CN110550515A - Multisource information fusion vertical elevator car motion state and floor identification method based on air pressure and acceleration sensor signals - Google Patents
Multisource information fusion vertical elevator car motion state and floor identification method based on air pressure and acceleration sensor signals Download PDFInfo
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- CN110550515A CN110550515A CN201910917417.7A CN201910917417A CN110550515A CN 110550515 A CN110550515 A CN 110550515A CN 201910917417 A CN201910917417 A CN 201910917417A CN 110550515 A CN110550515 A CN 110550515A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B3/00—Applications of devices for indicating or signalling operating conditions of elevators
- B66B3/02—Position or depth indicators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
the invention discloses a multisource information fusion vertical elevator car motion state and floor identification method based on air pressure and acceleration sensor signals, wherein a vertical elevator car (1) is provided with an intelligent elevator module (3), the elevator module (3) is connected with an acceleration sensor (4), an air pressure sensor (5) and a communication module (6), a plurality of reference air pressure sensors (7) are installed on the vertical elevator car (1) in a distributed mode, and the reference air pressure sensors (7) send atmospheric pressure to an intelligent elevator management platform (2) in a wired or wireless mode for storage. The invention provides an identification method which is particularly suitable for an intelligent elevator system and has universality for detection of different types of vertical elevator cars.
Description
Technical Field
the invention belongs to the field of smart cities, and provides a multi-source information fusion vertical elevator car motion state and floor identification method based on air pressure and acceleration sensor signals.
background
The motion state, the flat bed detection and the floor detection of the straight elevator car are key technologies of the motion control of the straight elevator car, influence whether the motion control of the straight elevator car is stable or not and whether the flat bed is accurate or not, and determine the comfort and the safety of passengers. The existing method for identifying the motion state and the floor of the straight elevator car is generally realized based on a flat sensor, the flat sensor is installed on the straight elevator car and is matched with a magnetic shield plate and other components installed in a straight elevator shaft for use, when the straight elevator car moves to the flat floor of the floor, the signal of the sensor changes, and a straight elevator car motion controller judges the position and the floor of the straight elevator car according to the signal and controls the motion and the stop of the straight elevator car.
At present, use the wisdom city as the background, wisdom elevator system has obtained comparatively quick development, and the motion state of the straight elevator car of elevator, the detection of flat bed and floor are the core problem of this type of system equally, but are different from the preceding mode of dress of straight elevator, and wisdom elevator system generally adopts the afterloading mode, installs the sensor, information processing unit, the communication unit of wisdom elevator system additional to current straight elevator system promptly, realizes straight elevator motion state detection, need not destroy, disturb under the condition of original elevator system the motion state of detection axle railway carriage or compartment, flat bed state and floor information. The existing intelligent elevator system is generally provided with a leveling sensor according to the original elevator system, but the leveling sensor and a hoistway accessory are numerous in model, difficult to use with the sensor and the accessory in the original elevator system in a matched mode, strong construction difficulty is achieved, and the cost of the intelligent elevator system is improved.
disclosure of Invention
the invention aims to provide a low-cost and high-precision method for detecting the horizontal floor state and the floor of a straight elevator car based on an acceleration sensor of an air pressure sensor, which is particularly suitable for an intelligent elevator system and has universality for detection of the straight elevator cars of different models.
the invention is realized by the following technical scheme:
the utility model provides a multisource information fusion vertical elevator car motion state and floor identification system based on atmospheric pressure and acceleration sensor signal, vertical elevator car (1) sets up wisdom elevator module (3), acceleration sensor (4), baroceptor (5) and communication module (6) are connected in elevator module (3), a plurality of benchmark baroceptors (7) of vertical elevator car (1) distributed installation, benchmark baroceptors (7) send atmospheric pressure to wisdom elevator management platform (2) storage through wired or wireless mode.
And the reference air pressure sensor (7) is arranged on the outer wall of the building where the intelligent elevator management platform (2) is located and is arranged at different heights.
