CN108946367B - Elevator operation detection method and device based on relative air pressure and altitude error correction - Google Patents
Elevator operation detection method and device based on relative air pressure and altitude error correction Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
- B66B5/0031—Devices monitoring the operating condition of the elevator system for safety reasons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
- B66B1/40—Means for stopping the cars, cages, or skips at predetermined levels and for correct levelling at landings
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Abstract
The invention provides an elevator operation detection method and device based on relative air pressure and altitude error correction; calculating the real-time height of the lift car through the relative air pressure between the real-time position of the lift and the last leveling position of the lift, judging the leveling state of the lift car through calculating the change of air pressure data in preset time, judging whether the lift car has leveling faults or not through comparing the real-time height with a standard height, correcting errors existing in the calculation and judgment of the real-time height of the lift car through taking the standard height as a reference value, calculating the current floor number through comparing the real-time height with the standard height, judging the running direction of the lift car through the front and back relative air pressure difference of different positions when the lift car runs, and calculating the running speed of the lift car through combining the real-time height difference of; the device has low economic cost and flexible installation position; the car operation information obtained by analyzing the calculation method based on the relative air pressure and height error correction has high goodness of fit with the actual elevator operation information and strong reliability.
Description
Technical Field
The invention relates to car operation detection of an elevator system, in particular to an elevator operation detection method and device based on relative air pressure and height correction errors.
Background
With the rapid development of Chinese economy, the input and use amount of the elevator is rapidly increased, and the elevator is widely concerned about the running safety as special equipment. The safety guarantee of the elevator operation mainly depends on the regular inspection of quality monitoring departments and the regular maintenance of maintenance units, but the rapid increase of the number of the elevators causes the shortage of management staff, and the timely discovery of elevator faults and the effective measure taking are difficult to realize. The elevator operation information is required to be collected and detected, and the operation condition of the elevator is reflected in real time, wherein the elevator operation information comprises the real-time height, speed, leveling state and the like of the elevator in the operation process.
The operation information of the elevator needs to be calculated by combining with the leveling signal, and the current methods for acquiring the leveling signal of the elevator comprise the following steps: RFID tag reading, photoelectric sensor sensing, Hall sensing, intrusive type obtaining of a primary elevator control system leveling signal and the like. The RFID tag reading, the photoelectric sensor sensing and the Hall sensing need to be provided with corresponding sensing devices on the elevator car and each floor, and the elevator car are high in cost, difficult to install and high in maintenance cost; the intrusive acquisition of the leveling signal of the primary elevator control system is the result of damaging the primary system of the elevator, and can also interfere the normal operation of the elevator in serious conditions to cause the elevator to have faults. The elevator operation information can be calculated on the basis of obtaining the elevator flat floor, the operation information of the elevator is measured and calculated by using devices such as an infrared distance sensor, a barometer, an acceleration sensor and the like in the current market, wherein the infrared sensor needs to be installed on an elevator car and in an elevator shaft and debugged, and the detection method has the defects that the difficulty of calibration errors is very high when the floor is too high, and the measurement result is accurate due to the fact that the infrared sensor is easily interfered; the acceleration sensor also has the defect of easy interference, and the current patent of measuring and calculating by using the barometer device does not consider the error caused by the deviation of air pressure data, so that the measuring and calculating result can not accurately position the elevator and reflect the operation information.
For example, patent application nos.: CN201510199276.1, the invention name "elevator floor data acquisition device and elevator floor operation monitoring system and method" discloses the technical scheme as follows: an elevator floor data acquisition device and an elevator floor operation monitoring method are provided: the elevator car height monitoring method comprises the steps that an RFID label is arranged at the door of each floor of an elevator shaft, elevator floor information is stored in the RFID label, an RFID read-write module and an air pressure sensor are arranged on an elevator car, the air pressure sensor is used for sensing the pressure of the current position of the elevator car, when preset time arrives, the air pressure sensor is collected to generate a corresponding current pressure signal, a corresponding pressure value is generated according to the collected current pressure signal, the current height value of the elevator car relative to the floor is calculated according to the elevator floor information, the current pressure value, a prestored floor reference pressure value and a prestored unit pressure height value, and therefore monitoring personnel can know the current height value of the elevator car relative to the floor.
