WO2019169623A1

WO2019169623A1 - Sensing system for determining absolute position of elevator car and self-testing method thereof

Info

Publication number: WO2019169623A1
Application number: PCT/CN2018/078557
Authority: WO
Inventors: 郭志海; 张文俊; 杜永聪
Original assignee: 日立电梯（中国）有限公司
Priority date: 2018-03-09
Filing date: 2018-03-09
Publication date: 2019-09-12
Also published as: CN110139821B; JP7073396B2; CN110139821A; JP2020512962A

Abstract

A sensing system for determining absolute position of an elevator car and a self-testing method thereof. The sensing system comprises: a grid ruler (30) arranged vertically in a hoistway (20), wherein the grid ruler (30) is provided with a column of first-type identifiers (310) and a column of second-type identifiers (320) arranged side by side in a lengthwise direction of the grid ruler (30), and the first-type identifiers (310) cooperate with the second-type identifiers (320) to form information about the absolute position of the elevator car (10); a sensing device (40), wherein the sensing device (40) is fixed on the elevator car (10), and is provided with at least two first sensors (410) arranged in a vertical direction and used for identifying the first-type identifiers (310) and at least one second sensor (420) used for identifying the second-type identifiers (320); and a controller (50) communicatively connected to the sensing device (40). The sensing system for determining absolute position of an elevator car and the self-testing method thereof simplify a sensing technique, and improve sensing accuracy.

Description

Car absolute position detection system and self-test method thereof

Technical field

The invention relates to the technical field of elevators, in particular to a detection system for an absolute position of a car and a self-checking method thereof.

Background technique

In order to realize the normal vertical transportation service of the elevator and the emergency brake protection under abnormal conditions, the actual absolute position of the elevator car in the hoistway is the key control information, so how to conveniently and reliably detect the absolute position of the elevator car is very important. Research significance.

Nowadays, the detection method of the elevator car position by the common elevator is to detect the moving distance of the main traction wheel (theoretically equivalent to the moving distance of the wire rope) by installing the rotary encoder on the host side to calculate the car position. However, since the elevator is currently driven by the mechanical friction transmission method, the elevator is inevitably slipped between the traction sheave and the wire rope. Therefore, the position of the car calculated by the method is not accurate, and a plurality of additional positions in the hoistway are required. A position sensor that corrects the true position of the car as it passes the position sensor. Therefore, the commonly used elevator car position detection system has a complicated structure, low reliability, and high cost.

In order to solve the problem of absolute position detection of elevator cars, a new technology in recent years is to use the hoistway scale detection technology, by reading the absolute position code on the scale and adding a grid code reader on the elevator car side, when reading When the encoder moves relative to the scale, the reader reads the opening information of the passing ruler, and the information is finally decoded by the controller and converted into the absolute position information of the car and provided to the elevator control system for use. The disadvantage of this technique is: but due to the lack of symmetry in the encoding itself, for example, the opening of a certain encoding (assuming that the data is "0") is more, and the non-opening of the other encoding (assuming the data "1") is more. This characteristic can cause the scale to be symmetrical in terms of overall strength and stress, which causes asymmetrical deformation during the installation, stretching, thermal expansion and contraction of the scale, that is, when the scale is tightened in the hoistway Later, due to the asymmetry of the two rows of coded openings, the scale will be twisted, which directly affects the detection accuracy of the absolute position of the car.

Summary of the invention

Based on this, it is necessary to provide a detection system for the absolute position of the car and a self-checking method thereof, which can improve the scale symmetry mode and improve the detection accuracy of the absolute position detection of the car in the case of simplifying the detection technique of the elevator car position. high.

