CN108408523A - Lift sensor self-calibration system and method - Google Patents
Lift sensor self-calibration system and method Download PDFInfo
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- CN108408523A CN108408523A CN201810318358.7A CN201810318358A CN108408523A CN 108408523 A CN108408523 A CN 108408523A CN 201810318358 A CN201810318358 A CN 201810318358A CN 108408523 A CN108408523 A CN 108408523A
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- processor
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- static data
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- elevator
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- 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
- B66B5/0087—Devices facilitating maintenance, repair or inspection tasks
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- Indicating And Signalling Devices For Elevators (AREA)
- Maintenance And Inspection Apparatuses For Elevators (AREA)
Abstract
The invention discloses a kind of lift sensor self-calibration systems, including elevator controlling mainboard and measurement module, the measurement module includes sensor and processor, the elevator controlling mainboard is used to send measurement instruction to processor, the sensor is used to acquire the static data of elevator and static data is transferred to processor, the processor is used to receive the measurement instruction of elevator controlling mainboard transmission, control the static data of sensor acquisition elevator, static data is handled, and self-calibration process is completed according to the collected static data of sensor.The invention also discloses a kind of lift sensor method for self-calibrating.The elevator static data that sensor acquires is handled by using processor, and completes self-calibration process, eliminates static error, realizes sensor real time calibration, calibration operation is simple and fast, function expansibility is strong, at low cost.
Description
Technical field
The present invention relates to elevator technology field, it is specifically designed a kind of lift sensor self-calibration system and method.
Background technology
Sensor used in elevator belongs to sensing element, and signal is easy to be influenced by random disturbances.Meanwhile daily
Load distribution in use in Chang Yinwei cars is uneven, and car may with respect to the horizontal plane have a degree of inclination, this to incline
The sensor for being installed on car can be tiltedly caused to introduce measurement error.Once the measurement result of sensor introduces error, not only
Can have an impact in measurement accuracy, and larger accumulated error will be brought in subsequent analysis calculating process, to sensing
Device data analysis causes prodigious influence.It therefore, must be to sensor before measuring in order to reduce this kind of error condition
Carry out reference value error calibration.
Currently, there are mainly two types of the calibrating modes of sensor, when a kind of mode is that elevator is out of service, by transferring each rank
The car movement data of section sensor acquisition, analyzes and determines whether sensor Ref value has deviation, is then calibrated if any deviation.
This calibrating mode needs to carry out when equal elevators are out of service, does not have real-time.Another way is in overhauling elevator
When, sensing station is checked by service personnel, if the position run-off the straight of sensor is also easy to cause deviation, by overhauling
It is calibrated to eliminate deviation the position that personnel adjust sensor.But this mode needs to carry out in overhauling elevator, together
Sample does not have real-time, further needs exist for manpower auxiliary, takes time and effort.
Invention content
It is an object of the invention to overcome the deficiencies of existing technologies and insufficient, a kind of lift sensor self calibration system is provided
System, is handled the elevator static data that sensor acquires by using processor, and complete self-calibration process, is eliminated static
Error realizes sensor real time calibration, and calibration operation is simple and fast, function expansibility is strong, at low cost.
Another object of the present invention is to provide a kind of lift sensor method for self-calibrating, processor is calculated using self calibration
Method helps without manpower, fast implements self-calibration process.
The purpose of the present invention can be achieved through the following technical solutions：
Lift sensor self-calibration system, including elevator controlling mainboard and measurement module, the measurement module include sensing
Device and processor, the elevator controlling mainboard are used to send measurement instruction to processor, and the sensor is for acquiring elevator
Static data is simultaneously transferred to processor by static data, and the measurement that the processor is used to receive the transmission of elevator controlling mainboard refers to
It enables, the static data of control sensor acquisition elevator is handled static data, and according to the collected static number of sensor
According to completion self-calibration process.
As a preferred technical solution, the system also includes mobile commissioning device, the mobile commissioning device with it is described
Processor communication connection.Mobile commissioning device can be the mobile devices such as mobile phone, computer.Mobile commissioning device receives processor and passes
Defeated elevator static data, and analyzing processing is carried out to elevator static data, Visual Chart is exported, staff is facilitated to understand
Elevator ride quality is debugged, maintenance work in time.
