CN115092794A - Anti-pinch control method and system for elevator - Google Patents
Anti-pinch control method and system for elevator Download PDFInfo
- Publication number
- CN115092794A CN115092794A CN202211018770.XA CN202211018770A CN115092794A CN 115092794 A CN115092794 A CN 115092794A CN 202211018770 A CN202211018770 A CN 202211018770A CN 115092794 A CN115092794 A CN 115092794A
- Authority
- CN
- China
- Prior art keywords
- synchronous motor
- rotating speed
- armature current
- motor
- door
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000001360 synchronised effect Effects 0.000 claims abstract description 114
- 230000009471 action Effects 0.000 claims abstract description 69
- 238000010586 diagram Methods 0.000 claims abstract description 42
- 238000003062 neural network model Methods 0.000 claims abstract description 20
- 230000002159 abnormal effect Effects 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 230000008569 process Effects 0.000 claims abstract description 7
- 238000012549 training Methods 0.000 claims description 31
- 238000002372 labelling Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 10
- 238000013527 convolutional neural network Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000012795 verification Methods 0.000 description 5
- 238000012790 confirmation Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Images
Classifications
-
- 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
- B66B13/24—Safety devices in passenger lifts, not otherwise provided for, for preventing trapping of passengers
- B66B13/26—Safety devices in passenger lifts, not otherwise provided for, for preventing trapping of passengers between closing doors
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/08—Learning methods
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- Evolutionary Computation (AREA)
- Molecular Biology (AREA)
- Artificial Intelligence (AREA)
- Biomedical Technology (AREA)
- Biophysics (AREA)
- Computational Linguistics (AREA)
- Data Mining & Analysis (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Computing Systems (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Automation & Control Theory (AREA)
- Elevator Door Apparatuses (AREA)
Abstract
The invention relates to the technical field of construction elevators, and discloses an anti-pinch control method and an anti-pinch control system for an elevator, which comprise the following steps: judging whether the driving motor executes door closing action; starting a synchronous motor according to a preset rotating speed; wherein, the output shaft of the synchronous motor is in transmission connection with the movable door of the lifter; the preset rotating speed is the synchronous rotating speed of the output shaft of the synchronous motor in the normal closing process of the movable door; acquiring an armature current diagram of the synchronous motor; acquiring an output result of the armature current diagram received by the judging unit; if the output result is abnormal, an emergency signal for starting the standby motor and powering off the driving motor is sent; the judging unit is a trained neural network model, the driving motor is used for driving the elevator to execute door opening and door closing actions through forward and reverse rotation, and the standby motor is used for responding to an emergency signal to execute the door opening action.
Description
Technical Field
The invention relates to the technical field of construction elevators, in particular to an anti-pinch control method and an anti-pinch control system for an elevator.
Background
Construction elevators are generally referred to as construction elevators, also simply elevators, but construction elevators comprise a broader definition and construction platforms also belong to the construction elevator series. The pure construction elevator consists of a lift car, a driving mechanism, a standard section, an attached wall, a chassis, a fence, an electric system and the like.
When the elevator is used, the elevator is mainly used in various buildings of high-rise and super-high-rise buildings in cities, is a manned cargo-carrying construction machine frequently used in the buildings, and is mainly used for the construction of buildings such as internal and external decoration of high-rise buildings, bridges, chimneys and the like.
When the sensor detects that a barrier influencing door closing exists between the movable doors, the sensor sends a corresponding signal to drive a driving motor which is responsible for driving the movable doors to close to reversely rotate so as to achieve the anti-pinch purpose, but related components of the movable doors, including the sensor, are worn or aged along with the increase of the using time, increase instability, possibly cause the anti-pinch reverse rotation failure of the driving motor, and once failure occurs, the anti-pinch control method is very dangerous under the high-altitude operation environment, so that the more reliable anti-pinch control method needs to be provided to avoid the situation as much as possible.
Disclosure of Invention
The invention aims to provide an anti-pinch control method and an anti-pinch control system for a lifter, which solve the following technical problems:
how to provide an elevator anti-pinch control method which is reliable and has high identification accuracy.
