CN110697530A - Method for detecting absolute position of elevator car - Google Patents
Method for detecting absolute position of elevator car Download PDFInfo
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- CN110697530A CN110697530A CN201910919340.7A CN201910919340A CN110697530A CN 110697530 A CN110697530 A CN 110697530A CN 201910919340 A CN201910919340 A CN 201910919340A CN 110697530 A CN110697530 A CN 110697530A
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- car
- millimeter wave
- elevator
- detection device
- electromagnetic wave
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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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- Indicating And Signalling Devices For Elevators (AREA)
Abstract
The invention relates to a method for detecting the absolute position of an elevator car, which is based on a millimeter wave sensor of a continuous wave Frequency Modulation (FMCW) theory to detect the absolute position of the elevator. Therefore, the problems that detection deviation is caused by the sliding of a rotating part and elevator position information is lost due to the system power failure in the current elevator position detection scheme are solved. In addition, the detection method of the invention can not cause position information not to be detected or inaccurate due to environmental factors such as light, smoke and the like. The method comprises the following steps: installing the millimeter wave detection device at a proper position of a well, and adjusting the angle; and configuring parameters of a millimeter wave measuring chip, starting to measure the current position information of the elevator car in real time after the millimeter wave measuring chip is electrified, and sending the information to an elevator host controller through a communication interface for the elevator host controller to control, drive and the like.
Description
Technical Field
The invention relates to the technical field of elevators, in particular to a method for detecting the absolute position of an elevator car.
Background
As an essential vertical transportation means in modern society, a control system of an elevator needs to accurately detect the current position of a car so as to realize related logic and safety control functions.
At present, the following methods are commonly used for detecting the position of an elevator car:
1. a rotary encoder measurement method.
The method obtains the position data of the car through the rotation quantity of the traction wheel or the diversion wheel, and the method has larger inertia of the traction wheel or the diversion wheel, so that the steel wire rope on the wheel is easy to have larger elastic slippage and larger error; and when the elevator runs at a fast speed and needs emergency stop due to faults, the dragging steel wire rope and the traction sheave generate obvious mechanical slip due to large inertia of the elevator car, at the moment, the traction sheave stops due to the action of the brake, and the rotary encoder cannot detect the slip distance of the steel wire rope.
2. Photoelectric sensor or position switch detection method.
The method detects the area where the elevator car is located through a photoelectric sensor or a position switch arranged on a hoistway or the car, has low detection precision and can only realize detection in the area range.
3. A method for detecting the position of a special marker such as a grating ruler.
The method detects information of a coding belt preset in a shaft through a sensor arranged on an elevator car, and determines the position of the elevator car. The coding belt needs to be coded through a related technology, the price is high, the coding belt is installed in a well and is easy to break, and coding information is easy to be influenced by electromagnetism, temperature, oil stains and the like.
In order to solve the problems of the detection methods, the patent "elevator car absolute position detection system and detection method, patent number: CN 105151940 proposes a method for detecting the absolute position of the car based on image recognition of a CCD sensor, but this method is susceptible to light and obstruction, resulting in measurement failure, and the measurement system and algorithm are complex.
Disclosure of Invention
Based on the problems existing in the existing elevator car absolute position detection, the invention provides the elevator car absolute position detection method, which can ensure the measurement precision and is not influenced by external environments such as light, smoke and shelters, and the measurement system has the advantages of simple algorithm, good real-time performance and convenient application.
In order to realize the purpose of the invention, the technical scheme is as follows:
the elevator car absolute position detection method comprises an electromagnetic wave detection device, an elevator car and an elevator main controller, wherein the electromagnetic wave detection device is in communication connection with the elevator main controller through a communication interface and a communication line; when the elevator is in a static or running state, the electromagnetic wave detection device can calculate the current position of the elevator car through the time difference between the electromagnetic wave transmitted to the elevator car by the electromagnetic wave transmitting antenna and the electromagnetic wave reflected from the elevator car and received by the electromagnetic wave receiving antenna.
The position of the car measured by the method can be accurately detected in real time, the current position of the car is not influenced by the conditions that a rotating part slips or power failure occurs and the like, and the situation that the car cannot be detected or cannot be detected accurately due to environmental factors such as light, smoke and the like is avoided.
