CN113233272A - Method and system for determining elevator floor position coordinates and elevator car dynamic coordinates and storage medium - Google Patents
Method and system for determining elevator floor position coordinates and elevator car dynamic coordinates and storage medium Download PDFInfo
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- CN113233272A CN113233272A CN202110524235.0A CN202110524235A CN113233272A CN 113233272 A CN113233272 A CN 113233272A CN 202110524235 A CN202110524235 A CN 202110524235A CN 113233272 A CN113233272 A CN 113233272A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B3/00—Applications of devices for indicating or signalling operating conditions of elevators
- B66B3/02—Position or depth indicators
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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
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Abstract
The application relates to a method, a system and a storage medium for determining elevator floor position coordinates and elevator car dynamic coordinates, wherein the method for determining the elevator floor position coordinates comprises the following steps: collecting an upper induction signal and a lower induction signal of a car and the upper edge and the lower edge of an inserting plate arranged at each floor; acquiring the coordinate information of the upper edge of the plugboard based on the upper induction signal, and acquiring the coordinate information of the lower edge of the plugboard based on the lower induction signal; and calculating the position coordinate information of the floor corresponding to the inserting plate based on the upper edge coordinate information and the lower edge coordinate information. Indicating a door zone and a landing position of an elevator according to an inserting board installed at each floor; and measuring the coordinates of the upper edge of each plug board according to the upper sensing signal and measuring the coordinates of the lower edge of each plug board according to the lower sensing signal, thereby calculating the position coordinates of each floor, and better determining the position coordinates of the elevator floors.
Description
Technical Field
The present application relates to the field of communications technologies, and in particular, to a method, a system, and a storage medium for determining elevator floor position coordinates and elevator car dynamic coordinates.
Background
With the development of society, the pace of life of people is increasing, and elevators are gradually and rapidly developed as tools which must be used in daily life of people. The main components of the elevator consist of: the system comprises a traction system, a guide system, a car, a door system, a weight balance system, an electric traction system, an electric control system and a safety protection system.
In a commonly used elevator, the electrical control system needs to control the car floor and floor level to be accurately aligned each time the elevator stops, and in order to achieve this requirement, the coordinates of the stopping point of each floor and the dynamic coordinates of the elevator car need to be known.
In view of the above-mentioned related art, the inventor believes that there is a defect that the elevator floor position coordinates are not easy to acquire.
Disclosure of Invention
In order to better determine the position coordinates of the elevator floor, the application provides a method, a system and a storage medium for determining the position coordinates of the elevator floor and the dynamic coordinates of an elevator car.
In a first aspect, the present application provides a method for determining elevator floor position coordinates, which adopts the following technical scheme:
a method of determining elevator floor position coordinates comprising the steps of:
collecting an upper induction signal and a lower induction signal of a car and the upper edge and the lower edge of an inserting plate arranged at each floor;
acquiring the coordinate information of the upper edge of the plugboard based on the upper induction signal, and acquiring the coordinate information of the lower edge of the plugboard based on the lower induction signal;
and calculating the position coordinate information of the floor corresponding to the inserting plate based on the upper edge coordinate information and the lower edge coordinate information.
By adopting the technical scheme, the elevator door zone and the landing position are indicated according to the inserting plate arranged at each floor; and measuring the coordinates of the upper edge of each plug board according to the upper sensing signal and measuring the coordinates of the lower edge of each plug board according to the lower sensing signal, thereby calculating the position coordinates of each floor, and better determining the position coordinates of the elevator floors.
Optionally, in the step of obtaining the upper edge coordinate information and the lower edge coordinate information, the method further includes:
acquiring an accumulated pulse numerical value of an elevator encoder in real time;
storing the pulse value at the corresponding moment to a latch based on the upper sensing signal, and converting the pulse value in the latch into upper edge coordinate information according to a preset first strategy; or storing the pulse value at the corresponding moment to the latch based on the lower sensing signal, and converting the pulse value in the latch into lower edge coordinate information according to a preset second strategy.
By adopting the technical scheme, the upper sensing signal and the lower sensing signal are used as latching signals of the pulse values, the latched pulse values are converted into upper edge coordinate information according to a preset first strategy, and the latched pulse values are converted into lower edge coordinate information according to a preset second strategy, so that the acquired upper edge coordinate information and the acquired lower edge coordinate information are more accurate.
