CN111824878B - Elevator position detection method, elevator position detection system and elevator - Google Patents
Elevator position detection method, elevator position detection system and elevator Download PDFInfo
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- CN111824878B CN111824878B CN202010658859.7A CN202010658859A CN111824878B CN 111824878 B CN111824878 B CN 111824878B CN 202010658859 A CN202010658859 A CN 202010658859A CN 111824878 B CN111824878 B CN 111824878B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3492—Position or motion detectors or driving means for the detector
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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
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Abstract
The embodiment of the invention discloses an elevator position detection method, an elevator position detection system and an elevator. The elevator position detection method comprises the following steps: controlling a radar sensor arranged at the top of an elevator shaft to transmit a radar signal; acquiring an echo signal of the top of the elevator car of the elevator, which is output by a radar sensor, to a radar signal; determining a target echo signal of a target reflector at a preset position on the top of the car based on the echo signal; and determining the floor position of the elevator car based on the target echo signal. According to the embodiment of the invention, the target reflector is arranged at the preset position on the top of the elevator car, so that the space occupation on the top of the elevator car is small, and the operation of maintenance personnel on the top of the elevator car cannot be influenced, therefore, the problem of inaccurate elevator position detection caused by only reflecting the radar signal by the top of the elevator car in the prior art is solved, and the detection precision of the elevator position is improved under the condition of not influencing the original structure of the elevator car.
Description
Technical Field
The embodiment of the invention relates to an elevator technology, in particular to an elevator position detection method, an elevator position detection system and an elevator.
Background
Compared with other ranging sensors such as laser, the millimeter wave radar has great advantages in the aspects of cost, precision and the like, and is widely applied to the measurement of the liquid level depth of the large tank body. The application of millimeter wave radar to the measurement of the position of the elevator shaft car is a new research direction at present.
As shown in fig. 1, the millimeter wave radar sensor is installed at the top of the hoistway, and transmits radar waves downwards, the radar waves are reflected by a target reflector at the top of the car, and the position of the car is calculated by obtaining the reflected radar waves. The method has the following defects:
it requires that the reflection of the target reflector be strong enough so that its reflected signal strength is greater than other interferents. This requires that the effective reflective area of the target reflector be large enough, but if the reflector is too large, it can interfere with maintenance personnel ceiling operations.
Disclosure of Invention
The embodiment of the invention provides an elevator position detection method, an elevator position detection system and an elevator, which aim to improve the distance measurement precision of the elevator.
In a first aspect, an embodiment of the present invention provides an elevator position detection method, including:
controlling a radar sensor arranged at the top of a shaft of an elevator to transmit a radar signal;
acquiring an echo signal of the car top of the elevator output by the radar sensor to the radar signal;
determining a target echo signal of a target reflector at a preset position on the top of the car based on the echo signal;
determining a floor position where the elevator car is located based on the target echo signal.
Optionally, the determining a target echo signal of a target reflector at a preset position on the top of the car based on the echo signal includes:
preprocessing the echo signals to obtain a corresponding relation between distance and amplitude;
determining a distance value corresponding to the maximum amplitude value in the distance-amplitude value corresponding relation as a reference distance value;
determining a target distance range based on the reference distance value and a height difference between the target reflector and the car top;
and determining the amplitude pole signal in the target distance range as a target echo signal.
Optionally, the number of the target reflectors is at least two, at least two target reflectors are arranged at a preset angle, and a preset distance is reserved between every two adjacent target reflectors; the determining the amplitude pole signal in the target distance range as a target echo signal includes:
determining a distance difference between adjacent amplitude pole signals within the target distance range;
and if the distance difference between the adjacent amplitude pole signals is a preset distance, determining any one of the corresponding amplitude pole signals as a target echo signal.
Optionally, the determining the floor position where the elevator car is located based on the target echo signal includes:
taking the distance value corresponding to the target echo signal as the target distance from the elevator car to the radar sensor;
determining a floor location at which the elevator car is located based on the target distance.
Optionally, before the determining the position of the elevator car based on the target distance, the method further comprises:
acquiring the current ambient temperature output by a temperature sensor arranged in the elevator shaft;
correcting the target distance based on the current ambient temperature;
accordingly, determining the floor location at which the elevator car is located based on the target distance includes:
determining the floor position of the elevator car based on the corrected target distance.
