CN115231407B - Displacement detection method, device and equipment of elevator and storage medium - Google Patents
Displacement detection method, device and equipment of elevator and storage medium Download PDFInfo
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Classifications
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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
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
- B66B11/02—Cages, i.e. cars
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Abstract
The invention discloses a displacement detection method, a device, equipment and a storage medium of an elevator, wherein the method comprises the following steps: driving a car of an elevator to move in a hoistway; driving a radar to transmit multi-frame radar signals to a target object and receive multi-frame radar signals reflected by the target object, wherein the target object is a hoistway or an accessory of the hoistway when the radar is installed in a car, and the target object is the car when the radar is installed in the hoistway; calculating an original inter-frame phase difference between two adjacent frames of radar signals; correcting the original inter-frame phase difference into a target inter-frame phase difference; and measuring the sliding distance of the car between two adjacent frames of radar signals according to the target inter-frame phase difference. The radar signal has larger span relative to the chirp signal, can avoid error accumulation in frames, reduce error accumulation between frames, reduce error of estimating the displacement of the car, and improve the accuracy of the displacement of the car.
Description
Technical Field
The present invention relates to the field of elevator technologies, and in particular, to a method, an apparatus, a device, and a storage medium for detecting displacement of an elevator.
Background
The elevator is special equipment generally equipped in buildings such as schools, houses, office buildings and the like, and is widely used in life, work and study of people.
Radar is arranged in an elevator, and when the elevator operates, the radar is used for detecting the displacement of the elevator car sliding relative to a well, and the state of the elevator car is analyzed through the displacement, so that the safe operation of the elevator is ensured.
At present, the velocity of the car is calculated mainly by using the phase difference of the chirp signal chirp of the radar, and the displacement is calculated by integrating the velocity over time.
However, the speed of the elevator varies during running, and the interval of the chirp signals chirp is short, so that a certain error exists in estimating the displacement according to the chirp signals chirp, and a plurality of errors are accumulated, which results in an increase in the error in estimating the displacement of the car.
Disclosure of Invention
The invention provides a displacement detection method, a device, equipment and a storage medium of an elevator, which are used for solving the problem of how to reduce the error of estimating the displacement of a lift car when the elevator runs.
According to an aspect of the present invention, there is provided a displacement detection method of an elevator, including:
driving a car of an elevator to move in a hoistway;
driving a radar to emit multi-frame radar signals to a target object and receiving multi-frame radar signals reflected by the target object, wherein the target object is a hoistway or an attachment of the hoistway when the radar is installed in a car, and the target object is the car when the radar is installed in the hoistway;
Calculating an original inter-frame phase difference between two adjacent frames of radar signals;
correcting the original inter-frame phase difference into a target inter-frame phase difference;
and measuring the sliding distance of the car between two adjacent frames of radar signals according to the target inter-frame phase difference.
According to another aspect of the present invention, there is provided a displacement detection device of an elevator, including:
an elevator operation determining module for driving a car of an elevator to move in a hoistway;
the radar signal receiving and transmitting module is used for driving a radar to transmit multi-frame radar signals to a target object and receiving multi-frame radar signals reflected by the target object, when the radar is installed in a lift car, the target object is the lift shaft or an accessory of the lift shaft, and when the radar is installed in the lift shaft, the target object is the lift car;
the original inter-frame phase difference calculation module is used for calculating the original inter-frame phase difference between the radar signals of two adjacent frames;
the target inter-frame phase difference correction module is used for correcting the original inter-frame phase difference into a target inter-frame phase difference;
and the sliding distance calculation module is used for measuring the sliding distance of the car between two adjacent frames of radar signals according to the target inter-frame phase difference.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of detecting displacement of an elevator according to any one of the embodiments of the present invention.
According to another aspect of the invention, a computer readable storage medium is provided, which stores a computer program for causing a processor to execute the displacement detection method of an elevator according to any embodiment of the invention.
