CN114104885A - Car position determining device and car position determining method - Google Patents
Car position determining device and car position determining method Download PDFInfo
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- CN114104885A CN114104885A CN202110691083.3A CN202110691083A CN114104885A CN 114104885 A CN114104885 A CN 114104885A CN 202110691083 A CN202110691083 A CN 202110691083A CN 114104885 A CN114104885 A CN 114104885A
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- 230000001133 acceleration Effects 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 12
- 230000002159 abnormal effect Effects 0.000 claims description 8
- 230000000449 premovement Effects 0.000 claims description 2
- 238000002360 preparation method Methods 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 description 13
- 238000012937 correction Methods 0.000 description 11
- 230000005856 abnormality Effects 0.000 description 10
- 238000012423 maintenance Methods 0.000 description 7
- 238000003745 diagnosis Methods 0.000 description 5
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- 238000004364 calculation method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3492—Position or motion detectors or driving means for the detector
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- 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
- B66B1/3407—Setting or modification of parameters of the control system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
- B66B5/0025—Devices monitoring the operating condition of the elevator system for maintenance or repair
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
- Maintenance And Inspection Apparatuses For Elevators (AREA)
- Elevator Control (AREA)
Abstract
The invention provides a car position specifying device and a car position specifying method. The car position determination device is provided with a control module for determining the position of the car based on a detection signal of a sensor module arranged on the car of the elevator, wherein the sensor module is provided with a magnetic sensor and an air pressure sensor, and when the opening and closing action of a door when the car stops is detected based on the detection signal of the magnetic sensor, the control module corrects the air pressure sensor and estimates the stop position of the car by using the corrected sensor value of the air pressure sensor.
Description
Technical Field
The present invention relates to a car position specifying device and a car position specifying method for an elevator.
Background
In general, a remote monitoring system for measuring an abnormality of an elevator measures an abnormality in a position or a speed of a car, a closed fault, or the like using information from a control device for controlling the elevator, and notifies a monitoring center of the elevator or an operator performing maintenance of the elevator of the measured state. However, in some cases, information of a control device of the elevator cannot be used in the elevator, and in this case, a method of detecting the position of the car based on information obtained from an external sensor has been proposed.
In addition, a technique of using an air pressure sensor as the external sensor is also proposed. For example, patent document 1 discloses a technique for associating air pressure data with floor information to generate a floor data table in advance and identifying a floor corresponding to the measured air pressure data. Further, patent document 1 also discloses that the air pressure varies depending on the climate, and therefore, the air pressure data stored in the floor data table is corrected based on the data of the air pressure sensor output when the car arrives at the reference floor.
In the conventional system using the air pressure sensor, it is premised that whether the car is stopped is determined based on acceleration data output from the acceleration sensor. However, when there is a user in the car, the acceleration of the car changes by the movement of the user in the car, and there is a possibility that an acceleration signal reflecting the operation state of the car is hidden. Therefore, correct correction of the air pressure data can be performed only when there is no user in the car, and as a result, the accuracy of determining the position of the car is affected.
Patent document 1: japanese patent laid-open publication No. 2019-199347
Disclosure of Invention
The invention aims to provide a car position determining device which improves the determining precision of the car position.
In order to solve the above problem, the present invention provides a car position specifying device including: in the car position determination device, the sensor module includes a magnetic sensor and an air pressure sensor, and the control module corrects the air pressure sensor when detecting a door opening/closing operation when the car stops based on a detection signal of the magnetic sensor, and estimates a stop position of the car using a sensor value of the air pressure sensor after correction.
According to the present invention, a car position specifying device in which the accuracy of specifying the car position is improved can be provided.
Drawings
Fig. 1 is an overall configuration diagram of an elevator monitoring system according to an embodiment of the present invention.
Fig. 2 is a block diagram showing a configuration of a car position specifying device according to an embodiment of the present invention.
Fig. 3 is a graph showing an example of transition of a magnetic signal detected by a magnetic sensor.
Fig. 4 is a flowchart showing a method of estimating the car position.
Fig. 5 is a flowchart showing a method of updating the air pressure value stored in the air pressure value storage unit.
Fig. 6 is a graph showing transition of a magnetic signal detected by a magnetic sensor.
Fig. 7 is a graph showing changes in car height output by the air pressure sensor when the air pressure value is not corrected.
