CN113860100B - Method and device for measuring absolute position of elevator car - Google Patents
Method and device for measuring absolute position of elevator car Download PDFInfo
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- CN113860100B CN113860100B CN202111226505.6A CN202111226505A CN113860100B CN 113860100 B CN113860100 B CN 113860100B CN 202111226505 A CN202111226505 A CN 202111226505A CN 113860100 B CN113860100 B CN 113860100B
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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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Abstract
The invention discloses a method and a device for measuring the absolute position of an elevator car. The invention fixedly installs the sensor on the outer side of the elevator car, and also fixedly installs a plurality of magnet groups on the car guide rail at intervals along the moving direction of the elevator car; determining absolute coordinates of the plurality of magnet groups according to positions of the plurality of magnet groups on the car guide rail; coding the plurality of magnet groups to obtain codes corresponding to the plurality of magnet groups; receiving reflected echo signals of the plurality of magnet groups by using a measuring rod of the sensor, judging the reflected echo signals corresponding to the plurality of magnet groups according to codes of the plurality of magnet groups, and determining an effective magnet group; and subtracting the reflected echo signal indication value of one magnet in the effective magnet group from the absolute coordinate of the magnet to obtain the current absolute position of the elevator car. The invention utilizes the codes of the magnet group and the reflected echo signals of the sensor to measure the absolute position of the elevator car, thereby obviously improving the position accuracy of the elevator car.
Description
Technical Field
The invention relates to a method and a device for measuring the position of an elevator car in the technical field of elevator detection, in particular to a method and a device for measuring the absolute position of the elevator car.
Background
The elevator is used as a transportation tool for people to go up and down buildings in life, the safety of the elevator is very important, a control system of the elevator must accurately detect the absolute position of a car, at present, in the elevator industry, a method for detecting the absolute position of the car mainly uses a photoelectric switch to detect the position, and a plurality of photoelectric switch sensors are arranged on each floor and used for car motion control.
Disclosure of Invention
The invention aims to overcome the defects in the background technical field and provides a method and a device for measuring the absolute position of an elevator car.
The technical scheme of the invention is as follows:
1. method for measuring absolute position of elevator car
The method comprises the following steps:
1) Fixedly mounting a sensor on the outer side surface of the elevator car, wherein a measuring rod of the sensor is vertically mounted and extends towards the movement direction of the elevator car, and also fixedly mounting a plurality of magnet groups on a car guide rail at intervals along the movement direction of the elevator car;
2) Determining absolute coordinates of the plurality of magnet groups according to positions of the plurality of magnet groups, which are arranged on the car guide rail along the moving direction of the elevator car; coding the plurality of magnet groups to obtain codes corresponding to the plurality of magnet groups, wherein the code of each magnet group is unique;
3) Receiving reflected echo signals of the plurality of magnet groups by using a measuring rod of the sensor, judging the reflected echo signals corresponding to the plurality of magnet groups according to codes of the plurality of magnet groups, and determining an effective magnet group;
4) And subtracting the reflected echo signal indication value of one magnet in the effective magnet group from the absolute coordinate of the magnet to obtain the current absolute position of the elevator car.
In the step 2), when the magnet group is formed by one magnet, the intervals between every two adjacent magnet groups are different, the interval between every two adjacent magnet groups is used as the code of the previous magnet group, and the code of the rest magnet group is marked as 0 or negative number;
when the magnet group is formed by arranging two magnets at intervals, the interval between the two magnets in each magnet group is used as the code of the current magnet group;
when the magnet group is formed by arranging three or more magnets at intervals, the distance between every two adjacent magnets in each magnet group in the moving direction of the elevator car is used as the code of the current magnet group, and the total length of each magnet group in the moving direction of the elevator car is the same.
In the step 3), when the magnet group is formed by arranging three or more magnet groups at intervals, the reflected echo signals corresponding to the magnet groups are judged according to the codes of the magnet groups and the total length of the magnet groups, and the magnet group is an effective magnet group if the sum of the intervals between adjacent wave crests in each reflected echo signal meets the total length of the magnet group and the interval between adjacent wave crests is the same as the interval represented by the code of the magnet group.
