1. The utility model provides an elevator 90 degrees vertical hinged door systems with prevent pressing from both sides function, includes the door body and the mechanism of opening of 90 degrees, its characterized in that still includes:

the first image acquisition device is arranged on the door body and used for acquiring a first image in front of the door body;

the processor is in communication connection with the image acquisition device;

when the processor closes the door body through the 90-degree vertical hinged door mechanism, the processor further executes the following operations:

acquiring the first image through the first image acquisition device;

analyzing the first image to determine whether the working environment for opening and closing the door is abnormal or not;

when the door body is abnormal, the door body is controlled to stop acting through the 90-degree vertical hinged door mechanism.

2. The 90-degree vertical hinged door system of elevator with anti-pinch function of claim 1, wherein the processor executes the first image and determines whether the working environment for opening and closing the door is abnormal, and the method comprises the following steps:

performing image recognition on the first image;

when personnel are located in a first interference area corresponding to the door body, determining that the working environment of opening and closing the door is abnormal;

and/or the presence of a gas in the gas,

when a trend that personnel enter a first interference area corresponding to the door body exists, determining that the working environment of opening and closing the door is abnormal;

and/or the presence of a gas in the gas,

when the distance between a person and the interference area is smaller than or equal to a first preset distance, acquiring a first position of the limb of the person, and tracking the first position of the limb of the person; and when the first position is located in the first interference region and/or the trend of entering the first interference region exists, determining that the working environment of the switch door is abnormal.

3. The 90-degree vertical hinged door system of elevator with anti-pinch function of claim 1, further comprising:

the second image acquisition device is arranged in the elevator car, is in communication connection with the processor and is used for acquiring a second image in the elevator car;

when the processor closes the door body through the 90-degree vertical hinged door mechanism, the processor executes the following operations:

analyzing the second image to determine whether the working environment for opening and closing the door is abnormal or not;

when the door body is abnormal, the door body is controlled to stop moving through the action of the 90-degree vertical hinged door mechanism.

4. The 90-degree vertical hinged door system of elevator with anti-pinch function of claim 3, wherein the processor executes to parse the second image to determine whether the working environment for opening and closing the door is abnormal, comprising:

performing image recognition on the second image;

acquiring image information of personnel in the car;

and analyzing the behaviors of the personnel based on the image information, and determining that the working environment for opening and closing the door is abnormal when the behaviors of the personnel are behaviors in a preset behavior list.

5. The 90-degree vertical hinged door system of elevator with anti-pinch function of claim 4, wherein the analyzing the behavior of the person based on the image information, and when the behavior of the person is a behavior in a preset behavior list, determining that the working environment for opening and closing the door is abnormal comprises:

analyzing the image information, and determining a first motion parameter of the person and a second motion parameter of the limb of the person;

constructing a motion vector based on the first motion parameter and the second motion parameter;

acquiring a preset behavior analysis library, wherein a behavior analysis vector and a behavior analysis result are stored in the behavior analysis library;

and comparing the motion vector with each behavior analysis vector, and determining the behavior analysis result corresponding to the behavior analysis vector which is in line with the motion vector.

6. The 90-degree vertical hinged door system of elevator with anti-pinch function of claim 5, wherein comparing the motion vector with each behavior analysis vector to determine the behavior analysis result corresponding to the behavior analysis vector that the motion vector corresponds to comprises:

calculating the similarity between the motion vector and the behavior analysis vector, wherein the calculation formula is as follows:

wherein M represents a similarity of the motion vector and the behavior analysis vector; x is the number of_iIs the ith data value of the motion vector; y is_iIs the ith data value of the analysis vector; n is the total number of data of the motion vector or the analysisThe total number of data of the vector; p is a preset constant;

and when the similarity is the maximum value in the behavior analysis library, acquiring a behavior analysis result corresponding to the behavior analysis vector.

