CN105480797B - Elevator car position and speed detection system and self-detection method thereof - Google Patents
Elevator car position and speed detection system and self-detection method thereof Download PDFInfo
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- CN105480797B CN105480797B CN201610044126.8A CN201610044126A CN105480797B CN 105480797 B CN105480797 B CN 105480797B CN 201610044126 A CN201610044126 A CN 201610044126A CN 105480797 B CN105480797 B CN 105480797B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3492—Position or motion detectors or driving means for the detector
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
- B66B5/0031—Devices monitoring the operating condition of the elevator system for safety reasons
Abstract
The invention relates to an elevator car position and speed detection system and a self-detection method thereof. A car is located in a shaft. The detection system comprises a grid scale vertically arranged in the shaft, a detection device for collecting grid scale information and a controller electrically connected with the detection device, wherein the grid scale at least contains a line of first-class identifications arranged vertically side by side and a line of second-class identifications matched with the first-class identifications to form binary coded information, and the binary coded information corresponding to the grid scale is non-repetitive; the detection device is fixed on the car and is provided with at least two first sensors which are arranged in the vertical direction and at least one second sensor for identifying the second-class identifications, and the first sensors are used for identifying the first-class identifications. Binary codes are generated after combination of detection signals of the second sensors and synchronizing signals of the first sensors, so that the absolute position of the detection device located in the grid scale is distinguished, the absolute position of the car located in the shaft is accurately obtained, the detection precision is high, and the detection cost is reduced.
Description
Technical field
The present invention relates to a kind of elevator technology field, more particularly to a kind of elevator car position and speed detection system and its
Self checking method.
Background technology
At present, the common detection methods of elevator car position are to calculate to drag with the measurement signal of host computer side rotary encoder
The girth of the actual rotation of running wheel, so as to be converted into the distance and car position and speed of steel wire rope motion, but because elevator is adopted
Be traction driving machinery system, that is to say, that be between traction sheave and steel wire rope using frictional drive connected mode, traction sheave with
Can there is sliding between steel wire rope, and the Gravity changer because of mechanical system, the humidity of steel wire rope extend the reasons such as change, these
The car position that the conversion of host computer side coder mode draws is more inaccurate, generally requires and arranges multiple positions in addition in hoistway
Sensor constantly corrects car actual position, it is therefore desirable to detected by plurality of devices, and detection technique is complicated, and detects into
This height.
The content of the invention
It is an object of the invention to provide a kind of elevator car position and speed detection system and its self checking method, Neng Goujian
Change the detection technique of elevator car position, and accuracy of detection is high, reduces testing cost.
To realize the purpose of the present invention, adopt the technical scheme that：
A kind of elevator car position and speed detection system, car is located in hoistway, and the detecting system includes vertically cloth
The controller of the grid chi, the detection means of collection grid chi information and detection means electric connection that are placed in hoistway, grid chi at least sets
There is the string first kind being vertically arranged in juxtaposition mark and the string of binary-coded information is cooperatively formed with first kind mark
Equations of The Second Kind is identified, and to there is multiple binary-coded informations, each binary-coded information does not repeat grid chi, and detection means is solid
On car and it is provided with least one the of vertically arranged at least two first sensors and identification Equations of The Second Kind mark
Two sensors, first sensor identification first kind mark.
When elevator operation, car makees the vertical movement in hoistway, first sensor collection grid with motion detection device along grid chi
The information of first kind mark on chi, the information of Equations of The Second Kind mark on second sensor collection grid chi, first sensor and second is passed
Sensor sends the information of collection to controller, and controller is analyzed, calculates and stores to the information for receiving, and analyzes
The corresponding binary coding of grid chi that detection means is passed through.The detecting system calculates the relative position of car by first sensor
Put and speed, by least two first sensors the moving direction of car is calculated, and produce synchronizing signal.By positioned at the
Binary system is produced after the synchronizing signal combination that the detection signal and first sensor of the upper second sensor of two classes mark is produced to compile
Code, and the corresponding binary coding of grid chi do not repeat, so as to tell absolute position of the detection means in grid chi, so as to
The absolute position that car is located in hoistway is accurately drawn, without the need for repeatedly correction, simplifies the detection technique of elevator car position, and examined
High precision is surveyed, testing cost is reduced.