Optionally, the method further includes obtaining a current floor value of a floor where the car is currently located, and the specific steps are as follows:
acquiring a floor value of a floor where a car is located before running;
acquiring a running direction signal of a car in an elevator;
and adding one or subtracting one to the floor value based on the lower induction signal and the running direction signal to obtain the current floor value of the floor where the car is located at present.
By adopting the technical scheme, the accuracy of the elevator floor coordinate can be verified by acquiring the current floor value of the floor where the elevator car is located currently according to the lower sensing signal and the running direction signal.
Optionally, the method further includes obtaining a current floor value of a floor where the car is currently located, and the specific steps are as follows:
acquiring a floor value of a floor where a lift car is located when the lift is powered on;
acquiring a running direction signal of a car in an elevator;
and adding one or subtracting one to the floor value based on the upper sensing signal and the running direction signal to obtain the current floor value of the floor where the car is located.
By adopting the technical scheme, the current floor value of the floor where the elevator car is located at present can be obtained according to the upper sensing signal and the running direction signal, and the correctness of the elevator floor coordinate can be verified.
Optionally, the obtaining the current floor value further includes the following steps:
collecting a limit signal when the lift car runs to the topmost floor;
and obtaining a top floor value of the car based on the limiting signal, comparing the top floor value with a preset floor value, and if the top floor value is equal to the preset floor value, obtaining the correct current floor value.
By adopting the technical scheme, the top floor value is verified according to the limit signal, and the accuracy of the current floor value can be verified.
Optionally, the method further includes a method for verifying the position coordinate information, and the specific steps include:
calculating the position coordinate information according to a preset rule according to the upper edge coordinate information, the lower edge coordinate information and the position coordinate information to obtain a check code of the elevator floor coordinate;
and comparing the check code with the preset code, wherein if the check code is the same as the preset code, the position coordinate information is correct, and otherwise, the position coordinate information is determined again.
By adopting the technical scheme, the correctness of the elevator floor coordinate can be verified according to the check code of the elevator floor coordinate.
In a second aspect, the present application provides a method for determining a dynamic coordinate of an elevator car, which adopts the following technical solution:
a method for determining dynamic coordinates of an elevator car, comprising the steps of:
acquiring position coordinate information of the position of a lift car when the lift is electrified;
acquiring a pulse value of a pulse counter of an encoder according to a preset frequency;
based on the obtained pulse numerical value, calculating an incremental value of the movement of the elevator according to a first preset algorithm;
and calculating the dynamic coordinate value of the car according to a second preset algorithm based on the position coordinate information and the incremental value.
By adopting the technical scheme, the dynamic coordinate value of the car is calculated according to the position coordinate information, the incremental value and the second preset algorithm, so that the dynamic coordinate value of the car can be better determined.
Optionally, the car dynamic coordinate value verification method includes the following steps:
comparing the absolute value of the difference with a preset error value based on the difference between the dynamic coordinate value of the car and the real coordinate value of the car, wherein if the absolute value is less than or equal to the error value, the dynamic coordinate value of the car is correct; if the absolute value is larger than the error value, the dynamic coordinate value of the cage is wrong.
By adopting the technical scheme, the dynamic coordinate value of the car is verified according to the real coordinate value of the car, and the accuracy of the current dynamic coordinate value of the car can be verified.
In a third aspect, the present application provides a system for determining elevator floor position coordinates, which adopts the following technical solutions:
a system for determining the position coordinates of elevator floors comprises an induction acquisition module, a coordinate acquisition module and an information processing module;
the induction acquisition module is used for acquiring an upper induction signal and a lower induction signal of the lift car and the upper edge and the lower edge of the plugboard arranged at each floor;
the coordinate acquisition module is connected with the induction acquisition module and used for receiving the upper induction signal and the lower induction signal, acquiring the coordinate information of the upper edge of the plugboard based on the upper induction signal and acquiring the coordinate information of the lower edge of the plugboard based on the lower induction signal;
and the information processing module is connected with the coordinate acquisition module and used for receiving the upper edge coordinate information and the lower edge coordinate information and calculating the position coordinate information of the floor corresponding to the plugboard based on the upper edge coordinate information and the lower edge coordinate information.
By adopting the technical scheme, the elevator door zone and the landing position are indicated according to the inserting plate arranged at each floor; and measuring the coordinates of the upper edge of each plug board according to the upper sensing signal and measuring the coordinates of the lower edge of each plug board according to the lower sensing signal, thereby calculating the position coordinates of each floor, and better determining the position coordinates of the elevator floors.
