CN111689316B - Elevator car position determining method, elevator car position determining device, computer equipment and storage medium - Google Patents
Elevator car position determining method, elevator car position determining device, computer equipment and storage medium Download PDFInfo
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- CN111689316B CN111689316B CN202010470586.3A CN202010470586A CN111689316B CN 111689316 B CN111689316 B CN 111689316B CN 202010470586 A CN202010470586 A CN 202010470586A CN 111689316 B CN111689316 B CN 111689316B
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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
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Abstract
The application relates to an elevator car position determination method, an elevator car position determination device, a computer device and a storage medium. The method comprises the following steps: acquiring a first measurement distance at the current moment through distance measuring equipment arranged outside an elevator car; the first measured distance is a relative distance between the ranging apparatus and a target feature directionally tracked by the ranging apparatus in a hoistway; the target feature is determined according to the height of the elevator car at the current moment; acquiring a horizontal distance between the distance measuring equipment and the hoistway, and acquiring a measuring height between the distance measuring equipment and the target feature object according to the first measuring distance and the horizontal distance; and acquiring a reference height corresponding to the target feature, and determining the relative height of the elevator car in the shaft at the current moment according to the reference height and the measured height of the distance measuring equipment and the target feature, wherein the relative height is used as the position information of the elevator car. The method has the advantages of low cost, simple and convenient installation and easy realization.
Description
Technical Field
The present application relates to the field of elevator technology, and in particular, to a method, an apparatus, a computer device, and a storage medium for determining a position of an elevator car.
Background
With the development of society, elevators have gradually become essential equipment in various buildings in order to facilitate people's lives. In order to ensure the safety of the elevator operation, it becomes important to measure the position of the elevator car and to determine the position of the elevator car.
Currently, methods for determining the position of an elevator car are: an encoder is arranged on the speed limiting wheel, and after the elevator is electrified, the current position of the elevator car can be determined according to the encoder, but the method has higher cost. Or, install the card reader in the car, install the IC card at each floor, read the IC card to confirm the position of the elevator car through the card reader, but the engineering implementation difficulty of this method is higher, and can only obtain the rough position of the elevator car. Or, a grid ruler is installed in the hoistway, and the position of the elevator car is positioned through the scales of the grid ruler, but the method is high in cost and high in engineering implementation difficulty.
Therefore, the current measuring mode of the position of the elevator car has the problems of high cost and insufficient accuracy.
Disclosure of Invention
In view of the above, it is necessary to provide an elevator car position determining method, an apparatus, a computer device and a storage medium for solving the technical problems of high cost and insufficient accuracy of the above measuring method.
A method of elevator car position determination, the method comprising:
acquiring a first measurement distance at the current moment through distance measuring equipment arranged outside an elevator car; the first measured distance is a relative distance between the ranging apparatus and a target feature directionally tracked by the ranging apparatus in a hoistway; the target feature is determined according to the height of the elevator car at the current moment;
acquiring a horizontal distance between the distance measuring equipment and the hoistway, and acquiring a measuring height between the distance measuring equipment and the target feature object according to the first measuring distance and the horizontal distance;
and acquiring a reference height corresponding to the target feature, and determining the relative height of the elevator car in the shaft at the current moment according to the reference height and the measured height of the distance measuring equipment and the target feature, wherein the relative height is used as the position information of the elevator car.
In one embodiment, the method further comprises:
acquiring a switching height corresponding to each feature in the well;
when the relative height of the elevator car in the hoistway is equal to the switching height, sending a control command to the distance measuring equipment; the control instructions are used to instruct the ranging apparatus to switch the directionally tracked target feature.
In one embodiment, the step of obtaining the switching heights corresponding to the features in the hoistway includes:
acquiring a second measurement distance from each feature at the maximum measurement angle through the ranging equipment;
acquiring the initial height of each feature tracked by the ranging equipment according to the second measuring distance and the horizontal distance;
and acquiring a switching height corresponding to each feature according to each starting height and the reference height corresponding to each feature.
In one embodiment, the step of obtaining a reference height corresponding to the target feature includes:
when the target feature tracked by the distance measuring equipment is switched into different features through the distance measuring equipment at a fixed measuring angle, the relative height of the distance measuring equipment in the shaft is used as the initial layer height of each feature;
acquiring the height distance between any adjacent features according to the initial layer height of each feature to obtain a plurality of standard layer heights;
a reference height for each of the features is determined based on each of the standard layer heights.
In one embodiment, the step of determining the relative height of the elevator car in the hoistway at the current time based on the reference height and the relative measured height of the ranging apparatus and the target feature further comprises:
acquiring a first relative height between the distance measuring equipment and the bottom of the elevator car, and acquiring a second relative height of the distance measuring equipment in the shaft when the elevator car is at a reference flat floor;
determining an absolute height of the elevator car in the hoistway at the present time based on the first relative height, the second relative height, the reference height, and the measured height of the ranging device and the target feature.
In one embodiment, the method further comprises:
acquiring the relative height of the elevator car in the shaft at the previous moment;
and determining the target characteristic object of the distance measuring equipment at the current moment according to the relative height of the elevator car in the hoistway at the previous moment and the height range corresponding to each characteristic object.