7. The 90-degree vertical hinged door system with the anti-pinch function for the elevator as claimed in claim 1, wherein when the processor closes the door body through the 90-degree vertical hinged door mechanism, the processor further performs the following operations:

identifying identity information of a person in an image based on the first image;

acquiring historical elevator taking data from big data based on the identity information;

analyzing whether the personnel has the behavior of tendency of taking the elevator when the door body closes to act or not based on the historical elevator taking data;

when the person has the behavior of tendency of taking the elevator when the door body is closed, the door body is controlled to stop acting through the 90-degree vertical hinged door mechanism.

8. The elevator 90 degree vertical hinged door system with pinch resistant function of claim 2, wherein the first interference zone is determined by:

acquiring the current working state of the 90-degree horizontal opening door mechanism;

determining the position state of the door body based on the working state;

determining the first interference region based on the position state and the operating state;

wherein said determining the first interference region based on the position status and the operating status comprises:

constructing top plan views of the door body before and after installation;

mapping the door body to the top plan view based on the position state;

determining a door body center position in the top plan view,

acquiring a first distance from a moving side edge of the door body to the center of the door body and a second distance between two moving side walls in the top plan view;

analyzing the working state, and determining the moving speed and direction of the moving side edge of the door body;

inputting the first distance, the second distance, the moving speed and the moving direction into a preset first neural network model to obtain an interference factor;

inquiring a preset interference region determination table based on the interference factors, and determining parameters of the interference region;

determining the first interference region based on the parameters of the interference region and the top plan view.

9. The 90-degree vertical hinged door system with the anti-pinch function for the elevator as claimed in claim 1, wherein when the 90-degree vertical hinged door mechanism opens the door body, the processor performs the following operations:

acquiring the first image through the image acquisition device;

determining whether a person is present in the second interference zone; when the door exists, the door body is opened at a preset lowest speed through the 90-degree vertical hinged door mechanism;

and/or the presence of a gas in the gas,

determining a standing position of the person within the second interference area;

determining an included angle between a connecting line from the standing position to a rotating shaft of the door body and the door body, and controlling the door body to stop moving through the 90-degree vertical hinged door mechanism when the included angle is smaller than a preset included angle threshold value;

the second interference area is an area through which the door body is opened.

10. The 90-degree vertical hinged door system of elevator with anti-pinch function of claim 1, characterized in that the door body comprises: two door panels are symmetrically arranged;

the door panel includes:

a first body having a rotation shaft at one side;

the two connecting bodies are symmetrically arranged and are arranged on one side of the first main body, which is far away from the rotating shaft;

the two ends of the second main body are respectively and rotatably connected with the two connecting bodies; the outer side of the second main body is coated with a buffer layer;

the reset spring is arranged at the joint of the second main body and the connecting body and is used for resetting the second main body when the external force disappears after the second main body rotates under the action of the external force;

and the angle sensor is arranged at the rotary connection position of the second main body and the connecting body and used for detecting the rotary angle of the second main body.

Background

At present, with the continuous progress and development of society, high-rise buildings are increased, and elevators become indispensable transportation means among the buildings, so the safety of the elevators is particularly important. The 90-degree vertical hinged door system is arranged at the entrance and exit position of each floor of the elevator and is used for controlling the opening or closing of the floor door, and the risk of people clamping exists in the opening or closing process of the floor door.

Disclosure of Invention

The invention aims to provide an elevator 90-degree vertical hinged door system with an anti-pinch function, so that the risk of pinching people when a landing door is opened is avoided, and the safety of an elevator is improved.

The embodiment of the invention provides an elevator 90-degree vertical hinged door system with an anti-pinch function, which comprises a door body and a 90-degree vertical hinged door mechanism, and further comprises:

the first image acquisition device is arranged on the door body and used for acquiring a first image in front of the door body;

the processor is in communication connection with the image acquisition device;

when the processor closes the door body through the 90-degree vertical hinged door mechanism, the processor also executes the following operations:

acquiring a first image through a first image acquisition device;

analyzing the first image, and determining whether the working environment for opening and closing the door is abnormal or not;

when the abnormal condition occurs, the door body is controlled to stop acting through the 90-degree vertical hinged door mechanism.

