CN105923475A - Sensor-based intelligent automatic regulating system and method - Google Patents
Sensor-based intelligent automatic regulating system and method Download PDFInfo
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- CN105923475A CN105923475A CN201610463776.6A CN201610463776A CN105923475A CN 105923475 A CN105923475 A CN 105923475A CN 201610463776 A CN201610463776 A CN 201610463776A CN 105923475 A CN105923475 A CN 105923475A
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- data processor
- sensor
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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
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
-
- 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
Abstract
The invention discloses a sensor-based intelligent automatic regulating system and method. The system comprises an elevator control system and a sensor detection module, wherein the sensor detection module comprises a six-axis gyroscope and a data processor which are arranged on an elevator car; the six-axis gyroscope, the data processor and the elevator control system are sequentially connected with one another; the six-axis gyroscope is used for detecting the running condition of the elevator car in real time, acquiring three-dimensional motion angular velocity data and acceleration data of the elevator car, and feeding back the acquired data to the data processor; the data processor is used for receiving the three-dimensional motion angular velocity data and the acceleration data fed back by the six-axis gyroscope, analyzing the received three-dimensional motion angular velocity data and acceleration data, and feeding back the analysis data to the elevator control system; and the elevator control system is used for analyzing the current elevator running condition according to the analysis data fed back by the data processor, and regulating the elevator running according to the analysis result of the current elevator running condition. The system provided by the invention is relatively low in cost, simple and convenient in later development, and easy to maintain.
Description
Technical field
The present invention relates to a kind of intelligent automatic regulated system and method, a kind of sensor-based intelligence is adjusted automatically
Joint system and method, belongs to elevator detection and regulation technology field.
Background technology
Along with the development in epoch, modern product develops toward higher efficiency and lower cost, and current human cost
Improving constantly, industry needs increasing automation and intellectuality.
The basic condition of elevator is that, when elevator installation and debugging, installation personnel carries special vibration analyzer to elevator at present
Guide rail and ruuning situation test, debug qualified after just no longer guide rail and elevator running state are carried out follow-up prison
Control and optimization, until acutely shake or the situation of instability occurs in elevator, or when thus resulting in elevator faults, just can send
Special personnel carry out fault diagnosis or again debug to scene, and generally require expensive equipments such as carrying vibration analyzer.
Thus it is possible, on the one hand, when early stage installation and debugging, debugging cost is higher, and debugging difficulty is the most highly professional；Another
Aspect, weares and teares to the hardware of elevator after having debugged or loss situation is not grasped, do not meet current technological development and become
Gesture and safety equipment requirement；The debugging cost that simultaneously required after later stage elevator operation exception or fault debugging is brought is also
The highest.So, the comprehensive automation of elevator and intellectuality will be following trend, and comprehensively detection data and fortune
Row data can think that technological break-through in the future and product innovation bring powerful data supporting.
Summary of the invention
The invention aims to solve the defect of above-mentioned prior art, it is provided that a kind of sensor-based intelligence is certainly
Dynamic regulation system, this intelligent automatic regulated system reduces debugging cost during installation and debugging, by long-term real-time number
Laying the groundwork for technological break-through according to accumulation, control accordingly according to the supervision data of Real-time Feedback, hoisting elevator runs steady
Qualitative and security, the intelligence degree of hoisting elevator control system, the most in real time Automatic Optimal elevator operation,
Promote Consumer's Experience effect and device security.
Another object of the present invention is to provide a kind of sensor-based intelligent automatic regulated method.
The purpose of the present invention can reach by adopting the following technical scheme that:
A kind of sensor-based intelligent automatic regulated system, including apparatus for controlling elevator, described intelligent automatic regulated system
System also includes that sensor detection module, described sensor detection module include six axle gyroscope and data processors, described
Six axle gyroscopes and data processor are arranged on car, and six axle gyroscopes, data processor and apparatus for controlling elevator depend on
Secondary connection；
Described six axle gyroscopes, for the ruuning situation of detection car in real time, and by the three-dimensional motion angular speed number of car
Data processor is fed back to according to acceleration information；
Described data processor, for receiving three-dimensional motion angular velocity data and the acceleration information of six axle gyroscope feedbacks,
And three-dimensional motion angular velocity data and acceleration information are analyzed, data feedback analysis obtained is to elevator controlling
System；
Described apparatus for controlling elevator, for the data analysis elevator current operating conditions fed back by data processor, and
Analysis result regulation elevator according to elevator current operating conditions runs.