The purpose of the invention can be realized by the following technical scheme:
an anti-pinch control method for an elevator, comprising:
s100, judging whether the driving motor executes door closing action or not; if not, the step S200 is carried out; if yes, go to step S300;
s200, controlling the synchronous motor to stop working;
s300, starting the synchronous motor according to a preset rotating speed;
wherein, the output shaft of the synchronous motor is in transmission connection with the movable door of the lifter; the preset rotating speed is the synchronous rotating speed of the output shaft of the synchronous motor in the normal closing process of the movable door;
s400, acquiring an armature current diagram of the synchronous motor;
s500, acquiring an output result of the armature current diagram received by the judging unit;
if the output result is abnormal, an emergency signal for starting a standby motor and powering off a driving motor is sent; if the output result is normal, returning to the step S100;
the judging unit is a trained neural network model, the driving motor is used for driving the elevator to execute door opening and door closing actions through positive and negative rotation, and the standby motor is used for responding to the emergency signal to execute the door opening action.
Through the technical scheme, when the driving motor executes the door opening action, synchronous rotation can be carried out through the synchronous motor which is configured in advance, and as the rotating speed of the output shaft of the synchronous motor is in positive correlation with the closing speed of the movable door, under normal conditions, the rotation of the synchronous motor and the closing of the movable door are not influenced mutually, once the door closing action of the movable door is hindered by any unknown obstacle, the rotating speed of the synchronous motor is reduced, but the instantaneous rotating speed of the synchronous motor is the preset rotating speed, if the rotating speed of the synchronous motor is forcibly reduced by external force, the armature current of the synchronous motor is increased along with the instantaneous rotating speed, and the specific form is represented by an armature current diagram; therefore, the correspondingly trained judging unit can judge whether the rotating speed of the synchronous motor is normal or not according to the armature current diagram, so that the real-time judgment on whether the door closing action of the movable door is normal or not is realized, and the accuracy is high;
in the aspect of application, the door closing speeds of different elevators are different when the door closing actions are performed, but the preset rotating speed can be set, and the judgment unit can also perform targeted training, so that the anti-pinch control device can be used in a large area, is suitable for anti-pinch control designs of various elevators, and has considerable practicability;
in addition, the emergency motor is additionally used for responding to the emergency signal to execute the door opening action, so that the normal execution of the door opening action of the movable door can be ensured under the condition that the door opening of the driving motor fails, and the reliability of anti-clamping control is ensured.
As a further scheme of the invention: before step S100, the method further includes: s01, acquiring and setting the preset rotating speed;
the step S01 includes:
s011, repeatedly executing the door closing action n times, and simultaneously collecting the rotation speed of the synchronous motor;
s012, obtaining the preset time of the synchronous motor in the nth door closing actiontRotational speed of
；
S013, calculating the preset time corresponding to the synchronous motor in the n door closing actionstAverage rotational speed of
；
S014, setting the average rotation speed
At a plurality of different preset timestThe set of lower as the synchronous revolution;
wherein,
and the preset time is t time after the synchronous motor is started.
Through the technical scheme, before the anti-pinch control device is used, the preset rotating speed of the synchronous motor can be determined to adapt to the door closing action of the current elevator, so that the accuracy of anti-pinch control is improved;
specifically, when n is set to 3, the door closing operation can be repeatedly performed for 3 times, and as the moving door of the elevator is in transmission connection with the synchronous motor, under the condition that the synchronous motor is powered off, 3 pieces of rotating speed change data about the synchronous motor can be obtained, the time of starting the door closing operation at each time is set to be 0, and the following is an example of setting the preset rotating speed at the preset time after the door closing operation is started, and the preset time is 1S:
in the 1 st door closing action, the rotating speed of the synchronous motor at the 1S moment is
，
；
In the 2 nd door closing action, the rotating speed of the synchronous motor at the 1S moment is
，
；
In the 3 rd door closing action, the rotating speed of the synchronous motor at the 1S moment is
，
；
The average rotational speed of the synchronous machine at the time of 1S
；
Thus, at any time of the door closing action, the average rotating speed at all the time from the beginning to the end of the door closing action can be obtained in the same way
Therefore, the more the door closing action repetition times are or the more the density of the collection at the preset moment is, correspondingly, the more exquisite and accurate the preset rotating speed control of the synchronous motor is, the judgment accuracy of the follow-up anti-pinch control can be improved from the side face, and the reliability of the anti-pinch control method is improved.
