CN104140019B - Control device and control method of elevator lift car position - Google Patents
Control device and control method of elevator lift car position Download PDFInfo
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- CN104140019B CN104140019B CN201410321458.7A CN201410321458A CN104140019B CN 104140019 B CN104140019 B CN 104140019B CN 201410321458 A CN201410321458 A CN 201410321458A CN 104140019 B CN104140019 B CN 104140019B
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- car
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- speed limit
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Abstract
The invention discloses a control device and a control method of the elevator lift car position. The control device of the elevator lift car position comprises a lift car, a first detection sensor, a second detection sensor, a traction machine unit, a speed limiting machine unit and a control cabinet, wherein the first detection sensor, the second detection sensor, the traction machine unit and the speed limiting machine unit are respectively and electrically connected with the control cabinet, the traction machine unit and the lift car form traction connection, the speed limiting machine unit and the lift car form the speed limiting connection, the traction machine unit comprises a traction rope group, a plurality of first covering layers are arranged on the traction rope group, the first detection sensor correspond to the first covering layers, the speed limiting machine unit comprises a speed limiting rope group, a plurality of second coating layers are arranged on the speed limiting rope group, and the second detection sensor corresponds to the second covering layers. The device and the method provided by the invention have the advantages that the flat floor achieving and flat floor re-achieving processes of the lift car can be well controlled, and in addition, the actual position of the elevator lift car can be precisely controlled.
Description
Technical field
The present invention relates to elevator control technology field, more particularly to a kind of control device and method of elevator car position.
Background technology
At present in elevator industry, (when referring to that car is close to bus stop, car sill reaches same flat flat bed with floor sill
Face) generally add the detection method of car top flat bed induction apparatuss in detection technique using hoistway magnetic isolation plate, which passes through the correspondence in hoistway
Install a set of magnetic isolation plate (or Magnet) on the guide rail of each floor position additional, then by magnetic isolation plate to being mounted in the photoelectricity installed in car top
Sensor (or magnet proximity switch) blocks (close) process, makes the switch board obtain the signal of lift car leveling.Simultaneously in flat bed sense
The position for answering device appropriate up and down respectively installs a similar sensor additional, so as to realize that elevator enters after stopping during loading or unloading
The story-leveling function again of row correction car stop position.
This scheme, installation personnel need successively to install magnetic isolation plate.While in order to reach the langding accuracy of car and put down again
Layer effect, commissioning staff need constantly to carry out repeatedly adjustment to the magnetic isolation plate of each floor in the hoistway, cause installation and debugging
Time cost is larger.Also, in hoistway, each floor all needs to install magnetic isolation plate additional, and not only material is more relatively costly, to hoistway
Layout also improves certain difficulty and limitation.
In addition, in the technical scheme, switch board can only obtain the flat bed signal and flat bed situation of car, it is impossible to obtain car
Physical location --- i.e. residing floor information.At ordinary times, the floor information of car is by microcomputer matching coding device and inside
Stored floor height table carries out computational discrimination.If but there are the abnormal conditions such as power-off or skidding, microcomputer will lose car
Floor information.Now elevator just can only be travelled at a slow speed to hoistway end station, obtained by the limit sensor of hoistway end station again
Car floor information is obtained, this causes elevator to reaffirm that position is too time-consuming, if there is oppressive situation, as long-time is transported at a slow speed
Row finds position, can also cause trapped personnel panic.Particularly, there is staggered floor in fire-fighting rack and the high speed ladder for improving height
Afterwards, do not allow by the limit sensor of hoistway end station to reaffirm car floor information, current technology is to utilize to install additional
In the increment encoder (SIE) and corresponding processing system of limiter of speed, the physical location of car is recorded and preserved.In order to
Guarantee system high-performance at the scene is used, and the prescription and installation accuracy to whole system requires all very high.Therefore, it is existing
Technology can not only greatly increase cost, also add the complexity of system, while also increase being when this kind of situation is tackled
System fault rate.
The content of the invention
Based on this, it is an object of the invention to overcome the defect of prior art, there is provided a kind of to control car well
Flat bed and again flat bed process and accurately can obtain lift car physical location control device and method.
