An elevator door asynchronous linkage control method and system based on state feedback

Abstract

The present application belongs to the technical field of elevators, and relates to an elevator door asynchronous linkage control method and system based on state feedback, comprising the following steps: performing a door body closing test operation to construct a door body closing standard characteristic curve; receiving an elevator arrival instruction to establish a cooperative handshake request mechanism; analyzing the cooperative handshake request mechanism to trigger a timing cooperative starting action of a cage door and a target layer door; collecting door body closing process data to generate a door body real-time operation data sequence; outputting a closing suspension abnormal event or determining that an abnormality is not triggered; implementing cooperative reverse obstacle avoidance control based on a channel broadcast mechanism; generating a safety lock release instruction for eliminating operation restrictions of an elevator main controller; and implementing system parameter level linkage decoupling and car double brake locking. The present application solves the problems of the prior art, i.e., the dependence on fixed thresholds and open-loop logic leads to poor sensitivity to dynamic physical block detection and uncoordinated door body action response.

Description

Technical Field

[0001] This invention belongs to the technical field of elevators and relates to an asynchronous linkage control method and system for elevator doors based on state feedback. Background Technology

[0002] The elevator door system is a key subsystem for ensuring passenger safety and improving the efficiency of vertical transportation in buildings. In actual operation, achieving precise coordinated movement between the car doors and the floor doors, and rapidly detecting and responding to physical obstructions such as people or objects blocking the way, are the key technical aspects of door control system design.

[0003] Chinese Patent Publication No. CN103588072A discloses a related technical solution. This prior art mainly employs an obstacle detection method based on a fixed torque or current threshold and a protection device based on an infrared light curtain. This technology monitors the current of the drive motor during the door closing process; when the current exceeds a preset fixed threshold, it determines the presence of an obstacle and performs a reverse obstacle avoidance action; simultaneously, it deploys infrared beams in the doorway area, preventing the door from closing when the beams are blocked.

[0004] The aforementioned existing technologies have certain limitations when dealing with complex scenarios. For fixed current threshold detection, setting the threshold too low can easily lead to false reversals due to non-obstacle factors such as track friction or wind pressure changes, while setting the threshold too high reduces the detection sensitivity for soft objects. Furthermore, a single static threshold is difficult to adapt to the aging differences of different door layers. The protection range of infrared light curtains is limited by the beam coverage area, resulting in blind spots for thin sheet-like objects, and they are susceptible to external environmental interference. This passive open-loop monitoring method, which relies on specific areas and fixed parameters, lacks dynamic prediction of door operation trends, and there is a lack of in-depth communication and linkage mechanisms between the cage door and the floor doors.

[0005] Therefore, the technical problem that urgently needs to be solved in this field is to provide a control method and system that can overcome the problems of insensitivity to dynamic physical obstruction detection and non-coordinated door action response caused by the reliance on fixed thresholds and open-loop logic in existing technologies. Summary of the Invention

[0006] In a first aspect, the present invention provides an asynchronous linkage control method for elevator doors based on state feedback, comprising the following steps: S1. Perform a door closing test to construct a standard characteristic curve for door closure; S2. Receive the elevator arrival command to establish a collaborative handshake request mechanism based on a bidirectional communication bus between the cage door controller and the target floor door controller. S3. Analyze the collaborative handshake request mechanism to trigger the timing collaborative start action between the cage door and the target floor door; S4. After the timing-coordinated start-up action is completed, collect the gate closing process data to generate a real-time gate operation data sequence; S5. Call the standard feature curve of the gate closure to perform process prediction and judgment based on multi-dimensional feature comparison, and output the abnormal event of closing abort or the judgment that no abnormality was triggered. S6. In the event of an abnormal output shutdown, implement cooperative inversion obstacle avoidance control based on the channel broadcast mechanism. S7. Under normal circumstances where the real-time operation data sequence of the door does not trigger a closing abort abnormal event, identify the normal closed passage state to generate a safety lock release command to eliminate the operation restrictions of the elevator main controller; S8. When receiving an external maintenance authorization verification operation, identify the special operation mode activation request to implement system parameter level linkage decoupling and car dual braking lock.

[0007] A further aspect of the present invention involves performing a door closing test to construct a standard characteristic curve for door closure, including the following steps: The target door is driven to perform a closing operation in a preset no-load environment, and the door position parameters and drive motor current parameters at multiple time points are captured. Smoothing and noise reduction processing is performed on the door position parameters and drive motor current parameters collected during multiple door closing cycles; The smoothed and denoised data is aligned on the time axis and averaged point by point to generate a standard closed door characteristic curve composed of standard position parameters and standard current parameters. The standard closed door characteristic curve is defined as the standard characteristic curve of door closure.

[0008] A further aspect of the present invention involves receiving an elevator arrival command to establish a collaborative handshake request mechanism based on a bidirectional communication bus between the cage door controller and the target floor door controller, comprising the following steps: Receive the floor arrival signal broadcast by the elevator main controller and trigger the cage door controller to switch to standby ready state; Based on the floor code in the floor arrival signal, the connection status of the target floor door drive motor is determined, and the bidirectional status information communication channel between the bridging cage door controller and the floor door controller is activated. It calls the two-way status information communication channel to send a request to close the handshake signal and starts the internal handshake response timer.

[0009] A further aspect of this invention involves parsing the collaborative handshake request mechanism to trigger a timed collaborative start-up action between the cage door and the target floor door, including the following steps: After receiving the request to close the handshake signal and verifying it, the landing door controller drives the target landing door to perform a physical closing action; During the initial cycle of the physical closing action of the target floor door, a confirmation signal indicating that the action has been initiated is sent back to the cage door controller via a two-way status information communication channel. After verifying that the start signal is correct, the cage door controller stops the handshake response timer and simultaneously sends a cage door closing command to drive the cage door to physically open and close.

[0010] A further aspect of the present invention involves collecting door closing process data to generate a real-time door operation data sequence, including the following steps: After the closing command is issued to the cage door and the target floor door, the control program is switched to the closing process monitoring mode, and the data acquisition thread with the set frequency is started; Within each sampling period, the real-time timestamp of the current time is obtained, and the actual door position and actual drive motor current of the target layer door at this clock node are extracted synchronously. The real-time timestamp, actual gate position, and actual drive motor current are stored in a buffer as records to construct a real-time operation data sequence of the gate arranged in chronological order.

[0011] A further aspect of this invention involves calling the standard feature curve of door closure to perform a process prediction and determination based on multi-dimensional feature comparison, including the following steps: Analyze the latest data point in the real-time operation data sequence of the gate to extract the real-time timestamp, actual gate position, and actual drive motor current; The standard position parameters and standard current parameters corresponding to the real-time timestamp are matched in the standard characteristic curve of the gate closure using linear interpolation. Obtain the absolute displacement difference between the actual door position and the standard position parameters; Calculate the load ratio difference between the actual drive motor current and the standard current parameters.

[0012] A further aspect of the present invention, in the event of an output shutdown / abortion anomaly, implements cooperative inversion obstacle avoidance control based on a channel broadcast mechanism, comprising the following steps: After capturing the shutdown abort exception event, a software interrupt is triggered and the closing drive source of the target layer door is forcibly cut off; The two-way status information communication channel is invoked to broadcast a coordinated stop distress message carrying position blockage flag parameters to all nodes on the network, including the cage door controller. After detecting a coordinated distress call message with priority sending authority, the cage door controller cuts off the cage door closing drive source and synchronously activates the double-door reverse opening mechanism with the floor door controller.

[0013] A further aspect of the present invention identifies a normal closed-door passage state to generate a safety lock release command to eliminate the operational limitations of the elevator main controller, comprising the following steps: After the cage door and the target floor door trigger the end-of-travel switch, a locking signal is generated and sent, and the internal closed-in flag is changed from false to true. Perform dual verification on the locking signal of the locking pin and the closed position flag; After the verification is passed, the door system is determined to be in a double safety closed state. A safety closure confirmation message containing a predefined safety code is constructed as a safety lock release command and sent to the elevator main controller to request the release of the operation restriction.

