CN101402429A - Mobile object speed detecting device - Google Patents
Mobile object speed detecting device Download PDFInfo
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- CN101402429A CN101402429A CNA200810005114XA CN200810005114A CN101402429A CN 101402429 A CN101402429 A CN 101402429A CN A200810005114X A CNA200810005114X A CN A200810005114XA CN 200810005114 A CN200810005114 A CN 200810005114A CN 101402429 A CN101402429 A CN 101402429A
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Abstract
Provided is a low-cost moving object velocity detection apparatus capable of detecting the velocity of moving objects. A moving object velocity detection apparatus (200) is provided with a component (207) and a velocity calculating device (116), wherein, the component (207) in installed at a moving object forming a moving object forming a relative velocity with the constitution object, and the velocity calculating device (116) calculating the velocity of the moving object according to the detection signal obtained from the component (207). The moving object includes a plurality of components (207) and sensor columns (201) provide with a specified spaced interval in the running direction. The velocity calculating device (116) can superpose the output of the sensor columns (201) in a prescribed mode, processes frequency analysis to the superposed result, and calculates the velocity of the moving object according to the frequency obtained by frequency analysis and the prescribed spaced distance of the detection apparatus.
Description
Technical field
The present invention relates to a kind of speed detector of mobile object, relate in particular to the speed detector that a kind of elevator car safety is used.
Background technology
In recent years, the speed context of detection at lift car (mobile object) is not arranged on sensor in the Machine Room, has obtained progress and sensor is arranged on the research that detects this mode on the lift car.Owing to when the speed of carrying out lift car detects, can get rid of the influence of hoist cable, except can obtaining direct data, also have various advantages such as the speed that when hoist cable is cut off, also can detect.And, aspect speed detector, owing to adopted the noncontact mode that movable part need not be set, so can further improve reliability.
As prior art, for example open and disclose a kind of scheme (for example with reference to patent documentation 1) that detects elevator car speed by the sensor device that is arranged on the lift car side in the 2006-52092 communique the patent of invention spy of Japan of patent documentation 1.It is that a kind of use is arranged on the mark in the hoist trunk and is arranged on the device that sensor device on the lift car detects elevator car position basically.This scheme discloses the establishing method of distance between a kind of mark and the sensor device, and the sensor device that its use is arranged on the lift car side detects the mark that is arranged on the hoist trunk side, and converts detected value to the absolute location value.This absolute location value is used for velocity measurement.
Patent documentation 1: TOHKEMY 2006-52092 communique.
According to patent documentation 1, when using the sensor device that is arranged on the lift car to carry out the speed detection, need on the whole stroke of hoist trunk, be provided with to detect and use mark.In the mode of usage flag, except being provided with the cost of mark itself, also can being created in to be provided with in the hoist trunk and required maintenance cost after cost and the utilization beginning etc. being set, thereby have the problem that to guarantee price competitiveness.
In addition, if be arranged on the sensor of lift car side itself when relatively more expensive, then aspect cost, can be in disadvantageous condition.And,, also need to be provided with the gap maintaining body sometimes if when use detecting the narrow sensor of distance range.
That is to say, in above-mentioned prior art, have following problem, that is, need be reduced in the hoist trunk side cost of speed detection with mark is set, be reduced in the cost that the lift car side is provided with sensor, reduce the cost that keeps sensor required at interval.And also existing needs to reduce the problem that detection signal is handled required cost.
Summary of the invention
The present invention is the invention of making in order to solve described problem, the object of the present invention is to provide a kind of mobile object speed detecting device that can detect mobile object speed with low cost.
To achieve these goals, mobile object speed detecting device of the present invention has detector (for example hereinafter described element 207) and speed counting device (for example hereinafter described speed calculation processing equipment 116), wherein this detector is arranged on structure and forms on the mobile object of relative velocity, this speed counting device is calculated the speed of mobile object according to the detection signal that obtains from detector, this mobile object speed detecting device is characterised in that, a plurality of described detectors separate the interval setting of regulation and constitute detector columns (for example hereinafter described sensor column 201) along the moving direction of described mobile object, speed counting device makes the output of detector columns overlapping in the mode of regulation, and overlapping result carried out frequency analysis, calculate the speed of mobile object according to the distance of the predetermined distance of the frequency of frequency analysis gained and detector.
The invention effect
According to the present invention, can carry out the speed detection of mobile object with low cost.
