CN104071662B

CN104071662B - A kind of elevator brake performance remote self-diagnosing method

Info

Publication number: CN104071662B
Application number: CN201410276193.3A
Authority: CN
Inventors: 王伟雄; 王新华; 林创鲁; 谢超; 李中兴; 陈冬青
Original assignee: Guangzhou Academy of Special Equipment Inspection and Testing
Current assignee: Guangzhou Academy of Special Equipment Inspection and Testing
Priority date: 2014-06-19
Filing date: 2014-06-19
Publication date: 2016-04-06
Anticipated expiration: 2034-06-19
Also published as: CN104071662A; WO2015192440A1

Abstract

The invention discloses a method for remote self-diagnosis of elevator braking performance, which includes: calculating and obtaining reference position information between a distance measuring sensor module and a fixed reference point, and the distance between the rotation position of a traction motor encoder and the vertical movement distance of an elevator After the proportional coefficient, the elevator is controlled to run at a constant speed. When the elevator reaches the rated speed and is close to the preset stop position, the elevator is braked. At the same time, the real-time distance between the ranging sensor module and the fixed reference point is collected during the braking process of the elevator. The real-time rotation position of the encoder of the traction motor is calculated to obtain the braking performance parameters of the elevator, and then the obtained braking performance parameters are compared and judged with the preset safety interval, and the braking performance of the elevator is self-diagnosed. This method can automatically test and obtain various braking performance parameters of the elevator without manual measurement, and perform remote self-diagnosis on the braking performance of the elevator. in the field of diagnosis.

Description

A remote self-diagnosis method for elevator braking performance

技术领域technical field

本发明涉及电梯制动性能检测领域，特别是涉及一种电梯制动性能远程自诊断方法。The invention relates to the field of elevator braking performance detection, in particular to a remote self-diagnosis method for elevator braking performance.

背景技术Background technique

随着社会和科技的发展，电梯的应用越来越广泛，在住宅、学校、商业中心、各种观光场所等地方均会使用电梯，而随着电梯应用的推广，电梯安全问题也越来越重要，电梯的制动性能是电梯安全中重要的一方面，目前对电梯制动性能进行诊断评估主要是人为地周期性地到电梯现场将进行测试诊断。例如对电梯上行的制动性能进行诊断时，通过在电梯曳引轮的最高点作标记并在与其水平平齐的曳引钢丝绳上作标记，然后运行电梯，一人观察到电梯以额定速度行驶至1/3行程范围且曳引轮的标记达到最上方的瞬间时发出制动指令，另一人得到制动指令后切断电梯主电源开关，制动电梯，然后在电梯制停后，以制停后的曳引轮的最高点为基准，在于其水平平齐的曳引钢丝绳上再作一标记，然后测量获得曳引钢丝绳上的两处标记之间的距离作为电梯的制停距离，同时还通过人工记录电梯制停所需的总时间，该方法因为参数的记录、测量过程都需要人为的参与，耗时时间长，测量误差大，而且自动化程度低，尽管通过计算也可以获得电梯制停时的加速度，但是无法全面地反映电梯的制停性能。另外，现有技术中还有利用安装于井道中的门区和平层隔射板来实现制停距离和滑移距离测量的方法，但是这种方法利用安装于井道中的门区和平层隔射板作为参照物，结合人为操作来测量电梯的制停参数从而对电梯制动性能进行诊断，也同样存在准确度低、自动化程度低及耗时时间长的缺点。With the development of society and technology, elevators are used more and more widely. Elevators are used in residences, schools, commercial centers, and various sightseeing places. With the promotion of elevator applications, elevator safety issues are becoming more and more serious. Importantly, the braking performance of the elevator is an important aspect of elevator safety. At present, the diagnosis and evaluation of the braking performance of the elevator is mainly carried out by artificially periodically going to the elevator site for testing and diagnosis. For example, when diagnosing the braking performance of an elevator going up, by marking the highest point of the elevator traction sheave and marking it on the traction wire rope level with it, and then running the elevator, one person observes that the elevator travels at the rated speed to 1/3 of the travel range and when the mark of the traction sheave reaches the uppermost moment, a braking command is issued. After receiving the braking command, the other person cuts off the main power switch of the elevator, brakes the elevator, and then stops after the elevator stops. The highest point of the traction sheave is used as the benchmark, and another mark is made on the horizontally parallel traction wire rope, and then the distance between the two marks on the traction wire rope is measured as the stopping distance of the elevator. Manually record the total time required for the elevator to stop. This method requires human participation in the recording of parameters and the measurement process, which takes a long time, has large measurement errors, and has a low degree of automation. Although the elevator braking time can also be obtained by calculation acceleration, but it cannot fully reflect the braking performance of the elevator. In addition, in the prior art, there is also a method of measuring the braking distance and slip distance by using the door area and the level insulation plate installed in the hoistway, but this method uses the door area and the level isolation plate installed in the hoistway. Using the plate as a reference object, combined with human operation to measure the braking and stopping parameters of the elevator to diagnose the braking performance of the elevator, there are also disadvantages of low accuracy, low degree of automation and long time-consuming.

发明内容Contents of the invention

为了解决上述的技术问题，本发明的目的是提供一种电梯制动性能远程自诊断方法。In order to solve the above-mentioned technical problems, the object of the present invention is to provide a method for remote self-diagnosis of elevator braking performance.

本发明解决其技术问题所采用的技术方案是：The technical solution adopted by the present invention to solve its technical problems is:

一种电梯制动性能远程自诊断方法，包括：A method for remote self-diagnosis of elevator braking performance, comprising:

S1、当电梯静止时，控制电梯轿厢的轿架上的测距传感模块沿着半径为R的转盘旋转一周，并采集测距传感模块与固定参照点之间的实时直线距离LP(t)，进而计算获得测距传感模块与固定参照点之间的参考位置信息，同时获取曳引电机编码器的初始位置S_E0以及测距传感模块与固定参照点之间的初始距离L_C0；S1, when the elevator is at rest, control the distance measuring sensor module on the car frame of the elevator car to rotate one circle along the turntable whose radius is R, and collect the real-time linear distance LP between the distance measuring sensor module and the fixed reference point ( t), and then calculate and obtain the reference position information between the ranging sensing module and the fixed reference point, and at the same time obtain the initial position S _E0 of the traction motor encoder and the initial distance L between the ranging sensing module and the fixed reference point _C0 ;

S2、控制电梯往一固定方向运行一段距离后停止，获取该时刻曳引电机编码器的旋转位置S_E1以及测距传感模块与固定参照点之间的距离L_C1，进而计算获得曳引电机编码器旋转位置与电梯垂直运动距离之间的比例系数K；S2. Control the elevator to run in a fixed direction for a certain distance and then stop, obtain the rotation position S _E1 of the encoder of the traction motor at this moment and the distance L _C1 between the ranging sensor module and the fixed reference point, and then calculate and obtain the traction motor The proportional coefficient K between the rotary position of the encoder and the vertical movement distance of the elevator;