In this embodiment, the car of the drive elevator moves in the hoistway; driving a radar to transmit multi-frame radar signals to a target object and receive multi-frame radar signals reflected by the target object, wherein the target object is a hoistway or an accessory of the hoistway when the radar is installed in a car, and the target object is the car when the radar is installed in the hoistway; calculating an original inter-frame phase difference between two adjacent frames of radar signals; correcting the original inter-frame phase difference into a target inter-frame phase difference; and measuring the sliding distance of the car between two adjacent frames of radar signals according to the target inter-frame phase difference. The radar signal has larger span relative to the chirp signal, can avoid error accumulation in frames, reduce error accumulation between frames, reduce error of estimating the displacement of the car, and improve the accuracy of the displacement of the car.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a displacement detection method of an elevator according to a first embodiment of the present invention;
fig. 2 is a schematic view of a car sliding of an elevator according to a first embodiment of the invention;
fig. 3 is a waveform diagram of a radar signal according to a first embodiment of the present invention;
fig. 4 is a waveform frequency variation chart of a radar signal according to a first embodiment of the present invention;
FIG. 5 is a diagram illustrating a frequency variation of transmission and reception according to a first embodiment of the present invention;
FIG. 6 is a schematic diagram of mixing of a stationary object according to a first embodiment of the present invention;
fig. 7 is a schematic diagram of mixing of a moving object according to a first embodiment of the present invention;
fig. 8 is a schematic diagram of a radar signal and a chirp signal according to a first embodiment of the present invention;
fig. 9 is a schematic structural view of a displacement detecting device of an elevator according to a second embodiment of the present invention;
fig. 10 is a schematic structural view of an electronic device implementing a displacement detection method of an elevator according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a method for detecting displacement of an elevator according to an embodiment of the present invention, where the method may be applied to estimating a displacement of a car according to a radar signal itself when the elevator is running, and the method may be performed by a displacement detecting device of the elevator, where the displacement detecting device of the elevator may be implemented in hardware and/or software, and where the displacement detecting device of the elevator may be configured in an electronic device. As shown in fig. 1, the method includes:
step 101, driving the elevator car to move in the hoistway.
In general, elevators are different in type and function, such as passenger elevator, freight elevator, sightseeing elevator, etc., and thus, components installed in the elevators are also different.
In one example, the components of a certain type of elevator include a hoisting machine, a control cabinet, a speed limiter, a door opener, a car frame, a car door, a counterweight guide rail, a car guide rail, a guide rail bracket, a travelling cable, a counterweight, a compensation chain (cable), a landing door, a guide for the compensation chain (cable), and a buffer.
Of course, in some types of elevators, the hoisting machine, the control cabinet, the speed limiter, the travelling cable may be omitted, which is not limited in this embodiment.
In practical application, as shown in fig. 2, a hoistway 210 is provided inside or outside a building such as a teaching building, an office building, a residence, etc., a car 220 of an elevator can slide in the hoistway 210, a control panel is provided on each floor 230 or the first floor 230 of the building, buttons for calling up and calling down are generally provided on the control panel, and a passenger 240 can press the buttons to send a call request, however, the passenger 240 can also send a call request using a client, which is not limited in this embodiment.
When the elevator receives the elevator call request, the elevator car 220 is controlled to slide to the floor where the passenger 240 is located in the hoistway 210, the car door is opened, the car door is closed after the passenger 240 enters the elevator car 220, a control panel is arranged in the elevator car 220, buttons such as each floor, door opening, door closing, alarm and the like are generally arranged on the control panel, the passenger 240 can press the button of each floor to send an elevator taking request, and of course, the passenger 240 can also send an elevator taking request by using a client, and the embodiment is not limited to this.
When the elevator receives the request to get on the elevator, the elevator car 220 is controlled to slide to the destination floor pointed by the passengers 240 in the hoistway 210, the elevator car door is opened, and after the passengers 240 exit the elevator car 220, the elevator car door is closed.
In the present embodiment, the car 220 is externally mounted with a radar 221, or a radar (not shown in fig. 2), particularly a millimeter wave radar employing FMCW (Frequency Modulated Continuous Wave ), is mounted in the hoistway 210.
Further, in the case where the radar is installed outside the car, the radar may be installed at the top of the car, at the bottom of the car, at the side of the car, or in the case where the radar is installed in the hoistway, the radar may be installed at the top of the hoistway, at the bottom of the hoistway, or the like, and the embodiment is not limited thereto.
Step 102, driving the radar to transmit multi-frame radar signals to the target object and receiving multi-frame radar signals reflected by the target object.
During elevator operation, the radar can be continuously driven to emit multiple frames of radar signals to the target object, the radar signals are reflected back when encountering obstacles on the target object, and the radar can re-receive the reflected radar signals.
Further, when the mounting positions of the radars are different, the targets are also different. When the radar is installed in the car, the target is the hoistway or an appendage of the hoistway; when the radar is installed in the hoistway, the target is a car.
Among these, the hoistway appendages are typically reflectors (i.e., objects having high reflectivity to radar signals) mounted on the hoistway sidewalls.
As shown in fig. 3 and 4, the radar emits a radar signal with a frequency that increases linearly with time, at a rate (slope) S, and with a period (scanning period) T of frequency increase c 。
Likewise, when an obstacle is reflected back after the transmission of the radar signal, the frequency of the received radar signal increases linearly with time.
As shown in fig. 5, after radar (TX) transmits a radar signal, the radar signal is reflected back to the Radar (RX) after encountering an obstacle over a certain distance, and thus the received radar signal has a certain delay time compared to the transmitted radar signal.
Therefore, there is also a delay τ between the frequency variation of the Received (RX) radar signal and the frequency variation of the Transmitted (TX) radar signal:
where d is the distance between the radar and the object (i.e., hoistway) to be detected, and c is the speed of light.