Its technical solutions are as follows:

A detection system for absolute position of a car, comprising: a scale disposed vertically in the hoistway, the scale being provided with a column of the first type of identification and a second type of columns arranged side by side along the length direction of the scale Identifying that the first type of identifier cooperates with the second type of identifier to form absolute position information of the car, the first type of identifier on the scale is provided with binary coded information, and the second type of identifier on the scale is set There is mixed coded information in combination with a Manchester code encoding rule, the mixed coded information is not repeated in the scale; the detecting device is fixed to the car and provided with at least two arranged vertically a first sensor for identifying the first type of identification, the second sensor for identifying the second type of identification; and a control for communicating with the detection device The controller is capable of calculating absolute position information of the car according to the detection information fed back by the first sensor and the second sensor.

When the elevator is running, the car drives the detection system to perform vertical movement in the hoistway along the grid, the first sensor collects information of the first type of identification on the scale, and the second sensor collects information of the second type of identification on the scale, the first sensor And the second sensor sends the collected information to the controller, and the controller analyzes, calculates, and stores the received information, and analyzes the position coded information corresponding to the scale passed by the detecting device. The detecting device calculates the relative position and speed of the car by the first sensor, calculates the moving direction of the car by the at least two first sensors, and generates a synchronization signal. The mixed coded information is generated by combining the detection signal of the second sensor on the second type of identifier and the synchronization signal generated by the first sensor, and the mixed coded information corresponding to the scale is not repeated, thereby distinguishing that the detecting device is located in the scale Absolute position, so as to accurately determine the absolute position of the car in the hoistway, without multiple corrections, to simplify the detection technology of the elevator car position; at the same time the detection device is characterized in that the first type of identification of the scale is repeated, The proportional binary code is therefore symmetrically encoded; the second type of identification is a hybrid encoding of Manchester code and binary code, and the Manchester code uses the flip rule of "01" or "10" to represent the binary "0" or "1", respectively. Therefore, the Manchester code itself is also a symmetric code; that is, the scale is composed of two columns of symmetric codes, so the scale has good mechanical symmetry as a whole; in addition, by controlling the number of coded bits and the control of a single set of codes, It is possible to achieve the same position code not repeated in the same scale. Therefore, the scale simultaneously realizes the recording of the absolute position code and the symmetry of the overall mechanical characteristics of the scale, and improves the detection accuracy of the absolute position detection of the car. In addition, the position-coding information can be arranged in a manner arranged in a specific order, and such a design facilitates verification of the correctness of the encoding read.

The technical solution is further explained below:

In one embodiment, the first type of identifier is plural and is disposed along a length direction of the scale, and the first type of identifier includes a first identification unit and a second array that are sequentially arranged along a length direction of the scale An identification unit, the identification information of the first identification unit and the second identification unit are different; the second type of identifier is multiple, and is disposed along a length direction of the scale, and the second type of identifier includes a third identifier a unit and a fourth identification unit, wherein the identification information of the third identification unit and the fourth identification unit are different, and each of the first identification units corresponds to one of the second type of identifiers, each of the second The identification units each correspond to one of the second type of identifiers.

In one embodiment, the third identification unit is flipped to "A" in the fourth identification unit corresponding binary data, and is turned from the fourth identification unit to the third identification unit corresponding binary data. The "B", and the binary "A" or "B" information of the predefined number of bits constitutes non-repeating position-coding information.

In one embodiment, all of the first identification units have a length L1 in the length direction of the scale, and all of the second identification units have a length L2 in the length direction of the scale, all of the third The length of the identification unit in the length direction of the scale is L3, and the length of all the fourth identification units in the length direction of the scale is L4; wherein L1=L2, L3=L4=0.5×L1=0.5×L2.

In one embodiment, the vertical minimum distance between the detection range center positions of two adjacent first sensors is L5, and the detection range center position of the second sensor is detected to the first sensor The minimum distance of the center position of the range is L6; where L5=(4n+1)×L4, (n is an integer); L6=0.5×L4.

In one embodiment, when any one of the first sensors detects that the code is reversed, the second sensor reads the current third identification unit or the fourth identification unit.