S3、控制电梯往一固定方向匀速运行，然后当电梯达到额定速度且电梯接近制停预设位置时，制动电梯，同时采集电梯的整个运行过程中测距传感模块与固定参照点之间的实时距离L(t)以及曳引电机编码器的实时旋转位置S(t)；S3. Control the elevator to run at a constant speed in a fixed direction, and then when the elevator reaches the rated speed and the elevator is close to the preset stop position, brake the elevator, and at the same time collect the distance between the ranging sensor module and the fixed reference point during the entire operation of the elevator The real-time distance L(t) and the real-time rotational position S(t) of the traction motor encoder;

S4、根据采集得到的实时距离L(t)、曳引电机编码器的实时旋转位置S(t)、测距传感模块与固定参照点之间的参考位置信息以及曳引电机编码器旋转位置与电梯垂直运动距离之间的比例系数K，计算电梯的制动性能参数；S4. According to the collected real-time distance L(t), the real-time rotational position S(t) of the traction motor encoder, the reference position information between the ranging sensor module and the fixed reference point, and the rotational position of the traction motor encoder Calculate the braking performance parameters of the elevator with the proportional coefficient K between the vertical movement distance of the elevator;

所述电梯的制动性能参数包括制动器动作延时T_delay、制停时间T_BD、制停距离S_BD、滑行距离S_SD、制停最大减速度a_max、制停最小减速度a_min和制停过程平均减速度a_AVG；The braking performance parameters of the elevator include brake action delay T _delay , braking time T _BD , braking distance S _BD , sliding distance S _SD , braking maximum deceleration a _max , braking minimum deceleration a _min and braking Average deceleration a _AVG during stop;

S5、将获得的电梯的制动性能参数与预设安全区间进行对比，判断电梯的制动性能参数是否都落在对应的预设安全区间内，若是，则判断电梯正常工作，否则判断电梯出现异常状态，同时输出异常的制动性能参数。S5. Comparing the obtained braking performance parameters of the elevator with the preset safety interval, judging whether the braking performance parameters of the elevator fall within the corresponding preset safety interval, if so, judging that the elevator is working normally, otherwise judging that the elevator has appeared Abnormal state, and output abnormal braking performance parameters at the same time.

进一步，所述参考位置信息包括参考垂直距离H₀和参考水平距离L₀，所述步骤S1中所述计算获得测距传感模块与固定参照点之间的参考位置信息，其具体为：Further, the reference position information includes the reference vertical distance H ₀ and the reference horizontal distance L ₀ , and the calculation in the step S1 obtains the reference position information between the ranging sensor module and the fixed reference point, which is specifically:

根据获得的实时直线距离LP(t)，读取最大实时直线距离LP_MAX和最小实时直线距离LP_MIN后，根据下式计算获得测距传感模块与固定参照点之间的参考垂直距离H₀和参考水平距离L₀:According to the obtained real-time straight-line distance LP(t), after reading the maximum real-time straight-line distance LP _MAX and the minimum real-time straight-line distance LP _MIN , calculate the reference vertical distance H between the ranging sensor module and the fixed reference point according to the following formula _: and the reference horizontal distance L ₀ :

$\{\begin{matrix} {H h}_{00} = = \sqrt{((44 {R R}^{22} (({LP LP}_{MAX MAX} + + {LP LP}_{MIN MIN})) - - 88 {R R}^{44} - - {(({LP LP}_{MAX MAX} - - {LP LP}_{MIN MIN}))}^{22})) / / 88 {R R}^{22}} \\ {L L}_{00} = = (({LP LP}_{MAX MAX} - - {LP LP}_{MIN MIN} - - 44 {R R}^{22})) / / ((44 R R)) \end{matrix}$

进一步，所述步骤S2中所述计算获得曳引电机编码器旋转位置与电梯垂直运动距离之间的比例系数K是通过以下公式计算得到的：Further, the proportional coefficient K between the rotational position of the traction motor encoder and the vertical movement distance of the elevator obtained through the calculation in the step S2 is calculated by the following formula:

$\{\begin{matrix} {L L}_{C C} = = \sqrt{{L L}_{C C 11}^{22} - - {L L}_{00}^{22}} - - \sqrt{{L L}_{C C 00}^{22} - - {L L}_{00}^{22}} \\ K K = = (({S S}_{E E. 11} - - {S S}_{E E. 00})) / / {L L}_{C C} \end{matrix}$

进一步，所述步骤S4，包括：Further, the step S4 includes:

S41、根据以下公式计算获得在电梯制动过程中电机编码器的实时线速度V_E(t)：S41. Calculate and obtain the real-time linear velocity V _E (t) of the motor encoder during the elevator braking process according to the following formula:

V_E(t)＝d(S(t))/dtV _E (t)=d(S(t))/dt

然后计算实时线速度V_E(t)在预设周期ΔT内的实时的概率密度p(v_E＜v_EH)，同时判断概率密度p(v_E＜v_EH)是否大于0.8，若是且某时刻的实时线速度V_E(t)小于额定速度，则获得该时刻作为电梯开始制动的时刻t_SB；Then calculate the real-time probability density p(v _E <v _EH ) of the real-time linear velocity V _E (t) within the preset period ΔT, and judge whether the probability density p(v _E <v _EH ) is greater than 0.8, and if so, at a certain moment The real-time linear velocity V _E (t) is less than the rated speed, then obtain this moment as the moment t _SB when the elevator starts to brake;

其中，v_EH为预设线速度阈值；Among them, v _EH is the preset line speed threshold;

S42、获得制动器接收到制动命令的时刻t_CB，同时获得实时线速度V_E(t)为0的时刻作为电梯制动结束的时刻t_EB后，根据下式计算获得制动器动作延时T_delay、制停距离S_BD、制停时间T_BD以及制停过程平均减速度a_AVG：S42. Obtain the moment t _CB when the brake receives the braking command, and at the same time obtain the moment when the real-time linear velocity V _E (t) is 0 as the moment t _EB when the elevator braking ends, and then calculate and obtain the brake action delay T _delay according to the following formula , braking distance S _BD , braking time T _BD and average deceleration a _AVG during braking:

$\{\begin{matrix} {T T}_{delay delay} = = {t t}_{SB SB} - - {t t}_{CB CB} \\ {S S}_{BD BD} = = S S (({t t}_{EB EB})) / / K K - - S S (({t t}_{SB SB})) / / K K \\ {T T}_{BD BD} = = {t t}_{EB EB} - - {t t}_{SB SB} \\ {a a}_{AVG AVG} = = - - {V V}_{R R} / / {T T}_{BD BD} \end{matrix}$

其中，S(t_EB)表示电梯制动结束时的实时旋转位置，S(t_SB)表示电梯开始制动时的实时旋转位置，V_R表示电梯的额定速度；Among them, S(t _EB ) represents the real-time rotation position of the elevator at the end of braking, S(t _SB ) represents the real-time rotation position of the elevator when it starts braking, and VR _represents the rated speed of the elevator;

