CN105480797A - Elevator car position and speed detection system and self-detection method thereof - Google Patents

Abstract

The invention relates to a position and speed detection system of an elevator car and a self-test method thereof. The car is located in a well, and the detection system includes a scale vertically arranged in the well, a detection device for collecting scale information, and a detection device. The controller that is electrically connected to the device, the scale is provided with at least one column of first-type marks arranged side by side vertically, and a column of second-type marks that cooperate with the first type of marks to form binary coded information, and the corresponding binary coded information of the scale is all Not to repeat, the detection device is fixed on the car, and is provided with at least two first sensors arranged vertically and at least one second sensor for identifying the second type of logo, and the first sensor identifies the first type of logo. The detection signal of the second sensor and the synchronous signal of the first sensor are combined to generate a binary code, so as to distinguish the absolute position of the detection device in the scale, so as to accurately obtain the absolute position of the car in the hoistway, with high detection accuracy. Reduce testing costs.

Description

Elevator car position and speed detection system and its self-test method

technical field

The invention relates to the technical field of elevators, in particular to an elevator car position and speed detection system and a self-inspection method thereof.

Background technique

At present, the conventional detection method for the position of the elevator car is to calculate the actual rotation circumference of the traction sheave from the measurement signal of the rotary encoder on the host side, so as to convert the moving distance of the wire rope and the position and speed of the car. It is a traction-drag mechanical system, that is to say, the traction wheel and the wire rope are connected by friction transmission. There will be slippage between the traction wheel and the wire rope, and due to the change of gravity of the mechanical system, the change of the humidity extension of the wire rope, etc. The reason is that the position of the car calculated by the encoder on the host side is relatively inaccurate. Generally, it is necessary to install multiple position sensors in the hoistway to continuously correct the real position of the car. Therefore, it is necessary to use a variety of equipment for detection, and the detection technology is complicated. And the detection cost is high.

Contents of the invention

The object of the present invention is to provide an elevator car position and speed detection system and a self-inspection method thereof, which can simplify the detection technology of the elevator car position, have high detection accuracy and reduce detection cost.

For realizing the purpose of the present invention, the technical scheme that takes is:

An elevator car position and speed detection system, the car is located in the shaft, the detection system includes a scale vertically arranged in the shaft, a detection device for collecting information on the scale, and a controller electrically connected to the detection device, The scale is at least provided with a column of first-type markings arranged side by side vertically, and a column of second-type markings that cooperate with the first-type markings to form binary-coded information. The scale corresponds to multiple binary-coded information, and each binary-coded information Without repetition, the detection device is fixed on the car, and is provided with at least two first sensors arranged vertically and at least one second sensor for identifying the second type of identification, and the first sensor identifies the first type of identification.

When the elevator is running, the car drives the detection device to move vertically in the shaft along the scale, the first sensor collects the information of the first type of marking on the scale, the second sensor collects the information of the second type of marking on the scale, the first sensor and the second sensor send the collected information to the controller, and the controller analyzes, calculates and stores the received information, and analyzes the binary code corresponding to the scale passed by the detection device. The detection system calculates the relative position and speed of the car through the first sensor, calculates the moving direction of the car through at least two first sensors, and generates a synchronous signal. The detection signal of the second sensor on the second type of mark and the synchronous signal generated by the first sensor are combined to generate a binary code, and the binary code corresponding to the scale is not repeated, so as to distinguish the absolute position of the detection device in the scale , so that the absolute position of the car in the hoistway can be accurately obtained without multiple corrections, the detection technology of the elevator car position is simplified, and the detection accuracy is high, and the detection cost is reduced.

The technical scheme is further described below:

Further, the first type of identification includes at least a first identification unit and a second identification unit, the first identification unit and the second identification unit are arranged alternately vertically, the second type of identification includes at least a delimiter identification unit, and the first identification unit The identification group formed by the identification unit and the second identification unit corresponds one-to-one to the third identification unit. The first type of identification signal is used as a synchronization signal for detecting the second type of identification signal, and the first type of identification signal is used as a basic bit period of the second type of identification signal, then the second sensor detects the binary coded information and the boundary generated by the third identification unit The separator information generated by the character recognition unit is directly sent to the controller. Since the binary code corresponding to each scale is not repeated, the controller analyzes the absolute position of the detection device in the scale, and can obtain the position of the car in the hoistway. absolute position.

