CN110143499B - Method and device for determining position of elevator car, and elevator ranging system - Google Patents

Abstract

The present application relates to a method and device for determining the position of an elevator car, an elevator ranging system, computer equipment and a storage medium. The method includes: acquiring the signal wave of the first path and the signal wave of the second path; the first path is the path between the car transceiver device and the first hoistway transceiver device, and the second path is the car transceiver device and the second path. The path between the hoistway transceiver devices; calculate the first distance and the second distance according to the signal wave of the first path and the signal wave of the second path; obtain the distance between the first hoistway transceiver device and the second hoistway transceiver device, and the first The third distance between the hoistway transceiver device and the origin; the current position of the elevator car is determined according to the first distance, the second distance, the third distance and the distance. By adopting the method, the purpose of determining the position of the elevator car through the geometric relationship of the acquired data is realized without being affected by external factors, thereby improving the measurement accuracy of the position of the elevator car.

Description

Method and device for determining position of elevator car, and elevator ranging system

technical field

The present application relates to the technical field of elevators, and in particular, to a method and device for determining the position of an elevator car, an elevator ranging system, computer equipment and a storage medium.

Background technique

With the development of society, more and more buildings have been built, and more and more elevators have been installed. Elevators have gradually become an indispensable tool in people's daily life; in order to ensure the safety of elevator operation, The accurate determination of the elevator car position is becoming more and more important.

At present, in order to determine the position of the elevator car, the elevator controller generally calculates the position of the elevator car based on the encoder signal on the elevator traction machine or the speed limiter, and then adjusts the leveling through the door switch on the top of the car. However, during the actual operation of the elevator, the encoder is easily disturbed or faulty, causing distortion in the judgment of the elevator car position, resulting in low accuracy of the determined elevator car position.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide a method, device, elevator ranging system, computer equipment and storage medium for determining the elevator car position that can improve the measurement accuracy of the elevator car position.

A method for determining the position of an elevator car, the method comprising:

Obtain the signal wave of the first path and the signal wave of the second path; the first path is the path between the car transceiver device and the first hoistway transceiver device, and the second path is the car transceiver device and the first path. The path between two hoistway transceiver devices; the car transceiver device is arranged on the top and/or bottom of the elevator car; the first hoistway transceiver device and the second hoistway transceiver device are vertically arranged in the elevator hoistway at intervals on the side wall;

Calculate the first distance and the second distance according to the signal wave of the first path and the signal wave of the second path; the first distance is the distance between the car transceiver and the first hoistway transceiver, so The second distance is the distance between the car transceiver device and the second hoistway transceiver device;

Acquiring the distance between the first hoistway transceiver device and the second hoistway transceiver device, and the third distance between the first hoistway transceiver device and the origin;

Based on the first distance, the second distance, the third distance and the spacing, the current position of the elevator car is determined.

In one embodiment, before acquiring the signal wave of the first path and the signal wave of the second path, the method includes:

Determine the hoistway transceiver device located on the same side of the car transceiver device;

Calculate the distance between the hoistway transceiver device and the car transceiver device respectively;

From the hoistway transceiver device, identify the hoistway transceiver device with the first distance as the second hoistway transceiver device, and identify the hoistway transceiver device with the second distance as the first hoistway transceiver device;

and / or,

Determine the hoistway transceiver device located on the same side of the car transceiver device;

acquiring the signal strength of the signal wave received by the hoistway transceiver;

From the hoistway transceiver devices, the hoistway transceiver device with the first signal strength is identified as the second hoistway transceiver device, and the hoistway transceiver device with the second signal strength is identified as the first hoistway transceiver device.

In one embodiment, the acquiring the distance between the first hoistway transceiver device and the second hoistway transceiver device, and the third distance between the first hoistway transceiver device and the origin, includes:

respectively acquiring the device identification numbers of the first hoistway transceiver device and the second hoistway transceiver device;

Query a pre-established distance table according to the device identification number; the distance table records the distance between two adjacent hoistway transceiver devices, and the distance between different hoistway transceiver devices and the origin;

The distance between the first hoistway transceiver device and the second hoistway transceiver device, and the third distance between the first hoistway transceiver device and the origin are obtained from the distance table.

In one embodiment, the determining the current position of the elevator car according to the first distance, the second distance, the third distance and the distance includes:

According to the first distance, the second distance and the spacing, calculate the vertical distance between the first hoistway transceiver device and the car plane where the car transceiver device is located;

adding the vertical distance and the third distance to obtain the target vertical distance between the origin and the plane of the car where the car transceiver device is located;

The current position of the elevator car is determined according to the target vertical distance.

In one embodiment, calculating the vertical distance between the first hoistway transceiver device and the car plane where the car transceiver device is located according to the first distance, the second distance, and the spacing includes:

The following formula is used to calculate the vertical distance between the first hoistway transceiver device and the car plane where the car transceiver device is located:

d=d ₁ cosθ;

Wherein, d ₁ is the first distance, d ₂ is the second distance, S ₂ is the distance between the first hoistway transceiver device and the second hoistway transceiver device, and θ is the first distance and the first hoistway The included angle between the transceiver device and the straight line where the second hoistway transceiver device is located, and d is the vertical distance between the first hoistway transceiver device and the plane of the car where the car transceiver device is located.

In one embodiment, the method further includes:

The current position of the elevator car is sent to the elevator controller; the elevator controller is configured to perform corresponding elevator control operations according to the current position of the elevator car.

A device for determining the position of an elevator car, the device comprising:

The signal wave acquisition module is used to acquire the signal wave of the first path and the signal wave of the second path; the first path is the path between the car transceiver and the first hoistway transceiver, and the second path is the The path between the car transceiver device and the second hoistway transceiver device; the car transceiver device is arranged on the top and/or bottom of the elevator car; the first hoistway transceiver device and the second hoistway transceiver device are in the vertical direction The upper space is arranged on the side wall of the elevator shaft;

A distance calculation module, configured to calculate a first distance and a second distance according to the signal wave of the first path and the signal wave of the second path; the first distance is the distance between the car transceiver and the first hoistway the distance of the transceiver device, the second distance is the distance between the car transceiver device and the second hoistway transceiver device;

a distance acquisition module, configured to acquire the distance between the first hoistway transceiver device and the second hoistway transceiver device, and the third distance between the first hoistway transceiver device and the origin;

A position determination module, configured to determine the current position of the elevator car according to the first distance, the second distance, the third distance and the distance.