Then, there is a frequency difference S tau between the Received (RX) radar signal and the Transmitted (TX) radar signal:
let the Transmitted (TX) radar signal be:
wherein ,ω1 In order to be able to achieve an angular velocity,is the phase.
Assume that the Received (RX) radar signal is:
wherein ,ω2 In order to be able to achieve an angular velocity,is the phase.
To facilitate representation of radar signals, a mixer may be designed with an input of x 1 、x 2 Output as an intermediate frequency signal (IF signal) x out ：
And the radar signal in any time domain can obtain the frequency after Fourier transformation, for example, after Fourier transformation is carried out on a sine wave, the frequency point of the radar signal has high amplitude, and other frequencies are rapidly reduced.
Therefore, the frequency points after fourier transformation can be converted into the distance d of the radar signal to the detection object (i.e., hoistway):
where f is a frequency value corresponding to a spectral peak on the spectrogram, that is, the frequency of the intermediate frequency signal in fig. 5.
Speed measurement is performed using a portion of the phase angle in the fourier transform result:
since there is already a mixer before, the input is x 1 、x 2 Output is x out ：
Thus, if the initial phase of the Transmitted (TX) radar signal is set toWhile the initial phase of the Received (RX) radar signal is set to +.>The initial phase of the radar signal output by the mixer is set to +.>This phase angle will then also vary with the movement of the object (i.e. relative movement between the car and the hoistway).
Step 103, calculating an original inter-frame phase difference between two adjacent frames of radar signals.
As shown in fig. 6, when an object is stationary, it Transmits (TX) a radar signal (located at the top of fig. 6), receives (RX 1) the radar signal it transmits (located at the middle of fig. 6), and mixes (IF) it to obtain a new radar signal (located at the bottom of fig. 6), whose delay of reflected electromagnetic wave caused by distance d is τ.
As shown in fig. 7, when this object moves a distance Δd, it Transmits (TX) a radar signal (located above fig. 7), receives (RX 1) the radar signal it transmitted (located in the middle of fig. 7) before moving, mixes (IF 1) it to obtain a new radar signal (located below fig. 7), receives (RX 2) the radar signal it transmitted (located in the middle of fig. 7) after moving, and mixes (IF 2) it to obtain a new radar signal (located below fig. 7), increasing the delay by Δτ.
At this time, assuming that the frequency is f and the wavelength is λ, the phase change due to this shift is:
the frequency variation is:
taking radar as an example, the scanning frequency is 77-81 GHz, the bandwidth is 4GHz, the time length of the scanning frequency is 40 mu s, the sampling frequency is 100M, and then the change caused by the displacement of 1mm at the phase angle is as follows:
wherein the wavelength is calculated at 77GHz at the beginning of the scan.
According to the foregoing calculation, if only the frequency calculation of fourier transform is employed, the resolution of the distance is only 37.5mm, and therefore, a displacement of 1mm cannot be detected by the method of frequency calculation, but can be detected by the method of phase angle calculation.
Therefore, the moving speed of the object can be calculated by the amount of change in the phase angle between two scans:
wherein ,for the variation of the phase angle between two sweeps, +.>
Setting the speed of movement towards the radar to be positive, then for anyCan be regarded as the speed v 1 Phase angle variation caused when moving to radar>Or at a speed v 2 Away from the amount of phase angle change caused by radarTherefore (S)>The value of (2) is-pi, namely the absolute value of the maximum detection speed is as follows:
taking the radar as an example (the scanning frequency is 77-81 GHz (bandwidth is 4 GHz), the scanning time length is 40 mu s, the sampling frequency is 100M), and the speed range which can be detected is as follows:
note that the period T of the sweep is shortened c The range of detection speed can be increased, however, at the same bandwidth, T c The smaller S is, the larger S is, at F s The smaller the maximum detection distance will be without change.
As shown in fig. 8, when the radar is used for measuring the position of the elevator car, the radar is used at regular intervals (the frame interval is T f ) A frame of radar signal (frame) is sent, a frame of radar signal (frame) has a plurality of chirp signals (chirp), at present, the phase difference between the chirp signals (chirp) is generally calculated, the movement speed (corresponding to the speed of the car) of the target is obtained according to the phase difference, and the speed is multiplied by the time of the frame interval (i.e. integral), thereby obtaining the position change . Namely:
wherein ,Δdf Is the change in position between two frames, lambda being the wavelength,the amount of change in phase angle (i.e., phase difference) between two chirp signals (chirp), T c For the interval time between two chirp signals (chirp), T f Is the time interval between two frames of radar signals (frames).
Since this method accumulates errors between two chirp signals (chirp), the present embodiment directly calculates the phase difference between two adjacent frames of radar signals (frames), and marks the phase difference as the original inter-frame phase difference, thereby calculating the distance (i.e., displacement) that the car of the elevator passes between the two adjacent frames of radar signals (frames).