An elevator car position determining apparatus, the apparatus comprising:
the measuring distance obtaining module is used for obtaining a first measuring distance at the current moment through distance measuring equipment arranged outside the elevator car; the first measured distance is a relative distance between the ranging apparatus and a target feature directionally tracked by the ranging apparatus in a hoistway; the target feature is determined according to the height of the elevator car at the current moment;
the measurement height acquisition module is used for acquiring the horizontal distance between the distance measurement equipment and the shaft and acquiring the measurement height between the distance measurement equipment and the target feature object according to the first measurement distance and the horizontal distance;
and the car position determining module is used for acquiring a reference height corresponding to the target characteristic object, and determining the relative height of the elevator car in the shaft at the current moment according to the reference height and the measured height of the distance measuring equipment and the target characteristic object, wherein the relative height is used as the position information 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 first measurement distance at the current moment through distance measuring equipment arranged outside an elevator car; the first measured distance is a relative distance between the ranging apparatus and a target feature directionally tracked by the ranging apparatus in a hoistway; the target feature is determined according to the height of the elevator car at the current moment;
acquiring a horizontal distance between the distance measuring equipment and the hoistway, and acquiring a measuring height between the distance measuring equipment and the target feature object according to the first measuring distance and the horizontal distance;
and acquiring a reference height corresponding to the target feature, and determining the relative height of the elevator car in the shaft at the current moment according to the reference height and the measured height of the distance measuring equipment and the target feature, wherein the relative height is used as the position information of the elevator car.
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 first measurement distance at the current moment through distance measuring equipment arranged outside an elevator car; the first measured distance is a relative distance between the ranging apparatus and a target feature directionally tracked by the ranging apparatus in a hoistway; the target feature is determined according to the height of the elevator car at the current moment;
acquiring a horizontal distance between the distance measuring equipment and the hoistway, and acquiring a measuring height between the distance measuring equipment and the target feature object according to the first measuring distance and the horizontal distance;
and acquiring a reference height corresponding to the target feature, and determining the relative height of the elevator car in the shaft at the current moment according to the reference height and the measured height of the distance measuring equipment and the target feature, wherein the relative height is used as the position information of the elevator car.
The method, the device, the computer equipment and the storage medium for determining the position of the elevator car are characterized in that the distance measuring equipment is arranged outside the elevator car, the relative distance between the distance measuring equipment and the target feature is obtained through the distance measuring equipment to serve as a first measuring distance, the horizontal distance between the distance measuring equipment and the hoistway is obtained, the measuring height of the distance measuring equipment relative to the target feature is obtained according to the first measuring distance and the horizontal distance, further, after the reference height corresponding to the target feature is obtained, the relative height of the elevator car in the hoistway can be obtained according to the reference height and the measuring height between the distance measuring equipment and the target feature, the method can obtain the position of the elevator car in the hoistway only by installing one distance measuring equipment, the distance measuring equipment is low in cost, simple and convenient to install and easy to realize, and through the arrangement of a plurality of features, when the position of the elevator car is obtained, the relative distance between the distance measuring equipment and the target characteristic object is measured only, so that the problem that the distance measuring equipment is far away from the target characteristic object and exceeds the measuring range of the distance measuring equipment, and the measuring result is insufficient in precision is avoided, and therefore the problems that the engineering implementation difficulty is high, the cost is high, and the precision is insufficient in the traditional method can be solved.
Drawings
FIG. 1a is a diagram of an application scenario of a distance measuring device installed on one side of an elevator car in one embodiment;
FIG. 1b is a diagram of an application scenario of the distance measuring device installed on the top of an elevator car in one embodiment;
FIGS. 1 c-1 f are application views of the distance measuring device installed at the bottom of the 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 illustration of a hoistway lobby door position in one embodiment;
FIG. 4 is a schematic flow chart of the step of obtaining the switching heights of the features in one embodiment;
FIG. 5 is a schematic flow chart illustrating the step of obtaining a reference height corresponding to a target feature in one embodiment;
fig. 6 is a block diagram showing the structure of an elevator car position determining apparatus in one embodiment;
FIG. 7 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 clearly understood, the present application is further described in 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 application environments shown in figures 1 a-1 f. The distance measuring device 102 is installed outside the elevator car, such as at the bottom, top, left and right sides of the elevator car, as shown in fig. 1a, which is a schematic view of the distance measuring device 102 installed at the bottom of the elevator car; as shown in fig. 1b, a schematic view of the installation of the distance measuring device 102 on top of the elevator car; as shown in fig. 1c, a schematic view of the installation of the distance measuring device 102 on the left side of the elevator car. Wherein the ranging device 102 and the server 104 communicate over a network. The distance measuring device 102 may implement tracking a plurality of target points and measuring relative distances to the target points by using a TOF (Time of flight) array camera shooting measurement technology and an infrared array camera shooting measurement technology; the directional distance measurement of a target point can also be realized by adopting a millimeter wave radar DBF (Digital Beam Forming) technology; the target point can be tracked and the relative distance between the target point and the target point can be measured by adopting a mode that the single-point distance sensor is arranged on a rotating shaft of the servo motor to rotate and track. The server 104 may be implemented as a stand-alone server or a server cluster composed of a plurality of servers.
The installation position of the distance measuring device 102 is not particularly limited in the present application, but the installation position thereof is required to satisfy a condition that the relative distance to each floor feature can be measured. If the guide rail on the left side of the hoistway is taken as a feature as in fig. 1a, the distance measuring device cannot be installed on the right side of the car because, when installed on the right side of the car, the distance measuring device will not be able to measure its distance from the feature.
In one embodiment, as shown in fig. 2, there is provided an elevator car position determining method, which is described by way of example as applied to the server 104 in fig. 1a, comprising the steps of:
step S202, a first measuring distance at the current moment is obtained through distance measuring equipment arranged outside an elevator car; the first measurement distance is the relative distance between the distance measuring equipment and a target feature object directionally tracked by the distance measuring equipment in the shaft; the target feature is determined from the current time height of the elevator car.
