CN102167250A - Large-sized lift car levelness keeping device and control method thereof - Google Patents
Large-sized lift car levelness keeping device and control method thereof Download PDFInfo
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- CN102167250A CN102167250A CN2011101219120A CN201110121912A CN102167250A CN 102167250 A CN102167250 A CN 102167250A CN 2011101219120 A CN2011101219120 A CN 2011101219120A CN 201110121912 A CN201110121912 A CN 201110121912A CN 102167250 A CN102167250 A CN 102167250A
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- lift car
- inertial measurement
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Abstract
The invention provides a large-sized lift car levelness keeping device and a control method thereof, and relates to the technical field for keeping the levelness of a lift car. The invention comprises a lift car, wherein the lower part of the lift car is provided with an inertia measurement unit, a signal output end of the inertia measurement unit is connected with a signal input end of a strapdown attitude computer, a signal output end of the strapdown attitude computer is connected with a signal input end of an electrical machine leveling system, and the electrical machine leveling system is connected with the lift car. The invention achieves the aims of being simple in structure, good in use effect, higher in the running safety and reliability of the lift car.
Description
Technical field
The present invention relates to keep the technical field of lift car level.
Background technology
Elevator is the important means of delivery of commercial production and daily life, along with rapid development of economy, the use of elevator more and more widely, large-scale elevator load carrying ability is big, the passenger that can carry is many, but the lift car slight inclination can occur, influence the comfort level that the passenger takes, heavy then have influence on passenger's life safety.
Summary of the invention
The object of the invention provides a kind of simple in structure, and result of use is good, improves the safety of elevator operation and the large-scale lift car of reliability and keeps horizontal device and control method thereof.
A kind of large-scale lift car keeps the device of level, comprise car, bottom at car is provided with Inertial Measurement Unit, the signal output part of described Inertial Measurement Unit is connected with the signal input part of strapdown Attitude Calculation machine, the signal output part of strapdown Attitude Calculation machine is connected with the signal input part of motor leveling system, and the motor leveling system is connected with car.
Inertial Measurement Unit of the present invention comprises accelerometer, gyro, and the signal output part of accelerometer, gyro is connected with the signal input part of strapdown Attitude Calculation machine respectively.
Inertial Measurement Unit of the present invention is at least three groups, and the signal output part of every group of Inertial Measurement Unit is connected with the signal input part of strapdown Attitude Calculation machine respectively.
Keep the control method of the device of level based on large-scale lift car of the present invention, comprise the steps:
The first step: utilize the responsive car of the Inertial Measurement Unit be arranged on the car bottom along three angle of inclination and cireular frequency, and be transferred to strapdown Attitude Calculation machine;
Second step: strapdown Attitude Calculation machine to the car that receives along three angle of inclination and cireular frequency carry out attitude matrix and calculate, obtain the adjustment status information of car;
The 3rd step: the adjustment status information of car is transferred to the motor leveling system, and the motor leveling system is adjusted the attitude of car according to instruction.
The present invention adopts technique scheme, compared with prior art has following advantage: just car inclination might occur because goods is put unbalanced or personnel stand uneven the time when large-scale elevator, by angle of inclination and the cireular frequency of the next responsive car of the strap down inertial navigation form regulation system that is directly installed on the car bottom along three, after resolving by strapdown Attitude Calculation machine, controlled signal, pass to the leveling motor, motor rotation, adjust the inclined degree of lift car, make car held stationary running state.The present invention combines checking system and actuating system, and angle information is in time carried out computing, makes the lift car held stationary, avoids the generation of accident, and simple in structure, result of use is good, improves the safety and the reliability of elevator operation.
Description of drawings
Fig. 1 is a kind of structural representation of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing technical scheme of the present invention is elaborated:
As shown in Figure 1, a kind of large-scale lift car keeps the device of level, comprise car 1, in the bottom of car 1 Inertial Measurement Unit 2 is set, the signal output part of described Inertial Measurement Unit 2 is connected with the signal input part of strapdown Attitude Calculation machine 3, the signal output part of strapdown Attitude Calculation machine 3 is connected with the signal input part of motor leveling system 4, and motor leveling system 4 is connected with car 1.
Inertial Measurement Unit 2 of the present invention comprises accelerometer 21, gyro 22, and the signal output part of accelerometer 21, gyro 22 is connected with the signal input part of strapdown Attitude Calculation machine 3 respectively.
Inertial Measurement Unit 2 of the present invention is at least three groups, and the signal output part of every group of Inertial Measurement Unit 2 is connected with the signal input part of strapdown Attitude Calculation machine 3 respectively.
Keep the control method of the device of level based on large-scale lift car of the present invention, comprise the steps:
The first step: utilize the Inertial Measurement Unit 2 responsive cars be arranged on car 1 bottom along three angle of inclination and cireular frequency, and be transferred to strapdown Attitude Calculation machine 3;
Second step: the car of 3 pairs of receptions of strapdown Attitude Calculation machine carries out attitude matrix calculating along three angle of inclination and cireular frequency, obtains the adjustment status information of car 1;
The 3rd step: the adjustment status information of car 1 is transferred to motor leveling system 4, and motor leveling system 4 is adjusted the attitude of car 1 according to instruction.
The present invention is made up of the levelling gear that triaxial accelerometer, three-axis gyroscope, strapdown attitude algorithm computing machine and leveling motor are formed.The Inertial Measurement Unit of being made up of triaxial accelerometer and three-axis gyroscope detects three angles of inclination and the cireular frequency of lift car, and after strapdown Attitude Calculation computer, output control information control motor levelling gear is adjusted.
