CN102992128A - Validation method for absolute floor of elevator - Google Patents
Validation method for absolute floor of elevator Download PDFInfo
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- CN102992128A CN102992128A CN2011102729489A CN201110272948A CN102992128A CN 102992128 A CN102992128 A CN 102992128A CN 2011102729489 A CN2011102729489 A CN 2011102729489A CN 201110272948 A CN201110272948 A CN 201110272948A CN 102992128 A CN102992128 A CN 102992128A
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- floor
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- car
- pitch sequence
- interlayer
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Abstract
The invention relates to a validation method for the absolute floor of an elevator. On the basis of an elevator controller, a lift car position recording module connected with the elevator controller, a floor sensor and a floor indication module cooperated with the floor sensor, the validation method for the absolute floor of the elevator comprises the following steps of: detecting a floor identification module position, calculating a practical floor space, calculating an undetermined floor space and confirming the floor. With the method, the floor on which the lift car is stayed when the elevator is subjected to the staggered floor can be known as quickly as possible without returning to a base station to correct the self position, and the elevator rescue efficiency is greatly improved. Meanwhile, the lift car position recording module, the floor sensor and the floor indication module respectively can be realized by a motor shaft rotary encoder, a flat floor sensor and a shaft magnet vane provided by a common elevator system, the measurement precision is high, no hardware cost needs to be added, and the validation method has a good economic benefit while the detection accuracy is guaranteed.
Description
Technical field
The present invention relates to the floor confirmation method behind the elevator staggered floor more specifically, is related to the confirmation method of the absolute floor of a kind of elevator.
Background technology
In the at present elevator control, the method for correcting the elevator staggered floor mainly contains following two kinds:
The first is the traditional approach error correction, elevator moves to the bottom (car position alignment layer) downwards again to proofread self-position in the method by saving oneself, the most elevators of China all adopt this method to carry out the staggered floor correction at present, but the method has obvious deficiency as follows:
Usually, cause the elevator staggered floor to be because Lift out of order is anxious to stop, the not too urgent distance of stopping skidding can't be measured, thus after the fault car position actual be the unknown, need to save oneself at this moment runs to the base station correction position and could recover normally to discharge stranded passenger.And in the practical operation, the floor of modern society's building is more and more higher, if elevator is at host station generation staggered floor, usually return the base station and proofread and correct and need for a long time with the reset car of (being generally 15m/min) of low speed, absolute altitude during take the car staggered floor as 100m as example, car is covered whole process with inspection speed need to be greater than 6 minutes time, this to hope as early as possible above water passenger be unacceptable.
Second method is at every one deck setting in building difference equipment corresponding with this floor, such as magnetic isolation plate and IC-card, by car save oneself when operation the identification of magnetic isolation plate or IC-card is realized differentiation to the absolute floor in car place again, as the applying date be 2010 01 month 25, application number is a kind of identification device of elevator floor stops of 201010112595.1 patent disclosure, it comprises at least one IC-card and card reader that is installed on the car that is arranged on every layer of assigned address of elevator hoistways inwall, but also there is its vice proper in above technical scheme: at first, because said method is installed a difference equipment at each floor, so elevator floor is more, production is installed just more difficult.For example elevator has 100 layers, the IC-card that needs to produce 100 complete different magnetic isolation plates or write 100 different I D; Secondly, the installation of every one deck at first needs to choose the difference equipment corresponding with this layer, and the situation that this is easy to occur wrong choosing, misloading in practice affects installation effectiveness.
In recent years, a kind of velocity limiter velocity-measuring system SAE also appears on the market, the generation of this system based on speed limiter wire rope and car for firmly to be connected, so governor sheave also rotated when car moved thereupon, the rotating speed that a rotary encoder is used for directly measuring governor sheave can be set in velocity limiter thus, be scaled at last the position of car, the advantage of the method is to detect in real time car position, substantially avoid stopping the generation of staggered floor, but its shortcoming is to have appended the hardware such as rotary encoder and data acquisition electronic edition, greatly increased cost, do not calculated very much.
Summary of the invention
Purpose of the present invention is to overcome the deficiencies in the prior art, and the confirmation method of the absolute floor of a kind of elevator is provided, and the method in the situation that does not increase any parts, can realize the affirmation to the absolute floor of elevator staggered floor based on the elevator device of routine.
