CN103832905A - Position detection device for elevator cab - Google Patents
Position detection device for elevator cab Download PDFInfo
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- CN103832905A CN103832905A CN201210472802.3A CN201210472802A CN103832905A CN 103832905 A CN103832905 A CN 103832905A CN 201210472802 A CN201210472802 A CN 201210472802A CN 103832905 A CN103832905 A CN 103832905A
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- microphone
- lift car
- detecting device
- elevator
- position detecting
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Abstract
The invention belongs to the technical field of elevator cab control, and discloses a position detection device for an elevator cab. The position detection device for the elevator cab comprises a voice device and a detecting device. The voice device is arranged on the top portion of the elevator cab and is used for sending a voice single. The detecting device is arranged on the side wall of an elevator well above the elevator cab and is connected with an elevator control system, the detecting device comprises a microphone array and a processing circuit, each microphone in the microphone array outputs collected voice singles into the processing circuit respectively, and the processing circuit estimates a perpendicular distance between the elevator cab and the microphone array according to the microphone signals and sends the value of the perpendicular distance to the elevator control system. The position detection device for the elevator cab can accurately detect the specific position of the elevator in bad situations of steel rope slipping, fault scramming, a speed limiter action, rope breaking of the speed limiter and the like, so that great convenience is provided for safety of passengers and subsequent rescue. The position detection device is low in cost and can be wildly promoted and used.
Description
Technical field
The invention belongs to elevator control technology field, be specifically related to a kind of detecting device for detection of elevator car position.
Background technology
At present, apparatus for controlling elevator is that rotary encoder by being arranged on main traction motor bearing obtains the location information of lift car in elevator hoistways in the ordinary course of things.But the method exists following significantly defect:
1, be the traction system of the frequent acceleration and deceleration of needs due to elevator device, therefore the skid level of steel rope and traction sheave can not be ignored, and often need to proofread and correct by magnetic isolation plate, otherwise can cause the car position deviation of accumulation.
2, elevator runs into the anxious stopping time of fault in express driving process, traction sheave is because the release of band-type brake stops operating, but because car is subject to larger effect of inertia, can cause occurring between steel rope and traction sheave serious skidding, and be the position that cannot proofread and correct by magnetic isolation plate car in this case.
3, elevator control is due at the anxious car position that can not confirm elevator after stopping skidding, therefore needing saves oneself run to base station again correction position could recover normally, to discharge stranded passenger.If will cause like this elevator to break down at host station, need the time of several minutes could allow stranded frightened passenger leave elevator.
In addition, in order to confirm the position of lift car in the situation that steel rope and traction sheave skid, current elevator device is mainly by velocity limiter runner limit, roller being installed, and detects the position of car with the rotation of absolute value encoder or incremental encoder measurement roller.The location correction problem that although this method can solve steel rope and traction sheave after skidding, under Action of Gravity Field, continuing operation for velocity limiter action, car, to trigger the situation that safety tongs moves be also helpless.The in the situation that of drifting, adjacent elevator, owing to not knowing the car position of fault elevator, therefore can not start automatic help function timely.In addition, the method need to increase an absolute value encoder or incremental encoder, a set of position detecting device and the accessory machinery part of coder is installed at velocity limiter, therefore expensive, generally can only serve as client's optional function configuration.
Summary of the invention
The object of the invention is to for the deficiencies in the prior art part, a kind of lift car position detecting device simple in structure is provided, the accurate elevator car position that detects in the severe situations such as this detecting device can skid at steel rope, fault is suddenly stopped, velocity limiter action, the disconnected rope of velocity limiter, and cost is lower.
For achieving the above object, the present invention adopts following technical scheme:
A kind of lift car position detecting device, for detection of lift car present position in elevator hoistways, it comprises a sound-producing device, is arranged on the top of lift car, in order to send voice signal; One detecting device, is arranged on the hoistway wall of lift car top and is connected with apparatus for controlling elevator, and described detecting device comprises a microphone array and a treatment circuit; Each microphone of described microphone array exports the voice signal collecting to treatment circuit respectively, and described treatment circuit estimates the vertical distance between described lift car and microphone array and the numerical value of this vertical distance is sent to apparatus for controlling elevator according to those microphone signals.
As preferably, described detecting device is arranged in the hoistway wall of top layer layer door top, to ensure that described detecting device is positioned at the top of lift car all the time, and is conducive to shorten the connection line length between detecting device and apparatus for controlling elevator.
As preferably, described testing circuit estimates that by adaptive time delay estimation algorithm voice signal arrives the delay inequality between each microphone, and calculates the vertical distance between described lift car and microphone array according to those delay inequalities.