The distance measuring device means a device that can directionally track a target object and measure a relative distance to the target point, such as a millimeter wave radar, a single-point distance sensor, and the like.
The target feature object is an object tracked by the ranging equipment at a certain moment. In practical application, objects which are provided on each floor in the hoistway can be used as the features of each floor, such as hoistway door guide rails, hoistway door heads and the like. Fig. 3 is a schematic diagram of hall door positions in a hoistway, where the positions shown in circles are measured positions of hall door guide rails. The determination of the target characteristic object can be performed through the height of the elevator car at the current moment and the height range corresponding to each characteristic object.
In a specific implementation, the distance measuring device 102 may transmit a signal such as a millimeter wave or a laser to the target feature, receive an echo reflected from the target feature, calculate a relative distance between the distance measuring device 102 and the target feature according to a time interval between the transmitted signal and the distance measuring device 102 and the target feature and a propagation speed of the signal, and if the relative distance between the distance measuring device 102 and the target feature directionally tracked by the distance measuring device at the current time is used as a first measurement distance, the server 104 may obtain the first measurement distance from the distance measuring device 102 to further process the first measurement distance. However, as shown in fig. 1d, if the hall door guide rail is used as the target feature, r in fig. 1d is 1 I.e. the relative distance of the ranging device to the target feature, i.e. the first measured distance.
Step S204, acquiring the horizontal distance between the distance measuring equipment and the shaft, and acquiring the measuring height between the distance measuring equipment and the target feature object according to the first measuring distance and the horizontal distance.
In a specific implementation, before acquiring the position of the elevator car, the server 104 needs to acquire a horizontal distance between the distance measuring device and the hoistway, for example, as shown by k in fig. 1d, that is, the horizontal distance between the distance measuring device and the hoistway can be represented, and after acquiring the first measured distance and the horizontal distance between the distance measuring device and the hoistway, the measured height between the distance measuring device and the target feature can be calculated according to the first measured distance and the horizontal distance, for example, as shown by h1 in fig. 1d, and the calculation process can be represented by a formula as follows:
and step S206, acquiring a reference height corresponding to the target characteristic object, and determining the relative height of the elevator car in the shaft at the current moment according to the reference height and the measurement height of the distance measuring equipment and the target characteristic object as the position information of the elevator car.
Wherein the reference height may be expressed as a relative height of each feature to the reference feature. The reference feature represents the feature closest to the bottom pit or the top of the hoistway, namely the first-floor feature or the top-floor feature. When the first-floor feature is taken as the reference feature, the reference height corresponding to the first-floor feature is 0, the reference height corresponding to the second-floor feature is the floor height between the second floor and the first floor, the reference height corresponding to the third-floor feature is the sum of the floor heights between the second floor and the first floor and the floor heights between the third floor and the second floor, and so on, the reference height corresponding to each feature can be obtained.
In a specific implementation, after determining the target feature, the server 104 may obtain a reference height corresponding to the target feature, and since the reference height is a relative height between the target feature and the reference feature, the relative height between the ranging apparatus and the reference feature may be obtained according to the reference height and a measurement height between the ranging apparatus and the target feature, that is, after summing the reference height and the measurement height. For example, in fig. 1 a-1 f, if the top track is used as the reference feature, L in the figure 1 I.e. the reference height, L, of the second layer feature 1 And L 2 The sum of which may represent the reference height of the third layer feature.
Further, in practical applications, the distance measuring device 102 needs to be installed outside the elevator car in a tilted manner at a certain angle, so that a certain relative height exists between the distance measuring device 102 and the elevator car, and further, before the server 104 obtains the height of the elevator car in the hoistway, the relative height between the distance measuring device and the elevator car needs to be obtained, and according to the reference height, the measured height between the distance measuring device and the target feature and the relative height between the distance measuring device and the elevator car, the relative height of the elevator car in the hoistway, that is, the relative height between the bottom of the elevator car and the reference feature, can be obtained, and the relative height is used as the position information of the elevator car.
In the method for determining the position of the elevator car, the distance measuring equipment is arranged outside the elevator car, the relative distance between the distance measuring equipment and the target characteristic object is obtained through the distance measuring equipment to be used as the first measuring distance, the horizontal distance between the distance measuring equipment and the hoistway is obtained, the measuring height of the distance measuring equipment relative to the target characteristic object is obtained according to the first measuring distance and the horizontal distance, further, after the reference height corresponding to the target characteristic object is obtained, the relative height of the elevator car in the hoistway can be obtained according to the reference height and the measuring height of the distance measuring equipment and the target characteristic object, the method can obtain the position of the elevator car in the hoistway only by arranging one distance measuring equipment, the cost of the distance measuring equipment is low, the installation is simple and convenient, the method is easy to realize, and objects on each floor in the hoistway are respectively used as the characteristic objects corresponding to each floor to track, in actual measurement, only the relative distance between the distance measuring equipment and the target feature object needs to be measured, so that the distance measured by the distance measuring equipment is within the precision range, and the precision of the distance measuring result can be ensured, thereby solving the problems of higher difficulty in engineering implementation, higher cost and insufficient precision in the traditional method.
In one embodiment, the method further comprises: acquiring a switching height corresponding to each feature in a well; when the relative height of the elevator car in the shaft is equal to the switching height, sending a control command to the distance measuring equipment; the control instructions are used for instructing the ranging device to switch the directionally tracked target feature.