An elevator ranging system, comprising: a car transceiver device, a first hoistway transceiver device, a second hoistway transceiver device, an elevator ranging device and an elevator controller; the car transceiver device is arranged on the top of the elevator car and/or the bottom; the first hoistway transceiver device and the second hoistway transceiver device are vertically arranged on the side wall of the elevator hoistway at intervals; the elevator ranging device is respectively connected to the car transceiver device and the first hoistway transceiver device , The second hoistway transceiver device is connected with the elevator controller;

The car transceiver device is used for transmitting signal waves to the first hoistway transceiver device and the second hoistway transceiver device, or receiving signal waves transmitted by the first hoistway transceiver device and the second hoistway transceiver device;

The elevator ranging device is used to perform the above-mentioned method for determining the position of an elevator car;

The elevator controller is configured to receive the current position of the elevator car sent by the elevator ranging device, and perform corresponding elevator control operations according to the current position of the elevator car.

A computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

Obtain the signal wave of the first path and the signal wave of the second path; the first path is the path between the car transceiver device and the first hoistway transceiver device, and the second path is the car transceiver device and the first path. The path between two hoistway transceiver devices; the car transceiver device is arranged on the top and/or bottom of the elevator car; the first hoistway transceiver device and the second hoistway transceiver device are vertically arranged in the elevator hoistway at intervals on the side wall;

Calculate the first distance and the second distance according to the signal wave of the first path and the signal wave of the second path; the first distance is the distance between the car transceiver and the first hoistway transceiver, so The second distance is the distance between the car transceiver device and the second hoistway transceiver device;

Acquiring the distance between the first hoistway transceiver device and the second hoistway transceiver device, and the third distance between the first hoistway transceiver device and the origin;

Based on the first distance, the second distance, the third distance and the spacing, the current position of the elevator car is determined.

A computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

Obtain the signal wave of the first path and the signal wave of the second path; the first path is the path between the car transceiver device and the first hoistway transceiver device, and the second path is the car transceiver device and the first path. The path between two hoistway transceiver devices; the car transceiver device is arranged on the top and/or bottom of the elevator car; the first hoistway transceiver device and the second hoistway transceiver device are vertically arranged in the elevator hoistway at intervals on the side wall;

Calculate the first distance and the second distance according to the signal wave of the first path and the signal wave of the second path; the first distance is the distance between the car transceiver and the first hoistway transceiver, so The second distance is the distance between the car transceiver device and the second hoistway transceiver device;

Acquiring the distance between the first hoistway transceiver device and the second hoistway transceiver device, and the third distance between the first hoistway transceiver device and the origin;

Based on the first distance, the second distance, the third distance and the spacing, the current position of the elevator car is determined.

The above-mentioned method, device, elevator ranging system, computer equipment and storage medium for determining the position of the elevator car, by arranging the car transceiver device on the top and/or bottom of the elevator car, and placing the first hoistway transceiver device and the second hoistway The transceiver devices are arranged at intervals on the side wall of the elevator shaft in the vertical direction to measure the first distance and the second distance; The third distance of the origin; combined with the geometric relationship of the first distance, the second distance, the distance, and the third distance, the current position of the elevator car is determined; the purpose of determining the position of the elevator car through the geometric relationship of the acquired data is realized, and it is not It will be affected by external factors, thus improving the measurement accuracy of the elevator car position, and avoiding the traditional method of measuring the elevator car position through the encoder, which is easily disturbed or faulty.

Description of drawings

1 is an application scenario diagram of a method for determining the position of an elevator car in an embodiment;

2 is a schematic flowchart of a method for determining the position of an elevator car in one embodiment;

Fig. 3 is the measurement schematic diagram of the elevator car position in one embodiment;

4 is a structural block diagram of a device for determining the position of an elevator car in one embodiment;

FIG. 5 is a diagram of the internal structure of a computer device in one embodiment.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

The method for determining the position of an elevator car provided by the present application can be applied to the application environment shown in FIG. 1 . The application environment includes car transceivers, hoistway transceivers, elevator ranging equipment and elevator control; among them, the car transceivers can be high-precision radars such as millimeter-wave radars, and can be set on the top of the elevator car (such as TX1), It is used to transmit or receive signal waves; the shaft transceiver device can be a high-precision radar such as a millimeter wave radar, and can be arranged on the side wall of the elevator shaft at intervals in the vertical direction (such as RX1, RX2, RX3...RXn ), used to transmit or receive signal waves; the elevator ranging equipment is respectively connected to the car transceiver device, the hoistway transceiver device and the elevator controller. During the up and down operation of the elevator car, the elevator ranging equipment determines that the effective paths are the first path and the second path based on the signal strength of the signal wave received by the hoistway transceiver device or the car transceiver device. (TX1) or the first hoistway transceiver (RX1) obtains the signal wave of the first path, and obtains the signal wave of the second path from the car transceiver (TX1) or the second hoistway transceiver (RX2), and then calculates the first path. Distance and second distance: Combined with the distance between the first hoistway transceiver device and the second hoistway transceiver device, and the third distance between the first hoistway transceiver device and the origin, the origin and the car where the car transceiver device is located can be calculated through mathematical operations The vertical distance of the plane to determine the current position of the elevator car. The elevator ranging device is also used to send the current position of the elevator car to the elevator controller, so as to trigger the elevator controller to perform corresponding elevator control operations based on the current position of the elevator car, such as controlling the elevator to stop at the corresponding floor; of course, also Other control operations can be performed on the elevator according to the actual situation, which is not limited here. The hoistway transceiver device and the car transceiver device can also be high-precision ranging instruments such as a laser range finder and an infrared range finder, and the car transceiver device can also be arranged at the bottom of the elevator car; the elevator controller can be but not limited to are a variety of personal computers, laptops, smartphones, tablets, and portable wearables.

It should be noted that the hoistway transceiver device and the car transceiver device are arranged in the elevator hoistway, and the elevator ranging device and the elevator controller are respectively arranged outside the elevator hoistway.