However, the patent still has certain disadvantages, the technology disclosed by the patent obtains the current height value of the elevator by comparing the current pressure measurement value with the preset value prestored in the RFID tag, the technology does not eliminate the pressure offset error caused by external factors such as temperature to the current pressure measurement, when the offset error exists, the comparison result also has certain offset, so that the height value is not accurate, and the RFID tag needs to be installed on each floor, so that the defect of high maintenance cost exists.
For example, patent application nos.: CN201010601013.6, the invention name "a device for detecting the position of elevator car" is disclosed in the chinese patent with the technical scheme as follows: the utility model provides an elevator sedan-chair position detection device, it detects the altitude data acquisition communication board through the atmospheric pressure who installs respectively in the car and in the well and carries out the atmospheric pressure value and acquires, acquires the real-time atmospheric pressure difference that obtains accurate car position and well barometer and calculate the present car height that reachs the accuracy through the real-time acquisition of two atmospheric pressures and rectify pressure skew error. This patent need install the second barometer in the well bottom, because the well environment is complicated, leads to its maintenance cost to increase, and the acquisition of flat bed signal in this technique is through photoelectric sensor flat bed signal acquisition, and this acquisition method needs to install the board of separating light in every floor cooperation, has the maintenance cost height equally and the inaccurate shortcoming of flat bed signal.
The detection of the elevator operation information often has data deviation, so that an operation monitoring system cannot normally carry out logic judgment and even gives wrong conclusions, the wrong judgment on the position of the elevator causes great influence in the process of rescue and the daily maintenance of the elevator in case of fire, even casualties occur, and the defects need to be improved on the prior art.
Disclosure of Invention
The invention provides an elevator operation detection device based on relative air pressure and altitude error correction, which obtains real-time air pressure data through a dynamic air pressure acquisition module, obtains accurate elevator operation information after air pressure deviation error correction and altitude error correction are carried out through a data processing module, and has high goodness of fit with actual information, good real-time performance and strong reliability.
The invention provides an elevator operation detection device based on relative air pressure and height error correction, which is applied to the detection of the car operation information of an elevator system, wherein the car operation information comprises the real-time height of a car; the information processing module is electrically connected with the dynamic air pressure acquisition module and comprises a data storage unit and a height calculation unit, the data storage unit stores the reference height of the lift car when the lift car is leveled for the last time and the reference air pressure corresponding to the reference height, and the height calculation unit calculates the real-time height of the lift car according to the reference height, the reference air pressure and the real-time air pressure acquired by the barometer in real time.
Preferably, the car operation information further comprises a leveling state, the information processing module further comprises a leveling judgment unit, when the car operates automatically, the barometer continuously collects air pressure data, the leveling judgment unit performs difference calculation on an air pressure peak value and an air pressure valley value of the air pressure data in preset time, and if the difference value is within a preset difference value range, the car is judged to reach the leveling and a leveling signal is output to the height calculation unit.
Preferably, the data storage unit further stores a standard height corresponding to each flat floor of the car, the information processing module further includes a height error correction unit, when the information processing module acquires a flat floor signal, the height error correction unit performs a difference operation on the real-time height calculated by the height calculation unit and a standard height closest to the real-time height to obtain that the difference is within a predetermined error range, the closest standard height is used as a reference height of the real-time height calculated by the height calculation unit when the car arrives at the flat floor next time, and if the difference is outside the predetermined error range, it is determined that the elevator stops in a non-flat floor area.
Preferably, the car operation information further includes a current floor number, the data storage unit further stores a floor number corresponding to each standard height, and the information processing module includes a floor number calculation unit that compares the real-time height during operation with the standard height to obtain a floor number corresponding to the standard height closest to the real-time height during operation as the real-time floor number.