Preferably, the processor executes the analysis of the first image to determine whether the working environment of the opening and closing door is abnormal, including:

performing image recognition on the first image;

when the personnel are located in a first interference area corresponding to the door body, determining that the working environment for opening and closing the door is abnormal;

and/or the presence of a gas in the gas,

when a trend that personnel enter a first interference area corresponding to the door body exists, determining that the working environment for opening and closing the door is abnormal;

and/or the presence of a gas in the gas,

when the distance between the person and the interference area is smaller than or equal to a first preset distance, acquiring a first position of the limb of the person, and tracking the first position of the limb of the person; and determining that the working environment of the opening and closing door is abnormal when the first position is located in the first interference region and/or the trend of entering the first interference region exists.

Preferably, 90 degrees vertical hinged door systems of elevator with prevent pressing from both sides function still include:

the second image acquisition device is arranged in the elevator car, is in communication connection with the processor and is used for acquiring a second image in the elevator car;

when the processor closes the door body through the 90-degree vertical hinged door mechanism, the processor executes the following operations:

analyzing the second image to determine whether the working environment for opening and closing the door is abnormal or not;

when the door body is abnormal, the door body is controlled to stop moving through the action of the 90-degree vertical hinged door mechanism.

Preferably, the processor executes the analysis of the second image to determine whether the working environment of the opening and closing door is abnormal, including:

performing image recognition on the second image;

acquiring image information of personnel in the car;

and analyzing the behaviors of the personnel based on the image information, and determining that the working environment for opening and closing the door is abnormal when the behaviors of the personnel are behaviors in a preset behavior list.

Preferably, the analyzing the behavior of the person based on the image information, and when the behavior of the person is a behavior in a preset behavior list, determining that the working environment for opening and closing the door is abnormal includes:

analyzing the image information, and determining a first motion parameter of the person and a second motion parameter of the limb of the person;

constructing a motion vector based on the first motion parameter and the second motion parameter;

acquiring a preset behavior analysis library, wherein behavior analysis vectors and behavior analysis results are stored in the behavior analysis library;

and comparing the motion vector with each behavior analysis vector, and determining a behavior analysis result corresponding to the behavior analysis vector which is in accordance with the motion vector.

Preferably, when the processor closes the door body through the 90-degree swing door mechanism, the processor further performs the following operations:

identifying identity information of a person in the image based on the first image;

acquiring historical elevator taking data from the big data based on the identity information;

analyzing whether the personnel has the behavior of the tendency of taking the elevator when the door body closes on the basis of the historical elevator taking data;

when the person has the behavior of tendency of taking the ladder when the door body is closed, the door body is controlled to stop acting through the 90-degree vertical hinged door mechanism.

Preferably, comparing the motion vector with each behavior analysis vector to determine a behavior analysis result corresponding to the behavior analysis vector corresponding to the motion vector includes:

calculating the similarity between the motion vector and the behavior analysis vector, wherein the calculation formula is as follows:

wherein M represents the similarity of the motion vector and the behavior analysis vector; x is the number of_iIs the ith data value of the motion vector; y is_iIs the ith data value of the analysis vector; n is the total number of data of the motion vector or the analysis vector; p is a preset constant;

and when the similarity is the maximum value in the behavior analysis library, acquiring a behavior analysis result corresponding to the behavior analysis vector.