Claims (4)
1. one kind large-scale lift car keeps the device of level, comprise car (1), it is characterized in that Inertial Measurement Unit (2) being set in the bottom of car (1), the signal output part of described Inertial Measurement Unit (2) is connected with the signal input part of strapdown Attitude Calculation machine (3), the signal output part of strapdown Attitude Calculation machine (3) is connected with the signal input part of motor leveling system (4), and motor leveling system (4) is connected with car (1).
2. large-scale lift car according to claim 1 keeps the device of level, it is characterized in that above-mentioned Inertial Measurement Unit (2) comprises accelerometer (21), gyro (22), the signal output part of accelerometer (21), gyro (22) is connected with the signal input part of strapdown Attitude Calculation machine (3) respectively.
3. large-scale lift car according to claim 1 keeps the device of level, it is characterized in that above-mentioned Inertial Measurement Unit (2) is at least three groups, the signal output part of every group of Inertial Measurement Unit (2) is connected with the signal input part of strapdown Attitude Calculation machine (3) respectively.
4. keep the control method of the device of levels based on claim 1 or 2 described large-scale lift cars, it is characterized in that comprising the steps:
The first step: utilize the responsive car of Inertial Measurement Unit (2) be arranged on car (1) bottom along three angle of inclination and cireular frequency, and be transferred to strapdown Attitude Calculation machine (3);
Second step: strapdown Attitude Calculation machine (3) to the car that receives along three angle of inclination and cireular frequency carry out attitude matrix and calculate, obtain the adjustment status information of car (1);
The 3rd step: the adjustment status information of car (1) is transferred to motor leveling system (4), and motor leveling system (4) is adjusted the attitude of car (1) according to instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101219120A CN102167250A (en) | 2011-05-12 | 2011-05-12 | Large-sized lift car levelness keeping device and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101219120A CN102167250A (en) | 2011-05-12 | 2011-05-12 | Large-sized lift car levelness keeping device and control method thereof |
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| Publication Number | Publication Date |
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| CN102167250A true CN102167250A (en) | 2011-08-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011101219120A Pending CN102167250A (en) | 2011-05-12 | 2011-05-12 | Large-sized lift car levelness keeping device and control method thereof |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104386552A (en) * | 2014-11-04 | 2015-03-04 | 中山市卓梅尼控制技术有限公司 | Elevator car top distributor attitude indicator |
| CN105173940A (en) * | 2015-07-16 | 2015-12-23 | 中南大学 | Ultra-deep mine cage pose measuring system and method based on combined navigation technology |
| CN105923475A (en) * | 2016-06-22 | 2016-09-07 | 广州广日电梯工业有限公司 | Sensor-based intelligent automatic regulating system and method |
| CN108944956A (en) * | 2018-06-04 | 2018-12-07 | 洛阳网津智能科技有限公司 | A kind of compensation overhead track toter keeping delivery vehicle level run |
| CN110325472A (en) * | 2017-02-27 | 2019-10-11 | 三菱电机株式会社 | Dimension measurement device |
| CN110759195A (en) * | 2019-11-06 | 2020-02-07 | 广东博智林机器人有限公司 | Leveling control method, device and equipment |
| CN111198579A (en) * | 2020-01-09 | 2020-05-26 | 中国南方电网有限责任公司超高压输电公司广州局 | Portable automatic lifting device controller based on flexible rope |
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| CN1878718A (en) * | 2003-11-17 | 2006-12-13 | 奥蒂斯电梯公司 | Elevator car assembly having an adjustable platform |
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| CN202098941U (en) * | 2011-05-12 | 2012-01-04 | 南京信息工程大学 | Level-keeping device for large elevator car |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104386552A (en) * | 2014-11-04 | 2015-03-04 | 中山市卓梅尼控制技术有限公司 | Elevator car top distributor attitude indicator |
| CN105173940A (en) * | 2015-07-16 | 2015-12-23 | 中南大学 | Ultra-deep mine cage pose measuring system and method based on combined navigation technology |
| CN105923475A (en) * | 2016-06-22 | 2016-09-07 | 广州广日电梯工业有限公司 | Sensor-based intelligent automatic regulating system and method |
| CN110325472A (en) * | 2017-02-27 | 2019-10-11 | 三菱电机株式会社 | Dimension measurement device |
| CN108944956A (en) * | 2018-06-04 | 2018-12-07 | 洛阳网津智能科技有限公司 | A kind of compensation overhead track toter keeping delivery vehicle level run |
| CN108944956B (en) * | 2018-06-04 | 2019-07-02 | 洛阳网津智能科技有限公司 | A kind of compensation overhead track toter keeping delivery vehicle level run |
| WO2019233248A1 (en) * | 2018-06-04 | 2019-12-12 | 洛阳网津智能科技有限公司 | Compensating overhead track carrying apparatus for keeping carrier running horizontally |
| CN110759195A (en) * | 2019-11-06 | 2020-02-07 | 广东博智林机器人有限公司 | Leveling control method, device and equipment |
| CN110759195B (en) * | 2019-11-06 | 2022-02-25 | 广东博智林机器人有限公司 | Leveling control method, device and equipment |
| CN111198579A (en) * | 2020-01-09 | 2020-05-26 | 中国南方电网有限责任公司超高压输电公司广州局 | Portable automatic lifting device controller based on flexible rope |
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Application publication date: 20110831 |