In one embodiment, as shown in FIG. 2 , a method for determining the position of an elevator car is provided, and the method is applied to the elevator ranging device in FIG. 1 as an example to illustrate, including the following steps:

Step S201, acquiring the signal wave of the first path and the signal wave of the second path; the first path is the path between the car transceiver and the first hoistway transceiver, and the second path is the car transceiver and the second hoistway. The path between the devices; the car transceiver device is arranged on the top and/or bottom of the elevator car; the first hoistway transceiver device and the second hoistway transceiver device are vertically spaced on the elevator hoistway sidewall.

In this step, the car transceiver device can be a high-precision radar such as a millimeter-wave radar, and can be installed at any position on the top of the elevator car (TX1 in Figure 1), or at any position at the bottom of the elevator car. The hoistway transceiver devices (such as the first hoistway transceiver device and the second hoistway transceiver device) can be high-precision radars such as millimeter-wave radars, and are arranged on the sidewall of the same elevator hoistway at intervals in the vertical direction. The size of the interval can be adjusted according to the actual situation. Adjustment. In addition, in the hoistway transceiver device located on the same side of the car transceiver device, the first hoistway transceiver device and the second hoistway transceiver device are used to identify the two hoistway transceiver devices that are closer to the car transceiver device, such as RX1 in Figure 1 , RX2; specifically, the second hoistway transceiver device refers to the hoistway transceiver device closest to the car transceiver device. Among the two hoistway transceiver devices that are closer to the car transceiver device, the first path is used to indicate the path between the car transceiver device and the hoistway transceiver device (such as the first hoistway transceiver device) that is far away from it, and the second The path is used to represent the path between the car transceiver device and the hoistway transceiver device (such as the second hoistway transceiver device) that is closer to it. It should be noted that the car transceiver device must be located directly above the vertical direction where the hoistway transceiver device is located, to ensure that the plane formed by the car transceiver device and any two hoistway transceiver devices is the same plane.

Specifically, referring to FIG. 1 , a millimeter-wave radar transmitter is installed on the top TX1 of the elevator car, and installed on positions RX1, RX2, RX3, . The millimeter-wave radar receiving device ensures that the radar signal wave emitted by the millimeter-wave radar transmitting device can be received by at least two millimeter-wave radar receiving devices. During the operation of the elevator car, the millimeter-wave radar transmitting device transmits radar signal waves, and the elevator ranging equipment determines the two distances closer to the millimeter-wave radar transmitting device in the millimeter-wave radar receiving device located on the same side of the millimeter-wave radar transmitting device. A millimeter-wave radar receiving device, identifying the millimeter-wave radar receiving device that is closer to the millimeter-wave radar transmitting device as the second hoistway transceiver device, and identifying the other millimeter-wave radar receiving device as the first hoistway transceiver device; elevator ranging equipment The received radar signal wave is obtained from the first hoistway transceiver device as the signal wave of the first path; the received radar signal wave is obtained from the second hoistway transceiver device as the signal wave of the second path. It should be noted that if a millimeter-wave radar transmitting device is installed at the bottom of the elevator car, the subsequent implementation process is the same as the above, and will not be repeated here.

Further, the positions of the millimeter-wave radar transmitting device and the radar-wave radar receiving device can be reversed, that is, the millimeter-wave radar receiving device is installed on the top TX1 of the elevator car, and the positions RX1, Millimeter-wave radar transmitters are installed on RX2, RX3...RXn to ensure that the effective radar signal waves emitted by at least two millimeter-wave radar transmitters can be received by the millimeter-wave radar receiver. During the operation of the elevator car, the millimeter-wave radar transmitting device transmits radar signal waves, and the elevator ranging equipment determines the two millimeters closer to the millimeter-wave radar receiving device in the hoistway transceiver device located on the same side of the millimeter-wave radar receiving device. Wave radar transmitting device, the millimeter-wave radar transmitting device that is closer to the millimeter-wave radar receiving device is identified as the second hoistway transceiver device, and another millimeter-wave radar transmitting device is identified as the first hoistway transceiver device; elevator ranging equipment from millimeters The wave radar receiving device obtains the two radar signal waves it receives, and uses the radar signal wave with stronger signal strength as the signal wave of the second path, and the other radar signal wave as the signal wave of the first path.

Step S202, calculate the first distance and the second distance according to the signal wave of the first path and the signal wave of the second path; the first distance is the distance between the car transceiver and the first hoistway transceiver, and the second distance is the car The distance between the transceiver device and the second hoistway transceiver device.

Specifically, with reference to FIG. 1 , the elevator ranging device calculates the distance between the car transceiver and the first hoistway transceiver according to the signal wave of the first path, combined with the existing radar ranging principle, as the first distance d1; According to the signal wave of the second path, combined with the existing radar ranging principle, the distance between the car transceiver device and the second hoistway transceiver device is calculated as the second distance d2. In this way, in the elevator ranging system in Fig. 1, during the up and down operation of the elevator car, the first distance and the second distance can be determined in real time as long as the signal wave of the first path and the signal wave of the second path are determined. .

Step S203, obtaining the distance between the first hoistway transceiver device and the second hoistway transceiver device, and the third distance between the first hoistway transceiver device and the origin.

In this step, the origin refers to the intersection of the plane where the top of the elevator shaft is located and the vertical direction of the hoistway transceiver device set on the sidewall of the elevator shaft, such as RX1 in Figure 1; it can also refer to the plane where the bottom of the elevator shaft is located and the elevator shaft The intersection point of the vertical direction where the hoistway transceiver device arranged on the side wall is located. Of course, in order to facilitate the staff to mark the position of the elevator car, the origin setting can also be adjusted according to the actual situation.

Specifically, the elevator ranging device can query the distance table pre-stored with the distance between the hoistway transceiver and the distance between the hoistway transceiver and the origin according to the first hoistway transceiver device and the second hoistway transceiver device, and obtain the first hoistway transceiver device and the second hoistway transceiver device. The distance between the hoistway transceiver devices, and the third distance between the first hoistway transceiver device and the origin.

Step S204: Determine the current position of the elevator car according to the first distance, the second distance, the third distance and the distance.

