CN1840461A - System for detecting position of moving body and method - Google Patents
System for detecting position of moving body and method Download PDFInfo
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- CN1840461A CN1840461A CN 200610006321 CN200610006321A CN1840461A CN 1840461 A CN1840461 A CN 1840461A CN 200610006321 CN200610006321 CN 200610006321 CN 200610006321 A CN200610006321 A CN 200610006321A CN 1840461 A CN1840461 A CN 1840461A
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Abstract
The present invention purposes to sense the position of a moving body simply and accurately while the labor to conduct installation, required accuracy, occupying space, costs, etc. are suppressed. A position sensing system is equipped with apparatus (IC tag etc.) (141-146) to transmit the inherent information along the moving path of the moving body such as an elevator car 2 and a coupler 13 installed on the side with the moving body, whereby the inherent information is acquired by the coupler 13 through approaching or confronting of the two members. On the other hand, the position of the moving body is presumed from the second relative position information and so forth, which is used to construct the arrangement to use it as a control command or utilize as management data. This enables presuming accurately the attaining position of the moving body such as elevator car, involving the effect to use the information in generating a command to the system control or in the form of acquiring the monitoring data.
Description
Technical field
The present invention relates to a kind of position detecting system and method for detecting position of moving body, especially relate to a kind of basis by the receptor that is arranged on mobile side from paying of a plurality of fixation side the information that obtains of the setting device of peculiar location information, detect the position of moving body, and position detecting system and method for detecting position that this testing result is used as the instruction that sends to moving body.
Background technology
As an example of movable body position checking system, the position detecting system of the elevator car position of detection elevator is open.As technology formerly, as patent documentation 1 disclosed invention, a plurality of opto-electronic pickups are set in lift car, and also be provided with a plurality of relative check-out consoles respectively in the hoist trunk side, combination by the multiple sensors signal obtains complicated location information, and this signal is used as the move that sends to lift car.
As patent documentation 2 disclosed inventions, the combination by a plurality of sensors and sight shield is to carry out the detection of ad-hoc location.In addition, as patent documentation 3 disclosed inventions, its by sensor building elevator lobby the elevator threshold and prevent that foreign matter from falling into the guar plate in the hoist trunk, to discern each floor.
And, if further expand the scope of moving body to the general technology field, as patent documentation 4 disclosed inventions, position probing information according to the moving body in a certain zone, three-dimensional display is carried out in position to moving body in real time in monitoring device, and the object of moving body being carried with three dimensional constitution carries out mobile management.
In addition, as patent documentation 5 disclosed inventions, by IC tag (tag) the reading operation indication of mobile robot from disperse being provided with, and according to this indication change towards.Patent documentation 6 disclosed location association information getting methods etc. and for example, it detects the position ID that is arranged on zone that can't be by GPS identification by portable terminals such as PC, when this portable terminal arrives peculiar zone, sends this location information to upper system.The information that is associated with the ID that is received is retrieved by the upper system that receives this location information, and these data are sent to the corresponding mobile terminal.
Patent documentation 1: the spy opens the 2004-67252 communique
Patent documentation 2: the spy opens flat 6-135648 communique
Patent documentation 3: the spy opens the 2001-39639 communique
Patent documentation 4: the spy opens the 2004-196553 communique
Patent documentation 5: the spy opens the 2004-108782 communique
Patent documentation 6: the spy opens the 2002-228481 communique
In the formerly technology of above-mentioned detection as the elevator car position of moving body one example, in the lift car side a plurality of photoelectric switchs are set, and the sight shield or the polylith sight shield of different shape are set respectively in hoist trunk, wait the position of detecting lift car by its combinatory logic.But, in this combined detection method, increase check point if desired, then must increase the logical combination that is used to discern, for this reason, a lot of photoelectric switchs and sight shield must be set.Therefore, there is the problem cost labour is set, precision is not enough and occupies aspects such as the space is big.
In addition, in the three-dimensional position checking system of general moving body, detect in order to carry out three-dimensional, in Stationary side a plurality of receptors are set respectively, on mobile side transmitter is set, between these receptors and transmitter, carries out position probing, and on monitoring device, carry out the real-time three-dimensional demonstration., also there is the problem of the numerous receptors of needs in this checking system.In addition, carrying out in the system of mobile robot's mobility management according to the information of the IC tag of disperseing to be provided with, existence need pursue the proper method and import the problem of detailed operation indication in IC tag, with and main purpose be the detection side to, so there is the problem of the detection that is difficult to grasp the correct passage period of moving body.And, whether arrived the regulation zone at portable terminals such as detecting PC by wireless identification tag, and testing result is delivered to upper system, portable terminal receives the system of this regional related information from upper system, because the purpose of this system is to obtain the information of relevant range, its testing goal is not in order to obtain accurate in-position, but in order to obtain a zone in approximate range, so they are different with the detection that needs detection position accurately.
