CN105151940A - Elevator lift car absolute position detection system and method - Google Patents
Elevator lift car absolute position detection system and method Download PDFInfo
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- CN105151940A CN105151940A CN201510702432.1A CN201510702432A CN105151940A CN 105151940 A CN105151940 A CN 105151940A CN 201510702432 A CN201510702432 A CN 201510702432A CN 105151940 A CN105151940 A CN 105151940A
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Abstract
The invention relates to an elevator lift car absolute position detection system and method. The elevator lift car absolute position detection system comprises a shaft, an elevator lift car located in the shaft, reference objects located in the shaft, an imaging device used for continuously shooting the reference objects, and a controller eclectically connected with the imaging device. The imaging device is arranged on the elevator lift car. The reference objects are arranged along the movement tracks of the elevator lift car. The imaging device and the elevator lift car move at the same time, the actual position of the lift car can be truly and reliably detected by conducting shooting and image identifying on the reference objects in the shaft, the detection deflection caused when rotating parts slip during transmission does not exist, the real-time performance is good, and the detection accuracy is improved. The reference objects are shot through the imaging device, special encoding or special image printing does not need to be conducted on the reference objects, application is easy and convenient, cost is low, installation and regulation are convenient, and the application range is wide.
Description
Technical field
The present invention relates to elevator technology field, particularly relate to a kind of elevator sedan absolute position checking system and method for inspection.
Background technology
At present, elevator is as the necessary vehicle of modern building, and its control system needs the position accurately detecting car, to realize the safety control function of being correlated with.In current elevator industry, the method detecting car position mainly contains following three kinds: one, rotary encoder method of measurement.The method due to the inertia of traction sheave or diversion sheave comparatively large, easily there is larger elastic slip in the steel rope on wheel, obtain car position data by the amount of spin of traction sheave or diversion sheave, error is larger; And when elevator run in express operational process fault need emergent stopping time, because car inertia is large, can there is significantly machinery with traction sheave and skid in traction steel-cable, now traction sheave stops because of drg action, and rotary encoder cannot detect the skidding distance of steel rope.Two, photoelectric sensor or position switch method of inspection.The method detects the region residing for lift car by photoelectric sensor that hoistway or car are installed or position switch, and the precision that the method detects is low, only can detection within the scope of feasible region.Three, the special identifier object location method of inspection such as grid chi class.The method detects by the sensor installed on the elevator car the coding-belt information be with in hoistway and pre-set, and determines the position of lift car.Coding-belt need be encoded by correlation technique, expensive, and code band is arranged on hoistway frangibility, and coded message is subject to the impacts such as electromagnetism, temperature, greasy dirt, application inconvenience.
Summary of the invention
The object of the present invention is to provide a kind of elevator sedan absolute position checking system and method for inspection, can improve accuracy of detection, real-time is good, and applies easy.
For realizing object of the present invention, the technical scheme taked is:
A kind of elevator sedan absolute position checking system, comprise hoistway, be positioned at the lift car of hoistway and object of reference, the imaging device for taking object of reference, the controller that is electrically connected with imaging device, imaging device is located on lift car, and object of reference is arranged along the motion track of lift car.
During elevator prerun, lift car moves to upstation by lower end station, or move to lower end station by upstation, imaging device is taken continuously to object of reference, obtain all images of object of reference, the graphicinformation of acquisition is sent to controller by imaging device, and controller carries out characteristic quantity identification and position calculation to all images, and the location information of the characteristic quantity of document image and correspondence; When elevator normally runs, imaging device is taken object of reference, and the image of shooting is sent to controller, and controller carries out characteristic quantity identification to the image collected, and the image feature amount of current identification and the image feature amount of record are contrasted, export the location information of current lift car.Imaging device and lift car move simultaneously, and by taking pictures and image identification to the object of reference in hoistway, truly, reliably can detect the actual position of car, there is not the detection error that turning unit transmission slip causes, real-time is good, improve accuracy of detection; Take object of reference by imaging device, without the need to carrying out special coding to object of reference or printing special image, apply easy, with low cost, and be convenient to install and regulate, applied range.
Below technical scheme is further illustrated:
Further, object of reference is the wherein one in the inwall of cable, guide rail, hoistway.Object of reference can select to be positioned at the inwall of the cable of hoistway, guide rail or hoistway, without the need to doing special processing to object of reference, object in hoistway being utilized fully, using flexible and convenient.
Further, the interval time unit that imaging device is taken at every turn is millisecond.Make imaging device obtain the graphicinformation of object of reference more entirely, accuracy of detection is higher.
Further, imaging device is the micro-imager of light sensation.The optics of the micro-imager of light sensation adopts precision to reach micron level, for controlling the data providing more high level, makes survey precision higher.
