CN114890259A - Elevator control method, elevator control device, elevator and computer readable storage medium - Google Patents
Elevator control method, elevator control device, elevator and computer readable storage medium Download PDFInfo
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- CN114890259A CN114890259A CN202210816855.6A CN202210816855A CN114890259A CN 114890259 A CN114890259 A CN 114890259A CN 202210816855 A CN202210816855 A CN 202210816855A CN 114890259 A CN114890259 A CN 114890259A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
- B66B1/285—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical with the use of a speed pattern generator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3407—Setting or modification of parameters of the control system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/02—Door or gate operation
- B66B13/14—Control systems or devices
- B66B13/143—Control systems or devices electrical
- B66B13/146—Control systems or devices electrical method or algorithm for controlling doors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
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- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Door Apparatuses (AREA)
Abstract
The application is suitable for the technical field of elevator control, and provides an elevator control method, an elevator control device, an elevator and a computer readable storage medium, which comprise: determining the actual mass of the elevator door; respectively determining the corresponding average door closing speed of the elevator door in each speed mode in at least two speed modes, wherein the speed information corresponding to different speed modes is different; respectively determining the corresponding maximum elevator door quality in each speed mode according to the preset maximum door closing energy and each door closing average speed; and determining a target speed mode from the at least two speed modes according to the actual quality of the elevator door and the maximum elevator door quality corresponding to each speed mode, and controlling the opening and/or closing of the elevator door according to the target speed mode, wherein the maximum elevator door quality corresponding to the target speed mode is greater than the actual quality of the elevator door. By the method, the elevator taking experience of elevator taking personnel can be improved.
Description
Technical Field
The application belongs to the technical field of elevator control, and particularly relates to an elevator control method and device, an elevator and a computer readable storage medium.
Background
Currently, elevators are commonly installed in buildings so that a user can quickly reach from one floor to another.
When the elevator reaches a target floor, the elevator performs door opening and closing actions. However, in the process of controlling the door of the elevator to be closed, the elevator door may be caught by a person who takes the elevator into and out of the elevator.
Disclosure of Invention
The embodiment of the application provides an elevator control method, an elevator control device, an elevator and a computer readable storage medium, and can solve the problem that elevator passengers who enter and exit the elevator are likely to be clamped by an elevator door, and poor experience is brought to the elevator passengers.
In a first aspect, an embodiment of the present application provides an elevator control method, including:
determining the actual mass of the elevator door;
respectively determining the corresponding average door closing speed of the elevator door in each speed mode in at least two speed modes, wherein the speed information corresponding to different speed modes is different;
respectively determining the corresponding maximum elevator door quality in each speed mode according to the preset maximum door closing energy and each door closing average speed;
and determining a target speed mode from the at least two speed modes according to the actual quality of the elevator door and the maximum elevator door quality corresponding to each speed mode, and controlling the opening and/or closing of the elevator door according to the target speed mode, wherein the maximum elevator door quality corresponding to the target speed mode is greater than the actual quality of the elevator door.
In a second aspect, an embodiment of the present application provides an elevator control apparatus, including:
the actual quality determining module of the elevator door is used for determining the actual quality of the elevator door;
the door closing average speed determining module is used for respectively determining the door closing average speed of the elevator door in each speed mode in at least two speed modes, wherein the speed information corresponding to different speed modes is different;
the maximum elevator door quality determining module is used for respectively determining the maximum elevator door quality corresponding to each speed mode according to the preset maximum door closing energy and each door closing average speed;
and the target speed mode determining module is used for determining a target speed mode from the at least two speed modes according to the actual quality of the elevator door and the maximum elevator door quality corresponding to each speed mode, and controlling the opening and/or closing of the elevator door according to the target speed mode, wherein the maximum elevator door quality corresponding to the target speed mode is greater than the actual quality of the elevator door.
In a third aspect, an embodiment of the present application provides an elevator, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the method according to the first aspect when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method according to the first aspect.
In a fifth aspect, the present application provides a computer program product, which when run on an elevator, causes the elevator to perform the method of the first aspect.
Compared with the prior art, the embodiment of the application has the advantages that:
in the embodiment of the application, the maximum elevator door quality corresponding to each speed mode is respectively determined according to the preset maximum door closing energy and each average door closing speed, and after the actual quality of the elevator door is determined, the speed mode corresponding to the maximum elevator door quality larger than the actual quality of the elevator door is selected from each speed mode, namely, the target speed mode is selected. Because the maximum elevator door mass corresponding to the target speed mode is greater than the actual mass of the elevator door, when the opening and/or closing of the elevator door is controlled through the target speed mode, the elevator door can be ensured to have enough energy to open and/or close the door, so that the speed feedback delay phenomenon corresponding to the opening and/or closing of the elevator door can be reduced, the opening and/or closing speed of the elevator door can be controlled more accurately, namely, the occurrence of clamped events when elevator passengers enter and exit the elevator can be reduced, and the elevator riding experience of the elevator passengers is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below.
Fig. 1 is a flowchart of an elevator control method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a resistance measurement interval and a first acceleration measurement interval provided by an embodiment of the present application;
FIG. 3 is a schematic diagram of a door opening end to a door closing end divided into 7 zones according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an elevator control apparatus according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an elevator according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise.