Preferably, the car operation information further includes a movement direction, the information processing module includes a movement direction calculation unit, the movement direction calculation unit calculates the air pressure data in real time to obtain front and rear relative air pressure differences of different positions of the car within a predetermined time, the relative air pressure differences are substituted into a step function to calculate a return value, if the return value is equal to-1, the car is judged to be in a downward direction, if the return value is equal to 1, the car is judged to be in an upward direction, and if the return value is equal to 0, the car is in a stopping or leveling state.
Preferably, the car running information further includes a moving speed, and the information processing module includes a moving speed calculation unit, and the moving speed calculation unit obtains a difference value of real-time heights when the two cars run according to a sampling period, and divides the difference value by the sampling period to obtain the car running speed.
The elevator operation detection device based on relative air pressure and height error correction provided by the invention provides real-time air pressure data through an air pressure meter of a dynamic air pressure acquisition module, and the air pressure data is processed through a data storage unit, a height calculation unit, a leveling judgment unit, a height error correction unit, a floor number calculation unit, a movement direction calculation unit and a movement speed calculation unit of a data processing module, so that accurate elevator real-time height, leveling state, real-time floor number, movement direction and movement speed are obtained.
The invention also provides an elevator operation detection method based on relative air pressure and altitude error correction, which is applied to an elevator detection device based on relative air pressure and altitude error correction, the detection device comprises a dynamic air pressure acquisition module and an information processing module, the dynamic air pressure acquisition module comprises at least one barometer, the information processing module comprises a data storage unit and an altitude calculation unit, the information processing module is electrically connected with the dynamic air pressure acquisition module, the information processing module comprises a data storage unit and an altitude calculation unit, and the detection method is characterized by comprising an altitude calculation method: the data storage unit stores the reference height of the lift car when the lift car is leveled for the last time and the reference air pressure corresponding to the reference height, the height calculation unit calculates the real-time height of the lift car according to the reference height, the reference air pressure and the real-time air pressure acquired by the barometer in real time, and the calculation formula of the height calculation method is as follows:
and recording the real-time height as h, the reference height as lh, the reference air pressure as lp, the current sampling air pressure as p, and the air pressure-height coefficient k, wherein h is (lp-p) k + lh.
Preferably, the information processing module further comprises a floor judgment unit, and the elevator operation detection method based on the correction of the relative air pressure and the altitude error further comprises a floor judgment method: when the lift car runs by itself, the barometer continuously collects air pressure data at a certain frequency, the leveling judgment unit performs difference calculation on an air pressure peak value and an air pressure valley value of the air pressure data within preset time, if the difference value is within a preset difference value range, the lift car is judged to reach a leveling layer, and a leveling signal is output to the height calculation unit, wherein the calculation formula of the leveling judgment method is as follows:
recording the preset value as m, setting the preset time as 1s, and assuming that the air pressure peak value in the air pressure data in the 1s is pmaxA pressure valley of pminWhen p ismax-pmin<And m, judging that the lift car reaches the flat floor.
Preferably, the data storage unit further stores a standard height of the car corresponding to each flat floor, the information processing module further includes a height error correction unit, and the elevator operation detection method based on the relative air pressure and height error correction further includes a height error correction method: when the information processing module acquires a floor signal, the height error correction unit performs difference operation on the real-time height calculated by the height calculation unit and a standard height closest to the real-time height to obtain that the difference is within a preset error, the closest standard height is used as a reference height of the height calculation unit for calculating the real-time height when the lift car arrives at the floor next time, if the difference is outside the preset error, the lift is judged to stop in a non-floor area, and the calculation formula of the height error correction method is as follows:
let the standard height corresponding to each flat layer be SiWherein i is the floor where the car is located, the floor where the current car is located is assumed to be x, the preset value is j, and when the information processing module acquires a floor signal, the real-time h height and S heightxMost closely, when | h-Sx|<When j is given, let lh be Sx。
Preferably, the data storage unit further stores a floor number corresponding to each standard height, the information processing module includes a floor number calculation module, and the elevator operation detection method based on the correction of the relative air pressure and the height error further includes a floor number calculation method: the floor number calculation module compares the real-time height during operation with the standard height to obtain a floor number corresponding to the standard height closest to the real-time height during operation as a real-time floor number, and the floor number calculation formula is as follows:
recording the floor number corresponding to each standard height as fiWherein i is the floor where the lift car is located, the real-time floor number is n, and when | h-Sx|<When j is greater than n, let n be fx。
Preferably, the information processing module comprises a motion direction calculating unit, and the elevator operation detection method based on the relative air pressure and altitude error correction further comprises a motion direction calculating method: the movement direction calculation unit calculates the air pressure data in real time to obtain front and back relative air pressure differences of different positions of the car in preset time, substitutes the relative air pressure differences into a step function to calculate a return value, judges that the car descends if the return value is equal to-1, judges that the car ascends if the return value is equal to 1, and otherwise, judges that the car is in a stopping or leveling state, and the movement direction calculation formula is as follows:
and recording the moving direction of the floor as dir, and the last sampling air pressure as pp, dir-sgn (pp-p) × 1, wherein when dir is-1, the elevator descends, when dir is 1, the elevator ascends, and when dir is 0, the elevator is in a stop or flat state.