The mobile commissioning device is carried out with the processor by wireless network or bluetooth as a preferred technical solution,
Communication connection.Wireless network or bluetooth communication connection type can facilitate staff to carry mobile commissioning device, flexible arrangement work
Make.
The elevator controlling mainboard is connect with distant prison device talk as a preferred technical solution, the distant prison equipment with
Information centre's communication connection.Elevator static data is transferred to elevator controlling mainboard by processor, and elevator controlling mainboard passes through distant prison
Equipment transfers data to information centre, and information centre arranges personnel to safeguard or repair according to elevator static data.
The sensor is accelerometer or gyroscope as a preferred technical solution,.Accelerometer can be that three axis add
Speedometer, measures the acceleration value in three directions, and gyroscope can measure elevator angle of inclination.
Another object of the present invention can be achieved through the following technical solutions：
Lift sensor method for self-calibrating, described method includes following steps：
S1, elevator controlling mainboard send measurement instruction to processor；
S2, the processor receive the measurement instruction of elevator controlling mainboard and control sensor acquisition elevator static data,
The elevator static data of acquisition is returned to processor by the sensor；
S3, the processor handle static data；
S4, the processor will treated static data with it is preceding once treated that static data compares, if
Relative error is in preset deviation range, then the processor is not proofreaded sensor；If relative error is beyond pre-
If deviation range, then the processor use this treated static data before replacing primary treated static data as
New a reference value completes self-calibration process.
Preset deviation range is that the absolute value of relative error is less than or equal to 10% as a preferred technical solution,.
The elevator controlling mainboard sends to the processor after lift car shutdown and surveys as a preferred technical solution,
Amount instruction；The processor completes lift sensor self-calibration process before lift car is run.Lift car is extremely electric after closing the door
Erect-position of terraced preceding passenger's this period of car operation in car determines that car relative equilibrium, facilitates gathered data at this time substantially.
The gap periods of processor calibration sensor a reference value are that elevator is transported in full hoistway as a preferred technical solution,
Row 5 is back and forth.
The processor utilizes median average filter algorithm to static number in step s3 as a preferred technical solution,
According to being handled.
Compared with prior art, the present invention having the following advantages that and advantageous effect：
1, this period before being run to lift car after the present invention is closed the door using lift car, erect-position of the passenger in car
Substantially it determines, at this time car relative equilibrium, self calibration is carried out to the sensor in elevator, static error influence is minimized,
Accumulated error is introduced during preventing analysis from calculating.
2, the present invention utilizes the self-calibration function of measurement module, does not need external force help, quickly and easily realizes deviation school
It is accurate.
3, mobile commissioning device can be extended on the basis of test module, and staff is facilitated to diagnose elevator operation matter
Amount, functional expansionary are strong.
4, test module includes processor and sensor, and processor can receive and handle the data from sensor, is not necessarily to
Increase other peripheral circuits and self-calibration function can be realized, operating cost is low.
Description of the drawings
Fig. 1 is the schematic diagram of lift sensor self-calibration system in the embodiment of the present invention
Fig. 2 is the flow chart of lift sensor method for self-calibrating in the embodiment of the present invention
Fig. 3 is the test curve figure of tester of shaking in the embodiment of the present invention
Fig. 4 is the not calibrated preceding Parameters variation curve graph of elevator accelerometer in the embodiment of the present invention
Fig. 5 is the Parameters variation curve graph after elevator accelerometer calibration in the embodiment of the present invention
Specific implementation mode
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
As shown in Figure 1, lift sensor self-calibration system, including elevator controlling mainboard and measurement module, measurement module packet
Sensor and processor are included, elevator controlling mainboard is used to send measurement instruction to processor, and sensor is for acquiring the quiet of elevator
Static data is simultaneously transferred to processor by state data, and processor is used to receive the measurement instruction of elevator controlling mainboard transmission, control
Sensor acquires the static data of elevator, handles static data, and is completed according to the collected static data of sensor
Self-calibration process.
Preferably, system further includes mobile commissioning device, and mobile commissioning device is connected with processor communication.The type of processor
Number can be STM32F407.Mobile commissioning device can be the mobile devices such as mobile phone, computer.Mobile commissioning device reception processing
The elevator static data of device transmission, and analyzing processing is carried out to elevator static data, Visual Chart is exported, staff is facilitated
Understand elevator ride quality, is debugged in time, maintenance work.Mobile commissioning device passes through wireless network or bluetooth with processor
Carry out communication connection.Wireless network or bluetooth communication connection type can facilitate staff to carry mobile commissioning device, flexibly pacify
Arrange work.