Summary of the invention
The object of the present invention is to provide a kind of position detecting system or method for detecting position of moving body, it can calculate the position of moving bodys such as lift car accurately, and testing result can be used as the instruction of the system of sending to.
Characteristics of the present invention are, when detecting the position of moving body, device with peculiar information is set near movable passageway, and coupler is set on mobile side, by make both near or relatively to obtain peculiar information, simultaneously according to the position of this peculiar information and other location informations deduction moving body, and inferred results used as control command and diagnostic data.
(effect of invention)
In preferred implementation of the present invention, can infer the position of moving bodys such as lift car accurately, and can generate the instruction that sends to control system, and inferred results is used as monitoring data according to inferred results.
Clear and definite other purposes of the present invention and characteristics in the explanation of following examples.
Description of drawings
Fig. 1 is the system architecture simplified schematic diagram of the elevator position checking system in one embodiment of the invention.
Fig. 2 rises to measure the processing flow chart of running in the elevator position checking system of one embodiment of the invention.
Fig. 3 carries out to descend in the elevator position checking system of one embodiment of the invention to measure the processing flow chart of running.
Fig. 4 is the figure of data sheet in the elevator position checking system of expression one embodiment of the invention.
Fig. 5 is the processing flow chart of the urgent deceleration instruction change in the elevator position checking system of one embodiment of the invention.
Fig. 6 is the processing flow chart of the elevator car position compensation data in the elevator position checking system of one embodiment of the invention.
Fig. 7 is the processing flow chart that the stop position of elevator cage in the elevator position checking system of one embodiment of the invention detects.
Fig. 8 is the processing flow chart that reruns after the lift car in the elevator position checking system of one embodiment of the invention stops.
Among the figure: 1-master's hoist cable, the 2-lift car, the 3-balance weight, the 4-rope sheave, 5-electrical motor, 6-pulse generator, the 7-elevator control gear, 8-inverter (inverter), 9, equipment installing component in the 10-hoist trunk, 12-tail sign indicating number (tail code), 13-accepts the coupler of peculiar information, 141～146-sends the element (IC tag etc.) of peculiar information, 15-distance piece, 71-counting machine, 72-CPU, 75-memory storage, 200-rise and measure the running processing, and 300-decline is measured running and handled, the urgent deceleration instruction change of 500-is handled, 600-elevator car position compensation data is handled, and the 700-stop position of elevator cage detects to be handled, and reruns processing after the 800-lift car stops.
The specific embodiment
Following with reference to description of drawings one embodiment of the invention.
Fig. 1 is the system architecture simplified schematic diagram of the elevator car position checking system in one embodiment of the invention.As shown in Figure 1, main hoist cable 1 is connected with balance weight 3 with lift car 2, and main hoist cable 1 is wrapped on the rope sheave 4, and rope sheave 4 is driven by electrical motor 5.Installed in the electrical motor 5 along with electrical motor 5 rotations and produced the impulse deviser 6 of pulse.The counting machine 71 of the pulse transmission of impulse deviser 6 output in the elevator control gear 7.Carry out integrating by the pulses that 71 pairs of counting machines produce along with moving of lift car 2, this information translation is become the relative position information of lift car 2 or moving velocity information etc. by CPU72.CPU72 is scheduled to stop layer according to the information decision from button in not shown each layer button and the lift car, current location and the predetermined floor position of stopping according to lift car, calculate remaining operating range, and the formation speed instruction is to produce the acceleration and deceleration expected value of regulation.And, the detection speed value of the lift car 2 that CPU72 obtains according to this speed command and from impulse deviser 6 is set up speed control system, and after setting up other current control system, via interface 73, to inverter 8 output pwm signals as power conversion unit.Inverter 8 is according to this pwm signal, and not shown source power supply or battery as power supply, are generated the alternating current of variable ratio frequency changer transformation, and offer electrical motor 5.