Optionally, the target distance is corrected based on the current ambient temperature according to the following method:
H n (T 1 )＝H n (T 0 )+(T 1 -T 0 )*L (1)
in the formula: h n (T 1 ) The target distance corresponding to the nth floor leveling under the current environment temperature is obtained;
H n (T 0 ) The distance corresponding to the nth floor level at the reference environment temperature;
T 1 is the current ambient temperature;
T 0 is the reference ambient temperature;
and L is the expansion coefficient of the building where the elevator is located.
In a second aspect, an embodiment of the present invention further provides an elevator position detection system, including:
the radar sensor is arranged at the top of an elevator shaft and used for transmitting a radar signal and receiving an echo signal of the top of a car of the elevator to the radar signal;
the target reflectors are arranged at preset positions on the top of a car of the elevator, the target reflectors are arranged at preset angles, and a set height difference is formed between the target reflectors and the top of the car;
the controller is connected with the radar sensor and used for controlling the radar sensor to emit radar signals, acquiring the echo signals output by the radar sensor, determining a target echo signal of at least one target reflector based on the echo signals, and determining the floor position of the elevator car based on the target echo signal.
Optionally, at least one of the target reflectors is made of a metal material.
Optionally, the number of the target reflectors is at least two, and a preset distance is provided between adjacent target reflectors.
In a third aspect, an embodiment of the present invention further provides an elevator, including the elevator position detection system according to any embodiment of the present invention.
According to the elevator position detection method provided by the embodiment of the invention, the controller controls the radar sensor to emit the radar signal and acquires the echo signal output by the radar sensor, the controller obtains the reflection signal corresponding to the top of the elevator car from the echo signal, on the basis, the controller further determines the target echo signal from the echo signal according to the relative position relation between the target reflector arranged on the top of the elevator car and the top of the elevator car, and the elevator position can be accurately determined based on the target reflector because the relative relation between the target reflector and the top of the elevator car is determined. Meanwhile, the target reflector is arranged at the preset position of the top of the elevator car, so that the space occupation of the top of the elevator car is small, the operation of maintenance personnel on the top of the elevator car cannot be influenced, the problem that the position of the elevator is inaccurate due to the fact that radar signal reflection is carried out only by the top of the elevator car in the prior art is solved, and the detection precision of the position of the elevator is improved under the condition that the original structure of the elevator car is not influenced.
Drawings
FIG. 1 is a schematic diagram of a range finding of a prior art radar sensor provided by an embodiment of the present invention;
fig. 2 is a flowchart of an elevator position detection method according to an embodiment of the present invention;
fig. 3 is a flow chart of another elevator position detection method provided by the embodiment of the invention;
fig. 4 is a distance-amplitude mapping diagram of an echo signal according to an embodiment of the present invention;
FIG. 5 is a graph of a distance-amplitude correspondence with three target reflectors, according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an elevator position detection system according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an elevator according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The elevator position detection method provided by the embodiment of the invention can be applied to the elevator environment shown in figure 1. The elevator environment includes a radar sensor specifically disposed at a top location of an elevator hoistway to face a car top of an elevator and a controller. The car top of the elevator is provided with a target reflector, and the target reflector and the car top of the elevator have a set height difference. The controller is electrically connected with the radar sensor to realize data interaction between the controller and the radar sensor. The radar sensor is used for transmitting and receiving radar signals of a set frequency band, the controller calculates and processes the reflected radar signals, a target reflection signal of a target reflector is extracted, and the controller further determines the position of the elevator car based on the target reflection signal according to a radar ranging principle.
Alternatively, fig. 2 is a flowchart of an elevator position detection method according to an embodiment of the present invention, which may be executed by a controller connected to a radar sensor. The controller may be, for example, a separately provided single-chip microcomputer for distance measurement calculation, or may be an existing elevator controller in the elevator. In some embodiments, the controller may also be integrated with the radar sensor. It should be noted that the embodiment does not limit the specific implementation manner of the controller. Referring to fig. 2, the elevator position detecting method specifically includes:
and S210, controlling a radar sensor arranged at the top of the elevator shaft to transmit radar signals.
The radar sensor may be specifically a millimeter wave radar sensor. The use of the millimeter wave radar sensor can improve the ranging accuracy.
And S220, acquiring an echo signal of the car top of the elevator output by the radar sensor to the radar signal.
Wherein, the top of the elevator car is a metal iron plate with very strong reflection capability. When the radar signal meets the top of the elevator car, the radar signal is reflected, and the reflected radar signal is the echo signal.