The first embodiment is as follows:
at present, people's life basically can not open the elevator, and the speed of closing the door of elevator can influence the experience of taking advantage of the terraced personnel. For example, if the door closing speed is too fast, the elevator door may be caught by the elevator passengers who enter and exit, and the elevator passengers may be injured.
In order to improve the good experience of elevator taking personnel, the embodiment of the application provides an elevator control method. In the method, at least two speed modes are provided for the elevator in advance, the speed mode suitable for the current elevator door is determined according to the actual quality of the elevator door and the maximum quality of the elevator door corresponding to each speed mode, and the door opening or closing of the elevator door is controlled according to the determined speed mode, or the door opening or closing of the elevator door is controlled according to the determined speed mode.
The speed mode suitable for the elevator door is determined according to the actual quality of the elevator door and the maximum quality of the elevator door corresponding to each speed mode, and the speed information included in different speed modes is different, so that the speed information included in the determined speed mode is more matched with the actual quality of the elevator door, and the good experience of elevator taking personnel is improved.
The elevator control method provided by the embodiment of the application is described below with reference to the accompanying drawings.
Fig. 1 shows a flowchart of an elevator control method provided in an embodiment of the present application, which is detailed as follows:
step S11, the actual mass of the elevator door is determined.
The actual quality of the elevator door is the quality of the door system, i.e. the sum of the qualities of the door panel, the door hanging panel, the door knife, the door lock, the weight, the safety contact panel, the light curtain, etc. on the door system.
In some embodiments, the actual quality of the elevator doors on different floors may differ, considering that in a building in which the elevator is installed, the size and/or decoration etc. of the elevator doors on different floors may differ. For example, decorative wallpaper is pasted on the elevator door of the first floor, and no decorative wallpaper is pasted on the elevator door of the second floor, at this time, even if the elevator doors of the first floor and the second floor are the same in material and size, the actual quality of the elevator door of the first floor is different from the actual quality of the elevator door of the second floor due to different decorations. In order to be able to control the opening and/or closing of the elevator doors of the respective floors more precisely, the actual quality of the elevator doors of the respective floors is determined separately.
Step S12, determining the average door closing speed of the elevator door in each speed mode in at least two speed modes, wherein the speed information corresponding to different speed modes is different.
The speed information refers to preset information capable of reflecting the speed, such as door closing speed, acceleration and the like. Specifically, after the elevator is installed, the elevator is debugged in the field, and acceleration, door closing speed, and the like, which enable the elevator to run smoothly during door opening and closing, are taken as preset speed information in the speed mode.
In the embodiment of the application, at least two speed modes are provided for the elevator door of the same building, namely at least two speed information are provided for the elevator door of the same building. Because the speed information corresponding to different speed modes is different, the average door closing speed (i.e. the door closing speed is also different) of the same elevator door is different in the different speed modes.
In some embodiments, it is considered that a plurality of floors are usually included in the same building, and therefore, after the actual mass of the elevator door of each floor is determined, the corresponding door-closing average speed of the elevator door of each floor in different speed modes is determined, that is, the door-closing average speed in this step may be the corresponding door-closing average speed of the elevator door of each floor in different speed modes.
Step S13, determining the maximum elevator door mass corresponding to each speed mode according to the preset maximum door closing energy and each average door closing speed.
In this case, for different elevators, a maximum door-closing energy is set, which is the maximum energy that can be provided during the door-closing process of the elevator, or the maximum door-closing energy is the average energy that can be provided during the door-closing process of the elevator.
In the embodiment of the application, after the preset maximum door closing energy and the preset average door closing speed are determined, the corresponding maximum elevator door quality in each speed mode can be calculated according to a kinetic energy formula. For example, if in the speed mode1, the preset maximum door-closing energy is 10J, and the average door-closing speed is 0.2 m/s, the maximum elevator door mass corresponding to the speed mode1 is:
step S14, determining a target speed mode from the at least two speed modes according to the actual quality of the elevator door and the maximum elevator door quality corresponding to each speed mode, and controlling the opening and/or closing of the elevator door according to the target speed mode, wherein the maximum elevator door quality corresponding to the target speed mode is greater than the actual quality of the elevator door.
In the embodiment of the application, the speed mode corresponding to the condition that the maximum elevator door mass is greater than the actual mass of the elevator door is selected from all the speed modes, and the selected speed mode is used as the target speed mode. Of course, if the maximum elevator door mass is greater than the number of speed modes corresponding to the actual mass of the elevator door by more than 1, one speed mode can be selected from the speed modes as the target speed mode. After the target speed mode is selected, the opening and/or closing of the elevator door is controlled according to the speed information included in the target speed mode.
