Elevator safety operation method, system, equipment, medium and safety function device
阅读说明：本技术 电梯安全运行方法、系统、设备、介质及安全功能装置 (Elevator safety operation method, system, equipment, medium and safety function device ) 是由 王亮 王蕊 董晓楠 余福斌 汤程峰 张鑫 于 2019-09-30 设计创作，主要内容包括：本发明实施例提供了一种电梯安全运行方法、系统、设备、计算机可读存储介质及安全功能装置,在所述电梯安全运行方法应用于电梯主控制器时,所述方法包括：检测第一门区信号和第二门区信号；在检测到所述第一门区信号和第二门区信号均为门区有效信号时,根据所述门区有效信号和电梯运行状态生成封门开关组闭合指令,并将所述封门开关组闭合指令发送至安全功能装置,以使所述安全功能装置控制封门开关组短接门锁回路；在接收到来自所述安全功能装置的封门反馈信号时,执行提前开门或再平层操作。本发明实施例可大大降低封门开关的动作次数,提高了相关硬件的使用寿命。(The embodiment of the invention provides an elevator safe operation method, a system, equipment, a computer readable storage medium and a safe function device, wherein when the elevator safe operation method is applied to an elevator main controller, the method comprises the following steps: detecting a first gate area signal and a second gate area signal; when the first door area signal and the second door area signal are detected to be door area effective signals, a door closing switch group closing instruction is generated according to the door area effective signals and the elevator running state, and the door closing switch group closing instruction is sent to a safety function device, so that the safety function device controls the door closing switch group to be in short circuit with a door lock loop; and when receiving a door sealing feedback signal from the safety function device, executing the operation of opening the door in advance or leveling again. The embodiment of the invention can greatly reduce the action times of the door sealing switch and prolong the service life of related hardware.)
1. A safe operation method of an elevator is characterized by being applied to an elevator main controller, and the method comprises the following steps:
detecting a first gate area signal and a second gate area signal;
when the first door area signal and the second door area signal are both door area effective signals, generating a closing instruction of a door closing switch group according to the door area effective signals and the elevator running state, and sending the closing instruction of the door closing switch group to a safety function device so that the safety function device controls the door closing switch group to be in short circuit with a door lock loop;
and when receiving a door sealing feedback signal from the safety function device, executing the operation of opening the door in advance or leveling again.
2. The elevator safe operation method according to claim 1, wherein the generating of the closing command of the door closing switch group according to the door zone effective signal and the elevator operation state comprises:
and according to the door zone effective signal, when the elevator car door is in an open state and the signal of the upper leveling sensor or the lower leveling sensor is invalid, generating a closing instruction of the door sealing switch group.
3. The elevator safe operation method according to claim 1 or 2, characterized in that the first door zone signal is output by an upper door zone signal sensor, the second door zone signal is output by a lower door zone signal sensor, the upper door zone signal sensor and the lower door zone signal sensor are positioned between an upper leveling sensor and a lower leveling sensor, and the upper door zone signal sensor and the lower door zone signal sensor are respectively triggered by a magnetic isolation plate in the hoistway to output a door zone effective signal.
4. The elevator safe operation method according to claim 1, before generating a closing command of the door closing switch group according to the door zone effective signal and the elevator operation state, further comprising:
receiving a state signal from a door sealing switch group of the safety function device;
the generating of a closing instruction of a door sealing switch group according to the door zone effective signal and the elevator running state comprises the following steps:
and when the first door area signal and the second door area signal are both door area effective signals and all door sealing switches in the door sealing switch group are effective, generating a door sealing switch group closing instruction according to the door area effective signals and the elevator running state.
5. An elevator safety operation device, characterized by comprising a memory and a processor, wherein the memory stores a computer program operable on the processor, and the processor, when executing the computer program, implements the steps of the elevator safety operation method according to any one of claims 1 to 4.
6. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the elevator safety running method according to one of claims 1 to 4.
7. A method for safe operation of an elevator, the method being applied to a safety function device, the method comprising:
when a closing instruction of a door sealing switch group from an elevator main controller is received, the door sealing switch group is controlled to be closed to short-circuit a door lock loop, and the closing instruction of the door sealing switch group is generated by the elevator main controller according to a first door area signal and a second door area signal;
and after the door sealing switch group is closed, sending a door sealing feedback signal to the elevator main controller to enable the elevator main controller to execute door opening in advance or leveling operation.
8. The elevator safe operation method of claim 7, wherein the first door zone signal is output by an upper door zone signal sensor and the second door zone signal is output by a lower door zone signal sensor, the method further comprising:
detecting output signals of the upper door area signal sensor and the lower door area signal sensor;
and when detecting that the upper door area signal sensor outputs a door area invalid signal or the lower door area signal sensor outputs a door area invalid signal, controlling the door sealing switch group to be disconnected in a power-off manner.
9. The elevator safe operation method according to claim 7, characterized in that the method further comprises:
detecting the state of the door sealing switch group and sending a state signal of the door sealing switch group to the elevator main controller;
and when any one or more of the door sealing switch groups fails, controlling the door sealing switch group to be disconnected.
10. The elevator safe operation method according to claim 8, characterized in that the upper door zone signal sensor and the lower door zone signal sensor are positioned between the upper leveling sensor and the lower leveling sensor, and the upper door zone signal sensor and the lower door zone signal sensor are respectively triggered by a magnetic isolation plate in the hoistway to output door zone effective signals.