S43、根据下式计算电梯制动过程中的垂直方向的实时速度V(t)以及实时减速度a(t)，然后获得实时减速度a(t)的最大值作为制停最大减速度a_max，并获得实时减速度a(t)的最小值作为制停最小减速度a_min：S43. Calculate the real-time velocity V(t) and real-time deceleration a(t) in the vertical direction during the elevator braking process according to the following formula, and then obtain the maximum value of the real-time deceleration a(t) as the braking maximum deceleration a _max , and obtain the minimum real-time deceleration a(t) as the minimum braking deceleration a _min :

$\{\begin{matrix} V V ((t t)) = = d d ((\sqrt{{L L}^{22} ((t t)) - - {L L}_{00}^{22}})) / / dt dt \\ a a ((t t)) = = dV dV ((t t)) / / dt dt \end{matrix}$

S44、结合采集得到的实时距离L(t)，根据下式计算获得滑行距离S_SD:S44, in conjunction with the real-time distance L (t) that is collected, calculate and obtain the sliding distance S _SD according to the following formula:

${S S}_{SD SD} = = \sqrt{{L L}^{22} (({t t}_{EB EB})) - - {L L}_{00}^{22}} - - \sqrt{{L L}^{22} (({t t}_{SB SB})) - - {L L}_{00}^{22}} - - {S S}_{BD BD}$

其中，L(t_EB)表示电梯制动结束时测距传感模块与固定参照点之间的实时距离，L(t_SB)表示电梯开始制动时测距传感模块与固定参照点之间的实时距离。Among them, L(t _EB ) represents the real-time distance between the ranging sensing module and the fixed reference point when the elevator brakes, and L(t _SB ) represents the distance between the ranging sensing module and the fixed reference point when the elevator starts braking. real-time distance.

进一步，在所述步骤S2与步骤S3之间还包括以下步骤：Further, the following steps are also included between the step S2 and the step S3:

曳引电机编码器及测距传感模块异常诊断步骤，包括：Abnormal diagnosis steps of the traction motor encoder and distance measuring sensor module, including:

A1、当电梯处于某一平层位置且静止时，获取该时刻测距传感模块与固定参照点之间的距离L_D1以及曳引电机编码器的旋转位置S_D1；A1. When the elevator is at a leveling position and is stationary, obtain the distance L _D1 between the distance measuring sensor module and the fixed reference point and the rotational position S _D1 of the traction motor encoder at that moment;

A2、控制电梯往一个方向慢速移动至下一平层楼层的位置后，获取该时刻测距传感模块与固定参照点之间的距离L_D2以及曳引电机编码器的旋转位置S_D2；A2. After controlling the elevator to move slowly in one direction to the position of the next leveling floor, obtain the distance L _D2 between the ranging sensor module and the fixed reference point at this moment and the rotational position S _D2 of the traction motor encoder;

A3、然后通过下式计算电梯的垂直位移L_D以及曳引电机编码器的位置变化量ΔS_D：A3. Then calculate the vertical displacement LD of the elevator and the position change ΔS _D of the encoder of the traction motor by the following formula _:

$\{\begin{matrix} {L L}_{D D.} = = \sqrt{{L L}_{D D. 11}^{22} - - {L L}_{00}^{22}} - - \sqrt{{L L}_{D D. 00}^{22} - - {L L}_{00}^{22}} \\ Δ Δ {S S}_{D D.} = = {S S}_{D D. 22} - - {S S}_{D D. 11} \end{matrix}$

其中，L₀表示测距传感模块与固定参照点之间的参考水平距离；Among them, _L0 represents the reference horizontal distance between the ranging sensor module and the fixed reference point;

A4、判断垂直位移L_D是否等于两个楼层之间的高度差S_DC，若是，则判断测距传感模块正常工作，反之，判断测距传感模块存在异常；A4. Determine whether the vertical displacement LD is equal to the height difference _S _DC between the two floors. If so, then judge that the distance measuring sensor module is working normally; otherwise, judge that the distance measuring sensor module is abnormal;

同时，判断曳引电机编码器的位置变化量ΔS_D是否等于比例系数K乘以高度差S_DC，若是，则判断曳引电机编码器正常工作，反之，判断曳引电机编码器存在异常。At the same time, it is determined whether the position change ΔS _D of the traction motor encoder is equal to the proportional coefficient K multiplied by the height difference S _DC , if so, it is judged that the traction motor encoder is working normally, otherwise, it is judged that the traction motor encoder is abnormal.

进一步，所述测距传感模块通过一安装机构安装在电梯轿厢的轿架上，所述安装机构包括转盘、磁性基座以及安装在转盘与磁性基座中间的用于驱动转盘旋转的驱动机构，所述测距传感模块安装在转盘上，所述磁性基座吸附在电梯轿厢的轿架上。Further, the distance measuring sensor module is installed on the car frame of the elevator car through an installation mechanism, and the installation mechanism includes a turntable, a magnetic base, and a drive for driving the turntable to rotate installed between the turntable and the magnetic base. mechanism, the distance measuring sensor module is installed on the turntable, and the magnetic base is adsorbed on the car frame of the elevator car.

进一步，所述固定参照点安装在电梯轿厢的导轨上，所述固定参照点处安装有测量标签，所述测量标签包括第一控制器、第一存储器以及第一射频收发单元，所述第一射频收发单元连接有第一天线，所述第一控制器分别与第一存储器及第一射频收发单元连接；Further, the fixed reference point is installed on the guide rail of the elevator car, and a measurement tag is installed at the fixed reference point, and the measurement tag includes a first controller, a first memory, and a first radio frequency transceiver unit, and the first A radio frequency transceiver unit is connected with a first antenna, and the first controller is respectively connected with the first memory and the first radio frequency transceiver unit;

所述测距传感模块包括第二控制器、第二存储器、无线通讯单元以及第二射频收发单元，所述第二射频收发单元连接有第二天线，所述第二控制器分别与第二存储器、无线通讯单元及第二射频收发单元连接。The ranging sensing module includes a second controller, a second memory, a wireless communication unit, and a second radio frequency transceiver unit, the second radio frequency transceiver unit is connected with a second antenna, and the second controller is connected to the second radio frequency transceiver unit respectively. The memory, the wireless communication unit and the second radio frequency transceiver unit are connected.