Technical scheme is further illustrated below：
It is further that first kind mark at least includes the first recognition unit and the second recognition unit, the first recognition unit
Vertically it is alternately arranged with the second recognition unit, Equations of The Second Kind mark at least includes delimiter recognition unit and by the first identification list
Unit and one-to-one 3rd recognition unit of mark group of the second recognition unit composition.First kind id signal is used as detection second
The synchronizing signal of class id signal, first kind id signal as Equations of The Second Kind id signal a basis bit cycle, then second
Sensor detects the separator letter that the binary-coded information and delimiter recognition unit of the generation of the 3rd recognition unit are produced
Breath is sent directly to controller, and because each corresponding binary coding of grid chi does not repeat, controller then analyzes detection means
Absolute position in grid chi, you can obtain absolute position of the car in hoistway.
It is further that the corresponding binary-coded character of the 3rd recognition unit is 0 or 1.
It is further that the first recognition unit and the second recognition unit in grid chi is alternately continuous to arrange, the second identification is single
The length of unit and the first recognition unit is fixed proportion relation.It is further, the distance of the two neighboring first sensor
For D, the length of the first recognition unit is c for the total length of d, the first recognition unit and the second recognition unit, then D=(e+N) ×
C/2, wherein, if d is ＜ c/2,0 ＜ e ＜ 2d/c, if d >=c/2,0 ＜ e≤2 (c-d)/c, N is natural number or 0.
It is further that second sensor is B in vertical distance with first sensor, has B=K × c, K to be natural number
Or 0.
It is further that the first recognition unit is provided with magnetic switch or pattern, pattern is combined by least one perforate or mottle
Form, the second recognition unit is provided with the magnetic switches or pattern different from the first recognition unit, and pattern is by least blank out region
Or mottle is combined, the 3rd recognition unit is identical with the first recognition unit or the second recognition unit.First sensor is by knowing
Other magnetic switch or pattern are reading the information of the first recognition unit.
Further to be set in the t times, the first kind that first sensor is detected mark number is n, then car
Relative displacement s=c × n, speed v=s/t of car, the absolute position L=of car | M × (c × b)-m × (c × b) |, wherein c
For the first recognition unit and the second recognition unit total length vertically, b is the corresponding binary coding of binary-coded information
Digit adds 1, and M is the corresponding decimal coded of binary-coded information that second sensor currently reads, and m is second sensor reading
Go out car and be located at the corresponding decimal coded of binary-coded information read during hoistway extreme lower position.
The present invention also provides the self checking method of a kind of elevator car position and speed detection system, at least including four kinds of sides
Formula, the self checking method carries out self-inspection by mode a kind of at least within；First kind of way：First sensor detects adjacent two
The quantity of the mark group being made up of the first recognition unit and the second recognition unit between delimiter recognition unit is z1, while second
The quantity of the 3rd recognition unit of sensor detection is z2, if z1 is different from z2, or z2 and the binary-coded information pair for gathering
During the binary coding digit difference answered, controller signal an alert；The second way：If first sensor is not to first
When recognition unit and the second recognition unit carry out alternately detection, controller signal an alert；The third mode：If two neighboring
When the corresponding binary coding of binary-coded information is discontinuous, controller signal an alert；4th kind of mode：All first
When the phase of output signal of sensor is identical, controller signal an alert.When running elevator, system is safer stably may be used
Lean on.