In this embodiment, after receiving the echo signal, the radar sensor further outputs the echo signal to the controller, and the controller calculates the distance according to the echo signal and the transmitted radar signal to obtain the corresponding distance.
Optionally, in some embodiments, after receiving the echo signal, the radar sensor further performs preprocessing on the echo signal, for example, performs digital filtering on the echo signal to extract an echo signal corresponding to the transmission frequency, and then outputs the preprocessed echo signal to the controller.
And S230, determining a target echo signal of the target reflector at the preset position on the top of the car based on the echo signal.
From the characteristics of the wave, the reflected wave can reflect the position information of different reflection objects. When the relative position relation of the target reflecting object and the car top of the elevator is determined, correspondingly, the relative position of the target echo signal of the target reflecting object in the whole echo signal is also determined.
In particular, the roof of the elevator car is typically a metal sheet of iron that reflects radar signals more than any other disturbance in the hoistway. Therefore, the position with the highest signal intensity in the echo signals is the reflected signal of the car roof of the elevator, and based on this, the reflected signal belonging to the car roof of the elevator can be determined in the echo signals. Since the height difference between the target reflector and the car top of the elevator is known, the controller may further determine the reflected signal of the target reflector, i.e., the target echo signal, from the echo signal based on the height difference with reference to the reflected signal of the car top of the elevator.
In this embodiment, because the height difference between the target reflector and the car top of the elevator is determined, and the target reflector is accurately controllable to the reflected signal of the radar signal, after the target echo signal is determined according to the reflected signal of the car top of the elevator to the radar signal and the relative position relationship between the target reflector and the car top of the elevator, the target echo signal can accurately reflect the distance between the target reflector and the radar sensor, so that the car position of the elevator is accurately detected by using the relative position relationship between the target reflector and the car top of the elevator on the basis of not influencing the structure of the car top of the elevator.
And S240, determining the floor position of the elevator car based on the target echo signal.
The target echo signal reflects the distance between the elevator car and the top of the shaft, and the distance between each floor level and the top of the shaft is determined, so that the controller can determine the current floor position of the elevator car through the target echo signal. For example, the controller stores a corresponding relation table of the distance between the floor level and the top of the hoistway, and after the controller acquires the target echo signal, the controller can obtain the floor position corresponding to the target echo signal in a table look-up manner.
The principle of the elevator position detection method is as follows: the target reflector is arranged on the top of the elevator car, and the target echo signal can be extracted from the echo signal based on the relative relation between the target reflector and the top of the elevator car, so that the position of the elevator car is accurately determined based on the target echo signal.
According to the elevator position detection method provided by the embodiment of the invention, the controller controls the radar sensor to emit the radar signal and acquires the echo signal output by the radar sensor, the controller obtains the reflected signal corresponding to the top of the elevator car from the echo signal, on the basis, the controller further determines the target echo signal from the echo signal according to the relative position relation between the target reflector arranged on the top of the elevator car and the top of the elevator car, and the elevator position can be accurately determined based on the target reflector because the relative relation between the target reflector and the top of the elevator car is determined. Meanwhile, the target reflector is arranged at the preset position of the top of the elevator car, the space occupation of the top of the elevator car is small, and therefore the operation of maintenance personnel on the top of the elevator car cannot be influenced, the problem that in the prior art, the position of the elevator is inaccurate due to the fact that radar signal reflection is carried out only on the top of the elevator car is solved, and the detection precision of the position of the elevator is improved under the condition that the original structure of the elevator car is not influenced.
Optionally, fig. 3 is a flowchart of another elevator position detection method provided in an embodiment of the present invention, where the embodiment optimizes the step of obtaining a target echo signal on the basis of the above embodiment, specifically, the elevator position detection method includes:
and S310, controlling a radar sensor arranged at the top of the elevator shaft to transmit radar signals.
And S320, acquiring an echo signal of the car top of the elevator output by the radar sensor to the radar signal.
S330, preprocessing the echo signal to obtain the corresponding relation between the distance and the amplitude.
The controller can perform Fast Fourier Transform (FFT) on the echo signal through a built-in signal processing device to obtain a distance-amplitude correspondence.
S340, determining the distance value corresponding to the maximum amplitude value in the distance-amplitude value corresponding relation as a reference distance value.