Wherein the switching height represents the relative height of the elevator car in the hoistway when the ranging apparatus switches the target feature it tracks.
In the specific implementation, because the height of the elevator car rises or falls along with the elevator car in the running process, and the target feature tracked by the distance measuring equipment is switched along with the elevator car, in the method, the switching height corresponding to each feature in the hoistway is also required to be acquired, the acquired relative height of the elevator car in the hoistway is compared with the switching height corresponding to each feature, when the relative height of the elevator car in the hoistway is equal to the switching height corresponding to any feature, the server sends a control command to the distance measuring equipment, and the distance measuring equipment receives the control command and switches the target feature directionally tracked by the distance measuring equipment according to the control command.
More specifically, if the height of the elevator car in the hoistway is equal to the switching height of any feature during the ascending process of the elevator car, the distance measuring equipment is indicated to start tracking the feature, and the server can send a first control command to the distance measuring equipment; the first control instruction is used for instructing the ranging equipment to switch the feature object corresponding to the switching height into the target feature object.
If the height of the elevator car in the hoistway is equal to the switching height of any feature in the descending process of the elevator car, the tracking of the feature by the distance measuring equipment is finished, the server sends a second control command to the distance measuring equipment, the second control command is used for instructing the distance measuring equipment to finish tracking the feature corresponding to the switching height, and the adjacent feature of which the switching height is smaller than the feature is used as a target feature.
In this embodiment, the switching heights corresponding to the features are obtained, and the relative height of the elevator car in the hoistway is compared with the switching heights corresponding to the features, so that the target features directionally tracked by the distance measuring equipment can be switched in time according to the comparison result, and the position of the elevator car can be determined in real time.
In one embodiment, the step of obtaining the switching heights corresponding to the features in the hoistway includes:
step S402, acquiring a second measurement distance from each feature at the maximum measurement angle through the distance measuring equipment;
step S404, acquiring the initial height of each feature tracked by the distance measuring equipment according to the second measuring distance and the horizontal distance;
step S406, obtaining a switching height corresponding to each feature according to each starting height and the reference height corresponding to each feature.
Wherein the maximum measurement angle represents the maximum value of the angle between the signal transmission direction of the ranging apparatus and the perpendicular bisector of the surface of the ranging apparatus, as shown by the angle β in fig. 1d and 1 e.
Wherein the second measurement distance represents the relative distance between the ranging apparatus and each feature when the ranging apparatus performs distance measurement at the maximum measurement angle, as shown by r in FIG. 1d 1 And r in FIG. 1e 2 As shown, the second measured distance may be represented.
Wherein the starting height represents the vertical height of the ranging apparatus relative to the feature when the ranging apparatus measures the feature at the maximum measurement angle, as shown by h in FIG. 1d 2 As shown, the starting height of the second floor feature when the distance measuring device tracks the second floor feature when the hoistway door guide rail is used as the feature.
It can be understood that when the distance measuring device tracks the target feature, the measuring angle of the distance measuring device changes along with the ascending or descending of the elevator car, so that when the relative height of the elevator car in the hoistway reaches the height at which the distance measuring device can measure the relative distance to the feature at the maximum measuring angle, the distance measuring device can perform directional tracking on the feature, and therefore the relative height of the elevator car in the hoistway at this time can be used as the switching height.
In the specific implementation, the relative distance between the distance measuring equipment acquired by the distance measuring equipment and each feature is measured at the maximum measuring angle and is used as a second measuring distance, the relative height between the distance measuring equipment and each feature is calculated according to the second measuring distance and the horizontal distance between the distance measuring equipment and the hoistway and is used as the starting height of the distance measuring equipment for tracking each feature, and the relative height of each feature in the hoistway can be obtained as the switching height corresponding to each feature according to the starting height and the reference height of each feature, namely the sum of the starting height of each feature and the height of each feature in the hoistway is calculated respectively.
If the distance measuring equipment is installed obliquely, after the relative height of each feature in the hoistway is obtained, the relative height of the bottom of the elevator car and the distance measuring equipment is required to be obtained, and the switching height corresponding to each feature is obtained according to the relative height of each feature in the hoistway and the relative height of the bottom of the elevator car and the distance measuring equipment.
In this embodiment, the second measurement distance between the distance measuring device and each feature is obtained at the maximum measurement angle, the starting height at which the distance measuring device tracks each feature is obtained according to the second measurement distance and the horizontal distance between the distance measuring device and the hoistway, and the switching height corresponding to each feature is further obtained according to the starting height and the reference height of each feature, so that whether the distance measuring device needs to switch the target feature which is directionally tracked is determined according to the switching height, and thus the accuracy of the measurement result is ensured by switching the target feature, and the problem that in a conventional method, only the distance from the elevator car to the bottom or the top of the hoistway is measured, and the measurement result is inaccurate as the running measurement distance of the elevator car increases is solved.
In one embodiment, the step of obtaining the reference height corresponding to the target feature includes:
step S502, when the target feature tracked by the distance measuring equipment is obtained by the distance measuring equipment at a fixed measuring angle and is sequentially switched to each feature, the relative height of the distance measuring equipment in a hoistway is used as the initial layer height of each feature;
step S504, height distance between any adjacent features is obtained according to the initial layer height of each feature, and standard layer height is obtained;
step S506, determining the reference height of each feature according to each standard layer height.