In a preferred embodiment of the present invention, the electromagnetic wave detection device is a millimeter wave detection device, the electromagnetic wave transmission antenna is a millimeter wave transmission antenna, and the electromagnetic wave reception antenna is a millimeter wave reception antenna.
In a preferred embodiment of the present invention, the millimeter wave detection device is installed at the top of the hoistway, the electromagnetic wave transmitted by the millimeter wave transmitting antenna is focused on the top of the car, and the electromagnetic wave reflected from the car and received by the millimeter wave receiving antenna is the electromagnetic wave reflected from the top of the car; the distance between the millimeter wave detection device and the top of the car is measured to calculate the real-time position of the car.
In a preferred embodiment of the present invention, the millimeter wave detection device is installed at the bottom of the hoistway, the electromagnetic wave transmitted by the millimeter wave transmitting antenna is focused on the bottom of the car, and the electromagnetic wave reflected from the car and received by the millimeter wave receiving antenna is the electromagnetic wave reflected from the bottom of the car; the device is used for measuring the distance between the millimeter wave detection device and the bottom of the car to calculate the real-time position of the car.
The millimeter wave detection device is arranged at the top of the shaft, which is one of detection schemes, and the distance between the millimeter wave detection device and the top of the car can be measured to calculate the real-time position of the car. The millimeter wave detection device can also be installed at the bottom of the hoistway, the measured value at the moment is the distance between the bottom of the hoistway and the bottom of the car, and the current position of the car can be calculated. The installation position can be flexibly selected according to the field condition, the construction is convenient, and the construction time is reduced.
In a preferred embodiment of the present invention, the millimeter wave transmitting antenna and/or the millimeter wave receiving antenna are both millimeter wave microstrip array antennas. Therefore, the field of view (FOV) of the millimeter waves is in a proper scanning range, the interference of irrelevant objects in the shaft is eliminated, the millimeter wave detection signals are only focused on the top or the bottom of the car, and the detection precision is improved.
In a preferred embodiment of the present invention, the data refresh rate per frame of the millimeter wave detection device is in the order of milliseconds. Therefore, the position information of the lift car is fed back to the main controller of the elevator more timely, and the real-time performance is better.
In a preferred embodiment of the present invention, the millimeter wave detection device communicates with the elevator main controller, the millimeter wave detection device transmits the car real-time distance data to the elevator main controller, and the elevator main controller obtains the current car position according to the received distance value.
In a preferred embodiment of the present invention, the millimeter wave detection device communicates with the elevator main controller, the millimeter wave detection device directly sends the detected distance to the elevator main controller, and the elevator main controller calculates the current position of the car. Therefore, the elevator main controller does not need to carry out excessive data processing work, the burden of the elevator main controller is reduced, and the real-time performance is improved.
In a preferred embodiment of the present invention, the electromagnetic wave detection device calculates the distance between the detection device and the target object by the millimeter wave chip inside the millimeter wave detection device through the time difference between the electromagnetic wave transmitted to the car by the electromagnetic wave transmitting antenna and the electromagnetic wave reflected from the car and received by the electromagnetic wave receiving antenna, so as to calculate the current car position.
In a preferred embodiment of the invention, the distance between the millimeter wave detection device and a non-elevator car can be eliminated through parameter configuration of the millimeter wave chip, data post-processing and the like, and only the distance information of the elevator car is reserved.
Compared with the prior art, the invention has the following advantages:
the millimeter wave detection device can accurately detect the actual position of the lift car in real time, is not influenced by factors such as slipping of a rotating part and sudden power failure, and cannot cause inaccurate detection or inaccurate detection due to environmental factors such as light, smoke and the like. In addition, the detection device is used for non-contact detection, has small volume and simple and convenient installation, does not increase the construction time and cost, and has wide application range.
Drawings
Fig. 1 is a schematic structural view of a car absolute position detection system according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of the operation of an elevator car absolute position detection system according to an embodiment of the present invention.
Fig. 3 is a schematic block diagram of a millimeter wave detection device in an elevator car absolute position detection system.
Description of reference numerals: the elevator system comprises a hoistway 10, a hoistway top 110, a hoistway bottom 120, a hoistway inner wall 130, an elevator car 20 located in the hoistway, a car top 210, a car bottom 220, a millimeter wave detection device 30 for distance measurement, a communication cable 310 for communication between the millimeter wave detection device 30 and an elevator main controller 40, a millimeter wave receiving antenna 320, a millimeter wave transmitting antenna 330, and the elevator main controller 40.
