CN104816992B - An Elevator Stopping Detection Method Based on Multi-sensor Confidence Voting Mechanism - Google Patents

Abstract

The invention discloses a kind of elevator parking detection method based on multisensor vote of confidence mechanism, install sensor group on hoistway and lift car first, including rotary encoder, infrared sensor and RFID radio frequency identification equipment；Next carries out detecting step, statistics degree of belief and change degree of belief sum are equal to by the total degree of belief calculating sensor group, put in place by car and do not put in place the multilevel iudge of total degree of belief under state again, show that accurate positioning is opened elevator door and continued to run with until positioning successfully respectively, and prompting maintenance early warning.The operation principle based on rotary encoder for the present invention, and it is aided with being applied in combination of infrared sensor and RFID radio frequency identification equipment, it is simultaneously introduced and realizes using voting mechanism and degree of belief change mechanism the stop detection of elevator, accuracy, safety in operation and the reliability of elevator parking can be improved, wrong report mistake can be substantially eliminated, and alignment sensor credibility provides timely early warning when too low it is ensured that maintenance is efficient.

Description

An Elevator Stopping Detection Method Based on Multi-sensor Confidence Voting Mechanism

technical field

The invention relates to an elevator stop detection method, in particular to an elevator stop detection method based on a multi-sensor confidence voting mechanism.

Background technique

The research on the method of parking in place of the elevator mainly focuses on how to improve the leveling accuracy of the elevator. Elevator accidents often occur, mainly due to the imprecise positioning of the elevator leveling or the failure of the elevator to reach the floor. In related reports, it appeared that the outer elevator floor door was opened before the elevator was in place, causing passengers to fall into the underground shaft without realizing it; It is not uncommon for passengers to get stuck in the gap between the car and the hoistway. In order to avoid such safety accidents from happening again, it is necessary to stop precisely when the elevator is running to ensure its safety and reliability.

Traction drive is widely used in modern elevators. The traction machine is used as the driving mechanism, and the steel wire rope is hung on the sheave of the traction machine, the car is suspended at one end, and the counterweight device is suspended at the other end. When the traction machine rotates, the traction force generated by the friction between the wire rope and the pulley drives the car to move up and down. The traditional parking method of the elevator is realized by using the rotary encoder. The rotary encoder is used to measure the speed and cooperate with the PWM technology to realize the fast speed regulation device. The photoelectric rotary encoder can convert the angle of the output shaft through photoelectric conversion. Mechanical quantities such as displacement and angular velocity are converted into corresponding electrical pulses and output as digital quantities. However, the traditional rotary encoder will have accumulated errors during long-term use, which will lead to a decrease in the parking accuracy of the elevator, thereby reducing the safety and reliability of the elevator.

The patent document with the application number of 201120113600.0 discloses "an elevator positioning system", which proposes an installation of ultrasonic sensors on the top of the elevator and the top of the hoistway, and the precise positioning of the elevator through the sensors, so as to achieve strong anti-interference ability and low maintenance cost. Low and easy to use. However, this method uses a single sensor for positioning, which is arbitrary. When a sensor fails, it is difficult to find and repair it in time, and it cannot guarantee the safety and reliability of the elevator during operation.

The patent document with the application number 200810041844.5 discloses the "elevator positioning method based on RFID technology", and proposes a positioning method that uses RFID to read the strength of all tag signals and determine the position of the elevator car through an algorithm to assist the effective operation of the elevator. It does not rely on previous data, and its functions are easy to expand. However, this method does not accurately locate the elevator, does not improve the leveling accuracy, and does not use the precise positioning of RFID to improve.

Thus it can be seen that although the above-mentioned existing elevator positioning and docking method has certain accuracy in detection, the safety and reliability of its work are obviously insufficient, and it is urgent to be further improved.