In one embodiment, the first identifying unit is provided with a first magnetic switch or a first pattern, and the second identifying unit is provided with a second magnetic switch different from the first magnetic switch or a second pattern having a different pattern; the third identifying unit is provided with a third magnetic switch or a third pattern, and the fourth identifying unit is provided with a fourth magnetic switch different from the third magnetic switch or The fourth pattern is different from the third pattern.

In one embodiment, the first pattern is an open area, the second pattern is a solid area, the third pattern is an open area, the fourth pattern is a physical area; or the first The pattern is a solid area, the second pattern is an open area, the third pattern is a solid area, the fourth pattern is an open area; or the first pattern and the second pattern are different colors The spots are combined, and the third pattern and the fourth pattern are combined by different color spots.

In one embodiment, the number of the first type of identifiers detected by the first sensor is n, and the relative displacement of the car is s=c×n, the sedan The speed of the car v=s/t, the absolute position of the car L=|M×(c×b)−m×(c×b)|, where c is the first identifying unit and the second identifying unit In the vertical total length, b is a predetermined number of bits corresponding to the position coded information plus 1, and M is a decimal code corresponding to the position coded information currently read by the second sensor, where m is the second sensor Reading the decimal code corresponding to the position code information read when the car is located at the lowest position of the hoistway.

The technical solution also provides a self-test method for the detection system of the absolute position of the car, which includes at least four modes, and the self-test method performs self-test by at least one of the methods;

The first mode: in the first sensor moving direction, when the first one of the first sensors detects the inversion of the code, causing the code read by the second sensor to be C, the second one of the first sensors detecting The inversion to the code causes the code read by the second sensor to be D, and if C and D are the same code, the controller issues an alarm signal;

The second mode: if the first sensor does not perform the alternate detection on the first identifying unit and the second identifying unit, the controller sends an alarm signal;

The third mode: if two adjacent position coded information are different from the preset regular position coded information, the controller sends an alarm signal;

The fourth way: if the position code information is repeated, the controller sends an alarm signal.

DRAWINGS

1 is a schematic structural view of a detection system for an absolute position of a car in an embodiment of the present invention;

Fig. 2 is a view showing the operation of the detection system of the absolute position of the car in one embodiment of the present invention.

Description of the reference signs:

10, car, 20, hoistway, 30, scale, 310, first type of identification, 311, first identification unit, 312, second identification unit, 320, second type of identification, 321, third identification unit, 322 a fourth identification unit, 40, a detecting device, 410, a first sensor, 420, a second sensor, 50, a controller.

Detailed ways

The present invention will be further described in detail below with reference to the drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the scope of the invention.

It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or the element can be present. When an element is considered to be "connected" to another element, it can be directly connected to the other element or. The terms "vertical", "horizontal", "left", "right", and the like, as used herein, are for the purpose of illustration and are not intended to be the only embodiment.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

The terms "first" and "second" in the present invention do not represent a specific number and order, but are merely used for distinguishing names.

As shown in FIG. 1 and FIG. 2, the detection system for the absolute position of the car in the embodiment includes: a scale 30 disposed vertically in the hoistway, and the scale 30 is arranged side by side along the length direction of the scale 30. a first type of identifier 310 and a second type of identifier 320. The first type of identifier 310 and the second type of identifier 320 cooperate to form absolute position information of the car, and the first type of identifier 310 on the scale 30 is provided with an equal ratio. The repeated binary encoded information, the second type of identification 320 on the scale 30 is provided with hybrid encoding information in conjunction with the Manchester code encoding rules, and the mixed encoded information does not appear repeatedly within the scale 30 (ie, the hybrid encoding can ultimately pass through Manchester) The code encoding rule distinguishes the binary data encoding. By precoding the number of data bits, for example 10 bits, there can be 2 ¹⁰ data not repeated, as long as the scale length is less than 2 ¹⁰ times the product of a set of predefined data encoding lengths. a detecting device 40, the detecting device 40 is fixed to the car, and is provided with at least two first sensors 410 and at least one second sensor 420 arranged vertically, the first sensor 410 is for identifying the first type of standard The second sensor 420 is configured to identify the second type of identifier 320; and the controller 50 communicatively coupled to the detecting device 40. The controller 50 can calculate the car according to the detection information fed back by the first sensor 410 and the second sensor 420. Absolute position information of the car.