In the generative process of this instruction, CPU72 reads following signal to handle.Be arranged on lift car 2 sides as the receptor 13 of coupler with hoist trunk in machine installing component 9,10 on the IC tag of being installed 141～146 relative to, thereby receive the ID signal that each IC tag produces.And, from the interface 11 of lift car side, be delivered in the control setup 7 by tail sign indicating number 12, send CPU72 to via the interface 74 of control setup 7 sides.At this, as relative with coupler 13 to the high precision position information transmitting apparatus, be provided with a plurality of IC tag 141～146 around each floor and near the highest or the lowermost layer etc.Each IC tag can be occupied the space and is configured with very little setting, by the peculiar information transferring method of digital form, different separately peculiar information is delivered in the coupler 13.For this reason, a plurality of IC tag can be set near the direct of travel of moving body, thereby detailed location information can be provided.That is, relative by a plurality of IC tag 141～146 adjoining lands with a receptor 13, thus can transmit detailed elevator car position information to control setup 7, can carry out high-precision test to the position of lift car continuously basically.
In addition, in the present embodiment, study aspect the relation between installing component 9,10 and IC tag.At first, as installing component 9, the magnetic substance parts of running rail etc. have been used.IC tag 141～146 receptor 13 near the time, can under effect, be subjected to electricity and move from the electromagnetic induction of receptor, return a series of processing such as ID numbering with execution.By this IC tag is installed on the magnetic substance, dwindled consciously can and receptor 13 between transmit information the zone.Thus, even, also can reduce the possibility that generation is replied simultaneously setting the spacing that is provided with on the moving direction of IC tag a little bit smaller on the moving direction of moving body.Therefore, have the density that is provided with that can improve IC tag, can produce the effect of continuous detecting movable body position equivalently.In addition, when receiving the peculiar information from a plurality of IC tag at the same time, can carry out suitable processing at coupler and control setup side.Promptly, possess following control setup, when coupler received a plurality of peculiar information simultaneously, this control setup was according to the order that receives, according to the content of peculiar information and be stored in related information in the related information table (memory storage), generate the control command that sends to movable body driving device.
And IC tag 142 is embedded in the groove of installing component 9.Thus, this IC tag 142 only receptor 13 near the time, can not receive enough electromagnetic induction power, and only abundant when relative at positive and this receptor 13, this IC tag 142 could be numbered ID foldback and be given receptor, so just can further be provided with IC tag more closely.On the contrary, IC tag 143 makes itself and installing component 9 separate spacing by distance piece 15 when mounted consciously.This be because, IC tag 143 is essential labels for the important position information that obtains to lose, so, taked to avoid the installation method of decay to occur because of magnetic substance causes electromagnetic induction power, improved the reliability of system.Equally, when IC tag 144 is installed, also on installation method, study, omit, used the installing component 10 of non-magnetic material for fear of occurring detecting.
So, IC tag 141,142,145 and 146 not only can be carried out the position of high density setting with the continuous detecting moving body, and IC tag 143 and 144 has adopted the method to set up of high reliability from preventing the angle that detects omission.That is,, adopted method to set up inequality consciously, thereby improved the reliability of system according to the application target of IC tag.
So, by make a receptor relative with a plurality of small-sized IC tag to, can accurately detect position as the lift car of moving body, like this, for example near elevator lobby, adopt this technology, just can obtain following effect.That is,, can generate compensation running instruction, to compensate the flexible lateral error that causes of the hoist cable 1 that produces because of elevator about a large amount of passengers by near each elevator lobby, detecting the position of lift car basically continuously.And, if this technology is adopted in two ends of hoist trunk, just can accurately detect the position of lift car substantially continuously, and can reduce to detect and delay.For this reason, grasp the moving velocity detected value at assigned position place, end, just can prevent from fully to produce in order to take place when unusual to be delayed the situation of execution at specified value with interior and urgent deceleration instruction that generate in system with the speed control of end collision by pairing.Its result, have can be in the set positions of more close end urgent deceleration instruction, can be to set normal speed command and urgent deceleration instruction than bigger in the past interval, thereby have following effect, thereby promptly can prevent from when normal operation, to cause system to produce misoperation because of entering urgent speed-down action pattern because of carelessness.And, if a plurality of IC tag are set in the zone that near the elevator door floor can be opened, thereby set up a system that can the repeated detection lift car whether have entered the zone that the predetermined elevator door of stopping layer can open, just can improve the open reliability that instructs of elevator door.
At this, be illustrated as moving body with lift car, but also can consider as moving body with elevator door, at this moment, owing to can when elevator door switch, accurately judge the position of elevator door, even, also can successfully realize switch control so adopt the big articulated elevator door of nonlinear degree etc.
If present technique is applied to follow in the position probing of vehicle that stops all to adopt the automatically controlled new traffic system etc., the precision of the stop position in the time of not only can improving vehicle and on platform, stop, and decelerating behavior is become gently, thereby can reduce deceleration on one's feet the impact that the passenger caused.