In the embodiment of the application, the maximum elevator door quality corresponding to each speed mode is respectively determined according to the preset maximum door closing energy and each average door closing speed, and after the actual quality of the elevator door is determined, the speed mode corresponding to the maximum elevator door quality larger than the actual quality of the elevator door is selected from each speed mode, namely, the target speed mode is selected. Because the maximum elevator door mass corresponding to the target speed mode is greater than the actual mass of the elevator door, when the opening and/or closing of the elevator door is controlled through the target speed mode, the elevator door can be ensured to have enough energy to open and/or close the door, so that the speed feedback delay phenomenon corresponding to the opening and/or closing of the elevator door can be reduced, the opening and/or closing speed of the elevator door can be controlled more accurately, namely, the occurrence of clamped events when elevator passengers enter and exit the elevator can be reduced, and the elevator riding experience of the elevator passengers is improved.
In some embodiments, if the number of maximum elevator door masses greater than the actual mass of the elevator door is greater than 1, the speed mode with the highest door-closing average speed is selected as the target speed mode from among the speed modes corresponding to these maximum elevator door masses.
For example, assuming that the actual mass of the elevator door is R, the maximum elevator door masses greater than R are P1, P2 and P3, respectively, and the average door-closing speeds in the speed patterns corresponding to P1 are all greater than the average door-closing speeds in the speed patterns corresponding to P2 and P3, the elevator door will select the speed pattern corresponding to P1 as the target speed pattern. When the number of the maximum elevator door masses larger than the actual mass of the elevator door exceeds 1, the speed mode with the maximum door closing average speed is selected as the target speed mode from the speed modes corresponding to the maximum elevator door masses, so that the door closing speed of the elevator door is favorably improved, and the utilization rate of the elevator is improved.
In some embodiments, if the actual mass of the elevator doors of each floor is determined, and the same speed mode is determined for the elevator doors of each floor, that is, the elevator doors of each floor correspond to the same target speed mode, the actual mass of the elevator doors of each floor is less than the maximum elevator door mass corresponding to the target speed mode.
Since the elevator doors of the respective floors correspond to the same target speed pattern, the convenience of controlling the elevator doors of the respective floors can be improved.
In some embodiments, if the actual mass of the elevator door of each floor is determined, and the corresponding speed mode is determined for the elevator door of each floor, that is, the target speed modes corresponding to the elevator doors of each floor may be different, the actual mass of the elevator door of each floor is less than the maximum elevator door mass corresponding to the corresponding target speed mode.
Because the target speed mode corresponding to the elevator door of each floor is determined according to the actual quality of the elevator door of each floor, the control accuracy of the elevator door of each floor can be improved.
In some embodiments, considering that the actual mass of the installed elevator door cannot be determined by weighing or the like, but the actual mass corresponding to the elevator door can be determined by the resistance and acceleration or the like experienced by the elevator door, the step S11 includes:
a1, determining the corresponding resistance of the elevator door when the door is closed or opened;
specifically, the resistance force applied to the elevator door during opening or closing the door is determined by measuring the moment applied to the elevator door during opening or closing the door. For example, the moment applied to the elevator door during the opening or closing of the door is measured at a moment sampling period, and an average value of the measured moments is used as the resistance applied to the elevator door during the opening or closing of the door.
In the embodiment of the application, when the resistance of the elevator door is measured, the running speed of the elevator is lower than the speed of the elevator in normal running so as to improve the accuracy of the measured resistance.
A2, determining the corresponding constant force of the elevator door when the door is closed or opened;
wherein the constant force can be measured directly when the elevator door is closed or opened. For example, if the force applied to the elevator door in a continuous period of time is not changed, i.e. the force applied to the elevator door in the continuous period of time is the same value (or a value with a small difference), the force is the constant force in the embodiment of the present application.
A3, determining a first acceleration corresponding to the door of the elevator when the door is closed or opened;
here, the first acceleration refers to an acceleration during the measurement (i.e., not during normal operation), which is generally smaller than an acceleration during normal operation of the elevator, so as to improve the accuracy of the measured first acceleration.
A4, determining the actual mass of the elevator door based on the resistance force, the constant force, and the first acceleration.
In particular, the actual mass of the elevator door can be determined according to the following formula:
in the above-mentioned step a 1-step a4, since the actual mass of the elevator door can be calculated according to the constant force, the resistance and the first acceleration, the elevator door does not need to be weighed and measured, thereby improving the convenience of measuring the actual mass of the elevator door.
In some embodiments, in order to improve the accuracy of the measured resistance, before the step a1, the method further includes the following steps:
in the process of controlling the door of the elevator to be closed or opened, whether the distance between the current position of the elevator door and the door closing end is within a first preset distance range is detected, wherein when the distance between the current position of the elevator door and the door closing end is within the first preset distance range, the distance between the current position of the elevator door and the door closing end is smaller than the distance between the current position of the elevator door and the door opening end, the door closing end is the position where the elevator door is completely closed, and the door opening end is the position where the elevator door is completely opened.
Correspondingly, the step a1 specifically includes:
and if the distance between the current position of the elevator door and the door closing end is within the first preset distance range, determining the corresponding resistance of the elevator door when the door is closed or opened.
Referring to fig. 2, the elevator door is controlled to open or close at a preset speed, when the elevator door reaches a resistance measurement interval, the moment applied to the elevator door in the door opening or closing process is measured according to the sampling period of the moment, and after the elevator door leaves the resistance measurement interval, the average value of the measured moments is used as the resistance applied to the elevator door in the door opening or closing process. Furthermore, the resistance received by the elevator door of the floor is written into the memory area corresponding to the floor.