本发明的有益效果是：本发明的一种电梯制动性能远程自诊断方法，通过控制电梯轿厢的轿架上的测距传感模块沿着转盘旋转一周并获取曳引电机编码器的初始位置以及测距传感模块与固定参照点之间的初始距离，然后控制电梯往一固定方向运行一段距离后，获取该时刻曳引电机编码器的旋转位置以及测距传感模块与固定参照点之间的距离，就可以计算获得测距传感模块与固定参照点之间的参考位置信息以及曳引电机编码器旋转位置与电梯垂直运动距离之间的比例系数，然后控制电梯往一固定方向匀速运行，当电梯达到额定速度且电梯接近制停预设位置时，制动电梯，同时采集电梯的整个运行过程中测距传感模块与固定参照点之间的实时距离以及曳引电机编码器的实时旋转位置，即可计算获得电梯由开始制动至制动结束时的制停距离、制停时间、滑行时间、制停最大减速度和制停过程平均减速度等制动性能参数，进而可以将获得的制动性能参数与预设安全区间进行对比判断，从而可以对电梯的制动性能进行自诊断。本方法无需进行人为测量，就可以自动测试获得电梯的各种制动性能参数并对电梯制动性能进行远程自诊断，自动化程度高，准确度高而且快速。The beneficial effects of the present invention are: a remote self-diagnosis method for elevator braking performance of the present invention, by controlling the distance measuring sensor module on the car frame of the elevator car to rotate one circle along the turntable and obtain the initial value of the traction motor encoder Position and the initial distance between the ranging sensor module and the fixed reference point, and then control the elevator to run in a fixed direction for a certain distance, and obtain the rotational position of the traction motor encoder at that moment and the distance measuring sensor module and the fixed reference point The distance between them can be calculated to obtain the reference position information between the ranging sensor module and the fixed reference point and the proportional coefficient between the rotation position of the traction motor encoder and the vertical movement distance of the elevator, and then control the elevator to a fixed direction Running at a constant speed, when the elevator reaches the rated speed and the elevator is close to the preset stop position, the elevator is braked, and at the same time, the real-time distance between the ranging sensor module and the fixed reference point and the encoder of the traction motor are collected during the entire operation of the elevator. The real-time rotation position of the elevator can be calculated to obtain the braking performance parameters such as the braking distance, braking time, coasting time, braking maximum deceleration and braking process average deceleration from the start of braking to the end of braking, and then The obtained braking performance parameters can be compared and judged with the preset safety interval, so that the braking performance of the elevator can be self-diagnosed. The method can automatically test and obtain various braking performance parameters of the elevator without manual measurement, and can carry out remote self-diagnosis on the braking performance of the elevator, with high automation, high accuracy and speed.

附图说明Description of drawings

下面结合附图和实施例对本发明作进一步说明。The present invention will be further described below in conjunction with drawings and embodiments.

图1是本发明的一种电梯制动性能远程自诊断方法采用的测距传感模块的安装示意图；Fig. 1 is the installation schematic diagram of the ranging sensor module that a kind of elevator braking performance remote self-diagnosis method of the present invention adopts;

图2是本发明的一种电梯制动性能远程自诊断方法的固定参照点处安装的测量标签的结构示意图；Fig. 2 is a schematic structural view of a measurement tag installed at a fixed reference point of a remote self-diagnosis method for elevator braking performance of the present invention;

图3是本发明的一种电梯制动性能远程自诊断方法采用的测距传感模块的结构示意图；Fig. 3 is a schematic structural diagram of a distance measuring sensor module used in a remote self-diagnosis method for elevator braking performance of the present invention;

图4是本发明的一种电梯制动性能远程自诊断方法中测量电梯的垂直运动距离的几何原理示意图。Fig. 4 is a schematic diagram of the geometric principle of measuring the vertical movement distance of an elevator in a remote self-diagnosis method for elevator braking performance of the present invention.

具体实施方式detailed description

本发明提供了一种电梯制动性能远程自诊断方法，包括：The present invention provides a method for remote self-diagnosis of elevator braking performance, comprising:

进一步作为优选的实施方式，所述参考位置信息包括参考垂直距离H₀和参考水平距离L₀，所述步骤S1中所述计算获得测距传感模块与固定参照点之间的参考位置信息，其具体为：As a further preferred embodiment, the reference position information includes a reference vertical distance H ₀ and a reference horizontal distance L ₀ , and the calculation in step S1 obtains the reference position information between the ranging sensor module and the fixed reference point, It is specifically:

进一步作为优选的实施方式，所述步骤S2中所述计算获得曳引电机编码器旋转位置与电梯垂直运动距离之间的比例系数K是通过以下公式计算得到的：As a further preferred embodiment, the proportional coefficient K between the rotational position of the traction motor encoder and the vertical movement distance of the elevator obtained through the calculation in the step S2 is calculated by the following formula:

进一步作为优选的实施方式，所述步骤S4，包括：Further as a preferred embodiment, the step S4 includes:

V_E(t)＝d(S(t))/dtV _E (t)=d(S(t))/dt

进一步作为优选的实施方式，在所述步骤S2与步骤S3之间还包括以下步骤：Further as a preferred implementation manner, the following steps are also included between the step S2 and the step S3:

进一步作为优选的实施方式，所述测距传感模块通过一安装机构安装在电梯轿厢的轿架上，所述安装机构包括转盘、磁性基座以及安装在转盘与磁性基座中间的用于驱动转盘旋转的驱动机构，所述测距传感模块安装在转盘上，所述磁性基座吸附在电梯轿厢的轿架上。As a further preferred embodiment, the distance measuring sensor module is installed on the car frame of the elevator car through an installation mechanism, and the installation mechanism includes a turntable, a magnetic base, and a device installed between the turntable and the magnetic base for The drive mechanism that drives the turntable to rotate, the distance measuring sensor module is installed on the turntable, and the magnetic base is adsorbed on the car frame of the elevator car.

进一步作为优选的实施方式，所述固定参照点安装在电梯轿厢的导轨上，所述固定参照点处安装有测量标签，所述测量标签包括第一控制器、第一存储器以及第一射频收发单元，所述第一射频收发单元连接有第一天线，所述第一控制器分别与第一存储器及第一射频收发单元连接；Further as a preferred embodiment, the fixed reference point is installed on the guide rail of the elevator car, and a measurement tag is installed at the fixed reference point, and the measurement tag includes a first controller, a first memory, and a first radio frequency transceiver unit, the first radio frequency transceiver unit is connected to a first antenna, and the first controller is respectively connected to the first memory and the first radio frequency transceiver unit;

下面结合具体实施方式对本发明做进一步说明。The present invention will be further described below in combination with specific embodiments.

用于辅助实施本发明的电梯制动性能远程自诊断方法的控制系统可以有多种，只要能实现本发明的技术方案均可。可以采用超声波测距技术、激光测距技术等来测量测距传感模块与固定参照点之间的直线距离，本实施例采用射频脉冲来测量测距传感模块与固定参照点之间的直线距离。There can be various control systems for assisting in implementing the remote self-diagnosis method for elevator braking performance of the present invention, as long as the technical solution of the present invention can be realized. Ultrasonic ranging technology, laser ranging technology, etc. can be used to measure the straight-line distance between the ranging sensing module and the fixed reference point. In this embodiment, radio frequency pulses are used to measure the straight-line distance between the ranging sensing module and the fixed reference point. distance.

首先，固定参照点安装在电梯轿厢的导轨上，测距传感模块通过一安装机构安装在电梯轿厢的轿架上，参照图1所示，图中附图标记2表示测距传感模块，安装机构包括转盘31、磁性基座33以及安装在转盘与磁性基座中间的用于驱动转盘旋转的驱动机构32，测距传感模块2安装在转盘31上，磁性基座33吸附在电梯轿厢的轿架上。First, the fixed reference point is installed on the guide rail of the elevator car, and the ranging sensor module is installed on the car frame of the elevator car through a mounting mechanism, as shown in Fig. module, the installation mechanism includes a turntable 31, a magnetic base 33, and a drive mechanism 32 installed between the turntable and the magnetic base for driving the turntable to rotate. The ranging sensor module 2 is installed on the turntable 31, and the magnetic base 33 is adsorbed on the on the frame of the elevator car.