As a kind of embodiment, described data processor is connected with cloud server also by wireless communication mode.
As a kind of embodiment, described data processor is connected with mobile device also by wired or wireless communication modes.
As a kind of embodiment, described six axle gyroscopes and data processor are integrated on car communication board, described number
It is connected with apparatus for controlling elevator by car communication board according to processor.
As a kind of embodiment, described six axle gyroscopes are by internal communication mode, outside wire communication mode or outer
Portion's wireless communication mode is connected with data processor.
The purpose of the present invention can also reach by adopting the following technical scheme that:
A kind of sensor-based intelligent automatic regulated system, including apparatus for controlling elevator, described intelligent automatic regulated system
System also includes that sensor detection module, described sensor detection module include that six axle gyroscopes, described six axle gyroscopes set
Put on car, and be connected with apparatus for controlling elevator；
Described six axle gyroscopes, for the ruuning situation of detection car in real time, obtain the three-dimensional motion angular speed number of car
According to and acceleration information, and feed back to apparatus for controlling elevator；
Described apparatus for controlling elevator, for receiving the three-dimensional motion angular velocity data of six axle gyroscope feedbacks and accelerating the number of degrees
According to, and three-dimensional motion angular velocity data and acceleration information are analyzed, the data obtained by analysis are divided further
Analyse current elevator operation, and regulate elevator operation according to the analysis result of elevator operation.
As a kind of embodiment, described six axle gyroscopes are integrated on car communication board, and described six axle gyroscopes pass through
Car communication board is connected with apparatus for controlling elevator.
Another object of the present invention can reach by adopting the following technical scheme that:
A kind of sensor-based intelligent automatic regulated method, described method includes: by six axles of sensor detection module
Gyroscope and data processor are arranged on car, and six axle gyroscopes detect the ruuning situation of car in real time, obtain car
Three-dimensional motion angular velocity data and acceleration information, and feed back to data processor；Data processor receives six axle tops
The three-dimensional motion angular velocity data of spiral shell instrument feedback and acceleration information, and to three-dimensional motion angular velocity data and the acceleration number of degrees
According to being analyzed, data feedback analysis obtained is to apparatus for controlling elevator；Apparatus for controlling elevator passes through data processor
The data analysis elevator current operating conditions of feedback, and regulate elevator fortune according to the analysis result of elevator current operating conditions
OK.
As a kind of embodiment, described three-dimensional motion angular velocity data and acceleration information are analyzed, will analyze
The data feedback obtained to apparatus for controlling elevator, particularly as follows:
Angle-data is drawn, by acceleration information computing is drawn speed data, then by angle by angular velocity computing
The displacement data of x/y/z axle, vibrations peak is drawn after speed data, acceleration information, angle-data and speed data computing
Peak-data, A95 data and V95 data, and with agreement form by these data feedbacks to apparatus for controlling elevator.
As a kind of embodiment, the elevator operation that the described data analysis fed back by data processor is current,
And regulate elevator operation according to the analysis result of elevator operation, particularly as follows:
Compared by the rated value of data that data processor is fed back with elevator current operating situation or elevator parameter
Relatively, it is judged that whether elevator current operating situation meets service requirement, if detecting, the upper and lower jitter conditions of elevator is beyond predetermined
Scope, then be automatically adjusted the PI value parameter of apparatus for controlling elevator, the amplitude that regulation elevator is shaken up and down, thus reach flat
Steady state；If detecting, elevator land jitter situation exceeds preset range, then record dither dot position information and shake letter
Cease, and location is remotely sent to relevant departments, to carry out follow-up optimization；Wherein, the rated value of elevator parameter refers to
Set when elevator dispatches from the factory or the parameter optimal value that obtains of the continuous self study of system in the later stage is run.