[0014] A further aspect of the present invention identifies special operating mode activation requests to implement system parameter-level linkage decoupling and dual braking locking of the car, including the following steps: Generate a special operation mode activation command and suspend the standard handshake protocol on the bidirectional communication bus to cut off the logical linkage; Issue a temporary decoupling control frame to switch the command source to the local external control panel and disable the displacement status detection function for the target floor door; By sending a data message carrying braking lock parameters through an external data bus, the power supply to the main control circuit of the car traction machine is physically cut off to maintain the vertical displacement lockout state.

[0015] Secondly, the present invention provides an asynchronous linkage control system for elevator doors based on state feedback, comprising the following modules: The baseline construction module performs a door closure test to build a standard characteristic curve for door closure. The handshake request module receives the elevator arrival command to establish a collaborative handshake request mechanism based on a bidirectional communication bus between the cage door controller and the target floor door controller. The asynchronous startup module parses the collaborative handshake request mechanism to trigger the timed collaborative startup action between the cage door and the target floor door; The status acquisition module collects gate closing process data after the timing-coordinated start action is completed to generate a real-time gate operation data sequence; The process determination module calls the standard feature curve of the gate closure to perform process prediction and determination based on multi-dimensional feature comparison, and outputs the closure termination abnormal event or determines that no abnormality was triggered. The cooperative obstacle avoidance module implements cooperative inversion obstacle avoidance control based on the channel broadcast mechanism in the event of an abnormal event that causes the output to be shut down or terminated. The safety locking module, under normal circumstances where the real-time operation data sequence of the door does not trigger a closing abort abnormal event, identifies the normal closed passage state and generates a safety lock release command to eliminate the operation restrictions of the elevator main controller; When the special operation module receives an external maintenance authorization verification operation, it identifies the special operation mode activation request to implement system parameter-level linkage decoupling and car dual braking lock.

[0016] In summary, the present invention has the following beneficial technical effects: 1. A door closing test was performed in a preset no-load environment. Door position parameters and drive motor current parameters were extracted to construct a standard characteristic curve for door closure. This curve represents the dynamic mapping relationship between displacement and current over time. Compared to a static threshold, the standard characteristic curve provides a dynamic reference benchmark that evolves over time for real-time state comparison. It can adapt to friction differences between different door layers and environmental changes, reducing misjudgments or omissions caused by improper fixed threshold settings, and improving the accuracy of abnormal state determination under complex operating conditions.

[0017] 2. During the gate closing process, the standard characteristic curve of gate closing is invoked to perform process prediction and judgment based on multi-dimensional feature comparison. A dual judgment logic is constructed by calculating the absolute displacement difference between the actual gate position and the standard position parameters, and the load ratio difference between the actual drive motor current and the standard current parameters. Monitoring the absolute displacement difference captures minute trajectory deviations, while calculating the load ratio difference quantifies the relative load increment of the motor and suppresses voltage fluctuation interference. This mechanism outputs a shutdown abort abnormal event when a state deviation occurs, which helps to identify the problem early in the initial stage of physical obstruction and improves the judgment lag of traditional methods.

[0018] 3. Establish a collaborative handshake request mechanism and channel broadcast mechanism based on a bidirectional communication bus. During the door closing startup phase, the handshake protocol ensures the time-coordinated startup of the landing door and the cage door. In the event of an abnormal closing failure, the landing door controller broadcasts a collaborative abort distress message, enabling the cage door and the target landing door to synchronously implement collaborative reverse obstacle avoidance control based on the channel broadcast mechanism. This architecture forms a closed-loop response of state feedback, solving the problem of state fragmentation in asynchronous control schemes, reducing the risk of equipment damage caused by the continued closing of one side of the door, and improving the coordination of the door control system. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings are used to provide a further understanding of the present invention.

[0020] Figure 1 A flowchart illustrating an embodiment of this application is disclosed.

[0021] Figure 2 The present application discloses a graph showing the relationship between time, door position parameters, and absolute displacement difference during the door closing process in an embodiment of the present application.

[0022] Figure 3The present application discloses a multidimensional feature process prediction and judgment curve of the absolute displacement difference and load ratio difference of the door body during operation in the embodiments of this application.

[0023] Figure 4 Structural schematic diagrams of embodiments of this application are disclosed. Detailed Implementation

[0024] The following is in conjunction with the appendix Figure 1 - Figure 4 A preferred description of the present invention is provided below.

[0025] See attached document Figure 1 This invention proposes an asynchronous linkage control method for elevator doors based on state feedback, comprising the following steps: S1. Perform a door closing test to construct a standard characteristic curve for door closure; S2. Receive the elevator arrival command to establish a collaborative handshake request mechanism based on a bidirectional communication bus between the cage door controller and the target floor door controller. S3. Analyze the collaborative handshake request mechanism to trigger the timing collaborative start action between the cage door and the target floor door; S4. After the timing-coordinated start-up action is completed, collect the gate closing process data to generate a real-time gate operation data sequence; S5. Call the standard feature curve of the gate closure to perform process prediction and judgment based on multi-dimensional feature comparison, and output the abnormal event of closing abort or the judgment that no abnormality was triggered. S6. In the event of an abnormal output shutdown, implement cooperative inversion obstacle avoidance control based on the channel broadcast mechanism. S7. Under normal circumstances where the real-time operation data sequence of the door does not trigger a closing abort abnormal event, identify the normal closed passage state to generate a safety lock release command to eliminate the operation restrictions of the elevator main controller; S8. When receiving an external maintenance authorization verification operation, identify the special operation mode activation request to implement system parameter level linkage decoupling and car dual braking lock.

[0026] In one embodiment of the present invention, step S1 includes the following steps: The target door is driven to perform a closing operation in a preset no-load environment, and the door position parameters and drive motor current parameters at multiple time points are captured. Smoothing and noise reduction processing is performed on the door position parameters and drive motor current parameters collected during multiple door closing cycles; The smoothed and denoised data is aligned on the time axis and averaged point by point to generate a standard closed door characteristic curve composed of standard position parameters and standard current parameters. The standard closed door characteristic curve is defined as the standard characteristic curve of door closure.

[0027] The process of performing a door closing test to construct a standard characteristic curve for door closure is carried out by a central processing unit, such as the microcontroller unit in the landing door controller. After receiving the initialization command in the installation, commissioning or periodic maintenance mode, the unit drives the door to run at low speed until it touches the opening limit switch to complete the origin addressing, clears the current encoder count value to zero and calibrates it to the fully open position, and then sends a drive command to the motor drive module of the target landing door, that is, the landing door of the floor where the elevator car is currently stopped or about to stop.

[0028] The drive command drives the target door to perform a complete closing operation in a preset no-load environment. Here, no-load environment means that there are no debris on the door track, no physical obstacles within the door's operating range, and the ambient wind speed is lower than a preset value, so as to ensure that the collected data reflects the mechanical and electrical characteristics of the door itself.

[0029] Simultaneously with the issuance of the drive command, the landing door controller activates its internal data acquisition thread to prepare for synchronous data acquisition at the set frequency and across multiple channels. Throughout the entire closing stroke of the door, the landing door controller acquires two core types of door motion data in parallel through its hardware interface.

[0030] The first type is the door position parameter, which is the linear displacement of the door relative to the fully open position measured by the motor encoder, in mm. The door position parameter is obtained by an incremental photoelectric encoder installed coaxially with the drive motor. The pulse signal output by the encoder is decoded in real time into the corresponding digital displacement value by the high-speed counter interface in the door controller.

[0031] The second category is the drive motor current parameter, which is the instantaneous operating current of the motor that drives the door to move. The unit is A. The drive motor current parameter is converted into a digital signal by a Hall effect current sensor or a preset shunt resistor connected in series in the motor drive circuit and then amplified and converted into an analog-to-digital converter circuit.

[0032] The data acquisition process continues at a fixed sampling frequency until the door touches the closing limit switch. The reason for using a fixed sampling frequency is that it can ensure that the acquired time series data has equidistant characteristics on the time axis. This is a prerequisite mathematical condition for the subsequent application of moving average filters and for point-by-point time alignment and comparison of multiple sets of data in the time dimension. If variable frequency sampling is used, it will lead to data distortion caused by interpolation calculation.