In the concrete implementation, after the distance measuring equipment is installed, the floor height learning between every two adjacent floors can be carried out, if the learning is started from the first floor of the floor, when the elevator car is detected to be at the first floor leveling position, the elevator car is controlled to move upwards, in the moving process of the elevator car, the distance measuring equipment can be controlled to measure the relative distance between the distance measuring equipment and the shaft at a fixed measuring angle and obtain the relative distance, because the measuring angle is fixed, a period of time exists before the distance measuring equipment measures the first floor characteristic objects and between the adjacent floors, the distance measuring equipment measures the relative distance between the distance measuring equipment and the shaft wall, and then the relative distance in the period of time is a fixed value. Due to the fact thatHere, when the difference between the relative distance at the next moment and the relative distance at the previous moment is greater than the set threshold, that is, when the relative distance measured by the distance measuring device suddenly decreases, it indicates that the distance measuring device has measured a certain feature, the relative distance between the distance measuring device and the feature at this moment can be obtained by the distance measuring device, and the relative height of the distance measuring device in the hoistway is calculated according to the relative distance, as shown in fig. 1e, when the relative distance changes, the measured relative distance r is obtained 1n The relative height of the distance measuring device in the hoistway can be calculated and recorded as
Similarly, the height H of the ranging apparatus in the hoistway can be obtained when the ranging apparatus measures the second floor feature 3 ', calculating H 3 ' and H 2 The difference can yield the height distance between the first layer feature and the second layer feature, and so on, the height distance between any adjacent features. Because the measuring angle of the distance measuring equipment is fixed, the positions of the characteristic objects of all floors are all at the same position of all floors, and therefore the obtained height distance between every two adjacent characteristic objects can represent the floor height between every two adjacent floors.
Further, after the target feature is determined, a plurality of floor heights corresponding to the target feature can be obtained from the floor heights between the adjacent floors, and the sum of the plurality of floor heights is calculated to be used as the reference height of the target feature. For example, in fig. 1a to 1f, if each floor hall door guide rail is used as a feature and the first floor hall door guide rail is used as a reference feature, the reference height of the first floor feature is 0, and the reference height of the second floor feature is L 1 The reference height of the third layer feature is L 1 +L 2 。
In this embodiment, when the distance measuring device is controlled to perform distance measurement at a fixed measuring angle and acquire target features tracked by the distance measuring device to be sequentially switched to the features, the relative height of the distance measuring device in the hoistway is obtained, and the height distance between any adjacent features, that is, the floor height between each adjacent floor is obtained by making a difference between the initial floor heights of the features, so that after the target features are determined, a plurality of floor heights corresponding to the target features can be acquired from each floor height, and the reference height of the target features is calculated, so as to further determine the relative height of the elevator car in the hoistway according to the reference height.
In one embodiment, the step S206 further includes: the method comprises the steps of obtaining a first relative height between distance measuring equipment and the bottom of an elevator car, and obtaining a second relative height of the distance measuring equipment in a shaft when the elevator car is at a reference flat floor; determining the absolute height of the elevator car in the shaft at the current moment according to the first relative height, the second relative height, the reference height and the measured heights of the distance measuring equipment and the target characteristic object.
Wherein, the reference flat may represent the floor flat closest to the top or pit of the hoistway, i.e., the first or top flat in the hoistway.
In a specific implementation, since the distance measuring device needs to be installed at a certain inclination angle so that the signal emitting direction of the distance measuring device can scan the feature objects of each floor, and thus the distance measuring device and the elevator car will have a certain relative distance, when determining the height of the elevator car in the hoistway, it is also necessary to obtain a first relative height of the distance measuring device and the bottom of the elevator car, as shown by d in fig. 1a and 1c, and when the elevator car is at a reference flat floor, that is, when the bottom of the elevator car is held with the guide rail of the reference floor, a second relative height of the distance measuring device in the hoistway, as shown by h in fig. 1c, for example 0 And calculating the absolute height of the elevator car in the shaft at the current moment according to the first relative height, the second relative height, the reference height and the measured heights of the distance measuring equipment and the target characteristic object. The second relative height can be obtained by arranging a reference measuring object at a pit or the bottom of the well and acquiring the relative distance between the reference measuring object and the distance measuring equipment.
In this embodiment, by obtaining the first relative height between the distance measuring device and the bottom of the elevator car and when the elevator car is on the reference flat floor, the second relative height of the distance measuring device in the hoistway, the height of the elevator car in the hoistway is calculated according to the first relative height, so that the obtained height result of the elevator car is more accurate, the height of the elevator car in the hoistway is calculated according to the second relative height, the absolute position of the elevator car in the hoistway can be obtained, and the elevator car is controlled according to the obtained absolute position of the elevator car.
In one embodiment, the method further comprises: acquiring the relative height of an elevator car in a shaft at the previous moment; and determining the target characteristic object of the distance measuring equipment at the current moment according to the relative height of the elevator car in the hoistway at the previous moment and the height range corresponding to each characteristic object.
The height range may represent a set of heights of the elevator car in the hoistway during a process from the start of tracking the target feature to the end of tracking the target feature by the distance measuring device, that is, during switching of the target feature, for example, when the distance measuring device starts tracking the target feature, the height of the elevator car in the hoistway is recorded as a first height, and when the distance measuring device starts switching of the target feature, the height of the elevator car in the hoistway is recorded as a second height, and the height range corresponding to the target feature may be represented as (the first height, the second height).
In the specific implementation, before the position of the elevator car is obtained, a target feature tracked by the distance measuring equipment needs to be determined, and after the target feature is determined, the reference height corresponding to the target feature can be obtained, so that the position of the elevator car is determined. More specifically, because the elevator car runs slowly, the relative height of the elevator car in the hoistway at the previous moment can be obtained, the relative height at the previous moment is matched with each height range, the corresponding target height range is determined, and the feature corresponding to the target height range is used as the target feature of the distance measuring equipment at the current moment.
