1. A method for detecting the door opening and closing fault of an elevator door is characterized by comprising the following steps:

step 1: drawing a first acceleration curve of the elevator in a normal door opening and closing state;

step 2: collecting horizontal acceleration data of the elevator door, and performing step 3 when the elevator door is judged to be in an open door or closed door state;

and step 3: and acquiring a second acceleration curve of the horizontal acceleration of the elevator door in the door opening or closing state, comparing the first acceleration curve with the second acceleration curve, and judging whether the elevator door is normal in the door opening or closing state.

2. The method for detecting the door opening and closing failure of the elevator door according to claim 1, wherein the method for judging whether the elevator door is in the door opening or closing state in the step 2 comprises the following steps in sequence:

step 21: recording the horizontal acceleration value A (x) of the elevator door, and subtracting the basic acceleration Ai from the horizontal acceleration value A (x) to obtain the actual horizontal acceleration A₁(x)；

Step 22: judging the actual horizontal acceleration A₁(x) Whether the acceleration is greater than a threshold acceleration Aj; if the acceleration is less than or equal to the preset value, clearing the cache and performing the step 21, and if the acceleration is more than the preset value, determining the actual horizontal acceleration A₁(x) Storing the data into a cache;

step 23: calculating the actual horizontal acceleration A in the buffer₁(x) When the actual horizontal acceleration A in the buffer memory₁(x) When the number of the acceleration is less than M, the step 21 is performed, when the actual horizontal acceleration A in the buffer memory₁(x) If the number of the second step is equal to M, performing step 24;

step 24: judging whether the elevator door is in a door opening or closing state;

in the step 1, measuring the horizontal acceleration of the elevator in a non-lifting, non-door-opening and non-door-closing state to obtain a basic acceleration Ai;

the threshold acceleration Aj is an average value of N horizontal acceleration values of which the horizontal acceleration begins to deviate from the basic acceleration Ai and continuously increases or decreases in the first acceleration curve in the normal door opening and closing state in the step 1;

wherein M + N is less than P, and P is the number of times of measurement when the peak or the trough of the first acceleration curve reaches the basic acceleration Ai.

3. The elevator door opening and closing failure detection method according to claim 1, wherein M + N < 1/5P; m, N are all 4-10.

4. The method for detecting the door opening and closing failure of the elevator door according to claim 2, wherein in the step 3, the method for obtaining the second acceleration curve of the horizontal acceleration of the elevator door in the door opening or closing state specifically comprises: from the actual horizontal acceleration A₁(x) The actual horizontal acceleration A is recorded when the acceleration Aj is larger than the threshold value₁(x) Until the actual horizontal acceleration A₁(x) The basic acceleration Ai is reached for the second time, and the actual horizontal acceleration A obtained in the period is used₁(x) Drawing a second acceleration curve;

actual horizontal acceleration A₁(x) The interval between the first time of reaching the basic acceleration Ai and the second time of reaching the basic acceleration Ai is not less than P data.

5. The method for detecting the door opening and closing fault of the elevator door according to claim 4, wherein in the step 3, the method for comparing the first acceleration curve with the second acceleration curve to judge whether the elevator door is normal in the door opening or closing state comprises the following steps:

step 31: comparing the shape of the second acceleration curve with the first acceleration curve, and judging whether the door is opened or closed according to the property of the second acceleration curve;

step 32: comparing the data acquisition quantity, the peak data and the trough data of the second acceleration curve with the data acquisition quantity, the peak data and the trough data of the first acceleration curve in a corresponding state;

step 33: and judging whether the deviation of the data acquisition quantity, the deviation of the wave crest data and the deviation of the wave trough data exceed a first preset threshold value, if so, indicating that the door is opened or closed, and if not, indicating that the door is normal.

6. The method for detecting an elevator door opening and closing failure according to claim 5, wherein the step 33 is specifically: judging the deviation of the data acquisition amount, the deviation of the peak data and the deviation of the trough data to be A;

if A is less than or equal to X, judging that the door is normally opened or closed;

if Y is more than or equal to A and more than X, judging the door opening or closing fault;

if A is larger than Y, judging the data acquisition fault;

and (4) when the accumulated occurrence frequency of the data acquisition faults exceeds Q times, performing the step 1.

7. The elevator door opening and closing failure detection method of claim 6, wherein X is 20% and Y is 50%.

8. Elevator door opening and closing failure detection method according to any of claims 1-7, characterized in that the acceleration data is collected by means of six-axis sensors installed in the elevator door.