Compared with prior art, the invention has the advantages that：
The present invention makees the vertical movement in hoistway, first sensor with motion detection device in elevator operation, car along grid chi
Collection grid chi on the first kind mark information, second sensor collection grid chi on Equations of The Second Kind mark information, first sensor and
Second sensor sends the information of collection to controller, and controller is analyzed, calculates and stores to the information for receiving, and
Analyze the corresponding binary coding of grid chi of detection means process.The detecting system calculates car by first sensor
Relative position and speed, by least two first sensors the moving direction of car is calculated, and produces synchronizing signal.Pass through
Two are produced after the synchronizing signal combination produced positioned at the detection signal and first sensor of the upper second sensor of Equations of The Second Kind mark
Scale coding, and the corresponding binary coding of grid chi do not repeat, so as to tell absolute position of the detection means in grid chi
Put, so as to accurately draw the absolute position that car is located in hoistway, without the need for repeatedly correction, simplify the detection skill of elevator car position
Art, and accuracy of detection is high, reduces testing cost.
Description of the drawings
Fig. 1 is the structural representation of embodiment of the present invention elevator car position and speed detection system；
Fig. 2 is the fundamental diagram of embodiment of the present invention elevator car position and speed detection system.
Description of reference numerals：
10. car, 20. hoistways, 30. grid chis, 310. first kind mark, 311. first recognition units, 312. second identifications
Unit, 320. Equations of The Second Kind mark, 321. delimiter recognition units, 322. the 3rd recognition units, 40. detection means, 410. first
Sensor, 420. second sensors, 50. controllers.
Specific embodiment
Embodiments of the invention are described in detail below in conjunction with the accompanying drawings：
As depicted in figs. 1 and 2, a kind of elevator car position and speed detection system, car 10 is located in hoistway 20, the inspection
Examining system includes vertically arranged grid chi 30 in hoistway 20, the detection means 40 of the information of collection grid chi 30 and detection means
40 controllers 50 being electrically connected with, grid chi 30 is at least provided with the string first kind mark 310 being vertically arranged in juxtaposition and with the
One class mark 310 cooperatively forms the string Equations of The Second Kind mark 320 of binary-coded information, and each grid chi 30 pairs should have multiple two to enter
Coding information processed, each binary-coded information is different, and detection means 40 is fixed on car 10 and is provided with vertically arranged
At least two first sensors 410 and identification Equations of The Second Kind mark 320 at least one second sensor 420, first sensing
The identification first kind of device 410 mark 310.
When elevator operation, car 10 makees the vertical movement in hoistway 20, the first sensing with motion detection device 40 along grid chi 30
The information of first kind mark 310 on the collection grid of device 410 chi 30, Equations of The Second Kind mark 320 on the collection grid of second sensor 420 chi 30
Information, first sensor 410 and second sensor 420 send the information of collection to controller 50, and controller 50 pairs is received
Information be analyzed, calculate and store, and analyze detection means 40 process the corresponding binary coding of grid chi 30.The inspection
Examining system calculates the relative position and speed of car 10 by first sensor 410, by least two first sensors 410
The moving direction of car 10 is calculated, and produces synchronizing signal.By the second sensor 420 in Equations of The Second Kind mark 320
Binary coding, and grid chi 30 corresponding two are produced after the synchronizing signal combination that detection signal and first sensor 410 are produced
Scale coding does not repeat, so as to tell absolute position of the detection means 40 in grid chi 30, so as to accurately draw car
10 are located at the absolute position in hoistway 20, without the need for repeatedly correction, simplify the detection technique of the position of lift car 10, and accuracy of detection
Height, reduces testing cost.
When position and the speed of car 10 is measured by the detecting system, it is set in the t times, first sensor 410 is examined
It is n that the first kind for measuring identifies 310 numbers, then the relative displacement s=c × n of car 10, speed v=s/t of car 10, car
10 absolute position L=| M × (c × b)-m × (c × b) |, wherein c are the first recognition unit 311 and the second recognition unit 312
Total length vertically, b adds 1 for the corresponding binary coding digit of binary-coded information, and M is that second sensor 420 is current
The corresponding decimal coded of binary-coded information of reading, m is that the reading car 10 of second sensor 420 is minimum positioned at hoistway 20
The corresponding decimal coded of binary-coded information read during position.