As a further scheme of the invention: before step S100, the method further includes: s02, generating a training sample set, and training the neural network model;
the step S02 includes:
s021, executing a door closing action, and starting a synchronous motor according to the preset rotating speed;
s022, acquiring an armature current diagram of the synchronous motor;
s023, labeling the armature current diagram to obtain a training sample;
repeatedly executing the step S02 to obtain a training sample set;
and inputting the training sample set into a neural network model, and training the neural network model to obtain the judgment unit.
Through the technical scheme, the neural network model adopted in the invention can adopt a Convolutional Neural Network (CNN), the convolutional neural network is the most popular neural network model for the image classification problem, and the training sample and the armature current diagram are acquired in the same way, except that the training sample has one more step of manual labeling compared with the armature current diagram;
when the door closing action is executed, the synchronous motor is started according to the preset rotating speed, under the normal condition, the armature current of the synchronous motor is normal, once the door closing action is influenced by any obstruction, the door closing speed is influenced, the armature current can be instantly increased, the armature current is represented by a rising curve in an armature current diagram, and the change of the curve is represented in the form of an image;
because whether the door closing action of the current elevator is normal or not is visible to naked eyes, the armature current diagram can be labeled, and therefore the neural network model can be trained.
As a further scheme of the invention: the method for acquiring the armature current diagram of the synchronous motor comprises the following steps:
s031, produce the blank film, set up unified rectangular coordinate system and scale in the said blank film;
and S032, drawing an armature current curve on the blank negative plate at intervals of preset time according to the rectangular coordinate system and the scales.
By the technical scheme, the armature current curves with uniform format, uniform scale and uniform position can be generated, the consistency of the armature current graphs is ensured, and the identification accuracy of the judgment unit is further ensured.
As a further scheme of the invention: after step S032, further comprising:
and S033, intercepting the blank negative film after the armature current curve is drawn according to the size of a preset picture to obtain a preset number of current pictures.
By the technical scheme, the intercepting frame can be set according to the size of the preset picture, the image information in the intercepting frame is used as the armature current picture, certainly, the image content intercepted by the intercepting frame necessarily comprises the armature current curve at the current moment, and the position of the armature current curve at the current moment can be changed, so that any number of current pictures can be obtained, therefore, the training sample can be multiplied by the acquisition mode of the armature current picture, and the identification accuracy of the judging unit is further improved.
As a further scheme of the invention: and inputting the current pictures into the judging unit one by one, and taking one item with the largest probability ratio in the output results of the judging unit as a final output result.
Through the technical scheme, assuming that 7 current pictures are obtained, the judging unit outputs 7 judging results after receiving the 7 current pictures, and if 5 of the 7 judging results are abnormal and 2 are normal, the final output result is considered to be abnormal.
As a further scheme of the invention: the step S500 further includes: if the output result is abnormal, the step S600 is entered;
s600, verifying whether the door closing action is normal or not; if the abnormity is confirmed, informing the staff to carry out maintenance; if the confirmation is normal, the emergency signal is cancelled, and the steps S01 and S02 are executed again.
Through the technical scheme, for the false alarm of abnormal conditions in anti-pinch control, a field video can be acquired, whether door closing actions are normal or not is verified in a video verification or manual verification mode, if the abnormal conditions are confirmed, a worker can be informed or the worker is directly maintained by a person in charge of verification, if the normal conditions are confirmed, an emergency signal can be directly cancelled, then the steps S01 and S02 are repeatedly executed, all relevant armature current pictures or current pictures which are judged to be abnormal are labeled, and a training sample is obtained to correct and train a judgment unit.