Be further, the elevator master board that the data communication module that controller comprises image acquisition memory module for gathering and store imaging device photographic images, carries out position calculation recognition module to when feature identification to image, input end is connected with position calculation recognition module is connected with the mouth of data communication module, elevator master board exports the location information of lift car.Image acquisition memory module stores respectively to the multiple graphicinformations collected in repeatedly time gap, and position calculation recognition module calculates the multiple communication informations stored.
Further, top or the bottom of lift car be located at by imaging device.Be convenient to installation and the adjustment of imaging device.
The present invention also provides a kind of elevator sedan absolute position method of inspection, and lift car is provided with imaging device, and the method comprises the following steps:
Choose the object of reference being positioned at elevator hoistways, this object of reference is arranged along the motion track of lift car;
During elevator prerun, lift car is along primary importance unidirectional operation to the second place, and imaging device is taken continuously to object of reference;
The graphicinformation of acquisition is sent to controller by imaging device;
Controller carries out characteristic quantity identification and position calculation to all images, and the location information of the characteristic quantity of document image and correspondence is as default reference amount;
When elevator normally runs, imaging device is taken object of reference, and the image of shooting is sent to controller;
Controller carries out characteristic quantity identification to the image collected, and the image feature amount of current identification is contrasted with reference to measuring with default, exports the location information of current lift car.
Imaging device and lift car move simultaneously, by taking pictures and image identification to the object of reference in hoistway, truly, reliably can detect the actual position of car, there is not the detection error that turning unit transmission slip causes, and improve accuracy of detection; Take object of reference by imaging device, without the need to carrying out special coding to object of reference or printing special image, apply easy, with low cost, and be convenient to install and regulate, applied range.
Further, primary importance is end station end position under elevator upstation end position or elevator, and the second place is end station end position or elevator upstation end position under the elevator of corresponding primary importance.
Be further, the all images characteristic quantity that elevator gathers when prerun is A (n), the image feature amount that elevator collects in a certain cycle when normal operation is A (t), by calculating the kth part that contrast A (t) is A (n), the current absolute location of lift car is L=k/n × H, wherein, n is total periodic quantity that collection A (n) uses, and H is the distance of elevator upstation end position to elevator lower terminal end position.The method measuring speed is fast, and accuracy of detection is high.
Further, imaging device is the micro-imager of light sensation, and characteristic quantity is light sensation, and the time gap unit that imaging device is taken at every turn is millisecond.The optics of the micro-imager of light sensation adopts precision to reach micron level, for controlling the data providing more high level, makes survey precision higher.And the time gap unit of shooting is millisecond, make imaging device obtain the graphicinformation of object of reference more entirely, accuracy of detection is higher.
Compared with prior art, the present invention has following beneficial effect:
Imaging device of the present invention and lift car move simultaneously, by taking pictures and image identification to the object of reference in hoistway, truly, reliably can detect the actual position of car, there is not the detection error that turning unit transmission slip causes, real-time is good, improves accuracy of detection; Take object of reference by imaging device, without the need to carrying out special coding to object of reference or printing special image, apply easy, with low cost, and be convenient to install and regulate, applied range.
Accompanying drawing explanation
Fig. 1 is the structural representation of embodiment of the present invention elevator sedan absolute position checking system;
Fig. 2 is the operating diagram of embodiment of the present invention elevator sedan absolute position checking system;
Fig. 3 is the curved line relation schematic diagram of embodiment of the present invention image feature amount and elevator car position.
Description of reference numerals:
10. hoistway, 110. hoistway inwalls, 20. lift cars, 30. objects of reference, 40. imaging devices, 50. controllers, 510. image acquisition memory modules, 520. position calculation recognition module, 530. data communication modules, 540. elevator master boards, 60. characteristic quantities.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are described in detail:
As shown in Figure 1, a kind of elevator sedan absolute position checking system, comprise hoistway 10, be positioned at the lift car 20 of hoistway 10 and object of reference 30, the imaging device 40 for taking object of reference 30, the controller 50 that is electrically connected with imaging device 40, imaging device 40 is located on lift car 20, and object of reference 30 is arranged along the motion track of lift car 20.
During elevator prerun, as shown in Figure 2, lift car 20 moves to upstation by lower end station, or move to lower end station by upstation, imaging device 40 pairs of objects of reference 30 are taken continuously, and obtain all images of object of reference 30, the graphicinformation of acquisition is sent to controller 50 by imaging device 40, controller 50 pairs of all images carry out characteristic quantity 60 identification and position calculation, and the location information of the characteristic quantity 60 of document image and correspondence; When elevator normally runs, imaging device 40 pairs of objects of reference 30 are taken, and the image of shooting is sent to controller 50, controller 50 carries out characteristic quantity 60 identification to the image collected, and the image feature amount 60 of current identification is contrasted with the image feature amount 60 of record, export the location information of current lift car 20.Imaging device 40 and lift car 20 move simultaneously, by taking pictures and image identification to the object of reference 30 in hoistway 10, truly, reliably can detect the actual position of car, there is not the detection error that turning unit transmission slip causes, real-time is good, improves accuracy of detection; Take object of reference 30 by imaging device 40, without the need to carrying out special coding to object of reference 30 or printing special image, apply easy, with low cost, and be convenient to install and regulate, applied range.