The present invention has a following beneficial effect relative to prior art:
1, apparatus for controlling elevator and the sensor detection module of the present invention defines a closed-loop system, is greatly improved
The stability of a system and reliability, achieve the elevator operation that same technology higher costs realizes in the way of lower cost
Detection function；By long-term data accumulation, elevator performance improvement and product innovation direction can be excavated further；Energy
Enough automatic sensing cage operation situations are also automatically adjusted, it is achieved elevator intelligent is upgraded, and comprehensive for realizing elevator in the future
Technology place mat is made in intellectuality, and elevator real-time optimization also keeps optimum operation situation, promotes Consumer's Experience and device security.
2, the apparatus for controlling elevator of the present invention is when the upper and lower jitter conditions of elevator being detected beyond preset range, can automatically adjust
The PI value parameter of joint apparatus for controlling elevator, the amplitude that regulation elevator is shaken up and down, thus reach plateau；In detection
To elevator land jitter situation beyond preset range time, then record dither dot position information and wobble information, and position remote
Journey is sent to relevant departments, to carry out follow-up optimization, passes through real-time remote monitoring, it is achieved failure response faster
Fault location more accurately.
3, the six axle gyroscopes of the present invention along with car move up and down, data processor can by wireless communication mode with
Cloud server connects, and in motion process, real-time continuous output curve movement, user or commissioning staff can pass through cloud
End server carries out checking of operation curve, it is possible to achieve a key initializes or a key self-regulating function, the on-the-spot people of auxiliary
Member's debugging, improves installation and debugging efficiency, reduces human cost.
4, the six axle gyroscopes of the present invention are along with car up and down motion, and data processor can be by wired or wireless communication
Mode is connected with mobile device, if mobile device is the mobile device of user or commissioning staff, user or commissioning staff
Checking of operation curve can be carried out, it is possible to achieve a key initializes or a key self-adjusting function, auxiliary by this mobile device
Help Field Force to debug, improve installation and debugging efficiency, reduce human cost；If mobile device is the shifting of Field Force
Dynamic equipment, Field Force can be directly viewable car movement data and adjust associated control parameters.
5, sensor of the invention detection module can include that six axle gyroscope and data processors, six axle gyroscopes will obtain
The data feedback taken is to data processor, data processor the data obtained six axle gyroscopes pre-process, and subtract
The workload of few apparatus for controlling elevator, it is to avoid excess load phenomenon occurs in apparatus for controlling elevator so that whole intelligence is adjusted automatically
Joint system can be properly functioning.
6, sensor of the invention detection module can only include six axle gyroscopes, and six axle gyroscopes are by straight for the data obtained
Sending and receiving are given apparatus for controlling elevator and are carried out data process, eliminate the data processor of centre, can improve system response
Speed, reduces hardware cost.
Accompanying drawing explanation
Fig. 1 is the intelligent automatic regulated system construction drawing of the embodiment of the present invention 1.
Fig. 2 is the Principles of Regulation schematic diagram of the intelligent automatic regulated system of the embodiment of the present invention 1.
Fig. 3 is the intelligent automatic regulated system construction drawing of the embodiment of the present invention 2.
Fig. 4 is the intelligent automatic regulated system construction drawing of the embodiment of the present invention 3.
Fig. 5 is the intelligent automatic regulated system construction drawing of the embodiment of the present invention 4.
Wherein, 1-apparatus for controlling elevator, 2-six axle gyroscope, 3-data processor, 4-car communication board, 5-accompanies electricity
Cable, 6-cloud server, 7-mobile device.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention do not limit
In this.
Embodiment 1:
As it is shown in figure 1, the intelligent automatic regulated system of the present embodiment includes apparatus for controlling elevator 1 and sensor detection mould
Block, described sensor detection module includes six axle gyroscopes 2 and data processor 3, described six axle gyroscope 2 and data
Processor 3 is arranged on car, is preferably integrated on car communication board 4, and six axle gyroscopes 2 are by internal communication side
Formula, outside wire communication mode or external wireless communication mode are connected with data processor 3, described data processor 3
It is connected with apparatus for controlling elevator 1 by car communication board 4, wherein between car communication board 4 and apparatus for controlling elevator 1
Employing trailing cable connects.