Alternatively, the relative height of the elevator car in the hoistway at the current moment can be measured by an encoder installed in an elevator servo control system and is used as the initial height, and the target feature of the distance measuring equipment at the current moment is determined according to the initial height and the height range corresponding to each feature.
In this embodiment, the relative height of the elevator car in the hoistway at the previous time is obtained, and the target feature is determined according to the relative height and the height range corresponding to each feature, so as to further determine the reference height corresponding to the target feature, and determine the relative position of the elevator car in the hoistway according to the reference height.
In order to more clearly illustrate the technical solutions provided by the embodiments of the present application, an application example of the elevator car position determining method of the present application is described in detail below with reference to fig. 1c to 1f, taking a hoistway door guide rail of each floor in a hoistway as a feature of each floor, and taking a distance measuring device installed at the bottom of an elevator car as an example, and the specific flow of the method is as follows:
(1) obtaining a first measurement distance of the distance measuring equipment relative to a target feature object directionally tracked by the distance measuring equipment at any time in the running process of the elevator car, and recording the first measurement distance as r, and obtaining a horizontal distance of the distance measuring equipment relative to a hoistway, and recording the horizontal distance as k;
(2) and according to the first measurement distance r and the horizontal distance k, obtaining the relative height of the ranging equipment relative to the target characteristic object, and recording as a measurement height h, wherein,
(3) obtaining a reference height L corresponding to the target characteristic object, and calculating the sum of the measurement height h and the reference height L to obtain the relative height of the elevator car in the hoistway
When the first-layer feature is taken as the reference feature, the reference height L of the first-layer feature is 0, and the reference height L of the second-layer feature is L 1 The height L of the third layer feature is L ═ L 1 +L 2 And by analogy, the reference height corresponding to the characteristic object of each floor can be obtained, wherein L 1 And L 2 Respectively, the story height between each adjacent story.
If the horizontal inclination angle of the supporting plate for installing the distance measuring equipment is alpha, the maximum measuring angle of the distance measuring equipmentDegree beta, the corresponding switching height of each layer of feature
According to the reference height corresponding to each layer of feature, the switching height corresponding to the first layer of feature can be obtained as
Switching height corresponding to second floor feature
By analogy, the switching height corresponding to each feature can be obtained.
(4) Further, after the relative height H 'of the elevator car in the hoistway is obtained, the H' can be compared with the switching height H corresponding to each feature, and the target feature directionally tracked by the distance measuring equipment is switched according to the comparison result. Wherein, when H' < H, the distance measuring equipment measures the relative distance with the reference measurement object at the bottom of the shaft.
When the height H' of the elevator car in the shaft is larger than or equal to H along with the upward running of the elevator 1 When the distance measurement equipment is used, the relative distance between the distance measurement equipment and a reference measurement object at the bottom of the well is switched to the relative distance between the distance measurement equipment and the first-floor feature object; when the height H' of the elevator car in the shaft is ≧ H 2 In the meantime, the ranging device switches from measuring the relative distance to the first layer feature to measuring the relative distance to the second layer feature.
On the contrary, if the elevator runs downwards, when the height H' of the elevator car in the well is less than or equal to H 1 When the distance measuring equipment measures the relative distance between the distance measuring equipment and the first-floor characteristic object, the distance measuring equipment is switched to measure the relative distance between the distance measuring equipment and the reference measuring object at the bottom of the well; when the height H' of the elevator car in the well is less than or equal to H 2 While the distance measuring device measures the phase of the second layer featureAnd switching to measuring the relative distance to the first-layer feature.
In practical application, due to the inclined installation of the distance measuring equipment, the first relative height d between the distance measuring equipment and the bottom of the elevator car needs to be obtained, and when the elevator car is at a reference flat floor (namely, at a first-floor flat floor), the distance h between the distance measuring equipment and a pit of the shaft (the height of the distance measuring equipment in the shaft) is obtained 0 According to the measured height h, the reference height L, the first relative height d and the height h of the distance measuring device in the shaft 0 The absolute height of the elevator car in the shaft can be calculated
The method provided by the embodiment can obtain the position of the elevator car in the shaft by only installing one distance measuring device, the distance measuring device is low in cost, simple and convenient to install and easy to implement, engineering maintenance is easy to carry out, in addition, objects of all floors in the shaft are respectively used as the characteristic objects corresponding to all floors to track, in actual measurement, only the relative distance between the distance measuring device and a target characteristic object needs to be measured, the distance measured by the distance measuring device is within the precision range, the precision of a distance measuring result can be ensured, and therefore the problems that in the traditional method, the engineering implementation difficulty is high, the cost is high, and the precision is not enough can be solved.
It should be understood that although the steps in the flowcharts of fig. 2, 4 and 5 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 some of the steps in fig. 2, 4, and 5 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 performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 6, there is provided an elevator car position determining apparatus including: a measured distance acquisition module 602, a measured height acquisition module 604, and a car position determination module 606, wherein:
a measured distance obtaining module 602, configured to obtain a first measured distance at a current time through a distance measuring device installed outside the elevator car; the first measurement distance is the relative distance between the distance measuring equipment and a target feature object directionally tracked by the distance measuring equipment in the shaft; the target characteristic object is determined according to the height of the elevator car at the current moment;
the measurement height acquisition module 604 is configured to acquire a horizontal distance between the distance measurement device and the hoistway, and acquire a measurement height between the distance measurement device and the target feature according to the first measurement distance and the horizontal distance;
and the car position determining module 606 is used for acquiring a reference height corresponding to the target feature, and determining the relative height of the elevator car in the shaft at the current moment according to the reference height and the measured height of the distance measuring equipment and the target feature, wherein the relative height is used as the position information of the elevator car.