And the distance value corresponding to the maximum amplitude is the distance value from the top of the elevator car to the radar sensor. Using this distance value as a reference distance value, the controller may further determine a target echo signal based on the known height difference of the target reflector and the car roof of the elevator.
Optionally, fig. 4 is a corresponding relationship diagram of distance-amplitude of an echo signal according to an embodiment of the present invention. Because the reflection capability of the top of the elevator car for radar signals is far greater than that of other objects in the hoistway, the distance L corresponding to the maximum amplitude A in the distance-amplitude diagram is the distance from the top of the elevator car to the radar sensor.
In practical use, considering that other interferents (such as reinforcing ribs and other metal reflectors) exist on the top of the elevator, the reflected signal of the top of the elevator car for the radar signal can show a certain fluctuation change, and in the distance-amplitude corresponding relation, the maximum amplitude can fluctuate within a certain distance range, namely the maximum amplitude corresponds to a distance range, and correspondingly, the reference distance also shows a distance range, namely the reference distance range. For example, in the distance-amplitude correspondence relationship shown in fig. 4, the distance range corresponding to the distances L1 to L2 is the target reference distance range.
And S350, determining a target distance range based on the reference distance value and the height difference between the target reflector and the top of the car.
Wherein, because the height difference between the target reflector and the car top is determined, the reaction is determined in the distance-amplitude corresponding relation, namely the relative relation between the reflection signal of the target reflector to the radar signal and the reflection signal of the car top to the radar signal, therefore, the controller can obtain the target distance range based on the reference distance value.
For example, if the reference distance value is 10m to 10.5m and the height difference between the target reflecting object and the top of the elevator car is 1m, the target distance range should be 9m to 9.5m.
And S360, determining the amplitude pole signal in the target distance range as a target echo signal.
Among them, because the target reflection object has a strong electromagnetic wave reflection capability, accordingly, the reflection signal of the radar signal by the target reflection object should have a strong signal strength, reflected on the distance-amplitude correspondence, and the reflection signal of the radar signal by the target reflection object should have a large signal amplitude.
The target distance range is determined by the above steps, and thus the signal having the amplitude pole in the target distance range is the reflected signal of the target reflector, i.e. the target echo signal.
Optionally, in some embodiments, in order to further exclude the interference signal, the target reflector may be optimized, specifically: the number of the target reflectors is at least two, the at least two target reflectors are arranged at a preset angle, and a preset distance is reserved between every two adjacent target reflectors. The number of the target reflectors is set to be multiple, and the multiple target reflectors are arranged according to a certain angle and distance, so that each target reflector presents a certain rule for a reflection signal of a radar signal and is reflected in a distance-amplitude corresponding relation, namely, a plurality of regularly distributed target echo signals are provided in a target distance range. Under this condition, the step of determining the target echo signal may be further optimized as follows:
determining the distance difference between adjacent amplitude pole signals in the target distance range;
and if the distance difference between the adjacent amplitude pole signals is a preset distance, determining any one of the corresponding amplitude pole signals as a target echo signal.
Specifically, in the absence of interference, a plurality of amplitude pole signals within a target distance range correspond to a plurality of target reflectors, and a distance difference between each amplitude pole signal is a distance between each target reflector. Therefore, the controller can verify whether the amplitude pole signals are the reflection signals of the target reflector by detecting whether the distance difference between each adjacent amplitude pole signal is a preset distance.
This process is further described below in conjunction with the figures. Fig. 5 is a distance-amplitude correspondence diagram with three target reflectors according to an embodiment of the present invention, and referring to fig. 5, the number of the target reflectors is set to three, the three target reflectors are disposed at a certain corner of the top of the car of the elevator, the three target reflectors are circularly disposed at the top of the car, and an included angle between the three target reflectors is 120 °, and a distance between every two adjacent target reflectors is 10cm, so in the distance-amplitude correspondence diagram of the echo signal shown in fig. 5, three amplitude pole signals P1, P2, and P3 appear in a target distance range, and distance differences between adjacent amplitude pole signals are all 10cm (i.e., distances between P-P2 and P2-P3 in the diagram are all 10 cm). Based on the principle, if three amplitude pole signals are obtained within a target distance range in the distance-amplitude corresponding relation of the echo signals and the three amplitude pole signals present a distance difference of 10cm, the three amplitude pole signals are determined to be reflection signals of the target reflector, and because the distances between the target reflector reflected by the three transmission signals and the radar sensor are consistent, the controller only needs to determine any one of the reflection signals as a target echo signal.