其次，固定参照点处安装有测量标签1，参照图2所示，测量标签1包括第一控制器11、第一存储器12以及第一射频收发单元13，第一射频收发单元13连接有第一天线14，第一控制器11分别与第一存储器12及第一射频收发单元13连接；测量标签1还包括用于为测量标签1供电的第一电源15；Secondly, a measurement tag 1 is installed at the fixed reference point, as shown in FIG. The antenna 14, the first controller 11 are respectively connected to the first memory 12 and the first radio frequency transceiver unit 13; the measurement tag 1 also includes a first power supply 15 for powering the measurement tag 1;

参照图3所示，测距传感模块2包括第二控制器21、第二存储器22、无线通讯单元23以及第二射频收发单元24，第二射频收发单元24连接有第二天线25，第二控制器21分别与第二存储器22、无线通讯单元23及第二射频收发单元24连接，还包括用于为测距传感模块2供电的第二电源26。测距传感模块2可以将测量获得的原始数据通过无线通讯单元23发送到电梯制动性能远程自诊断方法的控制系统的处理器模块，供处理器模块计算获得相关的制动性能参数，也可以通过测距传感模块2的第二控制器21根据测量获得的原始数据计算获得相关的制动性能参数例如制停最大减速度后再通过无线通讯单元23发送到控制系统的处理器模块等，只要应用了本发明的电梯制动性能远程自诊断方法，不管采用何种实施方式，都是落在本发明的保护范围内的。Referring to Fig. 3, the ranging sensing module 2 includes a second controller 21, a second memory 22, a wireless communication unit 23 and a second radio frequency transceiver unit 24, the second radio frequency transceiver unit 24 is connected with a second antenna 25, and the second radio frequency transceiver unit 24 is connected with a second antenna 25. The two controllers 21 are respectively connected to the second memory 22 , the wireless communication unit 23 and the second radio frequency transceiver unit 24 , and also include a second power supply 26 for powering the distance measuring sensor module 2 . The ranging sensing module 2 can send the raw data obtained by measurement to the processor module of the control system of the elevator braking performance remote self-diagnosis method through the wireless communication unit 23, for the processor module to calculate and obtain relevant braking performance parameters, and also The second controller 21 of the ranging sensing module 2 can calculate and obtain relevant braking performance parameters based on the raw data obtained from the measurement, such as braking the maximum deceleration, and then send it to the processor module of the control system through the wireless communication unit 23, etc. , as long as the elevator brake performance remote self-diagnosis method of the present invention is applied, no matter what implementation mode is adopted, it all falls within the protection scope of the present invention.

相应的，测距传感模块2与固定参照点之间的实时直线距离LP(t)指第二天线25与第一天线14的实时距离，测距传感模块2与固定参照点之间的实时距离L(t)指第二天线25与第一天线14的实时距离。Correspondingly, the real-time linear distance LP(t) between the ranging sensing module 2 and the fixed reference point refers to the real-time distance between the second antenna 25 and the first antenna 14, and the distance between the ranging sensing module 2 and the fixed reference point The real-time distance L(t) refers to the real-time distance between the second antenna 25 and the first antenna 14 .

以下结合附图1～3以及附图4对本发明的电梯制动性能远程自诊断方法做进一步说明：Below in conjunction with accompanying drawing 1～3 and accompanying drawing 4, the elevator braking performance remote self-diagnosis method of the present invention is further described:

参考位置信息包括参考垂直距离H₀和参考水平距离L₀，计算获得测距传感模块与固定参照点之间的参考位置信息，具体如下：The reference position information includes the reference vertical distance H ₀ and the reference horizontal distance L ₀ , and the reference position information between the ranging sensor module and the fixed reference point is calculated and obtained, as follows:

下面结合图4描述以上两个公式的推断过程，如图4中所示，电梯轿厢的导轨是垂直向上的，固定参照点安装在电梯轿厢的导轨上，将安装了固定参照点的导轨作为Z轴。另外，图4中，点c表示转盘31的旋转中心，点O表示过转盘31的旋转中心c且垂直于Z轴的水平线与Z轴的焦点；The inference process of the above two formulas is described below in conjunction with Figure 4. As shown in Figure 4, the guide rail of the elevator car is vertically upward, the fixed reference point is installed on the guide rail of the elevator car, and the guide rail with the fixed reference point is installed as the Z axis. In addition, in FIG. 4, point c represents the rotation center of the turntable 31, and point O represents the focus of the horizontal line passing through the rotation center c of the turntable 31 and perpendicular to the Z axis and the Z axis;

L_c表示转盘31的旋转中心与Z轴的水平距离，A0指测距传感模块2旋转时的初始位置，参考垂直距离H₀指测距传感模块2距离固定参照点的初始时刻的垂直距离，参考水平距离L₀指测距传感模块2与Z轴的最近的水平距离，即指测距传感模块2与电梯轿厢的导轨的最近的水平距离；L _c represents the horizontal distance between the center of rotation of the turntable 31 and the Z axis, _A0 refers to the initial position when the ranging sensing module 2 rotates, and the reference vertical distance H0 refers to the vertical distance between the ranging sensing module 2 and the fixed reference point at the initial moment. Distance, the reference horizontal distance L ₀ refers to the shortest horizontal distance between the ranging sensing module 2 and the Z axis, that is, the shortest horizontal distance between the ranging sensing module 2 and the guide rail of the elevator car;

图中实线LP和虚线LP₁、LP₂分别表示转盘31旋转到不同位置时测距传感模块2与固定参照点之间的实时距离，角度α、α₁、α₂分别表示LP、LP₁、LP₂与水平面的夹角；In the figure, the solid line LP and the dotted lines LP ₁ and LP ₂ represent the real-time distance between the ranging sensor module 2 and the fixed reference point when the turntable 31 rotates to different positions, and the angles α, α ₁ and α ₂ respectively represent LP, LP _1. The angle between LP ₂ and the horizontal plane;

设转盘31在旋转一周的过程中，其在垂直方向的位移为：S＝s(t-t₀)，则有测距传感模块2与固定参照点的实时垂直距离H为：Assume that the displacement of the turntable 31 in the vertical direction during one revolution is: S=s(tt ₀ ), then the real-time vertical distance H between the ranging sensing module 2 and the fixed reference point is:

H＝H₀-s(t-t₀)H＝H ₀ -s(tt ₀ )

若转盘31的旋转角速度为ω，则转盘31的实时旋转角度为：If the angular velocity of rotation of the turntable 31 is ω, the real-time rotation angle of the turntable 31 is:

β(t)＝2ωt+θ₀ β(t)=2ωt+θ ₀

其中，t表示旋转时间，θ₀表示初始角度；Among them, t represents the rotation time, θ ₀ represents the initial angle;

根据图4可以获得实时垂直距离H与实时直线距离LP(t)之间的几何关系为：According to Figure 4, the geometric relationship between the real-time vertical distance H and the real-time straight-line distance LP(t) can be obtained as:

H²＝LP²(t)-R²sin²(β(t))-(L_c-Rcos(β(t)))² H ² =LP ² (t)-R ² sin ² (β(t))-(L _c -Rcos(β(t))) ²

将公式H＝H₀-s(t-t₀)代入上式，得到：Substitute the formula H=H ₀ -s(tt ₀ ) into the above formula to get:

(H₀-s(t-t₀))²＝LP²(t)-R²sin²(β(t))-(L_c-Rcos(β(t)))² (H ₀ -s(tt ₀ )) ² ＝LP ² (t)-R ² sin ² (β(t))-(L _c -Rcos(β(t))) ²

对上式两边求导，可以得到：Deriving both sides of the above formula, we can get:

-2(H₀-s(t-t₀))s(t-t₀)′＝2LP(t)LP(t)′-2L_cRsin(β(t))β(t)′-2(H ₀ -s(tt ₀ ))s(tt ₀ )'=2LP(t)LP(t)'-2L _c Rsin(β(t))β(t)'

因此若满足LP(t)LP(t)′＝2ωL_cRsin(β(t))时，则表示转盘31在垂直方向无移动，其中L_c＝L₀+R。Therefore, if LP(t)LP(t)'=2ωL _c Rsin(β(t)), it means that the turntable 31 does not move in the vertical direction, where L _c =L ₀ +R.

在本步骤中，因为转盘31在旋转一周的过程中，在垂直方向没有位移，即S＝s(t-t₀)为0，所以根据上述公式可以得到：In this step, because the turntable 31 has no displacement in the vertical direction during one revolution, that is, S=s(tt ₀ ) is 0, so it can be obtained according to the above formula:

H₀ ²＝LP²(t)-R²sin²(β(t))-(L_c-Rcos(β(t)))² H ₀ ² ＝LP ² (t)-R ² sin ² (β(t))-(L _c -Rcos(β(t))) ²

故得到LP²(t)＝H₀ ²+R²+L² _c-2L_cRcos(β(t))Therefore, LP ² (t)=H ₀ ² +R ² +L ² _c -2L _c Rcos(β(t))

由此可知：From this we can see:

当β(t)＝2nπ,(n＝0,1,2,…)时，LP(t)的值最小，即获得最小实时直线距离LP_MIN：When β(t)=2nπ, (n=0,1,2,…), the value of LP(t) is the smallest, that is, the minimum real-time straight-line distance LP _MIN is obtained:

${LP LP}_{MIN MIN} = = MIN MIN ((LP LP ((t t)))) = = \sqrt{{H h}_{00}^{22} + + {R R}^{22} + + {L L}^{22}_{c c} - - 22 {L L}_{c c} R R}$

当β(t)＝(2n+1)π,(n＝0,1,2,…)时，LP(t)的值最大，即获得最大实时直线距离LP_MAX：When β(t)=(2n+1)π,(n=0,1,2,…), the value of LP(t) is the largest, that is, the maximum real-time straight-line distance LP _MAX is obtained:

${LP LP}_{MAX MAX} = = MAX MAX ((LP LP ((t t)))) = = \sqrt{{H h}_{00}^{22} + + {R R}^{22} + + {L L}^{22}_{c c} + + 22 {L L}_{c c} R R}$

而且，由图4中可以得知L_c＝L₀+R，结合最小实时直线距离LP_MIN和最大实时直线距离LP_MAX的计算公式，可联立解得：Moreover, it can be seen from Fig. 4 that L _c =L ₀ +R, combined with the calculation formulas of the minimum real-time straight-line distance LP _MIN and the maximum real-time straight-line distance LP _MAX , can be solved simultaneously:

$\{\begin{matrix} {L L}_{c c} = = (({LP LP}_{MAX MAX} - - {LP LP}_{MIN MIN})) / / ((44 R R)) \\ {H h}_{00} = = \sqrt{((44 {R R}^{22} (({LP LP}_{MAX MAX} + + {LP LP}_{MIN MIN})) - - 88 {R R}^{44} - - {(({LP LP}_{MAX MAX} - - {LP LP}_{MIN MIN}))}^{22})) / / 88 {R R}^{22}} \\ {L L}_{00} = = (({LP LP}_{MAX MAX} - - {LP LP}_{MIN MIN} - - 44 {R R}^{22})) / / ((44 R R)) \end{matrix}$

曳引电机编码器旋转位置与电梯垂直运动距离之间的比例系数K是通过以下公式计算得到的：The proportional coefficient K between the rotary position of the traction motor encoder and the vertical movement distance of the elevator is calculated by the following formula:

还包括：曳引电机编码器及测距传感模块异常诊断步骤，包括：It also includes: abnormal diagnosis steps of the traction motor encoder and distance measuring sensor module, including:

同时，判断曳引电机编码器的位置变化量ΔS_D是否等于比例系数K乘以高度差S_DC，若是，则判断曳引电机编码器正常工作，反之，判断曳引电机编码器存在异常。若判断测距传感模块或曳引电机编码器存在异常，则输出告警信息通知相关人员，相关人员对测距传感模块或曳引电机编码器进行故障排除后再继续下面的步骤进行电梯制动诊断。At the same time, it is determined whether the position change ΔS _D of the traction motor encoder is equal to the proportional coefficient K multiplied by the height difference S _DC , if so, it is judged that the traction motor encoder is working normally, otherwise, it is judged that the traction motor encoder is abnormal. If it is judged that there is an abnormality in the distance measuring sensor module or the traction motor encoder, an alarm message will be output to inform the relevant personnel, and the relevant personnel will troubleshoot the distance measuring sensor module or the traction motor encoder before proceeding to the following steps to control the elevator. Dynamic diagnosis.

S3、控制电梯往一固定方向匀速运行，然后当电梯达到额定速度且电梯接近制停预设位置时，制动电梯，同时采集电梯的整个运行过程中测距传感模块与固定参照点之间的实时距离L(t)以及曳引电机编码器的实时旋转位置S(t)；额定速度是电梯运行的额定运行速度，这里制停预设位置是一个用于辅助执行制动操作的参考位置，当检测到电梯运行到该参考位置时，制动电梯。接近制停预设位置指电梯与制停预设位置的距离小于设定阈值，本发明采用自动检测手段来检测电梯与制停预设位置的距离，并自动做出判断控制。本步骤中，判断电梯是否达到额定速度，需要采集电梯的实时运行速度，可以通过设定专门的速度传感器来采集电梯的实时运行速度，也可以结合下述步骤S4中的计算电梯制动过程中的垂直方向的实时速度V(t)的方法来获取电梯的实时运行速度。S3. Control the elevator to run at a constant speed in a fixed direction, and then when the elevator reaches the rated speed and the elevator is close to the preset stop position, brake the elevator, and at the same time collect the distance between the ranging sensor module and the fixed reference point during the entire operation of the elevator The real-time distance L(t) and the real-time rotation position S(t) of the traction motor encoder; the rated speed is the rated running speed of the elevator, and the brake preset position is a reference position used to assist in the braking operation , when it is detected that the elevator is running to the reference position, brake the elevator. Approaching the preset stop position means that the distance between the elevator and the preset stop position is less than the set threshold. The present invention uses automatic detection means to detect the distance between the elevator and the preset stop position, and automatically makes judgment control. In this step, to determine whether the elevator has reached the rated speed, it is necessary to collect the real-time running speed of the elevator. The real-time running speed of the elevator can be collected by setting a special speed sensor, or it can be combined with the calculation of the elevator braking process in the following step S4 The method of real-time speed V(t) in the vertical direction is used to obtain the real-time running speed of the elevator.