Contents of the invention

The main purpose of the present invention is to overcome the deficiencies in the prior art and provide a method for detecting elevator stops based on a multi-sensor confidence voting mechanism, based on the working principle of a rotary encoder, and supplemented by a combination of an infrared sensor and an RFID radio frequency identification device Use, and at the same time introduce and make full use of the voting mechanism and the trust degree change mechanism to realize the parking detection of the elevator, which can not only improve the accuracy of the elevator stopping, the safety and reliability of the elevator during operation, but also basically eliminate the False reporting of errors, while providing timely early warning when the reliability of the positioning sensor is too low, to ensure efficient maintenance.

In order to achieve the above object, the technical scheme adopted in the present invention is:

A kind of elevator stop detection method based on multi-sensor confidence voting mechanism, first need install sensor group on hoistway and elevator car; Described sensor group includes rotary encoder, infrared sensor and RFID radio frequency identification equipment, is used for car operation During the process, synchronous detection is performed to locate the leveling parking position of the elevator, and judge whether the parking position of the car meets the opening condition of the elevator door according to the voting mechanism and the trust degree change mechanism, and perform maintenance and early warning.

Secondly, the following detection steps are included in sequence:

Step A, obtain the statistical usage parameters of the sensor group, obtain the normal working probability ρ _i =1-h _i of the sensor group according to the obtained failure rate h _i -time curve of the sensor group, and define the function of ρ _i changing with time Be the statistical trust degree m _i (t); Wherein i=1,2,3 represent the label of the positioning sensor, i=1 represents the rotary encoder, i=2 represents the infrared sensor, and i=3 represents the RFID radio frequency identification device;

Step B, during the operation of the car, the trust degree of the real-time change of the sensor group is calculated by the success or failure of each positioning sensor for each positioning; define the change trust degree n _i , according to Calculate the change trust value of the corresponding positioning sensor, where the initial value of n _i is 0, x _i is a variable reflecting the recent cumulative working status of the positioning sensor group, the value range of x _i is _-20≤xi ≤20, the initial value is 0, i=1,2,3 also indicates the label of the positioning sensor;

When the positioning is successful, add 2 to x _i , otherwise, subtract 2 to x _i ;

When x _i is equal to -20, it means that the positioning sensor has failed to locate multiple times in a row, start the maintenance warning, and notify the maintenance personnel to perform maintenance;

Step C, define the total trust degrees of the rotary encoder, infrared sensor and RFID radio frequency identification device in the sensor group respectively K ₁ , K ₂ and K ₃ , and the total trust degree of the sensor group is equal to the sum of the statistical trust degree and the change trust degree, which is Among them, α is the weight coefficient of the statistical trust degree, and the value range is 0≤α≤1, and i=1, 2, 3 also indicates the label of the positioning sensor;

Let the car arrival mark be P, P=ΣK _i , i represents the label of the positioning sensor that detects the arrival of the elevator;

Set the car not in place flag as Q, Q=ΣK _j , j represents the label of the positioning sensor that has not detected the elevator in place;

When the car enters the detection range, the rotary encoder, infrared sensor and RFID radio frequency identification device in the sensor group respectively judge whether the car is in place. If a certain positioning sensor detects the position, add its total trust value to P , if the detection is not in place, add the value of its total trust degree to Q;

If P>Q, it means that the elevator is generally positioned at the parking position and the elevator door can be opened, and at the same time, the change confidence value of each positioning sensor in the sensor group is updated accordingly;

If P<Q, it means that the elevator is not in place and continues to run, and the value of the changing trust degree will not be updated.

The present invention further also includes the following detection steps:

In step D, when the K _i value of a certain positioning sensor is less than a certain threshold T, and the value range of T is 0≤T≤1, the maintenance warning is also activated and the maintenance personnel are notified of the maintenance.

The present invention is further provided that: the rotary encoder includes a driving wheel rotary encoder and a driven wheel rotary encoder arranged at the top of the hoistway.

The present invention is further provided that: the infrared sensor includes an infrared light transmitter arranged at the bottom of the car and a phototransistor arranged at the bottom of the floor door of each level.

The present invention is further provided that: the FID radio frequency identification device includes an RFID radio frequency identification reader arranged on the top of the car and an RFID radio frequency identification tag arranged on the top of the floor door of each level.