Preferably, the first interference region is determined by:

acquiring the current working state of the 90-degree vertical hinged door mechanism;

determining the position state of the door body based on the working state;

determining a first interference region based on the position state and the working state;

wherein determining the first interference zone based on the position status and the operating status comprises:

constructing top plan views of the door body before and after installation;

mapping the door body to a top plan view based on the position state;

the central position of the door body in the top plan view is determined,

acquiring a first distance from a moving side edge of the door body to the center of the door body and a second distance between two moving side walls in a top plan view;

analyzing the working state, and determining the moving speed and direction of the moving side edge of the door body;

inputting the first distance, the second distance, the moving speed and the moving direction into a preset first neural network model to obtain an interference factor;

inquiring a preset interference region determination table based on the interference factors, and determining parameters of the interference region;

a first interference zone is determined based on the parameters of the interference zone and the top plan view.

Preferably, when the 90-degree vertical hinged door mechanism opens the door body, the processor performs the following operations:

acquiring a first image through an image acquisition device;

determining whether a person is present in the second interference zone; when the door exists, the door body is opened at a preset lowest speed through a 90-degree vertical hinged door mechanism;

and/or the presence of a gas in the gas,

determining the standing position of the person in the second interference area;

determining an included angle between a connecting line from a standing position to a rotating shaft of the door body and the door body, and controlling the door body to stop moving through a 90-degree vertical hinged door mechanism when the included angle is smaller than a preset included angle threshold value;

the second interference area is an area through which the door body is opened.

Preferably, the door body includes: two door panels are symmetrically arranged;

the door panel includes:

a first body having a rotation shaft at one side;

the two connecting bodies are symmetrically arranged, and the connecting bodies are arranged on one side of the first main body, which is far away from the rotating shaft;

the two ends of the second main body are respectively and rotatably connected with the two connecting bodies; the outer side of the second main body is coated with a buffer layer;

the reset spring is arranged at the joint of the second main body and the connecting body and is used for resetting the second main body when the external force disappears after the second main body rotates under the external force;

and the angle sensor is arranged at the rotary joint of the second main body and the connecting body and used for detecting the rotary angle of the second main body.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic view of an elevator 90-degree vertical hinged door system with an anti-pinch function according to an embodiment of the present invention;

FIG. 2 is a schematic view of a door panel according to an embodiment of the present invention;

fig. 3 is a cross-sectional view corresponding to a point a in fig. 2.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

The embodiment of the invention provides an elevator 90-degree vertical hinged door system with an anti-pinch function, which comprises a door body 1 and a 90-degree vertical hinged door mechanism 2 and further comprises the following components:

the first image acquisition device 3 is arranged on the door body 1 and used for acquiring a first image in front of the door body 1;

the processor 4 is in communication connection with the image acquisition device;

when the processor 4 closes the door body 1 through the 90-degree swing door mechanism 2, the processor 4 further performs the following operations:

acquiring a first image through a first image acquisition device;

analyzing the first image, and determining whether the working environment for opening and closing the door is abnormal or not;

when the abnormal condition occurs, the door body 1 is controlled to stop acting through the 90-degree vertical hinged door mechanism 2.

The working principle and the beneficial effects of the technical scheme are as follows:

the vertical hinged door mainly realizes the opening of the door body 1 by driving the door body 1 to rotate 90 degrees through the 90-degree vertical hinged door mechanism 2. The 90-degree horizontal opening mechanism 2 can adopt a rotating motor so as to drive the door shaft to rotate by the rotating motor; or a pneumatic telescopic component can be adopted to push the side surface of the door body 1 to enable the body to rotate around the shaft. When a person takes the elevator, after the person enters the elevator, the door body 1 is gradually closed by the 90-degree vertical hinged door mechanism 2; during the closing process, the processor 4 acquires a first image through the first acquisition means; analyzing and identifying the first image based on an image identification technology; to determine whether the current working environment is abnormal; the main judgment of the abnormity is whether the action of closing the door body 1 is influenced, whether a person needs to enter the elevator and pass through the door body 1 when closing, whether a person needs to enter the elevator and hold the door with a hand when closing, and the like; when the abnormal condition occurs, stopping the door body 1 from moving; so as to ensure that the personnel can not be injured by clamping, and further improve the safety of the elevator. The first image acquiring device 3 includes a camera, and is disposed on a door frame of the door body 1.