Preferably, elevator controlling mainboard is connect with distant prison device talk, distant prison equipment and information centre's communication connection.Sensing
Device acquisition elevator static data is converted to the data format of suitable network transmission after processor is handled, and passes through controller local
Elevator static data is transferred to elevator controlling mainboard by network (CAN), and elevator controlling mainboard is by distant prison equipment by data transmission
To information centre, information centre arranges personnel to safeguard or repair according to elevator static data.
Preferably, sensor can be accelerometer or gyroscope.Accelerometer can be three axis accelerometer, and model can
To be the mems accelerometer of LIS3DH, while measuring the acceleration value in three directions.Gyroscope can measure elevator angle of inclination,
Obtain posture when elevator operation.
Measurement module is mountable to elevator car top middle position or car floor middle position, and it is convenient to be mounted on center position
Detection data, it is not easy to introduce deviation.Preferably, it is mounted on elevator car top middle position, facilitates installation and maintenance.
As shown in Fig. 2, present embodiments providing a kind of lift sensor method for self-calibrating, include the following steps：
S1, elevator controlling mainboard send measurement instruction to processor；
S2, processor receive the measurement instruction of elevator controlling mainboard and control sensor acquisition elevator static data, sensing
The elevator static data of acquisition is returned to processor by device；
S3, processor handle static data；
S4, processor will treated static data with it is preceding once treated that static data compares, if relatively
Error is in preset deviation range, then processor is not proofreaded sensor；If relative error exceeds preset deviation
Range, then processor use this treated static data before replacing primary treated static data as new a reference value,
Complete self-calibration process.
Preferably, preset deviation range is that the absolute value of relative error is less than or equal to 10%.Relative error is preset
Refer to that the absolute value of the relative error of all parameters in static data all should be in deviation range in deviation range；It is opposite to miss
Difference refers to having the absolute relative error of any one parameter to have exceeded deviation model in static data beyond preset deviation range
It encloses.Relative error=(this time preceding primary treated the static data of treated static data -)/preceding be primary, and that treated is static
Data.
Preferably, elevator controlling mainboard sends measurement instruction after lift car shutdown to processor；Processor is in elevator
Lift sensor self-calibration process is completed before car operation.Passenger's this period before lift car is run after closing the door to lift car
Erect-position in car determines that car relative equilibrium, facilitates gathered data at this time substantially.
Processor calibration sensor a reference value can carry out in real time, can also be spaced progress, and gap periods are preferably elevator complete
5 are run in hoistway back and forth.Gap periods carry out self calibration, can save the processor working time, and can guarantee sensor Ref
Value does not occur big deviation.
Processor is handled static data using median average filter algorithm in step s3.Median is averagely filtered
Wave algorithm is also known as anti-impulse disturbances average filter algorithm, the algorithm fusion middle position value filtering method and digital averaging filtering method two
The advantages of kind filter method, interferes the pulse feature accidentally occurred, can eliminate the sampled value deviation caused by impulse disturbances.
I.e. median average filter algorithm is first filtered elevator static data, counts later to filtered data
It is average, to the static data that obtains that treated.
Vibration measurement instrument (PMT) can measure and record simultaneously elevator operation during vibration, acceleration, distance, speed,
The parameters such as noise.The validity of lift sensor self-calibration system is detected using vibration measurement instrument.Following table is to utilize
The detection contrast table that vibration measurement instrument carries out lift sensor self-calibration system, sensor are accelerometer, and test environment is：
Elevator speed is 6m/s, acceleration 0.80m/s2, test number of floor levels be 1 to 20 layer.The meaning of parameter A95：The boundary model of definition
In enclosing, value that the acceleration or vibration values of 95% sampled data are less than or equal to.The meaning of parameter MAX Pk-Pk：Maximum peak
Peak value.Preset deviation range is less than equal to 10%.
For accelerometer before non-self calibration, the relative error of A95 is (0.19-0.152)/0.152=25.0%, MAX
The relative error of Pk-Pk is (0.34-0.208)/0.208=63.4%.And accelerometer is after self calibration, A95 it is opposite accidentally
Difference is (0.15-0.152)/0.152=-1.3%, and the relative error of MAX Pk-Pk is (0.19-0.208)/0.208=-
8.7%.Accelerometer before not carrying out calibration operation, measured relative motion data comparison in the data of vibration measurement instrument,
It is in situation bigger than normal to be.It can be seen that the absolute value of accelerometer relative error before calibration is more than 10%, and it is opposite after calibrating
Accidentally absolute value of the difference is less than 10%.