Background

Along with the continuous development of social economy and science and technology, urban buildings are higher and higher, and for people's convenience, the elevator has all been installed to these buildings, and along with the increase in a large number of elevator use amount, the frequency that the elevator takes place the trouble of opening and shutting the door just is higher and higher. At present, two methods for detecting elevator doors are available, the first method is to access an elevator control system, but the elevator control system is that a core secret part of each elevator manufacturer is not disclosed, and the communication protocol of the control system of each elevator manufacturer is different. The second is to use a sensor to monitor the operating state of the elevator door.

CN02112463.9 discloses a elevator door opening system jam protection device, which comprises an electronic circuit and a singlechip control program, wherein the electronic circuit comprises an external signal input circuit [ including encoder pulse A (B), door opening (closing) and door opening (closing) in-place signals ], a pulse conversion circuit, an isolation circuit, a door opening (closing) instruction output circuit, a singlechip and a peripheral circuit, the singlechip control program comprises a main program, a door closing direction pulse external interrupt program, a timer interrupt program and a door opening direction pulse external interrupt program, the singlechip determines whether a door machine is jammed or not according to whether the door opening direction pulse exists in the door closing process and whether the pulse width exceeds the specified time as the detection condition for determining whether the door machine is jammed or not, and the singlechip determines whether the door machine is jammed or not through the external interrupt and time interrupt program processing, and outputs an instruction through the output circuit.

The scheme is only to simply judge the state of the switch door by judging the pulse of the switch door, so as to judge the fault.

However, in the actual production process, many faults are not obvious in the whole process of opening and closing the door of the elevator, and the faults cannot be timely discovered through related pulses in the fault germination stage.

Therefore, the technical problem solved by the scheme is as follows: the method can accurately find the faults of the elevator door when the door is opened and closed.

Disclosure of Invention

The invention aims to provide a method for detecting the door opening and closing fault of an elevator door, which can find the door opening and closing fault of the elevator through accurate analysis.

In order to achieve the purpose, the invention provides the following technical scheme: a method for detecting the door opening and closing fault of an elevator door comprises the following steps:

step 1: drawing a first acceleration curve of the elevator in a normal door opening and closing state;

step 2: collecting horizontal acceleration data of the elevator door, and performing step 3 when the elevator door is judged to be in an open door or closed door state;

and step 3: and acquiring a second acceleration curve of the horizontal acceleration of the elevator door in the door opening or closing state, comparing the first acceleration curve with the second acceleration curve, and judging whether the elevator door is normal in the door opening or closing state.

In the above method for detecting the door opening and closing failure of the elevator door, the method for judging whether the elevator door is in the door opening or closing state in the step 2 comprises the following steps in sequence:

step 21: recording the horizontal acceleration value A (x) of the elevator door, and subtracting the basic acceleration Ai from the horizontal acceleration value A (x) to obtain the actual horizontal acceleration A₁(x)；

Step 22: judging the actual horizontal acceleration A₁(x) Whether the acceleration is greater than a threshold acceleration Aj; if the acceleration is less than or equal to the preset value, clearing the cache and performing the step 21, and if the acceleration is more than the preset value, determining the actual horizontal acceleration A₁(x) Storing the data into a cache;

step 23: calculating the actual horizontal acceleration A in the buffer₁(x) When the actual horizontal acceleration A in the buffer memory₁(x) When the number of the acceleration is less than M, the step 21 is performed, when the actual horizontal acceleration A in the buffer memory₁(x) If the number of the second step is equal to M, performing step 24;

step 24: judging whether the elevator door is in a door opening or closing state;

in the step 1, measuring the horizontal acceleration of the elevator in a non-lifting, non-door-opening and non-door-closing state to obtain a basic acceleration Ai;

the threshold acceleration Aj is an average value of N horizontal acceleration values of which the horizontal acceleration begins to deviate from the basic acceleration Ai and continuously increases or decreases in the first acceleration curve in the normal door opening and closing state in the step 1;

wherein M + N is less than P, and P is the number of times of measurement when the peak or the trough of the first acceleration curve reaches the basic acceleration Ai.

In the above method for detecting the door opening and closing fault of the elevator door, M + N < 1/5P; m, N are all 4-10.

In the above method for detecting the door opening and closing failure of the elevator door, in step 3, the second horizontal acceleration of the elevator door in the door opening or closing state is obtainedThe acceleration curve method specifically comprises the following steps: from the actual horizontal acceleration A₁(x) The actual horizontal acceleration A is recorded when the acceleration Aj is larger than the threshold value₁(x) Until the actual horizontal acceleration A₁(x) The basic acceleration Ai is reached for the second time, and the actual horizontal acceleration A obtained in the period is used₁(x) Drawing a second acceleration curve;

actual horizontal acceleration A₁(x) The interval between the first time of reaching the basic acceleration Ai and the second time of reaching the basic acceleration Ai is not less than P data.