As a further scheme of the invention: an anti-pinch control system for an elevator comprising:
the execution detection module is used for judging whether the driving motor executes door opening action or not;
the control unit is used for controlling the rotating speed and the rotating direction of the synchronous motor, the standby motor and the driving motor;
wherein, the output shaft of the synchronous motor is in transmission connection with the movable door of the lifter; the preset rotating speed is the synchronous rotating speed of the output shaft of the synchronous motor in the normal closing process of the movable door;
the current monitoring module is used for acquiring an armature current diagram of the synchronous motor;
and the management module is used for acquiring an output result of the armature current diagram received by the judging unit.
The invention has the beneficial effects that:
(1) when the driving motor executes door opening action, synchronous rotation can be carried out through the synchronous motor which is configured in advance, and as the rotating speed of an output shaft of the synchronous motor is in positive correlation with the closing speed of the movable door, under normal conditions, the rotation of the synchronous motor and the closing of the movable door are not influenced mutually, once the door closing action of the movable door is hindered by any unknown obstacle, the rotating speed of the synchronous motor is reduced, but the instantaneous rotating speed of the synchronous motor is a preset rotating speed, if the rotating speed is forcibly reduced by external force, the armature current of the synchronous motor is increased, and the specific form is represented by an armature current diagram; therefore, the correspondingly trained judging unit can judge whether the rotating speed of the synchronous motor is normal or not according to the armature current diagram, so that the real-time judgment on whether the door closing action of the movable door is normal or not is realized, and the accuracy is high;
(2) in the aspect of application, the door closing speeds of different elevators are different when the door closing actions are performed, but the preset rotating speed can be set, and the judgment unit can also perform targeted training, so that the anti-pinch control device can be used in a large area, is suitable for anti-pinch control designs of various elevators, and has considerable practicability;
(3) before the anti-pinch control method is used, the preset rotating speed of the synchronous motor can be determined to adapt to the current door closing action of the elevator, so that the anti-pinch control accuracy is improved; at any time of the door closing action, the average rotating speed of all the time from the beginning to the end of the door closing action can be obtained in the same way
Therefore, the more the door closing action is repeated or the greater the collected density at the preset moment is, the more fine and precise the preset rotating speed control of the synchronous motor is, the judgment precision of the subsequent anti-pinch control can be improved from the side, and the reliability of the anti-pinch control method is improved;
(4) when the door closing action is executed, the synchronous motor is started according to the preset rotating speed, under the normal condition, the armature current of the synchronous motor is normal, once the door closing action is influenced by any obstruction, the armature current can be instantly increased, the armature current is represented as an upward curve in an armature current diagram, and the change of the curve appears in the form of an image; because whether the door closing action of the current elevator is normal or not can be seen by naked eyes, the armature current diagram can be labeled, and therefore a neural network model can be trained;
(5) the intercepting frame can be set according to the size of a preset picture, the image information in the intercepting frame is used as an armature current diagram, certainly, the image content intercepted by the intercepting frame necessarily comprises an armature current curve at the current moment, the position of the armature current curve at the current moment can be changed, so that any number of current pictures can be obtained, therefore, the training sample can be multiplied by the obtaining mode of the armature current diagram, and the identification accuracy of the judging unit is further improved.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic flow chart of an anti-pinch control method according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention is a method for controlling an elevator to prevent from being pinched, including:
s100, judging whether the driving motor executes door closing action or not; if not, the step S200 is carried out; if yes, go to step S300;
s200, controlling the synchronous motor to stop working;
s300, starting the synchronous motor according to a preset rotating speed;
wherein, the output shaft of the synchronous motor is in transmission connection with the movable door of the lifter; the preset rotating speed is the synchronous rotating speed of the output shaft of the synchronous motor in the normal closing process of the movable door;
s400, acquiring an armature current diagram of the synchronous motor;
s500, acquiring an output result of the armature current diagram received by the judging unit;
if the output result is abnormal, an emergency signal for starting the standby motor and powering off the driving motor is sent; if the output result is normal, returning to the step S100;
the judging unit is a trained neural network model, the driving motor is used for driving the elevator to execute door opening and door closing actions through forward and reverse rotation, and the standby motor is used for responding to an emergency signal to execute the door opening action.