In the embodiment of the application, when the elevator door is close to the door closing end (for example, the elevator door is just opened, or the elevator door is close to the door closing end completely), the resistance of the elevator door is the largest, so that the resistance of the elevator door is detected when the current position of the elevator door is closer to the door closing end, and the accuracy of the detected resistance can be improved.
In some embodiments, in order to improve the accuracy of the measured acceleration, the method further includes, before the step a3, in consideration that the elevator door has different corresponding accelerations at different positions during the door opening or closing process of the elevator:
detecting whether the distance between the current position of the elevator door and the door opening end is within a second preset distance range or not in the process of controlling the door to be closed or opened, wherein when the distance between the current position of the elevator door and the door opening end is within the second preset distance range, the distance between the current position of the elevator door and the door opening end is smaller than the distance between the current position of the elevator door and the door closing end;
correspondingly, the step a3 includes:
and if the distance between the current position of the elevator door and the door opening end is within the second preset distance range, determining a first acceleration corresponding to the elevator door when the door is closed or opened.
In the embodiment of the application, when the elevator door is far away from the door opening end, the speed of the elevator door begins to increase, and at the moment, the acceleration is measured, so that the accuracy of the measured first acceleration is improved.
In some embodiments, when the current position of the elevator door is within the second predetermined distance range from the open end, the corresponding moment of the elevator door is the same, i.e. as shown in fig. 2, the first acceleration is measured when the elevator door has a constant torque (or constant force). In fig. 2, the elevator door is controlled to open or close at a preset speed, when the elevator door reaches a first acceleration measurement interval, the acceleration of the elevator door is measured in the door opening or closing process according to the sampling period of the acceleration, and after the elevator door leaves the first acceleration measurement interval, the average value of a plurality of measured accelerations is used as the first acceleration of the elevator door in the door opening or closing process. Further, writing a first acceleration corresponding to the elevator door of the floor into a memory area corresponding to the floor.
Since the acceleration should also be stable when the moment (or constant force) of the elevator door is constant, the accuracy of the obtained first acceleration can be further improved by performing the measurement of the first acceleration.
In some embodiments, the speed information of the embodiment of the present application includes a second acceleration and a highest speed, and the step S12 includes:
b1, respectively determining the door closing time of the elevator door in each speed mode according to the second acceleration and the highest speed included in each speed mode in at least two speed modes;
the values of the second acceleration in the different speed modes are different, and the value of the highest speed in the different speed modes is usually different.
In the embodiment of the present application, when the door closing time in a speed mode is calculated, a time value may be calculated according to the second acceleration in the speed mode and the highest speed in the speed mode, and considering that the door opening speed or the door closing speed of the elevator door usually goes from 0 to the highest speed first and then goes from the highest speed to 0, therefore, twice the calculated time value may be used as the door closing time in the speed mode.
B2, determining the corresponding door closing distance of the elevator door;
wherein, the door closing distance is the same as the door opening distance.
In the embodiment of the application, half of the width of the elevator hall door of each floor can be used as the door closing distance of the elevator door of the floor, or used as the door opening distance of the elevator door of the floor.
B3, determining the average door closing speed of the elevator door in each speed mode according to the door closing distance and each door closing time.
For each speed mode, the average door closing speed corresponding to the speed mode can be determined according to the door closing distance divided by the door closing time.
In the embodiment of the application, for each speed mode, because the door closing distance corresponding to the elevator door can be determined, after the second acceleration and the highest speed in the speed mode are determined, the door closing average speed in the speed mode can be accurately calculated.
In some embodiments, the speed information of the embodiment of the present application includes jerk, third acceleration, and highest speed, and the step S12 includes:
and C1, determining the corresponding door closing distance of the elevator door.
C2, in at least two speed modes, according to the jerk, the third acceleration and the highest speed included in each speed mode, respectively determining the door closing time of the elevator door in each speed mode.
Considering that the door opening speed or the door closing speed of the elevator door is usually from 0 to the highest speed and then from the highest speed to 0, the area between the door opening end and the door closing end can be divided into n areas, where n is an odd number greater than 1.
Referring to fig. 3, assume that n is 7, jerk (or acceleration/deceleration) is J, acceleration is a, deceleration is a (or acceleration is-a), and the highest speed is v 4.
< MODE-1 (i.e., first region) plus acceleration phase >:
speed:
distance:
< MODE-2 constant acceleration phase >:
speed: v2= v4-v1
Time:
distance:
< MODE-3 acceleration and deceleration stage >:
time: t3 = t1
Speed:
distance:
< MODE-4 highest speed stage >:
velocity v4
Time: t4 = (Lall- (l1+ l2+ l3+ l5+ l6+ l7))/v 4), wherein Lall is the distance from the open door end to the closed door end, i.e., the corresponding closed door distance of the elevator door.