Because the interval time between two frames of radar signals (frames) is larger, the accumulation of errors in frames can be avoided, and the accumulation of errors between frames can be reduced.
Step 104, the original inter-frame phase difference is corrected to the target inter-frame phase difference.
In general, the time interval between two frames of radar signals (frames) is large, for example, 5ms, and the distance passed may exceed half a wavelength (corresponding to a phase exceeding half a period pi), and then zero-crossing processing may be performed on the original inter-frame phase difference to correct it into the target inter-frame phase difference.
In one embodiment of the present invention, step 104 may include the steps of:
Step 1041, determining a current original inter-frame phase difference and a last target inter-frame phase difference obtained by correcting a last original inter-frame phase difference according to a time sequence.
Step 1042, referring to the previous target inter-frame phase difference, the current original inter-frame phase difference is corrected to the current target inter-frame phase difference.
In general, the car sliding speed of an elevator does not suddenly change at the time interval between two frames of radar signals (frames), and therefore, the speed corresponding to the two frames of radar signals (frames) of the current frame can be calculated with reference to the speed corresponding to the previous frame of radar signal (frame).
In a specific implementation, the current original inter-frame phase difference and the last target inter-frame phase difference obtained by correcting the last original inter-frame phase difference can be determined according to a time sequence, so that the current original inter-frame phase difference is corrected into the current target inter-frame phase difference by referring to the last target inter-frame phase difference.
In one embodiment of the present invention, step 1042 may further comprise the steps of:
step 10421, subtracting the previous target inter-frame phase difference from the current original inter-frame phase difference to obtain a first phase difference.
Step 10422, judging whether the first phase difference is smaller than half a period in the positive direction and smaller than half a period in the negative direction; if yes, go to step 10423, if not, go to step 10424.
Step 10423, the current original inter-frame phase difference is set as the current target inter-frame phase difference.
Step 10424, the original inter-frame phase difference is extended by one period in the positive direction or the negative direction, and the process returns to step 10422.
Calculation is performed from the time of car rest, if the difference between the current original inter-frame phase difference and the last target inter-frame phase difference (i.e. the first phase difference) exceeds half a period (i.e. pi), the original inter-frame phase difference is extended by one period (i.e. 2 pi) in the positive direction or the negative direction multiple times, so as to obtain the target inter-frame phase difference.
The above condition that the positive direction is less than half a period and the negative direction is less than half a period can be expressed as:
the above-described one-cycle extension process can be expressed as:
in a specific implementation, if the first phase difference is greater than half a period in the positive direction, the original inter-frame phase is extended by one period in the negative direction.
This process is expressed as ifThen->
In addition, if the first phase difference is greater than half a period in the negative direction, the original inter-frame phase is extended by one period in the forward and reverse directions.
This process is expressed as ifThen->
wherein ,indicating i-th target inter-frame phase difference, +.>Indicating the i+1th target inter-frame phase difference, Indicating the i+1th original inter-frame phase difference.
In one embodiment of the present invention, a plurality of chirp signals are included in each frame of the radar signal; then in this embodiment, step 104 may include the steps of:
step 1043, calculating a chirp phase difference between the chirp signals in the same frame of radar signal.
In this embodiment, in the same frame of radar signal, the phase difference between any two adjacent chirp signals can be calculated and recorded as the chirp phase difference.
When the same frame of radar signal has a plurality of chirp signals, the chirp phase difference can take the average value of the plurality of chirp phase differences, so as to improve the accuracy of the chirp phase difference.
As a result of:
wherein ,is the average value of chirp phase difference +.>For the chirp phase difference between the mth chirp signal and the mth-1 chirp signal, +.>For the phase of the mth chirp signal, +.>Is the phase of the m-1 th chirp signal.
Then, in the same frame of radar signal, the first phase of the first chirp signal and the second phase of the last chirp signal are queried, and the first phase is subtracted from the second phase to obtain the total phase difference.
And calculating a difference between the total phase difference and the number of chirps as the chirp phase difference of the chirp signals, wherein the number of chirps is the difference obtained by subtracting one from the number of all the chirp signals in the radar signal.
In the method, when the first and last chirp signals in a radar signal frame are subtracted to replace the adjacent chirp signals, the chirp phase difference can more easily exceed +/-pi, and the problem of whether the phase can exceed +/-pi is considered.
Step 1044, querying the period of the chirp signal and the period of the radar signal.
Step 1045, correcting the original inter-frame phase difference to a target inter-frame phase difference with reference to the chirp phase difference, the period of the chirp signal, and the period of the radar signal.
In the present embodiment, the period T of the chirp signal can be inquired c Period T of radar signal f According to the chirp phase differencePeriod T of chirp signal c Period T of radar signal f And reasonably correcting the original inter-frame phase difference into a target inter-frame phase difference.