Select as one, described microphone array is made up of four microphones, these four microphones are all arranged in a plane parallel with hoistway wall of living in and according to a right-angle plane system of axes xoy who is based upon in this plane and arrange, wherein: first microphone is arranged in the origin of coordinates of this right-angle plane system of axes, second microphone is arranged on the x axle positive dirction of this right-angle plane system of axes, the 3rd microphone is arranged on the y axle positive dirction of this right-angle plane system of axes, the 4th microphone is arranged on the x axle negative direction of this right-angle plane system of axes, and second microphone, the 3rd microphone and the 4th microphone equate with the distance of first microphone.
Select as one, described treatment circuit arrives the delay inequality between delay inequality, the 4th microphone and the first microphone between delay inequality, the 3rd microphone and the first microphone between second microphone and the first microphone by self adaptation algorithm for estimating estimation voice signal, and estimates the vertical distance between described lift car and the first microphone according to those delay inequalities.
As preferably, the azimuth of described sound-producing device and described right-angle plane system of axes
for
As preferably, described sound-producing device is buzzer phone.
As preferably, described treatment circuit is connected with apparatus for controlling elevator by RS232 serial communication line.
The present invention is by adopting technique scheme, realize at steel rope the particular location that skids, lift car all can accurately be detected in the severe situation such as fault anxious is stopped, velocity limiter action, the disconnected rope of velocity limiter, for passenger's safety and follow-up rescue provide a great convenience; And cost is lower, be easy to extensively promote the use of.
Brief description of the drawings
Fig. 1 is structural representation of the present invention.
Fig. 2 is the schematic circuit diagram of detecting device of the present invention.
Fig. 3 is the schematic diagram of adaptive time delay estimation algorithm of the present invention.
Fig. 4 is the position relationship schematic diagram of microphone array of the present invention and sound-producing device.
In figure:
11-apparatus for controlling elevator; 12-elevator hoistways; 13-lift car; 14-top layer layer door; 15-elevator drag device; 2-buzzer phone; 3-detecting device; The 31-the first microphone; 32-the second microphone; 33-the three microphone; 34-the four microphone; 35-treatment circuit; 36-RS232 serial communication line.
Now in conjunction with the accompanying drawings and embodiments the present invention is described in further detail.
Detailed description of the invention
As shown in Figures 1 to 4, elevator device of the present invention, is mainly made up of apparatus for controlling elevator 11, the lift car 13 that is arranged on elevator hoistways 12 and elevator drag device 15.
A kind of lift car position detecting device of the present invention,, is made up of a sound-producing device and a detecting device 3 in the interior residing position of elevator hoistways 12 for detection of this lift car 13.This sound-producing device is a buzzer phone 2, is arranged on the top of lift car 13.This detecting device 3 is arranged in the hoistway wall of top layer layer door 14 tops, formed by a microphone array and a treatment circuit, wherein: microphone array is made up of four microphones, it is horizon that these four microphones are all arranged in a plane parallel with hoistway wall of living in and according to a right-angle plane system of axes xoy(x axle being based upon in this plane, y axle is perpendicular line) be T font and arrange, wherein: first microphone 31 is arranged on the origin of coordinates o of this right-angle plane system of axes, second microphone 32 is arranged on the x axle positive dirction of this right-angle plane system of axes, the 3rd microphone 33 is arranged on the y axle positive dirction of this right-angle plane system of axes, the 4th microphone 34 is arranged on the x axle negative direction of this right-angle plane system of axes, and second microphone 32, the 3rd microphone 33 and the 4th microphone 34 equate with the distance L of first microphone 31.Treatment circuit is mainly made up of pre-process circuit and dsp processor, and is connected with apparatus for controlling elevator 11 by RS232 serial communication line 36.
Working process of the present invention is as follows:
Skid when steel rope appears in elevator device, when the fault such as fault anxious is stopped, velocity limiter action or the disconnected rope of velocity limiter, lift car 13 stops are in a certain position of elevator hoistways 12, now buzzer phone 2 is play voice signal.