电梯的制动性能参数包括制动器动作延时T_delay、制停时间T_BD、制停距离S_BD、滑行距离S_SD、制停最大减速度a_max、制停最小减速度a_min和制停过程平均减速度a_AVG；The braking performance parameters of the elevator include the brake action delay T _delay , the braking time T _BD , the braking distance S _BD , the sliding distance S _SD , the braking maximum deceleration a _max , the braking minimum deceleration a _min and the braking process Average deceleration a _AVG ;

具体包括以下步骤：Specifically include the following steps:

V_E(t)＝d(S(t))/dtV _E (t)=d(S(t))/dt

其中，v_EH为预设线速度阈值，概率密度p(v_E＜v_EH)中的v_E表示曳引电机编码器的线速度；Wherein, v _EH is the preset linear speed threshold, and v _E in the probability density p(v _E <v _EH ) represents the linear speed of the traction motor encoder;

S5、将获得的电梯的制动性能参数与预设安全区间进行对比，判断电梯的制动性能参数是否都落在对应的预设安全区间内，若是，则判断电梯正常工作，否则判断电梯出现异常状态，同时输出异常的制动性能参数。这里，制动性能参数的所有参数都有相应的预设安全区间，若判断某个制动性能参数例如制停距离S_BD没有落在其预设安全区间内，则判断电梯出现异常状态，同时输出异常的制动性能参数即这里的制停距离S_BD。这里，输出的异常的制动性能参数即可看作电梯制动自诊断的结果。另外，本方法可以通过有线或无线通讯方式将获取的各种实时数据、计算得到的制动性能参数或自诊断的结果发送到控制系统的处理器模块，可以实现远程自诊断。S5. Comparing the obtained braking performance parameters of the elevator with the preset safety interval, judging whether the braking performance parameters of the elevator fall within the corresponding preset safety interval, if so, judging that the elevator is working normally, otherwise judging that the elevator has appeared Abnormal state, and output abnormal braking performance parameters at the same time. Here, all the parameters of the braking performance parameters have corresponding preset safety intervals. If it is judged that a certain braking performance parameter such as the braking distance S _BD does not fall within the preset safety interval, it is judged that the elevator is in an abnormal state, and at the same time The abnormal braking performance parameter output is the braking distance S _BD here. Here, the outputted abnormal braking performance parameters can be regarded as the result of elevator braking self-diagnosis. In addition, the method can send various acquired real-time data, calculated braking performance parameters or self-diagnosis results to the processor module of the control system through wired or wireless communication, thereby realizing remote self-diagnosis.

另外，本步骤也可以将获得的电梯的制动性能参数，按照制停距离S_BD、滑行距离S_SD、制停时间T_BD、制停最大减速度a_max、制停最小减速度a_min、制停过程平均减速度a_AVG以及制动器动作延时T_delay的顺序进行记录并存储，同时记录该时刻的实时时间T，记录为B(n)＝[S_BDS_SDT_BDa_MAXa_MINa_AVGT_delayT]，通过对记录存储的数据进行拟合分析，还可以预测电梯制动性能的变化趋势。In addition, in this step, the braking performance parameters of the elevator can be obtained according to the braking distance S _BD , the sliding distance S _SD , the braking time T _BD , the maximum braking deceleration a _max , the minimum braking deceleration a _min , The average deceleration a _AVG of the braking process and the brake action delay T _delay are recorded and stored in sequence, and the real time T of this moment is recorded at the same time, and the record is B(n)=[S _BD S _SD T _BD a _MAX a _MIN a _AVG T _delay T], through the fitting analysis of the recorded and stored data, it can also predict the changing trend of the elevator braking performance.

以上是对本发明的较佳实施进行了具体说明，但本发明创造并不限于以上实施例，熟悉本领域的技术人员在不违背本发明精神的前提下还可做出种种的等同变形或替换，这些等同的变型或替换均包含在本申请权利要求所限定的范围内。The above is a specific description of the preferred implementation of the present invention, but the invention is not limited to the above embodiments, and those skilled in the art can also make various equivalent deformations or replacements without violating the spirit of the present invention. These equivalent modifications or replacements are all within the scope defined by the claims of the present application.

Claims

1. A remote self-diagnosis method for elevator braking performance, characterized in that, comprising:

S1, when the elevator is at rest, control the distance measuring sensor module on the car frame of the elevator car to rotate one circle along the turntable whose radius is R, and collect the real-time linear distance LP between the distance measuring sensor module and the fixed reference point ( t), and then calculate and obtain the reference position information between the ranging sensing module and the fixed reference point, and at the same time obtain the initial position S _E0 of the traction motor encoder and the initial linear distance between the ranging sensing module and the fixed reference point L _C0 ;

S2. Control the elevator to run in a fixed direction for a certain distance and then stop, obtain the rotation position S _E1 of the encoder of the traction motor at this moment and the distance L _C1 between the ranging sensor module and the fixed reference point, and then calculate and obtain the traction motor The proportional coefficient K between the rotary position of the encoder and the vertical movement distance of the elevator;

S3. Control the elevator to run at a constant speed in a fixed direction, and then when the elevator reaches the rated speed and the elevator is close to the preset stop position, brake the elevator, and at the same time collect the distance between the ranging sensor module and the fixed reference point during the entire operation of the elevator The real-time distance L(t) and the real-time rotational position S(t) of the traction motor encoder;

S4. According to the collected real-time distance L(t), the real-time rotational position S(t) of the traction motor encoder, the reference position information between the ranging sensor module and the fixed reference point, and the rotational position of the traction motor encoder Calculate the braking performance parameters of the elevator with the proportional coefficient K between the vertical movement distance of the elevator;

The braking performance parameters of the elevator include brake action delay T _delay , braking time T _BD , braking distance S _BD , sliding distance S _SD , braking maximum deceleration a _max , braking minimum deceleration a _min and braking Average deceleration a _AVG during stop;

S5. Comparing the obtained braking performance parameters of the elevator with the preset safety interval, judging whether the braking performance parameters of the elevator fall within the corresponding preset safety interval, if so, judging that the elevator is working normally, otherwise judging that the elevator has appeared Abnormal state, and output abnormal braking performance parameters at the same time.