Description of drawings
Fig. 1 is the constructional drawing of the related mobile object speed detecting device of expression embodiments of the present invention;
Fig. 2 is the cut-away view of expression speed calculation processing equipment;
Fig. 3 is the instruction diagram of the waveform example of expression speed calculation processing equipment;
Fig. 4 is the instruction diagram of the determining method when deciding sensor column length according to the interval of structure in the hoist trunk that can be used in the speed detection;
The instruction diagram of the method for inspection when Fig. 5 is to use a plurality of sensor column detection speed;
Fig. 6 is the cut-away view of the detected value synthetic method of a plurality of sensor columns of expression;
To be expression detect the instruction diagram of the waveform example when handling by a plurality of sensor columns to Fig. 7;
Fig. 8 is the instruction diagram of the shared example of element between a plurality of element spacing sensor columns of expression;
Fig. 9 is the instruction diagram of expression from the velocity correlation information example of speed calculation processing apparatus output;
Figure 10 is the instruction diagram of the limited speed threshold value when having represented application terminal floor speed reduction gearing for example;
Figure 11 is the instruction diagram that expression can be tackled the speed calculation processing equipment of terminal floor speed reduction gearing;
The instruction diagram of the countermeasure example when Figure 12 is expression sensor column element et out of order;
Figure 13 is the diagram of circuit of the treatment step in expression element fault detection/controller;
Figure 14 is the component structure of expression sensor column and the instruction diagram of driving method example;
Figure 15 is that expression is compared the instruction diagram of the advantage that the present invention had with the occasion of the interval travel time measuring distance (comparative example) that utilizes pulse wave.
Nomenclature
100 lift facilities
102 guide rails
105 cars (lift car)
106 main hoist cables
107 counterbalanceds weight
108 winchs
109 drgs
111 control setups
113 car moving directions
114 emergency braking apparatus
115 cage side safety devices
116 speed calculation processing equipment (speed counting device)
Structure in 117 hoist trunks
200 mobile object speed detecting devices
201 sensor columns (detecting device row)
202 detecters
203 overlapping devices
204 frequency analyzers
205 threshold decision devices
206 spectrum overlapping devices
207 elements (detecting device)
208 f/vol changers
209 multiplexers
210 location informations
211 fault elements
212 sensor drive devices
213 sensor receiving amplifiers
214 disconnectors
215 echo pips 1
216 echo pips 2
217 total receptions export 1
218 apart from true value
219 distance measure
220 total receptions export 2
301 command speves
302 limited speeds
303 terminal floor speed reduction gearing operating spaces
304 terminal floor speed reduction gearing operating spaces
401 element fault detectors
402 matrix switches
403 element fault detection/controllers
The specific embodiment
Followingly embodiments of the present invention are described with reference to accompanying drawing.
Fig. 1 is the constructional drawing of the related mobile object speed detecting device of expression embodiments of the present invention.At this,, be that example describes with the lift car 105 that is arranged on the lift facility 100 in the building as mobile object.Lift car 105 moves at travel direction shown in Figure 1 (lifting direction) 113.Has structure 117 in the hoist trunk on the lifting direction 113.And the mobile object speed detecting device 200 (with reference to Fig. 2) of present embodiment comprises sensor column 201 and speed calculation processing equipment 116.
Lift car 105 and counterbalanced weight 107 are connected to each other by main hoist cable 106, and main hoist cable 106 volumes hang on the winch 108.Winch 108 drives main hoist cable 106 according to the instruction of control setup 111.Thus, lift car 105 (following abbreviate as sometimes " car ") and counterbalanced weight 107 move in hoist trunk.Lift car 105 is provided with cage side safety device 115.
The speed calculation processing equipment 116 that comprises in the cage side safety device 115 can be according to calculating speed from the input data of sensor column 201 (the length L s of sensor column 201).Speed calculation processing equipment 116 will comprise that the security control information according to the information of judging from the input data of sensor column 201 that has or not hypervelocity sends to control setup 111.Control setup 111 is according to security control information, the action command of output brake 109 and emergency braking apparatus 114 etc.As required, also can constitute the action command of directly exporting emergency braking apparatus 114 and drg 109 etc. by cage side safety device 115.
In the ordinary course of things, lift facility 100 also is provided with the auxiliary ropes (not shown) that is called as speed controller rope except main hoist cable 106, and this rope is installed on the emergency braking apparatus 114 of car 105.When be cut off because of main hoist cable 106 etc. cause lift car 105 to accelerate to certain speed (in the regulation at building standard method for 1.4 times of command speed etc.) after, except the control action of control setup 111, governor (not shown) pins speed controller rope, make emergency braking apparatus 114 actions, carry out emergency braking in the mode of embracing guide rail 102.
Fig. 2 is the cut-away view of expression speed calculation processing equipment.Speed calculation processing equipment 116 has detecter 202, overlapping device 203, frequency analyzer 204 and threshold decision device 205.In addition, sensor column 201 is made of a plurality of elements 207, the distinguishing mark of this element be respectively a, b, c ..., x.
The signal of sensor column 201 is transformed to baseband signal by detecter 202.By overlapping device 203, according to sensor (207a, b, c ..., x) the cooresponding predetermined rule of relative position relation, more specifically say so according to the order that is provided with of sensor, it is overlapping or the subtraction formula is overlapping that this signal is alternately added French, afterwards, be transformed to the frequency spectrum of the time fluctuation component of baseband signal by frequency analyzer 204.Passing threshold determining device 205 judges whether the position of the main peak of this frequency spectrum has surpassed the frequency of regulation, and judged result is outputed in the control setup 111 etc.