In the present embodiment, object of reference 30 is for being fixed on the guide rail on hoistway inwall 110, object of reference 30 can select other objects such as cable, hoistway inwall 110 being positioned at hoistway 10, without the need to doing special processing to object of reference 30 during use, object in hoistway 10 is utilized fully, uses flexible and convenient.
As shown in Figure 1, the top of lift car 20 is located at by imaging device 40, and imaging device 40 can also be arranged on other lift car 20 outer wall positions such as the bottom of lift car 20 according to actual needs, is convenient to installation and the adjustment of imaging device 40.
In the present embodiment, imaging device 40 is the micro-imager of light sensation, and the interval time unit that imaging device 40 is taken at every turn is millisecond, and the micro-imager of light sensation adopts CCD (Charge-coupledDevice) element.The optics of the micro-imager of light sensation adopts precision to reach micron level, for controlling the data providing more high level, makes survey precision higher; And the interval time unit of shooting is millisecond, make imaging device 40 obtain the graphicinformation of object of reference 30 more entirely, accuracy of detection is higher.Imaging device 40 can also adopt other form filming apparatus according to actual needs.
As shown in Figure 1, the elevator master board 540 that the data communication module 530 that controller 50 comprises image acquisition memory module 510 for gathering and store imaging device 40 photographic images, carries out position calculation recognition module 520 to when feature identification to image, input end is connected with position calculation recognition module 520 is connected with the mouth of data communication module 530, elevator master board 540 exports the location information of lift car 20.Image acquisition memory module 510 stores respectively to the multiple graphicinformations collected in repeatedly time gap.
As depicted in figs. 1 and 2, the present invention also provides a kind of elevator sedan absolute position method of inspection, and lift car 20 is provided with imaging device 40, and the method comprises the following steps:
Choose the object of reference 30 being positioned at elevator hoistways 10, this object of reference 30 is arranged along the motion track of lift car 20;
During elevator prerun, lift car 20 is along primary importance unidirectional operation to the second place, and imaging device 40 pairs of objects of reference 30 are taken continuously, and obtain all images of each position of object of reference 30;
The graphicinformation of acquisition is sent to controller 50 by imaging device 40;
Controller 50 pairs of all images carry out characteristic quantity 60 identification and position calculation, and the location information of the characteristic quantity 60 of document image and correspondence is as default reference amount;
When elevator normally runs, imaging device 40 pairs of objects of reference 30 are taken, and the image of shooting is sent to controller 50;
Controller 50 carries out characteristic quantity 60 identification to the image collected, and the image feature amount 60 of current identification is contrasted with reference to measuring with default, exports the location information of current lift car 20.
Imaging device 40 and lift car 20 move simultaneously, by taking pictures and image identification to the object of reference 30 in hoistway 10, truly, reliably can detect the actual position of car, there is not the detection error that turning unit transmission slip causes, and improve accuracy of detection; Take object of reference 30 by imaging device 40, without the need to carrying out special coding to object of reference 30 or printing special image, apply easy, with low cost, and be convenient to install and regulate, applied range.
In the present embodiment, primary importance is end station end position under elevator, and the second place is elevator upstation end position, and primary importance can also be set to elevator upstation end position according to actual needs, and the second place is then end station end position under elevator.Primary importance and the second place can also select other positions in elevator hoistways 10.
Detect the method for calculating of lift car 20 position, assuming that lift car 20 runs under prerun pattern, the time gap that in the micro-imager of light sensation, CCD element is taken at every turn is t millisecond, as shown in Figure 2, lift car 20 runs to upstation end position by lower end station end position, position computation module carries out characteristic quantity 60 identification and calculating to all images, as shown in Figure 3, obtain characteristic quantity 60 record of all images, abscissa represents lift car 20 absolute location, ordinate represents the characteristic quantity 60 (as light intensity etc.) of image after position computation module process captured by the micro-imager of light sensation, represent with N.A (n) is for all images signal (represented by dashed line) collected under prerun pattern is as presetting reference amount, the picture signal (indicated by the solid line) of A (t) for collecting in the cycle a certain during normal operation mode.By calculating contrast, A (t) belongs to the kth part in A (n), then the account form of the absolute location of current lift car 20 is L=k/n × H, wherein L is lift car 20 absolute location, H is that lift car 20 absolute location is from lower end station to the distance of upstation, n is for gathering A (n) total periodic quantity of using, and k is the kth part that current period image feature amount 60 that system judges belongs to all images characteristic quantity 60.
