CN116106883A - Method and device for determining position of elevator car, computer equipment and medium - Google Patents
Method and device for determining position of elevator car, computer equipment and medium Download PDFInfo
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- CN116106883A CN116106883A CN202111335365.6A CN202111335365A CN116106883A CN 116106883 A CN116106883 A CN 116106883A CN 202111335365 A CN202111335365 A CN 202111335365A CN 116106883 A CN116106883 A CN 116106883A
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- determining
- elevator car
- corner reflector
- spectrogram
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B3/00—Applications of devices for indicating or signalling operating conditions of elevators
- B66B3/02—Position or depth indicators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
Abstract
The invention discloses a method, a device, computer equipment and a medium for determining the position of an elevator car. The method comprises the following steps: generating a spectrogram according to an echo signal returned by a truncated corner reflector at the top of a well; determining a target peak value according to the spectrogram; and determining the current position of the elevator car according to the target peak value and the position of the corner reflector. According to the method, the position of the elevator car can be determined through the spectrogram generated by the echo signals returned by the truncated corner reflectors at the top of the hoistway, and the truncated corner reflectors can ensure the measurement accuracy, so that the positioning accuracy is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of distance measurement, in particular to a method and a device for determining the position of an elevator car, computer equipment and a medium.
Background
The position of the elevator car needs to be determined in real time when the elevator runs in the hoistway, and the position of the elevator car can be determined by measuring the distance between the elevator and the top of the hoistway. The method for measuring the distance between the elevator and the top of the well can comprise the steps of installing a radar on the top of an elevator car, arranging a radar signal reflecting device on the top of the well, transmitting electromagnetic waves to the top of the elevator car along the direction of the well, receiving echo signals reflected by the radar signal reflecting device, and obtaining the distance between the radar and the top of the well by processing the echo signals.
In the prior art, the radar signal reflecting device in the scheme generally adopts a corner reflector, the vertical space of a hoistway can be influenced by mounting the corner reflector on the top of the hoistway, and the hoistway with shortage of vertical space resources of the hoistway can cause that an elevator cannot be mounted. For a well with deeper well depth, along with the increase of the descending height of an elevator car, the signal to noise ratio of radar echo gradually decreases, so that the size of the corner reflector needs to be increased to improve the signal to noise ratio, thereby ensuring the measurement accuracy, and the influence on the vertical space and the top space of the well can be further increased by the corner reflector with a larger size.
Disclosure of Invention
The embodiment of the invention provides a method, a device, computer equipment and a medium for determining the position of an elevator car, which can determine the position of the elevator car through a spectrogram generated by echo signals returned by a truncated corner reflector at the top of a well, and the truncated corner reflector can ensure measurement accuracy, so that positioning accuracy is improved.
In a first aspect, an embodiment of the present invention provides a method for determining a position of an elevator car, including:
generating a spectrogram according to an echo signal returned by a truncated corner reflector at the top of a well;
determining a target peak value according to the spectrogram;
and determining the current position of the elevator car according to the target peak value and the position of the corner reflector.
In a second aspect, an embodiment of the present invention further provides an apparatus for determining a position of an elevator car, including:
the generating module is used for generating a spectrogram according to the echo signals returned by the truncated corner reflectors at the top of the well;
the first determining module is used for determining a target peak value according to the spectrogram;
and the second determining module is used for determining the current position of the elevator car according to the target peak value and the position of the corner reflector.
In a third aspect, an embodiment of the present invention further provides a computer apparatus, including:
one or more processors;
a storage means for storing one or more programs;
the one or more programs are executed by the one or more processors to cause the one or more processors to implement the method of determining the position of an elevator car described in any of the embodiments of the invention.
In a fourth aspect, the present embodiments also provide a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the determination of the position of an elevator car as provided by any of the embodiments of the present invention.