When the elevator is running, the car drives the detection system to perform vertical movement in the hoistway along the scale 30, the first sensor 410 collects information of the first type of identification 310 on the scale 30, and the second sensor 420 collects the second type of identification on the scale 30. The information of 320, the first sensor 410 and the second sensor 420 send the collected information to the controller 50, and the controller 50 analyzes, calculates, and stores the received information, and analyzes the corresponding scale 30 of the detecting device 40. Location coded information. The detecting device 40 calculates the relative position and speed of the car by the first sensor 410, calculates the moving direction of the car by the at least two first sensors 410, and generates a synchronization signal. The combination of the detection signal of the second sensor 420 located on the second type of identifier 320 and the synchronization signal generated by the first sensor 410 generates hybrid coded information, and the mixed coded information corresponding to the scale 30 is not repeated, thereby distinguishing the detection device. 40 is located in the absolute position of the scale 30, thereby accurately determining the absolute position of the car in the hoistway, without multiple corrections, simplifying the detection technique of the elevator car position; and the detecting device 40 is characterized by the first of the scale 30 The class identifier 310 is a repeated, proportional binary code, and thus belongs to symmetric encoding; the second class identifier 320 is a hybrid encoding of Manchester code and binary code, and the Manchester code uses a flip rule of "01" or "10" to represent binary respectively. "0" or "1", so the Manchester code itself is also a symmetric code; that is, the scale 30 is composed entirely of two columns of symmetric coding, so the scale 30 as a whole has better mechanical symmetry performance; The control of the number of bits and the length of the single group of codes allows the same position code to be repeated in the same scale. Therefore, the scale simultaneously realizes the recording of the absolute position code and the symmetry of the overall mechanical characteristics of the scale, and improves the detection accuracy of the absolute position detection of the car. In addition, the position-coding information can be arranged in a manner arranged in a specific order, and such a design facilitates the verification of the correctness of the code reading.

It should be noted that “the first type identifier 310 is a repeated, proportional binary code” means that the arrangement of the binary code information included in each of the first type identifiers 310 on the scale 30 is the same, and each The first type of identifiers 310 have the same length. Specifically, each of the first type of identifiers 310 includes “0, 1”, and the arrangement of the scales 30 is “0, 1”, “0, 1”, “0”. 1" is sequentially arranged in equal proportions; "the mixed coded information does not appear repeatedly in the scale 30" means that the mixed binary coded information contained in any two second type of labels 320 is on the scale 30 The arrangement is different; specifically, one second type of identifier 320 includes "0, 1", and the other second type of identifier 320 includes "1, 0", which is 0, 1 in the arrangement of the scale 30" "1, 0", "1, 0", "0, 1" are arranged in such a disorder.

Specifically, if the first first type identifier 310 on the scale 30 is preset as the initial position of the car position (initial floor or 0 meter), when the first sensor 410 detects the Nth first type identification 310 At this time, the absolute position of the car is equal to N times L (L is the length of the first type of mark in the vertical direction of the scale), and is corrected in combination with the second type of mark 320 detected by the second sensor 420, and then Determine if the car position is accurate.