Fig. 3 is the test curve figure of vibration test instrument, and Fig. 4 is the Parameters variation curve before elevator accelerometer is not calibrated
Figure, Fig. 5 is the Parameters variation curve graph after elevator accelerometer calibration.From the point of view of comparison, three width figures obtain curvilinear trend and shape base
This is consistent, and mainly the difference in terms of technical parameter numerical value, the i.e. numerical value change of the two parameters of A95 and MAX Pk-Pk are larger.
The present invention is handled the elevator static data that sensor acquires by using processor, and completes self calibration mistake
Journey eliminates static linear error, and accumulated error is introduced when preventing analysis from calculating.Method for self-calibrating is simple and convenient, and self calibration system
The function expansibility of system is strong, supports peripheral hardware to move commissioning device, and can be communicated with distant prison equipment and information centre, improves
The information sharing function of measurement module.Self-calibration system is simple in structure, cost is relatively low.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Cannot the limitation to the scope of the claims of the present invention therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. lift sensor self-calibration system, including elevator controlling mainboard and measurement module, which is characterized in that the measurement module
Including sensor and processor, the elevator controlling mainboard is used to send measurement instruction to processor, and the sensor is for adopting
Collect the static data of elevator and static data is transferred to processor, the processor is used to receive the transmission of elevator controlling mainboard
Measurement instruction, the static data of control sensor acquisition elevator, is handled static data, and collected according to sensor
Static data completes self-calibration process.
2. lift sensor self-calibration system according to claim 1, which is characterized in that adjusted the system also includes mobile
Equipment is tried, the mobile commissioning device is connected with processor communication.
3. lift sensor self-calibration system according to claim 2, which is characterized in that the mobile commissioning device and institute
It states processor and communication connection is carried out by wireless network or bluetooth.
4. lift sensor self-calibration system according to claim 1, which is characterized in that the elevator controlling mainboard with it is distant
Supervise device talk connection, the distant prison equipment and information centre's communication connection.
5. lift sensor self-calibration system according to any one of claims 1 to 4, which is characterized in that the sensor
For accelerometer or gyroscope.
6. lift sensor method for self-calibrating, which is characterized in that described method includes following steps：
S1, elevator controlling mainboard send measurement instruction to processor；
S2, the processor receive the measurement instruction of elevator controlling mainboard and control sensor acquisition elevator static data, described
The elevator static data of acquisition is returned to processor by sensor；
S3, the processor handle static data；
S4, the processor will treated static data with it is preceding once treated that static data compares, if relatively
Error is in preset deviation range, then the processor is not proofreaded sensor；If relative error is beyond preset
Deviation range, then the processor use this treated static data before replacing primary treated static data as newly
A reference value completes self-calibration process.
7. lift sensor method for self-calibrating according to claim 6, which is characterized in that the preset deviation range is
The absolute value of relative error is less than or equal to 10%.
8. lift sensor method for self-calibrating according to claim 6, which is characterized in that the elevator controlling mainboard is in electricity
After terraced car shutdown measurement instruction is sent to the processor；The processor completes lift sensor before lift car is run
Self-calibration process.
9. lift sensor method for self-calibrating according to claim 6, which is characterized in that the processor calibration sensor
The gap periods of a reference value are that elevator runs 5 back and forth in full hoistway.
10. lift sensor method for self-calibrating according to claim 6, which is characterized in that the processing in step s3
Device is handled static data using median average filter algorithm.
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| CN201810318358.7A CN108408523A (en) | 2018-04-11 | 2018-04-11 | Lift sensor self-calibration system and method |
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| CN110723604A (en) * | 2019-09-20 | 2020-01-24 | 深圳优地科技有限公司 | Elevator control method and device |
| CN110823245A (en) * | 2019-11-27 | 2020-02-21 | 福建师范大学 | MEMS elevator operation evaluation system and method thereof |
| CN113345030A (en) * | 2021-06-17 | 2021-09-03 | 三一重机有限公司 | Calibration method and device for sensor of working machine, working machine and electronic equipment |
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