Further, the binary code character corresponding to the third identification unit is 0 or 1.

Further, the first identification unit and the second identification unit in the scale are alternately and continuously arranged, and the lengths of the second identification unit and the first identification unit are in a fixed proportional relationship. Further, the distance between two adjacent first sensors is D, the length of the first identification unit is d, and the total length of the first identification unit and the second identification unit is c, then D=(e+N) ×c/2, where, if d<c/2, then 0<e<2d/c, if d≥c/2, then 0<e≤2(c-d)/c, N is a natural number or 0.

Further, the vertical distance between the second sensor and the first sensor is B, and B=K×c, where K is a natural number or 0.

Further, the first identification unit is provided with a magnetic switch or pattern, and the pattern is composed of at least one opening or color spot, and the second identification unit is provided with a magnetic switch or pattern different from the first identification unit, and the pattern is composed of at least one The combination of blank areas or color spots, the third identification unit is the same as the first identification unit or the second identification unit. The first sensor reads the information of the first identification unit by identifying the magnetic switch or the pattern.

Further, it is set that within t time, the number of the first type of marks detected by the first sensor is n, then the relative displacement of the car is s=c×n, the speed of the car is v=s/t, and the car The absolute position L=|M×(c×b)-m×(c×b)|, where c is the total length of the first identification unit and the second identification unit along the vertical direction, and b is the binary code corresponding to the binary coded information. Add 1 to the number of coded digits, M is the decimal code corresponding to the binary coded information currently read by the second sensor, and m is the decimal code corresponding to the binary coded information read by the second sensor when the car is at the lowest position in the hoistway.

The present invention also provides a self-inspection method of the elevator car position and speed detection system, which includes at least four methods. The self-inspection method performs self-inspection through at least one of the methods; the first method: the first sensor detects the adjacent The number of identification groups consisting of the first identification unit and the second identification unit between the two delimiter identification units is z1, and the number of the third identification units detected by the second sensor is z2, if z1 is different from z2, or When the binary code digits corresponding to z2 and the collected binary code information are different, the controller sends out an alarm signal; the second method: if the first sensor does not alternately detect the first identification unit and the second identification unit, the controller sends out an alarm signal. Alarm signal; the third method: if the binary codes corresponding to two adjacent binary coded information are discontinuous, the controller sends out an alarm signal; the fourth method: when the output signals of all the first sensors have the same phase, the controller sends out an alarm Signal. When the elevator is running, the system is safer, more stable and more reliable.

Compared with the prior art, the present invention has the following beneficial effects:

In the present invention, when the elevator is running, the car drives the detection device to move vertically in the well along the scale, the first sensor collects the information of the first type of mark on the scale, the second sensor collects the information of the second type of mark on the scale, and the second sensor collects the information of the second type of mark on the scale. The first sensor and the second sensor send the collected information to the controller, and the controller analyzes, calculates and stores the received information, and analyzes the binary code corresponding to the scale passed by the detection device. The detection system calculates the relative position and speed of the car through the first sensor, calculates the moving direction of the car through at least two first sensors, and generates a synchronous signal. The detection signal of the second sensor on the second type of mark and the synchronous signal generated by the first sensor are combined to generate a binary code, and the binary code corresponding to the scale is not repeated, so as to distinguish the absolute position of the detection device in the scale , so that the absolute position of the car in the hoistway can be accurately obtained without multiple corrections, the detection technology of the elevator car position is simplified, and the detection accuracy is high, and the detection cost is reduced.

Description of drawings

Fig. 1 is the structural representation of the elevator car position and speed detection system of the embodiment of the present invention;

Fig. 2 is a working principle diagram of the elevator car position and speed detection system according to the embodiment of the present invention.