Through the technical scheme, when the driving motor executes the door opening action, synchronous rotation can be carried out through the synchronous motor which is configured in advance, and as the rotating speed of the output shaft of the synchronous motor is in positive correlation with the closing speed of the movable door, under normal conditions, the rotation of the synchronous motor and the closing of the movable door are not influenced mutually, once the door closing action of the movable door is hindered by any unknown obstacle, the rotating speed of the synchronous motor is reduced, but the instantaneous rotating speed of the synchronous motor is the preset rotating speed, if the rotating speed of the synchronous motor is forcibly reduced by external force, the armature current of the synchronous motor is increased along with the instantaneous rotating speed, and the specific form is represented by an armature current diagram; therefore, the correspondingly trained judging unit can judge whether the rotating speed of the synchronous motor is normal or not according to the armature current diagram, so that the instant judgment on whether the door closing action of the movable door is normal or not is realized, and the accuracy is high;
in addition, in the aspect of application, the door closing speeds of different elevators are different when the door closing actions are performed, but the preset rotating speed can be set, and the judgment unit can also perform targeted training, so that the anti-pinch control device can be used in a large area, is suitable for anti-pinch control designs of various elevators, and has considerable practicability.
As a further scheme of the invention: before step S100, the method further includes: s01, acquiring and setting a preset rotating speed;
step S01 includes:
s011, repeatedly executing n door closing actions and simultaneously collecting the rotation speed of the synchronous motor;
s012, obtaining the preset time of the synchronous motor in the nth door closing actiontRotational speed of
；
S013, calculating the corresponding preset time of the synchronous motor in the n door closing actionstAverage rotational speed of
；
S014, setting the average rotation speed at a plurality of different preset momentstThe lower set is used as the synchronous rotating speed;
wherein,
is presetThe moment is t moment after the synchronous motor is started.
Through the technical scheme, before the anti-pinch control device is used, the preset rotating speed of the synchronous motor can be determined to adapt to the door closing action of the current elevator, so that the accuracy of anti-pinch control is improved;
specifically, when n is set to 3, the door closing motion can be repeatedly executed for 3 times, since the moving door of the elevator is in transmission connection with the synchronous motor, under the condition that the synchronous motor is powered off, 3 pieces of data about the change of the rotating speed of the synchronous motor can be obtained, the time of starting the door closing motion at each time is set to be 0, the following is an example of setting the preset rotating speed at the preset time after the door closing motion is started, and the preset time is 1S:
in the 1 st door closing action, the rotating speed of the synchronous motor at the 1S moment is
，
；
In the 2 nd door closing action, the rotating speed of the synchronous motor at the 1S moment is
，
；
In the 3 rd door closing action, the rotating speed of the synchronous motor at the 1S moment is
，
；
The average rotational speed of the synchronous machine at the time of 1S
；
Thus, at any time of the door closing action, the door can be opened from the door closing action in the same wayAverage speed of rotation at all times during the beginning and end time
Therefore, the more the door closing action repetition times are or the more the density of the collection at the preset moment is, correspondingly, the more exquisite and accurate the preset rotating speed control of the synchronous motor is, the judgment accuracy of the follow-up anti-pinch control can be improved from the side face, and the reliability of the anti-pinch control method is improved.
As a further scheme of the invention: before step S100, the method further includes: s02, generating a training sample set, and training the neural network model;
step S02 includes:
s021, executing a door closing action, and starting a synchronous motor according to a preset rotating speed;
s022, acquiring an armature current diagram of the synchronous motor;
s023, labeling the armature current diagram to obtain a training sample;
repeatedly executing the step S02 to obtain a training sample set;
and inputting the training sample set into the neural network model, and training the neural network model to obtain a judgment unit.