In one embodiment, processor 4 performs parsing of the first image to determine whether the door opening and closing operating environment is abnormal, including:

performing image recognition on the first image;

when a person is located in a first interference area corresponding to the door body 1, determining that the working environment for opening and closing the door is abnormal;

and/or the presence of a gas in the gas,

when a trend that personnel enter a first interference area corresponding to the door body 1 exists, determining that the working environment for opening and closing the door is abnormal;

and/or the presence of a gas in the gas,

when the distance between the person and the interference area is smaller than or equal to a first preset distance, acquiring a first position of the limb of the person, and tracking the first position of the limb of the person; and determining that the working environment of the opening and closing door is abnormal when the first position is located in the first interference region and/or the trend of entering the first interference region exists.

The working principle and the beneficial effects of the technical scheme are as follows:

whether personnel exist in the first image is determined by carrying out image recognition on the first image, whether the personnel are in the first interference area is determined when the personnel exist, and when the personnel are in the first interference area, the clamping injury risk exists, and at the moment, the door body 1 needs to be controlled to stop so as to ensure the safety of the personnel. Furthermore, the trend of the personnel can be determined; when the person has a tendency to move towards the first interference zone, there is also a risk of pinching at this time; the moving trend is mainly judged from the moving direction of the personnel, namely, the moving direction vector is determined through the position change of the personnel at two adjacent preset sampling points; the movement direction vector points from a first sample point to another sample point; when the moving direction vector points to the first interference area, the person is determined to have a trend of moving to the interference area, and further, distance judgment can be combined on the basis of movement trend determination to eliminate misjudgment of the trend caused by movement of the person, which is away from the door body 1 and is longer than the preset judgment distance. In real life, the person acts to push against the door with hands or feet, and the position of the person is mainly identified by any mass center, namely a trunk, so that the positions of limbs of the person need to be identified to determine whether the risk of pushing against the door exists; the first preset distance is a larger value of distances of the arms or the feet of the human body, which are obtained through a large number of data sampling.

In one embodiment, 90 degrees vertical hinged door systems of elevator with prevent pressing from both sides function still include:

the second image acquisition device is arranged in the elevator car, is in communication connection with the processor 4 and is used for acquiring a second image in the elevator car;

when the processor 4 closes the door body 1 through the 90-degree swing door mechanism 2, the processor 4 performs the following operations:

analyzing the second image to determine whether the working environment for opening and closing the door is abnormal or not;

when the abnormal condition occurs, the door body 1 is controlled to stop moving through the action of the 90-degree vertical hinged door mechanism 2.

The working principle and the beneficial effects of the technical scheme are as follows:

when the elevator is operated, in addition to the entry of an outside person, a person inside the elevator moves out, and therefore, when the door body 1 is opened, confirmation is also required for the inside of the elevator car. And judging whether the door opening working environment is abnormal or not, wherein the judgment shows that whether a person tends to move towards the elevator door or not.

In one embodiment, processor 4 performs parsing of the second image to determine whether the door opening and closing operating environment is abnormal, including:

performing image recognition on the second image;

acquiring image information of personnel in the car;

and analyzing the behaviors of the personnel based on the image information, and determining that the working environment for opening and closing the door is abnormal when the behaviors of the personnel are behaviors in a preset behavior list.

Analyzing the behaviors of the personnel based on the image information, and determining that the working environment for opening and closing the door is abnormal when the behaviors of the personnel are behaviors in a preset behavior list, wherein the method comprises the following steps:

analyzing the image information, and determining a first motion parameter of the person and a second motion parameter of the limb of the person;

constructing a motion vector based on the first motion parameter and the second motion parameter;

acquiring a preset behavior analysis library, wherein behavior analysis vectors and behavior analysis results are stored in the behavior analysis library;

and comparing the motion vector with each behavior analysis vector, and determining a behavior analysis result corresponding to the behavior analysis vector which is in accordance with the motion vector.