In order to achieve the above object, adopt following technical scheme:
1, the confirmation method of the absolute floor of a kind of elevator based on electric life controller, the car position logging modle that links to each other with electric life controller, floor inductor and the floor identification module that cooperates with the floor inductor, may further comprise the steps:
1) the floor identification module position detects: when the elevator floor height was measured, the car position logging modle recorded the positional value at car place and is stored as sequence { H when the floor inductor senses the floor identification module
1, H
2... H
n, wherein n is the actual floor number of plies;
2) distance computation between actual layer: the car position value that obtains according to step (1) is calculated the interlayer pitch sequence { S of contiguous floors
1, S
2... S
N-1, wherein the interlayer distance values between n floor and the n+1 floor is S
n=| H
N+1-H
n|;
3) interlayer distance computation undetermined and floor are confirmed:
A, when staggered floor is saved oneself, car unidirectional operation and at least through two contiguous floors identification modules records the interlayer pitch sequence { L undetermined between the contiguous floors identification module successively
1, L
2... L
k, wherein, k is natural number, and k＜n;
B, in a step, according to interlayer pitch sequence { L undetermined
1, L
2... L
k, according to { L
1, { L
1, L
2... { L
1, L
2... L
kOrder to pitch sequence { S between actual layer
1, S
2... S
N-1Carry out the traversal of positive and negative both direction, if there is and only has a continuous subsequence { S between actual layer in the pitch sequence
m, S
M+1... S
M+iIdentical with interlayer pitch sequence undetermined, then stop traversal, wherein m is the staggered floor floor of car, m ∈ 1,2 ... n}, i are natural number and i＜n.
Further, described floor inductor is the flat bed inductor, and described floor identification module is the hoistway magnetic isolation plate.
Again further, described car position logging modle is elevator motor axle rotary encoder.
Further, in the described step 3, the running velocity of car is not more than 15m/min during elevator self-rescue.
Again further, described electric life controller is provided for data poke unit that the interlayer pitch sequence is stored.
Also further, when staggered floor was saved oneself, the priority of cage operation direction was first downwards, backward on.
Compared with prior art, beneficial effect of the present invention is:
Be provided with the floor inductor that to survey the floor identification module at car, realized the detection to the floor position; Be connected with electric life controller and be equipped with the car position logging modle, realized the record to the car position, further can realize the calculating to the interlayer spacing, simultaneously by save oneself after to spacing and staggered floor between the floor actual layer comparison of spacing between process layer of electric life controller, realized the affirmation to the car absolute location, the floor at car place when adopting the method can know as early as possible elevator generation staggered floor and need not return base station check and correction self-position has improved elevator rescue efficient greatly; Simultaneously, car position logging modle, floor inductor and floor identification module can realize with motor shaft rotary encoder, flat bed inductor and hoistway magnetic isolation plate that conventional elevator device carries respectively, survey precision is high and need not increase any hardware cost, has again good economic benefit when guaranteeing Detection accuracy.
Description of drawings
Fig. 1 is the system architecture scheme drawing of the confirmation method of the absolute floor of elevator of the present invention.
Among the figure: 1-car position logging modle; 2-floor identification module; 3-floor inductor; The 4-car.
The specific embodiment
Below in conjunction with drawings and the specific embodiments, the present invention will be further described:
In practice, because civil engineering error or installation error, it is highly generally inconsistent for the different floor of building, after its take off data is accurate to certain value, can think that the interlayer spacing of every contiguous floors is mostly not identical; Simultaneously, after the elevator installation, all must carry out floor height from measuring, by this mensuration, record each layer by layer high (being the absolute distance of every layer of magnetic isolation plate and base station), with the normal transport task after finishing.In this process, the distance of every adjacent two magnetic isolation plates of energy synchro measure during by magnetic isolation plate.