2. A method for remote self-diagnosis of elevator braking performance according to claim 1, wherein said reference position information includes a reference vertical distance H ₀ and a reference horizontal distance L ₀ , and said calculation in said step S1 Obtain the reference position information between the ranging sensor module and the fixed reference point, specifically:

According to the obtained real-time straight-line distance LP(t), after reading the maximum real-time straight-line distance LP _MAX and the minimum real-time straight-line distance LP _MIN , calculate the reference vertical distance H between the ranging sensor module and the fixed reference point according to the following formula _: and the reference horizontal distance L ₀ :

\{\begin{matrix} {H h}_{00} = = \sqrt{((44 {R R}^{22} (({LP LP}_{M m A A X x} + + {LP LP}_{M m I I N N})) - - 88 {R R}^{44} - - {(({LP LP}_{M m A A X x} - - {LP LP}_{M m I I N N}))}^{22})) / / 88 {R R}^{22}} \\ {L L}_{00} = = (({LP LP}_{M m A A X x} - - {LP LP}_{M m I I N N} - - 44 {R R}^{22})) / / ((44 R R)) \end{matrix} . .

3. A method for remote self-diagnosis of elevator braking performance according to claim 2, characterized in that the calculation in step S2 obtains the proportional coefficient between the rotational position of the encoder of the traction motor and the vertical movement distance of the elevator K is calculated by the following formula:

\{\begin{matrix} {L L}_{C C} = = \sqrt{{L L}_{C C 11}^{22} - - {L L}_{00}^{22}} - - \sqrt{{L L}_{C C 00}^{22} - - {L L}_{00}^{22}} \\ K K = = (({S S}_{E E. 11} - - {S S}_{E E. 00})) / / {L L}_{C C} \end{matrix} . .

4. A method for remote self-diagnosis of elevator braking performance according to claim 3, wherein said step S4 includes:

S41. Calculate and obtain the real-time linear velocity V _E (t) of the motor encoder during the elevator braking process according to the following formula:

V _E (t)=d(S(t))/dt

Then calculate the real-time probability density p(v _E <v _EH ) of the real-time linear velocity V _E (t) within the preset period △T, and judge whether the probability density p(v _E <v _EH ) is greater than 0.8, if so and a certain The real-time linear velocity V _E (t) at the moment is less than the rated speed, then obtain this moment as the moment t _SB when the elevator starts to brake;

Among them, v _EH is the preset line speed threshold;

S42. Obtain the moment t _CB when the brake receives the braking command, and at the same time obtain the moment when the real-time linear velocity V _E (t) is 0 as the moment t _EB when the elevator braking ends, and then calculate and obtain the brake action delay T _delay according to the following formula , braking distance S _BD , braking time T _BD and average deceleration a _AVG during braking:

\{\begin{matrix} {T T}_{d d e e l l a a y the y} = = {t t}_{S S B B} - - {t t}_{C C B B} \\ {S S}_{B B D D.} = = S S (({t t}_{E E. B B})) / / K K - - S S (({t t}_{S S B B})) / / K K \\ {T T}_{B B D D.} = = {t t}_{E E. B B} - - {t t}_{S S B B} \\ {a a}_{A A V V G G} = = - - {V V}_{R R} / / {T T}_{B B D D.} \end{matrix}

Among them, S(t _EB ) represents the real-time rotation position of the elevator at the end of braking, S(t _SB ) represents the real-time rotation position of the elevator when it starts braking, and VR _represents the rated speed of the elevator;

S43. Calculate the real-time velocity V(t) and real-time deceleration a(t) in the vertical direction during the elevator braking process according to the following formula, and then obtain the maximum value of the real-time deceleration a(t) as the braking maximum deceleration a _max , and obtain the minimum real-time deceleration a(t) as the minimum braking deceleration a _min :

\{\begin{matrix} V V ((t t)) = = d d ((\sqrt{{L L}^{22} ((t t)) - - {L L}_{00}^{22}})) / / d d t t \\ a a ((t t)) = = d d V V ((t t)) / / d d t t \end{matrix}

S44, in conjunction with the real-time distance L (t) that is collected, calculate and obtain the sliding distance S _SD according to the following formula:

{S S}_{S S D D.} = = \sqrt{{L L}^{22} (({t t}_{E E. B B})) - - {L L}_{00}^{22}} - - \sqrt{{L L}^{22} (({t t}_{S S B B})) - - {L L}_{00}^{22}} - - {S S}_{B B D D.}

Among them, L(t _EB ) represents the real-time distance between the ranging sensing module and the fixed reference point when the elevator brakes, and L(t _SB ) represents the distance between the ranging sensing module and the fixed reference point when the elevator starts braking. real-time distance.

5. A method for remote self-diagnosis of elevator braking performance according to claim 3, further comprising the following steps between said step S2 and step S3:

Abnormal diagnosis steps of the traction motor encoder and distance measuring sensor module, including:

A1. When the elevator is at a leveling position and is stationary, obtain the distance L _D1 between the distance measuring sensor module and the fixed reference point and the rotational position S _D1 of the traction motor encoder at that moment;

A2. After controlling the elevator to move slowly in one direction to the position of the next leveling floor, obtain the distance L _D2 between the ranging sensor module and the fixed reference point at this moment and the rotational position S _D2 of the traction motor encoder;

A3. Then calculate the vertical displacement LD of the elevator and the position change △ _{S D} _of the encoder of the traction motor by the following formula:

\{\begin{matrix} {L L}_{D D.} = = \sqrt{{L L}_{D D. 11}^{22} - - {L L}_{00}^{22}} - - \sqrt{{L L}_{D D. 00}^{22} - - {L L}_{00}^{22}} \\ {ΔS ΔS}_{D D.} = = {S S}_{D D. 22} - - {S S}_{D D. 11} \end{matrix}

Among them, _L0 represents the reference horizontal distance between the ranging sensor module and the fixed reference point;

A4. Determine whether the vertical displacement LD is equal to the height difference _S _DC between the two floors. If so, then judge that the distance measuring sensor module is working normally; otherwise, judge that the distance measuring sensor module is abnormal;

At the same time, it is determined whether the position change △SD of the traction motor encoder is equal to the proportional coefficient K multiplied by the height difference _S _DC , if so, it is judged that the traction motor encoder is working normally, otherwise, it is judged that the traction motor encoder is abnormal.

6. A method for remote self-diagnosis of elevator braking performance according to claim 1, wherein the distance measuring sensor module is installed on the car frame of the elevator car through an installation mechanism, and the installation mechanism includes The turntable, the magnetic base, and the driving mechanism installed between the turntable and the magnetic base for driving the turntable to rotate, the distance measuring sensor module is installed on the turntable, and the magnetic base is adsorbed on the car frame of the elevator car .

7. A method for remote self-diagnosis of elevator braking performance according to claim 1, wherein the fixed reference point is installed on the guide rail of the elevator car, and a measurement label is installed at the fixed reference point, so that The measurement tag includes a first controller, a first memory, and a first radio frequency transceiver unit, the first radio frequency transceiver unit is connected to a first antenna, and the first controller is connected to the first memory and the first radio frequency transceiver unit respectively ;

The ranging sensor module includes a second controller, a second memory, a wireless communication unit and a second radio frequency transceiver unit, the second radio frequency transceiver unit is connected with a second antenna, and the second controller is connected to the second radio frequency transceiver unit respectively. The memory, the wireless communication unit and the second radio frequency transceiver unit are connected.