CN110143499B - Method and device for determining position of elevator car and elevator distance measuring system - Google Patents

Method and device for determining position of elevator car and elevator distance measuring system Download PDF

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CN110143499B
CN110143499B CN201910260960.4A CN201910260960A CN110143499B CN 110143499 B CN110143499 B CN 110143499B CN 201910260960 A CN201910260960 A CN 201910260960A CN 110143499 B CN110143499 B CN 110143499B
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hoistway
distance
car
transceiver
elevator
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CN110143499A (en
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陈刚
刘贤钊
张彩霞
黄立明
仲兆峰
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Hitachi Building Technology Guangzhou Co Ltd
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Hitachi Building Technology Guangzhou Co Ltd
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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

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  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Indicating And Signalling Devices For Elevators (AREA)

Abstract

The application relates to a method and a device for determining the position of an elevator car, an elevator distance measuring system, computer equipment and a storage medium. The method comprises the following steps: acquiring a signal wave of a first path and a signal wave of a second path; the first path is a path between the car transceiver and the first hoistway transceiver, and the second path is a path between the car transceiver and the second hoistway transceiver; calculating a first distance and a second distance according to the signal wave of the first path and the signal wave of the second path; acquiring a distance between the first hoistway transceiving device and the second hoistway transceiving device and a third distance between the first hoistway transceiving device and the origin; and determining the current position of the elevator car according to the first distance, the second distance, the third distance and the distance. By adopting the method, the purpose of determining the position of the elevator car through the geometric relation of the acquired data is realized, and the influence of external factors is avoided, so that the measurement accuracy of the position of the elevator car is improved.

Description

Method and device for determining position of elevator car and elevator distance measuring system
Technical Field
The present application relates to the field of elevator technologies, and in particular, to a method and an apparatus for determining a position of an elevator car, an elevator distance measuring system, a computer device, and a storage medium.
Background
With the development of society, more and more buildings are built, more and more elevators are also installed, and the elevators become an indispensable tool in daily life of people gradually; in order to ensure the safety of elevator operation, it is increasingly important to accurately determine the position of the elevator car.
At present, in order to determine the position of an elevator car, an elevator controller generally calculates the position of the elevator car based on a coder signal on an elevator tractor or a speed limiter, and then leveling adjustment is performed through a car top door area switch. However, in the actual operation process of the elevator, the encoder is easily interfered or has faults to cause the position judgment of the elevator car to be distorted, so that the accuracy of the determined position of the elevator car is low.
Disclosure of Invention
In view of the above, it is necessary to provide a method and an apparatus for determining an elevator car position, an elevator distance measuring system, a computer device, and a storage medium, which can improve the accuracy of measurement of the elevator car position.
A method of determining elevator car position, the method comprising:
acquiring a signal wave of a first path and a signal wave of a second path; the first path is a path between the car transceiver and a first hoistway transceiver, and the second path is a path between the car transceiver and a second hoistway transceiver; the car transceiver is arranged at the top and/or the bottom of the elevator car; the first hoistway transceiving device and the second hoistway transceiving device are arranged on the side wall of the elevator hoistway at intervals in the vertical direction;
calculating a first distance and a second distance according to the signal wave of the first path and the signal wave of the second path; the first distance is the distance between the car transceiver and the first hoistway transceiver, and the second distance is the distance between the car transceiver and the second hoistway transceiver;
acquiring a distance between the first hoistway transceiving device and the second hoistway transceiving device and a third distance between the first hoistway transceiving device and an origin;
and determining the current position of the elevator car according to the first distance, the second distance, the third distance and the distance.
In one embodiment, before acquiring the signal wave of the first path and the signal wave of the second path, the method includes:
determining a hoistway transceiving device located on the same side of the car transceiving device;
respectively calculating the distances between the hoistway receiving and dispatching device and the car receiving and dispatching device;
identifying a hoistway transceiving device from the first hoistway transceiving device as a second hoistway transceiving device and identifying a hoistway transceiving device from the second hoistway transceiving device as a first hoistway transceiving device;
and/or the presence of a gas in the gas,
determining a hoistway transceiving device located on the same side of the car transceiving device;
acquiring the signal intensity of the signal waves received by the well receiving and transmitting device;
the hoistway transmitting/receiving device having the first signal strength is identified as the second hoistway transmitting/receiving device, and the hoistway transmitting/receiving device having the second signal strength is identified as the first hoistway transmitting/receiving device.
In one embodiment, the obtaining a spacing between the first hoistway transceiving device and the second hoistway transceiving device and a third distance of the first hoistway transceiving device from an origin comprises:
respectively acquiring device identification numbers of the first hoistway transceiving device and the second hoistway transceiving device;
inquiring a pre-established distance table according to the device identification number; the distance meter records the distance between every two adjacent hoistway transceiving devices and the distance between different hoistway transceiving devices and an origin;
obtaining a distance between the first hoistway transceiving device and the second hoistway transceiving device and a third distance between the first hoistway transceiving device and the origin from the distance table.
In one embodiment, said determining the current position of the elevator car based on said first distance, second distance, third distance and spacing comprises:
calculating the vertical distance between the first hoistway transceiver and the plane of the car where the car transceiver is located according to the first distance, the second distance and the distance;
adding the vertical distance and the third distance to obtain a target vertical distance between the origin and a car plane where the car transceiver is located;
and determining the current position of the elevator car according to the target vertical distance.
In one embodiment, the calculating a vertical distance between the first hoistway transceiver and a car plane where the car transceiver is located according to the first distance, the second distance and the distance includes:
calculating the vertical distance between the first hoistway transceiver and the plane of the car where the car transceiver is located by adopting the following formula:
Figure BDA0002015257370000031
d＝d1cosθ；
wherein d is1Is a first distance, d2Is a second distance, S2The distance between the first shaft receiving and dispatching device and the second shaft receiving and dispatching device is theta, theta is the first distance and the included angle between the straight lines where the first shaft receiving and dispatching device and the second shaft receiving and dispatching device are located, and d is the vertical distance between the first shaft receiving and dispatching device and the plane of the car where the car receiving and dispatching device is located.
In one embodiment, the method further comprises:
sending the current position of the elevator car to an elevator controller; the elevator controller is used for executing corresponding elevator control operation according to the current position of the elevator car.