In the above method for detecting an elevator door opening and closing fault, in step 3, the first acceleration curve and the second acceleration curve are compared, and the method for determining whether the elevator door is normal in the door opening or closing state includes the following steps:

step 31: comparing the shape of the second acceleration curve with the first acceleration curve, and judging whether the door is opened or closed according to the property of the second acceleration curve;

step 32: comparing the data acquisition quantity, the peak data and the trough data of the second acceleration curve with the data acquisition quantity, the peak data and the trough data of the first acceleration curve in a corresponding state;

step 33: and judging whether the deviation of the data acquisition quantity, the deviation of the wave crest data and the deviation of the wave trough data exceed a first preset threshold value, if so, indicating that the door is opened or closed, and if not, indicating that the door is normal.

In the above method for detecting an open/close failure of an elevator door, the step 33 specifically includes: judging the deviation of the data acquisition amount, the deviation of the peak data and the deviation of the trough data to be A;

if A is less than or equal to X, judging that the door is normally opened or closed;

if Y is more than or equal to A and more than X, judging the door opening or closing fault;

if A is larger than Y, judging the data acquisition fault;

and (4) when the accumulated occurrence frequency of the data acquisition faults exceeds Q times, performing the step 1.

In the method for detecting the door opening and closing fault of the elevator door, X is 20% and Y is 50%.

In the method for detecting the door opening and closing fault of the elevator door, acceleration data is acquired through a six-axis sensor installed in the elevator door.

Compared with the prior art, the invention has the beneficial effects that:

according to the invention, the first acceleration curve is drawn, the second acceleration curve is obtained, the first acceleration curve and the second acceleration curve are compared, and whether the acceleration is normal or not can be judged through the matching of the curves.

In a further preferred embodiment of the present invention, the horizontal acceleration value A (x) and the actual horizontal acceleration A are used₁(x) The judgment of the threshold acceleration Aj can optimize the judgment of the door opening or door opening state, and avoid the misjudgment of door opening and door closing;

as a further preferred aspect of the present solution, whether the acceleration is normal or not is determined by the deviation of the data acquisition amount, the peak data, and the trough data of the first acceleration curve and the second acceleration curve, and the determination is more reasonable and accurate.

Drawings

FIG. 1 is a standard ideal acceleration curve of an elevator door of the present invention in an open/close state when the elevator door is in operation;

fig. 2-4 are flow charts of example 1 of 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.

Example 1

As shown in fig. 2-4, a method for detecting an open/close failure of an elevator door comprises the following steps:

step 1: drawing a first acceleration curve of the elevator in a normal door opening and closing state;

referring to fig. 1, fig. 1 is a complete ideal waveform diagram of an elevator actually in operation from the door open to the door closed, the waveform of acceleration of the door open from the abscissa 10 to 70, and the waveform of acceleration of the door closed from the abscissa 80 to 140.

It should be noted that although an elevator installed with an absolute level should have a base acceleration Ai of 0 in a stationary state, the elevator installed with an absolute level is not absolute, and therefore, exists in a state where the base acceleration Ai is not 0, such as-50 mg in fig. 1. The base acceleration Ai needs to be measured in step 1.

Step 2: collecting horizontal acceleration data of the elevator door, and performing step 3 when the elevator door is judged to be in an open door or closed door state;

the method for judging whether the elevator door is in the door opening or closing state comprises the following steps in sequence:

step 21: recording the horizontal acceleration value A (x) of the elevator door, and subtracting the basic acceleration Ai from the horizontal acceleration value A (x) to obtain the actual horizontal acceleration A₁(x)；

Step 22: judging the actual horizontal acceleration A₁(x) Whether the acceleration is greater than a threshold acceleration Aj; if the acceleration is less than or equal to the preset value, clearing the cache and performing the step 21, and if the acceleration is more than the preset value, determining the actual horizontal acceleration A₁(x) Storing the data into a cache;

the threshold acceleration Aj is an average value of N horizontal acceleration values of which the horizontal acceleration begins to deviate from the basic acceleration Ai and continuously increases or decreases in the first acceleration curve in the normal door opening and closing state in the step 1;

typically, N is 6, 8 or 10.

Taking fig. 1 as an example, when 8 measurements are taken from the abscissa 10 to 14, and the horizontal acceleration has a value of-50, -51, -52, -53, -55, -57, -59, -62, we determine that the threshold acceleration Aj is-53.5.

When we measure the actual horizontal acceleration A₁(x) If it is-52, we will clear the buffer, and no data will be stored in the buffer, when we measure the actual horizontal acceleration A₁(x) If-54, we save the data to the cache.