The present invention is further set as: the RFID radio frequency identification tag is set at the vertical point where the RFID radio frequency identification reader is perpendicular to the side wall of the hoistway when the car is parked; the detection angle of the RFID radio frequency identification reader is 120°.

Compared with prior art, the beneficial effect that the present invention has is:

1. Through the use of multiple positioning sensors, the accuracy of car parking positioning can be greatly improved, and the cumulative error generated by the rotary encoder can also be corrected at the same time. When a single positioning sensor fails, it can ensure that the elevator can still run normally, thereby improving the average trouble-free running time of the elevator, avoiding the elevator out of control and frequent maintenance and construction caused by the failure of a single sensor, saving time and effort and ensuring elevator operation safety and reliability.

2. Through the combined use of multiple positioning sensors, as well as the introduction and use of voting mechanisms and trust degree change mechanisms, the occurrence of accidental events can be greatly avoided, the reliability of elevator operation can be enhanced, and the accuracy of elevator positioning can be guaranteed. When using any sensor to work alone to detect and control the parking of the car in place, it is easy to cause equipment errors and accidental positioning failures, which will cause some unnecessary safety hazards; and the voting mechanism can minimize such hidden dangers . When the car enters the detection range, the sensor group judges whether the car is in place, and then judges whether the parking position of the car meets the opening condition of the elevator door according to the voting mechanism and the trust degree change mechanism, and performs maintenance and early warning to achieve high safety performance. The purpose of high autonomy performance.

3. In the trust degree change mechanism, the trust degree is dynamically adjusted through each elevator positioning control operation, which can reflect the working status of the positioning sensor in real time and give full play to the elevator's constant warning function. Using the voting mechanism and the trust degree change mechanism, when the trust degree of the positioning sensor drops to a certain threshold, the detection and early warning will be started in time, and the relevant personnel will be notified to re-debug the equipment or replace the faulty parts in a targeted manner, so that there will be potential safety hazards. The possibility is reduced to the minimum, and the safety and reliability of elevator operation are fully guaranteed.

The above content is only an overview of the technical solution of the present invention. In order to understand the technical means of the present invention more clearly, the present invention will be further described below in conjunction with the accompanying drawings.

Description of drawings

Fig. 1 is the overall structural diagram that elevator positioning of the present invention and sensor group are installed;

Fig. 2 is the enlarged schematic diagram of part A in Fig. 1;

Fig. 3 is a flowchart of detection steps of the present invention.

detailed description

Below in conjunction with accompanying drawing of description, the present invention will be further described.

In the overall structural diagram of the elevator positioning and sensor group installation shown in Figure 1 and Figure 2, a sensor group is installed on the hoistway 1 and the elevator car 2, and the sensor group includes a rotary encoder, an infrared sensor and an RFID radio frequency identification The device is used for synchronous detection and positioning of the elevator’s leveling parking position during the operation of the car 2, and judges whether the parking position of the car meets the opening condition of the elevator door 21 according to the voting mechanism and the trust degree change mechanism, and performs maintenance and early warning.

The rotary encoder includes a driving wheel rotary encoder 3 and a driven wheel rotary encoder 4 arranged at the top of the hoistway 1 .

The infrared sensor includes an infrared light transmitter 5 arranged at the bottom of the car 2 and a phototransistor 6 arranged at the bottom of the landing door 11 on each level. Infrared sensors have the characteristics of long detection distance, short response time and high resolution, which are very suitable for detection and control applications.

The RFID radio frequency identification equipment includes an RFID radio frequency identification reader 7 arranged on the top of the car 2 and an RFID radio frequency identification tag 8 arranged on the top of the floor door 11 of each level. As shown in Figure 2, the RFID radio frequency identification tag 8 is arranged at the vertical point where the RFID radio frequency identification reader 7 is perpendicular to the sidewall of the hoistway 1 when the car 2 is parked; the detection angle of the RFID radio frequency identification reader 7 is 120°. RFID technology has excellent characteristics such as non-contact identification, adaptability to harsh environments, and fast reading and writing speeds, and is also very suitable for applications in detection and control. The built-in 13.56MHz RFID radio frequency identification tag antenna can be used, the card reading distance is 5-8cm, the reading and writing distance is stable, and the precise parking of the elevator car can be better controlled.