The interval of sensor column 201 is set at d, and when the frequency setting of the peak value of above-mentioned frequency spectrum was f, speed v can be calculated by following formula.
v＝2·f·d…(1)
Thus, the judgment threshold frequency f th of the frequency spectrum during limited speed Vmax is,
fth＝Vmax/(2·d)…(2)。
In addition, the waveform of each output wave shape at check point CPa～CPc, the Cpx among Fig. 2 and check point CP1～CP3 place is for example shown in Figure 3.
Fig. 3 is the instruction diagram of the waveform example of speed calculation processing equipment.Diagram of curves G01～G09 represent with Fig. 2 in check point CPa～CPc, Cpx and the corresponding waveform of check point CP1～CP3.In addition, be made of 4 elements at this hypothesis sensor column 201, these 4 elements are respectively with the order setting of a, b, c, x, and interval spatially equates.For this reason, check point CPa, CPb, CPc, CPx and suitable from the waveform after the detection of the element that uniformly-spaced is provided with.Now, suppose that the structure in the hoist trunk passes through towards the direction of element x from the direction of the element a of sensor column 201.At this moment, the waveform of check point CPa～CPc, CPx is respectively shown in diagram of curves G01～G04.
Waveform by 203 couples of diagram of curves G01～G04 of overlapping device carries out overlapping processing, obtains the waveform shown in the diagram of curves G05 at check point CP1.And the transverse axis of diagram of curves G01～G05 is represented the time, and the longitudinal axis is represented the output size (for example voltage) of detecter 202 or overlapping device 203.
In addition, obtain the power spectrum shown in diagram of curves G06 or the diagram of curves G08 by frequency analyzer 204.At this, the transverse axis of diagram of curves G06, G08 is represented frequency, and the longitudinal axis is represented power.
If the main frequency spectrum at check point CP2 place is less than judgment threshold frequency f th (casel), then the output of check point CP3 is normal (Normal) value shown in diagram of curves G07.Equally, greater than judgment threshold frequency f th the time (case2), shown in diagram of curves G08, be unusual (Alert) value.And along with speeding up of lift car 105, the main frequency spectrum of frequency is towards high direction displacement.
The transverse axis of diagram of curves G07, G09 is represented the time, and the longitudinal axis is represented judgment value size (illustrated example is these two values of Alert, Normal).Diagram of curves G07, G09 have represented constant in time judgment value for example, but judgment threshold frequency f th is not constant in time, and when quickening, during constant airspeed and when deceleration etc., this is worth by determining with the corresponding judgment threshold frequency f of safety speed th.In principle, the main frequency spectrum of check point CP2 is judged when being horizontally through judgment threshold frequency f th.
Fig. 4 is the instruction diagram of the determining method when deciding sensor column length according to the interval of structure in the hoist trunk that can be used in the speed detection.In the present invention, adopted sensor column 201 to detect the structure that is arranged on the structure in the hoist trunk by being arranged on the lift car 105.For this reason, the length on the space of sensor column 201 is with can be along with the moving spatially of lift car 105, and the mode of covering structure thing is set continuously.
Now, when the space interval with respect to the maximum of lift car moving direction of supposing structure 117 in the hoist trunk was Lr, the length L s of sensor column 201 determined in the shortest mode that must satisfy following formula.
Lr＜Ls…(3)
More practical is with following method decision length L s, promptly, two end portions at sensor column 201, make structure 117 in the element duplicate detection hoist trunk about 2 respectively, obtain rich amount Lsm, and on the basis of having considered the sensor region shape, obtain comprising structure affluence amount Lrm at interval in the hoist trunk of effective detected value of sensor, and make and satisfy the relation shown in the following formula.
Lr+Lrm＜Ls-Lsm…(4)
The instruction diagram of the method for inspection when Fig. 5 is to use a plurality of sensor column detection speed.In Fig. 5,, use a plurality of sensor column 201a, 201b as sensor column.Use the occasion of a plurality of sensor columns as needs, for example have sensor can detected hoist trunk in the space of structure 117a, 117b the occasion of the length that exceeded the single-sensor row that can accomplish in the reality at interval etc. is set.Cause the reason of above-mentioned situation to be, owing to be subjected to the quantity of the element that on the sensor column length direction, can install and element spacing, the highest channel number of treatment circuit, the size influence of various factors such as (length of the above-below direction of lift car) of fixed position, thereby can not at random carry out the setting of length.
In Fig. 5 so that 2 sensor column 201a, 201b relative with the different parts of hoist trunk respectively be that example describes to situation with detection speed.The magnitude relationship that the space of structure 117 is provided with between interval Lr-a, the Lr-b in each sensor column length L s-a, Ls-b and the hoist trunk satisfies following formula.
Lr-a＞Ls-a、Lr-b＞Ls-b…(5)
For this reason, when sensor column 201a, 201b handle separately, be subjected to the influence of elevator car position, on speed detects, produced discountinuity.