Its technical scheme is as follows：
A kind of control device of elevator car position, including car, the first detection sensor, the second detection sensor, lead
Draw unit, speed limit unit and switch board, the first detection sensor, the second detection sensor, traction link seat, speed limit unit respectively with
Switch board is electrically connected with, and traction link seat constitutes traction with car and is connected, and speed limit unit constitutes speed limit with car and is connected, traction link seat
Including pull rope group, pull rope group is provided with multiple first clads, and the first detection sensor is corresponding with the first clad, limit
Fast unit includes speed limit rope group, and speed limit rope group is provided with multiple second clads, the second detection sensor and the second clad phase
Correspondence.
The pull rope group includes many pull ropes being set up in parallel, and first detection sensor includes multiple points of sensings
Device, the quantity of sub-sensor are identical with the quantity of pull rope.
Multiple first clads are distributed in non-uniform spacing in pull rope group.
Multiple second clads are distributed in non-uniform spacing in speed limit rope group.
Second detection sensor includes level transducer, level transducer and lower level transducer, described second
Clad includes induction zone, center induction zone and lower induction zone, and upper induction zone is corresponding with upper level transducer, center sensing
Area is corresponding with level transducer, and lower induction zone is corresponding with lower level transducer.
The traction link seat also includes the traction machine for driving the movement of pull rope group, and first detection sensor is located at traction
Near machine.
The speed limit unit also includes the limiter of speed for driving the movement of speed limit rope group, and second detection sensor is located at speed limit
Near device.
A kind of control method of elevator car position is provided also, it is characterised in that comprised the steps：
Switch board control traction link seat and speed limit unit make car achieve the goal the precalculated position near floor when, car meeting
Start reduction of speed to creep, while the first clad in pull rope group initially enters the sweep limitss of the first detection sensor, when the
When one clad reaches the presumptive area of the first detection sensor sweep limitss, switch board can read predetermined information and be examined
Verification is surveyed, the sweep limitss that the second clad in speed limit rope group enters the second detection sensor is then controlled, is made the second cladding
Layer reaches the presumptive area of the second detection sensor sweep limitss, and now car has also crawled into purpose floor, car sill with
Floor sill reaches same plane, that is, complete the control of level position；
When car because when loading or unloading cause car to sink or rise, i.e. the level position of car changes
When, switch board can make the first clad reach the first detection sensor sweep limitss by adjusting traction link seat and speed limit unit
Presumptive area, the second clad reach the presumptive area of the second detection sensor sweep limitss, so that car returns flat bed, i.e.,
Complete again the control of level position.
Below the advantage or principle of preceding solution are illustrated：
1st, more stably realize the flat bed control of car
As speed limit rope group is born a heavy burden little and stablizes, the deformation quantity come into operation in the later stage is little, and speed limit rope group is direct
It is connected with car, there will not be when the abnormality such as jerk or power failure occurs as the situation of pull rope group skidding, therefore
Speed limit rope group carries out flat bed detection, not only accurately, and effectively can prevent to have debugged come into operation after because of pull rope deformation
Have to the situation continually adjusted again by flat bed situation.
2nd, more simply realize the control of flat bed again of car
In loading or unloading, the change of heavy burden causes the telescopic shape change of pull rope group to car, can cause the flat bed of car
Situation changes, and as speed limit rope group is directly connected on car, the flat bed situation of car will faithfully be reflected in limit
In the movement of fast rope group, by the inspection of the upper level transducer of the second detection sensor, level transducer and lower level transducer
Survey the control of flat bed again for regulating and controlling just to be capable of achieving car in conjunction with switch board.
3rd, more precisely detect the physical location of car
As pull rope group is born a heavy burden big and unstable, therefore short-term speed limit rope group relative with long-term deformation quantity is larger, because
This first clad labelling thereon is not used in the actual flat bed control of car, just can confirm as the judgement of car physical location.
As deformation quantity is big, in order that its fault-tolerant ability is strengthened, the first clad length in pull rope group is suitably lengthened, wherein
When pull rope group is deformed upon, the coating deviation of intermediate floor is maximum, therefore, as long as the length of coating is lengthened to completely
Sufficient intermediate floor pull rope deformation brings deviation.Car flat bed each time, switch board are all obtained from the first inspection sensor
The physical location of car, and the floor information calculated with switch board checked, if information matches, then it is assumed that elevator is in just
Normal state.If information is mismatched, then it is assumed that at present staggered floor has occurred in elevator, detects and record corresponding failure, while with the
The floor information of one inspection sensor is defined the floor information in refresh control cabinet.