Fig. 8 is a graph showing changes in car height output by the air pressure sensor when the air pressure value is corrected according to the present embodiment.
Fig. 9 is a graph showing an example of transition of an acceleration signal detected when an acceleration sensor is provided in a car as a comparative example.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
Fig. 1 is an overall configuration diagram of an elevator monitoring system according to this embodiment. As shown in fig. 1, the elevator monitoring system of the present embodiment includes a sensor module 1, a control module 2, a communication line 3, a monitoring server 4, a monitoring device 5, and a terminal device 6. The sensor module 1 and the control module 2 constitute a car position specifying device 7.
Although not shown, the elevator includes a car, a counterweight, a main rope, and a hoist. The main sling suspends the car and the counterweight and is driven by the hoist, so that the car and the counterweight move in the lifting channel.
The sensor module 1 is provided on the upper part of the car of the elevator, and includes a magnetic sensor 8 and an air pressure sensor 9. The air pressure sensor 9 outputs a detected air pressure signal to the control module 2 in order to detect a change in height associated with the raising and lowering of the car. The magnetic sensor 8 outputs a detected magnetic signal to the control module 2 in order to detect the opening and closing operation of the car door and the number of floors passing by. Here, by disposing the sensor module 1 at a position within 20cm from the door driving device, not only operability when the sensor module 1 is installed is good, but also detection accuracy of the magnetic sensor 8 with respect to the opening and closing operation of the car door is improved. Further, by providing the sensor module 1 on the landing side of the car door, it is possible to prevent direct contact by the user and to improve the detection accuracy of the opening and closing operation of the car door.
The control module 2 estimates the position of the car based on the air pressure signal and the magnetic signal detected by the sensor module 1, and transmits the estimated position of the car to the monitoring server 4, the monitoring device 5, or the terminal device 6 when the estimated position of the car is not at a position corresponding to a certain floor. The control module 2 corrects (calibrates) the air pressure sensor 9 when detecting the opening/closing operation of the car door when the car stops based on the detection signal of the magnetic sensor 8. The control module 2 may be provided on the upper part of the car by a structure integrated with the sensor module 1, or may be provided in a place different from the sensor module 1. A specific method of correcting the air pressure sensor 9 will be described later.
The monitoring server 4 is connected to the control module 2 (car position specifying device 7) via the communication line 3, and is installed in a monitoring center or the like, which is a place where the state of the elevator car is remotely monitored. The monitoring server 4 has a database for determining an elevator based on a message from the car position determination device 7. The following information is stored in the database: building information, elevator information, and the like of the building in which the elevator under the maintenance contract is signed are set. Therefore, upon receiving a notification such as an abnormal stop from the control module 2, the monitoring server 4 transmits the building information, the elevator information, and the abnormality notification content to the display device of the office that governs the specified elevator. The manager of the office confirms the contents displayed on the display device and gives an instruction to the maintenance staff of the elevator having a message.
The monitoring device 5 is installed in a management room or the like of a building in which the elevator is installed, and is connected to the control module 2 via the communication line 3 similarly to the monitoring server 4, and therefore can receive an abnormality report of the elevator. The terminal device 6 is a device carried by a maintenance person who performs elevator maintenance inspection or the like, and is connected to the control module via the communication line 3, whereby the maintenance person can confirm the position information of the car.
Fig. 2 is a block diagram showing the configuration of the car position specifying device 7 of the present embodiment. Here, the function of the control module 2 in the car position determination device 7 will be described in detail. As shown in fig. 2, the control module 2 of the present embodiment includes a door opening/closing detection unit 21, a moving floor number detection unit 22, an air pressure value storage unit 23, a moving direction determination unit 24, a drift amount calculation unit 25, an air pressure value correction unit 26, a car position estimation unit 27, an abnormality diagnosis unit 28, and a communication unit 29.