The embodiment of the invention provides a method, a device, computer equipment and a medium for determining the position of an elevator car, which are characterized in that firstly, a spectrogram is generated according to echo signals returned by a truncated corner reflector at the top of a well; then determining a target peak value according to the spectrogram; and finally, determining the current position of the elevator car according to the target peak value and the position of the corner reflector. By utilizing the technical scheme, the position of the elevator car can be determined through the spectrogram generated by the echo signals returned by the truncated corner reflectors at the top of the hoistway, and the truncated corner reflectors can ensure the measurement accuracy, so that the positioning accuracy is improved.
Drawings
Fig. 1 is a schematic diagram of an elevator car position measurement scenario provided by the invention;
fig. 2 is a flowchart of a method for determining a position of an elevator car according to a first embodiment of the present invention;
fig. 3 is a schematic structural diagram of a general corner reflector in a method for determining a position of an elevator car according to a first embodiment of the present invention;
fig. 4 is a schematic view of a reflection path of a general corner reflector in an elevator car position determining method according to an embodiment of the present invention;
fig. 5 is a schematic view of a truncated corner reflector in a method for determining a position of an elevator car according to an embodiment of the present invention;
fig. 6 is a flowchart of a method for determining a position of an elevator car according to a second embodiment of the present invention;
fig. 7 is a reflection schematic diagram of a general corner reflector in a method for determining a position of an elevator car according to a second embodiment of the present invention;
fig. 8 is a reflection schematic diagram of a truncated corner reflector in a method for determining a position of an elevator car according to a second embodiment of the present invention;
fig. 9 is a spectrum diagram of a method for determining a position of an elevator car according to a second embodiment of the present invention;
fig. 10 is an exemplary flowchart of a method for determining a position of an elevator car according to a third embodiment of the present invention;
fig. 11 is a schematic structural view of an elevator car position determining apparatus according to a fourth embodiment of the present invention;
fig. 12 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While the invention is susceptible of embodiment in the drawings, it is to be understood that the invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided to provide a more thorough and complete understanding of the invention. It should be understood that the drawings and embodiments of the invention are for illustration purposes only and are not intended to limit the scope of the present invention.
It should be understood that the various steps recited in the method embodiments of the present invention may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the invention is not limited in this respect.
The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below.
It should be noted that the terms "first," "second," and the like herein are merely used for distinguishing between different devices, modules, or units and not for limiting the order or interdependence of the functions performed by such devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those skilled in the art will appreciate that "one or more" is intended to be construed as "one or more" unless the context clearly indicates otherwise.
The names of messages or information interacted between the devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of such messages or information.
Fig. 1 is a schematic view of an elevator car position measurement scene provided by the invention, wherein a radar is arranged at the top of an elevator car, and a truncated corner reflector is arranged at the top of a hoistway as shown in fig. 1. The transmitting antenna of the radar transmits electromagnetic waves along the direction of the hoistway at the top of the car, and the truncated corner reflector arranged at the top of the hoistway can reflect the electromagnetic waves back to the receiving antenna of the radar after receiving the electromagnetic waves. By processing the echo signals, the distance between the radar and the truncated corner reflector can be calculated, so that the accurate position of the elevator car can be obtained.
Example 1
Fig. 2 is a schematic flow chart of a method for determining the position of an elevator car according to an embodiment of the present invention, which is applicable to the case of real-time positioning of an elevator car in a hoistway, and which can be performed by an apparatus for determining the position of an elevator car, wherein the apparatus can be implemented by software and/or hardware and is generally integrated on a computer device.
As shown in fig. 2, a method for determining a position of an elevator car according to an embodiment of the present invention includes the following steps:
s110, generating a spectrogram according to the echo signals returned by the truncated corner reflectors at the top of the well.
In this embodiment, the truncated corner reflector may be a radar signal reflection device, and the truncated corner reflector may receive electromagnetic waves emitted by the radar and reflect the electromagnetic waves to a receiving antenna of the radar, so that the computer device may generate a spectrogram according to echo signals returned by the truncated corner reflector.