In a fourth aspect, the present application provides a computer storage medium, which adopts the following technical solutions:
a computer storage medium storing a computer program that can be loaded by a processor and that performs any of the methods of determining, for example, elevator floor position coordinates and elevator car dynamic coordinates.
In summary, the present application includes at least one of the following beneficial technical effects:
indicating a door zone and a landing position of an elevator according to an inserting board installed at each floor; and measuring the coordinates of the upper edge of each plug board according to the upper sensing signal and measuring the coordinates of the lower edge of each plug board according to the lower sensing signal, thereby calculating the position coordinates of each floor, and better determining the position coordinates of the elevator floors.
Drawings
FIG. 1 is a schematic structural diagram of a socket, an inductor SU and an inductor SD in the embodiment of the present application;
fig. 2 is a flow chart of a method of elevator floor position coordinate determination in an embodiment of the present application;
fig. 3 is a flow chart of a method for determining dynamic coordinates of an elevator car in an embodiment of the present application;
fig. 4 is a block diagram of a system for elevator floor position coordinate determination in an embodiment of the present application.
Description of reference numerals: 1. a guide rail; 2. inserting plates; 3. an inductor SU; 4. and an inductor SD.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to fig. 1-4 and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In order to obtain the coordinates of each floor, some support of measuring equipment is needed, and in the embodiment, referring to fig. 1, the system comprises a rotary encoder installed on a rotating shaft of a traction machine, a plug board installed on a guide rail in a hoistway, a leveling sensor installed on the outer wall of a car, and a control main board installed in an elevator control cabinet.
The embodiment of the application discloses a method for determining the position coordinates of an elevator floor. Referring to fig. 2, the determination method includes the steps of:
a1, collecting upper induction signals and lower induction signals of the elevator car and the upper edges and the lower edges of the insertion boards at each floor.
In the application, the inserting plate is made of a steel plate with the length of 20cm-50cm, and one inserting plate corresponds to each floor. When the plugboard is installed, the leveling inductor enters the plugboard, and the distance d1 between the center of the leveling inductor and the upper edge of the plugboard is equal to the distance d2 between the center of the leveling inductor and the lower edge of the plugboard, and the leveling point of the elevator floor is defined.
Specifically, the step of obtaining the upper edge coordinate information and the lower edge coordinate information further includes:
and A11, acquiring the pulse value accumulated by the elevator encoder in real time. Wherein the pulse number value is obtained by a rotary encoder.
A12, storing the pulse value corresponding to the upper sensing signal into a latch based on the upper sensing signal, and converting the pulse value in the latch into upper edge coordinate information according to a preset first strategy; or storing the pulse value at the corresponding moment to the latch based on the lower sensing signal, and converting the pulse value in the latch into lower edge coordinate information according to a preset second strategy.
It should be noted that the upper sensing signal and the lower sensing signal are used as latching signals of the pulse values, the latched pulse values are converted into upper edge coordinate information according to a preset first strategy, and the latched pulse values are converted into lower edge coordinate information according to a preset second strategy, so that the acquired upper edge coordinate information and lower edge coordinate information can be more accurate.
And A2, acquiring the coordinate information of the upper edge of the card based on the upper sensing signal, and acquiring the coordinate information of the lower edge of the card based on the lower sensing signal.
In order to accurately capture the height coordinates of the upper edge and the lower edge of each plug board, firstly, signals of a flat sensor are required to be accessed to a control main board; a 32-bit counter cnt1 is designed on the control mainboard and used for accumulating the pulse number sent by the encoder; the other is a 32-bit latch cnt2, the latch cnt2 is used to store the value of the counter cnt1 at a certain time, and the time of loading the counter cnt1 to the latch cnt2 is triggered by the changing edge of the flat inductor signal; in order to realize the edge loading function of the flat-layer sensor, an edge signal change capture circuit of the flat-layer sensor needs to be designed, an upper sensing signal and a lower sensing signal are realized as a latch signal of the counter cnt1, and the value of the counter cnt1 is latched into the cnt2 every time the upper sensing signal and the lower sensing signal change.
And A3, calculating the position coordinate information of the floor corresponding to the insert board based on the upper edge coordinate information and the lower edge coordinate information.
It should be noted that the principle of the capturing process of the coordinates of the upper and lower edges of the hoistway interpolation board is as follows: the length of the interposer is D0, the coordinate of the bottom edge of the lowest-layer interposer is used as a reference coordinate point, the coordinate of the bottom edge of the lowest-layer interposer is designated as f1(1), the coordinate of the top edge of the lowest-layer interposer is f2(1) = f1(1) + D0, and the coordinate of the bottom-layer flat-layer point is f3(1) = f1(1) + D0/2.