The door opening/closing detection unit 21 detects a door opening operation or a door closing operation of the car based on the magnetic signal detected by the magnetic sensor 8. The moving floor number detection unit 22 detects the number of floors on which the car moves based on the magnetic signal detected by the magnetic sensor 8. The air pressure value storage unit 23 stores the air pressure value detected by the air pressure sensor 9 when the car has stopped. The moving direction determination unit 24 compares the detection signals of the air pressure sensor 9 before and after the movement of the car, thereby determining the moving direction (ascending or descending) of the car. The drift amount calculation unit 25 calculates the drift amount of the air pressure sensor 9 based on the detection signals of the air pressure sensor 9 before and after the movement of the car. The air pressure value correcting unit 26 subtracts the drift amount calculated by the drift amount calculating unit 25 from the detection signal of the air pressure sensor 9 of the car after the movement, thereby correcting the air pressure sensor 9. The car position estimating unit 27 estimates the stop position of the car using the corrected sensor value of the air pressure sensor 9. The abnormality diagnosis unit 28 diagnoses that the car is abnormally stopped when the estimated stop position of the car does not satisfy a predetermined condition. When the abnormality diagnosing unit 28 diagnoses the abnormal stop, the communication unit 29 transmits a message to the monitoring server 4 and the like via the communication line 3.
Fig. 3 is a graph showing an example of transition of the magnetic signal detected by the magnetic sensor 8. The door opening/closing detector 21 detects the opening or closing operation of the door when detecting the magnetic signal protruding downward. Here, the magnetic signal protruding downward refers to a magnetic signal in which the entire gap between the front and rear sides of the flat portion (for example, in a period of 40ms to 55ms in fig. 3) is small and the gap is large. Such a magnetic signal protruding downward is considered to be a magnetic signal generated as a metal member moves in association with the opening and closing operation of the door.
When the peak-like magnetic signal is detected, the moving floor number detection unit 22 detects the floor where the car has moved by the number of peaks. For example, since 2 peaks exist in the time period of 60ms to 70ms in fig. 3, the moving floor number detection unit 22 determines that the car has passed 2 floors (in the example of fig. 3, the car moves from 3 floors to 1 floor). Here, the spike-like magnetic signal refers to a magnetic signal that has changed by a certain amount or more for a predetermined time. After the closing operation of the door is detected based on the magnetic signal of the downward projection, the number of moving floors is determined based on the magnetic signals having several peak shapes until the opening operation of the door is detected based on the magnetic signal of the next downward projection. The spike-like magnetic signal is considered to be a signal generated when passing through a landing door located at each floor.
Fig. 4 is a flowchart showing a method of estimating the car position. As shown in fig. 4, first, in a state where the car is stopped, the door opening/closing detection section 21 of the control module 2 detects opening/closing of the car door based on the detection signal of the magnetic sensor 8 (here, door closing operation before the start of movement) (step S101). Next, when the movement of the car is detected by the generation of the spike-shaped magnetic signal (step S102), the opening/closing of the car door is detected again by the door opening/closing detection unit 21 (here, the door opening operation after the start of the movement) (step S103).
After that, when the air pressure sensor 9 acquires the latest air pressure value (step S104), the moving direction determining unit 24 in the control mode 2 determines the moving direction of the car based on the previous (before-movement) air pressure value and the latest (after-movement) air pressure value stored in the air pressure value storage unit 23 before the car moves (step S105). The car position estimating unit 27 of the control module 2 estimates the floor position of the car using the determined moving direction, the moving floor number (specifically, the number of sharp peaks) detected by the moving floor number detecting unit 22, and the pre-movement floor position determined from the air pressure value before movement (step S106).
On the other hand, when the barometric pressure sensor acquires the latest barometric pressure value in step S104, the drift amount calculation unit 25 calculates the drift amount of the barometric pressure sensor 9 by, for example, a linear function based on the previous barometric pressure value and the latest barometric pressure value (step S107). Next, the air pressure value correction unit 26 subtracts the drift amount calculated by the drift amount calculation unit 25 from the latest air pressure value, thereby correcting the air pressure sensor 9 (step S108). Then, it is determined whether or not a weather flag is set (step S109). The weather flag is set to off when the change in the air pressure is large due to the weather effect caused by the weather, such as the passing of a frontal surface or low air pressure, and the detailed position of the car is estimated without using the air pressure sensor 9. When the setting of the weather flag is on in step S109, the car position estimating unit 27 estimates the detailed position of the car using the air pressure value of the air pressure sensor 9 corrected by the air pressure value correcting unit 26 (step S110).
At this time, the car position estimating unit 27 converts the corrected sensor value of the air pressure sensor 9 into the height of the car in the hoistway. For example, the air pressure just before the door closes the car and starts moving is set to P0Setting the air pressure just after the car moving door is opened as P, and setting the air temperature in the moving process of the carAssuming that T, the change h in height caused by the movement of the car is estimated by the following equation 1.