Specifically, the truncated corner reflector is obtained by truncated a general corner reflector, and the general corner reflector is formed by vertically splicing three triangles.
Fig. 3 is a schematic structural diagram of a general corner reflector in a method for determining a position of an elevator car according to an embodiment of the present invention, where, as shown in fig. 3, the general corner reflector is formed by splicing three identical isosceles triangle surfaces, the three isosceles triangles form 90 degrees with each other, and a surface formed by hypotenuses of the three isosceles right triangles is an opening surface of the corner reflector.
Fig. 4 is a schematic view of a reflection path of a general corner reflector in an elevator car position determining method according to an embodiment of the present invention, and as can be seen from fig. 4, electromagnetic waves entering the general corner reflector from any direction can be reflected back in opposite directions, and the path lengths are the same.
Fig. 5 is a schematic structural diagram of a truncated corner reflector in the method for determining the position of an elevator car according to the first embodiment of the present invention, as shown in fig. 5, the top of the truncated corner reflector is a triangular plane, and the top and the bottom of the truncated corner reflector are parallel.
The truncated corner reflector is obtained by cutting the top of the universal corner reflector by a preset distance, and the preset distance is generally any value larger than or equal to the radar resolution. The preset distance is the distance between the vertex of the universal corner reflector and the top triangular plane of the truncated corner reflector.
Further, the echo signals are reflected to the radar after the truncated corner reflector receives electromagnetic waves emitted by the radar, and the radar is arranged at the top of the elevator car.
In this embodiment, the echo signals reflected by the truncated corner reflector may form two adjacent peaks on the spectrogram.
In this embodiment, the manner of generating the spectrogram according to the echo signal may be: and carrying out Fourier transform on the echo signals to generate a spectrogram.
Specifically, the generating a spectrogram according to the echo signal returned by the truncated corner reflector at the top of the hoistway includes: carrying out Fourier transform on echo signals returned by the corner reflectors at the top of the well; and generating a spectrogram according to the converted signal.
The spectrogram is a graph data of a signal at various frequencies recorded and drawn in a ripple mode of a horizontal axis and a vertical axis, the relation between the frequency of the signal and the energy is represented by a frequency spectrum, and the spectrogram used in the embodiment is an amplitude spectrogram.
It will be appreciated that the fourier transform of the echo signal and the generation of a spectrogram from the transformed signal is not an important aspect of the present invention and will not be described in detail herein.
S120, determining a target peak value according to the spectrogram.
In this embodiment, a double peak formed by the truncated corner reflector may be found according to the ripple on the spectrogram, where the double peak formed by the truncated corner reflector is two adjacent double peaks with a preset distance on the spectrogram, and a peak with a stronger signal in the double peak may be used as a target peak.
The target peak value can be understood as a peak value used for determining the current position of the elevator car, and the target peak value can be understood as a peak with stronger signal formed on a spectrogram by an echo signal reflected by the truncated corner reflector after the radar at the top of the elevator car emits electromagnetic waves to the truncated corner reflector.
It should be noted that, in the process of transmitting electromagnetic waves to the truncated corner reflector, part of the electromagnetic waves inevitably diverge to other directions, so that in the process of receiving echo signals, the radar antenna also receives signals reflected back by the hoistway wall or other objects, and then a plurality of waves can be displayed on a spectrogram. When the universal corner reflector is installed at the top of the hoistway, under the condition that the distance between the radar and the universal corner reflector is relatively short, the peak value with the largest amplitude on the spectrogram can be used as a target peak value, but as the distance between the radar and the universal corner reflector increases, the signal-to-noise ratio of the echo signal reflected by the universal corner reflector can be gradually reduced, so that the peak value with the largest amplitude, which is displayed on the spectrogram, of the echo signal is not displayed, and under the condition, the target peak value cannot be accurately determined. In view of the situation, the embodiment of the invention uses the truncated corner reflector to reflect electromagnetic waves emitted by the radar, the echo signals reflected by the truncated corner reflector can form double peaks on a spectrogram, and the target peak value can be determined from the double peaks by determining the double peaks on the spectrogram.