Below describe with regard to the inherent characteristic of peculiar information member of imparting such as IC tag.In IC tag, the ID of label special use numbering is stored in the internal storage device in advance.Thus, at the inquiry from coupler 13, the processing equipment in the label is read special I D numbering, and gives coupler 13 with this numerical value foldback, thereby can whether arrive correspondence position by ID numbering identification moving body.In addition, the relation between ID numbering and the correspondence position information is described in the back.
Fig. 2 is the processing flow chart when rising the mensuration running in the elevator position checking system of one embodiment of the invention.At this, the peculiar information applicator that IC tag etc. are arranged on non-moving body (meront) side carries out automatically with related (making it have relevance) that it is provided with between the location information.This processing be during to the position be set do not carry out strict control of the device that is arranged on non-moving side the pre-processing that must carry out.Below describe with regard to the relevant processing of relation between coupler 13 and the IC tag 141～146.The processing that makes the IC tag position have relevance, running processing 300 is measured in the mensuration that just rises running processing 200 and the described decline of Fig. 3 described later, as a link of system initialization, starts according to the actuation signal from not shown external device (ED).At this moment, the numerical value of employed counting machine 71 resets before measuring beginning in the rise detection, to finish preparation of determine.
At first, in step 201,, but under low speed, make lift car 2 drop to foot in the operating range with automatic operation mode for the dead work of measuring.Afterwards, begin the running of rising in step 202 with low speed.Judge in determining step 203 whether lift car has arrived topmost.If arrive, the end process of the mensuration running of the running of then rising in step 204 after step 205 is returned in execution, enters drawdown test running (Fig. 3) by not shown Operational System Control.
And if also do not arrive topmost, then proceed to detect, in determining step 206, judge the response interrupt signal that has or not from IC tag, if do not respond interrupt signal, then return the upstream and proceed to measure.If answer is yes, the ID numbering of then numerical value of not shown relatively counting machine 71 having been made the IC tag of subtend response in step 207 is associated with count value, and write storage device 75, turns back to the upstream afterwards and proceeds to measure.Count value in the step 207 resets when system initialization,, along with the pulse that low-speed running produces count value is added and subtracted according to impulse deviser 6.That is, if do not skid between supposition hoist cable 1 and the rope sheave 4, the position that relatively moves of the lift car 2 of starting at from its lowermost position when then count value is represented this.Therefore, in step 207, what IC tag was measured in the running by lift car is provided with position (position that the foot that can turn round from lift car detects), and this position is associated with the ID numbering of IC tag, presses aftermentioned sequential storage shown in Figure 4 in memory storage 75.By this processing, when IC tag is arranged on non-moving side, just need not detect absolute location and the operation of setting singly in advance at each IC tag, so can save the required time that is provided with of numerous IC tag that is provided with, reduce the danger that the high-altitude is provided with operation, make numerous IC tag possibility that becomes is set.
Fig. 3 carries out to descend in the elevator position checking system of one embodiment of the invention to measure the diagram of circuit of running processing 300.This processing is carried out after being connected on the mensuration running processing 200 of rising.Whether judgement rising mensuration turns round and finishes in step 301, if also not end is not then carried out any processing relevant with decline mensuration and passed through step 305 end process.And if the relevant mensuration of the running of rising has been finished, then in step 302 with the low speed entry into service to arrive foot.Then, judge whether to have arrived foot in step 303, if arrived foot, the mensuration that then descends in step 304 running stops to handle, and finishes to measure by step 305 and turns round.If also do not arrive foot, then in step 306, judge to have or not to detect IC tag.If the answer is in the negative, then remain in operation up to detecting ID, if after testing come out, then in step 307, count value at this moment is associated with the ID numbering, and as described later, in memory storage 75, formulate data sheet, and proceed to detect up to arriving foot.At this moment, except ascent direction, on descent direction, also implement to measure running, its reason is, owing to may appear at the situation that just begins to send the ID signal before the IC tag position relative fully with receptor concerns that arrives, so, in order to get rid of the error that occurs because of its rotation direction, and switch the usage count value according to rotation direction.