The working method comprises the following steps:
Step 1: atmospheric pressure reference information of a floor of a building where a vertical elevator car (1) is located is collected through a reference atmospheric pressure sensor (7) to draw an atmospheric pressure reference table (8) of a cost area and is stored in an intelligent elevator management platform (2);
step 2: the acceleration information of gathering acceleration sensor (4) is sent to wisdom elevator management platform (2) storage, through acceleration information discernment elevator motion state, motion state divide into: moving or stationary;
and step 3: when the elevator is in a static motion state, atmospheric pressure information acquired by an air pressure sensor (5) in the vertical elevator car (1) is sent to the intelligent elevator management platform (2), and the atmospheric pressure information is compared with an air pressure reference table (8) stored in the intelligent elevator management platform (2) to calculate the height of the vertical elevator car (1);
And 4, step 4: when weather changes and the elevator motion state is static, atmospheric pressure information acquired through the air pressure sensor (5) in the straight elevator car (1) is sent to the intelligent elevator management platform (2), and the atmospheric pressure information acquired by the air pressure sensor (5) is corrected by the intelligent elevator management platform (2) based on atmospheric pressure reference information, and then the height of the straight elevator car (1) is calculated.
the method for judging the motion state of the elevator in the step 2 comprises the following steps:
Step 2.1: after the collected acceleration value enters a Kalman filter, the acceleration value after noise filtration enters a straight elevator car (1) motion state judgment part based on a speed threshold value;
Step 2.2: the absolute value of the acquired acceleration value enters a judgment part of the motion state of the straight elevator car (1) based on the acceleration threshold value;
step 2.3: the straight elevator car (1) motion state judgment based on the speed threshold value and the straight elevator car (1) motion state judgment based on the acceleration threshold value enter the straight elevator car (1) motion state judgment part to judge the motion state of the straight elevator car (1).
The step 3 of calculating the height of the vertical elevator car (1) specifically comprises the following steps:
Step 3.1: judging whether the motion state of the elevator straight elevator car (1) is static or not;
Step 3.2: if the elevator is static, comparing atmospheric pressure information acquired by an air pressure sensor (5) in the vertical elevator car (1) with an air pressure reference table (8) to judge the altitude of the vertical elevator car (1);
step 3.3: after the altitude of the straight elevator car (1) is compared, the floor and flat-bed states are judged by comparing an altitude altimeter (9);
Step 3.4: if not, go back to step 3.1.
the step 3 or the step 4 is concretely that the air pressure information p read by the air pressure sensor (5) is compared with an air pressure reference table (8), pressure values which are close to p, namely p i and p i+1, are obtained by checking the air pressure reference table (8), the height of the straight elevator car (1) is calculated through interpolation in the following mode,
Wherein h is straight ladder car (1) height, and h i is the height of ith straight ladder car (1), and p is an atmospheric pressure value, and p i is ith atmospheric pressure value, and p i+1 is the (i + 1) th atmospheric pressure value, and then calculates present floor and the flat bed state of locating through straight ladder place each level planar height table of sea level (9).
the elevation altimeter (9) of each floor plane of the building is obtained during installation in the following way:
Firstly, after an intelligent elevator module (3), an acceleration sensor (4), an air pressure sensor (5) and a communication module (6) are installed, a straight elevator car (1) is controlled, the elevation height meter of each floor is calculated by an intelligent level management platform (2) when each floor of a building where the straight elevator car (1) is located is static, and the calculation formula is
wherein h is the height of vertical elevator car (1), and h i is the height of ith vertical elevator car (1), and p is an atmospheric pressure value, and p i is ith atmospheric pressure value, and p i+1 is the (i + 1) th atmospheric pressure value.
the invention has the beneficial effects that:
The whole system is simple to operate and stable in performance, the speed of the cylindrical feeding system is controlled through the adjustment of the speed regulator, so that no steady-state error exists after the system enters a steady state, the dynamic characteristic of the system in the adjusting process is improved, the residual error is eliminated through advanced control, and the waveform precision of the system is more stable and accurate;
the intelligent elevator monitoring system is applied to an intelligent elevator system, and the technical invention can be installed and applied without damage under the condition of not damaging and changing the original electrical control system and mechanical structure of the elevator, so that the monitoring of floors and motion states of an elevator car is realized, and the requirements of the intelligent elevator system are met;
the height of the lift car is measured through atmospheric pressure, and an elevator leveling sensor matched with an elevator electric control system does not need to be installed, so that the problems that the leveling sensors are numerous in model and difficult to manage are solved;
The elevator car height detection device is provided with the reference air pressure sensor, and the height of the elevator car is detected by comparing the reference air pressure sensor with the air pressure of the elevator car, so that the problem of reduction of height detection precision caused by weather and climate change is solved.