And S130, determining the current position of the elevator car according to the target peak value and the position of the corner reflector.
The current position of the elevator car is understood to be the absolute position of the elevator car within the hoistway.
In this embodiment, the distance between the radar and the truncated corner reflector can be determined from the target peak value, and the current position of the elevator car can be determined from this distance.
Specifically, the determining the current position of the elevator car according to the target peak value and the position of the truncated corner reflector includes: performing refined Fourier transform on the frequency of the target peak value to obtain the distance between the radar and the truncated corner reflector; and determining the current position of the elevator car according to the distance and the position of the truncated corner reflector.
The fourier transform of the frequency of the target peak is not important in the present invention, and will not be described in detail here. The position of the elevator car can be obtained by adding the position of the truncated corner reflector to the distance between the radar and the truncated corner reflector.
By way of example, if the location of the truncated corner reflector is at 0.1 meters from the top of the hoistway, the distance between the radar and the truncated corner reflector is 1 meter, then the location of the elevator car may be determined to be 0.9 meters from the top of the hoistway.
The first embodiment of the invention provides a method for determining the position of an elevator car, which comprises the steps of firstly generating a spectrogram according to echo signals returned by a truncated corner reflector at the top of a hoistway; then determining a target peak value according to the spectrogram; and finally, determining the current position of the elevator car according to the target peak value and the position of the corner reflector. According to the method, the position of the elevator car can be determined through the spectrogram generated by the echo signals returned by the truncated corner reflectors at the top of the hoistway, and the truncated corner reflectors can ensure the measurement accuracy, so that the positioning accuracy is improved.
Example two
Fig. 6 is a schematic flow chart of a method for determining the position of an elevator car according to a second embodiment of the present invention, which is optimized based on the above embodiments. In this embodiment, determining the target peak according to the spectrogram is further specified as: determining two peaks meeting a preset condition on the spectrogram, wherein the preset condition is that the two peaks are adjacent and are apart from each other by a preset distance; and determining a target peak value from the two peak values. For details not yet described in detail in this embodiment, refer to embodiment one.
As shown in fig. 6, a method for determining a position of an elevator car according to a second embodiment of the present invention includes the following steps:
s210, generating a spectrogram according to an echo signal returned by the truncated corner reflector at the top of the well.
S220, determining two peaks meeting preset conditions on the spectrogram.
The preset condition is that two peaks are adjacent and are separated by a preset distance.
The preset distance may be a preset distance value, and the preset distance may be a truncated length of the truncated corner reflector, and if the truncated corner reflector is obtained by clipping a top of 1 meter length from the general corner reflector, the preset distance may be 1 meter, that is, two adjacent peaks separated by 1 meter are found on the spectrogram.
Further, the preset distance is greater than or equal to the resolution of the radar.
In order to enable the echo signals reflected back from the truncated corner reflectors to form two double peaks on the spectrogram, it is necessary to set the truncated length to be greater than or equal to the radar resolution.
The principle of the truncated length being set to be greater than or equal to the radar resolution will be described in detail below.
Fig. 7 is a reflection schematic diagram of a general corner reflector in a method for determining a position of an elevator car according to a second embodiment of the present invention, as shown in fig. 7, incident light rays (1) and (2) are two parallel light rays entering the general corner reflector, and after three reflections, the incident light rays (1) are reflected along a direction opposite to the incident direction; after the incident light ray (2) enters the vertex O, the incident light ray is reflected in a direction opposite to the incident direction.