Fig. 4 represents the data sheet of the elevator position checking system in one embodiment of the invention.What the figure shows is, be provided with in a plurality of IC tag the ID value of detected IC tag is with detection when rising running and when descending running respectively the time count value, just be associated and the data sheet that forms as the position of the lift car of moving body.Represented in the figure, when rising running, when count value is for " mmm ", received the signal that is numbered the IC tag output of " XYZ1234 " from ID, and in the running that descends, when count value is for " mmX ", received the signal that is numbered the IC tag output of " XYZ1234 " from ID.At this, receptor 13 receives the position of signal from identical IC tag " XYZ1234 " different because of rotation direction.When this expression IC tag was also not relative fully with receptor, IC tag was subjected to electricity and has carried out ID to send action.Deviation between should " mmm " and " mmX " is except can outside the raising accuracy rate, adopting following method to prevent this disadvantage by method improvement such as being installed in IC tag on the magnetic material or bury underground.Promptly, if when descending running, detected the IC tag that ID is numbered " XYZ1234 ", then be " mmX " rather than " mmm " with its location recognition, if when rising running, detected the IC tag that ID is numbered " XYZ1234 ", then be " mmm " rather than " mmX " with its location recognition.So, read, and count value changed read to handle,, but, just contradiction can not occur in the count value as long as rotation direction is identical even then IC tag is not also just being sent signal fully relatively the time by different directions according to moving body.And,, then can also get rid of from fully relatively before detecting signal and detect the influence that velocity contrast caused of the moving body the signal to fully relatively the time if compensate according to the difference of passing through speed of moving body.If the deviation of being somebody's turn to do between " mmm " and " mmX " is little, then do not need count value to be changed the processing of reading grade according to rotation direction, regardless of rotation direction, all only need to use two count values " mmm " and the intermediate value " (mmm+mmX)/2 " of " mmX " just can.The compensation deals of elevator car position data shown in Figure 6 described later etc. can use this count value " mmX ", with " mmm " and " (mmm+mmX)/2 ".
In addition, in the running of the highest or lowermost layer, except normal deceleration with the speed command, also have urgent deceleration instruction.Fig. 4 in the running of lowermost layer side, set " 78 " belong to this urgent deceleration instruction in the decline operating condition, in top running, set " 68 " belong to this urgent deceleration instruction in the rising operating condition.Speed value during with " 78 " cooresponding normal operation in this count value " mmX " is configured to the numerical value of for example " 70 " littler than these " 78 " etc., and the speed value during with " 68 " cooresponding normal operation in this count value " nnnn " is configured to the numerical value of for example " 60 " littler than these " 68 " etc.
Near the urgent deceleration instruction of the data sheet of Fig. 4 producing the highest or the bottom, also relevant with the elevator door zone that allows elevator door to open.For example, suppose that count value just in time is the floor location of N layer for the position of " n010 ", this place has the IC tag that ID is numbered " ABC5674 ", and the elevator door zone with respect to count value " n010 " in ± 10 scope.At this, and the hypothesis ID IC tag that is numbered " ABC5670 " is positioned at the position of " n000 ", and ID is numbered the position that the IC tag of " ABC5678 " is positioned at " n020 ".Like this, marked mark " D " from comprising that ID numbering " ABC5670 " that ID numbering " ABC5676 " waits is numbered to ID the column in the interior elevator door zone of the scope of " ABC5678 ", it is illustrated in the running of going to the N layer, can open the action of elevator door in this zone.After this count value and ID value generate, store deceleration instruction with the corresponding count value of ID value according to being used for the urgent speed command that slows down.At this, for convenience of description, only represented the to descend command value " 78 " of running usefulness and the command value " 68 " of the running usefulness that rises, but owing in fact be provided with more IC tag, so this command value is set in sufficient detail continuously.And, at this moment, corresponding with count value, should all have deceleration instruction, but because the value when having only the position of lift car corresponding with the ID value could use when detecting, so stored and ID value value corresponding in this calculating, part does not in addition have analog value with "-" expression.
Below explanation enters operation in system, and moving body carries out when mobile, by making the coupler that is installed on the moving body and IC tag near also relative to detecting, and the using method of this information during with the position that can accurately grasp moving body.