An elevator car position determination apparatus, the apparatus comprising:
the signal wave acquisition module is used for acquiring a signal wave of a first path and a signal wave of a second path; the first path is a path between the car transceiver and a first hoistway transceiver, and the second path is a path between the car transceiver and a second hoistway transceiver; the car transceiver is arranged at the top and/or the bottom of the elevator car; the first hoistway transceiving device and the second hoistway transceiving device are arranged on the side wall of the elevator hoistway at intervals in the vertical direction;
the distance calculation module is used for calculating a first distance and a second distance according to the signal wave of the first path and the signal wave of the second path; the first distance is the distance between the car transceiver and the first hoistway transceiver, and the second distance is the distance between the car transceiver and the second hoistway transceiver;
the distance acquisition module is used for acquiring the distance between the first hoistway transceiving device and the second hoistway transceiving device and the third distance between the first hoistway transceiving device and the origin;
and the position determining module is used for determining the current position of the elevator car according to the first distance, the second distance, the third distance and the distance.
An elevator ranging system comprising: the elevator distance measuring device comprises a car transceiving device, a first hoistway transceiving device, a second hoistway transceiving device, elevator distance measuring equipment and an elevator controller; the car transceiver is arranged at the top and/or the bottom of the elevator car; the first hoistway transceiving device and the second hoistway transceiving device are arranged on the side wall of the elevator hoistway at intervals in the vertical direction; the elevator distance measuring equipment is respectively connected with the car transceiver, the first hoistway transceiver and the second hoistway transceiver and connected with the elevator controller;
the car transceiver is used for transmitting signal waves to the first hoistway transceiver and the second hoistway transceiver or receiving the signal waves transmitted by the first hoistway transceiver and the second hoistway transceiver;
the elevator distance measuring equipment is used for executing the method for determining the position of the elevator car;
the elevator controller is used for receiving the current position of the elevator car sent by the elevator ranging equipment and executing corresponding elevator control operation according to the current position of the elevator car.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring a signal wave of a first path and a signal wave of a second path; the first path is a path between the car transceiver and a first hoistway transceiver, and the second path is a path between the car transceiver and a second hoistway transceiver; the car transceiver is arranged at the top and/or the bottom of the elevator car; the first hoistway transceiving device and the second hoistway transceiving device are arranged on the side wall of the elevator hoistway at intervals in the vertical direction;
calculating a first distance and a second distance according to the signal wave of the first path and the signal wave of the second path; the first distance is the distance between the car transceiver and the first hoistway transceiver, and the second distance is the distance between the car transceiver and the second hoistway transceiver;
acquiring a distance between the first hoistway transceiving device and the second hoistway transceiving device and a third distance between the first hoistway transceiving device and an origin;
and determining the current position of the elevator car according to the first distance, the second distance, the third distance and the distance.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring a signal wave of a first path and a signal wave of a second path; the first path is a path between the car transceiver and a first hoistway transceiver, and the second path is a path between the car transceiver and a second hoistway transceiver; the car transceiver is arranged at the top and/or the bottom of the elevator car; the first hoistway transceiving device and the second hoistway transceiving device are arranged on the side wall of the elevator hoistway at intervals in the vertical direction;
calculating a first distance and a second distance according to the signal wave of the first path and the signal wave of the second path; the first distance is the distance between the car transceiver and the first hoistway transceiver, and the second distance is the distance between the car transceiver and the second hoistway transceiver;
acquiring a distance between the first hoistway transceiving device and the second hoistway transceiving device and a third distance between the first hoistway transceiving device and an origin;
and determining the current position of the elevator car according to the first distance, the second distance, the third distance and the distance.
The method, the device, the elevator distance measuring system, the computer equipment and the storage medium for determining the position of the elevator car are used for measuring the first distance and the second distance by arranging the car transceiving devices at the top and/or the bottom of the elevator car and arranging the first hoistway transceiving devices and the second hoistway transceiving devices on the side wall of the elevator hoistway at intervals in the vertical direction; acquiring a distance between the first hoistway transceiving device and the second hoistway transceiving device and a third distance between the first hoistway transceiving device and the origin; determining the current position of the elevator car by combining the geometric relationship of the first distance, the second distance, the spacing and the third distance; the purpose of determining the position of the elevator car through the geometric relation of the acquired data is achieved, and the position of the elevator car cannot be influenced by external factors, so that the measuring accuracy of the position of the elevator car is improved, and the defect that the position of the elevator car is judged and distorted due to the fact that the encoder is easily interfered or fails in the traditional method for measuring the position of the elevator car is avoided.
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Fig. 1 is a diagram of an application of the method for determining the position of an elevator car in one embodiment;
fig. 2 is a schematic flow diagram of a method of determining elevator car position in one embodiment;
fig. 3 is a schematic diagram of measurement of elevator car position in one embodiment;
fig. 4 is a block diagram of the structure of an elevator car position determining apparatus in one embodiment;
FIG. 5 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The method for determining the position of the elevator car can be applied to the application environment shown in fig. 1. The application environment comprises a car transceiving device, a hoistway transceiving device, an elevator distance measuring device and elevator control; the car transceiver can be a high-precision radar such as a millimeter wave radar, and can be arranged on the top of the elevator car (such as TX1) and used for transmitting or receiving signal waves; the hoistway transceiver can be a high-precision radar such as a millimeter wave radar, and can be arranged on the side wall of the elevator hoistway at intervals in the vertical direction (such as RX1, RX2 and RX 3. cndot.) for transmitting or receiving signal waves; the elevator distance measuring equipment is respectively connected with the car transceiver, the hoistway transceiver and the elevator controller. During the up-and-down running of the elevator car, the elevator distance measuring equipment determines that the effective paths are the first path and the second path based on the signal strength of the signal waves received by the hoistway transceiving device or the car transceiving device, acquires the signal waves of the first path from the car transceiving device (TX1) or the first hoistway transceiving device (RX1), acquires the signal waves of the second path from the car transceiving device (TX1) or the second hoistway transceiving device (RX2), and further calculates the first distance and the second distance; and combining the distance between the first hoistway transceiving device and the second hoistway transceiving device and the third distance between the first hoistway transceiving device and the origin, and calculating the vertical distance between the origin and the plane of the car where the car transceiving device is located through mathematical operation so as to determine the current position of the elevator car. The elevator distance measuring equipment is also used for sending the current position of the elevator car to the elevator controller so as to trigger the elevator controller to execute corresponding elevator control operation based on the current position of the elevator car, such as controlling the elevator to stop at a corresponding floor; of course, other control operations can be performed on the elevator according to actual situations, and the elevator is not limited in detail here. The hoistway receiving and sending device and the car receiving and sending device can also be high-precision distance measuring instruments such as a laser distance measuring instrument and an infrared distance measuring instrument, and the car receiving and sending device can also be arranged at the bottom of the elevator car; the elevator controller may be, but is not limited to, various personal computers, laptops, smart phones, tablets, and portable wearable devices.