On the basis of the foregoing embodiment, the first type of identifiers 310 are multiple, and the first type of identifiers 310 includes a first identifying unit 311 and a second identifying unit 312 which are sequentially arranged along the length direction of the scale 30, and a plurality of first types. The identifiers 310 are disposed along the length direction of the scale 30, so that all the first identifying units 311 and all the second identifying units 312 are alternately arranged in the longitudinal direction of the scale 30, and the identification information of the first identifying unit 311 and the second identifying unit 312 is not The second type identification 320 is disposed along the length direction of the scale 30, and the second type identifier 320 includes a third identification unit 321 and a fourth identification unit 322, and the third identification unit 321 and the fourth identification unit 322. The identification information is different. Each of the first identification units 311 corresponds to a second identification unit 312, and each of the second identification units 312 corresponds to the second identification unit 312. The first type of identifier 310 signal is used as a synchronization signal for detecting the second type of identifier 320 signal, and the first type of identifier 310 is used as a base bit period of the second type of identifier 320 signal. According to the Manchester code encoding rule, the third identifying unit 321 and The fourth identification unit 322 is an opposite identifier. When the second sensor 420 detects the second type of identifier 320, the hybrid coding information corresponding to each of the scales 30 is not repeated, and the controller 50 analyzes that the detection device 40 is located on the scale 30. The absolute position in the middle gives the absolute position of the car in the hoistway. Specifically, the third identification unit 321 is flipped to the "A" in the binary data corresponding to the fourth identification unit 322, and is inverted from the fourth identification unit 322 to the "B" in the binary data corresponding to the third identification unit 321 and is pre- The binary "A" or "B" information defining the number of bits constitutes a non-repeating binary data encoding; if it is possible to set the state from the opening "0" to the non-opening "1" corresponding to the binary data "1", The state in which the non-opening "1" is flipped to the opening "0" corresponds to the binary data "0", and the binary data is a mixed encoding information of a predetermined Manchester code and a binary code, the mixed encoding information making the original asymmetric binary data Symmetry is achieved, and two columns of symmetric coded information can be placed on the scale 30 to form the car absolute position information by the two coded information.

Of course, the first identification unit 311 is provided with a first magnetic switch or a first pattern, and the second identification unit 312 is provided with a second magnetic switch different from the first magnetic switch or a second pattern different from the first pattern; The identification unit 321 is provided with a third magnetic switch or a third pattern, and the fourth identification unit 322 is provided with a fourth magnetic switch different from the third magnetic switch or a fourth pattern different from the third pattern; The magnetic switch or pattern reads the information of the first identifying unit 311 and the second identifying unit 312; the second sensor 420 reads the information of the third identifying unit 321 and the fourth identifying unit 322 by recognizing the magnetic switch or pattern. In this embodiment, the first pattern is a solid area, the second pattern is an open area, the third pattern is a solid area, and the fourth pattern is an open area, and the photoelectric sensor is used to identify the identification unit, and the recognition is performed. The open area sends a specific signal to identify that the physical area sends another specific signal or does not occur, and can be set according to the actual detection needs. The first sensor 410 and the second sensor 420 are both photosensors.

On the basis of the above embodiments, all the first identification units 311 have a length L1 in the longitudinal direction of the scale 30, and all the second identification units 312 have a length L2 in the longitudinal direction of the scale 30, and the second type of identifier The length in the longitudinal direction of the scale 30 is L11; wherein L1 can be equal to L2 or not equal to L2, and L11 is equal to the corresponding L1 or L2; further, the difficulty of manufacturing the scale 30 can be reduced, and it is convenient to set on the scale 30. The opening information ensures the manufacturing precision and the overall strength of the scale 30. In the specific embodiment, all the first identifying units 311 have a length L1 in the longitudinal direction of the scale 30, and all the second identifying units 312 have a length L2 in the longitudinal direction of the scale 30, and all the third identifying units 321 The length in the longitudinal direction of the scale 30 is L3, and the length of all the fourth identification units 322 in the longitudinal direction of the scale 30 is L4; wherein L1=L2, L3=L4=0.5×L1=0.5×L2; further reduction The difficulty of setting the encoded information on the scale improves the manufacturing precision and the detection accuracy. Further, the vertical minimum distance between the detection range center positions of the adjacent two first sensors 410 is L5, and the minimum distance between the detection range center position of the second sensor 420 and the detection range center position of the first sensor 410 is L6; wherein L5=(4n+1)×L4, (n is an integer); L6=0.5×L4; making the detection precision of the first sensor 410 and the second sensor 420 more precise, and also facilitating calibration of the sensor and the scale The location between 30. Further, when any one of the first sensors 410 detects that the code is reversed, the second sensor 420 reads the current third identification unit 321 or the fourth identification unit 322; The positional relationship of the first sensor 410, in which the second sensor 420 is located just in the middle of the second type of marker 320, thereby minimizing the interference of the coded reading due to manufacturing deviation, tilt, jitter, dust, etc. Improve the reliability of code reading.