In one embodiment of the present invention, step 1045 may further comprise the steps of:
step 10451, multiplying the ratio between the chirp phase difference and the period of the chirp signal by the period of the radar signal to obtain a predicted inter-frame phase difference.
When the current chirp phase difference is obtainedPeriod T of chirp signal c Period T of radar signal f After that, according to the chirp phase difference->Reasonable prediction of inter-frame phase difference>
Step 10452, subtracting the original inter-frame phase difference from the predicted inter-frame phase difference to obtain a second phase difference.
In this embodiment, the difference between the predicted inter-frame phase difference and the original inter-frame phase difference is calculated to obtain a second phase difference, and the second phase difference can be used as a condition to select a proper correction mode.
Step 10453, setting a target correction period number.
In the present embodiment, the target correction period number n is constructed, which represents the number of periods, and since the value of the target correction period number n is not infinite, the following two cases are considered:
in the first case, due to the period T of the chirp signal c Within a range of (a) the maximum chirp phase differenceIs thatAnd because of the original inter-frame phase difference +>
Therefore, the ratio between the period of the radar signal and the period of the chirp signal can be taken as an intermediate value as the upper limit value of the first number rangeTaking the negative number of the intermediate value as the lower limit value of the first quantity rangeThereby taking an integer within the first number range as the target correction period number.
In the second case, since the speed that the car of the elevator can actually slide is limited, the corrected target inter-frame phase differenceCorresponding speed->Should not exceed the maximum speed v that can be reached by the actual sliding of the car of the elevator max 。
Thus, the product of the maximum speed of car coasting and the period of the radar signal is divided by the wavelength of the radar signal to obtain a first target value.
Subtracting one half from the first target value as the upper limit value of the second range of numbers
Adding the first target value by one half as the lower limit value of the second number range
Taking an integer in the second number range as a target correction period number.
It is noted that the maximum speed that the car of the elevator can actually slide can refer to the maximum speed that the car of the elevator can reach under various conditions, including normal operation and abnormal operation.
Step 10454, constructing a variance range based on the target correction period number.
In this embodiment, a range may be constructed according to the target correction period number, and recorded as a difference range for measuring the second phase difference.
In one mode, subtracting half period from the period of the target correction period number to obtain a lower limit value (2n+1) pi of the difference range; adding half cycle to the cycle of the target correction cycle number to obtain the upper limit value (2 n-1) pi of the difference range, then the judgment condition is that
In another oneIn this embodiment, since the time of one frame of radar signal is short, the above-described determination condition is set Can be modified as follows: />
wherein ,the maximum value of the velocity difference is multiplied by the period of the radar signal, and the velocity difference is the difference between the velocity corresponding to the radar signal and the velocity corresponding to the chirp signal.
That is to say,
wherein ,multiplying the upper limit value of the speed difference by the period of the radar signal,/->The lower limit value of the speed difference is multiplied by the period of the radar signal.
Assuming that the maximum acceleration in the positive direction that can be achieved by the car of the elevator is a uplim The maximum acceleration in the negative direction is a lowlim Then in the period of one frame radar signal, the speed difference is a from the beginning of the frame to the end of the frame lowlim *T f ～a uplim *T f Within this frame, the difference between the radar signal and the calculated chirp signal velocity is:
thus:
then, in this embodiment, the product of the preset coefficient (coefficient is generally 4), the number of target correction periods, and the square of the period of the radar signal is divided by the wavelength of the radar signal to obtain the second target value.
And taking the negative number of the product between the maximum acceleration in the negative direction and the second target value when the car slides, and obtaining a third target value.
And taking the negative number of the product between the maximum acceleration in the positive direction and the second target value when the car slides, and obtaining a fourth target value.
The third target value is added to the cycle of the target correction cycle number as the upper limit value of the difference range.
The fourth target value is subtracted from the cycle of the target correction cycle number as the lower limit value of the difference range.
In one example, the radar has a frequency of 60GHz, a wavelength λ=5mm, and a period T of the radar signal f Period T of chirp signal=5 ms c ＝200μs，Then
And also (b) and />The phase difference cycle number is as follows:
rounding to 2, the moving distance between actual radar signals is:
according to and />The calculated speeds are respectively:
step 10455, if the second phase difference is within the difference range, adding the target correction period number of periods to the original inter-frame phase difference to obtain the target inter-frame phase difference.
If the second phase difference is within the difference range, the original inter-frame phase difference can be calculatedAdding the target correction period number of periods 2n pi to obtain the target inter-frame phase difference +.>Expressed as:
and 105, measuring the sliding distance of the car between two adjacent frames of radar signals according to the target inter-frame phase difference.
The speed of the car sliding relative to the hoistway can be obtained from the target inter-frame phase difference, and the speed multiplied by the time of the frame interval (i.e., the integral) to obtain the distance (i.e., displacement) that the car slides between two adjacent frames of radar signals.