Specifically, based on the first distance, the second distance, the third distance and the distance, the elevator ranging device obtains the vertical distance between the origin and the plane of the car where the car transceiver device is located through mathematical operations, and then determines the current position of the elevator car. In this embodiment, the third distance and the distance can be obtained by pre-measurement, so it is only necessary to measure the first distance and the second distance in real time, because the acquisition of the first distance and the second distance will not be affected by external factors, such as elevators Power failure, encoder failure, etc., and can be measured by high-precision instruments such as millimeter wave radar, thereby improving the measurement accuracy of the elevator car position, avoiding the traditional method of measuring the elevator car position through the encoder, which is prone to judgment distortion. defect.

It should be noted that the executive body of this application may be an elevator ranging device, and may also be selected and changed according to the actual situation, which is not specifically limited in this application.

In the above-mentioned method for determining the position of an elevator car, by setting the car transceiver device on the top and/or bottom of the elevator car, and the first hoistway transceiver device and the second hoistway transceiver device are vertically spaced and arranged in the elevator. on the side wall of the hoistway, to measure the first distance and the second distance; and obtain the pre-measured distance between the first hoistway transceiver device and the second hoistway transceiver device, and the third distance between the first hoistway transceiver device and the origin; The geometric relationship between the distance, the second distance, the distance and the third distance determines the current position of the elevator car; the purpose of determining the position of the elevator car through the geometric relationship of the acquired data is realized, and it will not be affected by external factors, thereby improving the performance of the elevator car. The measurement accuracy of the elevator car position avoids the traditional method of measuring the elevator car position through the encoder, which is easily disturbed or faulty and causes the elevator car position judgment to be distorted.

In one embodiment, the above step S201, before acquiring the signal wave of the first path and the signal wave of the second path, further includes: determining the hoistway transceiver device located on the same side of the car transceiver device; separately calculating the hoistway transceiver device and the car transceiver device The distance of the hoistway transceiver device; from the hoistway transceiver device, identify the hoistway transceiver device with the first distance as the second hoistway transceiver device, and identify the hoistway transceiver device with the second distance as the first hoistway transceiver device.

For example, referring to Figure 1, a millimeter-wave radar transmitter is installed on the top TX1 of the elevator car, and millimeter-wave radar is installed on the elevator shaft side walls at positions RX1, RX2, RX3...RXn spaced apart in the vertical direction Radar receiver. The millimeter-wave radar receiving device located on the same side of the millimeter-wave radar transmitting device TX1 sends the radar signal wave it receives to the elevator ranging equipment. The elevator ranging device calculates the distance between the millimeter-wave radar receiving device and the millimeter-wave radar transmitting device based on the received radar signal wave, compares the calculated distances, and identifies the millimeter-wave radar receiving device with the first distance as the second one. The hoistway transceiver device identifies the millimeter wave radar receiving device with the second distance as the first hoistway transceiver device.

Further, the elevator ranging device can also obtain the signal wave it receives from the hoistway transceiver device located on the same side of the car transceiver device. The device is identified as the second hoistway transceiver device, and the hoistway transceiver device corresponding to the second signal strength is identified as the first hoistway transceiver device. In this way, it is beneficial to subsequently obtain the signal waves of the first path between the car transceiver device and the first hoistway transceiver device, and the signal waves of the second path between the car transceiver device and the second hoistway transceiver device.

In one embodiment, in the above step S203, obtaining the distance between the first hoistway transceiver device and the second hoistway transceiver device, and the third distance between the first hoistway transceiver device and the origin, includes: obtaining the first hoistway transceiver device and the second hoistway transceiver device respectively. The device identification number of the hoistway transceiver device; query the pre-established distance table according to the device identification number; the distance table records the distance between two adjacent hoistway transceiver devices, as well as the distance between different hoistway transceiver devices and the origin; The distance between the first hoistway transceiver device and the second hoistway transceiver device, and the third distance between the first hoistway transceiver device and the origin.

In this embodiment, the device identification number refers to identification information identifying the hoistway transceiver device, such as a serial number, a name, and the like. The distance between the hoistway transceiver devices (S1, S2 in Figure 1) can be directly measured by high-precision measuring instruments such as laser rangefinders; In Fig. 1, the distance between the hoistway transceiver RX1 and the origin is S1, and the distance between the hoistway transceiver RX2 and the origin is S1+S2. The distance between the hoistway transceiver device and the distance between the hoistway transceiver device and the origin, which are measured in advance, are stored in the distance table in the storage medium according to the device identification number. It is convenient to subsequently query the distance table based on the device identification number, so as to obtain the data to be queried.

Further, with reference to Fig. 1, the spacing of the hoistway transceiver device can also be obtained by the following method:

1. Arrange a millimeter-wave radar transmitter on the top TX1 of the elevator car, and measure the horizontal distance D between the millimeter-wave radar transmitter and the side wall of the elevator shaft.

2. According to a certain interval S1, S2...Sn, arrange radar receiving devices on positions RX1, RX2, RX3...RXn separated by vertical intervals on the side wall of the same elevator shaft , to ensure that the radar signal wave emitted by the millimeter-wave radar transmitter can be received by at least two radar receivers; and directly measure the vertical distance S1 between RX1 and the plane where the top of the elevator shaft is located.

3. Run the elevator car to the bottom of the second radar receiving device RX2, so that the radar receiving devices RX1 and RX2 can receive effective radar signal waves, and calculate the distance between the radar receiving devices RX1 and RX2:

4. Calculate S1, S2, S3, S4...Sn respectively in this way, so as to obtain the specific positions of the radar receiving devices RX1, RX2, RX3...RXn and the corresponding number information, No manual measurement required.

5. Combined with S1, S2, S3, S4...Sn, calculate the vertical distance of each radar receiving device RX1, RX2, RX3...RXn from the plane where the top of the elevator shaft is located, and record it.

In addition, in the said 3rd point, the pitch S1, S2, S3, S4...Sn may be calculated in the same way by driving the elevator car to the bottom end of the elevator hoistway.

In one embodiment, in the above step S204, determining the current position of the elevator car according to the first distance, the second distance, the third distance and the distance includes: calculating the first distance according to the first distance, the second distance and the distance The vertical distance between a hoistway transceiver device and the car plane where the car transceiver device is located; add the vertical distance and the third distance to obtain the target vertical distance between the origin and the car plane where the car transceiver device is located; determine the elevator according to the target vertical distance The current position of the car.