Description of the drawings
Structural representations of the Fig. 1 for the control device of elevator car position described in the embodiment of the present invention；
Fig. 2 is the structural representation of A direction views part in Fig. 1
Fig. 3 is the structural representation of B direction views part in Fig. 1；
Description of reference numerals：
10th, traction link seat, 11 pull rope groups, the 12, first clad, 13, traction machine, the 14, first detection sensor, 141,
LCT1,142, LCT2,143, LCT3,144, LCT4,145, LCT5,20, speed limit unit, 21, speed limit rope group, the 22, second cladding
Layer, 221, upper induction zone, 222, center induction zone, 223, lower induction zone, 23, limiter of speed, the 24, second detection sensor, 241,
Upper level transducer, 242, level transducer, 243, lower level transducer, 30, car, 31, safety tongs pulling apparatus, 40, control
Cabinet processed.
Specific embodiment
Below in conjunction with the accompanying drawings embodiments of the invention are described in detail：
As shown in Figure 1 to Figure 2, it is a kind of control device of elevator car position, including car 30, the first detection sensor
14th, the second detection sensor 24, traction link seat 10, speed limit unit 20 and switch board 40, the first detection sensor 14, second are detected
Sensor 24, traction link seat 10, speed limit unit 20 are electrically connected with switch board 40 respectively, and traction link seat 10 is constituted with car 30 and led
Draw connection, speed limit unit 20 constitutes speed limit with car 30 and is connected.Traction link seat 10 includes pull rope group 11 and traction machine 13, first
Just near traction machine 13, pull rope group 11 is provided with the first clad of multistage 12, per section first cladding to detection sensor 14
Layer length is more than 250mm, and the first detection sensor 14 is adapted with the first clad 12, for detecting in the first clad 12
Information, pull rope group 11 include 5 pull ropes, and the first detection sensor 14 also includes 5 sub-sensors, is set to LCT1
(141), LCT2 (142), LCT3 (143), LCT4 (144) and LCT5 (145), they are wrapped with first on 1 pull rope respectively
Coating 12 is corresponding.Pull rope group 11 constitutes traction through the first detection sensor 14 and car 30 and is connected.Speed limit unit 20 is wrapped
Speed limit rope group 21 and limiter of speed 23 are included, the second detection sensor 24 just, near limiter of speed 23, also is provided with speed limit rope group 21
The second clad of multistage 22, each 22 length of the second clad are 250mm, the second detection sensor 24 and 22 phase of the second clad
Adaptation, for detecting the information in the second clad 22, the second detection sensor 24 includes that level transducer 241, flat bed is passed
Sensor 242 and lower level transducer 243, the second clad 22 include induction zone 221, center induction zone 222 and lower induction zone
223, center induction zone 222 is corresponding with level transducer 242, and upper induction zone 221 is corresponding with upper level transducer 241, under
Induction zone 223 is corresponding with lower level transducer 243.Speed limit rope group 21 is through the second detection sensor 24 and the safety of car 30
Pincers pulling apparatus 31 constitute speed limit connection.