In a specific implementation, the phase difference between the wavelength lambda of the radar signal and the target frame is calculated The product of the two radar signals is used for obtaining a fifth target value, and the ratio between the fifth target value and four half periods is calculated and used as the distance delta d of the sliding of the car between two adjacent frames of radar signals f 。
The process of calculating the sliding distance of the car between two adjacent frames of radar signals is expressed as follows:
in this embodiment, the car of the drive elevator moves in the hoistway; driving a radar to transmit multi-frame radar signals to a target object and receive multi-frame radar signals reflected by the target object, wherein the target object is a hoistway or an accessory of the hoistway when the radar is installed in a car, and the target object is the car when the radar is installed in the hoistway; calculating an original inter-frame phase difference between two adjacent frames of radar signals; correcting the original inter-frame phase difference into a target inter-frame phase difference; and measuring the sliding distance of the car between two adjacent frames of radar signals according to the target inter-frame phase difference. The radar signal has larger span relative to the chirp signal, can avoid error accumulation in frames, reduce error accumulation between frames, reduce error of estimating the displacement of the car, and improve the accuracy of the displacement of the car.
Example two
Fig. 9 is a schematic structural diagram of a displacement detecting device of an elevator according to a second embodiment of the present invention. As shown in fig. 9, the apparatus includes:
An elevator operation determination module 901 for driving a car of an elevator to move in a hoistway;
a radar signal transceiver module 902, configured to drive a radar to transmit a plurality of frames of radar signals to a target object and receive a plurality of frames of radar signals reflected by the target object, where the target object is the hoistway or an accessory of the hoistway when the radar is installed in a car, and the target object is the car when the radar is installed in the hoistway;
an original inter-frame phase difference calculation module 903, configured to calculate an original inter-frame phase difference between the radar signals of two adjacent frames;
a target inter-frame phase difference correction module 904, configured to correct the original inter-frame phase difference to a target inter-frame phase difference;
and a sliding distance calculating module 905, configured to measure a sliding distance between two adjacent frames of the radar signal according to the target inter-frame phase difference.
In one embodiment of the present invention, the target inter-frame phase difference correction module 904 includes:
the sequence determining module is used for determining the current original inter-frame phase difference and the last target inter-frame phase difference obtained by correcting the last original inter-frame phase difference according to the time sequence;
and the reference calculation module is used for correcting the current original inter-frame phase difference into the current target inter-frame phase difference by referring to the last target inter-frame phase difference.
In one embodiment of the invention, the reference calculation module is further configured to:
subtracting the previous target inter-frame phase difference from the current original inter-frame phase difference to obtain a first phase difference;
judging whether the first phase difference is smaller than half a period in the positive direction and smaller than half a period in the negative direction;
if yes, setting the current original inter-frame phase difference as a current target inter-frame phase difference;
if not, the original inter-frame phase difference is prolonged by one period in the positive direction or the negative direction, and the judgment is carried out to judge whether the first phase difference is smaller than half period in the positive direction and smaller than half period in the negative direction.
In one embodiment of the invention, the reference calculation module is further configured to:
if the first phase difference is greater than half a period in the positive direction, extending the original inter-frame phase by one period in the negative direction;
and if the first phase difference is larger than half a period in the negative direction, the original inter-frame phase is prolonged by one period in the positive and negative directions.
In one embodiment of the present invention, the radar signal includes a plurality of chirp signals per frame; the target inter-frame phase difference correction module 904 includes:
The chirp phase difference calculation module is used for calculating the chirp phase difference between the chirp signals in the radar signals of the same frame;
the period inquiring module is used for inquiring the period of the chirp signal and the period of the radar signal;
and the phase difference estimation module is used for correcting the original inter-frame phase difference into a target inter-frame phase difference by referring to the chirp phase difference, the period of the chirp signal and the period of the radar signal.
In one embodiment of the present invention, the chirp phase difference calculation module is further configured to:
inquiring a first phase of the first chirp signal and a second phase of the last chirp signal in the radar signal of the same frame;
subtracting the first phase from the second phase to obtain a total phase difference;
and calculating a difference value between the total phase difference and the number of chirps, wherein the number of chirps is the difference value obtained by subtracting one from the number of all the chirp signals in the radar signal, and the difference value is used as the chirp phase difference of the chirp signals.
In one embodiment of the present invention, the phase difference estimation module is further configured to:
multiplying the ratio between the chirp phase difference and the period of the chirp signal by the period of the radar signal to obtain a predicted inter-frame phase difference;
Subtracting the original inter-frame phase difference from the predicted inter-frame phase difference to obtain a second phase difference;
setting a target correction period number;
constructing a difference range based on the target correction period number;
and if the second phase difference is within the difference range, adding the periods of the target correction period number to the original inter-frame phase difference to obtain a target inter-frame phase difference.