And in the step 1), the measuring rod simultaneously measures at least two magnet groups to obtain the reflected echo signals of the two magnet groups.
2. Elevator car absolute position measuring device
The measuring device comprises a sensor fixedly arranged on the outer side surface of the elevator car, wherein a measuring rod of the sensor is vertically arranged and extends towards the movement direction of the elevator car, a plurality of magnet groups are fixedly arranged on a car guide rail at intervals along the movement direction of the elevator car, each magnet group consists of one or two or three or more magnets, and the number of the magnets in the magnet groups is the same.
Each magnet group is formed by a magnet, and the method specifically comprises the following steps:
each magnet group is composed of a magnet, the distance between two adjacent magnets in the moving direction of the elevator car is used as inter-group coding, and the distances between two adjacent magnets are different.
Each magnet group consists of two magnets, and specifically comprises the following components:
each magnet group is formed by arranging two magnets at intervals, the distance between the two magnets in each magnet group is used as an intra-group code, the distances between the two magnets in each magnet group are different, and the distance between each adjacent magnet group is larger than the distance between the two magnets in each magnet group.
Each magnet group is composed of three or more magnets, and specifically comprises the following components:
each magnet group is formed by arranging three or more magnets at intervals, the total length of each magnet group in the moving direction of the elevator car is the same, the intervals among the magnet groups are not limited, the distance between every two adjacent magnets in each magnet group in the moving direction of the elevator car serves as the intra-group code of the current magnet group, and the intra-group codes of the magnet groups are different.
The measuring rod of the sensor covers at least two magnet groups simultaneously.
The sensor and each magnet group are arranged in a non-contact mode.
The invention has the following beneficial effects:
according to the invention, through the arrangement of the sensor and the magnet group, the absolute position of the elevator car is measured by utilizing the code of the magnet group and the reflected echo signal of the sensor, the requirements on the sensor and the magnet group are not high, but the position accuracy of the elevator car is obviously improved.
After the sensor finishes walking in a complete stroke, the absolute positions corresponding to the codes of all the magnet groups in the whole elevator car stroke can be obtained, and the absolute positions of all the magnet groups are not influenced by the walking direction and power failure.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a schematic view of the apparatus of the present invention;
FIG. 3 is a schematic view of a magnet set consisting of 3 magnets;
fig. 4 is a schematic view of the measurement of the elevator car when the magnet group is formed of 3 magnets;
fig. 5 is a schematic diagram of a reflected echo signal received by a sensor when the elevator car is in the first moving position when the magnet group is composed of 3 magnets.
Fig. 6 is a schematic diagram of a reflected echo signal received by a sensor when the elevator car is in the second moving position when the magnet group is composed of 3 magnets.
Fig. 7 is a schematic view of the measurement of the elevator car when the magnet group is formed of 1 magnet;
fig. 8 is a schematic diagram of a reflected echo signal received by a sensor when the elevator car is in the first moving position when the magnet group is formed by 1 magnet.
Fig. 9 is a schematic diagram of a reflected echo signal received by a sensor when the elevator car is in the second moving position when the magnet group is formed by 1 magnet.
FIG. 10 is a schematic view of a magnet set consisting of 2 magnets;
fig. 11 is a schematic measurement diagram of an elevator car when the magnet group is composed of 2 magnets;
fig. 12 is a schematic diagram of a reflected echo signal received by a sensor when the elevator car is in the first moving position when the magnet group is composed of 2 magnets.
Fig. 13 is a schematic diagram of a reflected echo signal received by a sensor when the elevator car is in the second moving position when the magnet group is composed of 2 magnets.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific embodiments:
as shown in fig. 1, the present invention comprises the steps of:
1) Fixedly mounting a non-contact type displacement sensor on the outer side surface of an elevator car, wherein a measuring rod of the sensor is vertically mounted and extends towards the moving direction of the elevator car, and a plurality of magnet groups are also fixedly mounted on a car guide rail at intervals along the moving direction of the elevator car; and the measuring rod of the sensor simultaneously measures at least two magnet groups to obtain the reflected echo signals of the two magnet groups.