Preferably, the information processing module comprises a movement speed calculating unit, and the elevator operation detection method based on the relative air pressure and altitude error correction further comprises a speed calculating method: the movement speed calculation unit obtains the difference value of the real-time heights of the two cars in operation according to the sampling period, and divides the difference value by the sampling period to obtain the running speed of the cars, wherein the speed calculation formula is as follows:
recording the sampling period as T, the motion speed as v,
the invention provides an elevator operation detection method and device based on relative air pressure and altitude error correction; calculating the real-time height of the lift car through the relative air pressure between the real-time position of the lift and the last leveling position of the lift, judging the leveling state of the lift car through calculating the change of air pressure data in preset time, judging whether the lift car has leveling faults or not through comparing the real-time height with a standard height, correcting errors existing in the calculation and judgment of the real-time height of the lift car through taking the standard height as a reference value, calculating the current floor number through comparing the real-time height with the standard height, judging the running direction of the lift car through the front and back relative air pressure difference of different positions when the lift car runs, and calculating the running speed of the lift car through combining the real-time height difference of; the device has low economic cost and flexible installation position; the car operation information obtained by analyzing the calculation method based on the relative air pressure and height error correction has high goodness of fit with the actual elevator operation information, good real-time performance and strong reliability.
Drawings
Fig. 1 is a schematic diagram of a logic structure of an elevator operation detection device based on relative air pressure and altitude error correction provided by the invention;
fig. 2 is a schematic view of the installation position of the elevator operation detecting device based on the correction of relative air pressure and height errors provided by the present invention;
fig. 3 is a diagram of the steps of the elevator operation detection method based on the correction of relative air pressure and altitude errors provided by the present invention;
fig. 4 is a simulation result of a high calculation formula of which the air pressure-height coefficient takes a value of 0.0843 in the elevator operation detection method based on the correction of the relative air pressure and the height error provided by the invention;
fig. 5 is a simulation result of a altitude calculation formula, in which the air pressure-altitude coefficient value is 0.009, in the elevator operation detection method based on the correction of the relative air pressure and altitude errors provided by the present invention;
FIG. 6 is a simulation result comparing leveling correction with non-leveling correction according to the elevator operation detection method based on relative air pressure and altitude error correction provided by the present invention;
fig. 7 is a graph showing the variation of the ordinate air pressure value in fig. 6 during the first floor of the day.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
The elevator operation detection method and device based on relative air pressure and altitude error correction provided by the invention are further described below with reference to the accompanying drawings, and it should be noted that the technical solution and design principle of the invention are described in detail below only by an optimized technical solution.
Referring to fig. 2, the elevator operation detection apparatus 1 based on the correction of the relative air pressure and the altitude error according to the present invention is applied to the detection of the car operation information of an elevator system, and the elevator system includes a car 2, a hall door 310, a floor 301, a floor 302, a floor 303, and a floor 304.