In one embodiment of the present invention, the phase difference estimation module is further configured to:
taking a median value of the ratio between the period of the radar signal and the period of the chirp signal as an upper limit value of a first quantity range;
taking the negative number of the intermediate value as the lower limit value of the first number range;
taking an integer from the first number range as a target correction period number.
In one embodiment of the present invention, the phase difference estimation module is further configured to:
dividing twice the product of the maximum speed of the car sliding and the period of the radar signal by the wavelength of the radar signal to obtain a first target value;
subtracting one-half from the first target value as an upper limit value of a second range of numbers;
adding one half of the first target value as a lower limit value of a second range of numbers;
And taking an integer in the second number range as a target correction period number.
In one embodiment of the present invention, the phase difference estimation module is further configured to:
subtracting half period from the period of the target correction period number to obtain the lower limit value of the difference range;
and adding half of the periods of the target correction period number to obtain the upper limit value of the difference range.
In one embodiment of the present invention, the phase difference estimation module is further configured to:
dividing the product of the preset coefficient, the target correction period number and the square of the period of the radar signal by the wavelength of the radar signal to obtain a second target value;
taking the negative number of the product between the maximum acceleration in the negative direction and the second target value when the car slides to obtain a third target value;
taking the negative number of the product between the maximum acceleration in the positive direction and the second target value when the car slides to obtain a fourth target value;
adding the third target value to the cycle of the target correction cycle number as an upper limit value of a difference range;
subtracting the fourth target value from the target correction period number of periods as a lower limit value of the difference range.
In one embodiment of the present invention, the sliding distance calculating module 905 is further configured to:
calculating the product between the wavelength of the radar signal and the target inter-frame phase difference to obtain a fifth target value;
and calculating the ratio between the fifth target value and four half periods as the sliding distance of the car between two adjacent frames of radar signals.
The displacement detection device of the elevator provided by the embodiment of the invention can execute the displacement detection method of the elevator provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the displacement detection method of the elevator.
Example III
Fig. 10 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 10, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the displacement detection method of an elevator.
In some embodiments, the displacement detection method of the elevator may be implemented as a computer program, which is tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the above-described displacement detection method of an elevator can be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the displacement detection method of the elevator in any other suitable way (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (13)
1. A displacement detection method of an elevator, comprising:
driving a car of an elevator to move in a hoistway;
driving a radar to emit multi-frame radar signals to a target object and receiving multi-frame radar signals reflected by the target object, wherein the target object is a hoistway or an attachment of the hoistway when the radar is installed in a car, and the target object is the car when the radar is installed in the hoistway;
Calculating an original inter-frame phase difference between two adjacent frames of radar signals;
correcting the original inter-frame phase difference into a target inter-frame phase difference;
measuring the sliding distance of the car between two adjacent frames of radar signals according to the target inter-frame phase difference;
the correcting the original inter-frame phase difference to a target inter-frame phase difference includes:
determining the current original inter-frame phase difference and the last target inter-frame phase difference obtained by correcting the last original inter-frame phase difference according to the time sequence;
correcting the current original inter-frame phase difference into a current target inter-frame phase difference by referring to the previous target inter-frame phase difference;
correcting the current original inter-frame phase difference to the current target inter-frame phase difference by referring to the previous target inter-frame phase difference, comprising:
subtracting the previous target inter-frame phase difference from the current original inter-frame phase difference to obtain a first phase difference;
judging whether the first phase difference is smaller than half a period in the positive direction and smaller than half a period in the negative direction;
if yes, setting the current original inter-frame phase difference as a current target inter-frame phase difference;
if not, the original inter-frame phase difference is prolonged by one period in the positive direction or the negative direction, and the judgment is carried out to judge whether the first phase difference is smaller than half period in the positive direction and smaller than half period in the negative direction.
2. The method of claim 1, wherein the extending the original inter-frame phase difference by one period in the positive or negative direction pair comprises:
if the first phase difference is greater than half a period in the positive direction, extending the original inter-frame phase by one period in the negative direction;
and if the first phase difference is larger than half a period in the negative direction, the original inter-frame phase is prolonged by one period in the positive and negative directions.
3. The method of claim 1, wherein each frame of the radar signal comprises a plurality of chirp signals; the correcting the original inter-frame phase difference to a target inter-frame phase difference includes:
in the radar signal of the same frame, calculating the chirp phase difference between the chirp signals;
inquiring the period of the chirp signal and the period of the radar signal;
the original inter-frame phase difference is corrected to a target inter-frame phase difference with reference to the chirp phase difference, the period of the chirp signal, and the period of the radar signal.