[ numerical formula 1]
Here, the temperature T during movement is acquired by a temperature sensor or the like built in the sensor module 1. The sensor value of the air pressure sensor 9 may be estimated by using a table in which a relationship between the sensor value and the floor height is determined in advance, in addition to the conversion equation such as equation 1.
Fig. 5 is a flowchart showing a method of updating the atmospheric pressure value stored in the atmospheric pressure value storage unit 23. As shown in fig. 5, it is first determined whether a predetermined time (for example, 1 minute) has elapsed since the time point at which the air pressure value was last acquired or corrected (step S201). The presence of the car in the stopped state can be detected by the magnetic sensor 8 not detecting the spike-like magnetic signal. If the predetermined time has elapsed, the air pressure sensor acquires the air pressure value again (step S202). As the timing for acquiring the air pressure value again, for example, it is considered that the timing is performed while the car is stopped at a reference floor (floor where the number of users is the largest such as floor 1) and the door is closed without a user (call of the car).
Next, it is determined whether or not the difference between the newly acquired air pressure value and the air pressure value (last time) stored in the air pressure value storage unit 23 at the current time point is larger than a threshold value (for example, 0.5 hPa/min) (step S203). When the difference is smaller than the threshold value, the setting of the weather flag is turned on (step S204), and then the air pressure value in the air pressure value storage unit 23 is updated from the previous air pressure value to the newly acquired air pressure value (step S206). On the other hand, when the difference is larger than the threshold value, the setting of the weather flag is turned off (step S205), and then the air pressure value of the air pressure value storage unit 23 is updated from the previous air pressure value to the newly acquired air pressure value (step S206).
The following describes effects of correcting the air pressure sensor at the timing of the door opening/closing operation when the car is detected to have stopped based on the detection signal of the magnetic sensor, using graphs shown in fig. 6 to 8 on a common time axis. Fig. 6 shows changes in the magnetic signal detected by the magnetic sensor, fig. 7 shows changes in the car height output by the air pressure sensor when the air pressure value correction is not performed, and fig. 8 shows changes in the car height output by the air pressure sensor when the air pressure value correction of the present embodiment is performed. The horizontal lines in the graphs of fig. 7 and 8 represent actual heights corresponding to the floors of the building.
For example, as shown in fig. 7, the air pressure value of the air pressure sensor 9 before correction deviates from the actual height of 7 layers. In contrast, as shown in fig. 8, the corrected air pressure value of the air pressure sensor 9 almost matches the actual height of 7 layers. As described above, the car specifying device according to the present embodiment can improve the accuracy of specifying the car position.
Fig. 9 is a graph showing an example of transition of an acceleration signal detected when an acceleration sensor is provided in a car as a comparative example. As shown in fig. 9, it is understood that the vibration when the user moves in and out of the car or moves in the car is larger than the vibration accompanying the operation of the car itself. Therefore, when there is a user in the car, it is difficult to accurately correct the air pressure sensor only by the acceleration sensor.
The abnormality diagnosis unit 28 of the present embodiment determines whether or not the car position (height) estimated by the car position estimation unit 27 corresponds to a height corresponding to each floor, and if there is no correspondence, determines that the car is stopped at a position at which the car should not be stopped originally, and determines that the car is abnormally stopped. When the abnormality diagnosis unit 28 diagnoses the abnormal stop, the communication unit 29 sends a message to the monitoring server 4 or the like via the communication line 3. When an abnormal report is sent, the monitoring center contacts with a business office to dispatch maintenance personnel to the object elevator.
As described above, in the car position determining device of the present embodiment, the correction of the air pressure sensor 9 is performed at the timing when the magnetic sensor detects the opening and closing operation of the car door, and therefore, the correction can be performed even when there is a user in the car. Therefore, the correction frequency of the air pressure sensor 9 can be increased, the position of the car can be accurately specified, and as a result, erroneous determination of abnormal stop can be suppressed.
The above-described embodiments are described in detail to explain the present invention easily and understandably, but the present invention is not limited to the embodiments having all the structures described. In addition, as for a part of the configuration of the embodiment, addition, deletion, and replacement of other configurations can be performed.