Specifically, referring to Fig. 1, the vertical distance between the first hoistway transceiver device and the car plane where the car transceiver device is located using the following formula:

d=d ₁ cosθ;

Wherein, d ₁ is the first distance, d ₂ is the second distance, S ₂ is the distance between the first hoistway transceiver device and the second hoistway transceiver device, and θ is the first distance between the first hoistway transceiver device and the second hoistway transceiver device The included angle between the straight lines, d is the vertical distance between the first hoistway transceiver device and the car plane where the car transceiver device is located.

Then, the target vertical distance between the origin and the car plane where the car transceiver device is located is:

S=d+S ₁ ;

Wherein, S ₁ represents the third distance between the first hoistway transceiver device and the origin.

Further, referring to Figure 3, the car transceiver device can also be located at the bottom of the elevator car (TX1 in Figure 3), and the target vertical distance between the origin and the car plane where the car transceiver device is located by the same method is calculated, and then To determine the current position of the elevator car, the specific implementation process is as follows:

As shown in Figure 3, a millimeter-wave radar transmitter is installed on the bottom TX1 of the elevator car, and radars are installed on positions RX1, RX2, RX3...RXn that are spaced apart in the vertical direction on the sidewall of the same elevator shaft The receiving device ensures that the radar signal wave emitted by the millimeter-wave radar transmitting device can be received by at least two radar receiving devices. During the operation of the elevator car, the millimeter-wave radar transmitting device transmits radar signal waves, and the elevator ranging equipment determines the two radars that are closer to the millimeter-wave radar transmitting device in the radar receiving device located on the same side of the millimeter-wave radar transmitting device. The receiving device identifies the radar receiving device that is closer to the millimeter-wave radar transmitting device as the second hoistway transceiver device, and identifies the other radar receiving device as the first hoistway transceiver device; obtains the received data from the first hoistway transceiver device. The radar signal wave is used as the signal wave of the first path; the received radar signal wave is obtained from the second hoistway transceiver device as the signal wave of the second path; according to the signal wave of the first path and the signal wave of the second path , combined with the existing radar ranging principle, calculate the first distance d1 and the second distance d2; query the distance table according to the first hoistway transceiver device and the second hoistway transceiver device, and obtain the first hoistway transceiver device and the second hoistway transceiver device. Distance, and the third distance between the first hoistway transceiver device and the origin (such as the bottom of the elevator hoistway); based on the first distance, the second distance, the third distance and the distance, combined with the cosine law to calculate the origin and the car where the car transceiver device is located The target vertical distance of the plane to determine the current position of the elevator car. The specific calculation process is the same as the above-mentioned embodiment.

It should be noted that the positions of the millimeter-wave radar transmitting device and the radar receiving device can be reversed, that is, the radar receiving device is installed on the bottom TX1 of the elevator car, and the millimeter-wave radar is installed on RX1, RX2, RX3...RXn The transmitting device ensures that the effective radar signals transmitted by at least two millimeter-wave radar transmitting devices can be received by the radar receiving device. The specific implementation process is the same as that of the above-mentioned embodiment, which is not repeated here.

In one embodiment, the method for determining the position of the elevator car further includes: sending the current position of the elevator car to an elevator controller; the elevator controller is configured to perform a corresponding elevator control operation according to the current position of the elevator car. For example, control the elevator to stop at the corresponding floor, control the elevator to stop at the current position, etc. Of course, other control operations can also be performed on the elevator according to the actual situation.

It should be understood that although the various steps in the flowchart of FIG. 2 are shown in sequence according to the arrows, these steps are not necessarily executed in the sequence shown by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and these steps may be performed in other orders. Moreover, at least a part of the steps in FIG. 2 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed and completed at the same time, but may be executed at different times. The execution of these sub-steps or stages The sequence is also not necessarily sequential, but may be performed alternately or alternately with other steps or sub-steps of other steps or at least a portion of a phase.

In one embodiment, as shown in FIG. 4, a device for determining the position of an elevator car is provided, including: a signal wave acquisition module 410, a distance calculation module 420, a distance acquisition module 430 and a position determination module 440, wherein:

The signal wave acquisition module 410 is used to acquire the signal wave of the first path and the signal wave of the second path; the first path is the path between the car transceiver device and the first hoistway transceiver device, and the second path is the car transceiver device The path between the second hoistway transceiver device; the car transceiver device is arranged on the top and/or bottom of the elevator car; the first hoistway transceiver device and the second hoistway transceiver device are vertically spaced and arranged on the elevator hoistway sidewall superior.

The distance calculation module 420 is used to calculate the first distance and the second distance according to the signal wave of the first path and the signal wave of the second path; the first distance is the distance between the car transceiver and the first hoistway transceiver, and the second distance The distance is the distance between the car transceiver device and the second hoistway transceiver device.

The distance acquisition module 430 is configured to acquire the distance between the first hoistway transceiver device and the second hoistway transceiver device, and the third distance between the first hoistway transceiver device and the origin.

The position determination module 440 is configured to determine the current position of the elevator car according to the first distance, the second distance, the third distance and the distance.

In one embodiment, the device for determining the position of the elevator car further includes a device identification module, used for the signal wave acquisition module to determine the signal wave located on the same side of the car transceiver device before the signal wave acquisition module acquires the signal wave of the first path and the signal wave of the second path. The hoistway transceiver device; respectively calculate the distance between the hoistway transceiver device and the car transceiver device; from the hoistway transceiver device, identify the hoistway transceiver device with the first distance as the second hoistway transceiver device, and identify the hoistway transceiver device with the second distance as the first hoistway transceiver device. A hoistway transceiver device.

In one embodiment, the device identification module is further configured to determine the hoistway transceiver device located on the same side of the car transceiver device before the signal wave acquisition module acquires the signal wave of the first path and the signal wave of the second path; The signal strength of the received signal wave; from the hoistway transceiver devices, the hoistway transceiver device with the first signal strength is identified as the second hoistway transceiver device, and the hoistway transceiver device with the second signal strength is identified as the first hoistway transceiver device.