The working principle and the beneficial effects of the technical scheme are as follows:

analyzing the personnel in the car through a first motion parameter representing the movement trend of the personnel in the car and a second motion parameter representing the limb movement of the personnel in the car, and determining that the door opening working environment is abnormal when the behavior corresponding to the analysis result is the behavior in a preset behavior list; the main abnormal behaviors include: there is a person moving towards the door of the car, or a hand, or a foot, towards the car.

In one embodiment, comparing the motion vector with each behavior analysis vector to determine a behavior analysis result corresponding to the behavior analysis vector corresponding to the motion vector comprises:

calculating the similarity between the motion vector and the behavior analysis vector, wherein the calculation formula is as follows:

wherein M represents the similarity of the motion vector and the behavior analysis vector; x is the number of_iIs the ith data value of the motion vector; y is_iIs the ith data value of the analysis vector; n is the total number of data of the motion vector or the analysis vector; p is a preset constant;

and when the similarity is the maximum value in the behavior analysis library, acquiring a behavior analysis result corresponding to the behavior analysis vector.

The working principle and the beneficial effects of the technical scheme are as follows:

and analyzing the behaviors of the personnel in the car based on a behavior analysis library, wherein the value of p can be 1 or 2.

In one embodiment, when the processor 4 closes the door body 1 through the 90-degree swing door mechanism 2, the processor 4 further performs the following operations:

identifying identity information of a person in the image based on the first image;

acquiring historical elevator taking data from the big data based on the identity information;

analyzing whether the personnel has the behavior of the tendency of taking the elevator when the door body 1 is closed based on the historical elevator taking data;

when a person has a tendency to ride on the stairs during the closing operation of the door 1, the door 1 is controlled to stop operating by the 90-degree vertical hinged door mechanism 2.

The working principle and the beneficial effects of the technical scheme are as follows:

identifying the identity of a person through an image, and analyzing whether the person has a tendency of taking the elevator when the door body 1 is closed or not based on the historical elevator taking data of the identified person; when the door body 1 exists, the door body needs to be controlled to stop working, and the person is prevented from being injured by clamping. Whether the personnel have the tendency to take the elevator when the door body 1 is closed or not is analyzed based on the historical elevator taking data, and the characteristic value of the historical elevator taking data can be extracted and substituted into a second neural network model trained in advance to predict the probability of the tendency; and when the predicted probability meets a preset threshold value, determining that the person has the behavior of tendency of riding the elevator when the door body 1 is closed. In addition, based on the repeatability of life tracks of most people, historical elevator riding data can be stored in a locally stored mode, and tendency analysis is carried out based on the locally stored historical elevator riding data.

In one embodiment, the first interference region is determined by:

acquiring the current working state of the 90-degree vertical hinged door mechanism 2;

determining the position state of the door body 1 based on the working state;

determining a first interference region based on the position state and the working state;

wherein determining the first interference zone based on the position status and the operating status comprises:

constructing top plan views of the door body 1 before and after installation;

mapping the door body 1 to a top plan view based on the position state;

the central position of the door body 1 in the top plan view is determined,

acquiring a first distance from a moving side edge of the door body 1 to the center of the door body 1 and a second distance between two moving side walls in a top plan view;

analyzing the working state, and determining the moving speed and direction of the moving side edge of the door body 1;

inputting the first distance, the second distance, the moving speed and the moving direction into a preset first neural network model to obtain an interference factor;

inquiring a preset interference region determination table based on the interference factors, and determining parameters of the interference region;

a first interference zone is determined based on the parameters of the interference zone and the top plan view.