First clad 12 and the second clad 22 are all the magnetisable coating being coated on rope, wherein being designed with and car 30
Related floor location information, the first detection sensor 14 and the second detection sensor 24 are all magnetism detecting sensor, when the
When one clad 12 is directed at the first detection sensor 14, the first detection sensor just can detect the information in the first clad,
This information is the information of concrete floor that car 30 is located, and for example, 2 scale coding information is arranged in the first clad 12, if
The information that 5 sub-sensors in first detection sensor 14 read is 00001, then car 30 now is in the 1st floor, reads
The information for taking is 00010, then car 30 now is in the 2nd floor, and the information of reading is 01010, then be the 10th floor, with this
Analogize.Because pull rope group 11 includes 5 pull ropes, the information that 14 maximum of corresponding first detection sensor can read is
11111, i.e. the 31st floor, therefore the maximum floor that can be detected in the present embodiment is 31 layers (i.e. 25-20).In addition, if by each section
The first clad 12 carry out being divided into the multidomain treat-ment in former and later two halfth areas, carry out different 2 respectively and encoded, while also adopting
With the first detection sensor with detection sensitivity Yu capacity of resisting disturbance being adapted therewith, then highest is recognizable 1023 layers
(i.e. 210-20).The coding information of 30 flat bed of car is provided in the second clad 22, when car 30 carries out accurate level
When, switch board 40 can control the adjustment of limiter of speed 23 second clad 22 corresponding to the second detection sensor 24, final to pass for flat bed
Sensor 242 is in alignment with the center induction zone 222 of the second clad 22, upper level transducer 241 in alignment with the second clad 22
Below 221 outermost end of upper induction zone at 5mm, lower level transducer 243 in alignment with the second clad 22 223 outermost of lower induction zone
At above 5mm of end.
Further, since pull rope group 11 and speed limit rope group 21 can produce tensile deformation in use, so each floor institute is right
The first clad 12 for answering, the second clad 22 respectively in pull rope group 11, be all in non-uniform Distribution in speed limit rope group 21
, and pull rope group 11, with the heavy burden bigger than speed limit rope group 21, deformation is bigger, so the length of per section of first clad 12
Both greater than 250mm.
The present embodiment can achieve the effect that：
1st, realize the control of 30 level position of car
As speed limit rope group 21 is born a heavy burden little and stablizes, the deformation quantity come into operation in the later stage is little, and speed limit rope group 21 is
Directly it is connected with car 30, the feelings skidded as pull rope group 11 is there will not be when the abnormality such as jerk or power failure occurs
Condition, therefore carry out flat bed detection in speed limit rope group 21, not only accurately, and effectively can prevent to have debugged come into operation after because leading
Messenger deformation and the situation continually adjusted again by flat bed situation of having to.
When normally coming into operation, start reduction of speed when lift car 30 is up to the precalculated position of purpose floor and creep, it is right
The second clad 22 answered initially enters 242 induction range of level transducer of the second detection sensor 24, while the first detection
Sensor 14 is read out to the first clad 12 in pull rope group 11, and switch board 40 obtains predetermined information the building with inside
Layer information is checked, if matching, then it is assumed that 30 position of lift car is normal, discharges main frame band-type brake, block converter output, control
The control car 30 of cabinet processed 40 is entered to be creeped and starts to calculate, when calculating reaches precalculated position to the 125mm that creeped, car sill
Same plane is reached with purpose floor sill, it is believed that the flat bed of car 30, that is, complete the control of lift car leveling position；If information
Mismatch, then it is assumed that staggered floor has occurred in elevator at present, detects and record corresponding failure, while with the first detection sensor
14 floor information is defined the floor information in refresh control cabinet 40, then carries out the control of above-mentioned lift car leveling position again.
2nd, realize again the control of flat bed
In loading or unloading, the change of heavy burden causes the telescopic shape change of pull rope group to car 30, can cause the flat of car
Layer situation changes, and as speed limit rope group 21 is directly connected on car 30, the flat bed situation of car 30 will faithfully
It is reflected in the movement of speed limit rope group 21, by the upper level transducer 241 of the second detection sensor 24, level transducer 242
The again flat bed control that regulates and controls just be capable of achieving car 30 of the detection with lower level transducer 243 in conjunction with switch board 40.
Such as Fig. 1, when state of the car 30 in loading, the heavy burden of pull rope group 11 will be increasing, causes pull rope group
11 there is tensile deformation, cause car 30 to sink on the position of Yuanping City's layer state, and now car 30 will pull speed limit rope group
On the second clad 22 move up relative to the second detection sensor 24.When displacement is more than 5mm, flat bed can be caused
The sensing failure of 241 opposite side induction zone of sensor, after switch board 40 receives signal, control car 30 is moved up so that limit
The second clad 22 in fast rope group 21 reenters the induction range of level transducer 241, so that car returns flat bed,
The control of level position is completed again.