In one embodiment, the distance obtaining module is further configured to obtain the device identification numbers of the first hoistway transceiver device and the second hoistway transceiver device respectively; query a pre-established distance table according to the device identification number; The distance between the hoistway transceiver devices, and the distances between different hoistway transceiver devices and the origin; the distance between the first and second hoistway transceiver devices, and the third distance between the first hoistway transceiver device and the origin are obtained from the distance table.

In one embodiment, the position determination module is further configured to calculate the vertical distance between the first hoistway transceiver device and the car plane of the car transceiver device according to the first distance, the second distance and the distance; Add to get the target vertical distance between the origin and the car plane where the car transceiver device is located; determine the current position of the elevator car according to the target vertical distance.

In one embodiment, the position determination module is further configured to calculate the vertical distance between the first hoistway transceiver device and the car plane where the car transceiver device is located by using the following formula:

d=d ₁ cosθ;

Wherein, d ₁ is the first distance, d ₂ is the second distance, S ₂ is the distance between the first hoistway transceiver device and the second hoistway transceiver device, and θ is the first distance between the first hoistway transceiver device and the second hoistway transceiver device The included angle between the straight lines, d is the vertical distance between the first hoistway transceiver device and the car plane where the car transceiver device is located.

In one embodiment, the device for determining the position of the elevator car further includes a position sending module for sending the current position of the elevator car to the elevator controller; the elevator controller is configured to execute corresponding elevator control according to the current position of the elevator car operate.

In each of the above-mentioned embodiments, by arranging the car transceiver device on the top and/or bottom of the elevator car, and by arranging the first hoistway transceiver device and the second hoistway transceiver device on the sidewall of the elevator hoistway at intervals in the vertical direction, to measure the first distance and the second distance; and obtain the distance between the first hoistway transceiver device and the second hoistway transceiver device, and the third distance between the first hoistway transceiver device and the origin; combine the first distance, the second distance, the spacing, The geometric relationship of the third distance determines the current position of the elevator car; the purpose of determining the position of the elevator car through the geometric relationship of the acquired data is realized, and it will not be affected by external factors, thereby improving the measurement accuracy of the elevator car position , which avoids the defect of measuring the elevator car position through the encoder in the traditional method, and the elevator car position judgment is distorted because the encoder is easily disturbed or malfunctions.

For the specific definition of the device for determining the position of the elevator car, reference may be made to the definition of the method for determining the position of the elevator car above, which will not be repeated here. Each module in the above-mentioned device for determining the position of an elevator car can be implemented in whole or in part by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

In one embodiment, as shown in FIG. 1, an elevator ranging system is provided, including: a car transceiver, a first hoistway transceiver, a second hoistway transceiver, an elevator ranging device, and an elevator controller; The car transceiver device is arranged on the top and/or bottom of the elevator car; the first hoistway transceiver device and the second hoistway transceiver device are arranged on the side wall of the elevator hoistway at intervals in the vertical direction; the elevator ranging equipment is respectively connected to the car The transceiver device, the first hoistway transceiver device, the second hoistway transceiver device are connected with the elevator controller;

a car transceiver device, used for transmitting signal waves to the first hoistway transceiver device and the second hoistway transceiver device, or receiving signal waves emitted by the first hoistway transceiver device and the second hoistway transceiver device;

Elevator ranging equipment, used to perform the above-mentioned method for determining the position of an elevator car;

The elevator controller is used to receive the current position of the elevator car sent by the elevator ranging device, and perform corresponding elevator control operations according to the current position of the elevator car.

It should be noted that the elevator ranging system can also be as shown in FIG. 3 .

In this embodiment, the elevator ranging system achieves the purpose of determining the position of the elevator car through the geometric relationship of the acquired data, and will not be affected by external factors, thereby improving the accuracy of measuring the position of the elevator car, avoiding the traditional method of coding The encoder measures the position of the elevator car, because the encoder is easily disturbed or faulty, causing the defect of distorting the position of the elevator car.

In one embodiment, there is provided an elevator car equipped with the elevator ranging system described above. For example, the elevator ranging system shown in FIG. 1 or FIG. 3 .

In one embodiment, a computer device is provided, and the computer device may be a server, and its internal structure diagram may be as shown in FIG. 5 . The computer device includes a processor, memory, a network interface, and a database connected by a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium, an internal memory. The nonvolatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium. The database of the computer equipment is used to store the distance between two adjacent hoistway transceivers and the distances between different hoistway transceivers and the origin. The network interface of the computer device is used to communicate with an external terminal through a network connection. The computer program, when executed by a processor, implements a method of determining the position of an elevator car.

Those skilled in the art can understand that the structure shown in FIG. 5 is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the elevator ranging equipment to which the solution of the present application is applied. The ranging device may include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, including a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

Obtain the signal wave of the first path and the signal wave of the second path; the first path is the path between the car transceiver device and the first hoistway transceiver device, and the second path is the car transceiver device and the second hoistway transceiver device The path between; the car transceiver device is arranged on the top and/or bottom of the elevator car; the first hoistway transceiver device and the second hoistway transceiver device are vertically spaced and arranged on the sidewall of the elevator hoistway;

Calculate the first distance and the second distance according to the signal wave of the first path and the signal wave of the second path; the first distance is the distance between the car transceiver and the first hoistway transceiver, and the second distance is the distance between the car transceiver and the first hoistway transceiver. The distance of the second hoistway transceiver device;

acquiring the distance between the first hoistway transceiver device and the second hoistway transceiver device, and the third distance between the first hoistway transceiver device and the origin;

The current position of the elevator car is determined from the first distance, the second distance, the third distance and the spacing.

In one embodiment, the processor further implements the following steps when executing the computer program: before acquiring the signal wave of the first path and the signal wave of the second path, determine the hoistway transceiver device located on the same side of the car transceiver device; calculate the hoistway respectively The distance between the transceiver device and the car transceiver device; from the hoistway transceiver device, the hoistway transceiver device with the first distance is identified as the second hoistway transceiver device, and the hoistway transceiver device with the second distance is identified as the first hoistway transceiver device.