The hoistway transmitting/receiving device and the car transmitting/receiving device are disposed in an elevator hoistway, and the elevator distance measuring device and the elevator controller are disposed outside the elevator hoistway, respectively.
In one embodiment, as shown in fig. 2, there is provided a method for determining the position of an elevator car, which is described by taking the example of the method applied to the distance measuring apparatus of the elevator in fig. 1, and includes the following steps:
step S201, acquiring a signal wave of a first path and a signal wave of a second path; the first path is a path between the car transceiver and the first hoistway transceiver, and the second path is a path between the car transceiver and the second hoistway transceiver; the car transceiver is arranged at the top and/or the bottom of the elevator car; the first hoistway transceiving device and the second hoistway transceiving device are arranged on the side wall of the elevator hoistway at intervals in the vertical direction.
In this step, the car transceiver may be a high-precision radar such as a millimeter-wave radar, and may be disposed at any position on the top of the elevator car (e.g., TX1 in fig. 1) or at any position on the bottom of the elevator car. The hoistway transceiving devices (such as the first hoistway transceiving device and the second hoistway transceiving device) can be high-precision radars such as millimeter wave radars, and are arranged on the side wall of the same elevator hoistway at intervals in the vertical direction, and the size of the intervals can be adjusted according to actual conditions. Further, in hoistway transceivers located on the same side as the car transceivers, the first and second hoistway transceivers are used to identify two hoistway transceivers closer to the car transceivers, such as RX1, RX2 in fig. 1; specifically, the second hoistway transmission/reception device is a hoistway transmission/reception device closest to the car transmission/reception device. In two hoistway transceiver devices closer to the car transceiver device, the first path is used for representing a path between the car transceiver device and a hoistway transceiver device (such as a first hoistway transceiver device) farther away from the car transceiver device, and the second path is used for representing a path between the car transceiver device and a hoistway transceiver device (such as a second hoistway transceiver device) closer to the car transceiver device. It should be noted that the car transceiver must be located right above the hoistway transceiver in the vertical direction, so as to ensure that the planes formed by the car transceiver and any two hoistway transceivers are the same plane.
Specifically, referring to fig. 1, a millimeter wave radar transmitting device is mounted on a top TX1 of an elevator car, and millimeter wave radar receiving devices are mounted on positions RX1, RX2 and RX3 · · · RXn spaced apart in the vertical direction on the same side wall of an elevator hoistway, so that radar signal waves transmitted by the millimeter wave radar transmitting device can be received by at least two millimeter wave radar receiving devices. In the running process of an elevator car, a millimeter wave radar transmitting device transmits radar signal waves, an elevator distance measuring device determines two millimeter wave radar receiving devices which are close to the millimeter wave radar transmitting device in a millimeter wave radar receiving device which is positioned on the same side of the millimeter wave radar transmitting device, the millimeter wave radar receiving device which is close to the millimeter wave radar transmitting device is identified as a second hoistway receiving and transmitting device, and the other millimeter wave radar receiving device is identified as a first hoistway receiving and transmitting device; the elevator distance measuring equipment acquires the received radar signal wave from the first hoistway transceiving device as a signal wave of a first path; the radar signal wave received by the second hoistway transmission/reception device is acquired as a signal wave of a second path. It should be noted that if the millimeter wave radar transmitting device is installed at the bottom of the elevator car, the subsequent implementation process is the same as that described above, and is not described herein again.
Furthermore, the positions of the millimeter wave radar transmitting device and the radar wave radar receiving device can be reversed, namely the millimeter wave radar receiving device is installed on the top TX1 of the elevator car, and the millimeter wave radar transmitting device is installed on the positions RX1, RX2 and RX3 & cndot & ltvertical direction spacing on the side wall of the same elevator shaft, so that effective radar signal waves transmitted by at least two millimeter wave radar transmitting devices can be received by the millimeter wave radar receiving device. In the running process of an elevator car, the millimeter wave radar transmitting devices transmit radar signal waves, the elevator distance measuring equipment determines two millimeter wave radar transmitting devices which are close to the millimeter wave radar receiving devices in the hoistway receiving and transmitting devices which are positioned on the same side of the millimeter wave radar receiving devices, the millimeter wave radar transmitting devices which are close to the millimeter wave radar receiving devices are identified as second hoistway receiving and transmitting devices, and the other millimeter wave radar transmitting devices are identified as first hoistway receiving and transmitting devices; the elevator distance measuring equipment obtains two received radar signal waves from the millimeter wave radar receiving device, takes the radar signal wave with stronger signal intensity as the signal wave of the second path, and takes the other radar signal wave as the signal wave of the first path.
Step S202, calculating a first distance and a second distance according to the signal wave of the first path and the signal wave of the second path; the first distance is the distance between the car transceiver and the first hoistway transceiver, and the second distance is the distance between the car transceiver and the second hoistway transceiver.
Specifically, referring to fig. 1, the elevator distance measuring device calculates a distance between the car transceiver and the first hoistway transceiver according to the signal wave of the first path and by combining the existing radar distance measuring principle, and obtains the distance as a first distance d 1; and calculating the distance between the car transceiver and the second hoistway transceiver according to the signal wave of the second path and by combining the conventional radar ranging principle to obtain a second distance d 2. Thus, in the elevator ranging system in fig. 1, the first distance and the second distance can be determined in real time only by determining the signal wave of the first path and the signal wave of the second path during the up-and-down running of the elevator car.
Step S203, a distance between the first hoistway transceiving device and the second hoistway transceiving device and a third distance between the first hoistway transceiving device and the origin are obtained.
In this step, the origin point is an intersection point of a plane where the top of the elevator shaft is located and a vertical direction where a shaft transceiver device arranged on a side wall of the elevator shaft is located, such as RX1 in fig. 1; or the intersection point of the plane of the bottom of the elevator shaft and the vertical direction of the shaft transceiving device arranged on the side wall of the elevator shaft. Of course, in order to facilitate the worker to mark the position of the elevator car, the setting of the origin can be adjusted according to the actual situation.