The determining method also comprises the step of obtaining the current floor value of the floor where the car is located, and the specific steps are as follows:
and A4, obtaining the floor value of the floor where the car is located before running.
And A5, acquiring a running direction signal of the car in the elevator.
And A6, adding one or subtracting one to the floor value based on the lower sensing signal and the running direction signal to obtain the current floor value of the floor where the elevator car is located.
In the application, the step A5 can be executed firstly, and then the step A4 is executed, so that the current floor value of the floor where the car is located at present can be obtained according to the lower sensing signal and the running direction signal, and the correctness of the elevator floor coordinate can be verified.
In other embodiments, the current floor value may also be obtained in the following manner, specifically including the steps of: and adding one or subtracting one to the floor value based on the upper sensing signal and the running direction signal to obtain the current floor value of the floor where the car is located.
Specifically, the counter cnt1 has a direction identification module, and the running direction signal is obtained by the direction identification module. The direction identification module identifies the running direction of the elevator according to the two orthogonal pulse signals, the counter cnt1 determines the increase and decrease of the count value according to the running direction of the elevator, the count value is increased when the elevator runs upwards, and the count value is decreased when the elevator runs downwards. In the application, according to the upper sensing signal and the running direction signal, the current floor value of the floor where the car is located at present is obtained, and the correctness of the elevator floor coordinate can be verified.
In addition, the step of obtaining the current floor value further comprises the following steps: a61, collecting a limit signal when the lift car runs to the topmost floor; a62, acquiring a top floor value of the car based on the limit signal, comparing the top floor value with a preset floor value, and if the top floor value is equal to the preset floor value, acquiring the current floor value as correct.
In this application, verify the top floor value according to spacing signal, can verify the accuracy of current floor value. When the elevator is operating in the floor height coordinate learning state, F =1 is assigned when the level sensor leaves the upper edge of the lowest deck plug, after which the level sensor increments every time it detects an entry into the plug, i.e. F = F + 1. The limiting signal is obtained by a limiting switch arranged at the topmost layer, after the elevator car runs to the topmost layer and hits the limiting switch, the main board is controlled to compare F with a floor preset value Fs, if the F is equal, the obtained floor is correct, and if the F is unequal, the whole learning fails. The floor preset value can be set according to the actual situation.
The determining method also comprises a position coordinate information checking method, and the specific steps are as follows: a7, calculating the position coordinate information according to the upper edge coordinate information, the lower edge coordinate information and the position coordinate information and preset rules to obtain a check code of the elevator floor coordinate; and A8, comparing the check code with the preset code, wherein if the check code is the same as the preset code, the position coordinate information is correct, otherwise, the position coordinate information is determined again.
In this application, according to the check code of elevator floor coordinate, can verify the exactness of elevator floor coordinate. In the process of floor coordinate learning, when a lower edge coordinate f1(x), an upper edge coordinate f2(x) and a leveling point coordinate f3(x) generated by calculation are calculated each time, position coordinate information is calculated according to a preset rule, the calculation result is used as a check code VC (x), the VC (x) is a fingerprint code obtained in the learning process, VC (x) is different in each learning process, the correctness of elevator coordinates can be confirmed by calculating the coordinates again in each power-on process and comparing the coordinates with the fingerprint code, if the calculation result is the same as the preset code, the position coordinate information is correct, and if not, the floor coordinates need to be learned again.
The implementation principle of the method for determining the position coordinates of the elevator floor in the embodiment of the application is as follows: indicating a door zone and a landing position of an elevator according to an inserting board installed at each floor; and measuring the coordinates of the upper edge of each plug board according to the upper sensing signal and measuring the coordinates of the lower edge of each plug board according to the lower sensing signal, thereby calculating the position coordinates of each floor, and better determining the position coordinates of the elevator floors.
The embodiment of the application also discloses a method for determining the dynamic coordinates of the elevator car. Referring to fig. 3, the determining method includes the steps of:
and B1, acquiring the position coordinate information of the position of the car when the elevator is electrified.
In this application, the position coordinate information cd0 when the elevator is powered on can be derived from the floor.
And B2, acquiring the pulse value of the encoder pulse counter according to a preset frequency.