In the same manner, the state when car 30 in unloading, pull rope group 11 will shrink deformation, cause in speed limit rope group
Second clad 22 is moved down relative to the second detection sensor 24.When displacement is more than 5mm, lower flat bed sensing can be caused
The sensing failure of device opposite side induction zone, after switch board 40 receives signal, control car 30 moves down so that speed limit rope group 21
On the second clad 22 reenter the induction range of lower level transducer 243.
3rd, realize the control of 30 physical location of car
Due to pull rope group 11 bear a heavy burden it is big and unstable, therefore relative with the long-term deformation quantity speed limit rope group of short-term 21 compared with
Greatly, therefore thereon 12 labelling of the first clad is not used in the control of 30 actual flat bed of car, is only used as 30 physical location of car
Judge to confirm.As deformation quantity is big, in order that its fault-tolerant ability is strengthened, 12 length of the first clad in pull rope group 11 is fitted
Local to lengthen, i.e., more than 250mm, when wherein pull rope group 11 is deformed upon, the coating deviation of intermediate floor is maximum, because
This, as long as the length of coating is lengthened to and meets intermediate floor pull rope deformation and bring deviation.
The flat bed each time of car 30, switch board 40 all obtain the physical location of car 30 from the first inspection sensor, and with
The floor information calculated by switch board 40 is checked, if matching, then it is assumed that elevator is in normal condition.If mismatching, recognize
There is staggered floor for current elevator, detected and recorded corresponding failure, while being believed with the floor of the first detection sensor 14
The floor information that breath is defined in refresh control cabinet 40.
In the event of skidding abnormal conditions caused by jerk, power failure etc., switch board 40 loses the floor position letter of car 30
Breath, after re-powering, elevator will be started at a slow speed, and find the flat bed information of the second detection sensor 24, control again car
After 30 flat beds, while the first detection sensor 14 can detect the positional information of the first clad 12, the reality of car 30 is regained
Border position, so that equipment enters normal condition.The process lift car 30 at most travels at a slow speed a floor and can reaffirm
Physical location, can greatly shorten the time of elevator location searching again.
Embodiment described above only expresses the specific embodiment of the present invention, and its description is more concrete and detailed, but and
Therefore the restriction to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, some deformations and improvement can also be made, these belong to the guarantor of the present invention
Shield scope.
Claims (6)
1. a kind of control device of elevator car position, it is characterised in that including car, the first detection sensor, the second detection
Sensor, traction link seat, speed limit unit and switch board, the first detection sensor, the second detection sensor, traction link seat, speed limit
Unit is electrically connected with switch board respectively, and traction link seat constitutes traction with car and is connected, and speed limit unit constitutes speed limit with car and connects
Connect, traction link seat includes pull rope group, pull rope group is provided with multiple first clads, the first detection sensor and the first cladding
Layer is corresponding, and first clad is not used in the actual flat bed control of car, and the judgement for being only used as car physical location confirms, limit
Fast unit includes speed limit rope group, and speed limit rope group is provided with multiple second clads, the second detection sensor and the second clad phase
Correspondence, carries out flat bed detection in speed limit rope group；
Wherein, multiple first clads are distributed in non-uniform spacing in pull rope group, and per section of first clad length
More than 250mm；
Be provided for the coding information of concrete floor that car is located in first integument, and be divided into two former and later two half
Area；
Second detection sensor includes level transducer, level transducer and lower level transducer, second parcel
The coding information of lift car leveling is provided in layer, second clad includes induction zone, center induction zone and lower sensing
Area, upper induction zone are corresponding with upper level transducer, and center induction zone is corresponding with level transducer, lower induction zone and lower flat bed
Sensor is corresponding.
2. the control device of elevator car position according to claim 1, it is characterised in that the pull rope group includes many
The pull rope being set up in parallel, first detection sensor include multiple sub-sensors, quantity and the pull rope of sub-sensor
Quantity is identical.
3. the control device of elevator car position according to claim 1, it is characterised in that multiple second clads exist
It is distributed in non-uniform spacing in speed limit rope group.
4. the control device according to arbitrary elevator car position in claims 1 to 3, it is characterised in that the traction machine
Group also includes the traction machine for driving the movement of pull rope group, and first detection sensor is near traction machine.