At this, by being set at, length L s-a, the Ls-b of sensor column 201a, 201b and the relative position relation between a plurality of sensor column 201a, the 201b have at least a sensor column 201 can detect structure in the hoist trunk all the time, and, by synthesizing in the predetermined process mode, just can carry out continuous speed and detect corresponding to car position arbitrarily from the signal of a plurality of sensor column 201a, 201b.Illustrate below about synthetic method.
If relative with a plurality of sensor column 201a, 201b to hoist trunk in the space of structure 117a, 117b be provided with and relative position is fixed, then can be easily in hoist trunk in structure space periodic, decision makes to have at least row can detect the position relation of structure in the hoist trunk in a plurality of sensor columns.Even when the spatial destribution of structure does not have periodically in hoist trunk, also can simulate, and determine a plurality of sensor column length and relative position relation easily by computing machine.
Fig. 6 is the cut-away view of the detected value synthetic method of a plurality of sensor columns of expression.Each different places in sensor column 201a, 201b and the hoist trunk relative to.For convenience's sake, in the drawings, sensor column 201a, 201b are arranged on the same straight line, but under general situation, shown in above-mentioned embodiment, sensor column 201a, 201b with by the position of the length decision of the set-up mode of structure in the hoist trunk and sensor column relative to.
From the output of a plurality of sensor column 201a, 201b, till frequency analyzer 204a, 204b, handle in independent mode.That is to say, be transformed to baseband signal by detecter 202a from the signal of sensor column 201a.By overlapping device 203a, according to the cooresponding predetermined rule of the relative position relation of sensor, more specifically say so according to the order that is provided with of sensor, it is overlapping or the subtraction formula is overlapping that this signal is alternately added French, afterwards, be transformed to the frequency spectrum of the time fluctuation component of baseband signal by frequency analyzer 204a.Equally, the signal from sensor column 201b is transformed to baseband signal by detecter 202b.By overlapping device 203b, according to the cooresponding predetermined rule of the relative position relation of sensor, more specifically say so according to the order that is provided with of sensor, it is overlapping or the subtraction formula is overlapping that this signal is alternately added French, afterwards, be transformed to the frequency spectrum of the time fluctuation component of baseband signal by frequency analyzer 204b.
The power spectrum that is obtained by frequency analyzer 204a, 204b carries out overlapping processing by spectrum overlapping device 206.For the power spectrum after overlapping, carry out threshold decision by threshold decision device 205.At this, describe with reference to Fig. 7 pair of waveform with the corresponding position of check point CP4～CP6.
To be expression detect the instruction diagram of the waveform example when handling by a plurality of sensor columns to Fig. 7.Among the figure, in the side shown in the check point CP4 (sensor column 201a one side), sensor column 201a and actv. detected object are to be in the not position relation of subtend in the hoist trunk between the structure 117, and in the side shown in the check point CP5, sensor column 201a and actv. detected object be in relative to the position relation.In the frequency spectrum of check point CP4, do not have to occur surpassing the peak value of judgment threshold grade Pth, and in the frequency spectrum of check point CP5, this peak value then occurred.Equally, be in the main frequency spectrum of check point CP6 at the composite value of power spectrum, the peak value of judgment threshold grade Pth has also appearred surpassing.Relation opposite occasion in the position of structure 117 can be judged according to the frequency spectrum of CP6 too in sensor column 201a, 201b and hoist trunk.
For example do not adopt after detecter 202a, 202b being to adopt this method can not guarantee to have clear and definite relative phase between a plurality of sensor columns from the disposable reason of synthesizing this method of the output of a plurality of sensor column 201a, 201b.In addition, be unit with each sensor column, in the method that passing threshold determining device 205 has synthesized after having carried out handling again, except with the hoist trunk of effective detected object in the judgement output instability of not relative this side of structure, according to the judgment threshold grade Pth that sets, erroneous judgement appears sometimes.On the other hand, in the manner, synthesize in the stage of power spectrum, because a plurality of power spectrums are synthesized, so sporadic spectrum peak is had the inhibition effect, thus S/N can be improved than (Signal to Noise ratio).
Fig. 8 is the instruction diagram of the shared example of element between a plurality of element spacing sensor columns of expression.As shown in Figure 8, if the different a plurality of sensor columns of element spacing (for example, interval d1, d2) are arranged on the same line, then can make a part of element shared.Element 207 among the figure is shared with the sensor column that is spaced apart d2 by the sensor column that is spaced apart d1.By changing the element spacing of sensor column, but can change the scope of detection speed.As shown in Equation (2), the judgment threshold frequency f th of detection limit speed Vmax can be calculated by following formula.
fth＝Vmax/(2·d)
Therefore, by increasing element spacing d,, also can judge bigger limited speed even use low-tach A/D changer.