Assuming that reflection points of the incident light ray (1) on three triangular surfaces are a, b and c respectively, and intersection points of the incident optical fiber (1) and a plane ABC are m and n; assuming that the intersection point of the incident ray (2) and the plane ABC is k, the path length of the ray is ma+ab+bc+cn=2×ok.
When the truncated corner reflector provided by the embodiment of the invention is adopted, the path of light rays is changed. Fig. 8 is a reflection schematic diagram of a truncated corner reflector in a method for determining a position of an elevator car according to a second embodiment of the present invention, as shown in fig. 8, a path of an incident light ray (1) is not changed, and the incident light ray (2) is irradiated to a plane DEF after being truncated, so that the path of the light ray is shortened, and:
ma+ab+bc+cn＝2Pk+2△d
in the actual elevator car position measurement process, the truncated corner reflector is arranged with the truncated surface DEF facing downwards, i.e. towards the hoistway direction, and the opening surface ABC is parallel to the horizontal plane, where the incident light is perpendicular to the opening surface ABC of the truncated corner reflector, and then the distance Δd between the original vertex O of the truncated corner reflector and the truncated plane DEF, i.e. the truncated length, is one half of the shortened distance of the light Pk, i.e.:
ma+ab+bc+cn＝2Pk+2△d
radar resolution may represent the ability of a radar to distinguish between two adjacent objects, and two peaks may be formed on a spectrogram only if the distance between two adjacent objects exceeds the radar resolution, and if the distance between two adjacent objects is less than the radar resolution, the corrugations formed by the two adjacent objects on the spectrogram may overlap and thus cannot be distinguished. Therefore, when the universal corner reflector is truncated, the truncated length can be larger than or equal to the radar resolution, so that two peaks can be formed on the spectrogram. The truncated length may be appropriately enlarged in order to form effective two peaks, considering various factors in the actual product.
Fig. 9 is a spectrum diagram of a method for determining a position of an elevator car according to a second embodiment of the present invention, as shown in fig. 9, an echo signal reflected by a truncated corner reflector may form two peaks on the spectrum diagram, and a distance between the two peaks is a preset distance, so that two peaks adjacent to each other and having a distance of Δd can be searched on the spectrum diagram.
S230, determining a target peak value from the two peak values.
In this embodiment, the manner of determining the target peak value may be: and taking the peak value with stronger signal of the two peak values as a target peak value.
Further, the determining the target peak value from the two peak values includes: and determining the peak value with the larger peak value of the two peak values as a target peak value.
Wherein a larger peak indicates a stronger signal strength.
And S240, determining the current position of the elevator car according to the target peak value and the position of the corner reflector.
The second embodiment of the invention provides a method for determining the position of an elevator car, which embodies the process of determining a target peak value according to the spectrogram. By using the method, the target peak value can be determined by searching adjacent double peaks with preset distance on the spectrogram, and the method can solve the problem that the target peak value cannot be determined from the spectrogram due to the fact that the distance between the elevator car and the radar is far in the prior art.
Example III
Fig. 10 is an exemplary flowchart of a method for determining a position of an elevator car according to a third embodiment of the present invention, where the third embodiment may be an exemplary embodiment, and a scenario corresponding to the embodiment is a situation after the radar is powered up again. As shown in fig. 10, the method includes the steps of:
step 4, if not, determining that the preset distance is wrong, namely the truncated length of the truncated corner reflector is insufficient, or the radar is in fault, or the attitude of the truncated corner reflector is wrong, or the radar is wrong; if yes, executing the step 5;
and 6, carrying out refined Fourier transform on the target peak frequency to obtain the accurate distance.
According to the method for determining the position of the elevator car, provided by the embodiment of the invention, the distance between the truncated corner reflector and the radar can be accurately measured.
Example IV
Fig. 11 is a schematic structural diagram of an apparatus for determining a position of an elevator car according to a fourth embodiment of the present invention, which is applicable to a case of positioning an elevator car in a hoistway in real time, wherein the apparatus may be implemented in software and/or hardware and is generally integrated on a computer device.