Based on the above fact, referring to Fig. 1, the confirmation method of the absolute floor of elevator of the present invention, based on electric life controller, the car position logging modle 1 that links to each other with electric life controller, floor inductor 3 and the floor identification module 2 that cooperates with floor inductor 3, as most economical embodiment, above-mentioned floor inductor 3 is the flat bed inductor, floor identification module 2 is the hoistway magnetic isolation plate, car position logging modle 1 is elevator motor axle rotary encoder, electric life controller is provided for data poke unit that the interlayer pitch sequence is stored, take the building of 9 floor as example, realize that staggered floor confirms specifically to may further comprise the steps:
The floor identification module position detects: elevator is when doing floor height mensuration, and car position logging modle 1 records the positional value at car place and is stored as sequence { H when floor inductor 3 senses the floor identification module
1, H
2... H
n, wherein n is the actual floor number of plies.In the present embodiment, elevator carries out floor height tests oneself regularly, whenever the lift car leveling inductor runs into the hoistway magnetic isolation plate, just record once at that time motor shaft rotary encoder transmit the pulse count of returning and be converted into the absolute floor height { H of this layer
1, H
2... H
9.Aspect motor shaft rotary encoder survey precision, take the rotary encoder of 8192 more general now pulses as example, in the situation of frequency division not, if the collocation diameter is the traction sheave of 600mm, hang than 2: 1, the survey precision of motor shaft rotary encoder can reach 0.115mm, is enough to satisfy the application demand that daily elevator position detects.
2) distance computation between actual layer: the car position value that obtains according to step (1) is calculated the interlayer pitch sequence { S of contiguous floors
1, S
2... S
N-1, wherein the interlayer distance values between n floor and the n+1 floor is S
n=| H
N+1-H
n|, the sequence that the interlayer spacing of each contiguous floors forms in the memory cell of electric life controller in the present embodiment is as shown in table 1:
Table 1 embodiment interlayer pitch sequence table
3) interlayer distance computation undetermined and floor are confirmed:
A, when staggered floor is saved oneself, car unidirectional operation and at least through two contiguous floors identification modules 2 records the interlayer pitch sequence { L undetermined between the contiguous floors identification module 2 successively
1, L
2... L
k, wherein, k is natural number, and k＜n.Process is identical shown in the realization and (1) of this process, (2) step, this data sequence is stored in separately in the storage space of elevator control unit, for fear of causing danger, this moment, the running velocity of lift car should be suitable with elevator reparing speed, generally is not more than 15m/min.
B, in a step, according to interlayer pitch sequence { L undetermined
1, L
2... L
k, according to { L
1, { L
1, L
2... { L
1, L
2... L
kOrder to pitch sequence { S between actual layer
1, S
2... S
N-1Carry out the traversal of positive and negative both direction, if there is and only has a continuous subsequence { S between actual layer in the pitch sequence
m, S
M+1... S
M+iIdentical with interlayer pitch sequence undetermined, then stop traversal, wherein m is the staggered floor floor of car, m ∈ 1,2 ... n}, i are natural number and i＜n.
In practice, for better safe effect is arranged, the priority of car 4 operations is first operation downwards, and this moment, interlayer pitch sequence undetermined was to { S
1, S
2... S
N-1The traversal of ordered series of numbers carries out according to label n order from big to small, the base station does not inquire matching sequence yet if car 4 runs to the bottom, and can't be by lower terminal limit switch check and correction self-position, then car 4 oppositely moves along order from down to up, and repeats { S
1, S
2... S
N-1The ergodic process of ordered series of numbers, correspondingly, this moment is to { S
1, S
2... S
N-1The traversal of ordered series of numbers should carry out according to label order from small to large.
In the present embodiment, the distance L of 2 of two floor identification modules of process at first during car 4 operation downwards as in the process of saving oneself
1=3400.7mm, after above-mentioned data, electric life controller compares pitch sequence between the actual layer of above-mentioned data and table one, obviously, in the pitch sequence, the 7th～6 layer interlayer spacing and L is only arranged between actual layer
1Identical, can obtain accordingly car at present in the conclusion of 5 building flat beds, and then lower band-type brake, parking is opened the door, and recovers normal operation mode.
Another kind of situation is, in view of in theory also may occurring having a plurality of interlayer spacings identical in the building, even the identical situation of a plurality of interlayer pitch sequence, as in table 1 data 3～4 layers and 5～6 layer by layer spacing be 3400.0mm.Operate to example downwards with car in the process of saving oneself 4 equally, if the distance of 2 of two of process floor identification modules is 3400.0mm at first, then electric life controller can't judge that car is in 5 building flat beds or 3 building level positions at this moment, the car floor that need rerun then, namely again through a magnetic isolation plate, distance is L between these two magnetic isolation plates at this moment
2If, L
2=3400.7mm, then electric life controller is according to { the order his-and-hers watches 1 of 3400.0,3400.7} travel through, obviously, between actual layer, in the pitch sequence, only have the interlayer pitch sequence of the 7th～6,6～5 interlayers identical with value to be checked, namely elevator begin to carry out staggered floor when saving oneself between the 8-7 building, be at present 5 floor platforms, system can reset, band-type brake under the electric life controller instruction, and parking is opened the door, and the recovery normal operation mode, need not return again check and correction position, base station.