Fig. 9 is the instruction diagram of expression from the velocity correlation information example of speed calculation processing apparatus output.In the output of out0,, export the output information in the above-mentioned embodiment in two-value (for example Alert/Normal, H/L, 1/0 etc.) mode as the result of speed excessive (hypervelocity) judgment processing.On the other hand, in the way of output shown in the out1, for example to carrying out f/vol (frequency → voltage) conversion 208 etc. with the corresponding frequency location of peaks spectrum, with suitable method output information is transformed into the form that is fit to transmit after, the spectrum information of judgment processing is not also carried out in output.According to this way of output, can carry out more flexibly threshold decision for the control setup 111 of back segment and allow some leeway.This method is especially favourable when using terminal floor speed reduction gearing described later etc. to change the limited speed threshold value under various conditions.
Equally, in the way of output shown in the out2, also be direct output spectrum information.According to this way of output, because the information beyond the crest frequency of the main frequency spectrum among the out1 is also transmitted, detect required judgement information so can gather way, can improve reliability.For example, whether by the peak value of main frequency spectrum is compared with other peak value, judging has bigger difference between the two, so, and the viability that can judgement speed detects.And,, can easily spectrum information be transformed to speed v by using formula (1).
In the output shown in the out3, output be the waveform that does not also carry out the time zone of frequency analysis.According to this way of output, handle owing to use the control setup 111 of back segment to carry out frequency analysis, so can carry out the frequency analysis that high-precision Filtering Processing etc. can adapt to various conditions.For example, in control setup 111, be used for to utilize numerous information such as information of cage operation situation and other sensor, so when the signal of out3 under the state that elevator door is opened change has taken place, can be judged as this change and be likely that elevator causes owing to goods or people pass in and out.Thus, can also dynamically change (being judged as external interference factor when for example the peak magnitude of power of frequency spectrum is little), make and the change generation of above-mentioned degree is not responded to threshold value.
Output shown in the out4 is the output of carrying out in the stage before overlapping processing is carried out in the output of sensor column element.According to this way of output, can access the output transition information of each element in the sensor column.Therefore, can in the control setup 111 of back segment, confirm the viability of each element.Viability also comprises regulating changing (alignment variation) and waiting and the relevant factor of speed detection performance except normal/mal of each element.In addition, in said structure, after the A/D conversion, carry out the structure of overlapping processing, so compare the restriction of the maximum number of elements aspect in the time of can relaxing overlapping the processing significantly with analog processing in the numerical value mode owing to generally adopt.And, because can be, so favourable when the very big element of use cheapness and deviation to adjustments (comprise biasing wait various deviations) that gain individually of each element.In addition, the used element of overlapping processing also can be selected arbitrarily.Therefore, in overlapping processing, only need to use the element that equals smallest elements multiple at interval, identical effect in the time of just can obtaining sensor column with the big element spacing of use with analog system.In addition, as described later, when component wear, can also take the treatment measures of electronics mode.
In the output shown in the out4,, can also use multiplexer (MUX) 209 as required in order to transmit.More than, from out1 to out4, feature to the output intent in each stage is illustrated, in general, processing project in the control setup 111 of back segment is many more, it is just big more then to be sent to the data volume of control setup 111 from speed calculation processing apparatus 116, so need carry out balance between the transmission capacity that can use and required speed detection processing capacity.
Figure 10 is the instruction diagram of the limited speed threshold value when having represented application terminal floor speed reduction gearing for example.The transverse axis of Figure 10 is represented the height that start at the reference position in the hoist trunk.This reference position for example can be the last limit switch in elevator floor, hole or bottom etc.The longitudinal axis is represented the speed of lift car 105.Solid line 301 expression command speves, the speed of travelling for car generally.Long and two-short dash line 302 expression limited speeds when surpassing this speed, are necessary to carry out control action.In the drawings, 302 of long and two-short dash linees illustrate one, but have 2 in the ordinary course of things at least, and one is the threshold value as the energizing signal of the drg of braking via main hoist cable, and another root is the threshold value as the energizing signal of emergency braking action.The operating space of dotted line 303 and dotted line 304 expression terminal floor speed reduction gearings.In the drawings, near top curve and near the threshold value that the bottom is is symmetric shape, but also can be asymmetrical shape.When using the terminal floor speed reduction gearing, this function is built in control setup 111 or the speed calculation processing equipment 116.
When in control setup 111, carrying out the function of terminal floor speed reduction gearing, to the location information (not shown) of control setup 111 input lift cars 105 and the velocity information of lift car 105.As the velocity information of lift car 105, use out1 among Fig. 9 to carry out the preceding direct velocity information (for example peak frequency values) of threshold decision to out4.Situation when in addition, realizing terminal floor speed reduction gearing function by the speed calculation processing equipment 116 that is arranged on lift car 105 sides describes with reference to Figure 11 below.