This embodiment is through setting up a plurality of target reflection objects at the car top of elevator to lay a plurality of target reflection objects according to certain law, form a set of target reflection object, thereby make a plurality of target reflection objects present certain law to radar signal's reflection signal, from this, the controller can determine target echo signal based on distance-amplitude corresponding relation, thereby can avoid causing the misjudgement because of other interference that probably appear to target echo signal, make the controller can pinpoint target echo signal.
And S370, determining the floor position of the elevator car based on the target echo signal.
According to the above embodiment, the target echo signal reflects the distance of the car roof of the elevator relative to the radar sensor, so the step can be specifically optimized as follows:
taking a distance value corresponding to the target echo signal as a target distance from the elevator car to the radar sensor;
the floor position at which the elevator car is located is determined based on the target distance.
It should be noted that, in an actual situation, due to a change in temperature, the building may expand with heat and contract with cold, which causes a change in an actual position (e.g., a flat-bed position) corresponding to a distance between the car of the elevator and the radar sensor. For example, ordinary steel and concrete have a linear expansion coefficient of about 10X 10 -6 m/mk. For a 100-meter tall building, the temperature changes by 1 ℃, the actual position changes by 1mm, the temperature changes by 30 ℃ and the actual position changes by 30mm, so that the temperature has great influence on the actual position of the floor, and temperature compensation correction is needed. Accordingly, prior to determining the position of the elevator car based on the target distance, the method further comprises:
acquiring the current ambient temperature output by a temperature sensor arranged in an elevator shaft;
the target distance is corrected based on the current ambient temperature.
Specifically, the temperature sensor may be disposed at an inner wall of the hoistway, and the temperature sensor may detect the temperature of the building in real time.
In one embodiment, the controller corrects the target distance based on the current ambient temperature in the following manner:
H n (T 1 )＝H n (T 0 )+(T 1 -T 0 )*L (1)
in the formula: h n (T 1 ) The target distance corresponding to the nth floor leveling at the current ambient temperature;
H n (T 0 ) The distance is the distance corresponding to the nth floor level at the reference environment temperature, and the distance can be obtained by measuring the distance of each floor level in advance at the reference environment temperature;
T 1 is the current ambient temperature;
T 0 is a reference ambient temperature;
l is the expansion coefficient of the building in which the elevator is located.
Accordingly, the controller determines the floor position at which the elevator car is based on the corrected target distance.
The controller of the embodiment performs FFT (fast Fourier transform) on the echo signal to obtain the corresponding relation between the distance and the amplitude value, so that the distance value corresponding to the reflection signal at the top of the elevator car is determined based on the corresponding relation between the distance and the amplitude value, namely the distance value is a reference distance value; the controller further obtains a relative relation between a reflection signal of the target reflector and a reflection signal of the top of the elevator car according to the height difference between the target reflector and the top of the elevator car, and further determines a target distance range; the number of the target reflectors is set to be multiple, and the multiple target reflectors have set distance and position relations, so that the controller can verify the amplitude pole signals in the target distance range based on the set distance and position relations, can eliminate the influence of other interferents, avoids the condition that the interferents are determined as target echo signals, and further accurately obtains the reflection signals of the target reflectors from the distance-amplitude corresponding relations, namely the target echo signals. The controller further determines the distance of the elevator car relative to the top of the shaft according to the target echo signal, and corrects the calculated distance of the elevator car relative to the top of the shaft through temperature compensation, so that the temperature influence is eliminated, and the accurate floor position where the elevator car is located is obtained. The embodiment utilizes the characteristic that the top of the elevator car has the strongest reflection capability to radar signals, and accurately obtains target reflection signals by regularly arranging a group of target reflectors with stronger signal reflection capability under the condition of not changing the top position structure of the elevator car, thereby realizing the accurate measurement of the car distance of the elevator under the condition of not influencing the top structure of the elevator car and accurately determining the position of the elevator car.