Described six axle gyroscopes 2 preferably employ MPU6050 six axle sensor, run up and down with car, for real
Time detection car ruuning situation, obtain the three-dimensional motion angular velocity data of car and acceleration information (i.e. x/y/z axle
Angular speed and acceleration information), and feed back to data processor 3；
Described data processor 3 preferably employs STM32 processor, for receiving three maintenance and operations of six axle gyroscope 2 feedbacks
Dynamic angular velocity data and acceleration information, and three-dimensional motion angular velocity data and acceleration information are analyzed, will divide
The data feedback that analysis obtains is to apparatus for controlling elevator；
Described apparatus for controlling elevator 1, for the data analysis elevator current operating conditions fed back by data processor 3,
And regulate elevator operation according to the analysis result of elevator current operating conditions.
In the present embodiment, the data that six axle gyroscopes obtain can be pre-processed by data processor, reduces elevator
The workload of control system, it is to avoid excess load phenomenon occurs in apparatus for controlling elevator so that whole intelligent automatic regulated system
Can be properly functioning.
The Principles of Regulation of the intelligent automatic regulated system of the present embodiment are as in figure 2 it is shown, sensor detection module and elevator control
System processed constitutes a closed control loop, intelligent automatic regulated mainly comprises the steps that
S1, six axle gyroscopes detect the ruuning situation of car in real time, obtain the three-dimensional motion angular velocity data of car and add
Speed data, and feed back to data processor；
S2, data processor receive three-dimensional motion angular velocity data and the acceleration information of six axle gyroscope feedbacks, and right
Three-dimensional motion angular velocity data and acceleration information are analyzed, the data feedback that analysis is obtained to apparatus for controlling elevator,
Particularly as follows:
Angle-data is drawn, by acceleration information computing is drawn speed data, then by angle by angular velocity computing
The displacement data of x/y/z axle, vibrations peak is drawn after speed data, acceleration information, angle-data and speed data computing
Peak-data, A95 data and V95 data, and with agreement form by these data feedbacks to apparatus for controlling elevator.
Data are depicted as acceleration and write music by concrete operation process: after receiving the acceleration information of acceleration transducer
Line, determines multiple peak-to-peak values of acceleration by this curve, then compare draw the maximum peak of current acceleration curve-
Peak value and A95 value, be integrated obtaining rate curve, then compare and draw current speed this accelerating curve
Write music the maximum peak-to-peak value of line and V95 value, be again integrated rate curve obtaining displacement curve, such that it is able to
Car is positioned.Beyond predetermined scope in time detecting that the peak value of acceleration is at certain, then it is judged as fault
Point, is carried out the location of trouble point, thus knows that car is the most acutely shaken or leads by displacement curve to car
The irregular problem of rail.
The data analysis elevator current operating conditions that S3, apparatus for controlling elevator are fed back by data processor, and according to electricity
The analysis result regulation elevator of ladder current operating conditions runs, particularly as follows:
Compared by the rated value of data that data processor is fed back with elevator parameter, will data processor anti-
The data of feedback and rated value carry out asking difference to compare, it is judged that whether elevator current operating situation meets service requirement, i.e. measures
Whether value and the deviation of rated value be beyond predetermined scope, if detecting, the upper and lower jitter conditions of elevator exceeds preset range,
Then it is automatically adjusted the PI value parameter of apparatus for controlling elevator, the amplitude that regulation elevator is shaken up and down, thus reaches plateau；
If detecting, elevator land jitter situation is beyond preset range, then record dither dot position information and wobble information and fixed
Position is remotely sent to relevant departments, to carry out follow-up optimization；Wherein, the rated value of elevator parameter refers to go out at elevator
Set during factory or the parameter optimal value that obtains of the continuous self study of system in the later stage is run.
Embodiment 2:
As it is shown on figure 3, the data processor 3 of the present embodiment is connected with cloud server 6 also by wireless communication mode,
The data of data processor 3 are sent to cloud server 6, and data are analyzed and store by server 6 beyond the clouds, logical
Cross cloud server 6 computational analysis and go out data excavate more information, user or commissioning staff and can lead to more accurately
Cross cloud server 6 and carry out checking of operation curve, it is possible to achieve a key initializes or a key self-adjusting function, auxiliary
Field Force debugs, and improves installation and debugging efficiency, reduces human cost.