By that analogy, when needs data sequences how undetermined travels through and can reach a conclusion, the instruction car continues to save oneself along former direction, and the more floor of passing by is until there is and only has a continuous subsequence identical with interlayer pitch sequence undetermined in the pitch sequence between actual layer.
Should be appreciated that; the content that above specific embodiment is announced only is part preferred version of the present invention; every based on technical scheme of the present invention, technical spirit according to the invention, belonging to those skilled in the art, to need not to carry out creative work be that available enforcement all should belong to protection scope of the present invention.
Claims (6)
1. the confirmation method of the absolute floor of elevator based on electric life controller, the car position logging modle that links to each other with electric life controller, floor inductor and the floor identification module that cooperates with the floor inductor, is characterized in that, may further comprise the steps:
1) the floor identification module position detects: when the elevator floor height was measured, the car position logging modle recorded the positional value at car place and is stored as sequence { H when the floor inductor senses the floor identification module
1, H
2... H
n, wherein n is the actual floor number of plies;
2) distance computation between actual layer: the car position value that obtains according to step (1) is calculated the interlayer pitch sequence { S of contiguous floors
1, S
2... S
N-1, wherein the interlayer distance values between n floor and the n+1 floor is S
n=| H
N+1-H
n|;
3) interlayer distance computation undetermined and floor are confirmed:
A, when staggered floor is saved oneself, car unidirectional operation and at least through two contiguous floors identification modules records the interlayer pitch sequence { L undetermined between the contiguous floors identification module successively
1, L
2... L
k, wherein, k is natural number, and k＜n;
B, in a step, according to interlayer pitch sequence { L undetermined
1, L
2... L
k, according to { L
1, { L
1, L
2... { L
1, L
2... L
kOrder to pitch sequence { S between actual layer
1, S
2... S
N-1Carry out the traversal of positive and negative both direction, if there is and only has a continuous subsequence { S between actual layer in the pitch sequence
m, S
M+1... S
M+iIdentical with interlayer pitch sequence undetermined, then stop traversal, wherein m is the staggered floor floor of car, m ∈ 1,2 ... n}, i are natural number and i＜n.
2. the confirmation method of the absolute number of plies of elevator as claimed in claim 1 is characterized in that, described floor inductor is the flat bed inductor, and described floor identification module is the hoistway magnetic isolation plate.
3. the confirmation method of the absolute number of plies of elevator as claimed in claim 1 or 2 is characterized in that, described car position logging modle is elevator motor axle rotary encoder.
4. the confirmation method of the absolute number of plies of elevator as claimed in claim 1 is characterized in that, in the described step 3, the running velocity of car is not more than 15m/min during elevator self-rescue.
5. the confirmation method of the absolute number of plies of elevator as claimed in claim 1 is characterized in that, described electric life controller is provided with for the data poke unit that the interlayer pitch sequence is stored.
6. the confirmation method of the absolute number of plies of elevator as claimed in claim 1 is characterized in that, when staggered floor was saved oneself, the priority of cage operation direction was first downwards, backward on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110272948.9A CN102992128B (en) | 2011-09-15 | 2011-09-15 | Validation method for absolute floor of elevator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110272948.9A CN102992128B (en) | 2011-09-15 | 2011-09-15 | Validation method for absolute floor of elevator |
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| CN102992128A true CN102992128A (en) | 2013-03-27 |