2) Determining a plurality of magnet groups and absolute coordinates of each magnet in each magnet group according to the positions of the magnet groups, which are arranged on a car guide rail along the moving direction of the elevator car; coding the plurality of magnet groups to obtain codes corresponding to the plurality of magnet groups, wherein the code of each magnet group is unique;
in the step 2), when the magnet group is formed by one magnet, the intervals between every two adjacent magnet groups are different, the interval between every two adjacent magnet groups is used as the code of the previous magnet group, and the code of the rest magnet group is marked as 0 or negative number, so that the identification is convenient, namely the code of each magnet group is unique;
when the magnet group is formed by arranging two magnets at intervals, the interval between the two magnets in each magnet group is used as the code of the current magnet group;
when the magnet group is formed by arranging three or more magnets at intervals, the distance between every two adjacent magnets in each magnet group in the moving direction of the elevator car is used as the code of the current magnet group, and the total length of each magnet group in the moving direction of the elevator car is the same.
3) Receiving reflected echo signals of the plurality of magnet groups by using a measuring rod of the sensor, judging the reflected echo signals corresponding to the plurality of magnet groups according to codes of the plurality of magnet groups, and determining an effective magnet group;
in step 3), when the magnet group is composed of one magnet, judging reflected echo signals corresponding to the magnet groups according to codes of the magnet groups, wherein each reflected echo signal has a unique peak, and the magnet group corresponding to the code of the peak is an effective magnet group;
in the step 3), when the magnet group is formed by arranging two magnets at intervals, the reflected echo signals corresponding to the magnet groups are judged according to the codes of the magnet groups, each reflected echo signal has the codes of two wave crests, and the magnet groups corresponding to the two wave crests are effective magnet groups;
in step 3), when the magnet group is formed by arranging three or more magnet intervals, the reflected echo signals corresponding to the magnet groups are judged according to the codes of the magnet groups and the total length of the magnet groups, and the magnet group is an effective magnet group if the sum of the intervals between adjacent wave crests in each reflected echo signal meets the total length of the magnet group and the interval between adjacent wave crests is the same as the interval represented by the code of the magnet group.
4) The absolute coordinate of one magnet in the effective magnet group is subtracted by the reflected echo signal indicating value of the magnet to obtain the current absolute position of the elevator car, so that the measurement of long-range displacement (theoretically, the measuring range is infinite) can be realized.
As shown in fig. 2, the measuring device comprises a non-contact displacement sensor fixedly arranged on the outer side surface of the elevator car, wherein a measuring rod of the sensor is vertically arranged and extends towards the moving direction of the elevator car, a plurality of magnet groups are fixedly arranged on a car guide rail at intervals along the moving direction of the elevator car, the measuring rod of the sensor covers at least two magnet groups at the same time, and at least two magnet groups are measured at the same time to obtain the reflection echo signals of the two magnet groups. The sensor and each magnet group are arranged in a non-contact mode, and abrasion does not exist. Each magnet group is composed of one or two or three or more magnets, the number of the magnets in the magnet groups is the same, the inter-group spacing setting or the inter-group spacing setting of the magnet groups is respectively marked as inter-group coding or intra-group coding according to the number of the magnets in the magnet groups, the inter-group coding or the intra-group coding is taken as the coding of the magnet groups, and the coding of each magnet group is unique. When the elevator car moves, the sensor moves synchronously, the measuring rod of the sensor receives the reflected echo signal of the magnet group, and the absolute position of the elevator car is measured based on the code of the magnet group and the reflected echo signal.