drawings
FIG. 1 is a hardware architecture of the present invention;
FIG. 2 is a schematic view of the air pressure reference processing of the present invention;
FIG. 3 is a flow chart of the smart elevator module information collection and transmission of the present invention;
fig. 4 is a flow chart of the present invention for determining a moving state of a car;
FIG. 5 is a schematic view of the elevator car leveling state and floor information processing according to the present invention
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
the utility model provides a multisource information fusion vertical elevator car motion state and floor identification system based on atmospheric pressure and acceleration sensor signal, vertical elevator car (1) sets up wisdom elevator module (3), acceleration sensor (4), baroceptor (5) and communication module (6) are connected in elevator module (3), a plurality of benchmark baroceptors (7) of vertical elevator car (1) distributed installation, benchmark baroceptors (7) send atmospheric pressure to wisdom elevator management platform (2) storage through wired or wireless mode.
the intelligent elevator management platform (2) has the functions of elevator state management, elevator data management and elevator maintenance service management. In the aspect of elevator state management, the elevator state is managed based on the motion state and the leveling state of the elevator car, and whether the elevator works abnormally is judged; in the aspect of elevator data management, the position, cell and floor information of each elevator in the jurisdiction are managed, the height information of the floors of the elevators is stored, and the managed elevators can be added and deleted; in the aspect of elevator maintenance service management, elevator maintenance time, maintenance flow and maintenance content are controlled, and when an elevator fails, maintenance personnel are informed to handle the elevator in time.
And the reference air pressure sensor (7) is arranged on the outer wall of the building where the intelligent elevator management platform (2) is located and is arranged at different heights. The device is arranged at different heights, such as a first floor, a fifteenth floor and a thirty-third floor of a building body.
The altitude of benchmark baroceptor (7) is measured through high accuracy GPS system and is all saved in wisdom elevator management platform (2) with real-time measuring benchmark atmospheric pressure value to atmospheric pressure value updates in real time, forms atmospheric pressure benchmark table (8) that can mark local area height above sea level debugging and atmospheric pressure in real time. That is, h1, h2, and h3 in the air pressure reference table (8) in fig. 2 are respectively the installation altitude adjustment of the reference air pressure sensor 7, and p1, p2, and p3 are respectively the air pressures collected by the reference air pressure sensor 7.
the working method comprises the following steps:
Step 1: atmospheric pressure reference information of a floor of a building where a vertical elevator car (1) is located is collected through a reference atmospheric pressure sensor (7) to draw an atmospheric pressure reference table (8) of a cost area and is stored in an intelligent elevator management platform (2);
step 2: the acceleration information of gathering acceleration sensor (4) is sent to wisdom elevator management platform (2) storage, through acceleration information discernment elevator motion state, motion state divide into: moving or stationary;
and step 3: when the elevator is in a static motion state, atmospheric pressure information acquired by an air pressure sensor (5) in the vertical elevator car (1) is stored in the intelligent elevator module (3) and is sent to the intelligent elevator management platform (2) through the communication module (6), and the atmospheric pressure information is compared with an atmospheric pressure reference table (8) acquired by a reference air pressure sensor (7) stored in the intelligent elevator management platform (2) to calculate the height of the vertical elevator car (1);
and 4, step 4: when weather changes and the motion state of the elevator is static, atmospheric pressure information acquired through the air pressure sensor (5) in the straight elevator car (1) is stored in the intelligent elevator module (3) and is sent to the intelligent elevator management platform (2) through the communication module (6), and the intelligent elevator management platform (2) corrects the atmospheric pressure information acquired by the air pressure sensor (5) based on the stored atmospheric pressure reference information acquired by the reference air pressure sensor (7) and then calculates the height of the straight elevator car (1).