Referring to fig. 1, the elevator operation detection device 1 based on relative air pressure and altitude error correction provided by the present invention includes a dynamic air pressure acquisition module 11 and an information processing module 12, where the dynamic air pressure acquisition module 11 includes at least one barometer for acquiring air pressure data of the position of the car 2 in real time and outputting the air pressure data to the information processing module 12, and the information processing module 12 is electrically connected to the dynamic air pressure acquisition module 11, and includes a data storage unit 121, an altitude calculation unit 122, a leveling judgment unit 123, an altitude error correction unit 124, a floor number calculation unit 125, a movement direction calculation unit 126, and a movement speed calculation unit 127.
The data storage unit 121 stores a reference height when the car is most recently leveled, a reference air pressure corresponding to the reference height, a standard height corresponding to each leveling, and a floor number corresponding to each standard height; the height calculating unit 122 calculates the real-time height of the car according to the reference height, the reference air pressure and the real-time air pressure acquired by the barometer in real time; the leveling judgment unit 123 performs a difference operation on an air pressure peak value and an air pressure valley value of the air pressure data within a preset time according to the air pressure data continuously acquired by the barometer, and if the difference value is within a preset difference value range, judges that the car reaches a leveling and outputs a leveling signal to the height calculation unit; the height error correction unit 124 performs a difference operation on the real-time height calculated by the height calculation unit and a standard height closest to the real-time height to obtain that the difference value is within a preset error, the closest standard height is used as a reference height of the real-time height calculated by the height calculation unit when the lift car arrives at the leveling next time, and if the error value is outside the preset error, the elevator leveling fault is judged; the floor number calculating unit 125 compares the real-time height during operation with the standard height to obtain a floor number corresponding to the standard height closest to the real-time height during operation as a real-time floor number; the movement direction calculating unit 126 calculates the air pressure data in real time to obtain front and rear relative air pressure differences of different positions of the car in preset time, substitutes the relative air pressure differences into a step function to calculate a return value, judges that the car descends if the return value is equal to-1, judges that the car ascends if the return value is equal to 1, and judges that the car is in a stopping or leveling state if the return value is equal to 0; the speed calculation unit 127 obtains the difference value of the real-time heights of the two cars in operation according to the sampling period, and divides the difference value by the sampling period to obtain the running speed of the cars.
Referring to fig. 3, the elevator operation detection method based on the correction of the relative air pressure and altitude errors provided by the present invention comprises the following steps:
step one, initialization: the elevator operation detecting device 1 based on the correction of the relative air pressure and the altitude error is initialized first, the standard heights of the floors 301, 302, 303 and 304 of the elevator and the floor numbers corresponding to the floors are preset in the data storage unit 121, the standard height setting can be set manually or by the elevator itself, when the car 2 is in the first landing position of a floor, the current floor number and the standard height of the floor are obtained by inquiring the data storage 121 unit, the leveling signal and the floor height information corresponding to the leveling signal are recorded as the latest leveling signal and the floor height corresponding to the leveling signal, the air pressure data of the floor is updated in real time to be used as a temporary air pressure reference value, the initialization is completed, the elevator starts to operate by itself, wherein, should further initialize elevator highest position and lowest position from the operation process: when the real-time calculated height of the elevator is greater than the height of the highest floor, recording the real-time calculated height as the highest position of the elevator, and when the real-time calculated height of the elevator is less than the height of the lowest floor, recording the real-time calculated height as the lowest position of the elevator;
step two, calculating the real-time height of the lift car: when the car 2 starts to move, the height calculating unit 122 calculates the real-time height of the car according to the reference height, the reference air pressure and the real-time air pressure acquired by the barometer in real time, and the calculation formula of the real-time height calculating method is as follows:
recording the real-time height as h, the reference height as lh, the reference air pressure as lp, the current sampling air pressure as p, h ═ (lp-p) × 0.09+ lh;
step three, judging the leveling state: when the car runs by itself, the barometer continuously collects air pressure data at the frequency of 50 ms/time, the leveling judgment unit 123 performs difference calculation on the air pressure peak value and the air pressure valley value of the air pressure data in preset time, and if the difference value is within 3pa, the car is judged to reach the leveling and a leveling signal is output to the height calculation unit, and the leveling judgment method has the following calculation formula: recording the preset time as 1s, and assuming that the air pressure peak value in the air pressure data in 1s is pmaxA pressure valley of pminWhen is coming into contact withpmax-pmin<3, judging that the lift car reaches the flat floor;