Each magnet group is formed by a magnet, and the method specifically comprises the following steps:
each magnet group is composed of a magnet, the distance between two adjacent magnets in the moving direction of the elevator car is used as an inter-group code, and the distances between two adjacent magnets are different, namely, each distance is unique.
Each magnet group is formed by two magnets, and the method specifically comprises the following steps:
each magnet group is formed by arranging two magnets at intervals, the distance between the two magnets in each magnet group is used as an intra-group code, the distances between the two magnets in each magnet group are different, namely the intra-group codes of each magnet group are different, and the distance between each adjacent magnet group is larger than the distance between the two magnets in each magnet group and has larger difference.
Each magnet group is formed by three or more magnets, and specifically comprises the following components:
each magnet group is formed by arranging three or more magnets at intervals, the total length of each magnet group in the moving direction of the elevator car (namely, the distance between two magnets at the top and the bottom of each magnet group) is the same, the intervals among a plurality of magnet groups are not limited, the interval between every two adjacent magnets in each magnet group in the moving direction of the elevator car is used as the intra-group code of the current magnet group, the intra-group codes of the magnet groups are different, namely, the intervals between every two adjacent magnets in each magnet group are completely different. In a specific implementation, 3 magnets constitute one magnet group.
The specific embodiment of the invention is as follows:
when each magnet group is composed of three magnets, as shown in fig. 3, MC1, MC2 and MC3 in the figure are respectively a first magnet group, a second magnet group and a third magnet group, the installation interval between the groups has no strict requirement, the magnets can be flexibly installed according to the field condition, and the absolute position of each magnet group is calibrated after the magnets are installed. The intervals between MC11-MC12 and MC12-MC13 are different and unique, and the sum of the intervals in each magnet group is 100 in the embodiment for verification.
As shown in fig. 4, the MC1 group intra code is 6040, the mc2 group intra code is 5842, and the mc3 group intra code is 5644. The zero point of the absolute coordinate of the device is set as the reference installation position of the MC11, S1 is the first movement position of the elevator car, and S2 is the second movement position of the elevator car.
When the elevator moves to the position S1 (from the zero point of the absolute coordinate to-30), the reflection echo signals of all the magnets of MC1 and MC2 can be completely received, as shown in figure 5. The three peak distances in the first set of reflected echo signals are 60 and 40, respectively, and the sum is 100, which satisfies the condition of the effective magnet set, and in this embodiment, the first peak in the set of reflected echo signals is determined to be an effective peak (relative measurement value, i.e., the reflected echo signal has an indication value of 30). This set of reflected echo signals corresponds to a magnet set encoded 6040, with an actual installation of 0 (initially given), and the actual measurement output is: 0-30= -30, knowing that the actual mounting positions of the codes 6040 and 5842 differ by 1000.
When the elevator moves to the position S2 (from the zero point 60 of the absolute coordinate), the reflected echo signal of the third magnet in MC1 (relative measurement value, i.e. reflected echo signal indication value is 40) and the reflected echo signals of all the magnets in MC2 can be received, as shown in fig. 6. Only one reflected echo signal with the indication value of 40 exists in the first group of reflected echo signals, and the first group of reflected echo signals is judged as an invalid magnet group; the distances between the three wave crests in the second group of reflected echo signals are 58 and 42 respectively, and the sum is 100, so that the condition of the effective magnet group is met, in the embodiment, the first wave crest in the group of reflected echo signals is judged to be the effective wave crest, and the indication value of the reflected echo signal is 940. This set of reflected echo signals corresponds to the magnet set encoded 5842, the actual mounting of the magnet set is 1000 as seen from the S1 position, and the actual measurement output is: 1000-940=60.
When each magnet group is composed of one magnet, as shown in fig. 7, MC1, MC2, MC3 and MC4 are respectively a first magnet group, a second magnet group, a third magnet group and a fourth magnet group, the intervals of MC1-MC2, MC2-MC3 and MC3-MC4 are different and unique, S1 is a first movement position of the elevator car, and S2 is a second movement position of the elevator car.