The present invention is based on the working principle of the rotary encoder, supplemented by infrared sensors, combined with RFID radio frequency identification equipment, and uses the characteristics of short distance and high precision of radio frequency signals to accurately determine the position of the car. At the same time, the combination of multiple sensors greatly reduces the elevator positioning. The error can also correct the cumulative error generated by the rotary encoder during operation.

The detection step flowchart of the present invention as shown in Figure 3, comprises following detection step successively:

Step A, start to obtain the statistical use parameters of the sensor group, according to the obtained failure rate h _i -time curve of the sensor group, obtain the normal operation probability ρ _i =1-h _i of the sensor group, and use the function of ρ _i changing with time It is defined as the statistical trust degree m _i (t); where i=1, 2, 3 represent the label of the positioning sensor, i=1 represents the rotary encoder, i=2 represents the infrared sensor, and i=3 represents the RFID radio frequency identification device.

Step B, during the operation of the car, the trust degree of the real-time change of the sensor group is calculated by the success or failure of each positioning sensor for each positioning; define the change trust degree n _i , according to Calculate the change trust value of the corresponding positioning sensor, where the initial value of n _i is 0, x _i is a variable reflecting the recent cumulative working status of the positioning sensor group, the value range of x _i is _-20≤xi ≤20, the initial value is 0, i=1,2,3 also indicates the label of the positioning sensor;

When the positioning is successful, add 2 to x _i , otherwise, subtract 2 to x _i ;

When x _i is equal to -20, it means that the positioning sensor fails to locate multiple times in a row, and the maintenance warning is started, and the maintenance personnel are notified to perform maintenance.

Step C, define the total trust degrees of the rotary encoder, infrared sensor and RFID radio frequency identification device in the sensor group respectively K ₁ , K ₂ and K ₃ , and the total trust degree of the sensor group is equal to the sum of the statistical trust degree and the change trust degree, which is Among them, α is the weight coefficient of the statistical trust degree, and the value range is 0≤α≤1, and i=1, 2, 3 also indicates the label of the positioning sensor;

Let the car arrival mark be P, P=ΣK _i , i represents the label of the positioning sensor that detects the arrival of the elevator;

Set the car not in place flag as Q, Q=ΣK _j , j represents the label of the positioning sensor that has not detected the elevator in place;

When the car enters the detection range, the rotary encoder, infrared sensor and RFID radio frequency identification device in the sensor group respectively judge whether the car is in place. If a certain positioning sensor detects the position, add its total trust value to P , if the detection is not in place, add the value of its total trust degree to Q;

If P>Q, it means that the elevator is generally positioned at the parking position and the elevator door can be opened, and at the same time, the change confidence value of each positioning sensor in the sensor group is updated accordingly;

If P<Q, it means that the elevator is not in place and continues to run, and the value of the changing trust degree will not be updated.

In step D, when the K _i value of a certain positioning sensor is less than a certain threshold T, and the value range of T is 0≤T≤1, the maintenance warning is also activated and the maintenance personnel are notified of the maintenance.

The innovation of the present invention is that, based on the working principle of the rotary encoder, combined with the use of infrared sensors and RFID radio frequency identification equipment, at the same time, the voting mechanism and the trust degree change mechanism are introduced and fully utilized to realize the parking detection of the elevator. Improve the accuracy of elevator docking, the safety and reliability of elevator operation, and the combination of sensor groups can basically eliminate false alarm errors, and provide timely early warning when the reliability of positioning sensors is too low to ensure timely and efficient maintenance.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments, and what described in the above-mentioned embodiments and the description only illustrates the principles of the present invention, and the present invention will also have other functions without departing from the spirit and scope of the present invention. Variations and improvements all fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (6)