In one embodiment, the above apparatus further comprises:
the switching height acquisition module is used for acquiring the switching height corresponding to each feature in the hoistway;
the control command sending module is used for sending a control command to the distance measuring equipment when the relative height of the elevator car in the shaft is equal to the switching height; the control instructions are used for instructing the ranging device to switch the directionally tracked target feature.
In an embodiment, the switching height obtaining module is specifically configured to: acquiring a second measurement distance from each feature at the maximum measurement angle through the distance measurement equipment; acquiring the initial height of each feature tracked by the ranging equipment according to the second measurement distance and the horizontal distance; and acquiring the switching height corresponding to each feature according to each initial height and the reference height corresponding to each feature.
In one embodiment, the car position determination module 606 is further configured to: when the target feature tracked by the distance measuring equipment is obtained at a fixed measuring angle through the distance measuring equipment and is switched into different features, the relative height of the distance measuring equipment in a shaft is used as the initial layer height of each feature; acquiring the height distance between any adjacent features according to the initial layer height of each feature to obtain a plurality of standard layer heights; and determining the reference height of each feature according to each standard layer height.
In one embodiment, the car position determination module 606 is further configured to: the method comprises the steps of obtaining a first relative height between distance measuring equipment and the bottom of an elevator car, and obtaining a second relative height of the distance measuring equipment in a shaft when the elevator car is at a reference flat floor; determining the absolute height of the elevator car in the shaft at the current moment according to the first relative height, the second relative height, the reference height and the measured heights of the distance measuring equipment and the target characteristic object.
In one embodiment, the apparatus further comprises:
the relative height acquisition module is used for acquiring the relative height of the elevator car in the shaft at the previous moment;
and the target characteristic object determining module is used for determining the target characteristic object of the distance measuring equipment at the current moment according to the relative height of the elevator car in the hoistway at the previous moment and the height range corresponding to each characteristic object.
It should be noted that, the elevator car position determining apparatus of the present application corresponds to the elevator car position determining method of the present application one to one, and the technical features and the advantages thereof described in the above embodiment of the elevator car position determining method are all applicable to the embodiment of the elevator car position determining apparatus, and specific contents may refer to the description in the embodiment of the method of the present application, and are not described herein again, and thus, the description is hereby made.
Further, each module in the above-described elevator car position determining apparatus may be implemented in whole or in part by software, hardware, and a combination 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, a computer device is provided, which may be a server, and the internal structure thereof may be as shown in fig. 7. The computer device includes a processor, a memory, and a network interface 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 device is used to store data generated in the method for determining the position of the elevator car. 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 an elevator car position determination method.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, there is provided 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 first measurement distance at the current moment through distance measuring equipment arranged outside an elevator car; the first measurement distance is the relative distance between the distance measuring equipment and a target feature object directionally tracked by the distance measuring equipment in the shaft; the target characteristic object is determined according to the height of the elevator car at the current moment;
acquiring the horizontal distance between the distance measuring equipment and a hoistway, and acquiring the measuring height between the distance measuring equipment and a target feature object according to the first measuring distance and the horizontal distance;
and acquiring a reference height corresponding to the target characteristic object, and determining the relative height of the elevator car in the shaft at the current moment according to the reference height and the measurement height of the distance measuring equipment and the target characteristic object, wherein the relative height is used as the position information of the elevator car.
In an embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.
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 first measurement distance at the current moment through distance measuring equipment arranged outside an elevator car; the first measurement distance is the relative distance between the distance measuring equipment and a target feature object directionally tracked by the distance measuring equipment in the shaft; the target characteristic object is determined according to the height of the elevator car at the current moment;
acquiring the horizontal distance between the distance measuring equipment and a hoistway, and acquiring the measuring height between the distance measuring equipment and a target feature object according to the first measuring distance and the horizontal distance;
and acquiring a reference height corresponding to the target characteristic object, and determining the relative height of the elevator car in the shaft at the current moment according to the reference height and the measurement height of the distance measuring equipment and the target characteristic object, wherein the relative height is used as the position information of the elevator car.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
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 elevator car position, the method comprising:
acquiring a first measurement distance at the current moment through distance measuring equipment arranged outside an elevator car; the first measured distance is a relative distance between the ranging apparatus and a target feature directionally tracked by the ranging apparatus in a hoistway; the target feature is determined according to the height of the elevator car at the current moment;
acquiring the horizontal distance between the distance measuring equipment and the well, and acquiring the measuring height between the distance measuring equipment and the target feature according to the first measuring distance and the horizontal distance;
acquiring a reference height corresponding to the target feature, and determining the relative height of the elevator car in the shaft at the current moment according to the reference height and the measurement height of the distance measuring equipment and the target feature, wherein the relative height is used as the position information of the elevator car; the reference height characterizes a relative height between the target feature and a reference feature;
the method further comprises the following steps:
acquiring a switching height corresponding to each feature in the well; the switching height is determined based on a starting height when the distance measuring equipment tracks each feature and a reference height corresponding to each feature, wherein the starting height represents a vertical height of the distance measuring equipment relative to each feature when the distance measuring equipment measures each feature at a maximum measuring angle;
controlling the distance measuring equipment to switch the directionally tracked target feature based on the comparison result of the relative height of the elevator car in the hoistway and the switching height corresponding to each feature.