Specifically, the elevator distance measuring apparatus may query a distance table, in which a distance between the hoistway transmitting and receiving devices and the origin are stored in advance, according to the first hoistway transmitting and receiving device and the second hoistway transmitting and receiving device, to obtain a distance between the first hoistway transmitting and receiving device and the second hoistway transmitting and receiving device and a third distance between the first hoistway transmitting and receiving device and the origin.
And step S204, determining the current position of the elevator car according to the first distance, the second distance, the third distance and the distance.
Specifically, the elevator distance measuring equipment obtains the vertical distance between an origin and a car plane where the car transceiver is located through mathematical operation based on the first distance, the second distance, the third distance and the distance, and then determines the current position of the elevator car. In this embodiment, third distance and interval can be obtained through the pre-measurement, so only need in real time measure first distance and second distance can, because the acquirement of first distance and second distance can not receive external factor influence, for example elevator outage, encoder trouble etc. and accessible millimeter wave radar high accuracy instrument measurement obtains to improve the measurement accuracy of elevator car position, avoided traditional approach to measure the defect that judgement distortion appears easily in elevator car position through the encoder.
The execution subject of the present application may be an elevator distance measuring device, and may also be selected and changed according to the actual situation, and the present application is not limited specifically.
In the method for determining the position of the elevator car, the car transceiving devices are arranged at the top and/or the bottom of the elevator car, and the first hoistway transceiving devices and the second hoistway transceiving devices are arranged on the side wall of the elevator hoistway at intervals in the vertical direction to measure the first distance and the second distance; acquiring a distance between a first hoistway transceiving device and a second hoistway transceiving device which are measured in advance, and a third distance between the first hoistway transceiving device and an origin; determining the current position of the elevator car by combining the geometric relationship of the first distance, the second distance, the spacing and the third distance; the purpose of determining the position of the elevator car through the geometric relation of the acquired data is achieved, and the position of the elevator car cannot be influenced by external factors, so that the measuring accuracy of the position of the elevator car is improved, and the defect that the position of the elevator car is judged and distorted due to the fact that the encoder is easily interfered or fails in the traditional method for measuring the position of the elevator car is avoided.
In one embodiment, before acquiring the signal wave of the first path and the signal wave of the second path, the step S201 further includes: determining a shaft receiving and dispatching device which is positioned on the same side of the car receiving and dispatching device; respectively calculating the distance between the shaft receiving and transmitting device and the car receiving and transmitting device; the hoistway transmitting/receiving device at the first distance is identified as a second hoistway transmitting/receiving device, and the hoistway transmitting/receiving device at the second distance is identified as a first hoistway transmitting/receiving device.
For example, referring to fig. 1, a millimeter wave radar transmitter is mounted on the top TX1 of the elevator car, and a millimeter wave radar receiver is mounted on the side walls of the elevator shaft at vertically spaced locations RX1, RX2, RX3 · RXn. And the millimeter wave radar receiving device positioned on the same side of the millimeter wave radar transmitting device TX1 transmits the radar signal waves received by the millimeter wave radar receiving device to the elevator distance measuring equipment. The elevator distance measuring equipment calculates the distance between the millimeter wave radar receiving device and the millimeter wave radar transmitting device based on the received radar signal waves, compares the calculated distance, identifies the millimeter wave radar receiving device with the first distance as a second hoistway receiving and transmitting device, and identifies the millimeter wave radar receiving device with the second distance as a first hoistway receiving and transmitting device.
Furthermore, the elevator distance measuring equipment can also acquire the received signal waves from the hoistway transceiving devices positioned on the same side of the car transceiving devices, and by comparing the signal intensity of the acquired signal waves, the hoistway transceiving devices corresponding to the first signal intensity are identified as the second hoistway transceiving devices, and the hoistway transceiving devices corresponding to the second signal intensity are identified as the first hoistway transceiving devices. In this way, subsequent acquisition of signal waves of a first path between the car transceiver and the first hoistway transceiver and signal waves of a second path between the car transceiver and the second hoistway transceiver is facilitated.
In one embodiment, the step S203 of acquiring a distance between the first hoistway transceiving device and the second hoistway transceiving device and a third distance between the first hoistway transceiving device and the origin includes: respectively acquiring device identification numbers of a first hoistway transceiving device and a second hoistway transceiving device; inquiring a pre-established distance table according to the device identification number; the distance meter records the distance between every two adjacent hoistway transceiving devices and the distance between different hoistway transceiving devices and an origin; and acquiring the distance between the first hoistway transceiving device and the second hoistway transceiving device and the third distance between the first hoistway transceiving device and the origin from the distance table.
In this embodiment, the device identification number is identification information, such as a number and a name, for identifying the hoistway transmission/reception device. The distance (such as S1 and S2 in fig. 1) between the hoistway transceiver devices can be directly measured by a high-precision measuring instrument such as a laser distance meter; based on the distance between the hoistway transceiver devices, the distance between the different hoistway transceiver devices and the origin can be calculated, as shown in fig. 1, the distance between the hoistway transceiver device RX1 and the origin is S1, and the distance between the hoistway transceiver device RX2 and the origin is S1+ S2. And a distance table for storing the distance between the hoistway transmitting/receiving devices and the origin, which are measured in advance, in a storage medium according to the device identification number. The distance table can be conveniently inquired based on the device identification number, and the data to be inquired can be acquired.
Further, referring to fig. 1, the distance between the hoistway-receiving and dispatching devices can be obtained by the following method:
1. and arranging a millimeter wave radar transmitting device at the top TX1 of the elevator car, and measuring the horizontal distance D between the millimeter wave radar transmitting device and the side wall of the elevator shaft.
2. According to certain intervals S1 and S2, Sn, radar receiving devices are arranged at positions RX1, RX2 and RX3, which are separated from each other in the vertical direction on the side wall of the same elevator shaft, so that radar signal waves transmitted by the millimeter wave radar transmitting device can be at least received by the two radar receiving devices; and directly measures the vertical distance S1 of RX1 from the plane of the top of the hoistway.
3. The elevator car is moved to the position below the 2 nd radar receiving device RX2, the radar receiving devices RX1 and RX2 can receive effective radar signal waves, and the distance between the radar receiving devices RX1 and RX2 is calculated:
Figure BDA0002015257370000131
4. in this way, S1, S2, S3, S4 · · Sn are calculated respectively, so as to obtain specific positions of the radar receivers RX1, RX2, RX3 · · RXn and corresponding numbering information, without manual measurement.
5. And (3) calculating the vertical distance of each radar receiving device RX1, RX2 and RX3 & cnn from the plane where the top of the elevator shaft is located by combining S1, S2, S3 and S4 & cng & ltn & gt and recording the vertical distance.