In the present embodiment, first kind mark 310 includes the first recognition unit 311 and the second recognition unit 312, and first knows
The recognition unit 312 of other unit 311 and second is vertically alternately arranged, Equations of The Second Kind mark 320 include delimiter recognition unit 321,
With one-to-one 3rd recognition unit 322 of mark group being made up of the first recognition unit 311 and the second recognition unit 312, grid
The first 311 second recognition unit of recognition unit 312 in chi 30 is alternately continuous to be arranged.The first kind identifies 310 signals as detection
Equations of The Second Kind identifies the synchronizing signal of 320 signals, and the first kind identifies the basis that 310 signals identify 320 signals as Equations of The Second Kind
The bit cycles, then second sensor 420 detect the 3rd recognition unit 322 generation binary-coded information and delimiter know
The delimiter information that other unit 321 is produced is sent directly to controller 50, because the corresponding binary coding of grid chi 30 does not repeat,
Controller 50 then analyzes absolute position of the detection means 40 in grid chi 30, you can obtains car 10 and is located in hoistway 20
Absolute position.First kind mark 310 can also according to actual needs arrange two or more recognition unit.
As shown in Fig. 2 a grid chi 30 is provided with 15 first kind marks 310, the first recognition unit 311 is provided with correspondence telecommunications
Number ON, the corresponding signal of telecommunication OFF of the second recognition unit 312, the first recognition unit 311 is identical with the length of the second recognition unit 312,
First kind mark 310 is corresponding for equal proportion signal, makes to test and analyze faster, further simplifies detection technique；Second category
It is special binary coded signal to know 320, and using the ON/OFF signal composition binary coding synchronous with equal proportion signal, this two
Scale coding is set as that fixed full-length, fixation put in order, and the corresponding binary coding of grid chi 30 do not repeat.
As shown in Fig. 2 Equations of The Second Kind mark 320 is provided with 14 with the 3rd recognition unit 322 and 1 delimiter recognition unit
321, the corresponding binary-coded character of the 3rd recognition unit 322 is 0 or 1, and the corresponding delimiter of delimiter recognition unit 321
For subluxation symbol, then the corresponding binary-coded character of the present embodiment grid chi 30 is combined by 1 and 0.
In the present embodiment, the beacon information of the first recognition unit 311 is that mottle reflects detection mode, the second recognition unit
312 is the blank surface between two neighboring first recognition unit 311, i.e., without any pattern-information or other beacon informations,
First sensor 410 is sent to controller 50 by recognizing the beacon information of the first recognition unit 311, and is marked as the signal of telecommunication
ON, the unidentified beacon information to the first recognition unit 311 of first sensor 410, that is, detect the blank of the second recognition unit 312
During surface, detection information is sent to controller 50, and be marked as signal of telecommunication OFF.The beacon information of the first recognition unit 311 is also
Other pattern detection modes such as magnetic switch mode or perforate printing opacity can be according to actual needs set to.
As depicted in figs. 1 and 2, detection means 40 is provided with a pair of two first sensors 410 and first sensor 410 1
The second sensor 420 answered, first sensor 410 is arranged side by side with corresponding second sensor 420.Using two second sensings
Device 420 detects Equations of The Second Kind mark 320 simultaneously, and mutually check and correction improves reliability and signal redundancy.Detection means 40 can be with root
According to being actually needed, at least two first sensors 410 and at least one second sensor 420 are being set.
In the present embodiment, first sensor 410 and second sensor 420 are photoelectric sensor, first sensor 410
With the sensor that second sensor 420 can also according to actual needs be set to other forms, and with the information matches of grid chi 30.
And the distance of two neighboring first sensor 410 is D, the length of the first recognition unit 311 is d, and the first identification is single
The total length of the recognition unit 312 of unit 311 and second is c, then D=(e+N) × c/2, wherein, if d is ＜ c/2,0 ＜ e ＜ 2d/c,
If d >=c/2,0 ＜ e≤2 (c-d)/c, and second sensor is B in vertical distance with first sensor, there is B=K × c, N
Natural number or 0 are with K.