When the elevator moves to the position S1 (from the zero point-30 of the absolute coordinate), the reflected echo signals of all the magnets of MC1-MC3 can be received, as shown in figure 8. The distance between the first reflected echo signal and the second reflected echo signal is 700, and in this embodiment, the first peak in the group of reflected echo signals is determined to be a valid peak (relative measurement value, i.e., the reflected echo signal is indicated to be 30). The corresponding code for this set of reflected echo signals is 700, the actual installation of the magnet set is 0 (initially given), and the actual measurement output is: 0-30= -30, knowing that the actual mounting positions of the codes 700 and 358 differ by 700.
When the elevator moves to the S2 position (from the zero point 660 of the absolute coordinate), the reflected echo signals of MC2-MC4 can be received (the relative measurement value, i.e. the reflected echo signal shows 40), as shown in fig. 9. At this time, the distance between the first reflected echo signal and the second reflected echo signal is 358, and the first peak in the group of reflected echo signals is determined to be a valid peak, and the reflected echo signal has a value of 40. The group of reflected echo signals corresponds to a magnet group coded as 358, the actual installation position of the magnet group coded 358 is 700 according to the S1 position, and the actual measurement output is as follows: 700-40=660.
When each magnet group is composed of two magnet rings, as shown in fig. 10, MC1, MC2 and MC3 are respectively a first magnet group, a second magnet group and a third magnet group, the distance between MC11 and MC12 is different from the distance between MC21 and MC22, the distance is kept unique in the whole measuring range, and when the distance between the magnet groups is greatly different from the distance between two magnets in the magnet groups, the example can be implemented, as shown in fig. 11, the code in MC1 is 100, the code in mc2 is 108, and the code in mc3 is 106. The zero point of the absolute coordinate of the device is set as the reference installation position of the MC11, S1 is the first movement position of the elevator car, and S2 is the second movement position of the elevator car.
When the elevator moves to the position S1 (from the zero point of the absolute coordinate to-30), the reflection echo signals of all the magnets of the MC1 and the MC2 can be completely received, as shown in figure 12. The distance between two peaks in the first set of reflected echo signals is 100 (determined to be valid), the distance between two peaks in the second set of reflected echo signals is 108 (the set is determined to be invalid because the previous one is valid), and the first peak in the first set of reflected echo signals is determined to be a valid peak in this embodiment (relative measurement value, i.e. the reflected echo signal has an indication value of 30). This set of reflected echo signals corresponds to a magnet set encoded as 100, with an actual installation of 0 (initially given), and the actual measurement output is: 0-30= -30, and it can be additionally known that the actual mounting positions of the codes 108 and 100 differ by 1000.
When the elevator moves to the position S2 (from the zero point 60 of the absolute coordinate), the reflected echo signal of the second magnet in MC1 (relative measurement value, i.e. reflected echo signal indicating value 40) and the reflected echo signals of all the magnets in MC2 can be received, as shown in fig. 13. Only one reflected echo signal with the indication value of 40 exists in the first group of reflected echo signals, and the invalid magnet group is judged; the distance between two peaks in the second group of reflected echo signals is 108, and the group of magnets is determined to be an effective magnet group, in this embodiment, the first peak in the group of reflected echo signals is determined to be an effective peak, and the indication value of the reflected echo signal is 940. This set of reflected echo signals corresponds to a magnet set coded as 108, the actual mounting of the magnet set is 1000 as seen from the S1 position, and the actual measurement output is: 1000-940=60.
The above-described embodiments are merely illustrative of the present invention, and the specific embodiments of the present invention include but are not limited to the above-mentioned embodiments, and any modifications of the present invention within the scope of the claims of the present invention are within the scope of the present invention.