For example, in the above embodiment, the sensor module 1 is configured by the magnetic sensor 8 and the air pressure sensor 9, but the installation of the acceleration sensor is not hindered. By further providing an acceleration sensor as the sensor module 1, even when the magnetic sensor 8 fails, it is possible to detect that the car has stopped based on the detection signal of the acceleration sensor. In addition, if the acceleration sensor is used, not only the moving direction of the car can be determined, but also an emergency stop of the car can be detected, so that the accuracy of diagnosing an abnormal stop is improved.
Further, the sensor module 1 may be provided with a camera or a human body sensor, and the control module 2 corrects the air pressure sensor 9 when detecting that there is no user in the car. If the camera is used, it is also possible to determine whether or not the user has performed a button operation. In this way, the correction accuracy can be further improved by correcting the air pressure sensor when the car is stopped without a user.
Description of reference numerals
1 sensor module
2 control module
3 communication line
4 monitoring server
5 monitoring device
6 terminal device
7 car position determining device
8 magnetic sensor
9 air pressure sensor
21 door opening/closing detection unit
22 moving floor number detecting part
23 air pressure value storage part
24 movement direction determination unit
25 drift amount calculating part
26 air pressure value correcting part
27 car position estimating part
28 abnormality diagnosis unit
29 a communication unit.
Claims (12)
1. A car position determination device is provided with a control module which determines the position of a car of an elevator based on a detection signal of a sensor module arranged on the car,
it is characterized in that the preparation method is characterized in that,
the sensor module has a magnetic sensor and a pneumatic sensor,
the control module corrects the air pressure sensor when detecting a door opening/closing operation when the car has stopped based on a detection signal of the magnetic sensor, and estimates a stop position of the car using a corrected sensor value of the air pressure sensor.
2. The car position determination device according to claim 1,
the control module estimates a post-movement floor position of the car using a pre-movement floor position determined from a detection signal of the air pressure sensor before movement, a movement direction determined from detection signals of the air pressure sensor before and after movement, and a movement floor number detected based on a detection signal of the magnetic sensor when the car has moved.
3. The car position determination device according to claim 1,
the control module calculates a drift amount of the air pressure sensor based on detection signals of the air pressure sensor before and after movement when the car moves, and corrects the air pressure sensor by subtracting the drift amount from the detection signal of the air pressure sensor after movement.
4. The car position determination device according to claim 1,
and the control module converts the corrected sensor value of the air pressure sensor into the height of the car in a lifting channel.
5. The car position determination device according to claim 1,
the control module is configured to send a notification as an abnormal stop via a communication line when the estimated stop position of the car does not satisfy a predetermined condition.
6. The car position determination device according to claim 1,
the sensor module is disposed on an upper portion of the car or a door of the car.
7. The car position determination device according to claim 6,
the sensor module is disposed at an upper portion of the car within 20cm of a door driving device.
8. The car position determination device according to claim 1,
the sensor module is also provided with an acceleration sensor,
the control module detects that the car has stopped based on a detection signal of the acceleration sensor.
9. The car position determination device according to claim 8,
the control module detects a moving direction and an abnormal stop of the car based on a detection signal of the acceleration sensor.
10. The car position determination device according to claim 1,
when a predetermined time has elapsed from a stop state of the car, the control module corrects the air pressure sensor.
11. The car position determination device according to claim 1,
the sensor module also has a camera or body sensor,
when no user is detected in the car, the control module corrects the air pressure sensor.
12. A car position determining method of determining a position of a car of an elevator based on a detection signal of a sensor provided at the car,
when the opening and closing operation of the door is detected based on the detection signal of the magnetic sensor when the car is stopped, the air pressure sensor is corrected, and the stop position of the car is estimated by using the corrected sensor value of the air pressure sensor.
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| JP2020111495A JP7395433B2 (en) | 2020-06-29 | 2020-06-29 | Car position identification device and car position identification method |
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|---|---|---|---|---|
| CN115258868A (en) * | 2021-04-30 | 2022-11-01 | 株式会社日立大厦系统 | Elevator abnormity detection device |
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| CN114538223B (en) * | 2022-02-19 | 2023-09-08 | 上海有个机器人有限公司 | Method, system and related products for acquiring stop floors of elevator car in real time |
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| JP7395433B2 (en) | 2023-12-11 |
| JP2022010769A (en) | 2022-01-17 |
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