Explanation of reference signs:

10. car, 20. hoistway, 30. scale, 310. first type identification, 311. first identification unit, 312. second identification unit, 320. second type identification, 321. delimiter identification unit, 322 . A third recognition unit, 40. A detection device, 410. A first sensor, 420. A second sensor, 50. A controller.

detailed description

Embodiments of the present invention are described in detail below in conjunction with accompanying drawings:

As shown in Figures 1 and 2, a detection system for the position and speed of an elevator car, the car 10 is located in the hoistway 20, the detection system includes a scale 30 vertically arranged in the hoistway 20, and information collected from the scale 30 The detection device 40, the controller 50 electrically connected with the detection device 40, the scale 30 is provided with at least one column of first-type marks 310 arranged side by side vertically, and a column of binary-coded information formed by cooperating with the first-type marks 310 The second type of logo 320, each scale 30 corresponds to a plurality of binary coded information, each binary coded information is different, the detection device 40 is fixed on the car 10, and is provided with at least two first vertically arranged The sensor 410 and at least one second sensor 420 identifying the second type of marker 320 , the first sensor 410 identifying the first type of marker 310 .

When the elevator is running, the car 10 drives the detection device 40 to move vertically in the hoistway 20 along the scale 30, the first sensor 410 collects the information of the first type of marking 310 on the scale 30, and the second sensor 420 collects the information of the first mark 310 on the scale 30. The information of the second type of identification 320, the first sensor 410 and the second sensor 420 send the collected information to the controller 50, the controller 50 analyzes, calculates and stores the received information, and analyzes the gate that the detection device 40 passes through. The binary code corresponding to ruler 30. The detection system calculates the relative position and speed of the car 10 through the first sensor 410, calculates the moving direction of the car 10 through at least two first sensors 410, and generates a synchronization signal. The combination of the detection signal of the second sensor 420 on the second type of mark 320 and the synchronous signal generated by the first sensor 410 produces a binary code, and the binary codes corresponding to the scale 30 are not repeated, so that it can be distinguished that the detection device 40 is located on the grid. Therefore, the absolute position of the car 10 in the hoistway 20 can be accurately obtained without multiple corrections, the detection technology for the position of the elevator car 10 is simplified, the detection accuracy is high, and the detection cost is reduced.

When the position and speed of the car 10 are measured by the detection system, it is set that within t time, the number of first type marks 310 detected by the first sensor 410 is n, then the relative displacement of the car 10 s=c×n , the speed v=s/t of the car 10, the absolute position L=|M×(c×b)-m×(c×b)| of the car 10, wherein c is the first identification unit 311 and the second identification unit The total length of the unit 312 along the vertical direction, b is the binary coded digits corresponding to the binary coded information plus 1, M is the decimal code corresponding to the binary coded information currently read by the second sensor 420, m is the second sensor 420 read out the car The decimal code corresponding to the binary coded information read when the cabin 10 is at the lowest position of the hoistway 20.

In this embodiment, the first type of identification 310 includes a first identification unit 311 and a second identification unit 312, the first identification unit 311 and the second identification unit 312 are alternately arranged vertically, and the second type of identification 320 includes a delimiter identification The unit 321 and the third identification unit 322 correspond one-to-one to the identification group consisting of the first identification unit 311 and the second identification unit 312 , and the first identification unit 311 and the second identification unit 312 in the scale 30 are arranged alternately and continuously. The first type of identification 310 signal is used as a synchronous signal for detecting the second type of identification 320 signal, and the first type of identification 310 signal is used as a basic bit period of the second type of identification 320 signal, then the second sensor 420 detects that the third identification unit 322 generates The binary code information and the delimiter information generated by the delimiter recognition unit 321 are directly sent to the controller 50. Since the binary code corresponding to the scale 30 is not repeated, the controller 50 analyzes the absolute position of the detection device 40 in the scale 30 , the absolute position of the car 10 in the hoistway 20 can be obtained. The first type of identification 310 can also be provided with more than two identification units according to actual needs.