As shown in fig. 11, the apparatus includes: a generation module 110, a first determination module 120, and a second determination module 130.
A generating module 110, configured to generate a spectrogram according to an echo signal returned by a truncated corner reflector at the top of the hoistway;
a first determining module 120, configured to determine a target peak according to the spectrogram;
a second determining module 130 for determining a current position of the elevator car based on the target peak value and the position of the corner reflector.
In this embodiment, the apparatus first generates a spectrogram according to an echo signal returned by a truncated corner reflector at the top of a hoistway through a generating module 110; determining a target peak value according to the spectrogram through a first determining module 120; and finally determining the current position of the elevator car according to the target peak value and the position of the corner reflector through a second determining module 130.
The embodiment provides a determining device for the position of an elevator car, which can determine the position of the elevator car through a spectrogram generated by echo signals returned by a truncated corner reflector at the top of a well, and the truncated corner reflector can ensure measurement accuracy, so that positioning accuracy is improved.
Furthermore, the truncated corner reflector is obtained after the universal corner reflector is truncated, and the universal corner reflector is formed by vertically splicing three triangles.
Further, the echo signals are reflected to the radar after the truncated corner reflector receives electromagnetic waves emitted by the radar, and the radar is arranged at the top of the elevator car.
Based on the above optimization, the generating module 110 is specifically configured to: carrying out Fourier transform on echo signals returned by the corner reflectors at the top of the well; and generating a spectrogram according to the converted signal.
Based on the above technical solution, the first determining module 120 is specifically configured to: determining two peaks meeting a preset condition on the spectrogram, wherein the preset condition is that the two peaks are adjacent and are apart from each other by a preset distance; and determining a target peak value from the two peak values.
Further, determining a target peak value from the two peak values includes: and determining the peak value with the larger peak value of the two peak values as a target peak value.
Further, the preset distance is greater than or equal to the resolution of the radar.
Further, the first determining module 130 is specifically configured to: performing refined Fourier transform on the frequency of the target peak value to obtain the distance between the radar and the truncated corner reflector; and determining the current position of the elevator car according to the distance and the position of the truncated corner reflector.
The elevator car position determining device can execute the elevator car position determining method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the executing method.
Example five
Fig. 12 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention. As shown in fig. 12, a fifth embodiment of the present invention provides a computer device including: one or more processors 41 and a storage device 42; the number of processors 41 in the computer device may be one or more, one processor 41 being taken as an example in fig. 12; the storage device 42 is used for storing one or more programs; the one or more programs are executed by the one or more processors 41 to cause the one or more processors 41 to implement a method of determining the position of an elevator car according to any of the embodiments of the invention.
The computer device may further include: an input device 43 and an output device 44.
The processor 41, the storage means 42, the input means 43 and the output means 44 in the computer device may be connected by a bus or by other means, in fig. 4 by way of example.
The storage device 42 in the computer apparatus is used as a computer readable storage medium, and may be used to store one or more programs, which may be software programs, computer executable programs, and modules, such as program instructions/modules corresponding to the method for determining the position of an elevator car provided in the first or second embodiments of the present invention (e.g., the modules in the apparatus for determining the position of an elevator car shown in fig. 11, including the generating module 110, the first determining module 120, and the second determining module 130). The processor 41 executes various functional applications of the computer device and data processing, i.e. implements the method of determining the position of the elevator car in the above-described method embodiment, by running software programs, instructions and modules stored in the storage means 42.
The storage device 42 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for a function; the storage data area may store data created according to the use of the computer device, etc. In addition, the storage 42 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, storage 42 may further include memory located remotely from processor 41, which may be connected to the device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 43 may be used to receive entered numeric or character information and to generate key signal inputs related to user settings and function control of the computer device. The output device 44 may include a display device such as a display screen.