step four, correcting the height error: the height error correction unit 124 performs a difference operation on the real-time height calculated by the height calculation unit 122 and a standard height closest to the real-time height to obtain that the difference is within 0.3m, the closest standard height is used as a reference height of the height calculation unit for calculating the real-time height when the car next arrives at the leveling floor, and if the difference is outside 0.3m, it is determined that the elevator leveling fault occurs until the fault is eliminated, and a calculation formula of the height error correction method is as follows:
let the standard height corresponding to each flat layer be SiAnd i is the floor where the lift car is located, the floor where the current lift car is located is assumed to be x, and when the information processing module acquires a floor signal, the height h and the S are real-timexMost closely, when | h-Sx|<When 0.3, let lh be Sx；
Step five, calculating the current floor number: the floor number calculating unit 125 compares the real-time height during operation with the standard height to obtain a floor number corresponding to the standard height closest to the real-time height during operation as a real-time floor number, the barometer continuously collects the real-time air pressure of the current position after outputting the real-time floor number, and an average value of the air pressures of the first 2 seconds of the continuous 4 seconds is used as a reference value of the floor air pressure, and the floor number calculating formula is as follows:
recording the floor number corresponding to each standard height as fiWherein i is the floor where the lift car is located, the real-time floor number is n, and when | h-Sx|<When 0.3, let n be fx；
Step six, calculating the movement direction: the moving direction calculating unit 126 calculates the air pressure data in real time to obtain the front and rear relative air pressure differences of different positions of the car in a preset time, substitutes the relative air pressure differences into a step function to calculate a return value, judges that the car moves downwards if the return value is equal to-1, judges that the car moves upwards if the return value is equal to 1, otherwise, judges that the car is in a stopping or leveling state, and the moving direction calculating formula is as follows:
and recording the moving direction of the floor as dir, the last sampling air pressure as pp, dir-sgn (pp-p) × 1, when dir is-1, the elevator goes downwards, when dir is 1, the elevator goes upwards, and when dir is 0, the elevator is in a stop or flat state.
Step seven, calculating the movement speed: the movement speed calculation unit 127 obtains the difference value of the real-time heights of the two cars in operation according to the sampling period, and divides the difference value by the sampling period to obtain the car operation speed, wherein the speed calculation formula is as follows:
recording the sampling period as T, the motion speed as v,
referring to fig. 4 and 5, the calculation formula of the real-time altitude calculation method is shown, in which the air pressure-altitude coefficient is 0.09:
according to the high pressure formula
It can be seen that when the height variation range is small, the relationship between the air pressure and the height can be approximated to be linear, i.e. the relationship between the air pressure and the height is linear
h＝k*p+b (1)
In the formula (1), h is absolute height, k is an air pressure height coefficient, p is absolute air pressure, and b is a fixed constant. It can also be expressed in the following two forms:
Δh＝k*Δp (2)
h＝k*(p-p0)+h0 (3)
in the formula (2), Δ h is a relative height, k is a gas pressure height coefficient, and Δ p is a relative gas pressure. In the formula (3), h is absolute height, k is air pressure height coefficient p is absolute air pressure, and h0Is a certain reference height, p0Is a reference height h0The reference gas pressure of (d); when the absolute altitude is near sea level, k may be approximately 0.0843; calculating the calculated height h (solid line) of the current position of the elevator by using the calculation method in the formula (3), wherein p is the current air pressure, p0Taking the last leveling position air pressure, h0Taking the standard height of the last leveling position; taking simulation data: qi (Qi)The floor pressing and leveling signals are acquired by a device 1 located in the lift car, the frequency is 1Hz, the laser ranging value (dotted line) is used as the standard height to be compared with the air pressure calculation height, and the frequency is 1Hz and is uploaded by a machine room collecting plate. The abscissa is time (unit: second), the ordinate is height (unit: meter), 3230 data in fig. 4 and 5; when k is 0.0843, the simulation result is as shown in fig. 4, and the calculated height h and the laser ranging height are compared to know that the calculated height change speed is slower than that of the laser ranging, that is, the pressure-height coefficient k is smaller; when k is 0.09, the simulation result is as shown in fig. 5, and the calculated height h and the laser ranging height are compared to know that the fitting degree of the calculated height and the laser ranging height is high, so that the expected effect is achieved; therefore, the pressure-height coefficient k is 0.09.