Embodiment 3:
As shown in Figure 4, the data processor 3 of the present embodiment is also by wired or wireless communication modes and mobile device 7
Connect, can be moved by this if mobile device 7 is the mobile device of user or commissioning staff, user or commissioning staff
Equipment carries out checking of operation curve, it is possible to achieve a key initializes or a key self-adjusting function, and auxiliary Field Force adjust
Examination, improves installation and debugging efficiency, reduces human cost；If mobile device 7 is the mobile device of Field Force, existing
Field personnel can be directly viewable car movement data and adjust associated control parameters.
In the present embodiment, mobile device can be smart mobile phone, PDA handheld terminal, panel computer etc..
Embodiment 4:
As it is shown in figure 5, the intelligent automatic regulated system of the present embodiment includes apparatus for controlling elevator 1 and sensor detection mould
Block, described sensor detection module includes six axle gyroscopes 2, and described six axle gyroscopes 2 are arranged on car, preferably collect
Becoming on car communication board 4, six axle gyroscopes 2 are connected with apparatus for controlling elevator 1, wherein by car communication board 4
Trailing cable is used to be connected between car communication board 4 with apparatus for controlling elevator 1.
Described six axle gyroscopes 2, for the ruuning situation of detection car in real time, obtain the three-dimensional motion angular speed number of car
According to and acceleration information, and feed back to apparatus for controlling elevator；
Described apparatus for controlling elevator 1, for receiving three-dimensional motion angular velocity data and the acceleration of six axle gyroscope 2 feedbacks
Data, and three-dimensional motion angular velocity data and acceleration information are analyzed, the data obtained by analysis are further
Analyze current elevator operation, and regulate elevator operation according to the analysis result of elevator operation.
In the present embodiment, the data of acquisition are transmitted directly to apparatus for controlling elevator and carry out data process by six axle gyroscopes,
Eliminate the data processor of centre, system response time can be improved, reduce hardware cost.
In sum, the present invention can be in the way of employing be integrated, it is not necessary to commissioning staff carries extra special equipment,
Reduce debugging cost during installation and debugging；Compensate for there is no elevator real time execution curve data during usually using
Industry data is blank, is laid the groundwork for technological break-through by long-term real time data accumulation；Supervision number according to Real-time Feedback
According to controlling accordingly, hoisting elevator operation stability and security, the intelligence degree of hoisting elevator control system；
Automatic Optimal elevator operation the most in real time, promotes Consumer's Experience effect and device security.
The above, patent preferred embodiment the most of the present invention, but the protection domain of patent of the present invention is not limited to
This, any those familiar with the art is in the scope disclosed in patent of the present invention, according to patent of the present invention
Technical scheme and inventive concept equivalent or change in addition, broadly fall into the protection domain of patent of the present invention.
Claims (10)
1. a sensor-based intelligent automatic regulated system, including apparatus for controlling elevator, it is characterised in that: described
Intelligent automatic regulated system also includes that sensor detection module, described sensor detection module include six axle gyroscope sums
According to processor, described six axle gyroscopes and data processor are arranged on car, six axle gyroscopes, data processor and
Apparatus for controlling elevator is sequentially connected with；
Described six axle gyroscopes, for the ruuning situation of detection car in real time, obtain the three-dimensional motion angular speed number of car
According to and acceleration information, and feed back to data processor；
Described data processor, for receiving three-dimensional motion angular velocity data and the acceleration information of six axle gyroscope feedbacks,
And three-dimensional motion angular velocity data and acceleration information are analyzed, data feedback analysis obtained is to elevator controlling
System；
Described apparatus for controlling elevator, for the data analysis elevator current operating conditions fed back by data processor, and
Analysis result regulation elevator according to elevator current operating conditions runs.
The sensor-based intelligent automatic regulated system of one the most according to claim 1, it is characterised in that: institute
State data processor to be connected with cloud server also by wireless communication mode.
The sensor-based intelligent automatic regulated system of one the most according to claim 1, it is characterised in that: institute
State data processor to be connected with mobile device also by wired or wireless communication modes.
The sensor-based intelligent automatic regulated system of one the most according to claim 1, it is characterised in that: institute
State six axle gyroscopes and data processor be integrated on car communication board, described data processor by car communication board with
Apparatus for controlling elevator connects.
5. according to the sensor-based intelligent automatic regulated system of the one described in any one of claim 1-4, its feature
Be: described six axle gyroscopes by internal communication mode, outside wire communication mode or external wireless communication mode with
Data processor connects.