In this application, the control main board will obtain the pulse value v (k) of the encoder pulse counter according to the predetermined frequency, and the predetermined frequency may be set to 5 milliseconds/time.
And B3, calculating an increment value of the elevator movement according to a first preset algorithm based on the acquired pulse value.
In the present application, steps B2 and B3 may be performed first, and then step B1 may be performed. After each reading, δ = V (k) = V (k-1), fs (k) = Σ δ, fs (k) is calculated as an incremental value of elevator movement. Wherein fs (k) is a positive value when the elevator runs upwards, and fs (k) is a negative value when the elevator runs downwards.
And B4, calculating the dynamic coordinate value of the car according to a second preset algorithm based on the position coordinate information and the incremental value.
In this application, the coordinate value of the elevator is fc (n) = fs (k) + cd0 when the elevator is stopped. Since the motor does not rotate when the elevator stops and the encoder does not output pulses, the coordinate value fc (n) of the car when the elevator stops is a stable and unchangeable value, after the elevator is started, fc (n) = fs (k) + cd0, fs (k) changes according to the running direction of the elevator, fc (n) also changes along with the position of the elevator, and fc (n) is used for indicating the position of the elevator car in the hoistway and is called the real-time position coordinate of the car.
It should be noted that, when the elevator enters into the floor coordinate learning mode and starts to move upwards, at the moment when the leveling sensor is separated from the upper edge of the sensing board of the lowest floor, fc (1) = f1(1) + D0/2 is assigned to the car real-time coordinate counter, before the leveling sensor reaches the sensing board of the next floor, the control main board reads the value of cnt1 at regular time, and the difference is calculated between the adjacent two counting values, so as to obtain δ = V (k) = -V (k-1), and fc (k) = fc (k-1) + δ as the real-time coordinate of the car.
In order to ensure the accuracy of the dynamic coordinates of the elevator, the coordinates need to be checked each time the car passes through the plugboard installed at each floor, and a coordinate check code VC (R) for the dynamic running of the car is generated through a pre-designed algorithm.
And stopping at the highest floor after the elevator floor coordinate learning is finished, wherein the position coordinate of the elevator car is defined as f3(N), the value of f3(N) is forcibly assigned by the control main board, and the value is equal to the value of the upper edge coordinate of the highest floor flat plug board minus half of the length value of the flat plug board, namely f3(N) = f2(N) -D0/2.
In another embodiment, the two leveling sensors are a sensor SU mounted at the upper end of the car and a sensor SD mounted at the lower end of the car. In the case of the downward operation of the elevator, the sensor SU is the board which is finally separated from the departure floor and is also the flat-layer board which is finally entered into the destination floor, so that when the elevator is operated downward, the position coordinate of the car at the moment when the sensor SU is separated from the lower edge of the board passing through the floor is fc (n) = f1(n) -D1/2 +/Δ s, f1(n) is the coordinate of the lower edge of the board passing through the floor, D1 is the distance value between two flat-layer sensors, and Δ s is the difference between the counter value v (k) before the separation edge and the counter value l (k) latched by the edge of the sensor SU, namely Δ s = v (k) -l k).
The position coordinate of the car is fc (n) = f2(n) + D1/2-deltas at the moment when the sensor SD enters the upper edge of the board passing through the floor, f2(n) is the coordinate of the upper edge of the board passing through the floor, and deltas is the difference between the counter value V (K) before entering the upper edge and the counter value L (K) latched by the edge of the sensor SD, namely deltas = V (K) -L (K).
After the elevator is called, the elevator starts to move downwards from the highest floor, the control main board calculates and generates dynamic coordinates fc (n) of the elevator car at fixed time in the process of moving downwards, the coordinates fc (n) of the elevator car are decreased because the elevator car moves downwards, the hardware latch circuit latches the value of the position counter cnt1 into the latch cnt2 at the moment when the sensor SD leaves the lower edge of the plugboard, and after the control main board detects that the latch event occurs, the control main board calculates the distance between the current coordinate position fc (n) and the coordinates f1(n) of the lower edge of the plugboard according to the corresponding situation, namely deltas = f1(n) -fc (n).
The verification method of the car dynamic coordinate value in the step B4 comprises the following steps: comparing the absolute value of the difference with a preset error value based on the difference between the dynamic coordinate value of the car and the real coordinate value of the car, wherein if the absolute value is less than or equal to the error value, the dynamic coordinate value of the car is correct; if the absolute value is larger than the error value, the dynamic coordinate value of the cage is wrong. In the application, the dynamic coordinate value of the car is verified according to the real coordinate value of the car, and the accuracy of the current dynamic coordinate value of the car can be verified.