The working principle and the beneficial effects of the technical scheme are as follows:

the range of the first interference area is determined according to the position state and the working state of the door body 1, and the closer the door body 1 is to being closed and the faster the working state is, the smaller the determined first interference area is; the dynamic determination of the first interference region is achieved by means of the position state and the operating state. The interference zone is zero when the door 1 is to be closed. Wherein the position status includes: a first distance from a moving side of the door body 1 to the center of the door body 1, a second distance between two moving side walls and the like in a top plan view; the working state comprises the following steps: the speed at which the shaft rotates, etc.

In one embodiment, when the 90-degree swing door mechanism 2 opens the door body 1, the processor 4 performs the following operations:

acquiring a first image through an image acquisition device;

determining whether a person is present in the second interference zone; when the door exists, the door body 1 is opened at a preset lowest speed through the 90-degree vertical hinged door mechanism 2;

and/or the presence of a gas in the gas,

determining the standing position of the person in the second interference area;

determining an included angle between a connecting line from a standing position to a rotating shaft of the door body 1 and the door body 1, and controlling the door body 1 to stop moving through a 90-degree vertical hinged door mechanism 2 when the included angle is smaller than a preset included angle threshold value;

the second interference area is an area through which the door body 1 is opened.

The working principle and the beneficial effects of the technical scheme are as follows:

the second interference area is the area through which the door body 1 passes when opened, and whether a person stands or not needs to be determined when the door body 1 is opened; when the included angle between the connecting line from the position of a standing person to the rotating shaft of the door body 1 and the door body 1 is larger than or equal to a preset included angle threshold value, the door body 1 is opened at a preset lowest speed to inform people standing in the area to evacuate; when the person is evacuated, the normal opening speed is restored. In addition, be provided with the electronic box etc. on the wall around door body 1, when maintenance personal maintained it in the second interference region, can open door body 1 to the position that is close maintenance personal, the contained angle of the line of the axis of rotation of standing position to door body 1 and door body 1 is less than preset contained angle threshold promptly.

In one embodiment, the door body 1 includes: two door panels are symmetrically arranged;

as shown in fig. 2 and 3, the door panel includes:

a first body 12 having a rotation shaft 11 provided at one side thereof;

the two connecting bodies 13 are symmetrically arranged, and the connecting bodies 13 are arranged on one side of the first main body 12 far away from the rotating shaft 11;

a second body 14, both ends of which are rotatably connected with the two connecting bodies 13 respectively; the outside of the second main body 14 is coated with a buffer layer;

the reset spring 15 is arranged at the joint of the second main body 14 and the connecting body 13 and is used for resetting the second main body 14 when the external force disappears after the second main body 14 rotates under the action of the external force;

and the angle sensor 16 is arranged at the rotary connection position of the second main body 14 and the connecting body 13 and is used for detecting the rotary angle of the second main body 14.

The working principle and the beneficial effects of the technical scheme are as follows:

when the door body 1 is opened and meets the blocking condition of other non-human body parts, the second main body rotates for an angle relative to the connecting body due to the blocking of a foreign object when being closed, and when the angle sensor detects the angle, the 90-degree vertical hinged door mechanism 2 controls the door body 1 to stop acting or return to reserve the blocking position of the foreign object; after a preset time period, closing operation is carried out again; gradually prolonging the waiting time of each rollback; and after the rollback is performed for the preset times, the rollback is not performed, and the restart of the working personnel is waited. The return spring returns the second main body when returning; the angle detection is convenient to carry out next time.

In one embodiment, after the door 1 is opened, the processor 4 further performs the following operations:

analyzing the first image, and determining whether goods are accumulated in the open space in front of the door body 1;

when goods are stacked, determining whether the number of the goods changes within a preset time period;

when the change occurs, the opening time of the door body 1 is prolonged.

The working principle and the beneficial effects of the technical scheme are as follows:

in general, when a user moves to the elevator, because of the program relation of the elevator, an object is always shielded from the door of the elevator, and the method is extremely unsafe; the extension of the door opening time is carried out through image recognition, the user is prevented from adopting an object to shield, and the use safety of the elevator is improved.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.