The method for judging the motion state of the elevator in the step 2 comprises the following steps:
Step 2.1: after the collected acceleration value enters a Kalman filter, the acceleration value after noise filtration enters a straight elevator car (1) motion state judgment part based on a speed threshold value; in fig. 3, a Kalman filter can be selected as the filter for the acceleration signal and the air pressure signal, and the noise of the sensor can be effectively filtered by adjusting and selecting the parameters of the filter;
step 2.2: the absolute value of the acquired acceleration value enters a judgment part of the motion state of the straight elevator car (1) based on the acceleration threshold value;
Step 2.3: the straight elevator car (1) motion state judgment based on the speed threshold value and the straight elevator car (1) motion state judgment based on the acceleration threshold value enter the straight elevator car (1) motion state judgment part to judge the motion state of the straight elevator car (1).
The step 3 of calculating the height of the vertical elevator car (1) specifically comprises the following steps:
Step 3.1: judging whether the motion state of the elevator straight elevator car (1) is static or not;
Step 3.2: if the elevator is static, comparing atmospheric pressure information acquired by an air pressure sensor (5) in the vertical elevator car (1) with an air pressure reference table (8) to judge the altitude of the vertical elevator car (1);
step 3.3: after the altitude of the straight elevator car (1) is compared, the floor and flat-bed states are judged by comparing an altitude altimeter (9);
Step 3.4: if not, go back to step 3.1.
the step 3 or the step 4 is concretely that the air pressure information p read by the air pressure sensor (5) is compared with an air pressure reference table (8), pressure values which are close to p, namely p i and p i+1, are obtained by checking the air pressure reference table (8), the height of the straight elevator car (1) is calculated through interpolation in the following mode,
Wherein h is straight ladder car (1) height, and h i is the height of ith straight ladder car (1), and p is an atmospheric pressure value, and p i is ith atmospheric pressure value, and p i+1 is the (i + 1) th atmospheric pressure value, and then calculates present floor and the flat bed state of locating through straight ladder place each level planar height table of sea level (9).
the elevation altimeter (9) of each floor plane of the building is obtained during installation in the following way:
Firstly, after an intelligent elevator module (3), an acceleration sensor (4), an air pressure sensor (5) and a communication module (6) are installed, a straight elevator car (1) is controlled, the elevation height meter of each floor is calculated by an intelligent level management platform (2) when each floor of a building where the straight elevator car (1) is located is static, and the calculation formula is
wherein h is the height of vertical elevator car (1), and h i is the height of ith vertical elevator car (1), and p is an atmospheric pressure value, and p i is ith atmospheric pressure value, and p i+1 is the (i + 1) th atmospheric pressure value.
Claims (7)
1. the utility model provides a multisource information fusion vertical elevator car motion state and floor identification system based on atmospheric pressure and acceleration sensor signal, its characterized in that, vertical elevator car (1) sets up wisdom elevator module (3), acceleration sensor (4), baroceptor (5) and communication module (6) are connected respectively in elevator module (3), a plurality of benchmark baroceptors (7) of vertical elevator car (1) distributed installation, benchmark baroceptor (7) send atmospheric pressure to wisdom elevator management platform (2) storage through wired or wireless mode.
2. the multi-source information fusion vertical elevator car motion state and floor recognition system based on air pressure and acceleration sensor signals according to claim 1, characterized in that the reference air pressure sensor (7) is installed on the outer wall of the building where the intelligent elevator management platform (2) is located, and installed at different heights.
3. The working method of the multisource information fusion vertical elevator car motion state and floor recognition system based on air pressure and acceleration sensor signals, which is characterized by comprising the following steps:
step 1: atmospheric pressure reference information of a floor of a building where a vertical elevator car (1) is located is collected through a reference atmospheric pressure sensor (7) to draw an atmospheric pressure reference table (8) of a cost area and is stored in an intelligent elevator management platform (2);
step 2: the acceleration information of gathering acceleration sensor (4) is sent to wisdom elevator management platform (2) storage, through acceleration information discernment elevator motion state, motion state divide into: moving or stationary;
and step 3: when the elevator is in a static motion state, atmospheric pressure information acquired by an air pressure sensor (5) in the vertical elevator car (1) is sent to the intelligent elevator management platform (2), and the atmospheric pressure information is compared with an air pressure reference table (8) stored in the intelligent elevator management platform (2) to calculate the height of the vertical elevator car (1);
and 4, step 4: when weather changes and the elevator motion state is static, atmospheric pressure information acquired through the air pressure sensor (5) in the straight elevator car (1) is sent to the intelligent elevator management platform (2), and the atmospheric pressure information acquired by the air pressure sensor (5) is corrected by the intelligent elevator management platform (2) based on atmospheric pressure reference information, and then the height of the straight elevator car (1) is calculated.