Through the technical scheme, the neural network model adopted in the invention can adopt a Convolutional Neural Network (CNN), the convolutional neural network is the most popular neural network model for the image classification problem, and the training sample and the armature current diagram are acquired in the same way, except that the training sample has one more step of manual labeling compared with the armature current diagram;
when the door closing action is executed, the synchronous motor is started according to the preset rotating speed, under the normal condition, the armature current of the synchronous motor is normal, once the door closing action is influenced by any obstruction, the armature current can be instantly increased, the armature current is represented as an upward curve in an armature current diagram, and the change of the curve appears in the form of an image;
because whether the door closing action of the current elevator is normal or not is visible to naked eyes, the armature current diagram can be labeled, and therefore the neural network model can be trained.
As a further scheme of the invention: the method for acquiring the armature current diagram of the synchronous motor comprises the following steps:
s031, produce the blank negative film, set up unified rectangular coordinate system and scale in the blank negative film;
and S032, drawing an armature current curve on the blank negative film at intervals of preset time according to a rectangular coordinate system and scales.
By the technical scheme, the armature current curves with uniform format, uniform scale and uniform position can be generated, the consistency of the armature current graphs is ensured, and the identification accuracy of the judgment unit is further ensured.
As a further scheme of the invention: after step S032, the method further includes:
and S033, intercepting the blank negative film after the armature current curve is drawn according to the size of a preset picture, and obtaining a preset number of current pictures.
By the technical scheme, the intercepting frame can be set according to the size of the preset picture, the image information in the intercepting frame is used as the armature current diagram, the image content intercepted by the intercepting frame necessarily comprises the armature current curve at the current moment, and the position of the armature current curve at the current moment can be changed, so that any number of current pictures can be obtained, therefore, the training sample can be multiplied by the obtaining mode of the armature current diagram, and the identification accuracy of the judging unit is further improved.
As a further scheme of the invention: and inputting the current pictures into the judging unit one by one, and taking one item with the largest probability ratio in the output results of the judging unit as a final output result.
By the technical scheme, assuming that 7 current pictures are obtained, the judging unit outputs 7 judging results after receiving the judging results, and if 5 of the judging results are abnormal and 2 are normal, the probability ratio of the output results being abnormal is 5/7, and the probability is the maximum, the final output result is considered to be abnormal; in order to avoid wasting resources, an odd number of current pictures are generally selected and input into the determination unit.
As a further scheme of the invention: step S500 further includes: if the output result is abnormal, go to step S600;
s600, verifying whether the door closing action is normal or not; if the abnormity is confirmed, informing the staff to carry out maintenance; if the confirmation is normal, the emergency signal is canceled, and the steps S01 and S02 are re-executed.
Through the technical scheme, for the false alarm of abnormal conditions in anti-pinch control, a scene video can be acquired through the camera module near the elevator, whether door closing action is normal or not is verified in a video verification mode, if the door closing action is confirmed to be abnormal, a worker can be informed or a worker in charge of verification can be directly maintained, if the door closing action is confirmed to be normal, an emergency signal can be directly cancelled, then the steps S01 and S02 are repeatedly executed, all relevant armature current pictures or current pictures which are judged to be abnormal are labeled, and a training sample is obtained to perform correction training on the judgment unit.
As a further scheme of the invention: an anti-pinch control system for an elevator comprising:
the execution detection module is used for judging whether the driving motor executes door opening action or not;
the control unit is used for controlling the rotating speed and the rotating direction of the synchronous motor, the standby motor and the driving motor;
wherein, the output shaft of the synchronous motor is in transmission connection with the movable door of the lifter; the preset rotating speed is the synchronous rotating speed of the output shaft of the synchronous motor in the normal closing process of the movable door;
the current monitoring module is used for acquiring an armature current diagram of the synchronous motor;
and the management module is used for acquiring the output result of the armature current diagram received by the judging unit.