11. The elevator safe operation system is characterized by comprising an elevator main controller, a safety function device, a door lock loop and a sensing device, wherein the safety function device comprises a door sealing switch group, and the door sealing switch group is connected to the door lock loop;
the sensing device comprises an upper door area signal sensor and a lower door area signal sensor, the upper door area signal sensor and the lower door area signal sensor are respectively connected to the safety function device, and the upper door area signal sensor and the lower door area signal sensor are respectively connected to the elevator main controller;
the elevator main controller is used for generating a door sealing switch group closing instruction according to the door zone effective signal and the elevator running state when the door zone effective signal is output by the upper door zone signal sensor and the lower door zone signal sensor, and sending the door sealing switch group closing instruction to the safety function device; and the elevator main controller executes the operation of opening the door in advance or leveling again when receiving a door sealing feedback signal from the safety function device;
the safety function device is connected to the elevator main controller and is used for controlling the closing of the door sealing switch group to short-circuit a door lock loop when receiving a closing command of the door sealing switch group of the elevator main controller; and the safety function device sends the door sealing feedback signal to the elevator main controller after the door sealing switch group is closed.
12. The elevator safe operation system according to claim 11, wherein the elevator main controller generates the door-sealing switch group closing command according to the door zone valid signal when the elevator car door is in an open state and the signal of the upper leveling sensor or the lower leveling sensor is invalid.
13. The elevator safe operation system according to claim 11, wherein the safety function device controls the door-sealing switch group to be electrically disconnected when any one of the upper door zone signal sensor and the lower door zone signal sensor outputs a door zone invalid signal.
14. The elevator safe operation system according to claim 11, wherein the safety function device detects the state of the door closing switch group in real time and sends a state signal of the door closing switch group to the elevator main controller; when any one or more of the door sealing switch groups fails, the safety function device controls the door sealing switch group to be disconnected;
the elevator main controller also receives a state signal of a door sealing switch group from the safety function device before generating the door sealing switch group closing instruction according to the door zone effective signal and the elevator running state, and generates the door sealing switch group closing instruction according to the door zone effective signal and the elevator running state when the upper door zone signal sensor and the lower door zone signal sensor both output door zone effective signals and all door sealing switches in the door sealing switch group are effective.
15. The elevator safe operation system of claim 11, wherein the upper door zone signal sensor and the lower door zone signal sensor are located between the upper leveling sensor and the lower leveling sensor, and the upper door zone signal sensor and the lower door zone signal sensor are triggered to output door zone effective signals by a magnetic shield in the hoistway, respectively.
16. The safety function device is characterized by comprising a logic control unit, a switch control unit and a door sealing switch group, wherein:
the door sealing switch group comprises at least two door sealing switches used for connecting door lock switches in an elevator door lock loop;
the logic control unit is used for generating a door lock short-circuit signal when receiving a door sealing instruction from the elevator main controller;
and the switch control unit is used for controlling the closing of the door sealing switches in the door sealing switch group to short-circuit the door lock switches in the elevator door lock loop when receiving the door lock short-circuit signal from the logic control unit.
17. The safety function device of claim 16, wherein the car of the elevator system in which the elevator door lock loop is located comprises a single door, and in the elevator door lock loop, a tail end of a door-to-door lock switch is connected to a head end of a door-to-door lock switch group; the safety function device comprises a first external terminal used for connecting the head end of the door-car door lock switch, and a second external terminal used for connecting the tail end of the door-first-layer door lock switch group;
the door sealing switch group comprises a first double-contact relay and a second double-contact relay, and the first double-contact relay and the second double-contact relay respectively comprise a normally open main contact and a normally closed auxiliary contact; one end of a main contact of the first double-contact relay is in short circuit with one end of a main contact of the second double-contact relay, the other end of the main contact of the first double-contact relay is connected with the first external terminal, and the other end of the main contact of the second double-contact relay is connected with the second external terminal;
the switch control unit comprises a first switch control loop for realizing on-off control of the main contact of the first double-contact relay and a second switch control loop for realizing on-off control of the main contact of the second double-contact relay;
and the logic control unit is connected to auxiliary contacts of the first double-contact relay and the second double-contact relay and feeds back the on-off state of main contacts of the first double-contact relay and the second double-contact relay to the elevator main controller according to the state of the auxiliary contacts.
18. The safety function device of claim 17, wherein the safety function device is connected to an upper door zone signal sensor and a lower door zone signal sensor, the upper door zone signal sensor and the lower door zone signal sensor are located between an upper leveling sensor and a lower leveling sensor, and the upper door zone signal sensor and the lower door zone signal sensor are respectively triggered by a magnetic isolation plate in a hoistway to output a door zone effective signal;
the first switch control loop comprises a first optocoupler and a first switch tube, the primary side of the first optocoupler is connected to the logic control unit, the secondary side of the first optocoupler is powered by the output end of the upper door area signal sensor or the lower door area signal sensor, and the control end of the first switch tube is connected to the secondary side of the first optocoupler; the coil and the first switch tube of the first double-contact relay are connected in series between the output end of the upper door area signal sensor or the lower door area signal sensor and the reference ground;
the second switch control loop comprises a second optocoupler and a second switch tube, the primary side of the second optocoupler is connected to the logic control unit, the secondary side of the second optocoupler is powered by the output end of the upper door area signal sensor or the lower door area signal sensor, and the control end of the second switch tube is connected to the secondary side of the second optocoupler; and the coil and the second switch tube of the second double-contact relay are connected in series between the output end of the upper door area signal sensor or the lower door area signal sensor and the reference ground.