Figure 11 is the instruction diagram that expression can be tackled the speed calculation processing equipment of terminal floor speed reduction gearing.As shown in figure 11, send the location information 210 of lift car 105 to speed calculation processing equipment 116.In addition, by being arranged to change the threshold value of threshold decision device 205 according to the location information of the lift car of being imported 105, thereby can realize diagram of curves as shown in figure 10 and the corresponding limited speed in position lift car 105.
The instruction diagram of the countermeasure example when Figure 12 is expression sensor column element et out of order.Now, in Figure 12 (a), suppose to be positioned at the middle element 211 of sensor column fault has taken place.At this moment, according to the spatial distribution state of structure 117 in the hoist trunk of the detected object of sensor, bring influence for sometimes the speed detected value.At this, in the present embodiment, when the element et out of order of sensor column, use remaining element, the embodiment when action is proceeded describes.
To be input to from the testing result of element fault detector 401 in the element fault detection/controller 403, determine the position of fault element in sensor column.At this moment, if fault element is positioned near the end of sensor column, then use matrix switch 402 that the element group of the less side of the number of elements of fault element both sides and the output signal of fault element are disconnected.On the other hand, if the position of fault element is positioned near the central authorities of sensor column, then uses 402 pairs of matrix switches to be divided into two groups sensor column group and cut apart by fault element.Circuit structure after cutting apart is divided into these two groups of sensor column 201p, 201q shown in Figure 12 (b).At this moment, need a plurality of overlapping device 203p, 203q and frequency analyzer 204p, 204q.Overlapping device 203, frequency analyzer 204 and threshold decision device 205 can be prepared in advance a plurality of, also can constitute divisional processing when being undertaken by the control of element fault detection/controller 403.
Figure 13 is the diagram of circuit of the treatment step in expression element fault detection/controller.Element fault detection/controller 403 obtains the state (step S1) of the discrete-component that constitutes sensor column.After this, judge whether to have fault element (step S2).When finding fault element (judged result of step S2 is for having) is arranged, enter step S3.When not having fault element (step S2 judged result is not for having), return step S1.
In step S3, element fault detection/controller 403 is confirmed the position of fault element.Then, judge whether to be necessary to carry out dividing processing (step S4).When being necessary to cut apart (judged result of step S4 is for cutting apart), carry out the setting operation (step S5) that sensor column is cut apart.Processing after the step S5 is identical with the occasion of a plurality of sensor columns of use shown in the embodiment of Fig. 6, adds under the state of power spectrum.When not needing to cut apart (judged result of step S4 cut apart for not needing), return step S1.
When realizing the function of present embodiment, at the latest when the fore-end of overlapping device 203 has carried out the A/D conversion, the viability of then guaranteeing each element easily detects and the alerting ability of the grouping when carrying out overlapping the processing by software.In order in control setup 111, to realize this function will sending to control setup 111 with the cooresponding output of the out4 among Fig. 9.
Figure 14 is the component structure of expression sensor column and the instruction diagram of driving method example.The sensor that can use as the element of sensor column of the present invention for example can list ultrasonic transduter.Structure example when the ultrasonic transduter that sends and receive is separately used in Figure 14 (a) expression.In the represented example of Figure 14 (a), use one group of transmitter side sensor 207s and receiver side sensor 207r to constitute an element of sensor column.Transmitter side sensor 207s for example drives with the continuous wave of certain amplitude by sensor drive device 212.The reflection of structure 117 and from direct input component of transmitter side sensor 207s etc. in the signal that receiver side sensor 207r is received, comprising from hoist trunk.As required, can suitably export to back segment by sensor receiving amplifier 213.In addition, Figure 14 (b) represents as sensor element, the situation when using transmission and receiving one-piece type element 207sr.Occasion when separating with reception with transmission is the same, drives by the continuous wave of sensor drive device 212 with certain amplitude, and the fluctuation component that the reception ripple causes is extracted by disconnector 214.
Compare with the mode of the interval travel time measuring distance that utilizes pulse wave (Time Of Flight mode) of comparative example, when using the continuous wave as the feature of present embodiment, have various advantages.Followingly advantage of the present invention is described with reference to Figure 15.
Figure 15 is that expression is compared the instruction diagram of the advantage that the present invention had with the occasion of the interval travel time measuring distance (comparative example) that utilizes pulse wave.In the interval travel time measurement of using pulse wave to carry out, shown in Figure 15 (a), a plurality of reflected wave components 215,216 o'clock are arranged in the beam profile of element 207, the total reception exported shown in 217, difference between the amplitude is minimum, so be difficult to this isopulse is judged.
Its result owing to have the selection change of the pulse of greatest peak, as Figure 15 (b) 219 shown in, very big change can take place in the observed reading of distance.When the range difference of structure 117 is half wavelength in hoist trunk, shown in 220, received pulse is offset each other, so can select with normal pulse position the out-of-position peak value to have taken place in judgement, perhaps detect, thereby make distance measure become unstable less than received pulse.Therefore, the distribution of the relative distance in basis and hoist trunk between the structure 117 and variation etc. are judged in the mode of elevator car speed, when above-mentioned situation has taken place, then can't be calculated velocity amplitude.