[0033] After completing the data acquisition for a single door closing cycle, the system repeats the above closing operation a specified number of times N. The number of times N is usually an integer set based on engineering practice experience, and the value range is generally between 5 and 10 times. This is to ensure that the random disturbances that may occur in a single measurement are effectively filtered out by averaging multiple measurements, thereby improving the stability and representativeness of the door closing standard characteristic curve and obtaining multiple independent sets of original door motion data sequences.

[0034] For the multiple sets of raw door motion data sequences collected, the door controller calls its internal digital signal processing program to perform smoothing and noise reduction processing on the position and current parameters in each sequence, for example, by applying a window size of... W Window size W Forced to be an odd number, with typical values ​​of 3 to 7, the typical value is the result of a trade-off between signal smoothing effect and response delay. It is designed to effectively filter out high-frequency noise while avoiding over-smoothing and distortion of the original characteristics of the gate's operating trend. The moving average filter eliminates data jitter introduced by random electrical noise and minor mechanical vibrations.

[0035] For sampling points at the beginning and end of the data sequence where the sliding window exceeds the data boundary, the digital signal processing program employs edge data duplication and padding or adaptive window size reduction strategies to maintain the continuity of smoothing processing. After smoothing and denoising, all smoothed and denoised door motion data sequences are aligned on the time axis, and the door position parameters and drive motor current parameters at the same time point are averaged point by point to generate a set of corresponding mapping relationships that can represent the reference closed state, i.e., the standard door closing characteristic curve.

[0036] The generation of the standard closed-door characteristic curve involves the following calculation formula. Assume that in the... During the next closed-door test cycle, at the sampling time point The original door position parameters collected are The original drive motor current parameters are A moving average filter is applied to the original data sequence to obtain the smoothed gate position parameters. and smoothed drive motor current parameters :

[0037]

[0038] After completing the total After smoothing the sub-closing cycle, the final standard position parameters are generated by averaging all smoothed data sequences point by point. and standard current parameters Standard position parameters and standard current parameters Together, they form the standard closed-door characteristic curve:

[0039]

[0040] In the formula, This indicates the sequence number of the closed-door test, with a value range of [value missing]. arrive ; Represents discrete sampling time points, i.e., timestamps; For time indexing; For local summation index within the sliding window; and Represents respectively in The original, unprocessed door position and original drive motor current readings at any given moment; and These are the core data points of the final gate closure standard characteristic curve, representing respectively... Standard gate position and standard drive motor current at any given time.

[0041] The door controller formally defines the standard closing characteristic curve as the standard characteristic curve of door closure, and after serializing its data structure, writes it into the non-volatile storage element on the controller board. This is a semiconductor memory that can retain data even after the device is powered off, such as electrically erasable programmable read-only memory or flash memory chip. The selection of semiconductor memory is based on the requirement of industrial control systems to have high reliability and persistent storage for key configuration parameters, so as to achieve permanent data preservation and fast retrieval in subsequent operation.

[0042] In a specific embodiment, it is assumed that the complete closing travel of the target floor door is 2000 mm, and the designed closing time is 4 seconds. During the system initialization phase, the total number of door closing test operations is set. The data acquisition frequency of the landing door controller is set to 100 Hz, meaning that the door position parameters and drive motor current parameters are acquired every 0.01 s. The window size is selected for smoothing and noise reduction processing. A moving average filter was applied. After the system performed five complete closing operations, five sets of raw door motion data sequences were obtained.

[0043] By time point Taking 's' as an example, the gate is expected to move to near the midpoint of its travel. The controller records five sets of unprocessed raw position readings. The original current readings are for thicknesses of 1002 mm, 998 mm, 1001 mm, 1005 mm, and 999 mm, respectively. They are 1.52 A, 1.48 A, 1.51 A, 1.55 A and 1.49 A respectively.

[0044] Smooth the first set of data, assuming that... s to The original position readings of these 5 sampling points are 992 mm, 997 mm, 1002 mm, 1007 mm, and 1012 mm, respectively. Then, the smoothed position... mm. After smoothing all 5 sets of data sequentially, the result is obtained. Five sets of smoothed position parameters at time s The current parameters after smoothing are 1002 mm, 998.4 mm, 1000.8 mm, 1004.2 mm, and 999.6 mm, respectively. The values ​​are 1.51A, 1.49A, 1.50A, 1.54A and 1.48A respectively.

[0045] By averaging these five sets of smoothed data, the standard position parameters and standard current parameters at each time point on the standard door closing characteristic curve are calculated, i.e., the standard characteristic curve of door closure at which the door closes. The reference point of s. The calculation process is as follows: mm; A. The controller will repeat this calculation for all sampling time points throughout the closing process, forming a standard characteristic curve of the gate closure consisting of a series of triplets of {timestamp, standard position parameter, standard current parameter}, and store it in a non-volatile memory element.

[0046] In one embodiment of the present invention, step S2 includes the following steps: Receive the floor arrival signal broadcast by the elevator main controller and trigger the cage door controller to switch to standby ready state; Based on the floor code in the floor arrival signal, the connection status of the target floor door drive motor is determined, and the bidirectional status information communication channel between the bridging cage door controller and the floor door controller is activated. It calls the two-way status information communication channel to send a request to close the handshake signal and starts the internal handshake response timer.

[0047] The process of receiving the elevator arrival command to establish a collaborative handshake request mechanism based on a bidirectional communication bus between the cage door controller and the target floor door controller begins with the cage door controller continuously listening to the system-level communication bus. When the elevator car levels and stops at the target floor, the elevator main controller broadcasts a floor arrival signal data frame containing the target floor code via this bus.

[0048] The main controller of the elevator is the central control unit responsible for the overall operation logic of the elevator, including car lifting, floor selection and safety monitoring.

[0049] The floor arrival signal is a digital signal encapsulated in a data frame of the controller area network bus. The arbitration field of the digital signal contains an ID that identifies the source of the signal, while the data field contains the binary code of the destination floor.

[0050] The cage door controller captures floor arrival signal data frames via its bus transceiver and parses the floor codes within them. After confirming that the floor code matches the current car position, the cage door controller switches its internal state machine from the idle state to the standby ready state. The standby ready state is a working mode in which all preparations for opening the door have been completed and the system is waiting for a trigger command to execute subsequent door opening and closing linkage operations.

[0051] To confirm the communication link with the target floor door is unobstructed, the cage door controller actively investigates the connectivity status of the independent drive motor on the target floor. This is achieved by the cage door controller retrieving the unique network address of the corresponding floor door controller from its preset device address mapping table based on the floor code parsed from the floor arrival signal. The cage door controller then activates a two-way status information communication channel. This channel is typically implemented using controller area networks (CLANs) or industrial bus technologies such as RS485 to support point-to-point or broadcast data exchange between two or more controller nodes. The two-way status information communication channel is a logical channel built on a system-level communication bus, implemented by sending status query frames or remote transmission request frames to the unique network address.

[0052] If the target door's door controller is online and functioning correctly, it will automatically respond to this query, returning a response frame containing its own status code. Successful reception of the response frame indicates that the bidirectional status information communication channel has been successfully activated and bridged between the cage door controller and the target door's door controller. After the communication link is confirmed, the cage door controller invokes the bidirectional status information communication channel to construct and send a request-to-close handshake signal.

[0053] The request-to-close handshake signal is a pre-defined command message transmitted over a two-way status information communication channel. It is used to formally initiate the coordinated process of closing the gate. The pre-defined command message is represented as a data frame with a pre-defined format, and the data field of the data frame contains a predefined "request-to-close" opcode. At the instant the request-to-close handshake signal is sent, the software timer inside the cage door controller is initialized and started. This timer is the handshake response timer, which begins counting down the response signal from the receiving layer door controller.

[0054] The handshake response timer setting is an empirical value, usually set between 200 ms and 800 ms. The setting time is based on fully considering the bus transmission delay, the typical time for the node controller to process instructions, and a certain amount of redundancy, so as to ensure that a response can be received under normal communication conditions, while avoiding the system from waiting indefinitely due to the failure of a node, thus ensuring the robustness of the system.