19. The safety function device of claim 17, wherein the safety function device is connected to an upper door zone signal sensor and a lower door zone signal sensor, the upper door zone signal sensor and the lower door zone signal sensor are located between an upper leveling sensor and a lower leveling sensor, and the upper door zone signal sensor and the lower door zone signal sensor are respectively triggered by a magnetic isolation plate in a hoistway to output a door zone effective signal;
the lift car of the elevator system comprises two car doors, and in the elevator door lock loop, the tail end of a door-one car door lock switch is connected to the head end of a door-one-layer door lock switch group, the tail end of the door-one-layer door lock switch group is connected to the head end of a door-two-layer door lock switch group, and the tail end of the door-two-layer door lock switch group is connected to the head end of a door-two car door lock switch; the safety function device comprises a third external terminal used for being connected with the head end of the door-lock switch, a fourth external terminal used for being connected with the tail end of the door-lock switch, a fifth external terminal used for being connected with the tail end of the door-second-layer door-lock switch group, and a sixth external terminal used for being connected with the tail end of the door-second-layer door-lock switch;
the door sealing switch group comprises a third double-contact relay, a fourth double-contact relay, a fifth double-contact relay and a common relay, wherein the third double-contact relay, the fourth double-contact relay and the fifth double-contact relay respectively comprise a normally open main contact and a normally closed auxiliary contact; one end of a main contact of the third double-contact relay, one end of a main contact of the fourth double-contact relay, one end of a main contact of the fifth double-contact relay and one end of a common relay are in short circuit, the other end of the main contact of the third double-contact relay is connected to the third external terminal, the other end of the main contact of the fourth double-contact relay is connected to the fourth external terminal, the other end of the common relay is connected to the fifth external terminal, and the other end of the main contact of the fifth double-contact relay is connected to the sixth external terminal;
the switch control unit comprises a third switch control loop for realizing on-off control of the main contact of the third double-contact relay, a fourth switch control loop for realizing on-off control of the main contact of the fourth double-contact relay, a fifth switch control loop for realizing on-off control of the common relay and a sixth switch control loop for realizing on-off control of the main contact of the fifth double-contact relay;
and the logic control unit is connected to auxiliary contacts of the third double-contact relay, the fourth double-contact relay and the fifth double-contact relay, and feeds back on-off states of main contacts of the third double-contact relay, the fourth double-contact relay and the fifth double-contact relay to the elevator main controller according to states of the auxiliary contacts.
20. The safety function device of claim 19, wherein the third switch control loop comprises a third optocoupler and a third switch tube, a primary side of the third optocoupler is connected to the logic control unit, a secondary side of the third optocoupler is powered by the output of the upper gate area signal sensor or the lower gate area signal sensor, and a control terminal of the third switch tube is connected to the secondary side of the third optocoupler; a coil and a third switch tube of the third double-contact relay are connected in series between the output end of the upper door area signal sensor or the lower door area signal sensor and a reference ground;
the fourth switch control loop comprises a fourth optocoupler and a fourth switch tube, the primary side of the fourth optocoupler is connected to the logic control unit, the secondary side of the fourth optocoupler is powered by the output end of the upper gate area signal sensor or the lower gate area signal sensor, and the control end of the fourth switch tube is connected to the secondary side of the fourth optocoupler; a coil and a fourth switching tube of the fourth double-contact relay are connected in series between the output end of the upper gate area signal sensor or the lower gate area signal sensor and the reference ground;
the sixth switching control loop comprises a fifth optocoupler and a fifth switching tube, the primary side of the fifth optocoupler is connected to the logic control unit, the secondary side of the fifth optocoupler is powered by the output end of the upper door area signal sensor or the lower door area signal sensor, and the control end of the fifth switching tube is connected to the secondary side of the fifth optocoupler; and a coil and a fifth switching tube of the fifth double-contact relay are connected in series between the output end of the upper door area signal sensor or the lower door area signal sensor and the reference ground.
21. The safety function device of claim 19, wherein the elevator system includes an additional brake, the advance door opening system including seventh and eighth external terminals for connecting the additional brake, respectively;
the door sealing switch group comprises a sixth double-contact relay and a seventh double-contact relay, and the sixth double-contact relay and the seventh double-contact relay respectively comprise a normally open main contact and a normally closed auxiliary contact; one end of the main contact of the sixth double-contact relay is in short circuit with one end of the main contact of the seventh double-contact relay, the other end of the main contact of the sixth double-contact relay is connected with the seventh external terminal, and the other end of the main contact of the seventh double-contact relay is connected with the eighth external terminal;
the switch control unit comprises a seventh switch control loop for realizing on-off control of the main contact of the sixth double-contact relay and an eighth switch control loop for realizing on-off control of the main contact of the seventh double-contact relay;
and the logic control unit is connected to auxiliary contacts of the sixth double-contact relay and the seventh double-contact relay and feeds back the on-off states of main contacts of the sixth double-contact relay and the seventh double-contact relay to the elevator main controller according to the states of the auxiliary contacts.
Technical Field
The embodiment of the invention relates to the field of elevator control, in particular to a safe operation method, a system, equipment, a computer readable storage medium and a safety function device of an elevator.
Background
With the improvement of living standard of people, the safety of the elevator is more and more attracted to people as one of indispensable transportation means in daily life and work of people.
The elevator is in the flat bed function of the in-process of opening the door, commonly known as the function of opening the door in advance, is used for passenger's elevator usually, and its purpose is in order to save time, improves the operating efficiency. The elevator is allowed to correct the stopping position of the lift car during loading and unloading after reaching a door area and stopping, and the aim is to compensate small lifting of the lift car caused by stretching of a traction steel wire rope when goods or a transport vehicle enters and exits the lift car, so that a lift car sill and a landing sill are basically horizontal, and the goods or the transport vehicle can enter and exit conveniently. When the car is in the state of opening the door at door zone position, the driver does not have any operation instruction, need to guarantee that the car does not take place unexpected removal to protect personnel and article.
In the existing elevator system, the functions of opening the door in advance, leveling the floor again and protecting the car from accidental movement are mostly realized by using a pure relay mode. However, the cost of the safety relay used in the pure relay implementation scheme is high, and in the pure relay scheme, the relay can act once when the elevator car passes through one floor, so that the service life of the door opening module in advance is difficult to guarantee.
Disclosure of Invention
The embodiment of the invention provides a safe operation method, a system, equipment, a computer readable storage medium and a safe function device of an elevator, aiming at the problems of higher cost and difficult service life guarantee in the scheme of realizing the function of opening the door in advance by a pure relay.
The technical scheme for solving the technical problems in the embodiment of the invention is to provide a safe operation method of an elevator, which is applied to an elevator main controller, and comprises the following steps:
detecting a first gate area signal and a second gate area signal;
when the first door area signal and the second door area signal are both door area effective signals, generating a closing instruction of a door closing switch group according to the door area effective signals and the elevator running state, and sending the closing instruction of the door closing switch group to a safety function device so that the safety function device controls the door closing switch group to be in short circuit with a door lock loop;
and when receiving a door sealing feedback signal from the safety function device, executing the operation of opening the door in advance or leveling again.