Each technical characteristic of the above embodiment can combine arbitrarily, for making description succinct, the all possible combination of each technical characteristic in above-described embodiment is not all described, but, as long as the combination of these technical characteristics does not exist contradiction, be all considered to be the scope that this specification sheets is recorded.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be construed as limiting the scope of the patent.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. an elevator sedan absolute position checking system, it is characterized in that, comprise hoistway, be positioned at the lift car of described hoistway and object of reference, the imaging device for taking described object of reference, the controller that is electrically connected with described imaging device, described imaging device is located on described lift car, and described object of reference is arranged along the motion track of described lift car.
2. elevator sedan absolute position checking system according to claim 1, is characterized in that, described object of reference is the wherein one in the inwall of cable, guide rail, described hoistway.
3. elevator cabin position detection system according to claim 1, is characterized in that, the interval time unit that described imaging device is taken at every turn is millisecond.
4. elevator sedan absolute position checking system according to claim 1, is characterized in that, described imaging device is the micro-imager of light sensation.
5. the elevator sedan absolute position checking system according to any one of Claims 1-4, it is characterized in that, the data communication module that described controller comprises image acquisition memory module for gathering and store described imaging device photographic images, image carried out to position calculation recognition module to when feature identification, input end is connected with described position calculation recognition module, the elevator master board be connected with the mouth of described data communication module, described elevator master board exports the location information of described lift car.
6. the elevator sedan absolute position checking system according to any one of Claims 1-4, is characterized in that, described imaging device is located at top or the bottom of described lift car.
7. an elevator sedan absolute position method of inspection, is characterized in that, described lift car is provided with imaging device, and the method comprises the following steps:
Choose the object of reference being positioned at elevator hoistways, this object of reference is arranged along the motion track of lift car;
During elevator prerun, lift car is along primary importance unidirectional operation to the second place, and imaging device is taken continuously to object of reference;
The graphicinformation of acquisition is sent to controller by imaging device;
Controller carries out characteristic quantity identification and position calculation to all images, and the location information of the characteristic quantity of document image and correspondence is as default reference amount;
When elevator normally runs, imaging device is taken object of reference, and the image of shooting is sent to controller;
Controller carries out characteristic quantity identification to the image collected, and the image feature amount of current identification is contrasted with reference to measuring with default, exports the location information of current lift car.
8. elevator sedan absolute position method of inspection according to claim 7, it is characterized in that, described primary importance is end station end position under elevator upstation end position or elevator, and the described second place is end station end position or elevator upstation end position under the elevator of corresponding described primary importance.
9. elevator sedan absolute position method of inspection according to claim 7, it is characterized in that, the all images characteristic quantity that elevator gathers when prerun is A (n), the image feature amount that elevator collects in a certain cycle when normal operation is A (t), by calculating the kth part that contrast A (t) is A (n), the current absolute location of lift car is L=k/n × H, wherein, total periodic quantity that n uses for gathering A (n), H is the distance of elevator upstation end position to elevator lower terminal end position.
10. the elevator sedan absolute position method of inspection according to any one of claim 7 to 9, is characterized in that, described imaging device is the micro-imager of light sensation, and described characteristic quantity is light sensation, and the time gap unit that described imaging device is taken at every turn is millisecond.
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| CN201510702432.1A CN105151940A (en) | 2015-10-22 | 2015-10-22 | Elevator lift car absolute position detection system and method |
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| CN201510702432.1A CN105151940A (en) | 2015-10-22 | 2015-10-22 | Elevator lift car absolute position detection system and method |
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| CN106672730A (en) * | 2017-03-15 | 2017-05-17 | 日立电梯（中国）有限公司 | Absolute position detection system for elevator car and elevator system |
| CN110612264A (en) * | 2017-05-18 | 2019-12-24 | 因温特奥股份公司 | System and method for determining the position of an elevator car of an elevator installation |
| CN113086786A (en) * | 2021-03-31 | 2021-07-09 | 日立电梯（中国）有限公司 | Method for determining door opening position of elevator car, storage medium and elevator |
| CN115893138A (en) * | 2022-10-27 | 2023-04-04 | 合肥瓦力觉启机器人科技有限公司 | Wireless interaction system in AGV dolly elevator car |
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| CN115893138A (en) * | 2022-10-27 | 2023-04-04 | 合肥瓦力觉启机器人科技有限公司 | Wireless interaction system in AGV dolly elevator car |
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