On the basis of any of the above embodiments, the absolute position information of the car can be obtained by using the above detection system. Specifically, when the time t is set, the number of the first type of identification 310 detected by the first sensor 410 is n. , the relative displacement of the car s = c × n, the speed of the car v = s / t, the absolute position of the car L = | M × (c × b) - m × (c × b) |, where c For the total length of the first identification unit 311 and the second identification unit 312 in the vertical direction, b is the binary coded bit number corresponding to the binary coded information plus 1, and M is the position code information currently read by the second sensor. The decimal code, m is a decimal code corresponding to the position code information read by the second sensor when the car is located at the lowest position of the hoistway.

The embodiment further provides a self-test method for the detection system of the absolute position of the car, which includes at least four modes, and the self-test method performs self-test by at least one of the methods;

The first way: in the direction of movement of the first sensor, when the first first sensor 410 detects that the inversion of the code causes the code read by the second sensor 420 to be C, the second first sensor 410 detects the coded The flipping causes the code read by the second sensor 420 to be D, and if C and D are the same code, the controller 50 issues an alarm signal;

The second mode: if the first sensor 410 does not alternately detect the first identifying unit 311 and the second identifying unit 312, the controller 50 sends an alarm signal;

The third mode: if the two adjacent position coded information are different from the preset regular position coded information, the controller 50 sends an alarm signal;

The fourth mode: if the position coded information is repeated, the controller 50 issues an alarm signal.

Compared with the prior art, this embodiment has the following beneficial effects:

(1) Since the scale 30 is composed of two columns of symmetric coding as a whole, the overall mechanical strength and weight symmetry of the scale 30 are good, and mechanical torsion does not occur in the operation of mounting, stretching and fixing of the scale 30, and Mechanical extension deformation also tends to develop symmetrically. Such a design facilitates that the scale 30 is flatly fixed inside the hoistway while reducing the dimensional error of the overall size of the scale 30 due to tensile deformation.

(2) Special sensor position setting and ruler 30 opening rule can effectively improve the accuracy of reading and reduce the influence of common disturbances in various wells; and increase the code reading correctly by the speciality of Manchester code. Sexual verification method to improve reliability. The invention has simple structure, reasonable design and high reliability.

The technical features of the above-described embodiments may be arbitrarily combined. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be considered as the scope of this manual.

The above-described embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

Claims

A detection system for an absolute position of a car, comprising:

a scale disposed vertically in the hoistway, the scale being provided with a column of the first type of identification and a column of the second type of identification arranged side by side along the length direction of the scale, the first type of identification and the first The second type of identification cooperates to form the absolute position information of the car, the first type of identifier on the scale is provided with binary coded information, and the second type of mark on the scale is provided with mixed coded information combined with the Manchester code coding rule. The mixed coded information does not appear repeatedly in the scale;

a detecting device fixed to the car and provided with at least two first sensors and at least one second sensor arranged vertically, the first sensor for identifying the first type of identification, The second sensor is configured to identify the second type of identifier; and