And then calculating the real coordinates fr (n) = f1(n) + D1/2-deltas of the car according to the value fc (n) of the lower edge of the highest floor inserting plate obtained by learning the position of the previous floor. At this time, the control main board obtains two coordinate values related to the position of the car, one is a car dynamic coordinate fc (n) generated in real time, and the other is a car real coordinate fr (n). After obtaining the two coordinates, the control main board processes the values of the two coordinates, and firstly directly assigns the value of fr (n) to the storage unit of fc (n), which is because fr (n) is the real coordinate value of the position of the car, and fc (n) is the value superposed by a certain process on the basis of the increment value of the counter and the previous amplitude value, and the value may generate corresponding errors, and the assignment of fr (n) to fc (n) can eliminate the position errors caused by various factors in operation.
Secondly, the control main board carries out difference operation on two new coordinate values, then an absolute value is obtained, namely deltac = | fc (n) -fr (n) - | is obtained, and if the deltac is less than or equal to a preset error value c1, the generation process of the dynamic coordinate of the lift car is considered to be correct; if Δ c is greater than a preset error value c1, the generation process of the dynamic position coordinates of the car is considered to be wrong, at this time, a coordinate error counter c2= c2+1, and if the value of the error counter c2 is greater than a preset reference value c3, the learned coordinates are considered to be determined to be wrong, or the traction force between the steel wire rope and the traction sheave is insufficient in the running process of the elevator, so that the relative motion between the steel wire rope and the traction sheave is large. The above is the process of realizing the generation of the position coordinates of the elevator car and the elimination of errors when the elevator runs downwards and the sensor SD acts.
The elevator continues to run downwards, the car position coordinate generator calculates the coordinates fc (n) = Σ δ + cd0 of different position points at regular time, the elevator passes a certain distance, and at a certain moment, the upper end inductor SU also leaves the lower edge of the insertion board of the passing floor. Taking an induction signal collected by the inductor SU as an example, when the induction signal is from a high level to a low level, namely before the inductor SU acts, the main board is controlled to read a count value from the counter cnt1 to obtain Pr 0; at the moment of the action of the sensor SU, the main board is controlled to latch the value Pr1 from the counter cnt1 to the latch cnt 2; after the sensor SU operates, the value of the counter read from the counter cnt1 for the first time is Pr2, the real position coordinate of the car at the moment of the operation of the sensor SU is fr (n) = f1(n) -D1/2- (Pr1-Pr2), and the value produced by the coordinate generator is fc (n), and after the two values are obtained, the control program completes the above two processes, and completes the update of the elevator position coordinate on the edge of the plugboard. Described above is the procedure for updating the car position when the two sensors SD and SU leave the card.
After the two sensors of the elevator leave the plugboard, the elevator continues to move downwards in the hoistway, and in the process, the car position coordinate generator carries out the downward movement according to the calculation formula fc (n) = Σ δ + cd0, wherein δ = V (k) = V (k-1), and cd0 is a coordinate value updated when passing through an edge. The periodic calculation results in that after the elevator has traveled a distance, a process will take place in which the inductor SD first enters the upper edge of the card at the next floor, followed by the inductor SU entering the upper edge of the card, then the inductor SD leaving the lower edge of the card and finally the inductor SU leaving the lower edge of the card. The process of leaving the lower edge of the board by two flat sensors is the same as the process of leaving the lower edge of the topmost board, and the coordinate process of the moment when two flat sensors enter the upper edge of the board in sequence is described.
The position coordinates of the car at the moment when the sensor SD enters the upper edge of the inserter are calculated as follows: the value of a counter cnt1 read in the previous operation cycle when the sensor SD enters the upper edge of the board is Pdu0, the value latched into a latch cnt2 from a counter cnt1 at the moment of entering the board is Pdu1, the count value of a counter cnt1 read for the first time after entering the board is Pdu2, the distance from the position of the car to the upper edge of the board at the floor is Deltas = Pdu 1-Pdu 2, the actual coordinate of the car is fr (n) = f2(n) + D1/2 Deltas, and the value generated by a coordinate generator of the elevator is fc (n); after fr (n) is calculated, the control main board then performs coordinate replacement and correctness determination processing.