Fig. 5 is the processing flow chart of the urgent deceleration instruction change in the elevator position checking system of one embodiment of the invention.Represented:,, deceleration instruction is applied flexibly action from the instruction that general value changes over the treatment step 500 of urgent deceleration instruction when the deceleration instruction of moving body during during greater than specified value by the regulation place in the travelling of the highest or lowermost layer.This urgent deceleration instruction change handle 500 IC tag and receptor near and during relative and generation interrupt signal, or when level input changed, this step was activated.In step 501, discern the ID numbering of the IC tag relative with receptor, number corresponding position according to what the data sheet of Fig. 4 was obtained moving body with ID in step 502, i.e. count value, and retrieval and this are worth cooresponding urgent deceleration instruction value and not shown present speed command value.For example, when in going to undermost decline running, detecting ID numbering " XYZ1234 ", obtain count value " mmX ", and obtain and the cooresponding urgent deceleration instruction value in this position " 78 ".In addition, further do not obtain not shown in this data sheet carrying out normal operation in the deceleration instruction value used.In general, the speed value that uses in this normal operation is less than urgent deceleration instruction value.In step 503, the size of the deceleration instruction value used in the normal operation size with urgent deceleration instruction value is compared, if the former is less than the latter (when the answer is in the negative), then the generation of presentation directives does not go wrong, after carrying out end step 504, proceed running with current normal deceleration instruction value.And if the deceleration instruction value that this normal operation is used remains in operation if then be judged as still greater than urgent deceleration instruction value, deceleration becomes, and possibility is very big fully inadequately.For this reason, in step 505, the speed command that will be used to control elevator car speed changes over urgent deceleration instruction from common deceleration instruction, to accelerate the geard-down speed of lift car.
In the present embodiment,, particularly partly carried out the emphasis setting in the highest and lowermost layer because IC tag has been carried out the high density setting, so, compare with the technology of only roughly checking formerly in limited area, detect and carry out more in detail.Therefore, delay also reducing, thereby the impact that drive system is caused when promptly slowing down is also little, therefore has and avoid the effect that occurs skidding between hoist cable 1 and the rope sheave 4 at the execution of the urgent deceleration instruction of the highest or lowermost layer.
Fig. 6 is that the elevator car position compensation data in the elevator position checking system of one embodiment of the invention is handled 600 diagram of circuit.Lift car as moving body is driven by electrical motor 5, rope sheave 4 and hoist cable 1 as actuating device, the position of lift car, as the miles of relative movement of starting at, obtain the absolute location of equivalence indirectly termly by the output pulse of pulse generator 6 from foot., because the small creep (creep) that exists between hoist cable 1 and the rope sheave 4 etc., thereby deviation appears in detection position and actual position sometimes.Using method when compensating as the position data to this lift car, Fig. 6 has represented the order of elevator car position compensation data processing 600.At first, because of IC tag and receptor near and relative when interrupt signal having occurred, step 600 enters mode of operation rapidly.In step 601, judge that this interrupt signal is which IC tag in the IC tag of a plurality of dispersed placement is sent.In step 602, read in the table and number corresponding count value with cooresponding ID, promptly represent the value of moving body tram.In step 603, adopt the correct count value of from table, reading to rewrite the elevator car position data so that elevator car position is compensated processing.The position data of the lift car in the running in other not shown steps, is calculated by carrying out integrating by rotation direction and the output pulse of paired pulses generator 6 at regular intervals.By rewriting this position data with described correct count value, the position of lift car is compensated processing, after carrying out end step 604, return management program.
These elevator car position compensation deals 600 are carried out when a plurality of IC tag that is provided with is each relative with receptor, and execution interval is short.For this reason, the variation of each compensation value itself is little, and its result becomes by the variation at the speed value that uses this value to generate etc. and to revise continually before very big, can reduce the impact that is caused when revising.
And this processing is by startups such as interrupt signals, so be not might cause load overweight under the very sufficient situation in the ability of micro computer.At this moment, by carrying out suitable processing, for example, just can set up system and carry out finding equilibrium point between the careful correction according to receiving after the interrupt signal to receive processing such as pitch time till the interrupt signal and miles of relative movement etc. shield next time.
Fig. 7 is that the stop position of elevator cage in the elevator position checking system of one embodiment of the invention detects and handles 700 diagram of circuit.In this is handled, detect the stop position of moving body, grasp this stop position and the error between the expected value originally, it can be used in the operation such as maintenance grade.This processing is by one of processing of startups regularly such as timer interrupt signal.
At first, after processing 700 starts, judge in step 701 whether moving body is in halted state.If moving body is an elevator, judge then whether brake equipment is in braking mode etc.If the answer is in the negative, illustrate that then moving body moves, stop error owing to judging, so in execution in step 702 back end process.And if moving body is in halted state, then in step 703 by the retrieval position that should stop in the not shown system, promptly the target stop position is obtained the actual actual stop position that stops of moving body according to the output of pulse generator in step 704.In step 705, calculate according to the difference between this target stop position and the actual stop position and to stop error, in step 706, putting storage in order with reference to after stopping operating conditions such as floor, rotation direction, transport maximum speed and load-carrying this being stopped error, and after sending to maintenance department end process.