And a controller communicably connected to the detecting device, wherein the controller is capable of calculating absolute position information of the car according to the detection information fed back by the first sensor and the second sensor.
The detection system for an absolute position of a car according to claim 1, wherein the first type of identification is plural and is disposed along a length direction of the scale, and the first type of identification includes the scale along the scale. a first identification unit and a second identification unit arranged in the longitudinal direction, wherein the identification information of the first identification unit and the second identification unit are different; the second type of identification is multiple and along the length of the scale The second type of identification includes a third identification unit and a fourth identification unit, the identification information of the third identification unit and the fourth identification unit are different, and each of the first identification units corresponds to one The second type of identifiers, each of the second identifying units corresponds to one of the second type of identifiers.
A car absolute position detecting system according to claim 2, wherein said third identifying unit is inverted to "A" in said fourth identifying unit corresponding binary data, said fourth identifying unit Flips to "B" in the binary data corresponding to the third identification unit, and the binary "A" or "B" information of the predefined number of bits constitutes non-repeating position encoding information.
The detection system of the absolute position of the car according to claim 3, wherein all of said first identification units have a length L1 in the length direction of the scale, and a length of the scale between all of said second identification units The length of the direction is L2, the length of all the third identification units in the length direction of the scale is L3, and the length of all the fourth identification units in the length direction of the scale is L4; wherein, L1=L2, L3 = L4 = 0.5 × L1 = 0.5 × L2.
A car absolute position detecting system according to claim 4, wherein a vertical minimum distance between the detection center positions of two adjacent first sensors is L5, and said second sensor The minimum distance from the center of the detection range to the center of the detection range of the first sensor is L6; wherein L5=(4n+1)×L4, (n is an integer); L6=0.5×L4.
The detection system of the absolute position of the car according to claim 5, wherein when any one of the first sensors detects that the code is reversed, the second sensor reads the current a third identification unit or the fourth identification unit.
The detection system for the absolute position of the car according to any one of claims 2 to 6, wherein the first identification unit is provided with a first magnetic switch or a first pattern, and the second identification unit is provided. a second magnetic switch different from the first magnetic switch or a second pattern different from the first pattern; the third identifying unit is provided with a third magnetic switch or a third pattern, and the fourth identifying unit is provided There is a fourth magnetic switch different from the third magnetic switch or a fourth pattern different from the third pattern.
The detection system of the absolute position of the car according to claim 7, wherein the first pattern is an opening area, the second pattern is a solid area, and the third pattern is an opening area, The fourth pattern is a solid area; or the first pattern is a solid area, the second pattern is an open area, the third pattern is a solid area, and the fourth pattern is an open area; or the A pattern and the second pattern are combined by different color spots, and the third pattern and the fourth pattern are combined by different color spots.
The detection system for the absolute position of the car according to any one of claims 3 to 6, wherein the number of the first type of identification detected by the first sensor is n in the time t , the relative displacement of the car s = c × n, the speed of the car v = s / t, the absolute position of the car L = | M × (c × b) - m × (c × b)|, where c is the total length of the first identifying unit and the second identifying unit in the vertical direction, b is a predetermined number of bits corresponding to the position encoding information plus 1, and M is currently read by the second sensor And the decimal code corresponding to the position code information, where m is a decimal code corresponding to the position code information read by the second sensor when the car is located at the lowest position of the hoistway.
A self-test method for detecting a car absolute position according to any one of claims 3 to 6, characterized in that it comprises four modes, and the self-test method performs self-test by at least one of the methods;

The first mode: when the first sensor detects the inversion of the code in the direction of the first sensor movement, the code read by the second sensor is C, and the second sensor detects the code. The flipping causes the code read by the second sensor to be D, and if C and D are the same code, the controller sends an alarm signal;

The second mode: if the first sensor does not perform the alternate detection on the first identifying unit and the second identifying unit, the controller sends an alarm signal;

The third mode: if two adjacent position coded information are different from the preset regular position coded information, the controller sends an alarm signal;

The fourth way: if the position code information is repeated, the controller sends an alarm signal.