Distance:
< MODE-5 deceleration phase >:
time: t5= t3
Speed: v5= v3
Distance: l5= l3
< MODE-6 constant deceleration stage >:
time: t6= t2
Speed: v6= v2
Distance: l6= l2
< MODE-7 deceleration stage >:
time: t7= t1
Speed: v7= v1
Distance: l7= l1
MODE 1-MODE 7 door closing time: t-gate-closing = T1+ T2+ T3+ T4+ T5+ T6+ T7
The door closing device is characterized in that the door opening end and the door closing end are divided into a plurality of areas, and the time corresponding to each area is calculated respectively, so that the accuracy of the finally obtained door closing time is improved.
C3, determining the average door closing speed of the elevator door in each speed mode according to the door closing distance and each door closing time.
Specifically, when calculating the average door closing speed in a certain speed mode, the average door closing speed in the speed mode may be obtained by dividing the door closing distance by the door closing time in the speed mode.
In the embodiment of the present application, since the speed information includes the jerk, the third acceleration and the highest speed, that is, the acceleration is also considered to be a variable, and the acceleration for closing the door is also a variable value in the actual door closing process, the average door closing speed calculated according to the speed information including the jerk, the third acceleration and the highest speed is more suitable for the actual situation.
In some embodiments, after the step B1 or step C2, the elevator control method further comprises:
and if the door closing time of the elevator door in each speed mode is less than a preset time threshold, sending out warning information.
In the embodiment of the application, because the door closing time of the elevator door cannot be too fast, otherwise, the elevator taking personnel entering and exiting the elevator can be easily injured by clamping, namely the door closing time of the elevator is greater than a preset time threshold value, therefore, under the condition that the door closing time of the elevator door is too short in each mode, the alarm information is sent out, and maintenance personnel can maintain the elevator in time. In some embodiments, the preset time threshold is determined according to a door closing time standard of the elevator.
Example two:
corresponding to the elevator control method provided by the first embodiment, fig. 4 shows a schematic structural diagram of an elevator control device provided by the embodiment of the present application, and the elevator control device is applied to an elevator, and is detailed as follows:
the elevator control device 4 includes: an actual mass of the elevator door determination module 41, a closing average speed determination module 42, a maximum elevator door mass determination module 43, a target speed mode determination module 44. Wherein:
an actual mass determination module 41 of the elevator door for determining the actual mass of the elevator door;
in some embodiments, the actual quality of the elevator doors on different floors may differ, considering that in a building in which the elevator is installed, the size and/or decoration etc. of the elevator doors on different floors may differ. In order to be able to control the opening and/or closing of the elevator doors of the respective floors more precisely, the actual quality of the elevator doors of the respective floors is determined separately.
A door closing average speed determining module 42, configured to determine, in at least two speed modes, corresponding door closing average speeds of the elevator door in the respective speed modes, where speed information corresponding to different speed modes is different;
in some embodiments, the aforementioned average door closing speed may be the average door closing speed of the elevator doors of each floor in different speed modes.
A maximum elevator door quality determining module 43, configured to determine, according to preset maximum door closing energy and each average door closing speed, the corresponding maximum elevator door quality in each speed mode respectively;
in the embodiment of the application, after the preset maximum door closing energy and the preset average door closing speed are determined, the corresponding maximum elevator door quality in each speed mode can be calculated according to a kinetic energy formula. For example, if in the speed mode1, the preset maximum door-closing energy is 10J, and the average door-closing speed is 0.2 m/s, the maximum elevator door mass corresponding to the speed mode1 is:
a target speed mode determining module 44, configured to determine a target speed mode from the at least two speed modes according to the actual quality of the elevator door and the maximum elevator door quality corresponding to each speed mode, and control opening and/or closing of the elevator door according to the target speed mode, where the maximum elevator door quality corresponding to the target speed mode is greater than the actual quality of the elevator door.
In the embodiment of the application, the speed mode corresponding to the condition that the maximum elevator door mass is greater than the actual mass of the elevator door is selected from all the speed modes, and the selected speed mode is used as the target speed mode. Of course, if the maximum elevator door mass is greater than the number of speed modes corresponding to the actual mass of the elevator door by more than 1, one speed mode can be selected from the speed modes as the target speed mode. After the target speed mode is selected, the opening and/or closing of the elevator door is controlled according to the speed information included in the target speed mode.
In the embodiment of the application, the maximum elevator door quality corresponding to each speed mode is respectively determined according to the preset maximum door closing energy and each average door closing speed, and after the actual quality of the elevator door is determined, the speed mode corresponding to the maximum elevator door quality larger than the actual quality of the elevator door is selected from each speed mode, namely, the target speed mode is selected. Because the maximum elevator door mass corresponding to the target speed mode is greater than the actual mass of the elevator door, when the opening and/or closing of the elevator door is controlled through the target speed mode, the elevator door can be ensured to have enough energy to open and/or close the door, so that the speed feedback delay phenomenon corresponding to the opening and/or closing of the elevator door can be reduced, the opening and/or closing speed of the elevator door can be controlled more accurately, namely, the occurrence of clamped events when elevator passengers enter and exit the elevator can be reduced, and the elevator riding experience of the elevator passengers is improved.
In some embodiments, if the number of maximum elevator door masses greater than the actual mass of the elevator door is greater than 1, the speed mode with the highest door-closing average speed is selected as the target speed mode from among the speed modes corresponding to these maximum elevator door masses.