In the above point 3, the elevator car may be moved to the lowermost end of the elevator shaft, and the distances S1, S2, S3, S4 · · Sn may be calculated in the same manner.
In one embodiment, the step S204 of determining the current position of the elevator car according to the first distance, the second distance, the third distance and the distance includes: calculating the vertical distance between the first hoistway transceiving device and the plane of the car where the car transceiving device is located according to the first distance, the second distance and the distance; adding the vertical distance and the third distance to obtain a target vertical distance between the origin and the plane of the car where the car transceiver is located; the current position of the elevator car is determined from the target vertical distance.
Specifically, referring to fig. 1, the following formula is adopted to obtain the vertical distance between the first hoistway transceiver and the plane of the car where the car transceiver is located:
Figure BDA0002015257370000141
d＝d1cosθ；
wherein d is1Is a first distance, d2Is a second distance, S2Is the distance between the first shaft receiving and dispatching device and the second shaft receiving and dispatching device, theta is the included angle between the first distance and the straight line where the first shaft receiving and dispatching device and the second shaft receiving and dispatching device are located, d is the car plane where the first shaft receiving and dispatching device and the car receiving and dispatching device are locatedThe vertical distance.
Then, the target vertical distance between the origin and the car plane where the car transceiver is located is:
S＝d+S1；
wherein S is1A third distance between the first hoistway transmitting/receiving device and the origin is shown.
Further, referring to fig. 3, the car transceiver may also be located at the bottom of the elevator car (e.g., TX1 in fig. 3), and the target vertical distance between the origin and the car plane where the car transceiver is located is calculated by the same method, so as to determine the current position of the elevator car, which is implemented as follows:
as shown in fig. 3, a millimeter wave radar transmitter is mounted on a bottom TX1 of an elevator car, and radar receivers are mounted on positions RX1, RX2 and RX3 · · · RXn spaced apart in the vertical direction on the same side wall of an elevator shaft, so as to ensure that radar signal waves transmitted by the millimeter wave radar transmitter can be received by at least two radar receivers. In the running process of an elevator car, a millimeter wave radar transmitting device transmits radar signal waves, an elevator distance measuring device determines two radar receiving devices which are close to the millimeter wave radar transmitting device in a radar receiving device which is positioned on the same side of the millimeter wave radar transmitting device, the radar receiving device which is close to the millimeter wave radar transmitting device is identified as a second hoistway receiving and transmitting device, and the other radar receiving device is identified as a first hoistway receiving and transmitting device; acquiring a radar signal wave received by a first hoistway transceiving device from the first hoistway transceiving device as a signal wave of a first path; acquiring a radar signal wave received by the second hoistway transmitting and receiving device from a second hoistway transmitting and receiving device as a signal wave of a second path; calculating a first distance d1 and a second distance d2 according to the signal wave of the first path and the signal wave of the second path and by combining the existing radar ranging principle; inquiring a distance table according to the first hoistway transceiving device and the second hoistway transceiving device to obtain a distance between the first hoistway transceiving device and the second hoistway transceiving device and a third distance between the first hoistway transceiving device and an origin (such as the bottom of an elevator hoistway); and calculating to obtain the target vertical distance between the origin and the car plane where the car transceiver is located by combining the cosine theorem based on the first distance, the second distance, the third distance and the distance, and further determining the current position of the elevator car. The specific calculation process is the same as the above embodiment.
It should be noted that the positions of the millimeter wave radar transmitting device and the radar receiving device can be reversed, that is, the radar receiving device is installed on the bottom TX1 of the elevator car, and the millimeter wave radar transmitting device is installed on RX1, RX2 and RX3 · · · · · RXn, so as to ensure that effective radar signals transmitted by at least two millimeter wave radar transmitting devices can be received by the radar receiving device. The specific implementation process is the same as the above embodiment, and is not described herein again.
In one embodiment, the method of determining the position of an elevator car further comprises: sending the current position of the elevator car to an elevator controller; the elevator controller is used for executing corresponding elevator control operation according to the current position of the elevator car. Such as controlling the elevator to stop at the corresponding floor, controlling the elevator to stop at the current position, etc. Of course, other control operations can be performed on the elevator according to actual conditions.
It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 4, there is provided an elevator car position determining apparatus including: a signal wave acquisition module 410, a distance calculation module 420, a distance acquisition module 430, and a position determination module 440, wherein:
a signal wave acquiring module 410, configured to acquire a signal wave of a first path and a signal wave of a second path; the first path is a path between the car transceiver and the first hoistway transceiver, and the second path is a path between the car transceiver and the second hoistway transceiver; the car transceiver is arranged at the top and/or the bottom of the elevator car; the first hoistway transceiving device and the second hoistway transceiving device are arranged on the side wall of the elevator hoistway at intervals in the vertical direction.
A distance calculating module 420, configured to calculate a first distance and a second distance according to the signal wave of the first path and the signal wave of the second path; the first distance is the distance between the car transceiver and the first hoistway transceiver, and the second distance is the distance between the car transceiver and the second hoistway transceiver.
A distance acquisition module 430 is configured to acquire a distance between the first hoistway transceiving device and the second hoistway transceiving device, and a third distance between the first hoistway transceiving device and the origin.
A position determining module 440 configured to determine a current position of the elevator car according to the first distance, the second distance, the third distance, and the distance.
In one embodiment, the device for determining the position of the elevator car further comprises a device identification module, which is used for determining the shaft transceiving device positioned on the same side of the car transceiving device before the signal wave acquisition module acquires the signal wave of the first path and the signal wave of the second path; respectively calculating the distance between the shaft receiving and transmitting device and the car receiving and transmitting device; the hoistway transmitting/receiving device at the first distance is identified as a second hoistway transmitting/receiving device, and the hoistway transmitting/receiving device at the second distance is identified as a first hoistway transmitting/receiving device.
In one embodiment, the device identification module is further configured to determine the hoistway transceiver device located on the same side as the car transceiver device before the signal wave acquisition module acquires the signal wave of the first path and the signal wave of the second path; acquiring the signal intensity of a signal wave received by a well receiving and transmitting device; the hoistway transmitting/receiving device having the first signal strength is identified as the second hoistway transmitting/receiving device, and the hoistway transmitting/receiving device having the second signal strength is identified as the first hoistway transmitting/receiving device.
