterized in that: In step (4), to ensure full path coverage, the number of top scanning modules Ns and the spacing dspacingd are optimized by the following formula: ； Where L is the length of the car door closing path.

10. A double anti-pinch device for an arc-shaped center-opening elevator as described in claim 3, characterized in that: The scanning angle of the scanning sensor is ±30° on both sides of the curved surface of the car door. If the width of the car door is large, multiple scanning sensors are connected in series along the car door to form an array.

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