In some embodiments, if the actual mass of the elevator doors of each floor is determined, and the same speed mode is determined for the elevator doors of each floor, that is, the elevator doors of each floor correspond to the same target speed mode, the actual mass of the elevator doors of each floor is less than the maximum elevator door mass corresponding to the target speed mode.
Since the elevator doors of the respective floors correspond to the same target speed pattern, the convenience of controlling the elevator doors of the respective floors can be improved.
In some embodiments, if the actual mass of the elevator door of each floor is determined, and the corresponding speed mode is determined for the elevator door of each floor, that is, the target speed modes corresponding to the elevator doors of each floor may be different, the actual mass of the elevator door of each floor is less than the maximum elevator door mass corresponding to the corresponding target speed mode.
Because the target speed mode corresponding to the elevator door of each floor is determined according to the actual quality of the elevator door of each floor, the control accuracy of the elevator door of each floor can be improved.
In some embodiments, the actual mass of the elevator door determining module 41 comprises:
the resistance determining unit is used for determining the corresponding resistance of the elevator door when the door is closed or opened;
in the embodiment of the application, when the resistance of the elevator door is measured, the running speed of the elevator is lower than the speed of the elevator in normal running so as to improve the accuracy of the measured resistance.
The constant force determining unit is used for determining the corresponding constant force when the elevator door is closed or opened;
wherein the constant force can be measured directly when the elevator door is closed or opened. For example, if the force applied to the elevator door in a continuous period of time is not changed, i.e. the force applied to the elevator door in the continuous period of time is the same value (or a value with a small difference), the force is the constant force in the embodiment of the present application.
The first acceleration determining unit is used for determining a first acceleration corresponding to the door of the elevator when the door is closed or opened;
here, the first acceleration refers to an acceleration during the measurement (i.e., not during normal operation), which is generally smaller than an acceleration during normal operation of the elevator, so as to improve the accuracy of the measured first acceleration.
And the actual mass determining unit is used for determining the actual mass of the elevator door according to the resistance, the constant force and the first acceleration.
In particular, the actual mass of the elevator door can be determined according to the following formula:
because the actual mass of the elevator door can be calculated according to the constant force, the resistance and the first acceleration, the elevator door does not need to be weighed and measured, and the convenience of measuring the actual mass of the elevator door is improved.
In some embodiments, the elevator control apparatus 4 provided in the embodiment of the present application further includes:
the elevator door current position first determining module is used for detecting whether the distance between the current position of the elevator door and the door closing end is within a first preset distance range or not in the process of controlling the elevator door to close or open, wherein when the distance between the current position of the elevator door and the door closing end is within the first preset distance range, the distance between the current position of the elevator door and the door closing end is smaller than the distance between the current position of the elevator door and the door opening end, the door closing end is the position where the elevator door is completely closed, and the door opening end is the position where the elevator door is completely opened;
correspondingly, the resistance determination unit is specifically configured to:
and if the distance between the current position of the elevator door and the door closing end is within the first preset distance range, determining the corresponding resistance of the elevator door when the door is closed or opened.
Specifically, the elevator door is controlled to open or close at a preset speed, when the elevator door reaches a resistance measurement interval, the moment applied to the elevator door in the door opening or closing process is measured according to the sampling period of the moment, and after the elevator door leaves the resistance measurement interval, the average value of a plurality of measured moments is used as the resistance applied to the elevator door in the door opening or closing process. Furthermore, the resistance received by the elevator door of the floor is written into the memory area corresponding to the floor.
In the embodiment of the application, when the elevator door is close to the door closing end (for example, the elevator door is just opened, or the elevator door is close to the door closing end completely), the resistance of the elevator door is the largest, so that the resistance of the elevator door is detected when the current position of the elevator door is closer to the door closing end, and the accuracy of the detected resistance can be improved.
In some embodiments, the elevator control apparatus 4 provided in the embodiment of the present application further includes:
the second determining module of the current position of the elevator door is used for detecting whether the distance between the current position of the elevator door and the door opening end is within a second preset distance range or not in the process of controlling the elevator door to close or open, wherein when the distance between the current position of the elevator door and the door opening end is within the second preset distance range, the distance between the current position of the elevator door and the door opening end is smaller than the distance between the current position of the elevator door and the door closing end;
correspondingly, the first acceleration determination unit is specifically configured to:
and if the distance between the current position of the elevator door and the door opening end is within the second preset distance range, determining a first acceleration corresponding to the elevator door when the door is closed or opened.
In the embodiment of the application, when the elevator door is far away from the door opening end, the speed of the elevator door begins to increase, and at the moment, the acceleration is measured, so that the accuracy of the measured first acceleration is improved.
In some embodiments, when the current position of the elevator door is within the second predetermined distance range from the open end, the corresponding moment of the elevator door is the same, i.e. as shown in fig. 2, the first acceleration is measured when the elevator door has a constant torque. In fig. 2, the elevator door is controlled to open or close at a preset speed, when the elevator door reaches a first acceleration measurement interval, the acceleration of the elevator door is measured in the door opening or closing process according to the sampling period of the acceleration, and after the elevator door leaves the first acceleration measurement interval, the average value of a plurality of measured accelerations is used as the first acceleration of the elevator door in the door opening or closing process. Further, writing a first acceleration corresponding to the elevator door of the floor into a memory area corresponding to the floor.