In one embodiment, the distance acquisition module is further configured to acquire device identification numbers of the first hoistway transceiving device and the second hoistway transceiving device, respectively; inquiring a pre-established distance table according to the device identification number; the distance meter records the distance between every two adjacent hoistway transceiving devices and the distance between different hoistway transceiving devices and an origin; and acquiring the distance between the first hoistway transceiving device and the second hoistway transceiving device and the third distance between the first hoistway transceiving device and the origin from a distance table.
In one embodiment, the position determination module is further configured to calculate a vertical distance between the first hoistway transceiver and a car plane of the car transceiver based on the first distance, the second distance, and the spacing; adding the vertical distance and the third distance to obtain a target vertical distance between the origin and the plane of the car where the car transceiver is located; the current position of the elevator car is determined from the target vertical distance.
In one embodiment, the position determination module is further configured to calculate a vertical distance between the first hoistway transceiving device and a car plane in which the car transceiving device is located using the following equation:
Figure BDA0002015257370000171
d＝d1cosθ；
wherein d is1Is a first distance, d2Is a second distance, S2The distance between the first hoistway transceiving device and the second hoistway transceiving device is theta, an included angle between the first distance and a straight line where the first hoistway transceiving device and the second hoistway transceiving device are located is theta, and d is a perpendicular distance between the first hoistway transceiving device and a car plane where the car transceiving device is located.
In one embodiment, the device for determining the position of the elevator car further comprises a position transmitting module for transmitting the current position of the elevator car to the elevator controller; the elevator controller is used for executing corresponding elevator control operation according to the current position of the elevator car.
In the embodiments, the first distance and the second distance are measured by arranging the car transceiving devices at the top and/or the bottom of the elevator car and arranging the first hoistway transceiving devices and the second hoistway transceiving devices on the side wall of the elevator hoistway at intervals in the vertical direction; acquiring a distance between the first hoistway transceiving device and the second hoistway transceiving device and a third distance between the first hoistway transceiving device and the origin; determining the current position of the elevator car by combining the geometric relationship of the first distance, the second distance, the spacing and the third distance; the purpose of determining the position of the elevator car through the geometric relation of the acquired data is achieved, and the position of the elevator car cannot be influenced by external factors, so that the measuring accuracy of the position of the elevator car is improved, and the defect that the position of the elevator car is judged and distorted due to the fact that the encoder is easily interfered or fails in the traditional method for measuring the position of the elevator car is avoided.
The specific definition of the elevator car position determination device can be referred to the above definition of the elevator car position determination method, and is not described here again. The modules in the above-described elevator car position determining apparatus may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, as shown in fig. 1, there is provided an elevator ranging system comprising: the elevator distance measuring device comprises a car transceiving device, a first hoistway transceiving device, a second hoistway transceiving device, elevator distance measuring equipment and an elevator controller; the car transceiver is arranged at the top and/or the bottom of the elevator car; the first hoistway transceiving device and the second hoistway transceiving device are arranged on the side wall of the elevator hoistway at intervals in the vertical direction; the elevator distance measuring equipment is respectively connected with the car transceiver, the first hoistway transceiver and the second hoistway transceiver and connected with the elevator controller;
the elevator car transceiving device is used for transmitting signal waves to the first hoistway transceiving device and the second hoistway transceiving device or receiving the signal waves transmitted by the first hoistway transceiving device and the second hoistway transceiving device;
the elevator distance measuring equipment is used for executing the method for determining the position of the elevator car;
and the elevator controller is used for receiving the current position of the elevator car sent by the elevator distance measuring equipment and executing corresponding elevator control operation according to the current position of the elevator car.
It should be noted that the elevator distance measuring system may be as shown in fig. 3.
In the embodiment, the elevator ranging system realizes the purpose of determining the position of the elevator car through the geometric relation of the acquired data and cannot be influenced by external factors, so that the measuring accuracy of the position of the elevator car is improved, the problem that the position of the elevator car is measured by an encoder in the traditional method and the defect that the position of the elevator car is distorted due to the fact that the encoder is easily interfered or breaks down is avoided.
In one embodiment, an elevator car is provided that is equipped with the elevator ranging system described above. Such as the elevator ranging system shown in fig. 1 or 3.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 5. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer equipment is used for storing the distance between every two adjacent hoistway transmitting and receiving devices and the distance between different hoistway transmitting and receiving devices and an origin. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of determining the position of an elevator car.
Those skilled in the art will appreciate that the configuration shown in fig. 5 is a block diagram of only a portion of the configuration associated with the present application and does not constitute a limitation on the elevator distance measuring device to which the present application is applied, and that a particular elevator distance measuring device may include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.
In one embodiment, there is provided a computer device comprising a memory storing a computer program and a processor implementing the following steps when the processor executes the computer program:
acquiring a signal wave of a first path and a signal wave of a second path; the first path is a path between the car transceiver and the first hoistway transceiver, and the second path is a path between the car transceiver and the second hoistway transceiver; the car transceiver is arranged at the top and/or the bottom of the elevator car; the first hoistway transceiving device and the second hoistway transceiving device are arranged on the side wall of the elevator hoistway at intervals in the vertical direction;
calculating a first distance and a second distance according to the signal wave of the first path and the signal wave of the second path; the first distance is the distance between the car transceiver and the first hoistway transceiver, and the second distance is the distance between the car transceiver and the second hoistway transceiver;
acquiring a distance between the first hoistway transceiving device and the second hoistway transceiving device and a third distance between the first hoistway transceiving device and the origin;
and determining the current position of the elevator car according to the first distance, the second distance, the third distance and the distance.
In one embodiment, the processor, when executing the computer program, further performs the steps of: determining a hoistway transceiving device positioned on the same side of a car transceiving device before acquiring a signal wave of a first path and a signal wave of a second path; respectively calculating the distance between a shaft receiving and transmitting device and the car receiving and transmitting device; the hoistway transmitting/receiving device at the first distance is identified as a second hoistway transmitting/receiving device, and the hoistway transmitting/receiving device at the second distance is identified as a first hoistway transmitting/receiving device.
In one embodiment, the processor, when executing the computer program, further performs the steps of: determining a hoistway transceiving device positioned on the same side of a car transceiving device before acquiring a signal wave of a first path and a signal wave of a second path; acquiring the signal intensity of a signal wave received by a well receiving and transmitting device; the hoistway transmitting/receiving device having the first signal strength is identified as the second hoistway transmitting/receiving device, and the hoistway transmitting/receiving device having the second signal strength is identified as the first hoistway transmitting/receiving device.