And, when one or more programs included in the above-mentioned computer device are executed by the one or more processors 41, the programs perform the following operations:
generating a spectrogram according to an echo signal returned by a truncated corner reflector at the top of a well;
determining a target peak value according to the spectrogram;
and determining the current position of the elevator car according to the target peak value and the position of the corner reflector.
Example six
A sixth embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, is for executing a method of determining a position of an elevator car, the method comprising:
generating a spectrogram according to an echo signal returned by a truncated corner reflector at the top of a well;
determining a target peak value according to the spectrogram;
and determining the current position of the elevator car according to the target peak value and the position of the corner reflector.
Optionally, the program, when executed by the processor, may also be used to perform the method of determining the position of an elevator car provided by any of the embodiments of the invention.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access Memory (Random Access Memory, RAM), a Read-Only Memory (ROM), an erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. A computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to: electromagnetic signals, optical signals, or any suitable combination of the preceding. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, radio Frequency (RF), and the like, or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (11)
1. A method of determining the position of an elevator car, comprising:
generating a spectrogram according to an echo signal returned by a truncated corner reflector at the top of a well;
determining a target peak value according to the spectrogram;
and determining the current position of the elevator car according to the target peak value and the position of the corner reflector.
2. The method of claim 1, wherein the truncated corner reflector is obtained by truncated a general corner reflector formed by vertically splicing three triangles.
3. The method of claim 1, wherein the echo signal is reflected to the radar by the truncated corner reflector after receiving electromagnetic waves emitted by the radar, the radar being disposed on top of an elevator car.
4. The method of claim 1, wherein generating a spectrogram from echo signals returned from a truncated corner reflector at the top of a hoistway comprises:
carrying out Fourier transform on echo signals returned by the corner reflectors at the top of the well;
and generating a spectrogram according to the converted signal.
5. The method of claim 1, wherein said determining a target peak from said spectrogram comprises:
determining two peaks meeting a preset condition on the spectrogram, wherein the preset condition is that the two peaks are adjacent and are apart from each other by a preset distance;
and determining a target peak value from the two peak values.
6. The method of claim 5, wherein determining a target peak from the two peaks comprises:
and determining the peak value with the larger peak value of the two peak values as a target peak value.
7. The method of claim 5, wherein the predetermined distance is greater than or equal to a resolution of the radar.
8. The method of claim 1, wherein the determining the current position of the elevator car based on the target peak value and the position of the truncated corner reflector comprises:
performing refined Fourier transform on the frequency of the target peak value to obtain the distance between the radar and the truncated corner reflector;
and determining the current position of the elevator car according to the distance and the position of the truncated corner reflector.
9. An apparatus for determining the position of an elevator car, said apparatus comprising:
the generating module is used for generating a spectrogram according to the echo signals returned by the truncated corner reflectors at the top of the well;
the first determining module is used for determining a target peak value according to the spectrogram;
and the second determining module is used for determining the current position of the elevator car according to the target peak value and the position of the corner reflector.
10. A computer device, comprising:
one or more processors;
a storage means for storing one or more programs;
the one or more programs are executed by the one or more processors to cause the one or more processors to perform the method of determining the position of an elevator car of any of claims 1-8.
11. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, implements the method of determining the position of an elevator car according to any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111335365.6A CN116106883A (en) | 2021-11-11 | 2021-11-11 | Method and device for determining position of elevator car, computer equipment and medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111335365.6A CN116106883A (en) | 2021-11-11 | 2021-11-11 | Method and device for determining position of elevator car, computer equipment and medium |
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| Publication Number | Publication Date |
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| CN116106883A true CN116106883A (en) | 2023-05-12 |
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| CN202111335365.6A Pending CN116106883A (en) | 2021-11-11 | 2021-11-11 | Method and device for determining position of elevator car, computer equipment and medium |
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| Country | Link |
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| CN (1) | CN116106883A (en) |
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