5. the control device of elevator car position is stated according to claim 4, it is characterised in that the speed limit unit also includes driving
The limiter of speed of speed limit rope group movement, second detection sensor is near limiter of speed.
6. a kind of control method of elevator car position, it is characterised in that the electricity being applied to described in any one of claim 1 to 5
The control device of terraced car position, comprises the steps：
Switch board control traction link seat and speed limit unit make car achieve the goal the precalculated position near floor when, car can start
Reduction of speed is creeped, and corresponding second clad initially enters the induction range of the level transducer of the second detection sensor, while leading
The first clad in messenger group initially enters the sweep limitss of the first detection sensor, and the sweep limitss are more than 250mm, when the
When one clad reaches the presumptive area of the first detection sensor sweep limitss, switch board can read predetermined information and be examined
Survey verification：If matching, main frame band-type brake is discharged, block converter is exported, switch board control car is entered to be creeped and start to calculate,
When precalculated position is reached, car sill reaches same plane with purpose floor sill, completes the control of lift car leveling position；If
Information is mismatched, then detect and record corresponding failure, while being defined by the floor information of the first detection sensor refreshes control
Floor information in cabinet processed, then carries out the control of lift car leveling position again；
When car causes car to sink or rise because of loading or unloading, i.e., when the level position of car changes, control
Cabinet processed can make the first clad reach the predetermined of the first detection sensor sweep limitss by adjusting traction link seat and speed limit unit
Region, the second clad reach the presumptive area of the second detection sensor sweep limitss, so that car returns flat bed, that is, complete
The control of level position again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410321458.7A CN104140019B (en) | 2014-07-07 | 2014-07-07 | Control device and control method of elevator lift car position |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410321458.7A CN104140019B (en) | 2014-07-07 | 2014-07-07 | Control device and control method of elevator lift car position |
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| Publication Number | Publication Date |
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| CN104140019A CN104140019A (en) | 2014-11-12 |
| CN104140019B true CN104140019B (en) | 2017-05-03 |
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ID=51849377
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410321458.7A Active CN104140019B (en) | 2014-07-07 | 2014-07-07 | Control device and control method of elevator lift car position |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107032206A (en) * | 2015-08-10 | 2017-08-11 | 吕虎松 | With monitoring and prevent car accidental movement and elevator device out of control |
| EP3176122A1 (en) * | 2015-12-02 | 2017-06-07 | Siemens Aktiengesellschaft | Method for controlling a conveyor machine, conveyor machine and control device for controlling a drive of a conveyor machine |
| CN106672715B (en) * | 2017-03-09 | 2019-07-19 | 上海中联重科电梯有限公司 | Elevator landing control method and application this method carry out the elevator of leveling control |
| CN106865367B (en) * | 2017-03-09 | 2019-07-19 | 上海中联重科电梯有限公司 | Elevator landing control system and elevator with the system |
| CN109132767B (en) * | 2018-10-29 | 2023-12-26 | 广东环境保护工程职业学院 | Car flat layer and position detection system |
| CN109534116A (en) * | 2019-01-15 | 2019-03-29 | 义乌恒邦建筑智能科技有限公司 | A kind of building hoist automatic driving control system and control method |
| CN113148903B (en) * | 2021-01-04 | 2023-04-11 | 罗三定 | Lifting platform leveling method with automatic repairing function |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4007811A (en) * | 1975-02-24 | 1977-02-15 | Mitsubishi Denki Kabushiki Kaisha | Control for elevator |
| JP2000351544A (en) * | 1999-06-11 | 2000-12-19 | Toshiba Elevator Co Ltd | Position detection device for elevator |
| PT1286905E (en) * | 2000-05-01 | 2004-12-31 | Inventio Ag | CONCENTRATE EMULSIONAVEL ONE OR MORE ELEVATOR PESTICIDASINE |
| JP2007230760A (en) * | 2006-03-03 | 2007-09-13 | Toshiba Elevator Co Ltd | Elevator |
| CN202369221U (en) * | 2011-11-30 | 2012-08-08 | 上海三菱电梯有限公司 | Position detection device for elevator car |
| CN103723591B (en) * | 2013-11-13 | 2016-07-06 | 西子奥的斯电梯有限公司 | A kind of lift car position detection system |
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