1. a kind of elevator parking detection method based on multisensor vote of confidence mechanism it is characterised in that：In hoistway and elevator Sensor group is installed on car；Described sensor group includes rotary encoder, infrared sensor and RFID radio frequency identification equipment, For detecting stop position during cage operation, and judge the stop position of car according to voting mechanism and degree of belief change mechanism Put whether position successfully, elevator door could be opened and whether start maintenance early warning；

Include following detecting step successively：

Step A, the statistics obtaining sensor group uses parameter, according to fault rate h of the sensor group obtaining_i- time graph, obtains Go out the normal working probability ρ of sensor group_i=1-h_i, by ρ_iTime dependent function is defined as counting degree of belief m_i(t)；Its Middle i=1,2,3 expression alignment sensor labels, i=1 represents rotary encoder, and i=2 represents infrared sensor, and i=3 represents RFID radio frequency identification equipment；

Step B, during cage operation, the degree of belief of the real-time change of sensor group is positioned every time by each alignment sensor Success or not is calculating；

Definition change degree of belief n_i, according toCalculate the change letter of corresponding alignment sensor Appoint angle value, wherein n_iInitial value be 0, x_iFor reflecting the variable of alignment sensor group recent cumulative activation state, x_iSpan It is -20≤x_i≤ 20, initial value also illustrates that alignment sensor label for 0, i=1,2,3；

When positioning successfully then x_iPlus 2, on the contrary then x_iSubtract 2；

Work as x_iIllustrate that equal to -20 this alignment sensor continuous several times positions unsuccessfully, start maintenance early warning, notify maintainer inspection Repair；

Step C, defines total degree of belief K respectively of rotary encoder, infrared sensor and RFID radio frequency identification equipment in sensor group₁、K₂ And K₃, and total degree of belief of sensor group is equal to statistics degree of belief and change degree of belief sum, that is, Wherein α is the weight coefficient of statistics degree of belief, span is 0≤α≤1, i=1, and 2,3 also illustrate that alignment sensor label；

If car puts in place is masked as P, P=∑ K_i, i represents the detection alignment sensor label that puts in place of elevator；

If car does not put in place is masked as Q, Q=∑ K_j, j represents the alignment sensor label not detecting that elevator puts in place；

When car enters within detection range, in sensor group, rotary encoder, infrared sensor and RFID RF identification set Back-up does not judge whether car puts in place, if the detection of a certain alignment sensor puts in place, the value of its total degree of belief is added in P, if inspection Survey and do not put in place, the value of its total degree of belief is added in Q；

If P ＞ Q, illustrate elevator general location in stop position, elevator door can be opened, each positioning of sensor group passes simultaneously The change of sensor is trusted angle value and is accordingly updated；

If P is ＜ Q, illustrates that elevator does not put in place, continue to run with, the value of change degree of belief does not update.

2. a kind of elevator parking detection method based on multisensor vote of confidence mechanism according to claim 1, it is special Levy and be, also include following detecting step：

Step D, as the K a certain alignment sensor_iWhen value is less than a certain threshold value T, the span of T is 0≤T≤1, also opens Dynamic maintenance early warning, notice maintainer maintenance.

3. a kind of elevator parking detection method based on multisensor vote of confidence mechanism according to claim 1, it is special Levy and be：Described rotary encoder includes drivewheel rotary encoder and driven wheels rotating encoders located at well headroom.

4. a kind of elevator parking detection method based on multisensor vote of confidence mechanism according to claim 1, it is special Levy and be：Described infrared sensor includes the infrared optical transmitter being arranged at cage bottom and the floor door being arranged at each flat bed The phototransistor of bottom.

5. a kind of elevator parking detection method based on multisensor vote of confidence mechanism according to claim 1, it is special Levy and be：Described RFID radio frequency identification equipment includes being arranged at the RFID radio-frequency identification reader of car top and is arranged at each The RFID RFID tag of the floor header of flat bed.

6. a kind of elevator parking detection method based on multisensor vote of confidence mechanism according to claim 5, it is special Levy and be：When described RFID RFID tag is arranged on car stop position, RFID radio-frequency identification reader is perpendicular to hoistway side At the vertical point of wall；The detection angle of described RFID radio-frequency identification reader is 120 °.