In one embodiment, the processor further implements the following steps when executing the computer program: before acquiring the signal wave of the first path and the signal wave of the second path, determining the hoistway transceiver device located on the same side of the car transceiver device; acquiring the hoistway transceiver device The signal strength of the signal wave received by the device; from the shaft transceiver devices, the shaft transceiver device with the first signal strength is identified as the second shaft transceiver device, and the shaft transceiver device with the second signal strength is identified as the first shaft transceiver device.

In one embodiment, the processor also implements the following steps when executing the computer program: respectively acquiring the device identification numbers of the first hoistway transceiver device and the second hoistway transceiver device; querying a pre-established distance table according to the device identification number; The distance between two adjacent hoistway transceivers, and the distance between different hoistway transceivers and the origin; obtain the distance between the first hoistway transceiver device and the second hoistway transceiver device, and the first hoistway transceiver device and the origin from the distance table. three distances.

In one embodiment, the processor also implements the following steps when executing the computer program: calculating the vertical distance between the first hoistway transceiver device and the car plane where the car transceiver device is located according to the first distance, the second distance and the distance; The third distance is added to obtain the target vertical distance between the origin and the car plane where the car transceiver device is located; the current position of the elevator car is determined according to the target vertical distance.

In one embodiment, the processor also implements the following steps when executing the computer program: using the following formula to calculate the vertical distance between the first hoistway transceiver device and the car plane where the car transceiver device is located:

d=d ₁ cosθ;

Wherein, d ₁ is the first distance, d ₂ is the second distance, S ₂ is the distance between the first hoistway transceiver device and the second hoistway transceiver device, and θ is the first distance between the first hoistway transceiver device and the second hoistway transceiver device The included angle between the straight lines, d is the vertical distance between the first hoistway transceiver device and the car plane where the car transceiver device is located.

In one embodiment, the processor also implements the following steps when executing the computer program: sending the current position of the elevator car to the elevator controller; the elevator controller is configured to perform corresponding elevator control operations according to the current position of the elevator car.

In each of the above-mentioned embodiments, the elevator ranging device realizes the purpose of determining the position of the elevator car through the geometric relationship of the acquired data through the computer program running on the processor, and will not be affected by external factors, thereby improving the accuracy of the elevator car position. The measurement accuracy avoids the traditional method of measuring the position of the elevator car through the encoder, and the defect of the elevator car position judgment distortion caused by the easy interference or failure of the encoder.

In one embodiment, a computer-readable storage medium is provided on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

Obtain the signal wave of the first path and the signal wave of the second path; the first path is the path between the car transceiver device and the first hoistway transceiver device, and the second path is the car transceiver device and the second hoistway transceiver device The path between; the car transceiver device is arranged on the top and/or bottom of the elevator car; the first hoistway transceiver device and the second hoistway transceiver device are vertically spaced and arranged on the sidewall of the elevator hoistway;

Calculate the first distance and the second distance according to the signal wave of the first path and the signal wave of the second path; the first distance is the distance between the car transceiver and the first hoistway transceiver, and the second distance is the distance between the car transceiver and the first hoistway transceiver. The distance of the second hoistway transceiver device;

acquiring the distance between the first hoistway transceiver device and the second hoistway transceiver device, and the third distance between the first hoistway transceiver device and the origin;

The current position of the elevator car is determined from the first distance, the second distance, the third distance and the spacing.

In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: before acquiring the signal wave of the first path and the signal wave of the second path, determine the hoistway transceiver device located on the same side of the car transceiver device; The distance between the hoistway transceiver device and the car transceiver device; from the hoistway transceiver device, identify the hoistway transceiver device with the first distance as the second hoistway transceiver device, and identify the hoistway transceiver device with the second distance as the first hoistway transceiver device .

In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: before acquiring the signal wave of the first path and the signal wave of the second path, determine the hoistway transceiver device located on the same side of the car transceiver device; acquire the hoistway The signal strength of the signal wave received by the transceiver; from the well transceiver device, identify the well transceiver device with the first signal strength as the second well transceiver device, and identify the well channel transceiver device with the second signal strength as the first well transceiver device .

In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: obtaining the device identification numbers of the first hoistway transceiver device and the second hoistway transceiver device respectively; querying a pre-established distance table according to the device identification number; recording the distance table There are distances between two adjacent hoistway transceivers, and distances between different hoistway transceivers and the origin; obtain the distance between the first hoistway transceiver and the second hoistway transceiver, and the distance between the first hoistway transceiver and the origin from the distance table. third distance.

In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: calculating the vertical distance between the first hoistway transceiver device and the car plane where the car transceiver device is located according to the first distance, the second distance and the distance; The distance and the third distance are added to obtain the target vertical distance between the origin and the car plane where the car transceiver device is located; the current position of the elevator car is determined according to the target vertical distance.

In one embodiment, the computer program also implements the following steps when executed by the processor: using the following formula to calculate the vertical distance between the first hoistway transceiver device and the car plane where the car transceiver device is located:

d=d ₁ cosθ;

Wherein, d ₁ is the first distance, d ₂ is the second distance, S ₂ is the distance between the first hoistway transceiver device and the second hoistway transceiver device, and θ is the first distance between the first hoistway transceiver device and the second hoistway transceiver device The included angle between the straight lines, d is the vertical distance between the first hoistway transceiver device and the car plane where the car transceiver device is located.

In one embodiment, the computer program further implements the following steps when executed by the processor: sending the current position of the elevator car to the elevator controller; the elevator controller is configured to perform corresponding elevator control operations according to the current position of the elevator car.