[0055] In a specific embodiment, it is assumed that the elevator system uses a controller local area network bus for communication, the network address of the cage door controller is 0x101, and the addresses of the door controllers on each floor are sequentially assigned starting from 0x201. When the elevator car arrives at the 5th floor, the elevator main controller broadcasts a data frame with an arbitration ID of 0x0F0 and a data field content of [0x05], representing "System message: Arrived at the 5th floor".

[0056] All controllers on the bus receive data frames, but only the cage door controller parses and processes them according to preset logic. Upon receiving the data, the cage door controller updates its internal state from "idle" to "ready-standby". The cage door controller queries its internal address table and finds that the address of the 5th floor door controller is 0x205. To determine the connectivity status, the cage door controller sends a remote transmission request frame to address 0x205. Upon receiving the remote frame, the floor door controller at address 0x205 automatically replies with a data frame containing its current status code, such as 0x01 representing "online standby".

[0057] After successfully receiving the reply frame, the cage door controller confirms that the two-way status information communication channel has been established. The cage door controller constructs a new data frame with an arbitration ID of 0x110, a target address of 0x205, and a data field content of [0xCC]. Here, 0xCC is the predefined "request to close" opcode in the two-way protocol, and the data frame is the request to close handshake signal. Simultaneously with sending the data frame to the bus, the cage door controller starts its internal handshake response timer, sets the timeout to 500 ms, and begins waiting for a response from address 0x205.

[0058] In one embodiment of the present invention, step S3 includes the following steps: After receiving the request to close the handshake signal and verifying it, the landing door controller drives the target landing door to perform a physical closing action; During the initial cycle of the physical closing action of the target floor door, a confirmation signal indicating that the action has been initiated is sent back to the cage door controller via a two-way status information communication channel. After verifying that the start signal is correct, the cage door controller stops the handshake response timer and simultaneously sends a cage door closing command to drive the cage door to physically open and close.

[0059] The process of parsing the collaborative handshake request protocol to trigger the timing-based collaborative start-up action between the cage door and the target floor door is executed by the floor door controller of the target floor door. After receiving the request-to-close handshake signal sent by the cage door controller through the bidirectional status information communication channel, the floor door controller parses the protocol. The parsing process includes verifying whether the target address of the data frame is its own address and checking whether the opcode in the data field matches the predefined "request to close" opcode.

[0060] After successful verification, the landing door controller sends a drive command to its connected motor drive module, driving the target landing door to perform a physical closing action. The physical closing action is the process of the motor driving the door body to move linearly along the physical guide rail to close the door. The initial period of the target landing door's physical closing action is a set time window, starting from the moment the drive command is issued, and the duration is typically set to 50 ms to 150 ms. This time window setting fully considers the electromechanical time constant of the landing door motor and the static friction of the guide rail. If it is less than 50 ms, the motor has not yet overcome the static friction of the door body to generate effective displacement, which may easily lead to false alarms due to the system not establishing a stable motion state. If it is more than 150 ms, the door body may have already generated a large displacement, and if it encounters an obstacle at this time, it will be unable to achieve a "micro-displacement" level rapid linkage response. Therefore, this range is a suitable physical window for balancing start-up immunity and response sensitivity, ensuring that the command has been executed and a response signal is issued before the door body generates a displacement exceeding the preset start-up displacement threshold, thereby achieving rapid logical linkage.

[0061] A preset start-up displacement threshold is used to limit the maximum allowable misalignment distance when the landing door moves before the cage door. This value is typically set between 3 mm and 5 mm. This value is based on the fact that within this small displacement, the door appears almost stationary and does not create sufficient physical gap to cause foreign objects to be caught or people to be injured, thus effectively ensuring safety during asynchronous start-up. During this period, the landing door controller constructs a confirmation signal, which serves as a key data message for completing the entire handshake protocol loop, informing the cage door controller that the landing door has received the instruction and begun the closing action.

[0062] The confirmation signal is also a standard data frame, encapsulating a preset opcode representing "confirmed start". The door controller invokes the bidirectional status information communication channel to send the confirmation signal back to the cage door controller as a response to the request to close the handshake signal. Simultaneously, at the other end, upon receiving the confirmation signal, the cage door controller stops its internal handshake response timer to prevent communication timeout errors.

[0063] The cage door controller verifies the activation signal, checking if the signal's source address matches the expected floor door controller address and if the opcode is correct. Upon successful verification, the cage door controller synchronously sends a cage door closing command to its own motor drive module. This command is a control signal sent by its internal microprocessor to the motor drive subsystem to activate the cage door closing motor, thereby driving the physical opening and closing of the cage door. This series of actions achieves an asynchronous startup sequence where the floor door moves first, followed by the cage door, but their startup is logically tightly synchronized by a handshake protocol, ensuring the reliability of the coordinated operation.

[0064] In a specific embodiment, continuing the previous example, the fifth-level door controller at address 0x205 receives a request to close handshake signal with a data field of [0xCC] from the cage door controller at address 0x101. After verifying that the address and opcode are correct, the door controller outputs a high-level signal to its motor driver to initiate the physical closing action of the target door, which is recorded as time T0. The initial period of the door controller program is set to 100 ms. Therefore, after time T0 and before time T0+100 ms, for example, at time T0+30 ms, the door controller constructs a new data frame with a target address of 0x101 and a data field of [0xDD], where 0xDD is a predefined opcode for confirming the start signal, and sends it to the controller local area network bus.

[0065] At the other end, the waiting cage door controller received the data frame at time T0+45 ms. The cage door controller stopped the handshake response timer, which had a previously set timeout of 500 ms. Next, the cage door controller verified that the source address of the data frame was indeed 0x205 and the data field content was indeed 0xDD. After successful verification, the cage door controller sent a cage door closing command to its own motor driver, driving the cage door to begin closing. Thus, the floor door started at time T0, and the cage door started at time T0+45 ms, completing the entire timing-coordinated start-up handshake process.

[0066] In one embodiment of the present invention, step S4 includes the following steps: After the closing command is issued to the cage door and the target floor door, the control program is switched to the closing process monitoring mode, and the data acquisition thread with the set frequency is started; Within each sampling period, the real-time timestamp of the current time is obtained, and the actual door position and actual drive motor current of the target layer door at this clock node are extracted synchronously. The real-time timestamp, actual gate position, and actual drive motor current are stored in a buffer as records to construct a real-time operation data sequence of the gate arranged in chronological order.

[0067] The process of collecting door closing process data to generate a real-time door operation data sequence unfolds after the coordinated start-up actions of the cage door and the target floor door are completed. After the cage door controller and the target floor door controller issue their respective closing commands, their internal control programs switch to the closing process monitoring mode. Under the set software operating state, the controller prioritizes allocating most of its computing resources to real-time data acquisition and processing tasks. Activation of the closing process monitoring mode triggers and starts a pre-set data acquisition thread at a set frequency. The set frequency data acquisition thread is a software task that executes at a fixed frequency, typically between 50 Hz and 200 Hz, such as 100 Hz. This value range is set based on the typical operating dynamics of the elevator door. Calculated with a typical closing speed of 0.5 m / s, at a frequency of 100 Hz (sampling once every 10 ms), a sampling point is generated every 5 ms of door movement. A spatial resolution of 5 ms is sufficient to sensitively capture the physical resistance feedback of tiny obstacles such as fingers and clothing, while the 10 ms interrupt cycle will not cause the microcontroller unit (MCU) to suffer computational overload, thus achieving a balance between ensuring sufficient data sampling density to capture motion details and avoiding excessive computational burden.

[0068] The data acquisition thread with a set frequency is typically driven by periodic interrupts of a hardware timer to ensure the real-time and isochronous nature of the data acquisition. Driven by the data acquisition thread with the set frequency, the door controller obtains a real-time timestamp of the current time from its internal system clock module during each sampling period for the entire physical closing process of the target door, serving as a system time marker.

[0069] Within the same interrupt service routine, the controller continuously reads count values ​​from the encoder interface coaxial with the motor to calculate the actual door position of the target floor door at this clock node, and reads values ​​from the analog-to-digital converter of the current sampling circuit in the motor drive circuit to obtain the actual drive motor current. The actual door position and the actual drive motor current are instantaneous physical quantities measured during the actual operation of the door, under the influence of factors such as track friction, airflow resistance, or potential obstacles.