6. a sensor-based intelligent automatic regulated system, including apparatus for controlling elevator, it is characterised in that: described
Intelligent automatic regulated system also includes that sensor detection module, described sensor detection module include six axle gyroscopes, institute
State six axle gyroscopes to be arranged on car, and be connected with apparatus for controlling elevator；
Described six axle gyroscopes, for the ruuning situation of detection car in real time, obtain the three-dimensional motion angular speed number of car
According to and acceleration information, and feed back to apparatus for controlling elevator；
Described apparatus for controlling elevator, for receiving the three-dimensional motion angular velocity data of six axle gyroscope feedbacks and accelerating the number of degrees
According to, and three-dimensional motion angular velocity data and acceleration information are analyzed, the data obtained by analysis are divided further
Analyse current elevator operation, and regulate elevator operation according to the analysis result of elevator operation.
The sensor-based intelligent automatic regulated system of one the most according to claim 6, it is characterised in that: institute
Stating six axle gyroscopes to be integrated on car communication board, described six axle gyroscopes pass through car communication board and apparatus for controlling elevator
Connect.
8. a sensor-based intelligent automatic regulated method, it is characterised in that: described method includes: by sensor
Six axle gyroscopes of detection module and data processor are arranged on car, and six axle gyroscopes detect the operation of car in real time
Situation, obtains three-dimensional motion angular velocity data and the acceleration information of car, and feeds back to data processor；At data
Reason device receives three-dimensional motion angular velocity data and the acceleration information of six axle gyroscope feedbacks, and to three-dimensional motion angular speed
Data and acceleration information are analyzed, and data feedback analysis obtained is to apparatus for controlling elevator；Apparatus for controlling elevator
The data analysis elevator current operating conditions fed back by data processor, and according to the analysis of elevator current operating conditions
Result regulation elevator runs.
The sensor-based intelligent automatic regulated method of one the most according to claim 8, it is characterised in that: institute
Stating and be analyzed three-dimensional motion angular velocity data and acceleration information, data feedback analysis obtained is to elevator controlling
System, particularly as follows:
Angle-data is drawn, by acceleration information computing is drawn speed data, then by angle by angular velocity computing
The displacement data of x/y/z axle, vibrations peak is drawn after speed data, acceleration information, angle-data and speed data computing
Peak-data, A95 data and V95 data, and with agreement form by these data feedbacks to apparatus for controlling elevator.
The sensor-based intelligent automatic regulated method of one the most according to claim 8, it is characterised in that:
The elevator operation that the described data analysis fed back by data processor is current, and according to elevator operation point
Analysis result regulation elevator runs, particularly as follows:
Compared by the rated value of data that data processor is fed back with elevator parameter, it is judged that elevator currently runs
Whether situation meets service requirement, if detecting, the upper and lower jitter conditions of elevator beyond preset range, is then automatically adjusted elevator
The PI value parameter of control system, the amplitude that regulation elevator is shaken up and down, thus reach plateau；If elevator being detected
Land jitter situation exceeds preset range, then record dither dot position information and wobble information, and location is remotely sent to
Relevant departments, to carry out follow-up optimization；Wherein, the rated value of elevator parameter refers to be set when elevator dispatches from the factory
Good or that the continuous self study of system obtains in the later stage is run parameter optimal value.
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| CN108147257A (en) * | 2017-12-26 | 2018-06-12 | 杭州西奥电梯有限公司 | A kind of attitude control system of lift car |
| CN109179124A (en) * | 2018-11-05 | 2019-01-11 | 常熟理工学院 | Based on the detachable intelligent acquisition data system of few sensor and method |
| CN109494173A (en) * | 2017-09-11 | 2019-03-19 | 捷进科技有限公司 | The manufacturing method of chip attachment device and semiconductor devices |
| CN110759197A (en) * | 2019-09-27 | 2020-02-07 | 西人马(西安)测控科技有限公司 | Elevator fault monitoring method, device, equipment and storage medium |
| CN111170102A (en) * | 2018-11-12 | 2020-05-19 | 奥的斯电梯公司 | Method and device for monitoring an elevator system |
| CN113896065A (en) * | 2021-08-31 | 2022-01-07 | 日立电梯（中国）有限公司 | Elevator vibration self-detection method, medium and computer equipment |
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