Preferably, the generating of a closing command of the door closing switch group according to the door zone effective signal and the elevator running state includes:
and according to the door zone effective signal, when the elevator car door is in an open state and the signal of the upper leveling sensor or the lower leveling sensor is invalid, generating a closing instruction of the door sealing switch group.
Preferably, the first door zone signal is output through an upper door zone signal sensor, the second door zone signal is output through a lower door zone signal sensor, the upper door zone signal sensor and the lower door zone signal sensor are located between the upper leveling sensor and the lower leveling sensor, and the upper door zone signal sensor and the lower door zone signal sensor are respectively triggered by a magnetism isolating plate in a well to output door zone effective signals.
Preferably, before generating a closing command of the door closing switch group according to the door zone effective signal and the elevator running state, the method further comprises:
receiving a state signal from a door sealing switch group of the safety function device;
the generating of a closing instruction of a door sealing switch group according to the door zone effective signal and the elevator running state comprises the following steps:
and when the first door area signal and the second door area signal are both door area effective signals and all door sealing switches in the door sealing switch group are effective, generating a door sealing switch group closing instruction according to the door area effective signals and the elevator running state.
The embodiment of the invention also provides elevator safe operation equipment, which comprises a memory and a processor, wherein the memory is stored with a computer program capable of running on the processor, and the processor executes the computer program to realize the steps of the elevator safe operation method.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the elevator safe operation method are implemented.
The embodiment of the invention also provides a safe operation method of the elevator, which is applied to a safe function device and comprises the following steps:
when a closing instruction of a door sealing switch group from an elevator main controller is received, the door sealing switch group is controlled to be closed to short-circuit a door lock loop, and the closing instruction of the door sealing switch group is generated by the elevator main controller according to a first door area signal and a second door area signal;
and after the door sealing switch group is closed, sending a door sealing feedback signal to the elevator main controller to enable the elevator main controller to execute door opening in advance or leveling operation.
Preferably, the first gate area signal is output by an upper gate area signal sensor, and the second gate area signal is output by a lower gate area signal sensor, the method further comprising:
detecting output signals of the upper door area signal sensor and the lower door area signal sensor;
and when detecting that the upper door area signal sensor outputs a door area invalid signal or the lower door area signal sensor outputs a door area invalid signal, controlling the door sealing switch group to be disconnected in a power-off manner.
Preferably, the method further comprises:
detecting the state of the door sealing switch group and sending a state signal of the door sealing switch group to the elevator main controller;
and when any one or more of the door sealing switch groups fails, controlling the door sealing switch group to be disconnected.
Preferably, the upper door zone signal sensor and the lower door zone signal sensor are located between the upper leveling sensor and the lower leveling sensor, and the upper door zone signal sensor and the lower door zone signal sensor are respectively triggered by a magnetic isolation plate in the hoistway to output door zone effective signals.
The embodiment of the invention also provides an elevator safe operation system, which comprises an elevator main controller, a safety function device, a door lock loop and a sensing device, wherein the safety function device comprises a door sealing switch group, and the door sealing switch group is connected to the door lock loop;
the sensing device comprises an upper door area signal sensor and a lower door area signal sensor, the upper door area signal sensor and the lower door area signal sensor are respectively connected to the safety function device, and the upper door area signal sensor and the lower door area signal sensor are respectively connected to the elevator main controller;
the elevator main controller is used for generating a door sealing switch group closing instruction according to the door zone effective signal and the elevator running state when the door zone effective signal is output by the upper door zone signal sensor and the lower door zone signal sensor, and sending the door sealing switch group closing instruction to the safety function device; and the elevator main controller executes the operation of opening the door in advance or leveling again when receiving a door sealing feedback signal from the safety function device;
the safety function device is connected to the elevator main controller and is used for controlling the closing of the door sealing switch group to short-circuit a door lock loop when receiving a closing command of the door sealing switch group of the elevator main controller; and the safety function device sends the door sealing feedback signal to the elevator main controller after the door sealing switch group is closed.
Preferably, the elevator main controller generates the closing command of the door sealing switch group when the elevator car door is in an open state and the signal of the upper leveling sensor or the lower leveling sensor is invalid according to the door zone valid signal.
Preferably, the safety function device controls the door sealing switch group to be powered off and disconnected when any one of the upper door area signal sensor and the lower door area signal sensor outputs a door area invalid signal.
Preferably, the safety function device detects the state of the door sealing switch group in real time and sends a state signal of the door sealing switch group to the elevator main controller; when any one or more of the door sealing switch groups fails, the safety function device controls the door sealing switch group to be disconnected;
the elevator main controller also receives a state signal of a door sealing switch group from the safety function device before generating the door sealing switch group closing instruction according to the door zone effective signal and the elevator running state, and generates the door sealing switch group closing instruction according to the door zone effective signal and the elevator running state when the upper door zone signal sensor and the lower door zone signal sensor both output door zone effective signals and all door sealing switches in the door sealing switch group are effective.
Preferably, the upper door zone signal sensor and the lower door zone signal sensor are located between the upper leveling sensor and the lower leveling sensor, and the upper door zone signal sensor and the lower door zone signal sensor are respectively triggered by a magnetic isolation plate in the hoistway to output door zone effective signals.
The embodiment of the invention also provides a safety function device, which comprises a logic control unit, a switch control unit and a door sealing switch group, wherein:
the door sealing switch group comprises at least two door sealing switches used for connecting door lock switches in an elevator door lock loop;
the logic control unit is used for generating a door lock short circuit signal when receiving a door sealing instruction from the elevator main controller;
and the switch control unit is used for controlling the closing of the door sealing switches in the door sealing switch group to short-circuit the door lock switches in the elevator door lock loop when receiving the door lock short-circuit signal from the logic control unit.