While one embodiment of the present invention has been described in detail, the present invention is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (8)
1. An anti-pinch control method for an elevator, comprising:
s100, judging whether the driving motor executes door closing action or not; if not, the step S200 is carried out; if yes, go to step S300;
s200, controlling the synchronous motor to stop working;
s300, starting the synchronous motor according to a preset rotating speed;
wherein, the output shaft of the synchronous motor is in transmission connection with the movable door of the lifter; the preset rotating speed is the synchronous rotating speed of the output shaft of the synchronous motor in the normal closing process of the movable door;
s400, acquiring an armature current diagram of the synchronous motor;
s500, acquiring an output result of the armature current diagram received by the judging unit;
if the output result is abnormal, an emergency signal for starting the standby motor and powering off the driving motor is sent; if the output result is normal, returning to the step S100;
the judging unit is a trained neural network model, the driving motor is used for driving the elevator to execute door opening and door closing actions through positive and negative rotation, and the standby motor is used for responding to the emergency signal to execute the door opening action.
2. The anti-pinch control method for an elevator according to claim 1, further comprising, before step S100: s01, acquiring and setting the preset rotating speed;
the step S01 includes:
s011, repeatedly executing the door closing action n times, and simultaneously collecting the rotation speed of the synchronous motor;
s012, obtaining the preset time of the synchronous motor in the nth door closing actiontRotational speed of
；
S013, calculating the preset time corresponding to the synchronous motor in the n door closing actionstAverage rotational speed of
；
S014, setting the average rotating speed
At a plurality of different preset timestThe set of lower as the synchronous revolution;
wherein,
and the preset time is the time t after the synchronous motor is started.
3. The anti-pinch control method for an elevator according to claim 2, further comprising, before step S100: s02, generating a training sample set, and training the neural network model;
the step S02 includes:
s021, executing a door closing action, and starting a synchronous motor according to the preset rotating speed;
s022, acquiring an armature current diagram of the synchronous motor;
s023, labeling the armature current diagram to obtain a training sample;
repeatedly executing the step S02 to obtain a training sample set;
and inputting the training sample set into a neural network model, and training the neural network model to obtain the judgment unit.
4. The anti-pinch control method for an elevator of claim 3, wherein the method of obtaining the armature current map of the synchronous motor comprises:
s031, produce the blank negative film, set up unified rectangular coordinate system and scale in the said blank negative film;
and S032, drawing an armature current curve on the blank negative film at intervals of preset time according to the rectangular coordinate system and the scales.
5. The anti-pinch control method for an elevator according to claim 4, further comprising, after the step S032:
and S033, intercepting the blank negative film after the armature current curve is drawn according to the size of a preset picture to obtain a preset number of current pictures.
6. The anti-pinch control method for an elevator according to claim 5, wherein the current pictures are input into the judgment unit one by one, and one of the output results of the judgment unit with the highest probability ratio is taken as a final output result.
7. The anti-pinch control method for an elevator according to claim 3, wherein the step S500 further comprises: if the output result is abnormal, the step S600 is entered;
s600, verifying whether the door closing action is normal or not; if the abnormity is confirmed, informing the staff to carry out maintenance; if the determination is normal, the emergency signal is cancelled, and the steps S01 and S02 are executed again.