Optionally, fig. 6 is a schematic structural diagram of an elevator position detection system provided in an embodiment of the present invention, and the elevator position detection system can be applied to the elevator position detection method provided in any embodiment of the present invention, and has corresponding beneficial effects of an execution method. Referring to fig. 6, the elevator position detecting system 60 specifically includes: a radar sensor 610, at least one target reflector 620, and a controller 630, wherein,
the radar sensor 610 is arranged at the top of an elevator shaft, and the radar sensor 610 is used for transmitting a radar signal and receiving an echo signal of the top of the elevator car of the elevator to the radar signal;
the at least one target reflector 620 is arranged at a preset position of the top of the elevator car, the at least one target reflector 620 is arranged at a preset angle, and a set height difference is formed between the at least one target reflector 620 and the top of the elevator car;
and the controller 630 is connected with the radar sensor 610, and the controller 630 is used for controlling the radar sensor 610 to emit a radar signal, acquiring an echo signal output by the radar sensor 610, determining a target echo signal of at least one target reflector 620 based on the echo signal, and determining the floor position of the elevator car 640 based on the target echo signal.
Optionally, at least one target reflector 620 in this embodiment is made of a metal material. So that the target reflecting object 620 has a strong signal reflecting ability, and the controller 630 can easily obtain the target echo signal based on the distance-amplitude correspondence.
Optionally, the number of the target reflectors 620 in this embodiment is at least two, and a preset distance is provided between adjacent target reflectors 620. In some embodiments, the number of the target reflectors 620 is set to be greater than 3, and by setting the plurality of target reflectors 620, a plurality of amplitude pole signals distributed according to a preset distance are provided in the distance-amplitude correspondence obtained after signal processing, so that the controller 630 can perform distance verification on the plurality of amplitude pole signals occurring within a target distance range through the known preset distance between the target reflectors 620, so as to accurately determine the amplitude pole signal corresponding to the target reflector 620, that is, the target echo signal, thereby eliminating the influence of other interferents, avoiding a situation that the distance of the car of the elevator is misjudged due to the determination of the interfering signal as the target echo signal, and improving the measurement accuracy of the distance of the elevator car 640 relative to the top 650 of the hoistway.
Optionally, on the basis of the foregoing technical solution, the controller 630 is specifically configured to:
preprocessing the echo signals to obtain a corresponding relation between distance and amplitude;
determining a distance value corresponding to the maximum amplitude value in the distance-amplitude value corresponding relation as a reference distance value;
determining a target distance range based on the reference distance value and the height difference between the target reflector 620 and the top of the car;
and determining the amplitude pole signal in the target distance range as a target echo signal.
Optionally, on the basis of the above technical solution, the number of the target reflectors 620 is at least two, at least two target reflectors 620 are arranged at a preset angle, and a preset distance is provided between each two adjacent target reflectors 620; the controller 630 is specifically configured to:
determining the distance difference between adjacent amplitude pole signals in the target distance range;
and if the distance difference between the adjacent amplitude pole signals is a preset distance, determining any one of the corresponding amplitude pole signals as a target echo signal.
Optionally, on the basis of the foregoing technical solution, the controller 630 is specifically configured to:
taking the distance value corresponding to the target echo signal as the target distance from the elevator car 640 to the radar sensor 610;
the floor location at which the elevator car 640 is located is determined based on the target distance.
Optionally, on the basis of the foregoing technical solution, the controller 630 is specifically configured to:
acquiring the current ambient temperature output by a temperature sensor arranged in an elevator shaft;
correcting the target distance based on the current ambient temperature;
accordingly, the controller 630 determines the floor position at which the elevator car 640 is located based on the corrected target distance.
Optionally, on the basis of the foregoing technical solution, the controller 630 is specifically configured to correct the target distance based on the current ambient temperature according to the following method:
H n (T 1 )＝H n (T 0 )+(T 1 -T 0 )*L (1)
in the formula: h n (T 1 ) The target distance corresponding to the nth floor leveling at the current ambient temperature;
H n (T 0 ) The distance corresponding to the nth floor leveling at the reference environmental temperature is obtained;
T 1 is the current ambient temperature;
T 0 is a reference ambient temperature;
l is the expansion coefficient of the building in which the elevator is located.
Optionally, fig. 7 is a schematic structural diagram of an elevator provided in an embodiment of the present invention, and the elevator 70 includes the elevator position detection system 60 provided in any of the above embodiments, so that the elevator 70 provided in the embodiment of the present invention also has the beneficial effects described in any of the above embodiments.