Preferably, the car of the elevator system includes a single door, and in the elevator door lock loop, the tail end of the door-to-door lock switch is connected to the head end of the door-to-floor door lock switch group; the safety function device comprises a first external terminal used for connecting the head end of the door-car door lock switch, and a second external terminal used for connecting the tail end of the door-first-layer door lock switch group;
the door sealing switch group comprises a first double-contact relay and a second double-contact relay, and the first double-contact relay and the second double-contact relay respectively comprise a normally open main contact and a normally closed auxiliary contact; one end of a main contact of the first double-contact relay is in short circuit with one end of a main contact of the second double-contact relay, the other end of the main contact of the first double-contact relay is connected with the first external terminal, and the other end of the main contact of the second double-contact relay is connected with the second external terminal;
the switch control unit comprises a first switch control loop for realizing on-off control of the main contact of the first double-contact relay and a second switch control loop for realizing on-off control of the main contact of the second double-contact relay;
and the logic control unit is connected to auxiliary contacts of the first double-contact relay and the second double-contact relay and feeds back the on-off state of main contacts of the first double-contact relay and the second double-contact relay to the elevator main controller according to the state of the auxiliary contacts.
Preferably, the safety function device is connected to an upper door area signal sensor and a lower door area signal sensor, the upper door area signal sensor and the lower door area signal sensor are located between an upper leveling sensor and a lower leveling sensor, and the upper door area signal sensor and the lower door area signal sensor are respectively triggered by a magnetic isolation plate in a hoistway to output effective signals of a door area;
the first switch control loop comprises a first optocoupler and a first switch tube, the primary side of the first optocoupler is connected to the logic control unit, the secondary side of the first optocoupler is powered by the output end of the upper door area signal sensor or the lower door area signal sensor, and the control end of the first switch tube is connected to the secondary side of the first optocoupler; the coil and the first switch tube of the first double-contact relay are connected in series between the output end of the upper door area signal sensor or the lower door area signal sensor and the reference ground;
the second switch control loop comprises a second optocoupler and a second switch tube, the primary side of the second optocoupler is connected to the logic control unit, the secondary side of the second optocoupler is powered by the output end of the upper door area signal sensor or the lower door area signal sensor, and the control end of the second switch tube is connected to the secondary side of the second optocoupler; and the coil and the second switch tube of the second double-contact relay are connected in series between the output end of the upper door area signal sensor or the lower door area signal sensor and the reference ground.
Preferably, the safety function device is connected to an upper door area signal sensor and a lower door area signal sensor, the upper door area signal sensor and the lower door area signal sensor are located between an upper leveling sensor and a lower leveling sensor, and the upper door area signal sensor and the lower door area signal sensor are respectively triggered by a magnetic isolation plate in a hoistway to output effective signals of a door area;
the lift car of the elevator system comprises two car doors, and in the elevator door lock loop, the tail end of a door-one car door lock switch is connected to the head end of a door-one-layer door lock switch group, the tail end of the door-one-layer door lock switch group is connected to the head end of a door-two-layer door lock switch group, and the tail end of the door-two-layer door lock switch group is connected to the head end of a door-two car door lock switch; the safety function device comprises a third external terminal used for being connected with the head end of the door-lock switch, a fourth external terminal used for being connected with the tail end of the door-lock switch, a fifth external terminal used for being connected with the tail end of the door-second-layer door-lock switch group, and a sixth external terminal used for being connected with the tail end of the door-second-layer door-lock switch;
the door sealing switch group comprises a third double-contact relay, a fourth double-contact relay, a fifth double-contact relay and a common relay, wherein the third double-contact relay, the fourth double-contact relay and the fifth double-contact relay respectively comprise a normally open main contact and a normally closed auxiliary contact; one end of a main contact of the third double-contact relay, one end of a main contact of the fourth double-contact relay, one end of a main contact of the fifth double-contact relay and one end of a common relay are in short circuit, the other end of the main contact of the third double-contact relay is connected to the third external terminal, the other end of the main contact of the fourth double-contact relay is connected to the fourth external terminal, the other end of the common relay is connected to the fifth external terminal, and the other end of the main contact of the fifth double-contact relay is connected to the sixth external terminal;
the switch control unit comprises a third switch control loop for realizing on-off control of the main contact of the third double-contact relay, a fourth switch control loop for realizing on-off control of the main contact of the fourth double-contact relay, a fifth switch control loop for realizing on-off control of the common relay and a sixth switch control loop for realizing on-off control of the main contact of the fifth double-contact relay;
and the logic control unit is connected to auxiliary contacts of the third double-contact relay, the fourth double-contact relay and the fifth double-contact relay, and feeds back on-off states of main contacts of the third double-contact relay, the fourth double-contact relay and the fifth double-contact relay to the elevator main controller according to states of the auxiliary contacts.
Preferably, the third switch control loop includes a third optical coupler and a third switch tube, a primary side of the third optical coupler is connected to the logic control unit, a secondary side of the third optical coupler is powered by an output end of the upper gate area signal sensor or the lower gate area signal sensor, and a control end of the third switch tube is connected to a secondary side of the third optical coupler; a coil and a third switch tube of the third double-contact relay are connected in series between the output end of the upper door area signal sensor or the lower door area signal sensor and a reference ground;
the fourth switch control loop comprises a fourth optocoupler and a fourth switch tube, the primary side of the fourth optocoupler is connected to the logic control unit, the secondary side of the fourth optocoupler is powered by the output end of the upper gate area signal sensor or the lower gate area signal sensor, and the control end of the fourth switch tube is connected to the secondary side of the fourth optocoupler; a coil and a fourth switching tube of the fourth double-contact relay are connected in series between the output end of the upper gate area signal sensor or the lower gate area signal sensor and the reference ground;
the sixth switching control loop comprises a fifth optocoupler and a fifth switching tube, the primary side of the fifth optocoupler is connected to the logic control unit, the secondary side of the fifth optocoupler is powered by the output end of the upper door area signal sensor or the lower door area signal sensor, and the control end of the fifth switching tube is connected to the secondary side of the fifth optocoupler; and a coil and a fifth switching tube of the fifth double-contact relay are connected in series between the output end of the upper door area signal sensor or the lower door area signal sensor and the reference ground.