Referring to fig. 6 and 7, the modified simulation of the relative air pressure offset correction and the altitude error correction is shown:
the abscissa is taken as time (unit: second), the ordinate is taken as height (unit: meter), the dotted line is taken as standard height obtained by laser ranging, and the solid line is taken as real-time height.
When the leveling layer is not corrected for height and air pressure, i.e. the reference height h _0 and the reference air pressure p _0 at the reference height h _0 in the formula (3) are always fixed, the simulation result is shown in fig. 6, and it can be known from the simulation result that a larger deviation occurs between the calculated height and the actual height. Fig. 7 is a graph showing the variation of the air pressure of the first floor during the day, the abscissa is the time (unit: second), and the ordinate is the air pressure value (unit: pa). as can be seen from fig. 7, the air pressure at the same reference height fluctuates greatly during the day, so the main reason for the deviation in fig. 6 is that the reference air pressure p _0 at the reference height h _0 changes with the temperature and other factors. The relative air pressure deviation correction and the height error correction can be obtained, so that the detection of the car running information is more accurate.
The elevator operation detection device based on the correction of the relative air pressure and the height error eliminates the air pressure deviation error and the floor height error through each unit in the data processing module, so that the detection system obtains accurate elevator operation data, and reliable basic equipment is provided for the conventional elevator monitoring system.
The above is only a preferred embodiment of the present invention, and it should be noted that the above preferred embodiment should not be considered as limiting the present invention, and the protection scope of the present invention should be subject to the scope defined by the claims. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the spirit and scope of the invention, and these modifications and adaptations should be considered within the scope of the invention.
Claims (10)
1. An elevator operation detection device based on relative air pressure and height error correction is applied to the detection of the car operation information of an elevator system, the car operation information comprises the real-time height, the leveling state, the fault state, the current floor number, the motion direction and the motion speed of a car, the detection device comprises a dynamic air pressure acquisition module and an information processing module, and is characterized in that,
the dynamic air pressure acquisition module comprises at least one barometer and is used for acquiring air pressure data of the position of the car in real time and outputting the air pressure data to the information processing module;
the information processing module is electrically connected with the dynamic air pressure acquisition module, and the information processing module comprises:
the data storage unit stores the reference height of the lift car when the lift car is leveled for the last time, the reference air pressure corresponding to the reference height and the standard height of the lift car corresponding to each leveling;
the height calculating unit calculates the real-time height of the lift car according to the reference height, the reference air pressure and the real-time air pressure acquired by the barometer in real time;
a leveling judgment unit for judging that the car reaches a leveling and outputting a leveling signal to the height calculation unit;
and the height error correction unit is used for performing difference calculation on the real-time height calculated by the height calculation unit and a standard height closest to the real-time height when the information processing module acquires a floor signal to obtain that the difference is within a preset error range, taking the closest standard height as the reference height of the real-time height calculated by the height calculation unit when the lift car arrives at the floor next time, and judging that the lift stops in a non-floor area and sending fault early warning if the difference is out of the preset error range.
2. The elevator operation detection device based on the relative air pressure and height error correction of claim 1, wherein when the car is running, the barometer continuously collects air pressure data, the leveling judgment unit performs a difference operation on an air pressure peak value and an air pressure valley value of the air pressure data within a predetermined time, and if the difference value is within a predetermined difference value range, the car is judged to arrive at a leveling and the leveling signal is output to the height calculation unit.
3. The elevator operation detection apparatus based on relative air pressure and altitude error correction according to claim 1, wherein the information processing module includes a floor number calculation unit, and the floor number calculation unit compares the real-time altitude at operation with the standard altitude to obtain a floor number corresponding to the standard altitude closest to the real-time altitude at operation as the real-time floor number.