It is to be noted that the foregoing description is only exemplary of the invention and that the principles of the technology may be employed. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions will now be apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. An elevator position detection method, comprising:
controlling a radar sensor arranged at the top of a shaft of an elevator to transmit a radar signal;
acquiring an echo signal of the car top of the elevator output by the radar sensor to the radar signal;
determining target echo signals of target reflectors at preset positions on the top of the elevator car based on the echo signals and the height difference between the target reflectors and the top of the elevator car, wherein the number of the target reflectors is at least two, at least two target reflectors are arranged at preset angles, and a preset distance is reserved between every two adjacent target reflectors;
determining a floor location at which the elevator car is located based on the target echo signal, comprising:
taking a distance value corresponding to the target echo signal as a target distance from the elevator car to the radar sensor;
acquiring the current ambient temperature output by a temperature sensor arranged in an elevator shaft;
correcting the target distance based on the current ambient temperature;
the floor position at which the elevator car is located is determined based on the target distance.
2. The elevator position detection method according to claim 1, wherein the determining a target echo signal of a target reflector at a preset position on the car top based on the echo signal and a height difference between the target reflector and the elevator car top comprises:
preprocessing the echo signals to obtain a corresponding relation between distance and amplitude;
determining a distance value corresponding to the maximum amplitude value in the distance-amplitude value corresponding relation as a reference distance value;
determining a target distance range based on the reference distance value and a height difference between the target reflector and the car top;
and determining the amplitude pole signal in the target distance range as a target echo signal.
3. The elevator position detection method according to claim 2, wherein the determining of the magnitude pole signal within the target distance range as a target echo signal comprises:
determining a distance difference between adjacent amplitude pole signals within the target distance range;
and if the distance difference between the adjacent amplitude pole signals is a preset distance, determining any one of the corresponding amplitude pole signals as a target echo signal.
4. The elevator position detection method of claim 1, wherein prior to the determining the position of the elevator car based on the target distance, the method further comprises:
the determining a floor location at which the elevator car is located based on the target distance comprises:
determining the floor position of the elevator car based on the corrected target distance.
5. The elevator position detection method according to claim 4, characterized in that the target distance is corrected based on the current ambient temperature in the following manner:
H n (T 1 )＝H n (T 0 )+(T 1 -T 0 )*L (1)
in the formula: h n (T 1 ) The target distance corresponding to the nth floor leveling at the current ambient temperature is obtained;
H n (T 0 ) The distance corresponding to the nth floor level at the reference environment temperature;
T 1 is the current ambient temperature;
T 0 is the reference ambient temperature;
and L is the expansion coefficient of the building where the elevator is located.
6. An elevator position detection system, comprising:
the radar sensor is arranged at the top of an elevator shaft and used for transmitting a radar signal and receiving an echo signal of the top of a car of the elevator to the radar signal;
the system comprises at least two target reflectors, a plurality of sensors and a controller, wherein the at least two target reflectors are arranged at preset positions on the top of a car of an elevator, the at least two target reflectors are arranged at preset angles, and a set height difference is formed between the at least two target reflectors and the top of the car;
the controller is connected with the radar sensor and used for controlling the radar sensor to emit radar signals, acquiring the echo signals output by the radar sensor, determining a target echo signal of at least one target reflector based on the echo signals, and determining the floor position where the elevator car is located based on the target echo signal;
the controller is specifically used for taking a distance value corresponding to the target echo signal as a target distance from the elevator car to the radar sensor; acquiring a current ambient temperature output by a temperature sensor arranged in an elevator shaft; correcting the target distance based on the current ambient temperature; the floor position at which the elevator car is located is determined based on the target distance.
7. The elevator position detection system of claim 6, wherein at least one of the target reflectors is made of a metallic material.
8. The elevator position detection system according to claim 6, wherein the number of the target reflectors is at least two, and adjacent target reflectors have a preset distance therebetween.
9. Elevator characterized in that it comprises an elevator position detection system according to any of claims 6-8.
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| CN113740818B (en) * | 2021-08-30 | 2023-07-04 | 日立楼宇技术（广州）有限公司 | Radar state detection method and device, electronic equipment and storage medium |
| CN116106884A (en) * | 2021-11-11 | 2023-05-12 | 日立楼宇技术（广州）有限公司 | Radar-based ranging method, radar-based ranging device, computer equipment, radar-based ranging system and medium |
| CN114735558B (en) * | 2022-04-02 | 2023-08-11 | 日立楼宇技术（广州）有限公司 | Elevator system adopting radar ranging |
| CN115231407B (en) * | 2022-07-15 | 2023-09-15 | 日立楼宇技术（广州）有限公司 | Displacement detection method, device and equipment of elevator and storage medium |
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