According to present embodiment, can grasp the situation that the moving body fixed point stops to control.And in this processing, practical measurement does not stop error in step 704, but after positional data compensated processing, the signal of paired pulses generator was counted, and till moving body stops, promptly adopting the method for following the tracks of indirectly to calculate and stops error.But, because IC tag has been carried out the high density setting, so after compensation, till the arrival bed of interest, the possibility that occurs deviation between count value and the actual value detects so can carry out high-precision stop position than technology minimizing formerly.
Fig. 8 reruns after the lift car in the elevator position checking system of one embodiment of the invention stops to handle 800 diagram of circuit.This processing starts by interrupt signal when IC tag is approaching and relative with receptor.
At first, judge in step 801 whether electrical motor is in halted state,, then be judged as and do not belong to the situation that reruns processing after stopping and in execution in step 802 back end process if electrical motor rotates.If electrical motor is in halted state, judge in step 803 then whether interrupt signal from IC tag comes from the IC tag beyond the desired location of stopping originally, if the answer is in the negative, think that then it is parked on the normal position, in execution in step 802 back end process.And if answer is yes, then in step 804, calculate and the corresponding count value of detected IC tag and and the cooresponding count value of stop position between difference.Promptly, the actuating device of moving body is through the brake equipment braking and in case after stopping, hoist cable stretches because of passenger's turnover, though electrical motor is under the state that stops, but the small error d that occurs at the floor place between residing position of moving body and the predetermined stop position, and calculate this error d.And, in step 805, produce with miles of relative movement d be the running instruction of instruction with compensation because of the error that the stretching of this hoist cable etc. causes, rerun processing after end stops afterwards.
So, can at length detect because actuating device such as hoist cable, and make movable body position after stopping that the change in location of moving body of the system of delicate variation take place.Owing to this information can be reflected in the position compensation running with instruction type, so have the effect that to keep stable positioning control.
So, according to present embodiment,, also can obtain the detailed position probing data of moving body even be arranged on the device on the non-moving side that the poor management lattice are set.
In addition, according to present embodiment, the moving body that is obtained effectively can utilized aspect the raising system performance as the control command of moving body detailed position probing data.
Further, according to present embodiment, can be with the moving body that is obtained detailed position probing data make full use of as the intermediate data of moving body.
Claims (20)
1. the position detecting system of a moving body has along the detected body of the movable passageway setting of moving body and is arranged on the moving body, is used for detector that described detected body is detected, it is characterized in that possessing:
Be used to form described detected body, have a plurality of peculiar information generator of peculiar message sending function separately;
Coupler, it is used to form described detector, when approaching or relative with described peculiar information generator with described peculiar information generator, receives different separately peculiar information from a plurality of described peculiar information generators; And
The position apparatus for predicting, its according to described near the time or the content of the described peculiar information that receives relatively the time and with other relevant location informations of amount of movement or position of described moving body, infer described movable body position.
2. movable body position checking system as claimed in claim 1 is characterized in that,
Further have control setup, the inferred position information that this control setup is inferred according to described position apparatus for predicting, generation sends to the control command of the actuating device of described moving body.
3. movable body position checking system as claimed in claim 1 is characterized in that,
Described moving body is the lift car or the elevator door of elevator, and described peculiar information generator comprises a kind of in the position before the removable end position of the final removable end position of the urgent decelerate position of the urgent stop position of the highest or bottom, the highest or bottom, the highest or bottom, the highest or bottom, the elevator door switch zone of recognizing site, each floor before each floor stop position or elevator door switch finish as peculiar information.
4. movable body position checking system as claimed in claim 1 is characterized in that,
On the assigned position that described peculiar information generator is arranged on its peculiar information is associated.
5. movable body position checking system as claimed in claim 1 is characterized in that,
A plurality of described peculiar information generators are arranged on its peculiar information not to be had on the related optional position.
6. movable body position checking system as claimed in claim 1 is characterized in that,
A plurality of described peculiar information generators are configured to forbid that described coupler receives peculiar information from a plurality of described peculiar information generators simultaneously.
7. movable body position checking system as claimed in claim 1 is characterized in that,
Described peculiar information generator is an IC tag, and described coupler comprises a kind of receptor, and this receptor has to the function of supplying power of described IC tag power supply and the function of accepting peculiar information from described IC tag.
8. movable body position checking system as claimed in claim 2 is characterized in that,
Also comprise a kind of device, this device is used for according to described inferred position information, generates the speed command or the position command that send to described movable body driving device.
9. movable body position checking system as claimed in claim 1 is characterized in that,
Other location informations relevant with the amount of movement of described moving body or position are the mobile messages that change along with moving of described moving body.