Preferably, the elevator system comprises an additional brake, and the advance door opening system comprises a seventh external terminal and an eighth external terminal respectively used for connecting the additional brake;
the door sealing switch group comprises a sixth double-contact relay and a seventh double-contact relay, and the sixth double-contact relay and the seventh double-contact relay respectively comprise a normally open main contact and a normally closed auxiliary contact; one end of the main contact of the sixth double-contact relay is in short circuit with one end of the main contact of the seventh double-contact relay, the other end of the main contact of the sixth double-contact relay is connected with the seventh external terminal, and the other end of the main contact of the seventh double-contact relay is connected with the eighth external terminal;
the switch control unit comprises a seventh switch control loop for realizing on-off control of the main contact of the sixth double-contact relay and an eighth switch control loop for realizing on-off control of the main contact of the seventh double-contact relay;
and the logic control unit is connected to auxiliary contacts of the sixth double-contact relay and the seventh double-contact relay and feeds back the on-off states of main contacts of the sixth double-contact relay and the seventh double-contact relay to the elevator main controller according to the states of the auxiliary contacts.
According to the elevator safe operation method, the elevator safe operation system, the elevator safe operation equipment, the computer readable storage medium and the safety function device, the door lock switch in the door lock loop is short-circuited by the door sealing switch group controlled according to the output signals of the upper door area signal sensor and the lower door area signal sensor, the action times of the door sealing switch are greatly reduced, and the service life of related hardware is prolonged.
Drawings
Fig. 1 is a schematic flow chart of a safe operation method of an elevator provided by an embodiment of the invention;
fig. 2 is a schematic diagram of installation positions of an upper door zone signal sensor and a lower door zone signal sensor in an elevator safety operation method provided by an embodiment of the invention;
fig. 3 is a schematic flow chart of a safe operation method of an elevator according to another embodiment of the present invention;
fig. 4 is a schematic view of an elevator safety operation system provided by an embodiment of the present invention;
fig. 5 is a schematic view of an elevator safety operation system according to another embodiment of the present invention;
fig. 6 is a schematic view of an elevator safety operation apparatus provided in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 1 is a schematic flow chart of a safe operation method of an elevator, which is provided by an embodiment of the present invention and can be applied to an elevator main controller, and the method is matched with a safety function device connected to the elevator main controller to realize the early door opening or the re-leveling of a car. The method of the embodiment comprises the following steps:
step S11: the first gate area signal and the second gate area signal are detected in real time. In this embodiment, the first door zone signal and the second door zone signal are door zone active signals (e.g., high) when the car arrives at the door zone, and the first door zone signal and the second door zone signal are inactive signals (e.g., low) when the car leaves the door zone.
Specifically, the first door zone signal may be output through an upper door zone signal sensor, the second door zone signal may be output through a lower door zone signal sensor, the upper door zone signal sensor and the lower door zone signal sensor are located between the upper leveling sensor and the lower leveling sensor, and door zone effective signals of the upper door zone signal sensor and the lower door zone signal sensor are respectively triggered by a magnetism isolating plate in the hoistway, as shown in fig. 2. Of course, in practical applications, the first gate area signal and the second gate area signal may be generated by other manners.
Step S12: when detecting that first door district signal and second door district signal are door district effective signal, generate the closing instruction of closing switch group according to door district effective signal and elevator running state to close switch group closing instruction and send to the safety function device, so that the safety function device control closes switch group short circuit lock return circuit, thereby be convenient for the sedan-chair door and open the operation.
The safety function device is connected to the elevator main controller and includes a door closing switch group connected to the door lock loop. In order to improve the safety, the door sealing switch group comprises at least two door sealing relays, and the main contacts of the door sealing relays are connected with the door lock switch in the door lock loop in parallel. The safety function device can execute a closing instruction of a door sealing switch group from an elevator main controller to control the door sealing switch group to be in short circuit with a door lock loop.
Step S13: and when a door sealing feedback signal from the safety function device is received, the door is opened in advance or the floor is leveled again.
The door sealing relay in the door sealing switch group of the safety function device can adopt a double-contact relay, a main contact of the double-contact relay is connected with the door lock switch in the door lock loop in parallel, and the safety function device can obtain the state of the main contact of the double-contact relay according to an auxiliary contact of the double-contact relay, namely the state of the door sealing switch group. Specifically, when the safety function device is confirming that all the door switches in the door-sealing switch group are closed (i.e., the main contacts of the dual-contact relay are closed), a door-sealing feedback signal is sent to the elevator main controller.
According to the elevator safe operation method, the door lock switch in the door lock loop of the elevator is in short circuit connection with the door lock switch group according to the first door zone signal, the second door zone signal and the elevator operation state, the action times of the door lock switch are greatly reduced, and the service life of relevant hardware is prolonged.
In an embodiment of the present invention, the generating of the closing command of the door closing switch group according to the door zone valid signal and the elevator running state in step S12 may specifically include: and according to the door zone effective signal, generating a closing instruction of the door sealing switch group when the elevator car door is in an open state and the signal of the upper leveling sensor or the lower leveling sensor is invalid. By adopting the mode, when goods or transport vehicles enter and exit the car and the traction steel wire rope stretches, the car door can be kept in an open state when an upper leveling switch or a lower leveling switch of the car leaves a door zone, and thus the re-leveling operation can be carried out.
In one embodiment of the invention, before generating the closing command of the door-sealing switch group according to the door zone effective signal and the elevator running state, the method further comprises the following steps: receiving a state signal from a door sealing switch group of the safety function device; the state signal is generated by the safety function device according to the state of each door sealing switch in the door sealing switch group. Accordingly, in step S12, the elevator main controller may generate a closing command for the door closing switch group according to the door zone valid signal and the elevator operating state when the first door zone signal and the second door zone signal are both door zone valid signals and all the door closing switches in the door closing switch group are valid (i.e., there is no failed door closing switch).