In one embodiment, the processor, when executing the computer program, further performs the steps of: respectively acquiring device identification numbers of a first hoistway transceiving device and a second hoistway transceiving device; inquiring a pre-established distance table according to the device identification number; the distance meter records the distance between every two adjacent hoistway transceiving devices and the distance between different hoistway transceiving devices and an origin; and acquiring the distance between the first hoistway transceiving device and the second hoistway transceiving device and the third distance between the first hoistway transceiving device and the origin from the distance table.
In one embodiment, the processor, when executing the computer program, further performs the steps of: calculating the vertical distance between the first hoistway transceiving device and the plane of the car where the car transceiving device is located according to the first distance, the second distance and the distance; adding the vertical distance and the third distance to obtain a target vertical distance between the origin and the plane of the car where the car transceiver is located; the current position of the elevator car is determined from the target vertical distance.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and calculating the vertical distance between the first hoistway transceiving device and the plane of the car where the car transceiving device is located by adopting the following formula:
Figure BDA0002015257370000211
d＝d1cosθ；
wherein d is1Is a first distance, d2Is a second distance, S2Is the distance between the first hoistway transceiving device and the second hoistway transceiving device, and theta is the distance between the first distance and the straight line where the first hoistway transceiving device and the second hoistway transceiving device are positionedD is the vertical distance between the first hoistway transceiver and the plane of the car where the car transceiver is located.
In one embodiment, the processor, when executing the computer program, further performs the steps of: sending the current position of the elevator car to an elevator controller; the elevator controller is used for executing corresponding elevator control operation according to the current position of the elevator car.
In the above embodiments, the elevator distance measuring device realizes the purpose of determining the position of the elevator car through the geometric relationship of the acquired data by the computer program running on the processor, and is not influenced by external factors, so that the measuring accuracy of the position of the elevator car is improved, and the defect of distortion in the position judgment of the elevator car caused by the fact that the encoder is easily interfered or fails in the conventional method for measuring the position of the elevator car is avoided.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring a signal wave of a first path and a signal wave of a second path; the first path is a path between the car transceiver and the first hoistway transceiver, and the second path is a path between the car transceiver and the second hoistway transceiver; the car transceiver is arranged at the top and/or the bottom of the elevator car; the first hoistway transceiving device and the second hoistway transceiving device are arranged on the side wall of the elevator hoistway at intervals in the vertical direction;
calculating a first distance and a second distance according to the signal wave of the first path and the signal wave of the second path; the first distance is the distance between the car transceiver and the first hoistway transceiver, and the second distance is the distance between the car transceiver and the second hoistway transceiver;
acquiring a distance between the first hoistway transceiving device and the second hoistway transceiving device and a third distance between the first hoistway transceiving device and the origin;
and determining the current position of the elevator car according to the first distance, the second distance, the third distance and the distance.
In one embodiment, the computer program when executed by the processor further performs the steps of: determining a hoistway transceiving device positioned on the same side of a car transceiving device before acquiring a signal wave of a first path and a signal wave of a second path; respectively calculating the distance between a shaft receiving and transmitting device and the car receiving and transmitting device; the hoistway transmitting/receiving device at the first distance is identified as a second hoistway transmitting/receiving device, and the hoistway transmitting/receiving device at the second distance is identified as a first hoistway transmitting/receiving device.
In one embodiment, the computer program when executed by the processor further performs the steps of: determining a hoistway transceiving device positioned on the same side of a car transceiving device before acquiring a signal wave of a first path and a signal wave of a second path; acquiring the signal intensity of a signal wave received by a well receiving and transmitting device; the hoistway transmitting/receiving device having the first signal strength is identified as the second hoistway transmitting/receiving device, and the hoistway transmitting/receiving device having the second signal strength is identified as the first hoistway transmitting/receiving device.
In one embodiment, the computer program when executed by the processor further performs the steps of: respectively acquiring device identification numbers of a first hoistway transceiving device and a second hoistway transceiving device; inquiring a pre-established distance table according to the device identification number; the distance meter records the distance between every two adjacent hoistway transceiving devices and the distance between different hoistway transceiving devices and an origin; and acquiring the distance between the first hoistway transceiving device and the second hoistway transceiving device and the third distance between the first hoistway transceiving device and the origin from the distance table.
In one embodiment, the computer program when executed by the processor further performs the steps of: calculating the vertical distance between the first hoistway transceiving device and the plane of the car where the car transceiving device is located according to the first distance, the second distance and the distance; adding the vertical distance and the third distance to obtain a target vertical distance between the origin and the plane of the car where the car transceiver is located; the current position of the elevator car is determined from the target vertical distance.
In one embodiment, the computer program when executed by the processor further performs the steps of: and calculating the vertical distance between the first hoistway transceiving device and the plane of the car where the car transceiving device is located by adopting the following formula:
Figure BDA0002015257370000231
d＝d1cosθ；
wherein d is1Is a first distance, d2Is a second distance, S2The distance between the first hoistway transceiving device and the second hoistway transceiving device is theta, an included angle between the first distance and a straight line where the first hoistway transceiving device and the second hoistway transceiving device are located is theta, and d is a perpendicular distance between the first hoistway transceiving device and a car plane where the car transceiving device is located.
In one embodiment, the computer program when executed by the processor further performs the steps of: sending the current position of the elevator car to an elevator controller; the elevator controller is used for executing corresponding elevator control operation according to the current position of the elevator car.
In the above embodiments, the computer readable storage medium implements the purpose of determining the position of the elevator car through the geometric relationship of the acquired data by using the stored computer program, and is not affected by external factors, so that the measurement accuracy of the position of the elevator car is improved, and the defect of distortion in the judgment of the position of the elevator car due to the fact that the encoder is easily interfered or fails when the position of the elevator car is measured by using the encoder in the conventional method is overcome.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A method of determining a position of an elevator car, the method comprising:
acquiring a signal wave of a first path and a signal wave of a second path; the first path is a path between the car transceiver and a first hoistway transceiver, and the second path is a path between the car transceiver and a second hoistway transceiver; the car transceiver is arranged at the top and/or the bottom of the elevator car; the first hoistway transceiving device and the second hoistway transceiving device are arranged on the side wall of the elevator hoistway at intervals in the vertical direction; the second hoistway transceiver device is a hoistway transceiver device which is first away from the car transceiver device, and the first hoistway transceiver device is a hoistway transceiver device which is second away from the car transceiver device;
calculating a first distance and a second distance according to the signal wave of the first path and the signal wave of the second path; the first distance is the distance between the car transceiver and the first hoistway transceiver, and the second distance is the distance between the car transceiver and the second hoistway transceiver;
acquiring a distance between the first hoistway transceiving device and the second hoistway transceiving device and a third distance between the first hoistway transceiving device and an origin; the origin point is the intersection point of the plane of the top or the bottom of the elevator shaft and the vertical direction of the shaft receiving and sending device arranged on the side wall of the elevator shaft;
and determining the current position of the elevator car according to the first distance, the second distance, the third distance and the distance.