As shown in Figure 2, a scale 30 is provided with 15 first-type marks 310, the first identification unit 311 is provided with a corresponding electrical signal ON, the second identification unit 312 is provided with a corresponding electrical signal OFF, the first identification unit 311 and the second identification unit The identification units 312 have the same length, and the first type of identification 310 corresponds to the proportional signal, which makes the detection and analysis faster and further simplifies the detection technology; the second type of identification 320 is a special binary coded signal, which adopts the ON signal synchronized with the proportional signal. The /OFF signal forms a binary code, which is set to a fixed standard length and a fixed sequence, and the binary codes corresponding to the scale 30 do not repeat.

As shown in Figure 2, the second type of identification 320 is provided with 14 third identification units 322 and 1 delimiter identification unit 321, the binary coded character corresponding to the third identification unit 322 is 0 or 1, and the delimiter identification unit The delimiter corresponding to 321 is a half bit, and the binary code character corresponding to one scale 30 in this embodiment is composed of 1 and 0.

In this embodiment, the marking information of the first identification unit 311 is the stain reflection detection method, and the second identification unit 312 is a blank surface between two adjacent first identification units 311, that is, there is no pattern information or other markings Information, the first sensor 410 sends to the controller 50 by identifying the marking information of the first identification unit 311, and marks it as an electrical signal ON, and the first sensor 410 does not recognize the marking information of the first identification unit 311, that is, detects the second identification When the surface of the unit 312 is blank, the detection information is sent to the controller 50 and marked as an electric signal OFF. The label information of the first identification unit 311 can also be set as other pattern detection methods such as magnetic switch method or perforated light transmission according to actual needs.

As shown in FIG. 1 and FIG. 2 , the detection device 40 is provided with two first sensors 410 and a second sensor 420 corresponding to the first sensors 410 one by one, and the first sensors 410 and the corresponding second sensors 420 are arranged side by side. Two second sensors 420 are used to simultaneously detect the second-type markers 320 and check each other to improve reliability and signal redundancy. The detection device 40 can also be provided with at least two first sensors 410 and at least one second sensor 420 according to actual needs.

In this embodiment, both the first sensor 410 and the second sensor 420 are photoelectric sensors, and the first sensor 410 and the second sensor 420 can also be set as other types of sensors according to actual needs, and match with the information of the scale 30 .

And the distance between two adjacent first sensors 410 is D, the length of the first recognition unit 311 is d, and the total length of the first recognition unit 311 and the second recognition unit 312 is c, then D=(e+N)× c/2, where, if d<c/2, then 0<e<2d/c, if d≥c/2, then 0<e≤2(c-d)/c, and the second sensor and the first sensor are in The vertical distance is B, and B=K×c, and both N and K are natural numbers or 0.

In this embodiment, d=0.5mm, a=0.25, N=10, then D=5.25mm. Since the distance between the two second sensors 420 on the first type sign 310 is 5.25m, and the length of the first identification unit 311 is 0.5mm, when the car 10 moves upwards, the first sensor 410 located above is ahead of the first sensor 410 below by 90° , that is, 0.25mm; on the contrary, when the car 10 moves downward, the first sensor 410 at the bottom is ahead of the first sensor 410 at the top by 90°, that is, 0.25mm. The real direction of movement of the car 10, and the two first sensors 410 are combined in a way with a two-way difference of 90°, so the mutual detection accuracy is 0.25mm, and the first type of identification 310 signal and the second type of identification 320 signal are completely After combination, the detection accuracy of this embodiment is 0.25 mm, which further improves the detection accuracy. a, d, and n can also be set to other values according to actual needs.

The present invention also provides a self-inspection method of the elevator car position and speed detection system, which includes at least four methods. The self-inspection method performs self-inspection through at least one of the methods; the first method: the first sensor 410 detects the phase The number of identification groups formed by the first identification unit 311 and the second identification unit 312 between two adjacent delimiter identification units 321 is z1, and the number of the third identification units 322 detected by the second sensor 420 is z2, if When z1 is different from z2, or the binary coded digits corresponding to z2 and the collected binary coded information are different, the controller 50 sends an alarm signal; the second method: if the first sensor 410 is not for the first recognition unit 311 and the second recognition unit 311 When the unit 312 performs alternate detection, the controller 50 sends out an alarm signal; the third way: if the binary codes corresponding to two adjacent binary coded information are discontinuous, the controller 50 sends out an alarm signal; the fourth way: all the first When the output signals of the sensors 410 have the same phase, the controller 50 sends out an alarm signal. When the elevator is running, the system is safer, more stable and more reliable.