Since the acceleration should also be stable when the moment (or force) of the elevator door is constant, the accuracy of the obtained first acceleration can be further improved by performing the measurement of the first acceleration.
In some embodiments, the velocity information includes a second acceleration and a highest velocity, and the door closing average velocity determination module 42 includes:
the first door closing time determining unit is used for respectively determining the door closing time of the elevator door in each speed mode according to the second acceleration and the highest speed included in each speed mode in at least two speed modes;
the second acceleration value in different speed modes is different, and the highest speed value in different speed modes is usually different.
In the embodiment of the present application, when the door closing time in a speed mode is calculated, a time value may be calculated according to the second acceleration in the speed mode and the highest speed in the speed mode, and considering that the door opening speed or the door closing speed of the elevator door usually goes from 0 to the highest speed first and then goes from the highest speed to 0, therefore, twice the calculated time value may be used as the door closing time in the speed mode.
The first door closing distance determining unit is used for determining the door closing distance corresponding to the elevator door;
wherein, the door closing distance is the same as the door opening distance.
In the embodiment of the application, half of the width of the elevator hall door of each floor can be used as the door closing distance of the elevator door of the floor, or used as the door opening distance of the elevator door of the floor.
And the first door closing average speed determining unit is used for respectively determining the corresponding door closing average speed of the elevator door in each speed mode according to the door closing distance and each door closing time.
For each speed mode, the average door closing speed corresponding to the speed mode can be determined according to the door closing distance divided by the door closing time.
In the embodiment of the application, for each speed mode, because the door closing distance corresponding to the elevator door can be determined, after the second acceleration and the highest speed in the speed mode are determined, the door closing average speed in the speed mode can be accurately calculated.
In some embodiments, the velocity information includes jerk, third acceleration, and top velocity, and the door closing average velocity determination module 42 includes:
the second door closing distance determining unit is used for determining the door closing distance corresponding to the elevator door;
the second door closing time determining unit is used for respectively determining the door closing time of the elevator door in each speed mode according to the jerk, the third acceleration and the highest speed included in each speed mode in at least two speed modes;
and the second average door-closing speed unit is used for respectively determining the corresponding average door-closing speed of the elevator door in each speed mode according to the door-closing distance and each door-closing time.
In the embodiment of the present application, since the speed information includes the jerk, the third acceleration and the highest speed, that is, the acceleration is also considered to be a variable, and the acceleration for closing the door is also a variable value in the actual door closing process, the average door closing speed calculated according to the speed information including the jerk, the third acceleration and the highest speed is more suitable for the actual situation.
In some embodiments, the elevator control apparatus 4 provided in the embodiment of the present application further includes:
and the warning information sending module is used for sending warning information if the door closing time of the elevator door in each speed mode is less than a preset time threshold.
In the embodiment of the application, because the door closing time of the elevator door cannot be too fast, otherwise, the elevator taking personnel entering and exiting the elevator can be easily injured by clamping, namely the door closing time of the elevator is greater than a preset time threshold value, therefore, under the condition that the door closing time of the elevator door is too short in each mode, the alarm information is sent out, and maintenance personnel can maintain the elevator in time. In some embodiments, the preset time threshold is determined according to a door closing time standard of the elevator.
Example three:
fig. 5 is a schematic structural diagram of an elevator according to an embodiment of the present application. As shown in fig. 5, the elevator 5 of this embodiment includes: at least one processor 50 (only one processor is shown in fig. 5), a memory 51, and a computer program 52 stored in the memory 51 and executable on the at least one processor 50, wherein the steps of any of the above-described method embodiments are implemented when the computer program 52 is executed by the processor 50.
The elevator 5 may include, but is not limited to, a processor 50 and a memory 51. It will be understood by those skilled in the art that fig. 5 is merely an example of an elevator 5 and does not constitute a limitation of the elevator 5 and may include more or less components than those shown, or some components in combination, or different components, such as input and output devices, network access devices, etc.
The Processor 50 may be a Central Processing Unit (CPU), and the Processor 50 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The aforementioned memory 51 may in some embodiments be an internal memory unit of the aforementioned elevator 5, such as a hard disk or a memory of the elevator 5. In other embodiments, the memory 51 may be an external storage device of the elevator 5, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like provided on the elevator 5. Further, the memory 51 may include both an internal storage unit and an external storage device of the elevator 5. The memory 51 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, other programs, and the like, such as program codes of the computer programs. The above-mentioned memory 51 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned functions may be distributed as different functional units and modules according to needs, that is, the internal structure of the apparatus may be divided into different functional units or modules to implement all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
An embodiment of the present application further provides a network device, where the network device includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, the processor implementing the steps of any of the method embodiments when executing the computer program.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above method embodiments.
The embodiments of the present application provide a computer program product, which when running on an elevator, enables the elevator to implement the steps in the above-mentioned method embodiments when executed.