On the other hand, in mode of the present invention, the information that the specificity that can't carry out the place of range observation receives ripple also can be used on measuring as unique point.That is to say,, can correctly it be transformed to velocity amplitude by making above-mentioned distinguished point in regular turn by the front of sensor column element.
In the above embodiment, used ultrasonic transduter as sensor element, but so long as the sensor that can respond to the shape of structure in the hoist trunk 117 and relative distance, reflectivity, conductivity etc. then can use sensor arbitrarily.For example, also can use the rang sensor that utilizes infrared ray to measure according to easy principle of triangulation.At this moment, can right and wrong between actual distance and the output valve linear.
In addition, also can use the distance measuring unit that has utilized laser.At this moment, utilize and wall surface between interval travel time mode and utilize the mode of reflection strength all can use.
And, in mode of the present invention, as long as can be corresponding with hoist trunk in the change-detection of relative position relation between the structure to changing, so not necessarily will guarantee accuracy with the distance of between the walls.Therefore, in the range observation (measuring the distance of object) of optical profile type, can cause in transparent wall that error produces and the hoist trunk structure etc. also can use the present invention.
Except being used for measuring distance, be used to detect corresponding to and hoist trunk in during the change of relative position between the structure, equally also can use the sensor of the interval travel time mode of ultrasonic pulse.Because Magnetic Sensor also can detect the magnetization of structure in the hoist trunk, so also can utilize Magnetic Sensor.
In the present embodiment, so that be that example is described as mobile object with the car 105 of lift facility.But, as the detected object of mobile object speed, be not limited in the combination of structure in lift car and the hoist trunk, and can be widely used for various mobile objects and the measurement of the relative velocity between the structure on every side.For example, mobile object can be the vehicle of train, and structure can be a track around it.Can detect the seam between the track, the sleeper of track and the connecting element of track etc. by sensor column 201.
And, in the waveform example of speed calculation processing equipment 116 shown in Figure 3, be that the situation of even number (for example being 4) is that example is described with the element number of sensor column 201, but the present invention is not limited to this.The element number of sensor column 201 can constitute so that n is individual as shown in Figure 1, and also can carry out speed calculation easily and handle when adopting odd number.
In the present embodiment, as to and hoist trunk in position relation between the structure produce induction and an example of a plurality of sensors of output change take place, the ultrasonic transduter that drives with continuous wave is illustrated.But in using method of the present invention, as long as since can according to and hoist trunk in the variation of position relation between the structure obtain corresponding output change, so output there is no need and sensor and structure between relative distance maintenance proportionate relationship.Therefore, utilize external interference factors such as the multipath reflection that can become problem in the distance calculation method (Time OfFlight mode) that ultrasonic transduter measures the interval travel time etc., diffraction, scattering also to can be used as characteristic quantity in the present embodiment and in measurement, be used traditional.
Using detecter 202 to transform to aspect the baseband signal and using overlapping device 203 to carry out addition and subtraction, can easily constitute by hardware to carry out aspect such as overlapping processing.When using software to carry out frequency analysis to handle, required A/D changer can constitute with 1 channel when adopting the simplest structure.In addition, owing to be baseband region, so can adopt the low A/D changer of sampling rate, and can make contributions to the burden that alleviates the software processing.
Claims (9)
1. mobile object speed detecting device, have detector and speed counting device, wherein this detector is arranged on structure and forms on the mobile object of relative velocity, this speed counting device is calculated the speed of described mobile object according to the detection signal that obtains from described detector, this mobile object speed detecting device is characterised in that
A plurality of described detectors separate the interval setting of regulation and constitute detector columns along the moving direction of described mobile object,
Described speed counting device makes the output of described detector columns overlapping in the mode of regulation, and described overlapping result carried out frequency analysis, calculate the speed of described mobile object according to the distance of the described predetermined distance of frequency that obtains from described frequency analysis and described detector.
2. mobile object speed detecting device as claimed in claim 1 is characterized in that described detector detects the variation of the shape of described structure.
3. mobile object speed detecting device as claimed in claim 1 is characterized in that, described mobile object is provided with a plurality of described detector columns.
4. mobile object speed detecting device as claimed in claim 3 is characterized in that, at least one row in described a plurality of detector columns in the optional position of described mobile object, are arranged on the position that described detector can produce response change because of described structure.
5. as each the described mobile object speed detecting device in the claim 1 to 4, it is characterized in that described detector is the ultrasonic type detector.
6. mobile object speed detecting device as claimed in claim 5 is characterized in that the super sonic of described detector drives with continuous wave.
7. as each the described mobile object speed detecting device in the claim 1 to 6, it is characterized in that described mobile object is the car of elevator, described structure is the structure in the hoist trunk.
8. as each the described mobile object speed detecting device in the claim 1 to 6, it is characterized in that described mobile object is the compartment of train, described structure is a track.