10. movable body position checking system as claimed in claim 1 is characterized in that,
In the described peculiar information generator at least one is arranged on along on the top or surface of the magnetic substance of the movable passageway setting of moving body, perhaps buries underground with equivalent way.
11. movable body position checking system as claimed in claim 1 is characterized in that,
In the described peculiar information generator at least one is arranged on along on the non-magnetic material of the movable passageway setting of moving body.
12. movable body position checking system as claimed in claim 1 is characterized in that,
A plurality of described peculiar information generators are installed on the magnetic substance or non-magnetic material that is provided with along the movable passageway of moving body by multiple different erecting device.
13. the position detecting system of a moving body has along the detected body of the movable passageway setting of moving body and is arranged on the moving body, is used for detector that described detected body is detected, it is characterized in that possessing:
Be used to form described detected body, have a plurality of peculiar information generator of peculiar message sending function separately;
Coupler, it is used to form described detector, when approaching or relative with described peculiar information generator with described peculiar information generator, receives different separately peculiar information from a plurality of described peculiar information generators;
Association information store, it is stored the content of described peculiar information explicitly with other location informations relevant with the amount of movement of described moving body or position; And
Control setup, it near described peculiar information generator the time or the content of the described peculiar information that is received when relative with described peculiar information generator and be stored in related information in the described association information store, and generates the control command that sends to described movable body driving device according to described coupler.
14. movable body position checking system as claimed in claim 13 is characterized in that,
Described related information comprises the data sheet that the content of the peculiar information of a plurality of described peculiar information generators and other location informations relevant with the amount of movement of described moving body or position are associated, wherein, this movable body position checking system comprises control setup, and this control setup generates the control command that sends to described movable body driving device according to the information that reads from this data sheet.
15. movable body position checking system as claimed in claim 13 is characterized in that,
Possesses a kind of control setup, when this control setup receives a plurality of described peculiar information simultaneously at described coupler, by the reception order, according to the content of described peculiar information and be stored in related information in the described association information store, generate the control command that sends to described movable body driving device.
16. movable body position checking system as claimed in claim 13 is characterized in that,
Described related information comprises the data sheet that the content of the peculiar information of a plurality of described peculiar information generators and other location informations relevant with the amount of movement of described moving body or position are associated, and wherein this movable body position checking system comprises according to the information that reads from this data sheet and carries out the preservation of information and/or the device that sends.
17. movable body position checking system as claimed in claim 13 is characterized in that,
Constitute in the following manner: the information of described moving body is preserved and/or information sends, and carries out at movable body system in-to-in memory storage or at the central monitoring position of distant surveillance movable body system.
18. the method for detecting position of a moving body utilizes along the detected body of the movable passageway setting of moving body and is arranged on the moving body and detects the detector of described detected body, carries out the position probing of moving body, it is characterized in that, comprising:
Send the step of peculiar information respectively by a plurality of peculiar information generator that forms described detected body;
By the coupler that forms described detector at it near described peculiar information generator or when relative with described peculiar information generator, receive the step of different separately peculiar information from a plurality of described peculiar information generators; And
According to described near the time or the content of the described peculiar information that receives relatively the time and other location informations relevant with the amount of movement of described moving body or position infer that the position of described movable body position infers step.
19. movable body position method of inspection as claimed in claim 18 is characterized in that,
Described position infers that step comprises the step of the data sheet that storage associates the content of the peculiar information of a plurality of described peculiar information generators and other location informations relevant with the amount of movement of described moving body or position and the step that generates the control command that sends to described movable body driving device according to the information that reads from this data sheet.
20. movable body position method of inspection as claimed in claim 18 is characterized in that,
Described peculiar information generator is an IC tag, and described coupler comprises a kind of receptor,
This movable body position method of inspection comprises by described receptor to the step of described IC tag power supply, send the step of peculiar information and the step that is received this peculiar information by described receptor by the described IC tag after being subjected to electricity.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005097935 | 2005-03-30 | ||
| JP2005-097935 | 2005-03-30 | ||
| JP2005097935A JP4468224B2 (en) | 2005-03-30 | 2005-03-30 | Elevator position detection system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1840461A true CN1840461A (en) | 2006-10-04 |
| CN1840461B CN1840461B (en) | 2010-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2006100063218A Active CN1840461B (en) | 2005-03-30 | 2006-01-16 | System for detecting position of moving body |
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| JP (1) | JP4468224B2 (en) |
| CN (1) | CN1840461B (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN1840461B (en) | 2010-04-07 |
| JP2006273541A (en) | 2006-10-12 |
| JP4468224B2 (en) | 2010-05-26 |
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