Step 23: calculating the actual horizontal acceleration A in the buffer₁(x) When the actual horizontal acceleration A in the buffer memory₁(x) When the number of the acceleration is less than M, the step 21 is performed, when the actual horizontal acceleration A in the buffer memory₁(x) If the number of the second step is equal to M, performing step 24;

in general, M-N-8 is set, that is, as long as the actual horizontal acceleration a is continuously measured₁(x) Less than-53.5, we consider this to be the actual horizontal acceleration A that can be continuously recorded in the door opening or closing state₁(x)；

Step 24: judging whether the elevator door is in a door opening or closing state;

in the general case where M + N < P, P is the number of measurements taken from the peak or trough of the first acceleration curve to the base acceleration Ai. The number of times P varies from tens to hundreds, and the greater the number of measurements, the finer the first acceleration curve and the second acceleration curve. More preferably, M + N < 1/5P.

And step 3: and acquiring a second acceleration curve of the horizontal acceleration of the elevator door in the door opening or closing state, comparing the first acceleration curve with the second acceleration curve, and judging whether the elevator door is normal in the door opening or closing state.

In the step 3, the method for obtaining the second acceleration curve of the horizontal acceleration of the elevator door in the door opening or closing state specifically includes: from the actual horizontal acceleration A₁(x) The actual horizontal acceleration A is recorded when the acceleration Aj is larger than the threshold value₁(x) Until the actual horizontal acceleration A₁(x) The basic acceleration Ai is reached for the second time, and the actual horizontal acceleration A obtained in the period is used₁(x) Drawing a second acceleration curve;

actual horizontal acceleration A₁(x) The interval between the first time of reaching the basic acceleration Ai and the second time of reaching the basic acceleration Ai is not less than P data.

Fig. 1 is only an ideal curve, and only one test value is taken as the basic acceleration Ai at the time of the abscissa 40, and several data values may be measured as the basic acceleration Ai at the time of the abscissa 40 during the actual operation, so that the interval between the first reaching of the basic acceleration Ai and the second reaching of the basic acceleration Ai is not less than P data, so as to ensure that the door closing or opening motion is finished when the second reaching of the basic acceleration Ai is determined.

In the step 3, the method for comparing the first acceleration curve with the second acceleration curve to judge whether the elevator door is normal in the door opening or closing state comprises the following steps:

step 31: comparing the shape of the second acceleration curve with the first acceleration curve, and judging whether the door is opened or closed according to the property of the second acceleration curve;

if the second acceleration curve conforms to the approximate wave shape trend of the abscissa 10-70, the door is opened, and if the second acceleration curve conforms to the approximate wave shape trend of the abscissa 80-140, the door is closed;

step 32: comparing the data acquisition quantity, the peak data and the trough data of the second acceleration curve with the data acquisition quantity, the peak data and the trough data of the first acceleration curve in a corresponding state;

for example, the door opening state and the door closing state can be determined by the first acceleration curve, the whole process requires 60 time units and 120 data acquisition amounts, so in the test process, the data acquisition amounts in the complete door opening and closing process of the second acceleration curve can be compared in step 33, similarly, the peak data and the trough data of the first acceleration curve can be measured by the aid of the peak data and the trough data shown in fig. 1, and the actual peak data and the trough data can also be measured by the aid of the second acceleration curve.

The data acquisition amount and the heights of wave crests and wave troughs can be adopted to judge the completion degree in the door opening and closing process and the conditions of jamming, sudden acceleration and the like.

Step 33: and judging whether the deviation of the data acquisition quantity, the deviation of the wave crest data and the deviation of the wave trough data exceed a first preset threshold value, if so, indicating that the door is opened or closed, and if not, indicating that the door is normal.

More specifically, the step 33 specifically includes: judging the deviation of the data acquisition amount, the deviation of the peak data and the deviation of the trough data to be A;

if A is less than or equal to 20%, judging that the door is normally opened or closed;

if A is more than or equal to 50% and more than 20%, judging the door opening or closing fault;

if A is more than 50%, judging that the data acquisition is in failure;

and (3) when the accumulated occurrence frequency of the data acquisition faults exceeds 10 times, namely A is more than 50%, the situation occurs for 10 times or more, the first acceleration curve of the step 1 is considered to be nonstandard, the whole process is required to be carried out again, and the step 1 is carried out.

Of course, the threshold of the deviation of the data acquisition amount and the threshold of the deviation of the wave crest and the wave trough can be different, flexible setting is carried out according to actual conditions, and the accumulated occurrence frequency of data acquisition faults also needs to be flexibly set according to the actual conditions.

If the door is opened or closed, a fault alarm is sent out to inform operation and maintenance personnel to maintain.

By the method, whether abnormal acceleration and incomplete door opening and closing are caused in the door opening and closing process of the elevator door can be accurately judged. The judgment precision is high, and the fault can be found in the bud state.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.