In the present embodiment, d=0.5mm, a=0.25, N=10, then D=5.25mm.Due to two in first kind mark 310
At a distance of 5.25m, the length of the first recognition unit 311 is 0.5mm to individual second sensor 420, is located at when car 10 is moved up
The first sensor 410 of top is ahead of 41090 ° of the first sensor in lower section, i.e. 0.25mm；Otherwise when car 10 is moved down
Underlying first sensor 410 is ahead of 41090 ° of the first sensor of top, i.e. 0.25mm, therefore by the signal of telecommunication
Rising edge carries out intersection judgement, you can tell the real motion direction of car 10, and two first sensors 410 adopt two-way
The mode that 90 ° of mutual deviation is combined, therefore mutually inspection precision is 0.25mm, the first kind is identified into 310 signals and Equations of The Second Kind identifies 320 signals
The accuracy of detection for carrying out the present embodiment after complete combination is 0.25mm, further improves accuracy of detection.A, d, n can be with according to realities
Border needs to be set to other values.
The present invention also provides the self checking method of a kind of elevator car position and speed detection system, at least including four kinds of sides
Formula, the self checking method carries out self-inspection by mode a kind of at least within；First kind of way：First sensor 410 detects adjacent
The quantity of the mark group being made up of the first recognition unit 311 and the second recognition unit 312 between two delimiter recognition units 321
For z1, while the quantity of the 3rd recognition unit 322 of the detection of second sensor 420 is z2, if z1 is different from z2, or z2 and collection
The corresponding binary coding digit of binary-coded information it is different when, the signal an alert of controller 50；The second way：If
When first sensor 410 is not that alternately detection is carried out to the first recognition unit 311 and the second recognition unit 312, controller 50
Go out alarm signal；The third mode：If the corresponding binary coding of two neighboring binary-coded information is discontinuous, controller
50 signal an alerts；4th kind of mode：When the phase of output signal of all first sensors 410 is identical, controller 50 sends
Alarm signal.When running elevator, system is safer reliable and stable.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more concrete and detailed, but and
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that for one of ordinary skill in the art comes
Say, without departing from the inventive concept of the premise, some deformations and improvement can also be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be defined by claims.
Claims (9)
1. a kind of elevator car position and speed detection system, car is located in hoistway, it is characterised in that including vertically arranged
The controller that grid chi, the detection means of the collection grid chi information and the detection means in the hoistway is electrically connected with,
The grid chi cooperatively forms two at least provided with the string first kind mark being vertically arranged in juxtaposition and with first kind mark
The string Equations of The Second Kind mark of scale coding information, to there is multiple binary-coded informations, each described two for the grid chi
Scale coding information does not repeat, and the detection means is fixed on the car and is provided with vertically arranged at least two
First sensor and at least one second sensor of Equations of The Second Kind mark is recognized, the first sensor identification described the
One class is identified；First kind mark includes the first recognition unit and the second recognition unit being vertically alternately arranged, and the first identification is single
The length phase of unit correspondence signal of telecommunication ON, the second recognition unit correspondence signal of telecommunication OFF, the first recognition unit and the second recognition unit
Together, it is equal proportion signal that the first kind identifies corresponding signal, and Equations of The Second Kind identifies the corresponding signal ON/ synchronous with equal proportion signal
OFF signal constitutes binary coding.
2. elevator car position according to claim 1 and speed detection system, it is characterised in that the first kind mark
At least include the first recognition unit and the second recognition unit, first recognition unit and second recognition unit are vertically handed over
For arrangement, the Equations of The Second Kind mark at least includes delimiter recognition unit and is known by first recognition unit and described second
One-to-one 3rd recognition unit of mark group of other unit composition.
3. elevator car position according to claim 2 and speed detection system, it is characterised in that the 3rd identification is single
The corresponding binary-coded character of unit is 0 or 1.
4. elevator car position according to claim 1 and speed detection system, it is characterised in that the institute in the grid chi
State the first recognition unit and second recognition unit is alternately continuously arranged, second recognition unit and first identification are single
The length of unit is fixed proportion.
5. elevator car position according to claim 4 and speed detection system, it is characterised in that the two neighboring institute
The distance for stating first sensor is D, and the length of first recognition unit is d, and first recognition unit and described second are known
The total length of other unit is c, then D=(e+N) × c/2, wherein, if d is ＜ c/2,0 ＜ e ＜ 2d/c, if d >=c/2,0 ＜ e
≤ 2 (c-d)/c, N are natural number or 0.