[0070] The acquisition of the actual gate position and the actual drive motor current are tightly coupled in time to ensure that they correspond to the same real-time timestamp. After acquiring the triplet data of {real-time timestamp, actual gate position, actual drive motor current} for the current sampling period, the door controller treats the triplet data structure as an independent record and sequentially stores it into a pre-allocated circular buffer or linear array in its internal random access memory.

[0071] As the physical closing action of the gate continues, the data acquisition thread at a set frequency repeatedly performs the above acquisition and storage actions, thereby dynamically constructing a real-time operation data sequence of the gate in the memory, indexed by a real-time timestamp. As a time-series data set stored in volatile memory, the real-time operation data sequence of the gate contains a series of data points arranged in chronological order and covering three dimensions of information: timestamp, position, and current. The real-time operation data sequence of the gate completely records the entire motion state from the start of the gate closing to the end, providing a complete data foundation for subsequent state comparison and anomaly prediction.

[0072] In a specific embodiment, continuing the aforementioned scenario, after the target door and the cage door begin their physical closing actions, both controllers enter a closing process monitoring mode and initiate a data acquisition thread at a set frequency of 100 Hz, i.e., performing data acquisition once every 10 ms. Taking the target door controller as an example, when the door closing action reaches the 50th sampling cycle, the real-time timestamp recorded by the controller's internal clock is 500 ms. In the interrupt service routine at this moment, the controller reads that the actual door position calculated from the encoder pulse count is 115 mm, and simultaneously reads that the actual drive motor current corresponding to the analog-to-digital conversion result of the current sampling circuit is 1.55 A. The controller then creates a data record {timestamp:500ms,position:115mm,current:1.55A} in memory and appends it to the end of the real-time operation data sequence of the door.

[0073] In the next sampling period, at timestamp 510ms, the controller performs data acquisition again, obtaining a new data record {timestamp:510ms, position:120mm, current:1.53A}, and continues to append it to the real-time operation data sequence of the door. The data acquisition process continues until the door triggers the end-of-travel switch, forming a complete sequence containing hundreds of data records in the controller's memory. The real-time operation data sequence of the door records the complete dynamic process of the door closing.

[0074] In one embodiment of the present invention, step S5 includes the following steps: Analyze the latest data point in the real-time operation data sequence of the gate to extract the real-time timestamp, actual gate position, and actual drive motor current; The standard position parameters and standard current parameters corresponding to the real-time timestamp are matched in the standard characteristic curve of the gate closure using linear interpolation. Obtain the absolute displacement difference between the actual door position and the standard position parameters; Calculate the load ratio difference between the actual drive motor current and the standard current parameters.

[0075] The process of calling the standard characteristic curve of the door closure to perform process prediction and judgment based on multi-dimensional feature comparison is continuously executed by the door controller of the target door in the closure process supervision mode. In its internal loop, the controller analyzes the latest data point in the real-time operation data sequence of the door generated by the data acquisition thread at a set frequency, and extracts the real-time timestamp, actual door position and actual drive motor current of the latest data point.

[0076] The controller uses real-time timestamps as a query index to perform a matching search on the standard characteristic curves of the door closure stored in non-volatile memory. To handle the slight deviations that may exist between the real-time sampling time point and the baseline discrete time point, the controller uses linear interpolation to obtain the standard position parameters and standard current parameters corresponding to the real-time timestamp. After obtaining the actual parameters and standard parameters at the same timestamp, the controller performs a dual feature comparison calculation. The door controller calculates the absolute value of the difference between the actual door position and the standard position parameters to obtain the absolute displacement difference, which is a physical quantity used to measure the degree to which the actual movement trajectory of the door deviates from the standard trajectory, in mm. The formula for calculating the absolute displacement difference is as follows:

[0077] In the formula, This is the calculated absolute displacement difference; The real-time timestamp representing the current sample corresponds to the aforementioned sampling time point; The actual position of the gate is obtained from the real-time operation data sequence of the gate. These are the standard position parameters obtained by matching or interpolating from the standard characteristic curve of the door closure.

[0078] Then, the absolute displacement difference is compared with the system's preset hysteresis threshold. The preset hysteresis threshold is an upper tolerance limit set for the displacement difference, with a typical range of 10 mm to 30 mm. This displacement tolerance threshold is set based on the mechanical tolerance characteristics of the elevator door system. The lower limit of 10 mm is used to accommodate the normal elastic deformation of the drive belt, gear meshing clearance, and thermal expansion and contraction of the track caused by temperature changes; while the upper limit of 30 mm ensures that the system will not frequently trigger false stops due to slight deceleration caused by wind pressure changes, thereby ensuring smooth operation.

[0079] In parallel, to prevent false alarms caused by minor normal fluctuations in the reference current during motor startup or light load phases due to low reference current, the controller determines whether the standard current parameter is greater than the system's preset minimum effective operating current. After confirming that this precondition is met, the controller further calculates the load ratio difference between the actual drive motor current and the standard current parameter. The load ratio difference is a dimensionless relative value, representing the percentage by which the instantaneous load of the drive motor exceeds the normal reference. Compared to the absolute current difference, it better eliminates the baseline drift caused by grid voltage fluctuations. The load ratio difference is calculated by dividing the difference between the actual current and the standard current by the standard current value, quantifying the relative increase in motor load. The calculation formula is as follows:

[0080] In the formula, The calculated load ratio difference; This represents the actual drive motor current. The standard current parameter is set to a value greater than the minimum effective operating current. The load ratio difference is compared with another system-preset load surge threshold. The load surge threshold is the trigger upper limit set by the load ratio difference, with a typical range of 0.2 to 0.5, corresponding to a current exceeding the normal value by 20% to 50%. This ratio setting is based on distinguishing between normal interference and actual obstruction. The lower limit of 20% effectively avoids the normal current drift of the motor caused by voltage fluctuations in the power grid at industrial sites, usually within ±10%. The upper limit of 50% ensures that the system can intervene in advance to avoid obstacles before the motor reaches the peak stall current, thereby effectively protecting the motor coils from overload burnout and preventing excessive pressure on obstacles. It is used to sensitively detect a sharp increase in motor torque caused by encountering obstacles and avoid false judgments of starting impact, in order to determine whether the motor is subjected to abnormal load caused by physical obstruction.

[0081] The controller evaluates the two comparison results in a logic gate, and the trigger condition for generating the shutdown / abortion exception event is defined by the following logical expression:

[0082] In the formula, This indicates that the abnormal event has been closed or aborted. Logical operators representing state assignment or trigger generation; The preset hysteresis threshold is used; The threshold for load surge; This represents a logical OR operation. When either the absolute displacement difference exceeds a preset hysteresis threshold, or the load ratio difference exceeds a load surge threshold, the controller immediately determines that the target door has encountered physical obstruction during closing and generates a closing abort exception event. This closing abort exception event, generated by the door controller and placed in a high-priority internal software flag or a preset message broadcast externally, interrupts the current normal control flow, thereby triggering subsequent safety response actions.

[0083] In a specific embodiment, it is assumed that the system has a preset hysteresis threshold. 20 mm, load surge threshold The value is 0.25, and the minimum effective operating current is set to 0.50 A. At a certain moment during the door closing process, the landing door controller processes a data point from the real-time operation data sequence of the door; its real-time timestamp is... s. The controller resolves the actual door position at that moment. mm, actual drive motor current A.

[0084] At the same time, the controller finds the corresponding standard characteristic curve for door closure from the stored data. The reference value of s is the standard position parameter. mm, standard current parameters A. The controller then calculates the absolute displacement difference. mm. Then calculate the load ratio difference. At this point, the reference current of 1.60 A is obviously greater than the preset minimum effective operating current, thus satisfying the precondition. .

[0085] The controller executes the judgment logic to compare the displacement difference. Since 15 mm is less than the preset hysteresis threshold of 20 mm, the absolute displacement difference judgment item is not triggered. Then, it compares the load ratio difference. Since 0.3 is greater than the load surge threshold of 0.25, the load ratio difference judgment item is triggered. Because the triggering condition is a logical OR relationship, triggering either condition satisfies the condition. Therefore, the controller determines that the target floor door has encountered physical obstruction and generates a closing abort abnormal event, preparing to execute the next step of cooperative obstacle avoidance control.