| CN102992128B CN102992128B (en) | 2015-07-22 |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104816990A (en) * | 2015-05-07 | 2015-08-05 | 广州永日电梯有限公司 | Fast leveling self-rescue method for floor staggering of elevator |
| CN105314487A (en) * | 2014-07-17 | 2016-02-10 | 株式会社日立制作所 | Elevator maintenance method and elevator system |
| CN105967017A (en) * | 2016-05-23 | 2016-09-28 | 苏州汇川技术有限公司 | Elevator steel wire rope slip detecting system and method |
| CN107651516A (en) * | 2017-09-27 | 2018-02-02 | 宁夏电通物联网科技股份有限公司 | Elevator floor detection means and detecting system and method based on three axle air pressure Halls |
| CN108975116A (en) * | 2018-08-20 | 2018-12-11 | 日立楼宇技术（广州）有限公司 | A kind of elevator layer high assay method, apparatus, equipment and storage medium |
| CN109095309A (en) * | 2018-08-07 | 2018-12-28 | 北京云迹科技有限公司 | Utilize the method, apparatus and robot of robot calibration elevator floor |
| CN110526053A (en) * | 2019-07-30 | 2019-12-03 | 上海新时达电气股份有限公司 | The bearing calibration of elevator staggered floor, device and computer readable storage medium |
| CN112004769A (en) * | 2018-04-26 | 2020-11-27 | 三菱电机株式会社 | Elevator control device |
| CN112047209A (en) * | 2020-09-09 | 2020-12-08 | 上海有个机器人有限公司 | Automatic calibration method, medium, terminal and device for elevator floors |
| CN112340559A (en) * | 2020-11-23 | 2021-02-09 | 武汉市威斯德智能装备有限公司 | Elevator power failure emergency rescue blind floor identification system |
| CN113233272A (en) * | 2021-05-13 | 2021-08-10 | 上海江菱机电有限公司 | Method and system for determining elevator floor position coordinates and elevator car dynamic coordinates and storage medium |
| CN113666210A (en) * | 2021-08-16 | 2021-11-19 | 杭州西奥电梯有限公司 | Debugging method for absolute position control system |
| CN113697627A (en) * | 2021-08-24 | 2021-11-26 | 福建省中侨富士电梯有限公司 | Elevator control system and method and elevator |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105314487A (en) * | 2014-07-17 | 2016-02-10 | 株式会社日立制作所 | Elevator maintenance method and elevator system |
| CN105314487B (en) * | 2014-07-17 | 2017-12-29 | 株式会社日立制作所 | The maintenance method of elevator and elevator device |
| CN104816990A (en) * | 2015-05-07 | 2015-08-05 | 广州永日电梯有限公司 | Fast leveling self-rescue method for floor staggering of elevator |
| CN105967017A (en) * | 2016-05-23 | 2016-09-28 | 苏州汇川技术有限公司 | Elevator steel wire rope slip detecting system and method |
| CN107651516A (en) * | 2017-09-27 | 2018-02-02 | 宁夏电通物联网科技股份有限公司 | Elevator floor detection means and detecting system and method based on three axle air pressure Halls |
| CN112004769B (en) * | 2018-04-26 | 2022-10-28 | 三菱电机株式会社 | Elevator control device |
| CN112004769A (en) * | 2018-04-26 | 2020-11-27 | 三菱电机株式会社 | Elevator control device |
| CN109095309B (en) * | 2018-08-07 | 2020-03-27 | 北京云迹科技有限公司 | Method and device for calibrating elevator floor by using robot and robot |
| CN109095309A (en) * | 2018-08-07 | 2018-12-28 | 北京云迹科技有限公司 | Utilize the method, apparatus and robot of robot calibration elevator floor |
| CN108975116A (en) * | 2018-08-20 | 2018-12-11 | 日立楼宇技术（广州）有限公司 | A kind of elevator layer high assay method, apparatus, equipment and storage medium |
| CN110526053A (en) * | 2019-07-30 | 2019-12-03 | 上海新时达电气股份有限公司 | The bearing calibration of elevator staggered floor, device and computer readable storage medium |
| CN110526053B (en) * | 2019-07-30 | 2022-01-18 | 上海新时达电气股份有限公司 | Elevator staggered floor correction method and device and computer readable storage medium |
| CN112047209A (en) * | 2020-09-09 | 2020-12-08 | 上海有个机器人有限公司 | Automatic calibration method, medium, terminal and device for elevator floors |
| CN112340559A (en) * | 2020-11-23 | 2021-02-09 | 武汉市威斯德智能装备有限公司 | Elevator power failure emergency rescue blind floor identification system |
| CN113233272A (en) * | 2021-05-13 | 2021-08-10 | 上海江菱机电有限公司 | Method and system for determining elevator floor position coordinates and elevator car dynamic coordinates and storage medium |
| CN113666210A (en) * | 2021-08-16 | 2021-11-19 | 杭州西奥电梯有限公司 | Debugging method for absolute position control system |
| CN113697627A (en) * | 2021-08-24 | 2021-11-26 | 福建省中侨富士电梯有限公司 | Elevator control system and method and elevator |
| CN113697627B (en) * | 2021-08-24 | 2022-11-15 | 福建省中侨富士电梯有限公司 | Elevator control system and method and elevator |
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