As shown in Figures 2 and 3, four microphones 31 ~ 34 gather respectively the voice signal that buzzer phone sends and export treatment circuit 35 to and process, treatment circuit 35 estimates the vertical distance between described lift car and microphone array and the numerical value of this vertical distance is sent to apparatus for controlling elevator 11 by RS232 serial communication line 36 according to those microphone signals, and its concrete estimation process is as follows:
1, the voice signal of estimation buzzer phone arrives second and third, four microphones are respectively τ with respect to the delay inequality that arrives the first microphone
21, τ
31, τ
41: its concrete evaluation method is:
1) four microphones gather respectively the voice signal that buzzer phone sends, then the analog signal each road being gathered is carried out the LPF that preposition amplification and cutoff frequency are 5kHz, just obtain pending voice signal through the A/D sampling of 16kHz sampling frequency again, be designated as respectively X
1(n), X
2(n), X
3and X (n)
4(n);
2) then, to X
1(n), X
2(n), X
3and X (n)
4(n) carry out windowing and divide frame processing, obtain x
1(n), x
2(n), x
3and x (n)
4(n).And in order to reduce calculated amount, adopt short-time average zero-crossing rate and energy threshold method to x
1(n) carry out sound without sound detection: if present frame is silent frame, gets again next frame and carry out sound without sound detection; If when present frame is sound frame, estimate that by adaptive algorithm buzzer phone voice signal arrives the second ~ four microphone and the delay inequality that arrives first microphone.The time delay estimation that buzzer phone voice signal arrives the first microphone and second microphone is example, the steps include: first the voice signal x that microphone 1 and microphone 2 gather
1and x (n)
2(n) respectively by corresponding prediction error filter, obtain LP residue signal e
1and e (n)
2(n); Then, utilize Hilbert conversion to extract respectively e
1and e (n)
2(n) envelope h
e1and h (n)
e2(n); Then, to h
e1and h (n)
e2(n) carry out respectively slicing processing, obtain the glottal h of speech frame
p1and h (n)
p2(n); Finally, make h
p1(n) by a variable step LMS sef-adapting filter, and allow the output of filter approach h in the meaning of error of mean square minimum
p2(n).When after the convergence of filter weight coefficient, the peaked weight coefficient sequence number of weight vector is the best estimate of true time delay.
2, calculate the distance R of buzzer phone and first microphone: utilize delay inequality τ
21, τ
41, the geometry site formula by buzzer phone and microphone array:
calculate the distance R of buzzer phone and the 1st microphone.Wherein c is the air velocity of sound.
3, calculate the azimuth of buzzer phone and microphone array
the azimuth of buzzer phone and microphone array
for sound source incident direction is at the projection of xoy plane and the angle of x axle forward, by delay inequality τ
21, τ
31, τ
41and R, try to achieve azimuth by following formula
4, calculate the elevation angle theta of buzzer phone and microphone array: the elevation angle theta of buzzer phone and microphone array is sound source incident direction and its angle in the projection of xoy plane, tries to achieve elevation angle theta by following formula:
5, calculate the vertical distance H of buzzer phone to the 1 microphone: according to the distance R of buzzer phone and first microphone, azimuth
obtain the vertical distance H=R × sin θ of buzzer phone to first microphone with elevation angle theta.
The numerical value of this vertical distance H is sent to after apparatus for controlling elevator 11 through RS232 serial communication line 36, and apparatus for controlling elevator is made the directly rescue operation with normal speed operation or the adjacent elevator in drifting situation according to this information.
Above-described embodiment of the present invention, does not form limiting the scope of the present invention.Any amendment of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in claim protection domain of the present invention.
Claims (8)
1. a lift car position detecting device, for detection of lift car present position in elevator hoistways, is characterized in that, comprises
One sound-producing device, is arranged on the top of lift car, in order to send voice signal;
One detecting device, is arranged on the hoistway wall of lift car top and is connected with apparatus for controlling elevator, and described detecting device comprises a microphone array and a treatment circuit; Each microphone of described microphone array exports the voice signal collecting to treatment circuit respectively, and described treatment circuit estimates the vertical distance between described lift car and microphone array and the numerical value of this vertical distance is sent to apparatus for controlling elevator according to those microphone signals.
2. a kind of lift car position detecting device according to claim 1, is characterized in that, described detecting device is arranged in the hoistway wall of top layer layer door top.
3. a kind of lift car position detecting device according to claim 2, it is characterized in that, described testing circuit estimates that by adaptive time delay estimation algorithm voice signal arrives the delay inequality between each microphone, and calculates the vertical distance between described lift car and microphone array according to those delay inequalities.
4. a kind of lift car position detecting device according to claim 3, it is characterized in that, described microphone array is made up of four microphones, these four microphones are all arranged in a plane parallel with hoistway wall of living in and according to a right-angle plane system of axes xoy who is based upon in this plane and arrange, wherein: first microphone is arranged in the origin of coordinates of this right-angle plane system of axes, second microphone is arranged on the x axle positive dirction of this right-angle plane system of axes, the 3rd microphone is arranged on the y axle positive dirction of this right-angle plane system of axes, the 4th microphone is arranged on the x axle negative direction of this right-angle plane system of axes, and second microphone, the 3rd microphone and the 4th microphone equate with the distance of first microphone.