The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/electronic device, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (9)
1. An elevator control method, comprising:
determining the actual mass of the elevator door;
respectively determining the corresponding average door closing speed of the elevator door in each speed mode in at least two speed modes, wherein the speed information corresponding to different speed modes is different;
respectively determining the corresponding maximum elevator door quality in each speed mode according to the preset maximum door closing energy and each door closing average speed;
determining a target speed mode from the at least two speed modes according to the actual quality of the elevator door and the maximum elevator door quality corresponding to each speed mode, and controlling the opening and/or closing of the elevator door according to the target speed mode, wherein the maximum elevator door quality corresponding to the target speed mode is greater than the actual quality of the elevator door;
the determining the actual mass of the elevator door comprises:
determining the corresponding resistance of the elevator door when the door is closed or opened;
determining the corresponding constant force of the elevator door when the door is closed or opened;
determining a first acceleration corresponding to the door of the elevator when the door is closed or opened;
and determining the actual mass of the elevator door according to the resistance, the constant force and the first acceleration.
2. The elevator control method of claim 1, wherein prior to said determining the corresponding resistance of the elevator door when closing or opening the door, further comprising:
detecting whether the distance between the current position of the elevator door and a door closing end is within a first preset distance range or not in the process of controlling the elevator door to close or open, wherein when the distance between the current position of the elevator door and the door closing end is within the first preset distance range, the distance between the current position of the elevator door and the door closing end is smaller than the distance between the current position of the elevator door and the door opening end, the door closing end is the position of the elevator door when the elevator door is completely closed, and the door opening end is the position of the elevator door when the elevator door is completely opened;
the determining the corresponding resistance of the elevator door when the door is closed or opened comprises:
and if the distance between the current position of the elevator door and the door closing end is within the first preset distance range, determining the corresponding resistance of the elevator door when the door is closed or opened.
3. The elevator control method of claim 1, wherein prior to said determining a corresponding first acceleration of the elevator door when the door is closed or open, further comprising:
in the process of controlling the door of the elevator to be closed or opened, detecting whether the distance between the current position of the elevator door and the door opening end is within a second preset distance range or not, wherein when the distance between the current position of the elevator door and the door opening end is within the second preset distance range, the distance between the current position of the elevator door and the door opening end is smaller than the distance between the current position of the elevator door and the door closing end;
the determining a first acceleration corresponding to the elevator door when the elevator door is closed or opened includes:
and if the distance between the current position of the elevator door and the door opening end is within the second preset distance range, determining a corresponding first acceleration of the elevator door when the elevator door is closed or opened.
4. The elevator control method according to any one of claims 1 to 3, wherein the speed information includes a second acceleration and a highest speed, and the determining the door-closing average speed of the elevator door in each of the at least two speed modes, respectively, comprises:
in at least two speed modes, respectively determining the door closing time of the elevator door in each speed mode according to the second acceleration and the highest speed included in each speed mode;
determining a door closing distance corresponding to the elevator door;
and respectively determining the corresponding average door closing speed of the elevator door in each speed mode according to the door closing distance and the door closing time.
5. The elevator control method according to any one of claims 1 to 3, wherein the speed information includes a jerk, a third acceleration and a maximum speed, and the determining the corresponding door-closing average speed of the elevator door in each of the at least two speed modes, respectively, comprises:
determining a door closing distance corresponding to the elevator door;
in at least two speed modes, respectively determining the door closing time of the elevator door in each speed mode according to the jerk, the third acceleration and the highest speed included in each speed mode;
and respectively determining the corresponding average door closing speed of the elevator door in each speed mode according to the door closing distance and the door closing time.
6. The elevator control method according to claim 5, wherein after said determining the door closing time of the elevator door in each speed mode, respectively, the elevator control method further comprises:
and if the door closing time of the elevator door in each speed mode is less than a preset time threshold, sending out warning information.
7. An elevator control apparatus, comprising:
the actual quality determining module of the elevator door is used for determining the actual quality of the elevator door;
the door closing average speed determining module is used for respectively determining the door closing average speed of the elevator door in each speed mode in at least two speed modes, wherein the speed information corresponding to different speed modes is different;
the maximum elevator door quality determining module is used for respectively determining the maximum elevator door quality corresponding to each speed mode according to the preset maximum door closing energy and each door closing average speed;
the target speed mode determining module is used for determining a target speed mode from the at least two speed modes according to the actual quality of the elevator door and the maximum elevator door quality corresponding to each speed mode, and controlling the door opening and/or closing of the elevator door according to the target speed mode, wherein the maximum elevator door quality corresponding to the target speed mode is greater than the actual quality of the elevator door;
the actual mass determination module of the elevator door comprises:
the resistance determining unit is used for determining the corresponding resistance of the elevator door when the elevator door is closed or opened;
the constant force determining unit is used for determining the corresponding constant force when the elevator door is closed or opened;
the first acceleration determining unit is used for determining corresponding first acceleration when the elevator door is closed or opened;
and the actual mass determining unit is used for determining the actual mass of the elevator door according to the resistance, the constant force and the first acceleration.
8. Elevator, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the method according to any of claims 1 to 6 when executing the computer program.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 6.
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| CN115321286A (en) * | 2022-08-31 | 2022-11-11 | 菱王电梯有限公司 | Elevator control method and device |
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