9. mobile object speed detecting device, have detector and speed counting device, wherein this detector is arranged on structure and forms on the mobile object of relative velocity, this speed counting device is calculated the speed of described mobile object according to the detection signal that obtains from described detector, this mobile object speed detecting device is characterised in that
A plurality of described detectors separate the interval setting of regulation and constitute detector columns along the moving direction of described mobile object,
Described speed counting device makes the output of described detector columns overlapping in the mode of regulation, described overlapping result is carried out frequency analysis, and will compare from frequency and the predefined frequency that described frequency analysis obtains, judge whether the speed of described mobile object exceeds the speed limit.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2007257656A JP2009084009A (en) | 2007-10-01 | 2007-10-01 | Moving body speed detection device |
| JP2007257656 | 2007-10-01 | ||
| JP2007-257656 | 2007-10-01 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101402429A true CN101402429A (en) | 2009-04-08 |
| CN101402429B CN101402429B (en) | 2011-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200810005114XA Expired - Fee Related CN101402429B (en) | 2007-10-01 | 2008-01-22 | Mobile object speed detecting device |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP2009084009A (en) |
| CN (1) | CN101402429B (en) |
| HK (1) | HK1126740A1 (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102976175A (en) * | 2012-11-30 | 2013-03-20 | 江南嘉捷电梯股份有限公司 | Elevator speed measuring device |
| CN103159101A (en) * | 2011-12-16 | 2013-06-19 | 深圳市一兆科技发展有限公司 | Method, device and system of lift car speed measuring |
| CN104931715A (en) * | 2015-06-25 | 2015-09-23 | 国新电梯科技有限公司 | Intelligent speed measuring device for high-speed elevator experimental tower |
| CN105187020A (en) * | 2014-12-26 | 2015-12-23 | 天津光电高斯通信工程技术股份有限公司 | Magnetic steel amplifier |
| CN107835780A (en) * | 2015-07-22 | 2018-03-23 | 三菱电机株式会社 | Lift appliance |
| 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 |
| CN111372881A (en) * | 2017-11-21 | 2020-07-03 | 蒂森克虏伯电梯创新与运营股份有限公司 | Elevator system with signal generating unit arranged on elevator car of elevator system |
| CN112777444A (en) * | 2021-03-02 | 2021-05-11 | 猫岐智能科技（上海）有限公司 | Elevator positioning system and positioning method |
| CN112897272A (en) * | 2021-03-02 | 2021-06-04 | 猫岐智能科技（上海）有限公司 | Elevator state judgment system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106429697B (en) * | 2016-09-13 | 2018-09-28 | 江苏旭云物联信息科技有限公司 | A kind of Elevator safety precaution system |
| EP3848318A1 (en) * | 2020-01-07 | 2021-07-14 | Thyssenkrupp Elevator Innovation Center, S.A. | A method to predict a deterioration in a passenger moving system |
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| JPS5451874A (en) * | 1977-09-30 | 1979-04-24 | Yokogawa Hokushin Electric Corp | Velocity detector |
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| JPH0711527A (en) * | 1993-06-21 | 1995-01-13 | Murata Mach Ltd | System for controlling winder |
| SE515008C2 (en) * | 1994-07-04 | 2001-05-28 | Daimler Chrysler Ag | Device for speed measurement in rail vehicles |
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- 2009-06-17 HK HK09105430.8A patent/HK1126740A1/en not_active IP Right Cessation
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103159101A (en) * | 2011-12-16 | 2013-06-19 | 深圳市一兆科技发展有限公司 | Method, device and system of lift car speed measuring |
| CN102976175A (en) * | 2012-11-30 | 2013-03-20 | 江南嘉捷电梯股份有限公司 | Elevator speed measuring device |
| CN105187020A (en) * | 2014-12-26 | 2015-12-23 | 天津光电高斯通信工程技术股份有限公司 | Magnetic steel amplifier |
| CN104931715A (en) * | 2015-06-25 | 2015-09-23 | 国新电梯科技有限公司 | Intelligent speed measuring device for high-speed elevator experimental tower |
| CN107835780A (en) * | 2015-07-22 | 2018-03-23 | 三菱电机株式会社 | Lift appliance |
| CN107835780B (en) * | 2015-07-22 | 2019-05-21 | 三菱电机株式会社 | Lift appliance |
| CN111372881A (en) * | 2017-11-21 | 2020-07-03 | 蒂森克虏伯电梯创新与运营股份有限公司 | Elevator system with signal generating unit arranged on elevator car of elevator system |
| 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 |
| CN112777444A (en) * | 2021-03-02 | 2021-05-11 | 猫岐智能科技（上海）有限公司 | Elevator positioning system and positioning method |
| CN112897272A (en) * | 2021-03-02 | 2021-06-04 | 猫岐智能科技（上海）有限公司 | Elevator state judgment system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2009084009A (en) | 2009-04-23 |
| HK1126740A1 (en) | 2009-09-11 |
| CN101402429B (en) | 2011-07-27 |
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