Fig. 3 is a schematic flow chart of a safe operation method of an elevator according to another embodiment of the present invention, which can be applied to a safety function device that can cooperate with a main controller of the elevator to implement early door opening or releveling of the car. The safety function device includes a door-closing switch group connected to a door-lock circuit. In order to improve the safety, the door sealing switch group comprises at least two door sealing relays, and the main contacts of the door sealing relays are connected with the door lock switch in the door lock loop in parallel. The method of the embodiment comprises the following steps:
step S31: when a closing instruction of a door closing switch group from an elevator main controller is received, the door closing switch group is controlled to be closed to short-circuit a door lock loop, and the closing instruction of the door closing switch group is generated by the elevator main controller according to a first door zone effective signal, a second door zone effective signal and an elevator running state.
Specifically, the first door zone signal may be output through an upper door zone signal sensor, the second door zone signal may be output through a lower door zone signal sensor, the upper door zone signal sensor and the lower door zone signal sensor are located between the upper leveling sensor and the lower leveling sensor, and door zone effective signals of the upper door zone signal sensor and the lower door zone signal sensor are respectively triggered by a magnetism isolating plate in the hoistway, as shown in fig. 2. Of course, in practical applications, the first gate area signal and the second gate area signal may be generated by other manners.
Step S32: and after the door sealing switch group is closed, a door sealing feedback signal is sent to the elevator main controller, so that the elevator main controller executes the operation of opening the door in advance or leveling the floor again.
The door sealing relay in the door sealing switch group of the safety function device can adopt a double-contact relay, a main contact of the double-contact relay is connected with the door lock switch in the door lock loop in parallel, and the safety function device can obtain the state of the main contact of the double-contact relay according to an auxiliary contact of the double-contact relay, namely the state of the door sealing switch group. Specifically, when the safety function device is confirming that all the door switches in the door-sealing switch group are closed (i.e., the main contacts of the dual-contact relay are closed), a door-sealing feedback signal is sent to the elevator main controller.
According to the elevator safe operation method, the door lock switch in the door lock loop is in short circuit under the control of the elevator main controller, so that the action times of the door closing switch are greatly reduced, and the service life of relevant hardware is prolonged.
In another embodiment of the present invention, the safety function device further detects the first gate area signal and the second gate area signal in real time, and controls the gate-sealing switch set to be powered off when detecting that the first gate area signal is the gate area invalid signal or the second gate area signal is the gate area invalid signal. Namely, when the car leaves the door zone, the car door is prohibited from being forcibly opened, thereby realizing the protection of the accidental movement of the car.
The safety function device also detects the state of the door sealing switch group and sends a state signal of the door sealing switch group to the elevator main controller; and when any one or more of the door sealing switch groups fail, the door sealing switch group is controlled to be disconnected. Through the mode, the repeated opening and closing of the door sealing relay can be avoided, and the service life of the door sealing contactor is prolonged.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. Fig. 3 is a schematic diagram of an elevator safe operation system provided by an embodiment of the invention, and the elevator safe operation system is used for realizing safe and reliable early door opening or re-leveling of an elevator system. As shown in connection with fig. 2, the elevator system includes an upper door
The elevator safety operation system of the embodiment may comprise an elevator main controller 41 and a safety function device 42, and the safety function device 42 may be integrated into a programmable electronic device that is communicatively connected (e.g., via a CAN bus) to the elevator main controller 41. The programmable electronic device may specifically include a logic control unit 421, a switch control unit 422, and a gate sealing switch set 423, wherein the logic control unit 421 may be formed by a micro control unit and software running on the micro control unit. In addition, the safety function device 42 may further include a power supply circuit, an encryption circuit, an overvoltage and undervoltage monitoring circuit, and the like.
When the elevator safe operation system of the present embodiment is applicable to an elevator system with a single door (i.e., the car of the elevator system includes a single car door, and only one car door lock switch GS and one set of landing door lock switches DS are included in the elevator door lock loop of the elevator system, and the tail end of the car door lock switch GS is connected to the head end of the landing door lock switches DS), the elevator safe operation system of the present embodiment further includes a first external terminal SO1 for connecting the head end of the car door lock switch GS, and a second external terminal SO2 for connecting the tail end of the landing door lock switches DS.
Accordingly, the set of door closer switches 43 includes a first dual-contact relay including a normally open main contact KM1-1 and normally closed auxiliary contacts KM1-2, KM2-2, and a second dual-contact relay including a normally open main contact KM2-1 and a normally closed auxiliary contact KM2-2 (i.e., the door closer switch is composed of the first dual-contact relay and the second dual-contact relay). One end of the main contact KM1-1 of the first double-contact relay is in short circuit with one end of the main contact KM2-1 of the second double-contact relay, the other end of the main contact KM1-1 of the first double-contact relay is connected with a first external terminal SO1, and the other end of the main contact KM2-1 of the second double-contact relay is connected with a second external terminal SO 2. Of course, in practical applications, the door closing switches in the door closing switch group 423 may also adopt a common relay or other switching devices, and the number of the door closing switches may also be adjusted as needed.