Claims (10)
1. A method of measuring the absolute position of an elevator car, comprising the steps of:
1) Fixedly mounting a sensor on the outer side surface of the elevator car, wherein a measuring rod of the sensor is vertically mounted and extends towards the movement direction of the elevator car, and also fixedly mounting a plurality of magnet groups on a car guide rail at intervals along the movement direction of the elevator car;
2) Determining absolute coordinates of the plurality of magnet groups according to positions of the plurality of magnet groups mounted on the car guide rail along the moving direction of the elevator car; coding the plurality of magnet groups to obtain codes corresponding to the plurality of magnet groups, wherein the code of each magnet group is unique;
3) Receiving reflected echo signals of the plurality of magnet groups by using a measuring rod of the sensor, judging the reflected echo signals corresponding to the plurality of magnet groups according to codes of the plurality of magnet groups, and determining an effective magnet group;
4) And subtracting the reflected echo signal indication value of one magnet in the effective magnet group from the absolute coordinate of the magnet to obtain the current absolute position of the elevator car.
2. The method for measuring the absolute position of the elevator car according to claim 1, wherein in the step 2), when the magnet group is formed by one magnet, the interval between each two adjacent magnet groups is different, the interval between the two adjacent magnet groups is used as the code of the previous magnet group, and the code of the remaining magnet group is marked as 0 or negative;
when the magnet group is formed by arranging two magnets at intervals, the interval between the two magnets in each magnet group is used as the code of the current magnet group;
when the magnet group is formed by arranging three or more magnets at intervals, the distance between every two adjacent magnets in each magnet group in the moving direction of the elevator car is used as the code of the current magnet group, and the total length of each magnet group in the moving direction of the elevator car is the same.
3. Method for measuring the absolute position of an elevator car according to claim 1,
in the step 3), when the magnet group is formed by arranging three or more magnet groups at intervals, the reflected echo signals corresponding to the magnet groups are judged according to the codes of the magnet groups and the total length of the magnet groups, and the magnet group is an effective magnet group if the sum of the intervals between adjacent wave crests in each reflected echo signal meets the total length of the magnet group and the interval between adjacent wave crests is the same as the interval represented by the code of the magnet group.
4. Method for measuring the absolute position of an elevator car according to claim 1,
and in the step 1), the measuring rod simultaneously measures at least two magnet groups to obtain the reflected echo signals of the two magnet groups.
5. An elevator car absolute position measuring apparatus for carrying out the measuring method according to any one of claims 1 to 4, characterized in that: the sensor is fixedly arranged on the outer side surface of an elevator car, a measuring rod of the sensor is vertically arranged and extends towards the movement direction of the elevator car, a plurality of magnet groups are fixedly arranged on a car guide rail at intervals along the movement direction of the elevator car, each magnet group consists of one or two or three or more magnets, and the number of the magnets in the magnet groups is the same.
6. The device for measuring the absolute position of an elevator car according to claim 5, characterized in that each magnet group is formed by a magnet, in particular:
each magnet group is composed of one magnet, the distance between two adjacent magnets in the moving direction of the elevator car is used as inter-group coding, and the distances between two adjacent magnets are different.
7. The device for measuring the absolute position of an elevator car according to claim 5, characterized in that each magnet group is formed by two magnets, in particular:
each magnet group is formed by arranging two magnets at intervals, the distance between the two magnets in each magnet group is used as an intra-group code, the distances between the two magnets in each magnet group are different, and the distance between each adjacent magnet group is larger than the distance between the two magnets in each magnet group.
8. An elevator car absolute position measuring device as defined in claim 5, wherein: each magnet group comprises three or more magnets, and specifically comprises the following components:
each magnet group is formed by arranging three or more magnets at intervals, the total length of each magnet group in the moving direction of the elevator car is the same, the intervals among the magnet groups are not limited, the distance between every two adjacent magnets in each magnet group in the moving direction of the elevator car serves as the intra-group code of the current magnet group, and the intra-group codes of the magnet groups are different.
9. An elevator car absolute position measuring device as defined in claim 5, wherein: the measuring rod of the sensor covers at least two magnet groups simultaneously.
10. An elevator car absolute position measuring device as defined in claim 5, wherein: the sensor and each magnet group are arranged in a non-contact mode.
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