6. elevator car position according to claim 5 and speed detection system, it is characterised in that the second sensor
In vertical distance it is B with the first sensor, there is B=K × c, K is natural number or 0.
7. elevator car position according to claim 2 and speed detection system, it is characterised in that first identification is single
Unit is provided with magnetic switch or pattern, and the pattern is combined by least one perforate or mottle, and second recognition unit is provided with
The magnetic switch different from first recognition unit or pattern, the pattern combined by least blank out region or mottle and
Into the 3rd recognition unit is identical with first recognition unit or second recognition unit.
8. the elevator car position and speed detection system according to any one of claim 1 to 7, it is characterised in that setting
Within the t times, the first kind mark number that the first sensor is detected is n, then the relative displacement s=of the car
C × n, speed v=s/t of the car, the absolute position L=of the car | M × (c × b)-m × (c × b) |, wherein c is
First recognition unit and the second recognition unit total length vertically, b enters for the binary-coded information corresponding two
System coding digit adds 1, and M is the corresponding decimal coded of the binary-coded information that the second sensor currently reads, m
The binary-coded information pair read when the car is located at the hoistway extreme lower position is read for the second sensor
The decimal coded answered.
9. a kind of self checking method of the elevator car position and speed detection system as described in any one of claim 2 to 8, it is special
Levy and be, at least including four kinds of modes, the self checking method carries out self-inspection by mode a kind of at least within；First kind of way：The
One sensor detects the mark being made up of the first recognition unit and the second recognition unit between two adjacent delimiter recognition units
The quantity of knowledge group be z1, while second sensor detection the 3rd recognition unit quantity be z2, if z1 is different from z2, or z2 and
When the corresponding binary coding digit of binary-coded information of collection is different, controller signal an alert；The second way：
If first sensor is not that alternately detection is carried out to the first recognition unit and the second recognition unit, controller sends alarm signal
Number；The third mode：If the corresponding binary coding of two neighboring binary-coded information is discontinuous, controller sends alarm
Signal；4th kind of mode：When the phase of output signal of all first sensors is identical, controller signal an alert.
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| ES2766599T3 (en) * | 2017-02-10 | 2020-06-12 | Kone Corp | Procedure, safety control unit, and elevator system to define absolute position information of an elevator car |
| CN106829671B (en) * | 2017-03-02 | 2018-07-20 | 山东科技大学 | A kind of elevator safety detection device and detection method |
| CN107055245A (en) * | 2017-05-18 | 2017-08-18 | 广西烽火信息技术有限公司 | A kind of elevator method of real-time and device |
| US11548759B2 (en) | 2017-06-27 | 2023-01-10 | Inventio Ag | Position determining system and method for determining a car position of an elevator car |
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| WO2019169623A1 (en) * | 2018-03-09 | 2019-09-12 | 日立电梯（中国）有限公司 | Sensing system for determining absolute position of elevator car and self-testing method thereof |
| WO2019205099A1 (en) * | 2018-04-27 | 2019-10-31 | 深圳技术大学（筹） | Method and system for measuring elevator running speed |
| CN109292560B (en) * | 2018-11-29 | 2021-02-19 | 上海新时达电气股份有限公司 | Elevator shaft data debugging method and system and computer readable storage medium |
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| CN110092253B (en) * | 2019-04-30 | 2021-07-30 | 上海三菱电梯有限公司 | System and method for correcting calibration position of car absolute position measurement system |
| CN110271930A (en) * | 2019-06-25 | 2019-09-24 | 快意电梯股份有限公司 | Elevator car slipping rescues automatic detection device and detection method |
| CN110921454A (en) * | 2019-11-21 | 2020-03-27 | 陕西威斯特高新技术投资有限公司 | Control method and device for building automatic elevator |
| CN112299196B (en) * | 2020-10-12 | 2022-07-26 | 广州广日电梯工业有限公司 | Elevator guide rail system with position detection function and position detection method |
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