The logic control unit 421 is connected to the output terminals of the upper gate
The switch control unit 422 is used for controlling the closing switches in the closing switch group 423, namely the main contact KM1-1 of the first dual-contact relay and the main contact KM2-1 of the second dual-contact relay to close when receiving the door lock short circuit signal from the logic control unit 421, so as to short circuit the landing door lock switch DS and the car door lock switch GS in the elevator door lock loop. At this time, the elevator main controller can execute door opening operation. Referring to fig. 2, when the upper door
In addition, the logic control unit 421 may also detect the output signal FL1 of the upper door
According to the elevator safe operation system, the logic control unit 421 controls the door sealing switch group 423 to short-circuit the door lock switch in the elevator door lock loop according to the output signals of the upper door
In an embodiment of the present invention, the switch control unit 422 may specifically include a first switch control loop for implementing on-off control of the main contact KM1-1 of the first dual-contact relay and a second switch control loop for implementing on-off control of the main contact KM2-1 of the second dual-contact relay. And, the logic control unit 421 is connected to the auxiliary contact KM1-2 of the first dual-contact relay and the auxiliary contact KM2-2 of the second dual-contact relay, and feeds back the on-off state of the main contact KM1-1 of the first dual-contact relay and the main contact KM2-1 of the second dual-contact relay to the elevator main controller 41 according to the states of the auxiliary contacts KM1-2 and KM 2-2. By the mode, the safety of the elevator system in the process of executing the operation of opening the door in advance and leveling the floor can be improved.
Specifically, the first switch control loop includes a first optocoupler and a first switch Q1, wherein a primary side of the first optocoupler is connected to the logic control unit 421 to obtain the door lock short-circuit signal from the logic control unit 421, a secondary side of the first optocoupler is powered by an output terminal of the upper door zone signal sensor or the lower door zone signal sensor, and a control terminal of the first switch Q1 is connected to the secondary side of the first optocoupler. The coil KM1-3 and the first switch tube Q1 of the first double-contact relay are connected in series between the output end of the upper door zone signal sensor or the lower door zone signal sensor and the reference ground COM. Similarly, the second switch control loop comprises a second optocoupler and a second switch Q2, wherein the primary side of the second optocoupler is connected to the logic control unit 421 to obtain the door lock short signal from the logic control unit 421, the secondary side of the second optocoupler is powered by the output of the upper door zone signal sensor or the lower door zone signal sensor, and the control terminal of the second switch Q2 is connected to the secondary side of the second optocoupler. The coil KM2-3 and the second switch tube Q2 of the second double-contact relay are connected in series between the output end of the upper door zone signal sensor or the lower door zone signal sensor and the reference ground COM.
Because the first switch control loop and the second switch control loop are both powered by the output end of the upper door area signal sensor or the lower door area signal sensor, namely the secondary sides of the first optical coupler and the second optical coupler are powered by the output end of the upper door area signal sensor or the lower door area signal sensor, and the loops where the coil KM1-3 of the first double-contact relay and the coil KM2-3 of the second double-contact relay are located are powered by the output end of the upper door area signal sensor or the lower door area signal sensor, the main contact KM1-1 of the first double-contact relay and the main contact KM2-1 of the second double-contact relay can be ensured to be short-circuited with a door lock switch in the elevator door lock loop only when the upper door area signal sensor and the lower door area signal sensor are located in the area (namely the door area) where the
As shown in fig. 5, the elevator safe operation system of the present invention can also be applied to an elevator system with two doors, that is, the car of the elevator system includes two car doors, that is, a first door (primary door) and a second door (secondary door), and accordingly, the elevator door lock loop includes a first door lock switch GS, a first door lock switch set DS, a second door lock switch set RDS, and a second door lock switch RGS, and the tail end of the first door lock switch GS is connected to the head end of the first door lock switch set DS, the tail end of the first door lock switch set DS is connected to the head end of the second door lock switch set RDS, and the tail end of the second door lock switch set RDS is connected to the head end of the second door lock switch RGS. The elevator safety operation system of the embodiment also comprises an elevator
The door-sealing
Accordingly, the
The
The
Specifically, the third switch control loop comprises a third optical coupler and a third switch tube Q3, the primary side of the third optical coupler is connected to the
The third switch control loop, the fourth switch control loop and the sixth switch control loop can ensure that the main contact KM3-1 of the third double-contact relay, the main contact KM4-1 of the fourth double-contact relay and the main contact KM5-1 of the fifth double-contact relay are in short circuit with a door lock switch in the elevator door lock loop only when the upper door area signal sensor and the lower door area signal sensor are located in the door areas, and the safety is ensured.
The elevator safety operating system of the present invention can also be applied to an elevator system having an additional brake, and at this time, the elevator safety operating system of the present embodiment can further include a seventh external terminal SO7 and an eighth external terminal SO8 for connecting the additional brake, respectively.
Accordingly, the door-sealing
The
Specifically, the seventh switch control loop includes a sixth optical coupler and a sixth switching tube Q6, a primary side of the sixth optical coupler is connected to the
Similarly, the seventh switch control loop and the eighth switch control loop can ensure that the main contact KM6-1 of the sixth double-contact relay and the main contact KM7-1 of the seventh double-contact relay are in short circuit with the elevator door lock loop only when the upper door area signal sensor and the lower door area signal sensor are positioned in the door areas, so that the safety is ensured.
The embodiment of the invention also provides a safety function device. The safety function device in this embodiment is the same as the safety function device in the embodiment corresponding to fig. 4 and 5, and the specific structure thereof is detailed in the embodiment of the elevator safety operation system, and the technical features in the embodiment of the elevator safety operation system are applicable to the embodiment of the safety function device, which is not described herein again.
The embodiment of the present invention further provides an elevator
The elevator
The embodiment of the invention also provides a computer readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the elevator safe operation method are realized. The computer-readable storage medium in this embodiment belongs to the same concept as the elevator safe operation method in the embodiment corresponding to fig. 1, and the specific implementation process thereof is described in detail in the corresponding method embodiment, and the technical features in the method embodiment are all correspondingly applicable in this device embodiment, which is not described herein again.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing functional units and modules are merely illustrated in terms of division, and in practical applications, the foregoing functions may be distributed as needed by different functional units and modules. Each functional unit and module in the embodiments may be integrated in one processor, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed elevator safe operation method, system, computer readable storage medium, apparatus, and safety function device may be implemented in other ways. For example, the elevator safety run system embodiments described above are merely illustrative.
In addition, functional units in the embodiments of the present application may be integrated into one processor, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any physical or interface switching device, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signal, telecommunication signal, software distribution medium, etc., capable of carrying said computer program code. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
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