According to the same logic, the value of the counter cnt1 read by the sensor SU in the previous operation cycle before the sensor SU enters the upper edge of the card board is Puu0, the value latched into the latch cnt2 from the counter cnt1 at the moment of entering the card board is Puu1, the count value of the counter cnt1 read for the first time after the sensor SU enters the card board is Puu2, the distance from the position of the car to the upper edge of the card board at the floor is Δ s = Puu1-Puu2, the actual coordinate of the car is fr (n) = f2(n) -D1/2- Δ s, the value generated by the coordinate generator of the elevator is fc (n), and the main board is controlled to perform coordinate replacement and correctness judgment processing subsequently.
The above description shows that in the process of running the elevator in the hoistway, the elevator has four chances of coordinate replacement and correctness check through the inserting plate every time, in actual engineering practice, the needed coordinate updating processing is selected according to actual needs, the position error of the elevator car caused by various factors in the running process of the elevator can be fully eliminated through the coordinate replacement, and the error floor of the coordinate can be detected in time through the correctness check of the coordinate and the error fault prompt is provided.
The implementation principle of the method for determining the dynamic coordinate of the elevator car in the embodiment of the application is as follows: and calculating the dynamic coordinate value of the car according to the position coordinate information, the incremental value and a second preset algorithm, so that the dynamic coordinate value of the car can be better determined.
In other embodiments, the method further comprises a dynamic remaining distance generation method between the position of the elevator moving car and a destination floor stopping point, wherein each time the elevator is powered on and operates, the car coordinate generator periodically calculates a real-time coordinate value fc (n) of the car, and each time the elevator passes through the edge of the inserting plate, the value of the dynamic position coordinate of the car is corrected by using the edge coordinate of the inserting plate obtained by floor coordinate learning in advance so as to correct errors generated in operation.
Meanwhile, after the elevator is started, a leading detection coordinate is arranged in the control system, the coordinate advances towards the running direction of the elevator at a speed 6 times faster than the running speed of the elevator, and when the distance between the leading detection coordinate and the current car position coordinate is 1.5 times larger than the required deceleration distance of the rated speed of the elevator, the leading detection coordinate and the car position coordinate keep the deceleration distance of 1.5 times to run at the same speed. The advanced detection coordinate continuously compares whether the advanced detection coordinate reaches the position of the next floor or not in the process of advancing, if the advanced detection coordinate reaches or exceeds the range of the upper edge coordinate and the lower edge coordinate of the plugboard of the next floor, whether the request instruction of a user needs to be responded or not is detected, whether the floor is an end station floor or not is judged, and then whether the speed is to be reduced or not is judged; if the vehicle does not need to be decelerated and stopped, the advanced detection coordinates continue to advance; if the landing arrives at the landing instructed by the user, the advanced detection coordinate stops increasing, the midpoint coordinate f3(k) of the current floor is extracted and assigned to the destination floor coordinate fd (k), and the remaining distance variable remaining algorithm is defined as: when the elevator runs upwards, remaining = fd (k) -fc (n); when the elevator runs downwards, remain = fc (n) -fd (k), fc (n) is the dynamic position coordinate of the car. The remaining distance is used for generating a deceleration curve in the process of deceleration and indicating whether the leveling error at the first-level parking moment of the leveling point is reached or not, and the like.
The embodiment of the application also discloses a system for determining the position coordinates of the elevator floor. Referring to fig. 4, the determination system includes an induction acquisition module, a coordinate acquisition module, and an information processing module.
The induction acquisition module is used for acquiring an upper induction signal and a lower induction signal of the lift car and the upper edge and the lower edge of the plugboard arranged at each floor; the coordinate acquisition module is connected with the induction acquisition module and used for receiving the upper induction signal and the lower induction signal, acquiring the coordinate information of the upper edge of the plugboard based on the upper induction signal and acquiring the coordinate information of the lower edge of the plugboard based on the lower induction signal; and the information processing module is connected with the coordinate acquisition module and used for receiving the upper edge coordinate information and the lower edge coordinate information and calculating the position coordinate information of the floor corresponding to the plugboard based on the upper edge coordinate information and the lower edge coordinate information.
The embodiment of the application also discloses a computer storage medium which stores a computer program capable of being loaded by a processor and executing any one of the determining methods of the elevator floor position coordinate and the elevator car dynamic coordinate.