Detailed Description
Embodiments of the present invention, including but not limited to those described in the embodiments, are described in detail below with reference to the accompanying drawings.
As shown in fig. 1, an elevator car absolute position detection system includes a hoistway 10, a hoistway top 110, a hoistway bottom 120, a hoistway inner wall 130, an elevator car 20 located in the hoistway, a car top 210, a car bottom 220, a millimeter wave detection device 30 for distance measurement, a communication cable 310 for communicating the millimeter wave detection device 30 with an elevator main controller, and an elevator main controller 40.
The millimeter wave detection device 30 is installed at the top 110 of the hoistway, calculates the current absolute position of the elevator car 20 by measuring the distance between the millimeter wave detection device 30 and the car top 210, and transmits the detected distance value to the elevator main controller 40 through the communication cable 310 for the elevator main controller 40 to use in control. Of course, the millimeter wave detection device 30 may also be installed at the hoistway bottom 120, and the current absolute position of the elevator car 20 is calculated by measuring the distance between the millimeter wave detection device 30 and the car bottom 220, and the detected distance value is transmitted to the elevator main controller 40 through the communication cable 310, so that the elevator main controller 40 can use the distance value in control.
Referring to fig. 2, the millimeter wave detection device 30 transmits the electromagnetic wave 50 through the millimeter wave transmitting antenna 330, the electromagnetic wave 50 forms a reflected electromagnetic wave 60 after encountering an object, and the reflected millimeter wave is received through the millimeter wave receiving antenna 320. The millimeter wave detection device 30 processes the transmitted millimeter wave and the received millimeter wave signal, so as to calculate the distance R of the target object 210, and the basic calculation formula is:
where C is the speed of light and T is the total time of propagation of the electromagnetic wave emitted by the millimeter wave detection device in the air.
Regardless of whether the elevator is in a stationary state or a running state, the millimeter wave detection device 30 can measure the current distance of the elevator car 20, and the current floor information of the elevator car 20 can be obtained through the elevator main controller 40.
Fig. 3 illustrates a process of detecting the distance by the millimeter wave detection device 30 in the present embodiment. After the millimeter wave chip 340 in the millimeter wave detection device 30 is subjected to proper parameter configuration, a Chirp signal is transmitted by the millimeter wave chip, the Chirp signal is reflected back after encountering an object, the Chirp signal and an echo signal are operated and processed by the millimeter wave chip 340 based on a millimeter wave communication theory, a non-target signal is removed, a target signal is identified, and a final distance value is obtained through DFFT. The final distance value is then transmitted from the communication interface to the elevator main controller 40.
The millimeter wave chip 340 includes a radio frequency front end module, a radio frequency front end control module, a data acquisition and processing module, a data processing control module, a data cache module, and a communication interface.
Claims (10)
1. The elevator car absolute position detection method is characterized by comprising an electromagnetic wave detection device, an elevator car and an elevator main controller, wherein the electromagnetic wave detection device is in communication connection with the elevator main controller through a communication interface and a communication line; when the elevator is in a static or running state, the electromagnetic wave detection device can calculate the current position of the elevator car through the time difference between the electromagnetic wave transmitted to the elevator car by the electromagnetic wave transmitting antenna and the electromagnetic wave reflected from the elevator car and received by the electromagnetic wave receiving antenna.
2. The elevator car absolute position detecting method according to claim 1, wherein the electromagnetic wave detecting means is a millimeter wave detecting means, the electromagnetic wave transmitting antenna is a millimeter wave transmitting antenna, and the electromagnetic wave receiving antenna is a millimeter wave receiving antenna.
3. The method for detecting the absolute position of the elevator car as claimed in claim 2, wherein the millimeter wave detection device is installed at the top of the hoistway, the electromagnetic wave transmitted by the millimeter wave transmitting antenna is focused on the top of the car, and the electromagnetic wave reflected from the car and received by the millimeter wave receiving antenna is reflected from the top of the car; the distance between the millimeter wave detection device and the top of the car is measured to calculate the real-time position of the car.