[0086] See attached document Figure 2 In the diagram, the dashed line represents the standard position parameter curve obtained through the baseline construction module; the solid line represents the actual door position curve during operation; the dotted line represents the absolute displacement difference curve calculated between the actual door position and the standard position parameters; and the horizontal dotted line represents the preset hysteresis threshold set by the system. As can be seen from the diagram, as time progresses, when the actual door position trajectory deviates from the standard position parameters, the absolute displacement difference gradually increases. When this absolute displacement difference exceeds the preset hysteresis threshold, the conditions for triggering a closing abort abnormal event are met.

[0087] See attached document Figure 3 In the diagram, the vertical dotted line represents the preset hysteresis threshold, and the horizontal dotted line represents the load surge threshold. These two threshold lines divide the chart into normal and abnormal areas, namely the gray-filled areas for shutdown / termination anomalies. The solid line represents the door's trajectory under normal conditions, where both the absolute displacement difference and load ratio difference are within the threshold range. The dashed line represents the trajectory predicted and determined by multi-dimensional feature comparison when encountering physical obstruction. When the absolute displacement difference exceeds the preset hysteresis threshold, or the load ratio difference exceeds the load surge threshold, the trajectory enters the gray abnormal area, and the system outputs a shutdown / termination anomaly.

[0088] In one embodiment of the present invention, step S6 includes the following steps: After capturing the shutdown abort exception event, a software interrupt is triggered and the closing drive source of the target layer door is forcibly cut off; The two-way status information communication channel is invoked to broadcast a coordinated stop distress message carrying position blockage flag parameters to all nodes on the network, including the cage door controller. After detecting a coordinated distress call message with priority sending authority, the cage door controller cuts off the cage door closing drive source and synchronously activates the double-door reverse opening mechanism with the floor door controller.

[0089] In the event of a closing abort exception, the process of implementing cooperative inversion obstacle avoidance control based on the channel broadcast mechanism begins with the event handling mechanism inside the target door's door controller capturing the closing abort exception output by the aforementioned process prediction and judgment logic. The capture of the closing abort exception triggers a pre-set first-priority software interrupt. In this interrupt service routine, the door controller forcibly cuts off the closing drive source of the target door. Specifically, this is achieved by sending a zero-duty-cycle pulse-width modulation signal to the motor drive module or directly controlling the drive relay to disconnect, thereby stopping the closing torque applied to the door. The closing drive source is the electrical component that provides closing power to the door, including the motor and its drive circuitry.

[0090] Within the same interrupt service routine, the landing door controller invokes the bidirectional status information communication channel to construct and broadcast a coordinated abort distress message to the bus. This coordinated abort distress message follows a preset protocol format, such as being configured as a special broadcast data frame with a priority arbitration ID to ensure priority transmission rights in bus contention. Its content explicitly indicates the request for abort action. In addition to a predefined emergency abort operation code, its data field also carries a position obstruction identifier parameter. This parameter records the position coordinates of the target landing door when it is determined to have encountered physical obstruction, in mm, providing crucial information for subsequent fault diagnosis and recording. The value of the position obstruction identifier parameter is the actual door position of the target landing door when the closing abort abnormal event is triggered.

[0091] The broadcast of the coordinated abort distress message ensures that all nodes on the network, including the cage door controller, receive this warning in real time. On the other end, the cage door controller, continuously monitoring the two-way status information communication channel, will interrupt its current closing task upon detecting this coordinated abort distress message, which has priority transmission rights. The cage door controller parses the coordinated abort distress message, and after confirming it is a valid emergency abort command, it communicates with its own motor drive module to forcibly cut off the cage door's closing drive source, causing the cage door to stop moving.

[0092] The cage door controller and the floor door controller that has sent the message synchronously activate the dual-door reverse opening mechanism. As a set of preset cooperative control logic, the dual-door reverse opening mechanism ensures that after receiving the stop signal, the cage door and the target floor door can synchronously and consistently perform the opening action to achieve timely obstacle avoidance response. That is, each sends a reverse rotation command to its motor drive module, driving the cage door and the target floor door to move in the opening direction in coordination, so as to eliminate the physical obstruction and create space for clearing obstacles.

[0093] In a specific embodiment, continuing the previous example, when the target door's door controller, i.e., the controller with address 0x205, is in When the load ratio difference of 0.3 exceeds the load surge threshold of 0.25 at time s and a shutdown exception event is generated, its first priority interrupt is triggered. The controller sends a command to its motor driver to stop supplying power to the motor.

[0094] Simultaneously, the door controller extracts the actual door position at this moment as 535 mm and uses it as the position stagnation indicator parameter. The controller then constructs a Controller Area Network (CAN) broadcast frame with priority transmission authority, setting its arbitration ID to 0x001 and its data field content to [0xFF, 0x02, 0x17], where 0xFF is the predefined "emergency coordination abort" opcode, and 0x0217 is the hexadecimal representation of 535. The CAN broadcast frame is sent to the bus. The cage door controller, address 0x101, which is performing the closing action, captures this coordination abort distress message with ID 0x001 in its bus listening program.

[0095] The cage door controller interrupted its own closing process, parsed the message content, and confirmed it was an emergency stop command. It then cut off the drive current to its own motor and simultaneously issued a reverse drive command, causing the cage door to move in the opening direction. At the same time, the landing door controller at address 0x205, after broadcasting the message, also issued a reverse drive command to its motor. As a result, the target landing door and the cage door stopped closing almost simultaneously and opened in reverse in a coordinated manner, effectively responding to this physical obstruction event.

[0096] In one embodiment of the present invention, step S7 includes the following steps: After the cage door and the target floor door trigger the end-of-travel switch, a locking signal is generated and sent, and the internal closed-in flag is changed from false to true. Perform dual verification on the locking signal of the locking pin and the closed position flag; After the verification is passed, the door system is determined to be in a double safety closed state. A safety closure confirmation message containing a predefined safety code is constructed as a safety lock release command and sent to the elevator main controller to request the release of the operation restriction.

[0097] The process of identifying a normal closed passage state to generate a safety lock release command to eliminate the operating limitations of the elevator main controller is completed collaboratively by the cage door controller and the landing door controller throughout the entire physical closing action of the target landing door and the cage door. Throughout the entire door closing process, the landing door controller continuously performs process prediction and judgment based on multi-dimensional feature comparison. Under normal circumstances, where the real-time door operation data sequence does not trigger a closing abort abnormal event, it means that the absolute displacement difference and load ratio difference of the door movement always remain within their respective preset threshold ranges.

[0098] As the door moves to its travel end point, the physical door panels of the cage door and the target landing door will press down their respective travel end switches installed at the ends of the door frames almost simultaneously or within a set time difference. The travel end switch is an electromechanical switch located at the end of the door's movement trajectory, which generates a trigger signal through physical contact when the door reaches the fully closed position. After detecting that its travel end switch has been triggered, the landing door controller will execute a locking procedure, driving an independent electromagnet or small motor to push the physical lock pin into the keyhole.

[0099] After the locking pin is fully engaged and another confirmation switch is triggered, the landing door controller generates a locking pin signal. This signal is a digital message used to confirm to the cage door controller that the physical locking mechanism of the landing door has successfully engaged. It is a crucial step in achieving safety redundancy and is sent to the cage door controller via a two-way status information communication channel. Simultaneously, after detecting that its own end-of-travel switch has been triggered, the cage door controller sets a predefined "closed in position" flag, which represents its own status, from "false" to "true" in its internal random access memory. The "closed in position" flag is an internal Boolean software state variable used to record whether its door has reached the closing endpoint.

[0100] Subsequently, the cage door controller enters a dual-verification waiting state. The controller continuously checks its own closed-position flag to ensure it is "true," while simultaneously listening to the two-way status communication channel to receive the locking signal. Only after its closed-position flag is "true" and it successfully receives and verifies the locking signal from the landing door controller is the dual-verification considered successful. This dual-verification mechanism, requiring both the cage door to be closed and the landing door to be locked—two independent conditions—effectively reduces the risk of misjudgment due to a single fault.