5. a kind of lift car position detecting device according to claim 4, it is characterized in that, described treatment circuit arrives the delay inequality between delay inequality, the 4th microphone and the first microphone between delay inequality, the 3rd microphone and the first microphone between second microphone and the first microphone by self adaptation algorithm for estimating estimation voice signal, and estimates the vertical distance between described lift car and the first microphone according to those delay inequalities.
6. a kind of lift car position detecting device according to claim 2, is characterized in that, the azimuth of described sound-producing device and described right-angle plane system of axes
for
7. a kind of lift car position detecting device according to claim 1, is characterized in that, described sound-producing device is buzzer phone.
8. a kind of lift car position detecting device according to claim 1, is characterized in that, described treatment circuit is connected with apparatus for controlling elevator by RS232 serial communication line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210472802.3A CN103832905A (en) | 2012-11-20 | 2012-11-20 | Position detection device for elevator cab |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210472802.3A CN103832905A (en) | 2012-11-20 | 2012-11-20 | Position detection device for elevator cab |
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| CN103832905A true CN103832905A (en) | 2014-06-04 |
Family
ID=50796855
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| CN201210472802.3A Pending CN103832905A (en) | 2012-11-20 | 2012-11-20 | Position detection device for elevator cab |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105173935A (en) * | 2015-08-06 | 2015-12-23 | 日立电梯（中国）有限公司 | Control device and method of elevator flat floor position |
| CN106829671A (en) * | 2017-03-02 | 2017-06-13 | 山东科技大学 | A kind of elevator safety detection means and detection method |
| CN110143499A (en) * | 2019-04-02 | 2019-08-20 | 日立楼宇技术（广州）有限公司 | Determination method, apparatus, the elevator range-measurement system of elevator car position |
| CN111480196A (en) * | 2017-12-22 | 2020-07-31 | 三菱电机株式会社 | Voice measurement system and parameter generation device |
| CN111717751A (en) * | 2020-06-16 | 2020-09-29 | 浙江智菱科技有限公司 | Safety protection type elevator |
| WO2020199351A1 (en) * | 2019-04-01 | 2020-10-08 | 北京云知声信息技术有限公司 | Sound source locating method, device and storage medium |
| CN116490451B (en) * | 2020-12-01 | 2023-11-03 | 三菱电机楼宇解决方案株式会社 | Sound source direction estimating device, computer-readable recording medium, and sound source direction estimating method |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105173935A (en) * | 2015-08-06 | 2015-12-23 | 日立电梯（中国）有限公司 | Control device and method of elevator flat floor position |
| CN105173935B (en) * | 2015-08-06 | 2017-04-05 | 日立电梯（中国）有限公司 | The control device and method of level position of elevator |
| CN106829671A (en) * | 2017-03-02 | 2017-06-13 | 山东科技大学 | A kind of elevator safety detection means and detection method |
| CN106829671B (en) * | 2017-03-02 | 2018-07-20 | 山东科技大学 | A kind of elevator safety detection device and detection method |
| CN111480196A (en) * | 2017-12-22 | 2020-07-31 | 三菱电机株式会社 | Voice measurement system and parameter generation device |
| CN111480196B (en) * | 2017-12-22 | 2023-08-25 | 三菱电机株式会社 | Sound measurement system and parameter generation device |
| WO2020199351A1 (en) * | 2019-04-01 | 2020-10-08 | 北京云知声信息技术有限公司 | Sound source locating method, device and storage medium |
| CN110143499A (en) * | 2019-04-02 | 2019-08-20 | 日立楼宇技术（广州）有限公司 | Determination method, apparatus, the elevator range-measurement system of elevator car position |
| CN110143499B (en) * | 2019-04-02 | 2020-10-23 | 日立楼宇技术（广州）有限公司 | Method and device for determining position of elevator car and elevator distance measuring system |
| CN111717751A (en) * | 2020-06-16 | 2020-09-29 | 浙江智菱科技有限公司 | Safety protection type elevator |
| CN116490451B (en) * | 2020-12-01 | 2023-11-03 | 三菱电机楼宇解决方案株式会社 | Sound source direction estimating device, computer-readable recording medium, and sound source direction estimating method |
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Application publication date: 20140604 |