4. The method for detecting the absolute position of the elevator car according to claim 2, wherein the millimeter wave detection device is installed at the bottom of the hoistway, the electromagnetic wave transmitted by the millimeter wave transmitting antenna is focused on the bottom of the car, and the electromagnetic wave reflected from the car and received by the millimeter wave receiving antenna is reflected from the bottom of the car; the device is used for measuring the distance between the millimeter wave detection device and the bottom of the car to calculate the real-time position of the car.
5. The elevator car absolute position detection method of claim 2, wherein the millimeter wave transmitting antenna and/or the millimeter wave receiving antenna are millimeter wave microstrip array antennas.
6. The method of claim 2, wherein the millimeter wave detection device refreshes data per frame at a rate of milliseconds.
7. The method as claimed in claim 2, wherein the millimeter wave detection device communicates with the elevator master controller, the millimeter wave detection device transmits real-time distance data of the car to the elevator master controller, and the elevator master controller obtains the current position of the car from the received distance value.
8. The method as claimed in claim 2, wherein the millimeter wave detection device communicates with the elevator main controller, the millimeter wave detection device directly transmits the detected distance to the elevator main controller, and the elevator main controller calculates the current position of the car.
9. The method as claimed in claim 2, wherein the electromagnetic wave detecting device calculates the current car position by calculating the distance between the detecting device and the target object by the millimeter wave chip in the millimeter wave detecting device according to the time difference between the electromagnetic wave transmitted from the electromagnetic wave transmitting antenna to the car and the electromagnetic wave reflected from the car and received by the electromagnetic wave receiving antenna.
10. The method for detecting the absolute position of the elevator car as claimed in claim 9, wherein the distance between the millimeter wave detection device and the non-elevator car can be eliminated by parameter configuration of the millimeter wave chip, data post-processing and the like, and only the distance information of the elevator car is reserved.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910919340.7A CN110697530A (en) | 2019-09-26 | 2019-09-26 | Method for detecting absolute position of elevator car |
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| CN201910919340.7A CN110697530A (en) | 2019-09-26 | 2019-09-26 | Method for detecting absolute position of elevator car |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112061909A (en) * | 2020-09-23 | 2020-12-11 | 森思泰克河北科技有限公司 | Elevator control system |
| WO2023082504A1 (en) * | 2021-11-11 | 2023-05-19 | 日立楼宇技术（广州）有限公司 | Radar-based distance measurement method and apparatus, computer device, system, and medium |
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| CN101155743A (en) * | 2005-03-22 | 2008-04-02 | 因温特奥股份公司 | Method for detecting the state of a lift cage and lift system wherein the method is used |
| JP2012225837A (en) * | 2011-04-21 | 2012-11-15 | Mitsubishi Electric Corp | Motion detector, and elevator with motion detector |
| CN108946355A (en) * | 2018-07-27 | 2018-12-07 | 日立楼宇技术（广州）有限公司 | A kind of elevator cabin position detection system, method, apparatus and storage medium |
| CN110127478A (en) * | 2019-04-02 | 2019-08-16 | 日立楼宇技术（广州）有限公司 | The determination method, apparatus and elevator range-measurement system of elevator car position |
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2019
- 2019-09-26 CN CN201910919340.7A patent/CN110697530A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101155743A (en) * | 2005-03-22 | 2008-04-02 | 因温特奥股份公司 | Method for detecting the state of a lift cage and lift system wherein the method is used |
| CN101155743B (en) * | 2005-03-22 | 2012-02-08 | 因温特奥股份公司 | Method for detecting the state of a lift cage and lift system wherein the method is used |
| JP2012225837A (en) * | 2011-04-21 | 2012-11-15 | Mitsubishi Electric Corp | Motion detector, and elevator with motion detector |
| CN108946355A (en) * | 2018-07-27 | 2018-12-07 | 日立楼宇技术（广州）有限公司 | A kind of elevator cabin position detection system, method, apparatus and storage medium |
| CN110127478A (en) * | 2019-04-02 | 2019-08-16 | 日立楼宇技术（广州）有限公司 | The determination method, apparatus and elevator range-measurement system of elevator car position |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112061909A (en) * | 2020-09-23 | 2020-12-11 | 森思泰克河北科技有限公司 | Elevator control system |
| WO2023082504A1 (en) * | 2021-11-11 | 2023-05-19 | 日立楼宇技术（广州）有限公司 | Radar-based distance measurement method and apparatus, computer device, system, and medium |
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