[0101] After successful verification, the cage door controller confirms that the entire door system is in a physically and logically securely closed state. It then constructs a safety closure confirmation message, which serves as the final authorization signal containing predefined safety codes, and sends it to the main controller via the system main bus to request the lifting of operational restrictions on the car lifting system. Only upon receiving the safety closure confirmation message will the main controller release the blockade on the car traction motor control circuit and grant it operational access.

[0102] In a specific embodiment, during a normal closing process, the absolute displacement difference calculated by the door controller between the target door and the cage door never exceeded 20 mm within the 4.2 seconds from start to close, and the load ratio difference never exceeded 0.25. Therefore, no closing abort abnormal event was ever generated. At time s, the target floor door and the cage door simultaneously touch their respective end-of-travel switches. The floor door controller located on the 5th floor, address 0x205, upon detecting the switch signal, drives its locking pin motor to actuate. When s, the locking pin position sensor feeds back a signal, and the controller then constructs a locking pin signal, which is a controller local area network data frame with a target address of 0x101 and a data field of [0xEE], and sends it out.

[0103] At the same time, At time s, the cage door controller, address 0x101, after detecting its own end-of-travel switch signal, updates the value of its internal Boolean variable, the closed-position flag, from false to true. Afterward, the cage door controller enters a cyclic check state. At time s, the cage door controller receives a [0xEE] data frame from 0x205.

[0104] At this point, the controller performs a dual-verification logic check. The closed-position flag is true, and a valid locking signal has been received; both conditions are met, and the verification passes. The cage door controller then constructs a safety closure confirmation message—a message with a target address of 0x0A0 and a data field of [0x55, 0xAA]—and sends it to the system main bus. After receiving and verifying this message, the elevator main controller releases the brakes on the traction system, allowing the elevator to start operating safely.

[0105] In one embodiment of the present invention, step S8 includes the following steps: Generate a special operation mode activation command and suspend the standard handshake protocol on the bidirectional communication bus to cut off the logical linkage; Issue a temporary decoupling control frame to switch the command source to the local external control panel and disable the displacement status detection function for the target floor door; By sending a data message carrying braking lock parameters through an external data bus, the power supply to the main control circuit of the car traction machine is physically cut off to maintain the vertical displacement lockout state.

[0106] The process of identifying special operating mode activation requests to implement system parameter-level linkage decoupling and car dual braking locking begins with the landing door controller of the target landing door monitoring its dedicated external interface in real time. When maintenance personnel perform external maintenance authorization verification operations on-site—which are physical or logical operations requiring preset permissions, such as mechanical key switches, keypad input, or dedicated RFID card verification—to prevent unauthorized personnel from accidentally entering special operating modes, for example, by inserting a physical key into the dedicated lock hole on the landing door controller's external panel and rotating it to the "maintenance" position, the landing door controller will capture this trigger signal through a level change in an input pin.

[0107] Once the trigger signal is verified as valid, the door controller generates a special operating mode activation command internally. This command generates an internal software flag or status code to trigger a series of preset control logics that differ from the normal operating mode. The special operating mode activation command triggers its internal state machine to switch to the special operating mode. The primary action in the special operating mode is to suspend the standard handshake protocol of the two-way status information communication channel. The standard handshake protocol is the request-response-based collaborative startup protocol defined in the previous steps. The controller will no longer respond to or initiate any requests to close or confirm startup with the cage door controller according to the standard collaborative process. Instead, it will reply with a preset rejection response frame to the received collaborative handshake request, thereby severing the linkage with the cage door at the logical level and preventing false alarms caused by timeouts at the sending end.

[0108] The landing door controller sends a temporary decoupling control frame to its control bus. The temporary decoupling control frame is actually a change in the internal logic state of the controller, which switches its command source from the remote cage door controller to the local external control panel. The external control panel is a simple human-machine interface with basic operation buttons such as "open", "close" and "stop" for maintenance personnel to use on site, thereby allowing the external control panel to directly drive the target landing door to perform reciprocating opening and closing operations.

[0109] Meanwhile, to ensure operational safety during operation, the controller also disables the displacement status detection function for the target floor door, i.e., suspends the aforementioned anomaly detection algorithm and process prediction based on multi-dimensional feature comparison, to avoid false alarms triggered by non-standard operations during maintenance, such as manually pushing or pulling the door. While completing local decoupling, the floor door controller sends data packets carrying braking and locking parameters to the elevator main controller via the system-level communication external data bus. This external data bus is the system network connecting each floor door controller, cage door controller, and main controller. The braking and locking parameters are data packets containing preset command codes and source floor information.

[0110] After receiving and parsing this message, the elevator main controller executes the car double braking and locking procedure. Its core action is to physically cut off the power supply to the car traction machine main control circuit by controlling a safety relay or contactor. The car traction machine main control circuit is the three-phase high-voltage circuit that provides power to the elevator's main lifting motor.

[0111] Physically cutting off the power supply to the main control circuit of the elevator car traction machine will de-energize the elevator car's drive system, causing the system to enter a vertical displacement lockout state. In this state, the car is locked vertically by both mechanical brakes and electrical controls, preventing any lifting or lowering movement. This vertical displacement lockout state will persist until a special operating mode is explicitly canceled. This occurs when maintenance personnel, after completing their work, actively perform the opposite action to the activation operation, restoring the system to its normal interlocking mode. For example, maintenance personnel could rotate the physical key in reverse to the "normal" position, triggering a reverse cancellation command process.

[0112] In a specific embodiment, a maintenance worker on the 5th floor needs to debug the target landing door. The worker inserts a key into the panel of the landing door controller on the 5th floor and rotates it to the "Maintenance" position. The landing door controller at address 0x205 detects the change from low to high on its general purpose input / output (GPIO) pin IN5, then generates a special operating mode activation instruction and sets its internal maintenance_mode flag to true.

[0113] After that, even if a "request to close" message [0xCC] is received from the cage door controller at address 0x101, the floor door controller will no longer perform the closing action. Instead, it will reply to the cage door controller with a rejection response data frame containing an opcode representing "equipment busy / maintenance mode", such as [0xBB]. Upon receiving this response, the cage door controller will smoothly cancel its waiting state and abort the current closing task.

[0114] Simultaneously, the landing door controller paused its background anomaly detection thread and began listening for signals from its local input terminals IN1 and IN2, which are connected to the "Open Door" and "Close Door" buttons on the external control panel, respectively. The landing door controller then sent a data frame via the system bus to the elevator main controller at address 0x0A0, with an arbitration ID of 0x1A0 and a data field of [0x99, 0x05]. Here, 0x99 is the operation code for the predefined braking and locking parameters, and 0x05 indicates that the request source is the 5th floor.

[0115] After receiving the data frame, the elevator main controller disconnects the coil power supply of the safety contactor KM1 controlled by its output terminal, thereby cutting off the main control circuit of the car traction machine. At this time, the car is securely locked on the 5th floor, and the main controller screen displays "5th floor maintenance, system locked". Maintenance personnel can now freely control the reciprocating movement of the 5th floor door for inspection and maintenance by pressing the local "open door" and "close door" buttons.

[0116] After maintenance is completed, the key is turned back to the "normal" position. The landing door controller detects that the IN5 pin level has gone low and sends a release command [0x66,0x05] to the elevator main controller. The main controller then restores power supply to KM1, the system releases the vertical displacement blockade, and the landing door controller also sets the maintenance_mode flag to false, restoring the standard handshake protocol with the cage door controller.

[0117] See appendix Figure 4 The present invention also proposes an asynchronous linkage control system for elevator doors based on state feedback, comprising the following modules: The baseline construction module performs a door closure test to build a standard characteristic curve for door closure. The handshake request module receives the elevator arrival command to establish a collaborative handshake request mechanism based on a bidirectional communication bus between the cage door controller and the target floor door controller. The asynchronous startup module parses the collaborative handshake request mechanism to trigger the timed collaborative startup action between the cage door and the target floor door; The status acquisition module collects gate closing process data after the timing-coordinated start action is completed to generate a real-time gate operation data sequence; The process determination module calls the standard feature curve of the gate closure to perform process prediction and determination based on multi-dimensional feature comparison, and outputs the closure termination abnormal event or determines that no abnormality was triggered. The cooperative obstacle avoidance module implements cooperative inversion obstacle avoidance control based on the channel broadcast mechanism in the event of an abnormal event that causes the output to be shut down or terminated. The safety locking module, under normal circumstances where the real-time operation data sequence of the door does not trigger a closing abort abnormal event, identifies the normal closed passage state and generates a safety lock release command to eliminate the operation restrictions of the elevator main controller; When the special operation module receives an external maintenance authorization verification operation, it identifies the special operation mode activation request to implement system parameter-level linkage decoupling and car dual braking lock.