8. The system of claim 1 for the anti-pinch control method of an elevator, comprising:
the execution detection module is used for judging whether the driving motor executes door opening action or not;
the control unit is used for controlling the rotating speed and the rotating direction of the synchronous motor, the standby motor and the driving motor;
wherein, the output shaft of the synchronous motor is in transmission connection with the movable door of the lifter; the preset rotating speed is the synchronous rotating speed of the output shaft of the synchronous motor in the normal closing process of the movable door;
the current monitoring module is used for acquiring an armature current diagram of the synchronous motor;
and the management module is used for acquiring an output result of the armature current diagram received by the judging unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211018770.XA CN115092794A (en) | 2022-08-24 | 2022-08-24 | Anti-pinch control method and system for elevator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211018770.XA CN115092794A (en) | 2022-08-24 | 2022-08-24 | Anti-pinch control method and system for elevator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115092794A true CN115092794A (en) | 2022-09-23 |
Family
ID=83299925
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211018770.XA Pending CN115092794A (en) | 2022-08-24 | 2022-08-24 | Anti-pinch control method and system for elevator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115092794A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000128465A (en) * | 1998-10-27 | 2000-05-09 | Hitachi Ltd | Door controller for elevator |
| JP2004067259A (en) * | 2002-08-01 | 2004-03-04 | Mitsubishi Electric Building Techno Service Co Ltd | Elevator door controlling device |
| JP2007168989A (en) * | 2005-12-22 | 2007-07-05 | Mitsubishi Electric Corp | Door safety device of elevator |
| CN102951512A (en) * | 2011-08-25 | 2013-03-06 | 株式会社日立制作所 | Control device of control system and elevator system |
| CN110084158A (en) * | 2019-04-15 | 2019-08-02 | 杭州拓深科技有限公司 | A kind of electrical equipment recognition methods based on intelligent algorithm |
| CN209651693U (en) * | 2019-03-18 | 2019-11-19 | 宾爵电梯（中国）有限公司 | A kind of landing door structure of the elevator of the operation is stable |
-
2022
- 2022-08-24 CN CN202211018770.XA patent/CN115092794A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000128465A (en) * | 1998-10-27 | 2000-05-09 | Hitachi Ltd | Door controller for elevator |
| JP2004067259A (en) * | 2002-08-01 | 2004-03-04 | Mitsubishi Electric Building Techno Service Co Ltd | Elevator door controlling device |
| JP2007168989A (en) * | 2005-12-22 | 2007-07-05 | Mitsubishi Electric Corp | Door safety device of elevator |
| CN102951512A (en) * | 2011-08-25 | 2013-03-06 | 株式会社日立制作所 | Control device of control system and elevator system |
| CN209651693U (en) * | 2019-03-18 | 2019-11-19 | 宾爵电梯（中国）有限公司 | A kind of landing door structure of the elevator of the operation is stable |
| CN110084158A (en) * | 2019-04-15 | 2019-08-02 | 杭州拓深科技有限公司 | A kind of electrical equipment recognition methods based on intelligent algorithm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11242066B2 (en) | Vehicle control apparatus and vehicle control system and vehicle control method thereof | |
| CN110127479B (en) | Elevator door switch abnormity detection method based on video analysis | |
| US11760605B2 (en) | Elevator door monitoring system, elevator system and elevator door monitoring method | |
| US20190286985A1 (en) | Real-time Monitoring | |
| CN111429107A (en) | Intelligent construction site management system | |
| CN113903081A (en) | Visual identification artificial intelligence alarm method and device for images of hydraulic power plant | |
| CN110685536B (en) | Automatic driving vehicle safety control method and device | |
| KR102136293B1 (en) | Autonomous vehicle control system and method | |
| CN112347862A (en) | Elevator door fault real-time detection method based on machine vision | |
| JP6140436B2 (en) | Shooting system | |
| CN109577847A (en) | A kind of the limit setting method and system of electric rolling door | |
| CN115092794A (en) | Anti-pinch control method and system for elevator | |
| CN112357707A (en) | Elevator detection method and device, robot and storage medium | |
| CN112000094A (en) | Single-and-double-eye combined high-voltage transmission line hardware fitting online identification and positioning system and method | |
| CN111717390A (en) | Multifunctional unmanned aerial vehicle system | |
| JP2014146141A (en) | Photographic system | |
| CN107231407B (en) | Remote monitoring system applied to small-sized machine station and machine station | |
| JP6449425B1 (en) | Imaging state diagnosis method, remote diagnosis system, and remote diagnosis program for elevator camera device | |
| US20230306757A1 (en) | Vehicle interior monitoring system | |
| JP6163302B2 (en) | Monitoring system | |
| CN113031610A (en) | Automatic prison night inspection robot system and control method thereof | |
| KR20190002131A (en) | User-based elevator apparatus with artificial intelligence type, and method thereof | |
| CN114915729A (en) | Subway carriage safety auxiliary method based on edge calculation | |
| CN114057051B (en) | Reminding method and system for elevator calling in car | |
| CN114445747A (en) | Unstructured scene underflow coal monitoring and coal conveying vehicle positioning system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220923 |
|
| RJ01 | Rejection of invention patent application after publication |