4. The elevator operation detection device based on the relative air pressure and height error correction of claim 1, wherein the information processing module comprises a movement direction calculation unit, the movement direction calculation unit calculates the air pressure data in real time to obtain the front and back relative air pressure differences of different positions of the car within the preset time, the relative air pressure difference is substituted into a step function to calculate a return value, if the return value is equal to-1, the car is judged to be in a downward direction, if the return value is equal to 1, the car is judged to be in an upward direction, and if the return value is equal to 0, the car is in a stop or flat floor state.
5. The device as claimed in claim 1, wherein the information processing module comprises a movement speed calculating unit, the movement speed calculating unit obtains a difference value of real-time heights of two cars in operation according to a sampling period, and divides the difference value by the sampling period to obtain the car operation speed.
6. An elevator operation detection method based on relative air pressure and altitude error correction, which is applied to the elevator operation detection device based on relative air pressure and altitude error correction according to claim 1, characterized in that the detection method comprises an altitude calculation method and an altitude error correction method:
the calculation formula of the height calculation method is as follows:
recording the real-time height as h, the reference height as lh, the reference air pressure as lp, the current sampling air pressure as p, and an air pressure-height coefficient k, wherein h is (lp-p) k + lh;
the calculation formula of the height error correction method is as follows:
let the standard height corresponding to each flat layer be SiWherein i is the floor where the car is located, the floor where the current car is located is assumed to be x, the preset value is j, and when the information processing module acquires a floor signal, the real-time height h and the real-time height S are obtainedxMost closely, when | h-Sx|<When j is given, let lh be Sx。
7. The method of claim 6, further comprising a floor determination method of: when the lift car runs by itself, the barometer continuously collects air pressure data at a certain frequency, the leveling judgment unit performs difference calculation on an air pressure peak value and an air pressure valley value of the air pressure data within preset time, if the difference value is within a preset difference value range, the lift car is judged to reach a leveling layer, and a leveling signal is output to the height calculation unit, wherein the calculation formula of the leveling judgment method is as follows:
recording the preset difference value as m, setting the preset time as 1s, and setting the air pressure peak value in the air pressure data in 1s as pmaxA pressure valley of pminWhen p ismax-pmin<And m, judging that the lift car reaches the flat floor.
8. The elevator operation detecting method based on the relative air pressure and altitude error correction as claimed in claim 6, wherein the information processing module includes a floor number calculating unit, the detecting method further comprising a floor number calculating method of: the floor number calculation unit compares the real-time height during operation with the standard height to obtain a floor number corresponding to the standard height closest to the real-time height during operation as a real-time floor number, and the floor number calculation formula is as follows:
recording the floor number corresponding to each standard height as fiWherein i is the floor where the lift car is located, the real-time floor number is n, and when | h-Sx|<When j is greater than n, let n be fx。
9. The method of claim 6, wherein the information processing module comprises a motion direction calculating unit, and the detecting method further comprises a motion direction calculating method of: the movement direction calculation unit calculates the air pressure data in real time to obtain front and back relative air pressure differences of different positions of the car in preset time, substitutes the relative air pressure differences into a step function to calculate a return value, judges that the car descends if the return value is equal to-1, judges that the car ascends if the return value is equal to 1, and otherwise, judges that the car is in a stopping or leveling state, and the movement direction calculation formula is as follows:
and recording the moving direction of the floor as dir, and the last sampling air pressure as pp, dir-sgn (pp-p) × 1, wherein when dir is-1, the elevator descends, when dir is 1, the elevator ascends, and when dir is 0, the elevator is in a stop or flat state.
10. The method of claim 9, wherein the information processing module comprises a motion speed calculating unit, and the detecting method further comprises a speed calculating method: the movement speed calculation unit obtains the difference value of the real-time heights of the two cars in operation according to the sampling period, and divides the difference value by the sampling period to obtain the running speed of the cars, wherein the speed calculation formula is as follows:
recording the sampling period as T, the motion speed as v,
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