4. A method according to claim 3, wherein said calculating a chirp phase difference between the chirp signals in the same frame of the radar signal comprises:
Inquiring a first phase of the first chirp signal and a second phase of the last chirp signal in the radar signal of the same frame;
subtracting the first phase from the second phase to obtain a total phase difference;
and calculating a difference value between the total phase difference and the number of chirps, wherein the number of chirps is the difference value obtained by subtracting one from the number of all the chirp signals in the radar signal, and the difference value is used as the chirp phase difference of the chirp signals.
5. The method of claim 3, wherein the correcting the original inter-frame phase difference to a target inter-frame phase difference with reference to the chirp phase difference, the period of the chirp signal, and the period of the radar signal comprises:
multiplying the ratio between the chirp phase difference and the period of the chirp signal by the period of the radar signal to obtain a predicted inter-frame phase difference;
subtracting the original inter-frame phase difference from the predicted inter-frame phase difference to obtain a second phase difference;
setting a target correction period number;
constructing a difference range based on the target correction period number;
and if the second phase difference is within the difference range, adding the periods of the target correction period number to the original inter-frame phase difference to obtain a target inter-frame phase difference.
6. The method of claim 5, wherein the setting the target number of correction cycles comprises:
taking a median value of the ratio between the period of the radar signal and the period of the chirp signal as an upper limit value of a first quantity range;
taking the negative number of the intermediate value as the lower limit value of the first number range;
taking an integer from the first number range as a target correction period number.
7. The method of claim 5, wherein the setting the target number of correction cycles comprises:
dividing twice the product of the maximum speed of the car sliding and the period of the radar signal by the wavelength of the radar signal to obtain a first target value;
subtracting one-half from the first target value as an upper limit value of a second range of numbers;
adding one half of the first target value as a lower limit value of a second range of numbers;
and taking an integer in the second number range as a target correction period number.
8. The method of claim 4, wherein the constructing a variance range based on the target number of correction cycles comprises:
subtracting half period from the period of the target correction period number to obtain the lower limit value of the difference range;
And adding half of the periods of the target correction period number to obtain the upper limit value of the difference range.
9. The method of claim 4, wherein the constructing a variance range based on the target number of correction cycles comprises:
dividing the product of the preset coefficient, the target correction period number and the square of the period of the radar signal by the wavelength of the radar signal to obtain a second target value;
taking the negative number of the product between the maximum acceleration in the negative direction and the second target value when the car slides to obtain a third target value;
taking the negative number of the product between the maximum acceleration in the positive direction and the second target value when the car slides to obtain a fourth target value;
adding the third target value to the cycle of the target correction cycle number as an upper limit value of a difference range;
subtracting the fourth target value from the target correction period number of periods as a lower limit value of the difference range.
10. The method of any of claims 1-9, wherein the measuring the distance that the car slides between two adjacent frames of the radar signal based on the target inter-frame phase difference comprises:
Calculating the product between the wavelength of the radar signal and the target inter-frame phase difference to obtain a fifth target value;
and calculating the ratio between the fifth target value and four half periods as the sliding distance of the car between two adjacent frames of radar signals.
11. A displacement detection device for an elevator, comprising:
an elevator operation determining module for driving a car of an elevator to move in a hoistway;
the radar signal receiving and transmitting module is used for driving a radar to transmit multi-frame radar signals to a target object and receiving multi-frame radar signals reflected by the target object, when the radar is installed in a lift car, the target object is the lift shaft or an accessory of the lift shaft, and when the radar is installed in the lift shaft, the target object is the lift car;
the original inter-frame phase difference calculation module is used for calculating the original inter-frame phase difference between the radar signals of two adjacent frames;
the target inter-frame phase difference correction module is used for correcting the original inter-frame phase difference into a target inter-frame phase difference;
the sliding distance calculation module is used for measuring the sliding distance of the car between two adjacent frames of radar signals according to the target inter-frame phase difference;
The target inter-frame phase difference correction module includes:
the sequence determining module is used for determining the current original inter-frame phase difference and the last target inter-frame phase difference obtained by correcting the last original inter-frame phase difference according to the time sequence;
the reference calculation module is used for correcting the current original inter-frame phase difference into the current target inter-frame phase difference by referring to the last target inter-frame phase difference;
the reference calculation module is further configured to subtract the previous target inter-frame phase difference from the current original inter-frame phase difference to obtain a first phase difference;
judging whether the first phase difference is smaller than half a period in the positive direction and smaller than half a period in the negative direction;
if yes, setting the current original inter-frame phase difference as a current target inter-frame phase difference;
if not, the original inter-frame phase difference is prolonged by one period in the positive direction or the negative direction, and the judgment is carried out to judge whether the first phase difference is smaller than half period in the positive direction and smaller than half period in the negative direction.
12. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the displacement detection method of an elevator according to any one of claims 1-10.
13. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for causing a processor to execute the displacement detection method of an elevator according to any one of claims 1-10.
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| CN115231407A (en) | 2022-10-25 |
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