The foregoing is a preferred embodiment of the present application and is not intended to limit the scope of the application in any way, and any features disclosed in this specification (including the abstract and drawings) may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
Claims (10)
1. A method for determining elevator floor position coordinates, comprising the steps of:
collecting an upper induction signal and a lower induction signal of a car and the upper edge and the lower edge of an inserting plate arranged at each floor;
acquiring the coordinate information of the upper edge of the plugboard based on the upper induction signal, and acquiring the coordinate information of the lower edge of the plugboard based on the lower induction signal;
and calculating the position coordinate information of the floor corresponding to the inserting plate based on the upper edge coordinate information and the lower edge coordinate information.
2. The method of determining elevator floor position coordinates of claim 1 wherein the step of obtaining upper edge coordinate information and lower edge coordinate information further comprises:
acquiring an accumulated pulse numerical value of an elevator encoder in real time;
storing the pulse value at the corresponding moment to a latch based on the upper sensing signal, and converting the pulse value in the latch into upper edge coordinate information according to a preset first strategy; or storing the pulse value at the corresponding moment to the latch based on the lower sensing signal, and converting the pulse value in the latch into lower edge coordinate information according to a preset second strategy.
3. The method for determining the coordinates of the floor position of an elevator according to claim 1, further comprising the step of obtaining the current floor value of the floor where the car is currently located, the specific steps being:
acquiring a floor value of a floor where a car is located before running;
acquiring a running direction signal of a car in an elevator;
and adding one or subtracting one to the floor value based on the lower induction signal and the running direction signal to obtain the current floor value of the floor where the car is located at present.
4. The method for determining the coordinates of the floor position of an elevator according to claim 1, further comprising the step of obtaining the current floor value of the floor where the car is currently located, the specific steps being:
acquiring a floor value of a floor where a lift car is located when the lift is powered on;
acquiring a running direction signal of a car in an elevator;
and adding one or subtracting one to the floor value based on the upper sensing signal and the running direction signal to obtain the current floor value of the floor where the car is located.
5. The method of determining elevator floor position coordinates of claim 3 or 4 wherein said obtaining a current floor value further comprises the steps of:
collecting a limit signal when the lift car runs to the topmost floor;
and obtaining a top floor value of the car based on the limiting signal, comparing the top floor value with a preset floor value, and if the top floor value is equal to the preset floor value, obtaining the correct current floor value.
6. The method for determining elevator floor position coordinates of claim 1, further comprising a method for verifying position coordinate information, comprising the steps of:
calculating the position coordinate information according to a preset rule according to the upper edge coordinate information, the lower edge coordinate information and the position coordinate information to obtain a check code of the elevator floor coordinate;
and comparing the check code with the preset code, wherein if the check code is the same as the preset code, the position coordinate information is correct, and otherwise, the position coordinate information is determined again.
7. A method for determining dynamic coordinates of an elevator car, comprising the steps of:
acquiring position coordinate information of the position of a lift car when the lift is electrified;
acquiring a pulse value of a pulse counter of an encoder according to a preset frequency;
based on the obtained pulse numerical value, calculating an incremental value of the movement of the elevator according to a first preset algorithm;
and calculating the dynamic coordinate value of the car according to a second preset algorithm based on the position coordinate information and the incremental value.
8. The method for determining the dynamic coordinates of an elevator car as set forth in claim 7, wherein the method for verifying the dynamic coordinates of an elevator car comprises the steps of:
comparing the absolute value of the difference with a preset error value based on the difference between the dynamic coordinate value of the car and the real coordinate value of the car, wherein if the absolute value is less than or equal to the error value, the dynamic coordinate value of the car is correct; if the absolute value is larger than the error value, the dynamic coordinate value of the cage is wrong.
9. A system for determining the position coordinates of elevator floors is characterized by comprising an induction acquisition module, a coordinate acquisition module and an information processing module;
the induction acquisition module is used for acquiring an upper induction signal and a lower induction signal of the lift car and the upper edge and the lower edge of the plugboard arranged at each floor;
the coordinate acquisition module is connected with the induction acquisition module and used for receiving the upper induction signal and the lower induction signal, acquiring the coordinate information of the upper edge of the plugboard based on the upper induction signal and acquiring the coordinate information of the lower edge of the plugboard based on the lower induction signal;
and the information processing module is connected with the coordinate acquisition module and used for receiving the upper edge coordinate information and the lower edge coordinate information and calculating the position coordinate information of the floor corresponding to the plugboard based on the upper edge coordinate information and the lower edge coordinate information.
10. A computer storage medium, characterized in that: a computer program which can be loaded by a processor and which performs the method according to any one of claims 1 to 8.
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