2. The method of claim 1, wherein the obtaining the signal wave of the first path and the signal wave of the second path is preceded by:
determining a hoistway transceiving device located on the same side of the car transceiving device;
respectively calculating the distances between the hoistway receiving and dispatching device and the car receiving and dispatching device;
identifying a hoistway transceiving device from the first hoistway transceiving device as a second hoistway transceiving device and identifying a hoistway transceiving device from the second hoistway transceiving device as a first hoistway transceiving device;
and/or the presence of a gas in the gas,
determining a hoistway transceiving device located on the same side of the car transceiving device;
acquiring the signal intensity of the signal waves received by the well receiving and transmitting device;
the hoistway transmitting/receiving device having the first signal strength is identified as the second hoistway transmitting/receiving device, and the hoistway transmitting/receiving device having the second signal strength is identified as the first hoistway transmitting/receiving device.
3. The method of claim 1, wherein the obtaining a spacing of the first hoistway transceiving device and the second hoistway transceiving device, and a third distance of the first hoistway transceiving device from an origin comprises:
respectively acquiring device identification numbers of the first hoistway transceiving device and the second hoistway transceiving device;
inquiring a pre-established distance table according to the device identification number; the distance meter records the distance between every two adjacent hoistway transceiving devices and the distance between different hoistway transceiving devices and an origin;
obtaining a distance between the first hoistway transceiving device and the second hoistway transceiving device and a third distance between the first hoistway transceiving device and the origin from the distance table.
4. The method of claim 1, wherein determining the current position of the elevator car based on the first distance, the second distance, the third distance, and the spacing comprises:
calculating the vertical distance between the first hoistway transceiver and the plane of the car where the car transceiver is located according to the first distance, the second distance and the distance;
adding the vertical distance and the third distance to obtain a target vertical distance between the origin and a car plane where the car transceiver is located;
and determining the current position of the elevator car according to the target vertical distance.
5. The method of claim 4, wherein calculating the vertical distance of the first hoistway transceiving apparatus from the car plane in which the car transceiving apparatus is located based on the first distance, the second distance, and the spacing comprises:
calculating the vertical distance between the first hoistway transceiver and the plane of the car where the car transceiver is located by adopting the following formula:
Figure FDA0002546825410000031
d＝d1cosθ；
wherein d is1Is a first distance, d2Is a second distance, S2The distance between the first shaft receiving and dispatching device and the second shaft receiving and dispatching device is theta, theta is the first distance and the included angle between the straight lines where the first shaft receiving and dispatching device and the second shaft receiving and dispatching device are located, and d is the vertical distance between the first shaft receiving and dispatching device and the plane of the car where the car receiving and dispatching device is located.
6. The method according to any one of claims 1 to 5, further comprising:
sending the current position of the elevator car to an elevator controller; the elevator controller is used for executing corresponding elevator control operation according to the current position of the elevator car.
7. An elevator car position determining apparatus, the apparatus comprising:
the signal wave acquisition module is used for acquiring a signal wave of a first path and a signal wave of a second path; the first path is a path between the car transceiver and a first hoistway transceiver, and the second path is a path between the car transceiver and a second hoistway transceiver; the car transceiver is arranged at the top and/or the bottom of the elevator car; the first hoistway transceiving device and the second hoistway transceiving device are arranged on the side wall of the elevator hoistway at intervals in the vertical direction; the second hoistway transceiver device is a hoistway transceiver device which is first away from the car transceiver device, and the first hoistway transceiver device is a hoistway transceiver device which is second away from the car transceiver device;
the distance calculation module is used for calculating a first distance and a second distance according to the signal wave of the first path and the signal wave of the second path; the first distance is the distance between the car transceiver and the first hoistway transceiver, and the second distance is the distance between the car transceiver and the second hoistway transceiver;
the distance acquisition module is used for acquiring the distance between the first hoistway transceiving device and the second hoistway transceiving device and the third distance between the first hoistway transceiving device and the origin; the origin point is the intersection point of the plane of the top or the bottom of the elevator shaft and the vertical direction of the shaft receiving and sending device arranged on the side wall of the elevator shaft;
and the position determining module is used for determining the current position of the elevator car according to the first distance, the second distance, the third distance and the distance.
8. An elevator ranging system, comprising: the elevator distance measuring device comprises a car transceiving device, a first hoistway transceiving device, a second hoistway transceiving device, elevator distance measuring equipment and an elevator controller; the car transceiver is arranged at the top and/or the bottom of the elevator car; the first hoistway transceiving device and the second hoistway transceiving device are arranged on the side wall of the elevator hoistway at intervals in the vertical direction; the elevator distance measuring equipment is respectively connected with the car transceiver, the first hoistway transceiver and the second hoistway transceiver and connected with the elevator controller;
the car transceiver is used for transmitting signal waves to the first hoistway transceiver and the second hoistway transceiver or receiving the signal waves transmitted by the first hoistway transceiver and the second hoistway transceiver;
the elevator ranging apparatus for performing the method of determining the position of an elevator car of any one of claims 1 to 6;
the elevator controller is used for receiving the current position of the elevator car sent by the elevator ranging equipment and executing corresponding elevator control operation according to the current position of the elevator car.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
CN201910260960.4A 2019-04-02 2019-04-02 Method and device for determining position of elevator car and elevator distance measuring system Active CN110143499B (en)

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CN111689316B (en) * 2020-05-28 2022-08-12 日立楼宇技术（广州）有限公司 Elevator car position determining method, elevator car position determining device, computer equipment and storage medium
CN111847155B (en) * 2020-06-04 2022-08-12 日立楼宇技术（广州）有限公司 Elevator car position determining method, elevator car position determining device, computer equipment and storage medium
CN116062573A (en) * 2021-10-29 2023-05-05 霍尼韦尔国际公司 Elevator positioning system with cascading reflector arrangement
US20230339724A1 (en) * 2022-04-25 2023-10-26 Otis Elevator Company Elevator car position detection

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