[0118] Each of the modules can be implemented in whole or in part through software, hardware, or a combination thereof. It supports hardware embedded in or independent of the processor in the computer device, and also supports software stored in the memory of the computer device, so that the processor can call and execute the operations corresponding to each of the above modules.

[0119] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for asynchronous linkage control of elevator doors based on state feedback, characterized in that, Includes the following steps: S1. Perform a door closing test to construct a standard characteristic curve for door closure; S2. Receive the elevator arrival command to establish a collaborative handshake request mechanism based on a bidirectional communication bus between the cage door controller and the target floor door controller. S3. Analyze the collaborative handshake request mechanism to trigger the timing collaborative start action between the cage door and the target floor door; S4. After the timing-coordinated start-up action is completed, collect the door closing process data to generate a real-time door operation data sequence; S5. Call the standard feature curve of the door closure to perform process prediction and judgment based on multi-dimensional feature comparison, so as to output the abnormal event of closing abort or determine that no abnormality is triggered; S6. In the case of outputting the shutdown and abort abnormal event, implement cooperative inversion obstacle avoidance control based on the channel broadcast mechanism; S7. Under the normal condition that the real-time operation data sequence of the door does not trigger the closing abort abnormal event, identify the normal closed passage state to generate a safety lock release command to eliminate the operation restrictions of the elevator main controller; S8. When receiving an external maintenance authorization verification operation, identify the special operation mode activation request to implement system parameter level linkage decoupling and car dual braking lock.

2. The asynchronous linkage control method for elevator doors based on state feedback according to claim 1, characterized in that, The process of performing a door closing test to construct a standard characteristic curve for door closure includes the following steps: The target door is driven to perform a closing operation in a preset no-load environment, and the door position parameters and drive motor current parameters at multiple time points are captured. The door position parameters and drive motor current parameters collected during multiple door closing cycles are subjected to smoothing and noise reduction processing. The smoothed and denoised data is aligned on the time axis and averaged point by point to generate a standard closed door characteristic curve composed of standard position parameters and standard current parameters. The standard closed door characteristic curve is defined as the standard closed door characteristic curve.

3. The asynchronous linkage control method for elevator doors based on state feedback according to claim 1, characterized in that, The process of receiving the elevator arrival command to establish a collaborative handshake request mechanism based on a bidirectional communication bus between the cage door controller and the target landing door controller includes the following steps: Receive the floor arrival signal broadcast by the elevator main controller and trigger the cage door controller to switch to standby ready state; Based on the floor code in the floor arrival signal, the connection status of the target floor door drive motor is determined, and the bidirectional status information communication channel bridging the cage door controller and the floor door controller is activated. The bidirectional status information communication channel is invoked to send a request to close the handshake signal and to start the internal handshake response timer.

4. The asynchronous linkage control method for elevator doors based on state feedback according to claim 3, characterized in that, The process of parsing the collaborative handshake request mechanism to trigger the timing-based collaborative start-up action between the cage door and the target floor door includes the following steps: After receiving the request to close the handshake signal and verifying it, the landing door controller drives the target landing door to perform a physical closing action. During the initial cycle of the physical closing action of the target floor door, a confirmation signal of activation is sent back to the cage door controller through the two-way status information communication channel; After verifying that the confirmation signal has been activated is correct, the cage door controller stops the handshake response timer and simultaneously sends a cage door closing command to drive the cage door to physically open and close.

5. The asynchronous linkage control method for elevator doors based on state feedback according to claim 1, characterized in that, The process of collecting gate closing process data to generate a real-time gate operation data sequence includes the following steps: After the cage door and the target floor door issue closing commands, the control program is switched to the closing process monitoring mode, and a data acquisition thread with a set frequency is started; Within each sampling period, the real-time timestamp of the current time is obtained, and the actual door position and actual drive motor current of the target layer door at this clock node are extracted synchronously. The real-time timestamp, the actual door position, and the actual drive motor current are stored in a buffer as records to construct a real-time operation data sequence of the door arranged in chronological order.

6. The asynchronous linkage control method for elevator doors based on state feedback according to claim 5, characterized in that, The process of calling the standard feature curve of the gate closure to perform prediction and determination based on multi-dimensional feature comparison includes the following steps: Analyze the latest data point in the real-time operation data sequence of the gate, and extract the real-time timestamp, the actual gate position, and the actual drive motor current; The standard position parameters and standard current parameters corresponding to the real-time timestamp are matched in the standard characteristic curve of the gate closure using linear interpolation. Obtain the absolute displacement difference between the actual door position and the standard position parameter; The load ratio difference between the actual drive motor current and the standard current parameter is calculated.

7. The asynchronous linkage control method for elevator doors based on state feedback according to claim 1, characterized in that, In the event of outputting the shutdown / abortion anomaly, the implementation of cooperative inversion obstacle avoidance control based on the channel broadcast mechanism includes the following steps: Upon capturing the shutdown abort exception event, a software interrupt is triggered and the closing drive source of the target layer door is forcibly cut off; The two-way status information communication channel is invoked to broadcast a coordinated stop distress message carrying position blockage flag parameters to all nodes on the network, including the cage door controller. After detecting the coordinated distress message with priority sending authority, the cage door controller cuts off the cage door closing drive source and synchronously activates the double door reverse opening mechanism with the floor door controller.

8. The asynchronous linkage control method for elevator doors based on state feedback according to claim 1, characterized in that, The process of identifying a normal closed-door passage state to generate a safety lock release command to eliminate the operational restrictions of the elevator main controller includes the following steps: After the cage door and the target floor door trigger the end-of-travel switch, a locking signal is generated and sent, and the internal closed-in flag is changed from false to true. The locking signal of the locking pin and the closed position flag are double-checked; After the verification is passed, the door system is determined to be in a double safety closed state. A safety closure confirmation message containing a predefined safety code is constructed as the safety lock release command and sent to the elevator main controller to request the release of the operation restriction.

9. The asynchronous linkage control method for elevator doors based on state feedback according to claim 1, characterized in that, The process of identifying special operating mode activation requests to implement system parameter-level linkage decoupling and dual braking locking of the car includes the following steps: Generate a special operation mode activation command and suspend the standard handshake protocol on the bidirectional communication bus to cut off the logical linkage; Issue a temporary decoupling control frame to switch the command source to the local external control panel and disable the displacement status detection function for the target door. By sending a data message carrying braking lock parameters through an external data bus, the power supply to the main control circuit of the car traction machine is physically cut off to maintain the vertical displacement lockout state.

10. An asynchronous linkage control system for elevator doors based on state feedback, characterized in that, Includes the following modules: The baseline construction module performs a door closure test to build a standard characteristic curve for door closure. The handshake request module receives the elevator arrival command to establish a collaborative handshake request mechanism based on a bidirectional communication bus between the cage door controller and the target floor door controller. The asynchronous startup module parses the collaborative handshake request mechanism to trigger the time-sequential collaborative startup action between the cage door and the target floor door; The status acquisition module acquires door closing process data after the timing-coordinated start-up action is completed to generate a real-time door operation data sequence; The process determination module calls the standard feature curve of the door closure to perform process prediction and determination based on multi-dimensional feature comparison, so as to output the abnormal event of closing termination or determine that no abnormality was triggered. The cooperative obstacle avoidance module implements cooperative inversion obstacle avoidance control based on the channel broadcast mechanism when the shutdown and termination abnormal event is output. The safety locking module, under the normal condition that the real-time operation data sequence of the door does not continuously trigger the closing abort abnormal event, identifies the normal closed passage state and generates a safety lock release command to eliminate the operation restrictions of the elevator main controller; When the special operation module receives an external maintenance authorization verification operation, it identifies the special operation mode activation request to implement system parameter-level linkage decoupling and car dual braking lock.

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