2. The method of claim 1, wherein the step of controlling the ranging apparatus to switch the directionally tracked target feature based on a comparison of the relative height of the elevator car in the hoistway and a switch height corresponding to each of the features comprises:
if the elevator car is in the ascending process, when the relative height of the elevator car in the shaft is equal to the switching height corresponding to the first characteristic object, sending a first control command to the distance measuring equipment; the first control instruction is used for instructing the ranging device to use the first feature as a target feature to be directionally tracked;
if the elevator car descends, when the relative height of the elevator car in the shaft is equal to the switching height corresponding to the second characteristic object, sending a second control command to the distance measuring equipment; the second control instruction is used for instructing the ranging device to switch an adjacent feature with a height smaller than the second feature as the directionally tracked target feature;
wherein the first feature and the second feature are any one of the features.
3. The method of claim 1, wherein the step of obtaining a switching height for each feature in the hoistway comprises:
acquiring a second measurement distance from each feature at a maximum measurement angle by the ranging device;
according to the second measuring distance and the horizontal distance, the initial height of each feature tracked by the distance measuring equipment is obtained;
and acquiring a switching height corresponding to each feature according to each starting height and the reference height corresponding to each feature.
4. The method of claim 1, wherein the step of obtaining a reference height corresponding to the target feature comprises:
when the target feature tracked by the distance measuring equipment is switched into different features through the distance measuring equipment at a fixed measuring angle, the relative height of the distance measuring equipment in the shaft is used as the initial layer height of each feature;
acquiring the height distance between any adjacent features according to the initial layer height of each feature to obtain a plurality of standard layer heights;
a reference height for each of the features is determined based on each of the standard layer heights.
5. The method of claim 1, wherein the step of determining the relative height of the elevator car in the hoistway at the current time based on the reference height and the relative measured height of the ranging apparatus and the target feature further comprises:
acquiring a first relative height between the distance measuring equipment and the bottom of the elevator car, and acquiring a second relative height of the distance measuring equipment in the shaft when the elevator car is at a reference flat floor;
determining an absolute height of the elevator car in the hoistway at the present time based on the first relative height, the second relative height, the reference height, and the measured height of the ranging device and the target feature.
6. The method of claim 1, further comprising:
acquiring the relative height of the elevator car in the shaft at the previous moment;
and determining the target characteristic object of the distance measuring equipment at the current moment according to the relative height of the elevator car in the hoistway at the previous moment and the height range corresponding to each characteristic object.
7. An elevator car position determining apparatus, the apparatus comprising:
the measuring distance obtaining module is used for obtaining a first measuring distance at the current moment through distance measuring equipment arranged outside the elevator car; the first measured distance is a relative distance between the ranging apparatus and a target feature directionally tracked by the ranging apparatus in a hoistway; the target feature is determined according to the height of the elevator car at the current moment;
the measurement height acquisition module is used for acquiring the horizontal distance between the distance measurement equipment and the shaft and acquiring the measurement height between the distance measurement equipment and the target feature object according to the first measurement distance and the horizontal distance;
the car position determining module is used for acquiring a reference height corresponding to the target feature, and determining the relative height of the elevator car in the shaft at the current moment according to the reference height and the measured height of the distance measuring equipment and the target feature, wherein the relative height is used as the position information of the elevator car; the reference height characterizes a relative height between the target feature and a reference feature;
the switching height acquisition module is used for acquiring the switching height corresponding to each feature in the well; the switching height is determined based on a starting height when the distance measuring equipment tracks each feature and a reference height corresponding to each feature, wherein the starting height represents a vertical height of the distance measuring equipment relative to each feature when the distance measuring equipment measures each feature at a maximum measuring angle;
and the control module is used for controlling the distance measuring equipment to switch the directionally tracked target characteristic object based on the comparison result of the relative height of the elevator car in the shaft and the switching height corresponding to each characteristic object.
8. The apparatus of claim 7, wherein the control module further comprises:
the first instruction sending module is used for sending a first control instruction to the distance measuring equipment when the relative height of the elevator car in the hoistway is equal to the switching height corresponding to the first feature in the ascending process of the elevator car; the first control instruction is used for instructing the ranging device to take the first feature as a new target feature which is directionally tracked;
the second instruction sending module is used for sending a second control instruction to the distance measuring equipment when the relative height of the elevator car in the shaft is equal to the switching height corresponding to the second characteristic object in the descending process of the elevator car; the second control instruction is used for instructing the ranging device to switch an adjacent feature with a height smaller than the second feature as a new target feature for directional tracking;
wherein the first feature and the second feature are any one of the features.
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.
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| CN112061909B (en) * | 2020-09-23 | 2023-03-17 | 森思泰克河北科技有限公司 | Elevator control system |
| CN112551294B (en) * | 2020-11-27 | 2023-01-24 | 纳恩博（北京）科技有限公司 | Method and device for positioning elevator car and storage medium |
| CN114803747B (en) * | 2021-01-29 | 2023-08-18 | 日立楼宇技术（广州）有限公司 | Positioning method and device for car, computer equipment and storage medium |
| US20230339724A1 (en) * | 2022-04-25 | 2023-10-26 | Otis Elevator Company | Elevator car position detection |
| WO2024082117A1 (en) * | 2022-10-18 | 2024-04-25 | 日立楼宇技术（广州）有限公司 | Radar ranging method and apparatus, and device and storage medium |
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