The various technical features of the above-mentioned embodiments can be combined arbitrarily. For the sake of concise description, all possible combinations of the various technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only express several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the patent scope of the invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (9)

1. A position and speed detection system for an elevator car, the car is located in the shaft, and it is characterized in that it includes a scale vertically arranged in the shaft, a detection device for collecting information of the scale, and the A controller electrically connected to the detection device, the scale is at least provided with a column of first-type marks arranged side by side vertically, and a row of second-type marks that cooperate with the first-type marks to form binary coded information, the said The scale corresponds to a plurality of binary coded information, and each of the binary coded information is not repeated. The detection device is fixed on the car and is provided with at least two first sensors arranged vertically and At least one second sensor identifying said second type of marker, said first sensor identifying said first type of marker. 2. The elevator car position and speed detection system according to claim 1, characterized in that, the first type of identification includes at least a first identification unit and a second identification unit, and the first identification unit and the second identification unit The two identification units are alternately arranged vertically, and the second type of identification at least includes a delimiter identification unit and a third identification unit that corresponds one-to-one to the identification group consisting of the first identification unit and the second identification unit. 3. The elevator car position and speed detection system according to claim 2, characterized in that the binary code character corresponding to the third identification unit is 0 or 1. 4. The elevator car position and speed detection system according to claim 1, characterized in that, the first identification unit and the second identification unit in the scale are arranged alternately and continuously, and the second identification unit The lengths of the unit and the first identification unit are in a fixed ratio. 5. The elevator car position and speed detection system according to claim 4, wherein the distance between the two adjacent first sensors is D, and the length of the first recognition unit is d, so The total length of the first identification unit and the second identification unit is c, then D=(e+N)×c/2, wherein, if d<c/2, then 0<e<2d/c, if d≥c/2, then 0<e≤2(c-d)/c, N is a natural number or 0. 6. The elevator car position and speed detection system according to claim 5, wherein the vertical distance between the second sensor and the first sensor is B, there is B=K×c, and K is A natural number or 0. 7. The elevator car position and speed detection system according to claim 2, characterized in that, the first identification unit is provided with a magnetic switch or a pattern, and the pattern is composed of at least one opening or color spot, The second identification unit is provided with a magnetic switch or a pattern different from that of the first identification unit, and the pattern is composed of at least one blank area or color spot, and the third identification unit is different from the first identification unit. Or the second identification unit is the same. 8. The elevator car position and speed detection system according to any one of claims 1 to 7, characterized in that, within t time, the number of the first type of signs detected by the first sensor is set is n, then the relative displacement of the car s=c×n, the speed of the car v=s/t, the absolute position of the car L=|M×(c×b)-m×( c×b)|, where c is the total length of the first identification unit and the second identification unit along the vertical direction, b is the number of binary coded digits corresponding to the binary coded information plus 1, and M is the second sensor The decimal code corresponding to the currently read binary coded information, m is the decimal code corresponding to the binary coded information read when the second sensor reads that the car is at the lowest position of the hoistway. 9. A self-inspection method of the elevator car position and speed detection system according to any one of claims 2 to 8, characterized in that at least four methods are included, and the self-inspection method is carried out by at least one of the methods Self-inspection; the first way: the first sensor detects that the number of identification groups composed of the first identification unit and the second identification unit between two adjacent delimiter identification units is z1, and at the same time the second sensor detects the third The number of identification units is z2, if z1 is different from z2, or the binary coded digits corresponding to z2 and the collected binary coded information are different, the controller will send out an alarm signal; the second method: if the first sensor is not the first identification When the unit and the second identification unit perform alternate detection, the controller sends out an alarm signal; the third way: if the binary codes corresponding to two adjacent binary coded information are discontinuous, the controller sends out an alarm signal; the fourth way: all When the output signals of the first sensors have the same phase, the controller sends out an alarm signal.