In the above-mentioned various embodiments, the computer program stored in the computer-readable storage medium realizes the purpose of determining the position of the elevator car through the geometric relationship of the acquired data, and will not be affected by external factors, thereby improving the measurement of the position of the elevator car. Accuracy, avoiding the traditional method of measuring the elevator car position through the encoder, because the encoder is easily disturbed or faulty, and the elevator car position judgment is distorted.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage In the medium, when the computer program is executed, it may include the processes of the above-mentioned method embodiments. Wherein, any reference to memory, storage, database or other medium used in the various embodiments provided in this application may include non-volatile and/or volatile memory. Nonvolatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Road (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features It is considered to be the range described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims (10)

1. A method of determining a position of an elevator car, the method comprising:

acquiring a signal wave of a first path and a signal wave of a second path; the first path is a path between the car transceiver and a first hoistway transceiver, and the second path is a path between the car transceiver and a second hoistway transceiver; the car transceiver is arranged at the top and/or the bottom of the elevator car; the first hoistway transceiving device and the second hoistway transceiving device are arranged on the side wall of the elevator hoistway at intervals in the vertical direction; the second hoistway transceiver device is a hoistway transceiver device which is first away from the car transceiver device, and the first hoistway transceiver device is a hoistway transceiver device which is second away from the car transceiver device;

calculating a first distance and a second distance according to the signal wave of the first path and the signal wave of the second path; the first distance is the distance between the car transceiver and the first hoistway transceiver, and the second distance is the distance between the car transceiver and the second hoistway transceiver;

acquiring a distance between the first hoistway transceiving device and the second hoistway transceiving device and a third distance between the first hoistway transceiving device and an origin; the origin point is the intersection point of the plane of the top or the bottom of the elevator shaft and the vertical direction of the shaft receiving and sending device arranged on the side wall of the elevator shaft;

and determining the current position of the elevator car according to the first distance, the second distance, the third distance and the distance.

2. The method of claim 1, wherein the obtaining the signal wave of the first path and the signal wave of the second path is preceded by:

determining a hoistway transceiving device located on the same side of the car transceiving device;

respectively calculating the distances between the hoistway receiving and dispatching device and the car receiving and dispatching device;

identifying a hoistway transceiving device from the first hoistway transceiving device as a second hoistway transceiving device and identifying a hoistway transceiving device from the second hoistway transceiving device as a first hoistway transceiving device;

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

determining a hoistway transceiving device located on the same side of the car transceiving device;

acquiring the signal intensity of the signal waves received by the well receiving and transmitting device;

the hoistway transmitting/receiving device having the first signal strength is identified as the second hoistway transmitting/receiving device, and the hoistway transmitting/receiving device having the second signal strength is identified as the first hoistway transmitting/receiving device.

3. The method of claim 1, wherein the obtaining a spacing of the first hoistway transceiving device and the second hoistway transceiving device, and a third distance of the first hoistway transceiving device from an origin comprises:

respectively acquiring device identification numbers of the first hoistway transceiving device and the second hoistway transceiving device;

inquiring a pre-established distance table according to the device identification number; the distance meter records the distance between every two adjacent hoistway transceiving devices and the distance between different hoistway transceiving devices and an origin;

obtaining a distance between the first hoistway transceiving device and the second hoistway transceiving device and a third distance between the first hoistway transceiving device and the origin from the distance table.

4. The method of claim 1, wherein determining the current position of the elevator car based on the first distance, the second distance, the third distance, and the spacing comprises:

calculating the vertical distance between the first hoistway transceiver and the plane of the car where the car transceiver is located according to the first distance, the second distance and the distance;

adding the vertical distance and the third distance to obtain a target vertical distance between the origin and a car plane where the car transceiver is located;

and determining the current position of the elevator car according to the target vertical distance.

5. The method of claim 4, wherein calculating the vertical distance of the first hoistway transceiving apparatus from the car plane in which the car transceiving apparatus is located based on the first distance, the second distance, and the spacing comprises:

calculating the vertical distance between the first hoistway transceiver and the plane of the car where the car transceiver is located by adopting the following formula:

d＝d₁cosθ；

wherein d is₁Is a first distance, d₂Is a second distance, S₂The distance between the first shaft receiving and dispatching device and the second shaft receiving and dispatching device is theta, theta is the first distance and the included angle between the straight lines where the first shaft receiving and dispatching device and the second shaft receiving and dispatching device are located, and d is the vertical distance between the first shaft receiving and dispatching device and the plane of the car where the car receiving and dispatching device is located.

6. The method according to any one of claims 1 to 5, further comprising:

sending the current position of the elevator car to an elevator controller; the elevator controller is used for executing corresponding elevator control operation according to the current position of the elevator car.

7. An elevator car position determining apparatus, the apparatus comprising:

the signal wave acquisition module is used for acquiring a signal wave of a first path and a signal wave of a second path; the first path is a path between the car transceiver and a first hoistway transceiver, and the second path is a path between the car transceiver and a second hoistway transceiver; the car transceiver is arranged at the top and/or the bottom of the elevator car; the first hoistway transceiving device and the second hoistway transceiving device are arranged on the side wall of the elevator hoistway at intervals in the vertical direction; the second hoistway transceiver device is a hoistway transceiver device which is first away from the car transceiver device, and the first hoistway transceiver device is a hoistway transceiver device which is second away from the car transceiver device;

the distance calculation module is used for calculating a first distance and a second distance according to the signal wave of the first path and the signal wave of the second path; the first distance is the distance between the car transceiver and the first hoistway transceiver, and the second distance is the distance between the car transceiver and the second hoistway transceiver;

the distance acquisition module is used for acquiring the distance between the first hoistway transceiving device and the second hoistway transceiving device and the third distance between the first hoistway transceiving device and the origin; the origin point is the intersection point of the plane of the top or the bottom of the elevator shaft and the vertical direction of the shaft receiving and sending device arranged on the side wall of the elevator shaft;

and the position determining module is used for determining the current position of the elevator car according to the first distance, the second distance, the third distance and the distance.

8. An elevator ranging system, comprising: the elevator distance measuring device comprises a car transceiving device, a first hoistway transceiving device, a second hoistway transceiving device, elevator distance measuring equipment and an elevator controller; the car transceiver is arranged at the top and/or the bottom of the elevator car; the first hoistway transceiving device and the second hoistway transceiving device are arranged on the side wall of the elevator hoistway at intervals in the vertical direction; the elevator distance measuring equipment is respectively connected with the car transceiver, the first hoistway transceiver and the second hoistway transceiver and connected with the elevator controller;

the car transceiver is used for transmitting signal waves to the first hoistway transceiver and the second hoistway transceiver or receiving the signal waves transmitted by the first hoistway transceiver and the second hoistway transceiver;

the elevator ranging apparatus for performing the method of determining the position of an elevator car of any one of claims 1 to 6;

the elevator controller is used for receiving the current position of the elevator car sent by the elevator ranging equipment and executing corresponding elevator control operation according to the current position of the elevator car.

9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 6 when executing the computer program.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.

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