4. the use method of the multi-source information fusion vertical elevator car motion state and floor recognition system based on the air pressure and acceleration sensor signals, which is characterized in that, the elevator motion state judgment method in the step 2 is as follows:
Step 2.1: after the collected acceleration value enters a Kalman filter, the acceleration value after noise filtration enters a straight elevator car (1) motion state judgment part based on a speed threshold value;
step 2.2: the absolute value of the acquired acceleration value enters a judgment part of the motion state of the straight elevator car (1) based on the acceleration threshold value;
Step 2.3: the straight elevator car (1) motion state judgment based on the speed threshold value and the straight elevator car (1) motion state judgment based on the acceleration threshold value enter the straight elevator car (1) motion state judgment part to judge the motion state of the straight elevator car (1).
5. The use method of the multi-source information fusion straight elevator car motion state and floor recognition system based on the air pressure and acceleration sensor signals, which is characterized in that, the step 3 of calculating the height of the straight elevator car (1) specifically comprises the following steps:
step 3.1: judging whether the motion state of the elevator straight elevator car (1) is static or not;
Step 3.2: if the elevator is static, comparing atmospheric pressure information acquired by an air pressure sensor (5) in the vertical elevator car (1) with an air pressure reference table (8) to judge the altitude of the vertical elevator car (1);
Step 3.3: after the altitude of the straight elevator car (1) is compared, the floor and flat-bed states are judged by comparing an altitude altimeter (9);
Step 3.4: if not, go back to step 3.1.
6. the use method of the multi-source information fusion straight elevator car motion state and floor recognition system based on the air pressure and acceleration sensor signals of claim 3 is characterized in that the step 3 or the step 4 is specifically that the air pressure information p read by the air pressure sensor (5) is compared with an air pressure reference table (8), pressure values close to p, namely p i and p i+1, are obtained by checking the air pressure reference table (8), the height of the straight elevator car (1) is calculated by interpolation in the following way,
Wherein h is straight ladder car (1) height, and h i is the height of ith straight ladder car (1), and p is an atmospheric pressure value, and p i is ith atmospheric pressure value, and p i+1 is the (i + 1) th atmospheric pressure value, and then calculates present floor and the flat bed state of locating through straight ladder place each level planar height table of sea level (9).
7. The use method of the multisource information fusion straight elevator car motion state and floor identification system based on the air pressure and acceleration sensor signals, which is characterized in that the elevation height gauge (9) of each floor plane of the building is obtained when being installed in the following way:
Install wisdom elevator module (3), acceleration sensor (4), baroceptor (5) and communication module (6) at first after, control straight terraced car (1) again, at every layer static of building that straight terraced car (1) is located, calculate every layer's height above sea level altimeter by wisdom level management platform (2), the computational formula is:
Wherein h is the height of vertical elevator car (1), and h i is the height of ith vertical elevator car (1), and p is an atmospheric pressure value, and p i is ith atmospheric pressure value, and p i+1 is the (i + 1) th atmospheric pressure value.
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| CN111776904A (en) * | 2020-07-16 | 2020-10-16 | 广州独角鲸信息科技有限公司 | Elevator operation data acquisition device and data acquisition method thereof |
| CN112650244A (en) * | 2020-12-22 | 2021-04-13 | 哈尔滨工业大学（深圳） | Multi-floor automatic mapping method for mobile robot in building based on feature point matching |
| CN113200425A (en) * | 2020-01-31 | 2021-08-03 | 株式会社日立大厦系统 | Elevator system and car position determination method |
| CN113213299A (en) * | 2021-05-28 | 2021-08-06 | 山东仁科测控技术有限公司 | Elevator running state monitoring method and device and elevator video monitoring device |
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| CN114249192A (en) * | 2021-12-24 | 2022-03-29 | 广州鲁邦通物联网科技股份有限公司 | Judgment method for elevator running state and elevator running state management system |
| CN114560360A (en) * | 2022-02-10 | 2022-05-31 | 北京三快在线科技有限公司 | Method, device and medium for taking elevator by robot and robot controller |
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